adhoc

completed
2026-09-22T19:50:18.513909+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
296.8 s
total steps
286
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 at centre (white-ish left, blue middle, pink right). Plan: stack outer bowls into the middle one. Moving left arm above the left rim of the left bowl to pinch its wall.
move_to
left_x0.3100left_y-0.1550left_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, -0.0223, -0.0257, 0.9993, -0.0181, 0.7929, 0.6018, -0.3824, -0.017, -0.0341, 0.9976] state[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2941 right_y=0.0013 right_z=0.1787 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9976 state[joint_eff]: [-0.3761, -1.5795, 10.1402, 1.8046, -0.0415, 0.0855, -0.0806, -0.4991, -1.4154, 10.2085, 1.9658, -0.0904, 0.1685, -0.2662] 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": 0.31, "left_y": -0.155, "left_z": 0.15, "left_gripper": 1}, "note": "Three bowls in a row at centre (white-ish left, blue middle, pink right). Plan: stack outer bowls into the middle one. Moving left arm above the left rim of the left bowl to pinch its wall."})
tool
executing move_to over 14 steps (1.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteLeft bowl is directly ahead of the left gripper (centre ~x0.36, y-0.145). Rotating the wrist 90° so the jaws close along x and can pinch the bowl's near rim wall.
move_to
left_x0.3200left_y-0.1450left_z0.1300left_yaw1.5700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7712, 1.2106, 0.675, -0.263, -0.5991, -0.4816, 0.9993, -0.02, 0.7967, 0.6003, -0.3927, -0.0166, -0.0315, 0.9974] state[eef_state]: left_x=0.3007 left_y=-0.1483 left_z=0.131 left_yaw=-0.033 left_pitch=-0.0622 left_roll=0.0437 left_gripper=0.9993 right_x=0.2928 right_y=0.0007 right_z=0.1749 right_yaw=-0.0037 right_pitch=-0.016 right_roll=0.0023 right_gripper=0.9974 state[joint_eff]: [-0.253, -4.465, 8.8957, 1.7167, -0.3736, -0.0122, -0.0806, -0.0479, -1.5385, 7.1726, 1.8046, -0.0317, -0.0513, -0.0269] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.145, "left_z": 0.13, "left_yaw": 1.57}, "note": "Left bowl is directly ahead of the left gripper (centre ~x0.36, y-0.145). Rotating the wrist 90\u00b0 so the jaws close along x and can pinch the bowl's near rim wall."})
tool
executing move_to over 11 steps (1.1s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe 90° yaw sent the arm off target (readback y=-0.02, x=0.37) and hides the left bowl. Returning to yaw 0 above the bowl at a safer height to recover.
move_to
left_x0.3000left_y-0.1450left_z0.1800left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4358, 2.1666, 1.7134, -1.5101, -0.8253, -2.0491, 0.9993, -0.02, 0.8024, 0.5983, -0.3939, -0.0166, -0.0345, 0.9974] state[eef_state]: left_x=0.3661 left_y=-0.0234 left_z=0.102 left_yaw=1.4423 left_pitch=-0.1062 left_roll=0.0354 left_gripper=0.9993 right_x=0.2927 right_y=0.0007 right_z=0.1722 right_yaw=-0.002 right_pitch=-0.0248 right_roll=-0.0001 right_gripper=0.9974 state[joint_eff]: [-2.0308, -9.8393, 6.8171, -0.8767, -0.359, -0.1538, -0.022, 0.0342, -1.7162, 7.1726, 1.707, -0.0366, -0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.145, "left_z": 0.18, "left_yaw": 0}, "note": "The 90\u00b0 yaw sent the arm off target (readback y=-0.02, x=0.37) and hides the left bowl. Returning to yaw 0 above the bowl at a safer height to recover."})
tool
executing move_to over 11 steps (1.1s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteMotion was rate-clamped and hasn't finished; re-sending the recovery target (yaw 0, above left bowl).
move_to
left_x0.3000left_y-0.1450left_z0.1800left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6132, 1.7657, 1.3041, -1.1011, -0.8726, -1.6115, 0.9993, -0.02, 0.8082, 0.5957, -0.3965, -0.0166, -0.0349, 0.9974] state[eef_state]: left_x=0.3404 left_y=-0.0697 left_z=0.1322 left_yaw=0.9656 left_pitch=-0.1264 left_roll=-0.0317 left_gripper=0.9993 right_x=0.2923 right_y=0.0007 right_z=0.1689 right_yaw=-0.0018 right_pitch=-0.0359 right_roll=-0.0002 right_gripper=0.9974 state[joint_eff]: [-0.1162, -7.8564, 5.4085, 0.3346, -0.7009, 0.2418, -0.0171, -0.1162, -1.7436, 7.2684, 1.7314, -0.022, -0.0562, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.145, "left_z": 0.18, "left_yaw": 0}, "note": "Motion was rate-clamped and hasn't finished; re-sending the recovery target (yaw 0, above left bowl)."})
tool
executing move_to over 7 steps (0.7s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteWhite bowl intact at left, blue middle, pink right. Arm still settling back from the yaw excursion; re-sending with pitch/roll explicitly 0.
move_to
left_x0.3000left_y-0.1450left_z0.1800left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7422, 1.2686, 0.8856, -0.7635, -0.614, -1.2106, 0.9992, -0.02, 0.8143, 0.5945, -0.4049, -0.0166, -0.0349, 0.9974] state[eef_state]: left_x=0.2771 left_y=-0.1111 left_z=0.1328 left_yaw=0.4568 left_pitch=-0.2832 left_roll=-0.2044 left_gripper=0.9992 right_x=0.2913 right_y=0.0007 right_z=0.165 right_yaw=-0.0018 right_pitch=-0.0515 right_roll=0.0001 right_gripper=0.9974 state[joint_eff]: [0.253, -3.7538, 8.3487, 1.79, -0.3346, 0.2271, -0.0171, -0.0342, -1.4291, 7.1043, 1.8046, -0.0269, -0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.145, "left_z": 0.18, "left_yaw": 0, "left_pitch": 0, "left_roll": 0}, "note": "White bowl intact at left, blue middle, pink right. Arm still settling back from the yaw excursion; re-sending with pitch/roll explicitly 0."})
tool
executing move_to over 10 steps (1.0s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteStill converging (yaw 0.36 residual). Re-sending neutral orientation near the white bowl.
move_to
left_x0.3000left_y-0.1500left_z0.1600left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7612, 1.2598, 0.8719, -0.7029, -0.6254, -1.0752, 0.9992, -0.02, 0.8165, 0.5945, -0.4145, -0.0166, -0.0349, 0.9974] state[eef_state]: left_x=0.2817 left_y=-0.1206 left_z=0.1371 left_yaw=0.3554 left_pitch=-0.2389 left_roll=-0.1583 left_gripper=0.9992 right_x=0.29 right_y=0.0007 right_z=0.1625 right_yaw=-0.0018 right_pitch=-0.0633 right_roll=0.0003 right_gripper=0.9974 state[joint_eff]: [-0.0068, -4.9846, 6.8718, 0.9597, -0.4713, -0.0855, -0.0073, -0.1709, -1.0462, 6.9949, 1.8339, 0.0024, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.15, "left_z": 0.16, "left_yaw": 0, "left_pitch": 0, "left_roll": 0}, "note": "Still converging (yaw 0.36 residual). Re-sending neutral orientation near the white bowl."})
tool
executing move_to over 8 steps (0.8s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteArm back to neutral; white bowl is just ahead (est. centre x0.35, y-0.14). Moving above its left wall so the jaws (closing along y) can straddle the rim.
move_to
left_x0.3500left_y-0.0900left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7986, 1.1847, 0.7269, -0.3927, -0.6479, -0.6357, 0.9992, -0.02, 0.8173, 0.5945, -0.4152, -0.0166, -0.0349, 0.9974] state[eef_state]: left_x=0.2925 left_y=-0.1424 left_z=0.1437 left_yaw=0.0604 left_pitch=-0.0707 left_roll=-0.0181 left_gripper=0.9992 right_x=0.2899 right_y=0.0007 right_z=0.1621 right_yaw=-0.0018 right_pitch=-0.0648 right_roll=0.0003 right_gripper=0.9974 state[joint_eff]: [-0.4308, -5.135, 6.7761, 1.7509, -0.3492, 0.2369, -0.0122, -0.1846, -1.4427, 7.0359, 1.7314, -0.0464, -0.0366, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.09, "left_z": 0.12, "left_yaw": 0, "left_pitch": 0, "left_roll": 0}, "note": "Arm back to neutral; white bowl is just ahead (est. centre x0.35, y-0.14). Moving above its left wall so the jaws (closing along y) can straddle the rim."})
tool
executing move_to over 5 steps (0.5s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteWrist view shows the bowl's near rim still ahead of the fingertips and its left wall left of the jaw column. Advancing ~5 cm and shifting ~2 cm left to bring the left wall between the jaws.
move_to
left_x0.3900left_y-0.0650left_z0.1000left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4698, 1.2335, 0.5774, -0.0704, -0.4408, -0.3546, 0.9992, -0.02, 0.8185, 0.5945, -0.416, -0.0166, -0.0349, 0.9974] state[eef_state]: left_x=0.3347 left_y=-0.0814 left_z=0.1067 left_yaw=0.0759 left_pitch=-0.0728 left_roll=0.0149 left_gripper=0.9992 right_x=0.2899 right_y=0.0007 right_z=0.1617 right_yaw=-0.0018 right_pitch=-0.0667 right_roll=0.0004 right_gripper=0.9974 state[joint_eff]: [0.2393, -4.0684, 6.4479, 1.7998, -0.2418, 0.2271, -0.0122, -0.0205, -1.4154, 7.1043, 1.6532, -0.0317, -0.0415, -0.0171] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.065, "left_z": 0.1, "left_yaw": 0, "left_pitch": 0, "left_roll": 0}, "note": "Wrist view shows the bowl's near rim still ahead of the fingertips and its left wall left of the jaw column. Advancing ~5 cm and shifting ~2 cm left to bring the left wall between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteArm fell short of the target (x0.347 vs 0.39); re-sending the same approach above the bowl's left wall.
move_to
left_x0.3900left_y-0.0650left_z0.1000left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4385, 1.2476, 0.5697, 0.0273, -0.3889, -0.2871, 0.9992, -0.02, 0.8185, 0.5945, -0.4183, -0.0166, -0.0349, 0.9974] state[eef_state]: left_x=0.3474 left_y=-0.085 left_z=0.1141 left_yaw=0.0273 left_pitch=-0.0231 left_roll=0.0042 left_gripper=0.9992 right_x=0.2896 right_y=0.0007 right_z=0.1612 right_yaw=-0.0018 right_pitch=-0.069 right_roll=0.0004 right_gripper=0.9974 state[joint_eff]: [-0.2803, -4.3282, 6.4889, 1.8486, -0.0415, 0.1832, -0.0122, -0.212, -1.2103, 7.0222, 1.6777, -0.0806, -0.0366, -0.0171] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.065, "left_z": 0.1, "left_yaw": 0, "left_pitch": 0, "left_roll": 0}, "note": "Arm fell short of the target (x0.347 vs 0.39); re-sending the same approach above the bowl's left wall."})
tool
executing move_to over 4 steps (0.4s)
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 noteArm is holding position and not tracking the last target; trying a smaller step forward with a little more height.
move_to
left_x0.3700left_y-0.0750left_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4385, 1.2476, 0.5697, 0.0273, -0.3885, -0.2871, 0.9992, -0.02, 0.8185, 0.5945, -0.4187, -0.0166, -0.0349, 0.9974] state[eef_state]: left_x=0.3474 left_y=-0.085 left_z=0.1141 left_yaw=0.027 left_pitch=-0.0232 left_roll=0.004 left_gripper=0.9992 right_x=0.2895 right_y=0.0007 right_z=0.1612 right_yaw=-0.0018 right_pitch=-0.0694 right_roll=0.0004 right_gripper=0.9974 state[joint_eff]: [-0.212, -4.5744, 6.4889, 1.8779, 0.0171, 0.1685, -0.0122, -0.2256, -1.3333, 6.9812, 1.6972, -0.0757, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). 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": 0.37, "left_y": -0.075, "left_z": 0.13}, "note": "Arm is holding position and not tracking the last target; trying a smaller step forward with a little more height."})
tool
executing move_to over 2 steps (0.2s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteLeft arm is frozen at x0.347 and ignores forward targets; testing whether it responds to a retreat/raise.
move_to
left_x0.3000left_y-0.1000left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4385, 1.2476, 0.5697, 0.0273, -0.3889, -0.2871, 0.9992, -0.02, 0.8185, 0.5945, -0.4187, -0.0166, -0.0349, 0.9974] state[eef_state]: left_x=0.3474 left_y=-0.085 left_z=0.1141 left_yaw=0.0273 left_pitch=-0.0231 left_roll=0.0042 left_gripper=0.9992 right_x=0.2895 right_y=0.0007 right_z=0.1612 right_yaw=-0.0018 right_pitch=-0.0694 right_roll=0.0004 right_gripper=0.9974 state[joint_eff]: [-0.2393, -4.4923, 6.5026, 1.8584, -0.0366, 0.1538, -0.0122, -0.0205, -1.3197, 6.9949, 1.6777, -0.0806, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.1, "left_z": 0.18}, "note": "Left arm is frozen at x0.347 and ignores forward targets; testing whether it responds to a retreat/raise."})
tool
executing move_to over 5 steps (0.5s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteArm responds again. Wrist view puts the white bowl centre at about x0.41, y-0.11, so its left wall is near y-0.06. Approaching above that wall with the tool pitched forward to help the reach.
move_to
left_x0.4100left_y-0.0600left_z0.1300left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6037, 1.0367, 0.6868, -0.3222, -0.49, -0.3878, 0.9992, -0.02, 0.8204, 0.5945, -0.4191, -0.0166, -0.0349, 0.9974] state[eef_state]: left_x=0.3071 left_y=-0.1064 left_z=0.1711 left_yaw=-0.0025 left_pitch=-0.0096 left_roll=-0.0152 left_gripper=0.9992 right_x=0.2895 right_y=0.0007 right_z=0.1606 right_yaw=-0.0018 right_pitch=-0.0717 right_roll=0.0005 right_gripper=0.9974 state[joint_eff]: [-0.2803, -3.2342, 9.2239, 1.5946, -0.2369, -0.0317, -0.0122, -0.335, -1.5248, 7.159, 1.707, -0.0708, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.06, "left_z": 0.13, "left_pitch": 0.3}, "note": "Arm responds again. Wrist view puts the white bowl centre at about x0.41, y-0.11, so its left wall is near y-0.06. Approaching above that wall with the tool pitched forward to help the reach."})
tool
executing move_to over 11 steps (1.1s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe bowl's left wall now sits on the jaw column just below the fingertips (top view agrees: gripper over the bowl's left rim). Descending with jaws open to straddle the wall.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2661, 1.4822, 0.4759, 0.6018, -0.2783, -0.136, 0.9992, -0.02, 0.8238, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974] state[eef_state]: left_x=0.3988 left_y=-0.0547 left_z=0.1058 left_yaw=0.0324 left_pitch=0.1838 left_roll=-0.0058 left_gripper=0.9992 right_x=0.2892 right_y=0.0007 right_z=0.159 right_yaw=-0.0018 right_pitch=-0.0786 right_roll=0.0006 right_gripper=0.9974 state[joint_eff]: [0.253, -6.188, 5.5179, 2.254, 0.1392, 0.2369, -0.0073, -0.1573, -1.6752, 7.1316, 1.663, -0.0562, -0.0317, -0.0171] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.035}, "note": "The bowl's left wall now sits on the jaw column just below the fingertips (top view agrees: gripper over the bowl's left rim). Descending with jaws open to straddle the wall."})
tool
executing move_to over 5 steps (0.5s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteBowl's left wall is between the open jaws at z≈0.02. Closing to pinch the wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2657, 1.821, 0.3912, 0.9367, -0.2684, -0.1394, 0.9992, -0.02, 0.8268, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974] state[eef_state]: left_x=0.3907 left_y=-0.0541 left_z=0.02 left_yaw=0.0226 left_pitch=0.0978 left_roll=0.0127 left_gripper=0.9992 right_x=0.2893 right_y=0.0007 right_z=0.1581 right_yaw=-0.0018 right_pitch=-0.0816 right_roll=0.0006 right_gripper=0.9974 state[joint_eff]: [-0.1709, -7.3094, 3.5487, 1.9707, -0.2173, 0.1245, -0.0171, -0.0479, -1.6479, 7.0222, 1.6972, -0.0317, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Bowl's left wall is between the open jaws at z\u22480.02. Closing to pinch the wall."})
tool
executing move_to over 10 steps (1.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteJaws closed on the white bowl's left wall (reading 0.025, consistent with a thin wall visible between the jaws). Lifting to check the bowl comes with it.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2668, 1.832, 0.3851, 1.0752, -0.2665, -0.1642, 0.0246, -0.02, 0.8307, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974] state[eef_state]: left_x=0.4012 left_y=-0.0577 left_z=0.0442 left_yaw=0.0391 left_pitch=0.2135 left_roll=-0.0469 left_gripper=0.0246 right_x=0.2895 right_y=0.0007 right_z=0.1571 right_yaw=-0.0017 right_pitch=-0.0854 right_roll=0.0007 right_gripper=0.9974 state[joint_eff]: [-0.212, -5.094, 2.947, 0.7057, -0.1587, 0.2857, 1.6093, -0.1983, -1.5521, 7.0085, 1.6532, -0.0611, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Jaws closed on the white bowl's left wall (reading 0.025, consistent with a thin wall visible between the jaws). Lifting to check the bowl comes with it."})
tool
executing move_to over 5 steps (0.5s)
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 lifted with the gripper (visible raised and tilted in top view). Carrying it ~13 cm right to hover over the middle blue bowl.
move_to
left_z0.1600left_y-0.1900left_x0.4000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2676, 1.4803, 0.4553, 0.7139, -0.2691, -0.1722, 0.038, -0.02, 0.8314, 0.5945, -0.4225, -0.0166, -0.0353, 0.9974] state[eef_state]: left_x=0.4027 left_y=-0.058 left_z=0.1233 left_yaw=0.0497 left_pitch=0.2713 left_roll=-0.073 left_gripper=0.038 right_x=0.2895 right_y=0.0007 right_z=0.1569 right_yaw=-0.0015 right_pitch=-0.0862 right_roll=0.0004 right_gripper=0.9974 state[joint_eff]: [-0.2803, -4.6701, 7.1179, 1.6288, -0.0317, 0.0513, 1.033, -0.0342, -1.4838, 7.1726, 1.707, -0.0562, -0.0757, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_z": 0.16, "left_y": -0.19, "left_x": 0.4}, "note": "White bowl is lifted with the gripper (visible raised and tilted in top view). Carrying it ~13 cm right to hover over the middle blue bowl."})
tool
executing move_to over 12 steps (1.2s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteWhite bowl hangs just above/left of the blue bowl. Nudging slightly right and back and lowering it into the blue bowl.
move_to
left_y-0.2100left_x0.3850left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6945, 1.5799, 0.7303, 0.4366, -0.6491, -0.3305, 0.043, -0.02, 0.8314, 0.5945, -0.4229, -0.0166, -0.0349, 0.9974] state[eef_state]: left_x=0.3953 left_y=-0.1856 left_z=0.1472 left_yaw=0.0239 left_pitch=0.2459 left_roll=-0.0571 left_gripper=0.043 right_x=0.2895 right_y=0.0007 right_z=0.1568 right_yaw=-0.0017 right_pitch=-0.0866 right_roll=0.0007 right_gripper=0.9974 state[joint_eff]: [-0.335, -6.4342, 8.5949, 1.8486, -0.2418, -0.0171, 1.033, -0.0752, -1.3333, 7.0085, 1.6288, -0.0464, -0.0562, -0.0171] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.21, "left_x": 0.385, "left_z": 0.09}, "note": "White bowl hangs just above/left of the blue bowl. Nudging slightly right and back and lowering it into the blue bowl."})
tool
executing move_to over 4 steps (0.4s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteWhite bowl appears seated inside the blue bowl (blue rim visible around it). Releasing.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7704, 1.7763, 0.6769, 0.5858, -0.6991, -0.3603, 0.0458, -0.02, 0.836, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974] state[eef_state]: left_x=0.3813 left_y=-0.2067 left_z=0.0787 left_yaw=-0.0093 left_pitch=0.1863 left_roll=0.0007 left_gripper=0.0458 right_x=0.2897 right_y=0.0007 right_z=0.1557 right_yaw=-0.0017 right_pitch=-0.0908 right_roll=0.0008 right_gripper=0.9974 state[joint_eff]: [-0.253, -8.9641, 5.3675, 2.1709, -0.4176, -0.1343, 1.033, -0.1299, -1.812, 6.9812, 1.6239, -0.0806, -0.0269, -0.0171] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "White bowl appears seated inside the blue bowl (blue rim visible around it). Releasing."})
tool
executing move_to over 10 steps (1.0s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteReleased the white bowl onto the blue one. Parking the left arm at home to clear the view and make room for the right arm to fetch the pink bowl.
move_to
left_x0.2900left_y0.0000left_z0.2000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7811, 1.7992, 0.6662, 0.6628, -0.7166, -0.3836, 0.9947, -0.02, 0.8364, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974] state[eef_state]: left_x=0.3821 left_y=-0.2103 left_z=0.0808 left_yaw=0.0134 left_pitch=0.2229 left_roll=-0.0467 left_gripper=0.9947 right_x=0.2897 right_y=0.0007 right_z=0.1556 right_yaw=-0.0017 right_pitch=-0.0912 right_roll=0.0008 right_gripper=0.9974 state[joint_eff]: [0.1983, -8.759, 5.5179, 1.7705, -0.3101, 0.0952, 0.0366, -0.3761, -1.306, 7.2137, 1.6532, -0.0659, -0.0269, -0.0171] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": 0.0, "left_z": 0.2, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "Released the white bowl onto the blue one. Parking the left arm at home to clear the view and make room for the right arm to fetch the pink bowl."})
tool
executing move_to over 19 steps (1.9s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteWhite bowl now nested in the blue one (only one stack visible centre). Right arm heads toward the pink bowl's right wall, as seen ahead-left in its wrist camera.
move_to
right_x0.4000right_y0.0800right_z0.1300right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0593, 0.7948, 0.6388, -0.4156, -0.1066, -0.0921, 0.9955, -0.02, 0.8379, 0.5945, -0.4229, -0.0166, -0.0349, 0.9974] state[eef_state]: left_x=0.2941 left_y=0.005 left_z=0.1889 left_yaw=0.0671 left_pitch=0.0039 left_roll=-0.0104 left_gripper=0.9955 right_x=0.2898 right_y=0.0007 right_z=0.1551 right_yaw=-0.0017 right_pitch=-0.0931 right_roll=0.0009 right_gripper=0.9974 state[joint_eff]: [0.212, -1.6068, 10.1402, 1.6825, 0.0611, 0.1832, 0.0659, -0.1162, -1.6205, 6.9812, 1.6288, -0.0122, -0.0513, -0.0171] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.08, "right_z": 0.13, "right_pitch": 0.3}, "note": "White bowl now nested in the blue one (only one stack visible centre). Right arm heads toward the pink bowl's right wall, as seen ahead-left in its wrist camera."})
tool
executing move_to over 14 steps (1.4s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent notePink bowl's right wall lies between the open jaws just below the fingertips. Descending to straddle it.
move_to
right_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8001, 0.6411, -0.4374, -0.1055, -0.0944, 0.9955, 0.3149, 1.4651, 0.445, 0.6003, 0.2684, 0.0559, 0.9974] state[eef_state]: left_x=0.2918 left_y=0.005 left_z=0.184 left_yaw=0.0678 left_pitch=-0.0208 left_roll=-0.0098 left_gripper=0.9955 right_x=0.3854 right_y=0.08 right_z=0.0994 right_yaw=0.0416 right_pitch=0.1689 right_roll=-0.0358 right_gripper=0.9974 state[joint_eff]: [-0.0615, -1.7026, 6.8444, 1.917, -0.0952, -0.0317, -0.0073, 0.3624, -5.9829, 7.4462, 2.1856, 0.2125, 0.0708, -0.0171] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03}, "note": "Pink bowl's right wall lies between the open jaws just below the fingertips. Descending to straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent notePink bowl wall is between the jaws at z≈0.013. Closing to pinch it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.804, 0.6411, -0.4412, -0.1055, -0.0944, 0.9955, 0.3187, 1.8153, 0.3611, 0.9356, 0.2714, 0.0521, 0.9974] state[eef_state]: left_x=0.2915 left_y=0.005 left_z=0.1822 left_yaw=0.0678 left_pitch=-0.0283 left_roll=-0.0089 left_gripper=0.9955 right_x=0.3754 right_y=0.0778 right_z=0.0129 right_yaw=0.0482 right_pitch=0.074 right_roll=-0.0673 right_gripper=0.9974 state[joint_eff]: [-0.0205, -1.5932, 7.2274, 1.7118, -0.0659, -0.0562, -0.0073, -0.3897, -7.1179, 3.3436, 2.1856, -0.0171, -0.0171, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Pink bowl wall is between the jaws at z\u22480.013. Closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteClosed on the pink bowl's wall (reading 0.035, ambiguous). Lifting to verify the bowl comes up.
move_to
right_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8043, 0.6411, -0.4416, -0.1055, -0.094, 0.9956, 0.3256, 1.7927, 0.3725, 1.034, 0.244, 0.0772, 0.0351] state[eef_state]: left_x=0.2915 left_y=0.005 left_z=0.182 left_yaw=0.0676 left_pitch=-0.0291 left_roll=-0.0085 left_gripper=0.9956 right_x=0.3897 right_y=0.0903 right_z=0.0455 right_yaw=0.0596 right_pitch=0.1988 right_roll=0.0028 right_gripper=0.0351 state[joint_eff]: [-0.1846, -0.9778, 7.0496, 1.707, -0.105, -0.0269, -0.0073, -0.3761, -4.2735, 3.0154, 0.9255, 0.1929, -0.2173, 0.6716] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.13}, "note": "Closed on the pink bowl's wall (reading 0.035, ambiguous). Lifting to verify the bowl comes up."})
tool
executing move_to over 6 steps (0.6s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent notePink bowl rose with the gripper (its wrist-view appearance stayed fixed while the floor shifted). Carrying it ~13 cm left, high, to above the white/blue stack.
move_to
right_z0.1800right_y0.2200right_x0.4000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8059, 0.6411, -0.4416, -0.1055, -0.0944, 0.9956, 0.3256, 1.4227, 0.4591, 0.5701, 0.2382, 0.0704, 0.0354] state[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1816 left_yaw=0.0678 left_pitch=-0.0306 left_roll=-0.0086 left_gripper=0.9956 right_x=0.3851 right_y=0.0898 right_z=0.1136 right_yaw=0.0686 right_pitch=0.1913 right_roll=-0.0035 right_gripper=0.0354 state[joint_eff]: [-0.0615, -1.4154, 7.1179, 1.7118, -0.0611, -0.0611, -0.0171, -0.2256, -5.9966, 9.0735, 2.0879, 0.0611, 0.0562, 0.8083] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18, "right_y": 0.22, "right_x": 0.4}, "note": "Pink bowl rose with the gripper (its wrist-view appearance stayed fixed while the floor shifted). Carrying it ~13 cm left, high, to above the white/blue stack."})
tool
executing move_to over 11 steps (1.1s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
assistant
agent notePink bowl hangs almost exactly over the white bowl stack. Nudging 1 cm left and lowering it into the stack.
move_to
right_z0.1000right_y0.2300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8062, 0.6411, -0.4419, -0.1055, -0.0944, 0.9955, 0.7036, 1.5669, 0.8822, 0.1936, 0.5426, 0.2108, 0.0368] state[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1814 left_yaw=0.0678 left_pitch=-0.0314 left_roll=-0.0085 left_gripper=0.9955 right_x=0.3938 right_y=0.2192 right_z=0.1633 right_yaw=0.1212 right_pitch=0.1571 right_roll=-0.0326 right_gripper=0.0368 state[joint_eff]: [-0.0752, -1.2786, 7.1043, 1.6777, -0.0806, -0.0611, -0.0171, 0.212, -7.1316, 9.0325, 1.8486, 0.2906, 0.2564, 0.7057] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1, "right_y": 0.23}, "note": "Pink bowl hangs almost exactly over the white bowl stack. Nudging 1 cm left and lowering it into the stack."})
tool
executing move_to over 5 steps (0.5s)
step 209
assistant
agent noteWhite bowl rim peeks out to the left of the pink bowl, so pink is slightly right of centre. Shifting 2 cm left while lowering to seat it.
move_to
right_z0.0800right_y0.2500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8062, 0.6411, -0.4419, -0.1051, -0.0944, 0.9956, 0.7235, 1.7313, 0.7845, 0.3813, 0.561, 0.2207, 0.0374] state[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1814 left_yaw=0.0675 left_pitch=-0.0314 left_roll=-0.0087 left_gripper=0.9956 right_x=0.3894 right_y=0.2233 right_z=0.0913 right_yaw=0.1262 right_pitch=0.1006 right_roll=-0.073 right_gripper=0.0374 state[joint_eff]: [-0.0615, -1.265, 6.9812, 1.6679, -0.0757, -0.0806, -0.0073, 0.5675, -7.7744, 5.5726, 1.917, 0.1392, 0.0122, 0.6862] 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": {"right_z": 0.08, "right_y": 0.25}, "note": "White bowl rim peeks out to the left of the pink bowl, so pink is slightly right of centre. Shifting 2 cm left while lowering to seat it."})
tool
executing move_to over 3 steps (0.3s)
step 212
assistant
agent noteWrist and top views show the white stack sits ~5 cm further forward than the pink bowl. Raising and moving forward/left to get over it.
move_to
right_z0.1300right_x0.4400right_y0.2600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8062, 0.6411, -0.4419, -0.1055, -0.0944, 0.9956, 0.7715, 1.8107, 0.8181, 0.3935, 0.5808, 0.2371, 0.0397] state[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1814 left_yaw=0.0678 left_pitch=-0.0314 left_roll=-0.0085 left_gripper=0.9956 right_x=0.3854 right_y=0.2446 right_z=0.0734 right_yaw=0.1513 right_pitch=0.08 right_roll=-0.0867 right_gripper=0.0397 state[joint_eff]: [-0.1162, -1.1692, 7.2, 1.6679, -0.105, -0.0073, -0.0171, 0.1299, -8.8, 7.8291, 1.663, 0.4615, 0.1929, 0.6129] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.13, "right_x": 0.44, "right_y": 0.26}, "note": "Wrist and top views show the white stack sits ~5 cm further forward than the pink bowl. Raising and moving forward/left to get over it."})
tool
executing move_to over 5 steps (0.5s)
step 217
assistant
agent notePink bowl now covers the white stack in both views. Lowering it in.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.807, 0.6411, -0.4419, -0.1055, -0.0944, 0.9956, 0.7086, 1.8332, 1.0836, 0.1696, 0.5243, 0.189, 0.0425] state[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1812 left_yaw=0.0678 left_pitch=-0.0321 left_roll=-0.0084 left_gripper=0.9956 right_x=0.4313 right_y=0.2579 right_z=0.1219 right_yaw=0.1585 right_pitch=0.0763 right_roll=-0.0923 right_gripper=0.0425 state[joint_eff]: [-0.0205, -0.7863, 6.9812, 1.6728, -0.0904, -0.0513, -0.0171, -0.7316, -7.9658, 8.4855, 1.7558, 0.2857, 0.0122, 0.2857] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08}, "note": "Pink bowl now covers the white stack in both views. Lowering it in."})
tool
executing move_to over 3 steps (0.3s)
step 220
assistant
agent noteWhite bowl still peeks out ahead of the pink one in the wrist view, so pink sits a bit short. Sliding 2 cm forward while lowering.
move_to
right_x0.4500right_z0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8101, 0.6411, -0.4419, -0.1055, -0.0944, 0.9956, 0.7071, 1.8999, 1.0275, 0.2661, 0.5129, 0.1867, 0.0448] state[eef_state]: left_x=0.2918 left_y=0.005 left_z=0.1804 left_yaw=0.0678 left_pitch=-0.0351 left_roll=-0.008 left_gripper=0.9956 right_x=0.4288 right_y=0.2571 right_z=0.0853 right_yaw=0.1682 right_pitch=0.0504 right_roll=-0.1025 right_gripper=0.0448 state[joint_eff]: [-0.0342, -1.5385, 6.9812, 1.707, -0.0611, -0.0415, -0.0171, 0.0205, -9.1966, 5.7778, 1.8339, 0.2222, 0.0366, 0.2222] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_z": 0.075}, "note": "White bowl still peeks out ahead of the pink one in the wrist view, so pink sits a bit short. Sliding 2 cm forward while lowering."})
tool
executing move_to over 2 steps (0.2s)
step 222
assistant
agent noteThe white/blue stack is actually ~8 cm further forward than the pink bowl (it may have been nudged). Raising and reaching forward with more pitch to get over it.
move_to
right_z0.1700right_x0.5000right_y0.2700right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8101, 0.6411, -0.4419, -0.1055, -0.0944, 0.9955, 0.7013, 1.9377, 1.0122, 0.2771, 0.503, 0.1757, 0.0468] state[eef_state]: left_x=0.2918 left_y=0.005 left_z=0.1804 left_yaw=0.0678 left_pitch=-0.0351 left_roll=-0.008 left_gripper=0.9955 right_x=0.4265 right_y=0.2534 right_z=0.0632 right_yaw=0.1769 right_pitch=0.0106 right_roll=-0.1282 right_gripper=0.0468 state[joint_eff]: [-0.0479, -1.1692, 6.9675, 1.6728, -0.1099, -0.0513, -0.0171, -0.9915, -9.7162, 9.3197, 1.8339, 0.1978, 0.0415, 0.1978] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17, "right_x": 0.5, "right_y": 0.27, "right_pitch": 0.4}, "note": "The white/blue stack is actually ~8 cm further forward than the pink bowl (it may have been nudged). Raising and reaching forward with more pitch to get over it."})
tool
executing move_to over 13 steps (1.3s)
step 235
assistant
agent notePink now partly overlaps the white stack; the stack is ~3 cm right and a bit further forward. Adjusting right/forward before lowering.
move_to
right_x0.5100right_y0.2400right_z0.1500right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8116, 0.6411, -0.4423, -0.1055, -0.0944, 0.9955, 0.6514, 2.0052, 1.1507, 0.5003, 0.5003, -0.0162, 0.0483] state[eef_state]: left_x=0.2919 left_y=0.005 left_z=0.1799 left_yaw=0.0678 left_pitch=-0.037 left_roll=-0.0078 left_gripper=0.9955 right_x=0.4854 right_y=0.268 right_z=0.1282 right_yaw=0.2157 right_pitch=0.2566 right_roll=-0.1655 right_gripper=0.0483 state[joint_eff]: [-0.0615, -1.2513, 6.9675, 1.6777, -0.0611, -0.0513, -0.0073, -0.5675, -9.9214, 8.9778, 2.0733, 0.3541, 0.1001, 0.1392] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.51, "right_y": 0.24, "right_z": 0.15, "right_pitch": 0.4}, "note": "Pink now partly overlaps the white stack; the stack is ~3 cm right and a bit further forward. Adjusting right/forward before lowering."})
tool
executing move_to over 5 steps (0.5s)
step 240
assistant
agent notePink bowl now sits squarely over the white stack (white rim ring visible around it from above). Lowering it in.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8135, 0.6411, -0.4454, -0.1051, -0.0944, 0.9955, 0.6151, 2.0094, 1.1217, 0.5735, 0.4801, -0.0574, 0.0497] state[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1787 left_yaw=0.0675 left_pitch=-0.042 left_roll=-0.0073 left_gripper=0.9955 right_x=0.4935 right_y=0.2532 right_z=0.129 right_yaw=0.2152 right_pitch=0.2867 right_roll=-0.183 right_gripper=0.0497 state[joint_eff]: [-0.0205, -1.4974, 7.1453, 1.6972, -0.0366, -0.0415, -0.0073, 0.294, -10.7966, 6.8581, 2.0635, -0.0269, -0.0073, 0.1343] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08}, "note": "Pink bowl now sits squarely over the white stack (white rim ring visible around it from above). Lowering it in."})
tool
executing move_to over 4 steps (0.4s)
step 244
assistant
agent noteArm didn't descend (likely at reach limit at x≈0.49). Pulling in 1 cm while lowering to seat the pink bowl.
move_to
right_z0.0900right_x0.4800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8135, 0.6411, -0.4454, -0.1055, -0.0944, 0.9955, 0.617, 2.0094, 1.1217, 0.5735, 0.4698, -0.0574, 0.0512] state[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1787 left_yaw=0.0678 left_pitch=-0.042 left_roll=-0.0071 left_gripper=0.9955 right_x=0.4928 right_y=0.2559 right_z=0.1287 right_yaw=0.226 right_pitch=0.2855 right_roll=-0.18 right_gripper=0.0512 state[joint_eff]: [-0.0889, -1.3333, 7.0906, 1.7021, -0.0708, -0.0562, -0.0073, -0.335, -10.6188, 6.7077, 1.9951, 0.105, 0.0171, 0.1392] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.09, "right_x": 0.48}, "note": "Arm didn't descend (likely at reach limit at x\u22480.49). Pulling in 1 cm while lowering to seat the pink bowl."})
tool
executing move_to over 3 steps (0.3s)
step 247
assistant
agent noteRight arm is frozen at z≈0.13 (same IK hold seen before), but the pink bowl is centred over the white stack a few cm above it. Releasing to drop it into the stack.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8139, 0.6411, -0.4454, -0.1055, -0.0944, 0.9956, 0.617, 2.0094, 1.1217, 0.5735, 0.4698, -0.0574, 0.052] state[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1786 left_yaw=0.0678 left_pitch=-0.0423 left_roll=-0.0071 left_gripper=0.9956 right_x=0.4928 right_y=0.2559 right_z=0.1287 right_yaw=0.226 right_pitch=0.2855 right_roll=-0.18 right_gripper=0.052 state[joint_eff]: [-0.1436, -1.1282, 6.9675, 1.7021, -0.0659, -0.0317, -0.0073, -0.2256, -10.8103, 6.9675, 2.0098, 0.1001, -0.0269, 0.0806] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Right arm is frozen at z\u22480.13 (same IK hold seen before), but the pink bowl is centred over the white stack a few cm above it. Releasing to drop it into the stack."})
tool
executing move_to over 10 steps (1.0s)
step 257
assistant
agent noteThe pink bowl dropped behind the white bowl instead of into it (top view: white far, pink ~12 cm nearer). Going straight to straddle the pink bowl's right wall to regrasp it.
move_to
right_x0.3800right_y0.2300right_z0.0300right_pitch0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8139, 0.6411, -0.4461, -0.1055, -0.0944, 0.9956, 0.617, 2.0094, 1.1191, 0.572, 0.4629, -0.065, 0.9954] state[eef_state]: left_x=0.2915 left_y=0.005 left_z=0.1785 left_yaw=0.0679 left_pitch=-0.0431 left_roll=-0.007 left_gripper=0.9956 right_x=0.492 right_y=0.2567 right_z=0.1271 right_yaw=0.2367 right_pitch=0.2801 right_roll=-0.1872 right_gripper=0.9954 state[joint_eff]: [-0.0342, -1.1419, 7.0085, 1.6728, -0.105, -0.0317, -0.0171, -0.3624, -10.7145, 6.4342, 1.79, 0.0904, 0.0952, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.23, "right_z": 0.03, "right_pitch": 0.2, "right_gripper": 1}, "note": "The pink bowl dropped behind the white bowl instead of into it (top view: white far, pink ~12 cm nearer). Going straight to straddle the pink bowl's right wall to regrasp it."})
tool
executing move_to over 9 steps (0.9s)
step 266
assistant
agent notePink bowl's right wall is between the jaws (left jaw inside, right jaw outside). Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8181, 0.6411, -0.453, -0.1055, -0.0944, 0.9955, 0.746, 1.9942, 0.6418, 0.8745, 0.548, 0.0082, 0.9973] state[eef_state]: left_x=0.2908 left_y=0.0051 left_z=0.176 left_yaw=0.0679 left_pitch=-0.0541 left_roll=-0.0056 left_gripper=0.9955 right_x=0.3806 right_y=0.2313 right_z=0.0251 right_yaw=0.2684 right_pitch=0.1566 right_roll=-0.2155 right_gripper=0.9973 state[joint_eff]: [-0.0752, -1.6889, 6.9675, 1.7216, -0.0855, -0.0513, -0.0171, 0.1846, -7.5556, 4.6427, 2.0342, 0.3394, 0.1587, -0.2906] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Pink bowl's right wall is between the jaws (left jaw inside, right jaw outside). Closing."})
tool
executing move_to over 10 steps (1.0s)
step 276
assistant
agent noteClosed on the pink bowl's wall (top view shows it tilted up in the jaws). Carrying it straight forward to above the white bowl, which lies directly ahead.
move_to
right_x0.4800right_y0.2300right_z0.1300right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8185, 0.6411, -0.4595, -0.1055, -0.0944, 0.9956, 0.746, 1.9968, 0.6228, 0.8684, 0.5411, 0.0032, 0.0076] state[eef_state]: left_x=0.2898 left_y=0.0051 left_z=0.1746 left_yaw=0.068 left_pitch=-0.0609 left_roll=-0.0047 left_gripper=0.9956 right_x=0.375 right_y=0.2275 right_z=0.0167 right_yaw=0.2785 right_pitch=0.1298 right_roll=-0.23 right_gripper=0.0076 state[joint_eff]: [-0.0342, -1.1009, 6.9812, 1.7363, -0.0757, -0.0757, -0.0073, -0.0752, -8.4308, 5.4222, 1.7851, 0.188, 0.0562, 0.525] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.23, "right_z": 0.13, "right_pitch": 0.35}, "note": "Closed on the pink bowl's wall (top view shows it tilted up in the jaws). Carrying it straight forward to above the white bowl, which lies directly ahead."})
tool
executing move_to over 9 steps (0.9s)
step 285
assistant
agent noteOnly partly done: two of the three bowls are stacked. The white bowl is sitting inside the blue one; the top camera now shows just the white/blue stack at the far centre. The pink bowl is not in the stack. On the first try I let go of it from about 5 cm up because the arm stalled at full reach, and it landed behind the stack instead of in it. On the second try the gripper closed empty (reading 0.008), and the pink bowl is still on the table just in front of the stack. I ran out of my call budget before I could try again.
done
hindsight- Grasping a bowl by its side wall works: keep yaw 0 so the jaws close along y, put the wall at the jaw column (x≈110 in the wrist image) at the bottom of the frame, descend to z≈0.02 and close fully. A thin wall gives a settled reading of only ~0.025–0.04, so check the grasp by lifting and seeing the bowl rise in the top view. Don't trust the reading alone: 0.035 was a real grasp here, while 0.008 was empty. - Don't command a 90° yaw near the table. The IK threw the arm about 12 cm off target and needed about 4 re-sends to recover. - Pitch and roll are NOT pinned on this rig (±0.6 / ±1.57). A pitch of 0.3–0.4 helped reach forward, but the arm froze and ignored targets at about x≈0.35 (tool vertical, z 0.11) and at x≈0.49 (pitched, z 0.13). When it froze, raising z and pulling x back got it moving again. Re-sending the same target never helped. - The bowls started at about x≈0.40 in arm frame, and the top camera's apparent row put them about 5–8 cm nearer than they were. The left bowl's centre was at about left_y −0.11, the pink one at about right_y +0.14. The wrist-camera column matched the real y better than the top camera did. - The white/blue stack got pushed to x≈0.49, where the right arm can't get low. Stack onto a bowl that sits well inside reach (x≤0.42), or move the target bowl closer first. - Always descend until the bowls touch before releasing. Dropping from 5 cm with a pitched tool missed by about 10 cm. - Budget: 40 calls is tight. Skip extra re-sends and combine the approach with the descent once the geometry is known.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8185, 0.6411, -0.4603, -0.1055, -0.0944, 0.9955, 0.5827, 1.9823, 0.9134, 0.7681, 0.4164, -0.1436, 0.0102] state[eef_state]: left_x=0.2897 left_y=0.0051 left_z=0.1744 left_yaw=0.068 left_pitch=-0.0616 left_roll=-0.0046 left_gripper=0.9955 right_x=0.4695 right_y=0.2281 right_z=0.0996 right_yaw=0.2845 right_pitch=0.2829 right_roll=-0.2452 right_gripper=0.0102 state[joint_eff]: [-0.0752, -1.347, 7.0632, 1.7167, -0.0757, -0.0708, -0.0122, -0.4855, -11.9179, 7.5692, 2.0928, 0.0659, 0.0659, 0.2515] camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
done({"summary": "Only partly done: two of the three bowls are stacked. The white bowl is sitting inside the blue one; the top camera now shows just the white/blue stack at the far centre. The pink bowl is not in the stack. On the first try I let go of it from about 5 cm up because the arm stalled at full reach, and it landed behind the stack instead of in it. On the second try the gripper closed empty (reading 0.008), and the pink bowl is still on the table just in front of the stack. I ran out of my call budget before I could try again.", "hindsight": "- Grasping a bowl by its side wall works: keep yaw 0 so the jaws close along y, put the wall at the jaw column (x\u2248110 in the wrist image) at the bottom of the frame, descend to z\u22480.02 and close fully. A thin wall gives a settled reading of only ~0.025\u20130.04, so check the grasp by lifting and seeing the bowl rise in the top view. Don't trust the reading alone: 0.035 was a real grasp here, while 0.008 was empty.\n- Don't command a 90\u00b0 yaw near the table. The IK threw the arm about 12 cm off target and needed about 4 re-sends to recover.\n- Pitch and roll are NOT pinned on this rig (\u00b10.6 / \u00b11.57). A pitch of 0.3\u20130.4 helped reach forward, but the arm froze and ignored targets at about x\u22480.35 (tool vertical, z 0.11) and at x\u22480.49 (pitched, z 0.13). When it froze, raising z and pulling x back got it moving again. Re-sending the same target never helped.\n- The bowls started at about x\u22480.40 in arm frame, and the top camera's apparent row put them about 5\u20138 cm nearer than they were. The left bowl's centre was at about left_y \u22120.11, the pink one at about right_y +0.14. The wrist-camera column matched the real y better than the top camera did.\n- The white/blue stack got pushed to x\u22480.49, where the right arm can't get low. Stack onto a bowl that sits well inside reach (x\u22640.42), or move the target bowl closer first.\n- Always descend until the bowls touch before releasing. Dropping from 5 cm with a pitched tool missed by about 10 cm.\n- Budget: 40 calls is tight. Skip extra re-sends and combine the approach with the descent once the geometry is known."})
tool
done: Only partly done: two of the three bowls are stacked. The white bowl is sitting inside the blue one; the top camera now shows just the white/blue stack at the far centre. The pink bowl is not in the stack. On the first try I let go of it from about 5 cm up because the arm stalled at full reach, and it landed behind the stack instead of in it. On the second try the gripper closed empty (reading 0.008), and the pink bowl is still on the table just in front of the stack. I ran out of my call budget before I could try again.
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 · 13.09 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, -0.0223, -0.0257, 0.9993, -0.0181, 0.7929, 0.6018, -0.3824, -0.017, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2941 right_y=0.0013 right_z=0.1787 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9976\nstate[joint_eff]: [-0.3761, -1.5795, 10.1402, 1.8046, -0.0415, 0.0855, -0.0806, -0.4991, -1.4154, 10.2085, 1.9658, -0.0904, 0.1685, -0.2662]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17940aace9ea2a14322824a6d440fcaedb053017a58cc70bc71b00aa39d0b16d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:800c269d0a60ed0cbf98cb59640acc477403a25cbc9295fc2042344e210560ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a4bdcf1bbf56df28f2185818268352140930736ddc17aa777075eab8d07ca420",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 11.05 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, -0.0223, -0.0257, 0.9993, -0.0181, 0.7929, 0.6018, -0.3824, -0.017, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2941 right_y=0.0013 right_z=0.1787 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9976\nstate[joint_eff]: [-0.3761, -1.5795, 10.1402, 1.8046, -0.0415, 0.0855, -0.0806, -0.4991, -1.4154, 10.2085, 1.9658, -0.0904, 0.1685, -0.2662]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17940aace9ea2a14322824a6d440fcaedb053017a58cc70bc71b00aa39d0b16d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:800c269d0a60ed0cbf98cb59640acc477403a25cbc9295fc2042344e210560ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4bdcf1bbf56df28f2185818268352140930736ddc17aa777075eab8d07ca420",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013YYwAWSGfHGFucyMGAJu7V",
      "input": {
        "note": "Three bowls in a row at centre (white-ish left, blue middle, pink right). Plan: stack outer bowls into the middle one. Moving left arm above the left rim of the left bowl to pinch its wall.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.31,
          "left_y": -0.155,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_013YYwAWSGfHGFucyMGAJu7V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7712, 1.2106, 0.675, -0.263, -0.5991, -0.4816, 0.9993, -0.02, 0.7967, 0.6003, -0.3927, -0.0166, -0.0315, 0.9974]\nstate[eef_state]: left_x=0.3007 left_y=-0.1483 left_z=0.131 left_yaw=-0.033 left_pitch=-0.0622 left_roll=0.0437 left_gripper=0.9993 right_x=0.2928 right_y=0.0007 right_z=0.1749 right_yaw=-0.0037 right_pitch=-0.016 right_roll=0.0023 right_gripper=0.9974\nstate[joint_eff]: [-0.253, -4.465, 8.8957, 1.7167, -0.3736, -0.0122, -0.0806, -0.0479, -1.5385, 7.1726, 1.8046, -0.0317, -0.0513, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24f4dad68a061c831dfc825c5cf77ca6eec68ec257522a73bd36c6a139e53716",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baf7356cd15fd296b67a9aea74c7491ffee005d91a9c36f6f4d45f85e0281b29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cad8a5aabda83904acad1c7b52487e8f057853a1147780b36c9869433ba936b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 6.116 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, -0.0223, -0.0257, 0.9993, -0.0181, 0.7929, 0.6018, -0.3824, -0.017, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2941 right_y=0.0013 right_z=0.1787 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9976\nstate[joint_eff]: [-0.3761, -1.5795, 10.1402, 1.8046, -0.0415, 0.0855, -0.0806, -0.4991, -1.4154, 10.2085, 1.9658, -0.0904, 0.1685, -0.2662]",
      "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]: [-0.7712, 1.2106, 0.675, -0.263, -0.5991, -0.4816, 0.9993, -0.02, 0.7967, 0.6003, -0.3927, -0.0166, -0.0315, 0.9974]\nstate[eef_state]: left_x=0.3007 left_y=-0.1483 left_z=0.131 left_yaw=-0.033 left_pitch=-0.0622 left_roll=0.0437 left_gripper=0.9993 right_x=0.2928 right_y=0.0007 right_z=0.1749 right_yaw=-0.0037 right_pitch=-0.016 right_roll=0.0023 right_gripper=0.9974\nstate[joint_eff]: [-0.253, -4.465, 8.8957, 1.7167, -0.3736, -0.0122, -0.0806, -0.0479, -1.5385, 7.1726, 1.8046, -0.0317, -0.0513, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24f4dad68a061c831dfc825c5cf77ca6eec68ec257522a73bd36c6a139e53716",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baf7356cd15fd296b67a9aea74c7491ffee005d91a9c36f6f4d45f85e0281b29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cad8a5aabda83904acad1c7b52487e8f057853a1147780b36c9869433ba936b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WtzRhgkQvg87WNnCGkCfWj",
      "input": {
        "note": "Left bowl is directly ahead of the left gripper (centre ~x0.36, y-0.145). Rotating the wrist 90° so the jaws close along x and can pinch the bowl's near rim wall.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.145,
          "left_yaw": 1.57,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01WtzRhgkQvg87WNnCGkCfWj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4358, 2.1666, 1.7134, -1.5101, -0.8253, -2.0491, 0.9993, -0.02, 0.8024, 0.5983, -0.3939, -0.0166, -0.0345, 0.9974]\nstate[eef_state]: left_x=0.3661 left_y=-0.0234 left_z=0.102 left_yaw=1.4423 left_pitch=-0.1062 left_roll=0.0354 left_gripper=0.9993 right_x=0.2927 right_y=0.0007 right_z=0.1722 right_yaw=-0.002 right_pitch=-0.0248 right_roll=-0.0001 right_gripper=0.9974\nstate[joint_eff]: [-2.0308, -9.8393, 6.8171, -0.8767, -0.359, -0.1538, -0.022, 0.0342, -1.7162, 7.1726, 1.707, -0.0366, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d97ec39116f17fea062a0df7d460c6a298409448fc02c14c3fd81090cf2fd49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10e02f10f22c9ab81bebad11efefc24805d04a8e4d1ba6020fe3be0e6cbbdac0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:32679d5224f927f3046e4572c9f3fafdb6f6f1ae4adaaf6d24c310ac463c6421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /messages · status 200 · 4.674 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, -0.0223, -0.0257, 0.9993, -0.0181, 0.7929, 0.6018, -0.3824, -0.017, -0.0341, 0.9976]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2941 right_y=0.0013 right_z=0.1787 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9976\nstate[joint_eff]: [-0.3761, -1.5795, 10.1402, 1.8046, -0.0415, 0.0855, -0.0806, -0.4991, -1.4154, 10.2085, 1.9658, -0.0904, 0.1685, -0.2662]",
      "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]: [-0.7712, 1.2106, 0.675, -0.263, -0.5991, -0.4816, 0.9993, -0.02, 0.7967, 0.6003, -0.3927, -0.0166, -0.0315, 0.9974]\nstate[eef_state]: left_x=0.3007 left_y=-0.1483 left_z=0.131 left_yaw=-0.033 left_pitch=-0.0622 left_roll=0.0437 left_gripper=0.9993 right_x=0.2928 right_y=0.0007 right_z=0.1749 right_yaw=-0.0037 right_pitch=-0.016 right_roll=0.0023 right_gripper=0.9974\nstate[joint_eff]: [-0.253, -4.465, 8.8957, 1.7167, -0.3736, -0.0122, -0.0806, -0.0479, -1.5385, 7.1726, 1.8046, -0.0317, -0.0513, -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]: [-0.4358, 2.1666, 1.7134, -1.5101, -0.8253, -2.0491, 0.9993, -0.02, 0.8024, 0.5983, -0.3939, -0.0166, -0.0345, 0.9974]\nstate[eef_state]: left_x=0.3661 left_y=-0.0234 left_z=0.102 left_yaw=1.4423 left_pitch=-0.1062 left_roll=0.0354 left_gripper=0.9993 right_x=0.2927 right_y=0.0007 right_z=0.1722 right_yaw=-0.002 right_pitch=-0.0248 right_roll=-0.0001 right_gripper=0.9974\nstate[joint_eff]: [-2.0308, -9.8393, 6.8171, -0.8767, -0.359, -0.1538, -0.022, 0.0342, -1.7162, 7.1726, 1.707, -0.0366, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d97ec39116f17fea062a0df7d460c6a298409448fc02c14c3fd81090cf2fd49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10e02f10f22c9ab81bebad11efefc24805d04a8e4d1ba6020fe3be0e6cbbdac0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32679d5224f927f3046e4572c9f3fafdb6f6f1ae4adaaf6d24c310ac463c6421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1QgKEAgSGAI4AUIIdGhpbmtpbmcSDGf4zgYJ03wzblB8CBoMErucaphmMT37x8gKIjD9gEAvN4/5XaHGthGLc7wVRn+tTl3A4PlmocFsgEqjtvHcxGb3maSkh84wEEuSKXMq8gePf1kUajKKcsbpyflntvSJZjrP9Jm5h/pw9xZ/6jsOwLlTXTBmtlIA22Ca5XIsUw7r39y5DZTWpqpyra8TmEBVAc7tgy3NQKSLO6XCoHGMjCCsy63oGrA/aKiZbxygddLvO5BfT08wHVHMn5LydwcxRwH0u+/EyhcxvSiMBiROwWJEtddgJYaDho2nd6Nw/1sGT80iHCw9e+mjf09YMBm8OJnF5/ZqqfHurcsvE72ozbSHaOJo8VAR7PQb30m4L+EsBVNz0HD/bYByaEBwuNGJadNzZXc0rJr7JM6rihP6AYr6peEjlvd5GLEC34ui7+vM/T1chRjuayx59Q8Tc1q2RckwuCvXXnHe4W0j9CFvgyFVpwbbitB3jJxAhoO7T8YnNQSC58Iqa+Wz1gk4b2PE1SN+ztfkKSwzv74ZwxKnZZsZPO0qYKXFDC/De6f7eWujAUzBcuNFWvAMHSieCXdVaASYJJjs56mwV/LPM6Z5vQlrb1+Xl5quXPqvQ7Hf7j6ercbBycMskCRXeXLAV0AvwOW+ZTKZt6rA24Yct0nTlbYOyn461TGKNiM2wUlXQh7bXneN4Vx/Nzpme4m+4/mPj6odYHXO45LkJIa9F2S52oYmsmkPTg9j0CoHN+qjAmSpst7jMDbuiVel+BtrcwSix5wbAbHXhix1X1TuF/L6HnTIa1p1Jo0koEYPvEXFxJzZGD8dUYp2gOznG5WPbr1tFu5+RoNmB0g2m1S3HqR0DRXUA9fmnjhpENt44CWpnaq8h5McbBkUZ/3LOFdVSW+HpanezU8N0mkAIGQM7wUuANqhWIxvztGLAzm/U2B0oIW/XPdaYd+l7InDi+dmWNm3K8E3rLNfW0X66xmy5Tw1IAnT0pJEfYGKZEYS373kZ5aFSZ02Uf4lNhdmfMBvJFRI8OCTwggdCOADk4fm+Ip9Bngq23ZwHK7bGNchGQLZEU+5cuGjO/Amq9/THMStIhIAQSCgfUyWLELpwb2fGAPvzfPif8pB00JD8a51D2egBu/+DkdeF1mt6Qrq+Ik3OZV2RmtgxUiPFoLCRgR9yojswBvUtDqDY3gDqq8BXyMbts0IAQRdBdI/6g4G6At0UU3fMY5t2oGlxUFtpaZQWgU+v65rTZ98n248sIFH0rw5zQgXmoqPyrI72A8Mj5oljrS3i5wD6xXCgjmggIc0hDl1F8x+3DVfOfQgjqncCDj85+B7sjoCGPrd67/t1INFpA/p5grAJoVW2lirEoCicWDkBcjPbZ4nWphbt2EYTqaVJJGrpxCG3IP5Tg3p7HMeXz+j4smA1+nH7CgfVUeWtfOCV7cLjk6FHrDe4xui2fhM3KPzmRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NhYQW3et27XNPYZS1KVRzi",
      "input": {
        "note": "The 90° yaw sent the arm off target (readback y=-0.02, x=0.37) and hides the left bowl. Returning to yaw 0 above the bowl at a safer height to recover.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.145,
          "left_yaw": 0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01NhYQW3et27XNPYZS1KVRzi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6132, 1.7657, 1.3041, -1.1011, -0.8726, -1.6115, 0.9993, -0.02, 0.8082, 0.5957, -0.3965, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3404 left_y=-0.0697 left_z=0.1322 left_yaw=0.9656 left_pitch=-0.1264 left_roll=-0.0317 left_gripper=0.9993 right_x=0.2923 right_y=0.0007 right_z=0.1689 right_yaw=-0.0018 right_pitch=-0.0359 right_roll=-0.0002 right_gripper=0.9974\nstate[joint_eff]: [-0.1162, -7.8564, 5.4085, 0.3346, -0.7009, 0.2418, -0.0171, -0.1162, -1.7436, 7.2684, 1.7314, -0.022, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be22734f27be0bb49bd2edcb910e8bf8b05494d7724a80d66398f51a9fa72194",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c3dbd22fec6bc6baa36c46bab89d4a39d68039e571961899ff2a2b4b8c74665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8542a536f6efe8483700a1a35a57a92e23697ab569ccccbae22fd29f76cb2954",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 4.48 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]: [-0.7712, 1.2106, 0.675, -0.263, -0.5991, -0.4816, 0.9993, -0.02, 0.7967, 0.6003, -0.3927, -0.0166, -0.0315, 0.9974]\nstate[eef_state]: left_x=0.3007 left_y=-0.1483 left_z=0.131 left_yaw=-0.033 left_pitch=-0.0622 left_roll=0.0437 left_gripper=0.9993 right_x=0.2928 right_y=0.0007 right_z=0.1749 right_yaw=-0.0037 right_pitch=-0.016 right_roll=0.0023 right_gripper=0.9974\nstate[joint_eff]: [-0.253, -4.465, 8.8957, 1.7167, -0.3736, -0.0122, -0.0806, -0.0479, -1.5385, 7.1726, 1.8046, -0.0317, -0.0513, -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]: [-0.4358, 2.1666, 1.7134, -1.5101, -0.8253, -2.0491, 0.9993, -0.02, 0.8024, 0.5983, -0.3939, -0.0166, -0.0345, 0.9974]\nstate[eef_state]: left_x=0.3661 left_y=-0.0234 left_z=0.102 left_yaw=1.4423 left_pitch=-0.1062 left_roll=0.0354 left_gripper=0.9993 right_x=0.2927 right_y=0.0007 right_z=0.1722 right_yaw=-0.002 right_pitch=-0.0248 right_roll=-0.0001 right_gripper=0.9974\nstate[joint_eff]: [-2.0308, -9.8393, 6.8171, -0.8767, -0.359, -0.1538, -0.022, 0.0342, -1.7162, 7.1726, 1.707, -0.0366, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6132, 1.7657, 1.3041, -1.1011, -0.8726, -1.6115, 0.9993, -0.02, 0.8082, 0.5957, -0.3965, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3404 left_y=-0.0697 left_z=0.1322 left_yaw=0.9656 left_pitch=-0.1264 left_roll=-0.0317 left_gripper=0.9993 right_x=0.2923 right_y=0.0007 right_z=0.1689 right_yaw=-0.0018 right_pitch=-0.0359 right_roll=-0.0002 right_gripper=0.9974\nstate[joint_eff]: [-0.1162, -7.8564, 5.4085, 0.3346, -0.7009, 0.2418, -0.0171, -0.1162, -1.7436, 7.2684, 1.7314, -0.022, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be22734f27be0bb49bd2edcb910e8bf8b05494d7724a80d66398f51a9fa72194",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c3dbd22fec6bc6baa36c46bab89d4a39d68039e571961899ff2a2b4b8c74665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8542a536f6efe8483700a1a35a57a92e23697ab569ccccbae22fd29f76cb2954",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgAkKEAgSGAI4AUIIdGhpbmtpbmcSDBh2kgAa2hhKyH706RoM3EmX2yOTDzEzVJMtIjAdAuNUIjNbIry9l8pxSDl8Hai32eWL393oH2oXZu731dVdxn3jXz2IhOYwu7/JzMoqnQhgfx/3c2vmGZujeoj56BAwA+IdLIv4DU4uX2Wq8bWUMtr3Ijk4gRyhp/eeiu4DCqDKTop8mTJLyKClD0gSgpSQQ9TTyVeOASuP6XivRdTBC+gv72lOxqqcIPfzZlCJsVQOcPFIwXGCc62EPDrv3smtBBdWVVfc4IFc6ItWRKDT310ILcukbJbAlF2yy0asUaNqc9YDvvh/Ufj3xiftnGiXPHclsIdKW6z62ZPZ61cKfZcK459R2FVZQKDIB0UtK64+dRQocyzyfDN268xuQ34yZhSl+Yoj/z2FAypAqhGKZ5tJGO/b447bPnqJ7vradqkxccRFiE44fk5Gg+D+GLb3YtJaM4x48j0K4nzYMbte5FuouXOs759qWb9Lcv+/vKiv3BFXigoQJfjPME4ED8Kg884clzPbaQtkRpG8H1UpEXnvQQezChJbeSej9/Nmh02U2P69zjvEnvgTVFuD31IGl5Mspzh7coUnb2yqDnvD7CzdlkWm3Ew8AYoUoNcC2Gs0sT1yLgxwcUV6ma6jrLmVmuRwHLe4zZ2SmuntH7j1Y7jaeBP6m3YJ6R59Xh5h6u6yG9/C4vqQt44hNlr49+XCW4U0H0xffHkF/RP3R+owSfDSL1JwrCw1rYFjIUCjWcEMCsKwRLg54RTlPNvqA3+9+5k65hnAa3lHeUFvwLUPgVhi0xVBV2Of7d6CKy1VekSEWlSjCUPYsreYR9JrQmAXgl9khz5Z8TpxHUViE65MZgBUATEDQksq2AxPj5qODu94R72VkTbJfQUwTDrCkz/EIOu4YXMOAHPGNn3ArxMBLYNpZYy+cD6jI1w0gltCZpxPPAC9z9HSBo1cS+kZGQZawRf5mVuhcrAnXggwD/qfIQ3MtlmvVO9RV3gamnGo+g6l9z47er6cGGrm4P0GwpxQDNQU07uW5znMwspfZWXFqAawYDteXmkMSoDcI68VBApJ95H+TZWxDML7vIggZrKasmV16FUWB+8XXsD8PJJt4sWB2mY0zcFFS43g2uKC6BNnFvuO8v9XBz+p1wkB0ejlcLuGEXETMRaTs22vlGb7qzgvtpuccdvldSNrnKPuc/9xMc/SehWYhaQPgW9bEAqVFPwsQY9qK2UR6aUInJtu+ZRaY1mCWCNT+ZNHmYyZ9iEG7OYgVa74BbV+mD0LuVQboDNTCvfKSDrvNqlPZ9QkXJ1Atz97WIT2kamag4X0KSPwySeU29XcQnp/aUdmPRXj9Hj9w/N+u+yH2huHyFbBxCnqmI7K7niYxS+jUyGCCzh0xw0qVmg7kcbZdA0+6iuXafYr8CMIFCM1bAVC2T30C27gcEUJ7cJPfErc0ujCi5dTbUyDUIlWrQpJGbfhJuX1c00WgRWrRTpVnDFCfBOuxgyEKSlfXFkTAfH5TuMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018YTJwC4iBvyJxB15GGJpk2",
      "input": {
        "note": "Motion was rate-clamped and hasn't finished; re-sending the recovery target (yaw 0, above left bowl).",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.145,
          "left_yaw": 0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_018YTJwC4iBvyJxB15GGJpk2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7422, 1.2686, 0.8856, -0.7635, -0.614, -1.2106, 0.9992, -0.02, 0.8143, 0.5945, -0.4049, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.2771 left_y=-0.1111 left_z=0.1328 left_yaw=0.4568 left_pitch=-0.2832 left_roll=-0.2044 left_gripper=0.9992 right_x=0.2913 right_y=0.0007 right_z=0.165 right_yaw=-0.0018 right_pitch=-0.0515 right_roll=0.0001 right_gripper=0.9974\nstate[joint_eff]: [0.253, -3.7538, 8.3487, 1.79, -0.3346, 0.2271, -0.0171, -0.0342, -1.4291, 7.1043, 1.8046, -0.0269, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fb4268a4b3d5b416837fc5eddc540263cb99a7378f8959aacd79b6e1f41c4bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:611a57955619432cc2f59b2403f92ddf8b79ea477c4280dd76bec61f0a0930d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c217acd4902abd88fb64e40baf012aff8a7f58c1ec4959d8d786b47aa3978b21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 5.434 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]: [-0.4358, 2.1666, 1.7134, -1.5101, -0.8253, -2.0491, 0.9993, -0.02, 0.8024, 0.5983, -0.3939, -0.0166, -0.0345, 0.9974]\nstate[eef_state]: left_x=0.3661 left_y=-0.0234 left_z=0.102 left_yaw=1.4423 left_pitch=-0.1062 left_roll=0.0354 left_gripper=0.9993 right_x=0.2927 right_y=0.0007 right_z=0.1722 right_yaw=-0.002 right_pitch=-0.0248 right_roll=-0.0001 right_gripper=0.9974\nstate[joint_eff]: [-2.0308, -9.8393, 6.8171, -0.8767, -0.359, -0.1538, -0.022, 0.0342, -1.7162, 7.1726, 1.707, -0.0366, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6132, 1.7657, 1.3041, -1.1011, -0.8726, -1.6115, 0.9993, -0.02, 0.8082, 0.5957, -0.3965, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3404 left_y=-0.0697 left_z=0.1322 left_yaw=0.9656 left_pitch=-0.1264 left_roll=-0.0317 left_gripper=0.9993 right_x=0.2923 right_y=0.0007 right_z=0.1689 right_yaw=-0.0018 right_pitch=-0.0359 right_roll=-0.0002 right_gripper=0.9974\nstate[joint_eff]: [-0.1162, -7.8564, 5.4085, 0.3346, -0.7009, 0.2418, -0.0171, -0.1162, -1.7436, 7.2684, 1.7314, -0.022, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.7422, 1.2686, 0.8856, -0.7635, -0.614, -1.2106, 0.9992, -0.02, 0.8143, 0.5945, -0.4049, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.2771 left_y=-0.1111 left_z=0.1328 left_yaw=0.4568 left_pitch=-0.2832 left_roll=-0.2044 left_gripper=0.9992 right_x=0.2913 right_y=0.0007 right_z=0.165 right_yaw=-0.0018 right_pitch=-0.0515 right_roll=0.0001 right_gripper=0.9974\nstate[joint_eff]: [0.253, -3.7538, 8.3487, 1.79, -0.3346, 0.2271, -0.0171, -0.0342, -1.4291, 7.1043, 1.8046, -0.0269, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fb4268a4b3d5b416837fc5eddc540263cb99a7378f8959aacd79b6e1f41c4bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:611a57955619432cc2f59b2403f92ddf8b79ea477c4280dd76bec61f0a0930d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c217acd4902abd88fb64e40baf012aff8a7f58c1ec4959d8d786b47aa3978b21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpgcKEAgSGAI4AUIIdGhpbmtpbmcSDHOKW9+PQ4Z8hpW7gxoMW+HtKZMrNeDHtPIzIjB3JuUrI6dAYFZGk1j87E1M3P2cDlDdbK/IIRDeLelDOCObl2Cgy7IKlcwU6QVLGGIqwwbyEH1d1t3RHVl3QzLt+PqjgBdHBYyEY+MOzsRo3CIjyT3WRd4UxUzY0Rm22geeaP7LarVvsydFbVMlPoDuBdkZtGtnJjUzwjag1sKaxN34uPo+0L/IyQNXsAr3WoR5W1QxgcAgvokI7j/e2+hqJUTfCWVCyZ6gBMetOus6B2ftfe7cjvKdCh9mQW+ABtM39qM2S5DCBNBPItoqUUJOOW1G0waelDSEjktB2zdIDmv8fIE7iUFhktEPZBJb4yg71449vnDbbbs/wiPV/StpPyUz7e25u59UzKYxonVumtw/DeFWOkCW8y1BxYKFVc+30vG7MnMEIXEp3hldEkQyzxPYmZBywnuJ9iyY3eeF81cZPE9PrkvBYrPIjxsJhKZFNlKZpttaVU7HZsiDHMBQtWf/rFML6y4inSXfNADQdnOwMKRyKZjun8qZ3IDNyK8K8iLQ26y33SJKhrMJW4ERjq1UNkzyOICWvroT5QcXJ8OTZfulsZtfFadyJuOSwzlMC5eV9QD1VWZQznrY9FRCd6GcXlRA9r8kjre89+dSLHIk34AHn7Xxf5KOGmk7kbK4x0E6/3j+/5sry+0Psp6X58T9ffBHWRy1rUqBAt+XUe24O/ZjgWGT36SjpijZ/crmBQT+R2CUJ/xO+JdGQMtf6qQphWKahoEHhEzhBiDFeLpIbpM5aNQOFH55y7BvEkQ6Hkb1J5W7aVoL50y5DkPw6tp7Sf4rcYjP+9AZCe/LW/pUYLTlbw8rV/og++ul6y3KeUhuO51BDNCQ/jjbSURVHXkPS4z/ZSWha0j5c0Us43/XLzL8JEIcnvqnIqfd0YDfAWsighyKlWBo5flAFiFoSPLlJk5pJPIaHJmNd1v5qwBxh4Fe7FjJyIDb7X9LAALaxUsR7h/Pt/twEIRXaMK330xp+Nuv/mFqcjidFUjMAhqA/UX2HN6Vx4W8RwSX07N97RnGUnau5jhQTddhq2/ACF5I7KqGY4dvgZJQSJo9OutXN4EXtK6cGLunQzSyUa1XnbBETyoU24Lli1vRVoXtQb3FsuD3KhQ/Oh0myzDcqV8LzI9pRiSqFhbIltyTaCjkXz+uIi5SaIhmxcpQMKRZEfDL3oM0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YEJ9cmmpjMnwjQL7BAMnps",
      "input": {
        "note": "White bowl intact at left, blue middle, pink right. Arm still settling back from the yaw excursion; re-sending with pitch/roll explicitly 0.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.3,
          "left_y": -0.145,
          "left_yaw": 0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YEJ9cmmpjMnwjQL7BAMnps",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7612, 1.2598, 0.8719, -0.7029, -0.6254, -1.0752, 0.9992, -0.02, 0.8165, 0.5945, -0.4145, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.2817 left_y=-0.1206 left_z=0.1371 left_yaw=0.3554 left_pitch=-0.2389 left_roll=-0.1583 left_gripper=0.9992 right_x=0.29 right_y=0.0007 right_z=0.1625 right_yaw=-0.0018 right_pitch=-0.0633 right_roll=0.0003 right_gripper=0.9974\nstate[joint_eff]: [-0.0068, -4.9846, 6.8718, 0.9597, -0.4713, -0.0855, -0.0073, -0.1709, -1.0462, 6.9949, 1.8339, 0.0024, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffbe9a76ecb2f8a59c9f011f5392e8c65352f4f8c78f184c9c7f80873b817883",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:060d9de6541eab2398522b33f4ac52c44e8b719c91fe57a0e4c443f5a5bfbb90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2b5f715b42b0cd9654907f457f5c3f68a22e74899d67ac757a8b69133c4c4fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 9.9 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]: [-0.6132, 1.7657, 1.3041, -1.1011, -0.8726, -1.6115, 0.9993, -0.02, 0.8082, 0.5957, -0.3965, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3404 left_y=-0.0697 left_z=0.1322 left_yaw=0.9656 left_pitch=-0.1264 left_roll=-0.0317 left_gripper=0.9993 right_x=0.2923 right_y=0.0007 right_z=0.1689 right_yaw=-0.0018 right_pitch=-0.0359 right_roll=-0.0002 right_gripper=0.9974\nstate[joint_eff]: [-0.1162, -7.8564, 5.4085, 0.3346, -0.7009, 0.2418, -0.0171, -0.1162, -1.7436, 7.2684, 1.7314, -0.022, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.7422, 1.2686, 0.8856, -0.7635, -0.614, -1.2106, 0.9992, -0.02, 0.8143, 0.5945, -0.4049, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.2771 left_y=-0.1111 left_z=0.1328 left_yaw=0.4568 left_pitch=-0.2832 left_roll=-0.2044 left_gripper=0.9992 right_x=0.2913 right_y=0.0007 right_z=0.165 right_yaw=-0.0018 right_pitch=-0.0515 right_roll=0.0001 right_gripper=0.9974\nstate[joint_eff]: [0.253, -3.7538, 8.3487, 1.79, -0.3346, 0.2271, -0.0171, -0.0342, -1.4291, 7.1043, 1.8046, -0.0269, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7612, 1.2598, 0.8719, -0.7029, -0.6254, -1.0752, 0.9992, -0.02, 0.8165, 0.5945, -0.4145, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.2817 left_y=-0.1206 left_z=0.1371 left_yaw=0.3554 left_pitch=-0.2389 left_roll=-0.1583 left_gripper=0.9992 right_x=0.29 right_y=0.0007 right_z=0.1625 right_yaw=-0.0018 right_pitch=-0.0633 right_roll=0.0003 right_gripper=0.9974\nstate[joint_eff]: [-0.0068, -4.9846, 6.8718, 0.9597, -0.4713, -0.0855, -0.0073, -0.1709, -1.0462, 6.9949, 1.8339, 0.0024, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffbe9a76ecb2f8a59c9f011f5392e8c65352f4f8c78f184c9c7f80873b817883",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:060d9de6541eab2398522b33f4ac52c44e8b719c91fe57a0e4c443f5a5bfbb90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2b5f715b42b0cd9654907f457f5c3f68a22e74899d67ac757a8b69133c4c4fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS5QkKEAgSGAI4AUIIdGhpbmtpbmcSDDlVsgLh6bi1DPjGHhoMCCSI887CiPWx2nL+IjBMPqMWdVT3Qck+Jc55Ef6EHlEQQZKvhbC1QRNAtYDCVFictC75H8wDU8FkO0HmikEqggkiAoR+05S9PzzQH0H2c4sHWc4qB8qyY3oPEOpzza1b/hIKyIm5ucNqrzCVVK7yXNOXAOCFbaUuTDOTo/7FIT7brwKqT6ECQCFdy6UBysBn+J73UxYNKknY0VcqV9GgPKi1fxvX4KMyPsR6ep6XTTDBlO80mWWFGd0Ha/eHE0E9ddW1zXQJjBW7Ww+AMXnff5x1zZMe5ejzuyPNKULQLF60MLSmoS4PeKmw9N5x7ZZOG2p/BIqFXxUUaulvhFZEQ+70QDxI0TFblYn76+D4hp/vYEm9q8afzicwK2Dqa4qnjv9+IUFIKhXf1XUY9ntI+k2mBFqcNCwwwU/e0hoMNGY4gFThKw4qcip0ujpNC1sObhO+BNowNK0fim7z0AHv18f10G/BwApd18Lg1whzmURMgytJkzxoWa8ONypGhXCSn7X6JElxPgHAMEleYoflMG/4YQLMPRRAzqczUGVqRgGaC5sjdaOG01W+6qftb9p8Fixbt41Fz+4BL0LKcprHHz1fOWX1SU4LvQcRPOP7iVq+VTN9nFECww/AwN6X4CjB7UnZRapw/ACJukWvE7/flXGOvHPsmSzf0+/22G186qyzBE/JkwoSFQYwGQuAyFQI9A591Ohhg5/xZJFcXKCXUOD4+whk4HQZFiwVfXkkjI54f8bnNa1w5YQmrlYH5NG8gDBAW9PvLJ9RM3rVasSDS+GyrNVvCY0Fh3VfIvqekTCapnKLbqRAXzEj3fcqHrL/Vg94N2/cgKTmLEKjQbcSPjXd64Mh3lYnzRSKqXJUzkkrYouuuFO22MdupwouKczDlJ7A2glfxKEUQzF+uzDcfVEt/OZhr7yzEJb4Vt4Z7LZpvnS6UQzZEJYZ6HLFktXPtgd/0JOtw+KQ16bvvHCZpncSBDw1cWOf6AlNJHrrzi37cy/NUoGArotu9WRWr2R5ANJYczkqARf7zhL8X0/8KQUN5UgYh/D/m6vUa1858mhvVFtWlT331ew6gjOU2jnDf+FSHcSY0gx1HWvZQU8BABobmwGT5ujSAJ/iGechnrqovspUkKZQXnwmRXeGEYhq2lze+6C/3q8i9p7dutKLAXOKjdtEooGUgdHIpMYzrUGeDZxMYia/3rFaL+qbZDlGTGUJomEE2P1G4g26yBYNqctH1QHowmT2xIyFnQc9LdXWKg86N8HmhPz81FzMhCz50VOvGZK4/nZweq02k+0NSIgRtmPoLTYw8zcqRdAGc3d7FVTdMyXBOU9fRkRmlVpcViO3ca/Bqc5Kc5Jw8eX0so8cTK+xNRmP9iN87f0t9R36u96KHHuGN0jNUDwy7Gr47cAN6fBG2CqzGRs0Io+M76M9nYZkgAo6fJAsa5r6nSvp308cuyu5FfXSemkI7wYoD+0B9sIKqL7BQ8o4Vu2TpQ59YjmCdJXyeqxIeeVqLebZOajCvx5/adxRAJ2ul3RDjDNjkGWihcLnwzJT3bS2U2l8ZElca6DJF0WcckXyiNf+Kj/jozHHC5WUnOR8Qg3QBFI0F+FyE45/f8XhIeeTj7Ew5xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NEjq2XWe6wUJpvyyygYR8N",
      "input": {
        "note": "Still converging (yaw 0.36 residual). Re-sending neutral orientation near the white bowl.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.3,
          "left_y": -0.15,
          "left_yaw": 0,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01NEjq2XWe6wUJpvyyygYR8N",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7986, 1.1847, 0.7269, -0.3927, -0.6479, -0.6357, 0.9992, -0.02, 0.8173, 0.5945, -0.4152, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.2925 left_y=-0.1424 left_z=0.1437 left_yaw=0.0604 left_pitch=-0.0707 left_roll=-0.0181 left_gripper=0.9992 right_x=0.2899 right_y=0.0007 right_z=0.1621 right_yaw=-0.0018 right_pitch=-0.0648 right_roll=0.0003 right_gripper=0.9974\nstate[joint_eff]: [-0.4308, -5.135, 6.7761, 1.7509, -0.3492, 0.2369, -0.0122, -0.1846, -1.4427, 7.0359, 1.7314, -0.0464, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c3a4c3b4dd026ac6449c3d4e1c17b80104f2e6b9ef7b358ac8b0aa0878bd6b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4da7655f56dbbcc38f0c62a4539ca61c7c2e8698a85df5bc3e4e441995f732d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5525e72fd424bdf4b105b938de396fd5f6e8627ca17658e1a86ebb645fdd3028",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 18.18 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]: [-0.7422, 1.2686, 0.8856, -0.7635, -0.614, -1.2106, 0.9992, -0.02, 0.8143, 0.5945, -0.4049, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.2771 left_y=-0.1111 left_z=0.1328 left_yaw=0.4568 left_pitch=-0.2832 left_roll=-0.2044 left_gripper=0.9992 right_x=0.2913 right_y=0.0007 right_z=0.165 right_yaw=-0.0018 right_pitch=-0.0515 right_roll=0.0001 right_gripper=0.9974\nstate[joint_eff]: [0.253, -3.7538, 8.3487, 1.79, -0.3346, 0.2271, -0.0171, -0.0342, -1.4291, 7.1043, 1.8046, -0.0269, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.7612, 1.2598, 0.8719, -0.7029, -0.6254, -1.0752, 0.9992, -0.02, 0.8165, 0.5945, -0.4145, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.2817 left_y=-0.1206 left_z=0.1371 left_yaw=0.3554 left_pitch=-0.2389 left_roll=-0.1583 left_gripper=0.9992 right_x=0.29 right_y=0.0007 right_z=0.1625 right_yaw=-0.0018 right_pitch=-0.0633 right_roll=0.0003 right_gripper=0.9974\nstate[joint_eff]: [-0.0068, -4.9846, 6.8718, 0.9597, -0.4713, -0.0855, -0.0073, -0.1709, -1.0462, 6.9949, 1.8339, 0.0024, -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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7986, 1.1847, 0.7269, -0.3927, -0.6479, -0.6357, 0.9992, -0.02, 0.8173, 0.5945, -0.4152, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.2925 left_y=-0.1424 left_z=0.1437 left_yaw=0.0604 left_pitch=-0.0707 left_roll=-0.0181 left_gripper=0.9992 right_x=0.2899 right_y=0.0007 right_z=0.1621 right_yaw=-0.0018 right_pitch=-0.0648 right_roll=0.0003 right_gripper=0.9974\nstate[joint_eff]: [-0.4308, -5.135, 6.7761, 1.7509, -0.3492, 0.2369, -0.0122, -0.1846, -1.4427, 7.0359, 1.7314, -0.0464, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c3a4c3b4dd026ac6449c3d4e1c17b80104f2e6b9ef7b358ac8b0aa0878bd6b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4da7655f56dbbcc38f0c62a4539ca61c7c2e8698a85df5bc3e4e441995f732d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5525e72fd424bdf4b105b938de396fd5f6e8627ca17658e1a86ebb645fdd3028",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ERYYfaqJxNBUEzGX4krRrX",
      "input": {
        "note": "Arm back to neutral; white bowl is just ahead (est. centre x0.35, y-0.14). Moving above its left wall so the jaws (closing along y) can straddle the rim.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.35,
          "left_y": -0.09,
          "left_yaw": 0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01ERYYfaqJxNBUEzGX4krRrX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4698, 1.2335, 0.5774, -0.0704, -0.4408, -0.3546, 0.9992, -0.02, 0.8185, 0.5945, -0.416, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3347 left_y=-0.0814 left_z=0.1067 left_yaw=0.0759 left_pitch=-0.0728 left_roll=0.0149 left_gripper=0.9992 right_x=0.2899 right_y=0.0007 right_z=0.1617 right_yaw=-0.0018 right_pitch=-0.0667 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [0.2393, -4.0684, 6.4479, 1.7998, -0.2418, 0.2271, -0.0122, -0.0205, -1.4154, 7.1043, 1.6532, -0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa06feca50b425c8e51053474d9499d112441314da53b88a6350bf2aed029f61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68ca3a5b448d771b81e236292e0929c7de8d333eeeb8322a345e70b9d15064bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2915f5057598bbe23f6510cc07a91122a170cbeb20592f2fc75626fa8199c8d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 4.3 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]: [-0.7612, 1.2598, 0.8719, -0.7029, -0.6254, -1.0752, 0.9992, -0.02, 0.8165, 0.5945, -0.4145, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.2817 left_y=-0.1206 left_z=0.1371 left_yaw=0.3554 left_pitch=-0.2389 left_roll=-0.1583 left_gripper=0.9992 right_x=0.29 right_y=0.0007 right_z=0.1625 right_yaw=-0.0018 right_pitch=-0.0633 right_roll=0.0003 right_gripper=0.9974\nstate[joint_eff]: [-0.0068, -4.9846, 6.8718, 0.9597, -0.4713, -0.0855, -0.0073, -0.1709, -1.0462, 6.9949, 1.8339, 0.0024, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7986, 1.1847, 0.7269, -0.3927, -0.6479, -0.6357, 0.9992, -0.02, 0.8173, 0.5945, -0.4152, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.2925 left_y=-0.1424 left_z=0.1437 left_yaw=0.0604 left_pitch=-0.0707 left_roll=-0.0181 left_gripper=0.9992 right_x=0.2899 right_y=0.0007 right_z=0.1621 right_yaw=-0.0018 right_pitch=-0.0648 right_roll=0.0003 right_gripper=0.9974\nstate[joint_eff]: [-0.4308, -5.135, 6.7761, 1.7509, -0.3492, 0.2369, -0.0122, -0.1846, -1.4427, 7.0359, 1.7314, -0.0464, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4698, 1.2335, 0.5774, -0.0704, -0.4408, -0.3546, 0.9992, -0.02, 0.8185, 0.5945, -0.416, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3347 left_y=-0.0814 left_z=0.1067 left_yaw=0.0759 left_pitch=-0.0728 left_roll=0.0149 left_gripper=0.9992 right_x=0.2899 right_y=0.0007 right_z=0.1617 right_yaw=-0.0018 right_pitch=-0.0667 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [0.2393, -4.0684, 6.4479, 1.7998, -0.2418, 0.2271, -0.0122, -0.0205, -1.4154, 7.1043, 1.6532, -0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa06feca50b425c8e51053474d9499d112441314da53b88a6350bf2aed029f61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68ca3a5b448d771b81e236292e0929c7de8d333eeeb8322a345e70b9d15064bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2915f5057598bbe23f6510cc07a91122a170cbeb20592f2fc75626fa8199c8d3",
        "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_01VGYrkQHdu3Po6ygU4DvTBM",
      "input": {
        "note": "Wrist view shows the bowl's near rim still ahead of the fingertips and its left wall left of the jaw column. Advancing ~5 cm and shifting ~2 cm left to bring the left wall between the jaws.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.39,
          "left_y": -0.065,
          "left_yaw": 0,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01VGYrkQHdu3Po6ygU4DvTBM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4385, 1.2476, 0.5697, 0.0273, -0.3889, -0.2871, 0.9992, -0.02, 0.8185, 0.5945, -0.4183, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3474 left_y=-0.085 left_z=0.1141 left_yaw=0.0273 left_pitch=-0.0231 left_roll=0.0042 left_gripper=0.9992 right_x=0.2896 right_y=0.0007 right_z=0.1612 right_yaw=-0.0018 right_pitch=-0.069 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -4.3282, 6.4889, 1.8486, -0.0415, 0.1832, -0.0122, -0.212, -1.2103, 7.0222, 1.6777, -0.0806, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c447e3097837f33e425895a57ff02003fbc6b07e1dc8237d60c99c0c250857c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa7253a6ad21e36ca5a38a1658dfc859eadc24840e6149048b0a7bb86e1f3800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b4f24279707744c7cc55b80d8d21b884ad8d7ec39f818a53840d3393f530c98d",
        "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 · 4.125 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]: [-0.7986, 1.1847, 0.7269, -0.3927, -0.6479, -0.6357, 0.9992, -0.02, 0.8173, 0.5945, -0.4152, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.2925 left_y=-0.1424 left_z=0.1437 left_yaw=0.0604 left_pitch=-0.0707 left_roll=-0.0181 left_gripper=0.9992 right_x=0.2899 right_y=0.0007 right_z=0.1621 right_yaw=-0.0018 right_pitch=-0.0648 right_roll=0.0003 right_gripper=0.9974\nstate[joint_eff]: [-0.4308, -5.135, 6.7761, 1.7509, -0.3492, 0.2369, -0.0122, -0.1846, -1.4427, 7.0359, 1.7314, -0.0464, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.4698, 1.2335, 0.5774, -0.0704, -0.4408, -0.3546, 0.9992, -0.02, 0.8185, 0.5945, -0.416, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3347 left_y=-0.0814 left_z=0.1067 left_yaw=0.0759 left_pitch=-0.0728 left_roll=0.0149 left_gripper=0.9992 right_x=0.2899 right_y=0.0007 right_z=0.1617 right_yaw=-0.0018 right_pitch=-0.0667 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [0.2393, -4.0684, 6.4479, 1.7998, -0.2418, 0.2271, -0.0122, -0.0205, -1.4154, 7.1043, 1.6532, -0.0317, -0.0415, -0.0171]",
      "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]: [-0.4385, 1.2476, 0.5697, 0.0273, -0.3889, -0.2871, 0.9992, -0.02, 0.8185, 0.5945, -0.4183, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3474 left_y=-0.085 left_z=0.1141 left_yaw=0.0273 left_pitch=-0.0231 left_roll=0.0042 left_gripper=0.9992 right_x=0.2896 right_y=0.0007 right_z=0.1612 right_yaw=-0.0018 right_pitch=-0.069 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -4.3282, 6.4889, 1.8486, -0.0415, 0.1832, -0.0122, -0.212, -1.2103, 7.0222, 1.6777, -0.0806, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c447e3097837f33e425895a57ff02003fbc6b07e1dc8237d60c99c0c250857c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa7253a6ad21e36ca5a38a1658dfc859eadc24840e6149048b0a7bb86e1f3800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4f24279707744c7cc55b80d8d21b884ad8d7ec39f818a53840d3393f530c98d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkwcKEAgSGAI4AUIIdGhpbmtpbmcSDGawCU0NFcg8mphxZhoMoUjNQdqQ/Hkik6bQIjD4ngm0ozNmAy7c3l+TXw2nwjvfJm5bty9f/LwkEvI74JOUqDYz+cszYhZ4Q0+kK7EqsAaROKYyqV/CPLGQ41Zzma6lPOtfqpC+hC6uoJn7EWDmDzwUraL1sBYmKKRu9ESbBhCTrtCw94WxXBN/iQUIbIlunJMPlw48DELi67FSBYdGka0lBHL6NUN9U7C//Wrh/rSYye7HXKxl1tcoB0jFUJC5zQeAoRV2xvWvezPnF58W0FB/MZow3sJe50M6IzYJiHcqjJXax2FQ6rCgrQEU/EKIpVDif76IUJk1GulVcOn+JpKOEvMNGRGhsrg9gBNU4B/QZEGene4bLWVMArvOoxbla5tvtF0vnbEsJcTOhiwiK3XoxRbEsWPCfMO25mryNi/of2z8T1MHK8bzFuYlPbLqaqaXL0dBlm5Mvg/VD4OiuWhvAsdCvOJaI9fkn2qoiysZTvbMBgQh60GPMCcroA8pHk61SKO4ROqSfGlK6WIr7iUsWsGnbYBHvUmjgAIbh3jPqZ06xvZ0vffywBwO7jQdJ+9fOLeRKT/5yBDQPtzGH7OH4IaHNkv66PPZQmHaQRjF5QJD3/BF8cYJqogbuQ/eCCu3p6CqQRYgT3oMrbyy7O7OSilVMq2bwtJkQfdb/9ANV2qyzxaYfHopvLjvlQWnxFC8llYmRoKJJS29tWOPLgwK+Zbo+CnaCoBXeYi2z03DhAxl5Z9do6lFMqGApXHaZdj6uTFwmWpvis9dGEgfZGUJNP3gwRwJdvhw2lvkUT8ZQHNhOBd4DHC6u2xTwaCnK6o8dSRL7x6zxyt5MvFfiT6UCUi66hy6QQi7Q6dUoMa9xoWCV54Phabk3gNmyEfB+xUyEFH5tEZ5yL/oV3a7In0GjEfbOUAG3Y60+QlWEHMc5bYMzX6mdxZhUVIbYaS9n4/9NTf2AEdI78319PKGuoDMPSKW7E+zjxsHLnSksIaWGqnhKilv9NAlVEYzugSOEbvv7YpVbEn6cp8EWjc4g7T0QNk9pyZ3kxEonQXMplsYXd5IS2/Rmi6pZfN40r4acjUzubYhaEZz6YtYzAbvI7NKq92lY6/RXOFUHdq+/ozR6Pi0Y8jK51vvU7DPZQN9KFnDnYTkfvB8z+ee4wOrVulaHg9Rnv84p0X5P6wZZCcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A6K8YurbZByQQR2xNQnjHd",
      "input": {
        "note": "Arm fell short of the target (x0.347 vs 0.39); re-sending the same approach above the bowl's left wall.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.39,
          "left_y": -0.065,
          "left_yaw": 0,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01A6K8YurbZByQQR2xNQnjHd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4385, 1.2476, 0.5697, 0.0273, -0.3885, -0.2871, 0.9992, -0.02, 0.8185, 0.5945, -0.4187, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3474 left_y=-0.085 left_z=0.1141 left_yaw=0.027 left_pitch=-0.0232 left_roll=0.004 left_gripper=0.9992 right_x=0.2895 right_y=0.0007 right_z=0.1612 right_yaw=-0.0018 right_pitch=-0.0694 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [-0.212, -4.5744, 6.4889, 1.8779, 0.0171, 0.1685, -0.0122, -0.2256, -1.3333, 6.9812, 1.6972, -0.0757, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5b7d2d7997e89a2a3d71808dc15b11074ceae076b2e719d659e7760dc83be67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48a02323524d2ca3d77b03e3fb4fb7ff7cfee6e252928b3f65ea379c424a8af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c68816f12b6f81f1715238b34598275becafcf9b52a5754439fca6cd2987d207",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 4.031 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]: [-0.4698, 1.2335, 0.5774, -0.0704, -0.4408, -0.3546, 0.9992, -0.02, 0.8185, 0.5945, -0.416, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3347 left_y=-0.0814 left_z=0.1067 left_yaw=0.0759 left_pitch=-0.0728 left_roll=0.0149 left_gripper=0.9992 right_x=0.2899 right_y=0.0007 right_z=0.1617 right_yaw=-0.0018 right_pitch=-0.0667 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [0.2393, -4.0684, 6.4479, 1.7998, -0.2418, 0.2271, -0.0122, -0.0205, -1.4154, 7.1043, 1.6532, -0.0317, -0.0415, -0.0171]",
      "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]: [-0.4385, 1.2476, 0.5697, 0.0273, -0.3889, -0.2871, 0.9992, -0.02, 0.8185, 0.5945, -0.4183, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3474 left_y=-0.085 left_z=0.1141 left_yaw=0.0273 left_pitch=-0.0231 left_roll=0.0042 left_gripper=0.9992 right_x=0.2896 right_y=0.0007 right_z=0.1612 right_yaw=-0.0018 right_pitch=-0.069 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -4.3282, 6.4889, 1.8486, -0.0415, 0.1832, -0.0122, -0.212, -1.2103, 7.0222, 1.6777, -0.0806, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4385, 1.2476, 0.5697, 0.0273, -0.3885, -0.2871, 0.9992, -0.02, 0.8185, 0.5945, -0.4187, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3474 left_y=-0.085 left_z=0.1141 left_yaw=0.027 left_pitch=-0.0232 left_roll=0.004 left_gripper=0.9992 right_x=0.2895 right_y=0.0007 right_z=0.1612 right_yaw=-0.0018 right_pitch=-0.0694 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [-0.212, -4.5744, 6.4889, 1.8779, 0.0171, 0.1685, -0.0122, -0.2256, -1.3333, 6.9812, 1.6972, -0.0757, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5b7d2d7997e89a2a3d71808dc15b11074ceae076b2e719d659e7760dc83be67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48a02323524d2ca3d77b03e3fb4fb7ff7cfee6e252928b3f65ea379c424a8af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c68816f12b6f81f1715238b34598275becafcf9b52a5754439fca6cd2987d207",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoAcKEAgSGAI4AUIIdGhpbmtpbmcSDDgIHQPclJIvoFyTChoMhc1dYV/R6k+/8DjkIjBBYvC9Yf1nroqWZoVvAV86WxoLkA/7jfH3KuadcCccMdFjbRR0wCFZBOdwDBuPcNoqvQYr0asM9FCbxeYj0pmnQvWMevv1oMSRPUERrGc0v6hCV5KQauZyjxvXweSyuQYgHLq678SYCs0x3WM4eFdkRMkMIPUwJtFWpQz5fSQND5pHoUBDgWO20M96cZyfuvyrmgLN5xDOu/EAGqWFHEFsSpNnDKcRjPfraffEo5vs0YPQKQ+vBH+t80sDBCJoJ1vjMxqHzVxkZR/ctxIG6ViNOdWMZuOkd9ha3fP7ICi/ZQI7RR/zW/o8lM35xjA6iluSACfzW09H/bFVZT5cLnWIg7yFAKMSbu/n5/s/S5B3iZen+peGEYRcE+w21s7Di0CJtYzRUw67YTiVFjdiwGzldWDXkJaSkrlwSmd1PJtnym0APVgOEr0t/2xD8RSu3nsI4bzN3EroKAKUIHhhUSaIvBSPFVWH+MQbbwA7Nj+koC1Y615dNc6zRbHaDdnzX0ENIeD9/u8wRBu0E/C0vCWMP/LRfK9I7Lb6QXwNURZS7gyos4z9qMovQ9hOE/alDRF3EVe1dyKjO+z3Tklj3TPdW8MSiZ685sfPV9yWgOs/dKx0NwkMuzcytWc325uUCZmovN5eEmn1eIUIX5GF4zT/0tAL609abPwm6HOgJvlaxn6pkZMGPzHeNq0QaLggnnJvlPzzRE9OhwxwhF+J1BZ+LzFj2B24g3fELLV6qv5GNo7W/gTLAht09u6s4reltrn82fXDWcJe6/EjbPNhCi+F81zoahpSuyaXs8ANIaPsPggBraKr39dTP0fo+WxQE2IJ2E04bvnu4yJjGsqFl9Ee0lKmaSvmR/WurkCUnHrQQ9RO4ldX4snV6VVpqyzf4uOb8z43xNydkvJEK/b8Cj4J14IKtmhe7YOQnxBvOq1LAV5IhDk4StrGsQrTiS21E9Ktd/qgC9KO1+328ptMsDJL940hTm/r0JMBpuurJsQFXFS50CRxnw9LeySysFtTEEEoKCCsQzmTzDVaLCwJEHqs3/ygosniKGgy9zMT4cWHM4uXg9pMfxdLm6QupbptbPK/XON9eUhzDpdnE5Bobs81oC3FESUZ4KMGXTwy5ZxmkC4OkjHX3p34zp8jS/LuJpE/3f/6lp631FW++XZOvJiOGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012JtDz4BybWqohW52Vep6Nr",
      "input": {
        "note": "Arm is holding position and not tracking the last target; trying a smaller step forward with a little more height.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.075,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_012JtDz4BybWqohW52Vep6Nr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4385, 1.2476, 0.5697, 0.0273, -0.3889, -0.2871, 0.9992, -0.02, 0.8185, 0.5945, -0.4187, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3474 left_y=-0.085 left_z=0.1141 left_yaw=0.0273 left_pitch=-0.0231 left_roll=0.0042 left_gripper=0.9992 right_x=0.2895 right_y=0.0007 right_z=0.1612 right_yaw=-0.0018 right_pitch=-0.0694 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [-0.2393, -4.4923, 6.5026, 1.8584, -0.0366, 0.1538, -0.0122, -0.0205, -1.3197, 6.9949, 1.6777, -0.0806, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2953766d9aa1cf292a11cec7e7819c75891c0cb8d57218a3a5d743f21b83ae27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5da21c71f57fdd2f1047295c0962b815798602202e6302e49006d927fa130f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:36fa1ff1e9494710f3f06cf71daab300e7200e3c273fafc6f1bf5d8c8a109a57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 13.03 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]: [-0.4385, 1.2476, 0.5697, 0.0273, -0.3889, -0.2871, 0.9992, -0.02, 0.8185, 0.5945, -0.4183, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3474 left_y=-0.085 left_z=0.1141 left_yaw=0.0273 left_pitch=-0.0231 left_roll=0.0042 left_gripper=0.9992 right_x=0.2896 right_y=0.0007 right_z=0.1612 right_yaw=-0.0018 right_pitch=-0.069 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -4.3282, 6.4889, 1.8486, -0.0415, 0.1832, -0.0122, -0.212, -1.2103, 7.0222, 1.6777, -0.0806, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4385, 1.2476, 0.5697, 0.0273, -0.3885, -0.2871, 0.9992, -0.02, 0.8185, 0.5945, -0.4187, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3474 left_y=-0.085 left_z=0.1141 left_yaw=0.027 left_pitch=-0.0232 left_roll=0.004 left_gripper=0.9992 right_x=0.2895 right_y=0.0007 right_z=0.1612 right_yaw=-0.0018 right_pitch=-0.0694 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [-0.212, -4.5744, 6.4889, 1.8779, 0.0171, 0.1685, -0.0122, -0.2256, -1.3333, 6.9812, 1.6972, -0.0757, -0.0366, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4385, 1.2476, 0.5697, 0.0273, -0.3889, -0.2871, 0.9992, -0.02, 0.8185, 0.5945, -0.4187, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3474 left_y=-0.085 left_z=0.1141 left_yaw=0.0273 left_pitch=-0.0231 left_roll=0.0042 left_gripper=0.9992 right_x=0.2895 right_y=0.0007 right_z=0.1612 right_yaw=-0.0018 right_pitch=-0.0694 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [-0.2393, -4.4923, 6.5026, 1.8584, -0.0366, 0.1538, -0.0122, -0.0205, -1.3197, 6.9949, 1.6777, -0.0806, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2953766d9aa1cf292a11cec7e7819c75891c0cb8d57218a3a5d743f21b83ae27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5da21c71f57fdd2f1047295c0962b815798602202e6302e49006d927fa130f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36fa1ff1e9494710f3f06cf71daab300e7200e3c273fafc6f1bf5d8c8a109a57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqAcKEAgSGAI4AUIIdGhpbmtpbmcSDJOSOOen+AwAIBDPeBoMl7FNC9KpAemEL+pkIjB+w06mzfdNnXYcIQ4m+x3c+3mKFu/OCwCB/jD7s3vfBlRFsRAgynUjvQ5qSDXjD98qxQY0eRFes1pUDirtEeiz+EIoYCmxcOv7ziSz7U/pYAwNdPOpXJB3bfNEXB2zltBTqo7KIYkirJ7zYO9Dj07AgLGF1InqhGsffUVWizERZHrFB84QYZRAt1B2KYLmgDFkKFwVcIQ7l9uoA7QQ3W0DPjrk4x8iMM7k5Q6a4IPRHGU0u9JDIc0pwEoXgmbkTYWtfqC9VCbh53lUQbSMX3HJ+2gcN3X3pXnTkD3lbogH9rEwQEnqo1u9c6pm1/IB7nZKmfr7vawjEDAk9/1MQmxHAHNni/qZBnb6f1lsTthfrO46IjvlKMnYApF8+EpZGtu/VLqifeNFpcHLREniCDknFm9pOI78Z9ka93tDyGLsod+l30HQr8uykXh+B2N1W0hABDtNjeowOz1RyoY1oHSyvU/T6bPs/bFXz/GhleQQKdOPIyUkgHSLjgdjpe+cs0JL+AWUzDdQejkI4ZsaaUVXMYR4LXWzRUSbCkWpI+eyPUxPK3z3pno3uxICP0ndz4KHR+m24+FIOR3QXudiT89JjwV+JCRQsKgOJRRFxo0Vk/AuY1MxQrs+ugXh9iEPuSS7erZxaaW/t/Na46yrYSA+zBZ2BKN/+VeSznJxpt64j5EP1l09f4gaLnsnl80NDUgGTugxQEXBE7bt8JaU8lIAdmzFpxkZP/aunQMG+CCyQunMZTWuQUWzgNSbn4nEaCtCFRPVOvFhYUTlhVNq+vg2YNrAmf+KQWeysRIQ6pDkI/nOHQ3bjwBddOKRqd/2sol4pzhBqA/l17Vw0jwDWhj2+LT/I46iHTwz1RLNWOKuEwXXmE9c4++Ni0IHieEsc21Q6cxAFPEbxgfcgwDh12Ca+jl1QjzZbI9vfEvy/u4ja+kZdTXH1cpeWZH8DIGV6KAJIkuw7xqHMSRfEJfOGLN6XCh2mD2uU4y8vbpMrLRy+kqwWTPc8Fdu7fnuDjOynJLrEZDkB3OoOb2eOQlee2RKWj7lodvHYKAuWFBGzKNjkCtfZUnUQ0R0eTrN4XQpb/6gEIkE/RQFtNa0l9BruTAeHD905Lkwhon9+AjIBWemJ2Hj9vjUENBuqpez9SeGyhQVZXA6ozqyhzoVI3wC4lL49al3tIn8aPUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BMzWe6wXzJAsCUSmS4qyzx",
      "input": {
        "note": "Left arm is frozen at x0.347 and ignores forward targets; testing whether it responds to a retreat/raise.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.1,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BMzWe6wXzJAsCUSmS4qyzx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6037, 1.0367, 0.6868, -0.3222, -0.49, -0.3878, 0.9992, -0.02, 0.8204, 0.5945, -0.4191, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3071 left_y=-0.1064 left_z=0.1711 left_yaw=-0.0025 left_pitch=-0.0096 left_roll=-0.0152 left_gripper=0.9992 right_x=0.2895 right_y=0.0007 right_z=0.1606 right_yaw=-0.0018 right_pitch=-0.0717 right_roll=0.0005 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -3.2342, 9.2239, 1.5946, -0.2369, -0.0317, -0.0122, -0.335, -1.5248, 7.159, 1.707, -0.0708, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36b9ad0e2fcd5baeafa95bfea7975c49716444cebd4f47a13e63e045b1c4ef93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:463e799c376812101244f74e78c3c83d9bb303acf93949ec1b105c41d35822f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d01cf9407ec15b8565960d5c9f1f8eea9533c2b99d855b2b86e2b3d6c943901f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 6.498 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]: [-0.4385, 1.2476, 0.5697, 0.0273, -0.3885, -0.2871, 0.9992, -0.02, 0.8185, 0.5945, -0.4187, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3474 left_y=-0.085 left_z=0.1141 left_yaw=0.027 left_pitch=-0.0232 left_roll=0.004 left_gripper=0.9992 right_x=0.2895 right_y=0.0007 right_z=0.1612 right_yaw=-0.0018 right_pitch=-0.0694 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [-0.212, -4.5744, 6.4889, 1.8779, 0.0171, 0.1685, -0.0122, -0.2256, -1.3333, 6.9812, 1.6972, -0.0757, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4385, 1.2476, 0.5697, 0.0273, -0.3889, -0.2871, 0.9992, -0.02, 0.8185, 0.5945, -0.4187, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3474 left_y=-0.085 left_z=0.1141 left_yaw=0.0273 left_pitch=-0.0231 left_roll=0.0042 left_gripper=0.9992 right_x=0.2895 right_y=0.0007 right_z=0.1612 right_yaw=-0.0018 right_pitch=-0.0694 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [-0.2393, -4.4923, 6.5026, 1.8584, -0.0366, 0.1538, -0.0122, -0.0205, -1.3197, 6.9949, 1.6777, -0.0806, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6037, 1.0367, 0.6868, -0.3222, -0.49, -0.3878, 0.9992, -0.02, 0.8204, 0.5945, -0.4191, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3071 left_y=-0.1064 left_z=0.1711 left_yaw=-0.0025 left_pitch=-0.0096 left_roll=-0.0152 left_gripper=0.9992 right_x=0.2895 right_y=0.0007 right_z=0.1606 right_yaw=-0.0018 right_pitch=-0.0717 right_roll=0.0005 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -3.2342, 9.2239, 1.5946, -0.2369, -0.0317, -0.0122, -0.335, -1.5248, 7.159, 1.707, -0.0708, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36b9ad0e2fcd5baeafa95bfea7975c49716444cebd4f47a13e63e045b1c4ef93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:463e799c376812101244f74e78c3c83d9bb303acf93949ec1b105c41d35822f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d01cf9407ec15b8565960d5c9f1f8eea9533c2b99d855b2b86e2b3d6c943901f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X95LFToHhNHemqb69aF91y",
      "input": {
        "note": "Arm responds again. Wrist view puts the white bowl centre at about x0.41, y-0.11, so its left wall is near y-0.06. Approaching above that wall with the tool pitched forward to help the reach.",
        "targets": {
          "left_pitch": 0.3,
          "left_x": 0.41,
          "left_y": -0.06,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01X95LFToHhNHemqb69aF91y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2661, 1.4822, 0.4759, 0.6018, -0.2783, -0.136, 0.9992, -0.02, 0.8238, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3988 left_y=-0.0547 left_z=0.1058 left_yaw=0.0324 left_pitch=0.1838 left_roll=-0.0058 left_gripper=0.9992 right_x=0.2892 right_y=0.0007 right_z=0.159 right_yaw=-0.0018 right_pitch=-0.0786 right_roll=0.0006 right_gripper=0.9974\nstate[joint_eff]: [0.253, -6.188, 5.5179, 2.254, 0.1392, 0.2369, -0.0073, -0.1573, -1.6752, 7.1316, 1.663, -0.0562, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd6e3a6338895fb13a601ffa706347a82e57a4c49694bc9b35fcdaf8587d9fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a079f28ce621ee1c1f94fd8b7bcc2fa6344c6aade77ea56f9896f89efb6dbe9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5d9771ea700b3f989327ccca6843872431c5f359342da992d3fab808ac5bcc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 3.937 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]: [-0.4385, 1.2476, 0.5697, 0.0273, -0.3889, -0.2871, 0.9992, -0.02, 0.8185, 0.5945, -0.4187, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3474 left_y=-0.085 left_z=0.1141 left_yaw=0.0273 left_pitch=-0.0231 left_roll=0.0042 left_gripper=0.9992 right_x=0.2895 right_y=0.0007 right_z=0.1612 right_yaw=-0.0018 right_pitch=-0.0694 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [-0.2393, -4.4923, 6.5026, 1.8584, -0.0366, 0.1538, -0.0122, -0.0205, -1.3197, 6.9949, 1.6777, -0.0806, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6037, 1.0367, 0.6868, -0.3222, -0.49, -0.3878, 0.9992, -0.02, 0.8204, 0.5945, -0.4191, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3071 left_y=-0.1064 left_z=0.1711 left_yaw=-0.0025 left_pitch=-0.0096 left_roll=-0.0152 left_gripper=0.9992 right_x=0.2895 right_y=0.0007 right_z=0.1606 right_yaw=-0.0018 right_pitch=-0.0717 right_roll=0.0005 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -3.2342, 9.2239, 1.5946, -0.2369, -0.0317, -0.0122, -0.335, -1.5248, 7.159, 1.707, -0.0708, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2661, 1.4822, 0.4759, 0.6018, -0.2783, -0.136, 0.9992, -0.02, 0.8238, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3988 left_y=-0.0547 left_z=0.1058 left_yaw=0.0324 left_pitch=0.1838 left_roll=-0.0058 left_gripper=0.9992 right_x=0.2892 right_y=0.0007 right_z=0.159 right_yaw=-0.0018 right_pitch=-0.0786 right_roll=0.0006 right_gripper=0.9974\nstate[joint_eff]: [0.253, -6.188, 5.5179, 2.254, 0.1392, 0.2369, -0.0073, -0.1573, -1.6752, 7.1316, 1.663, -0.0562, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd6e3a6338895fb13a601ffa706347a82e57a4c49694bc9b35fcdaf8587d9fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a079f28ce621ee1c1f94fd8b7bcc2fa6344c6aade77ea56f9896f89efb6dbe9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5d9771ea700b3f989327ccca6843872431c5f359342da992d3fab808ac5bcc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSxgkKEAgSGAI4AUIIdGhpbmtpbmcSDPEFDSXRVWyOrIoA3RoMTHPQ1Kan812bCPG9IjAZTQNmxBpzKs0lvF6p25JT5h7ThE5Q1iPlfI+PIfPm6Fg5XDnG6Ear2sc0vIo3WYsq4wgpRd5rzUsvmwphel7jFaK4SUJ0KMSq++QeQSTZxroNZ3+WURMzsY0xE3h/79m1AKA/Xmx62eU+TDj7C5OzjfifyIUMIO+OckXqQ++TXezujIkDmefGhefxJUGoJYHMOUi0vL8GtFz4xj//04TzzPOJR5ouWsRD5uMwc0IxpnMLr4rg9k3MyXqwlkaPVXKfYbDLwlpVbrC49vjtHAORrFpEfXPTcAwvSfHFYCoiPEVdWkyabsLJjg050H242uWQW8FIoe15yDfZvvPPfchL+NwF22Z55GBFmBLaDCGsvT1BzkHX50u0V32R2ux373v1U9coSmzTe7DFYmg8q2+BPiYgtjGPTvTXXMX+b8RZUbea4yrC7sqQVNHnefRDT7W1IleRC2aFvlmQchmzwAuNRaUwMoW9Ji1VlBV8Z/VSjZiOEVa8KRWnCjh3IcqKCK9LUYCCibap14Mte0I/nsfv00MmE/yQSK4RYuPuB4VS1nLRd6aKkiTkEbCgASLmCJBc/o9F45z+Pp+FIO0bQwK0W05BHqtJJCvgVxWp4hA1L93hUVJC5xsuAIi++1yo93Bhx2MwXGvRwoG0qFM2tJVYYnXr9Y9Sv4Gx2t8Q1zkPdTB9HsUZqVHBqd0QFz/Iwplrx4Xf9TpeZDT1jq5nI8/82IrQHYXir99QtQ9U13wltHDe4AGN2M0Y0VbmvE4bs+o5HfCniG2O8nJtgYvJQJA3+09f74hIPI3IjdlT18J4MOovHrxNVJlWKx5VMnTkjeg/bXrBrwFOwMREr0PdaOzCt7V0GvDs6Hd9jjLJco2r/RMZgfWbGLZv2CbWpwWI+6UMnaYSlyVn+q6L17JMwA4mBP+awS1/HUDmmqLDx5z722SHGQUjVgWM7yySeTWQoGhGbiRF3omghRBZ5CiFUC7SkbaGEmkFTG++srUo8Pq6sE/1f0RSbTdwO9tak9cZ6yrV+eUoFVy4vDB6sg8e8AV0m4KBeNMhhJbNk00cO1HpXPAtoIwQZflq/LpzTox+BXjpJtJeGZXDCKlqfZZYmrJXyeAYuF+t61eBwtdtpmhIRMwhmjE3zuaYigX5ZGgKcpATtbdkhGL8MurzU3SShbNfsi3XbKB+MWgZlhjsIGL+0anjGNV3AxZHjRntOyDa2FK+AIPcjxR0QopuHnTcX1yBaqtYe+oRIt4jg1vi2YU2BGfrOJAsWm61eTgG8ihZ7Vz+R8trxtTclErJSgWRlmtEfhYwd2FA95DRgeJ7CZVUl/szzqO4wL4qHprR61WyNFUuLKVuVdcd5wchWOJJdICtMcthDI61NfOKRQ3EB+YJf5lw4vbeum9Daxb00f82LLpkh0Xo1JZKdLWuOocVDUV4JZr3lP3HbUTEVADGPznRuVUpWL/eYlQP6Z5pS837GJeX+foloLjDzsEFfLTzKs/02qZ7oR5k2DjG+97fC2KK2mQZDM7fNP31EGobQd0O2DkZ2JOTEtsPlHGyJ9GK+U8uQ8NbL1UvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015cLQVysVkwEKSfDZvgFRSL",
      "input": {
        "note": "The bowl's left wall now sits on the jaw column just below the fingertips (top view agrees: gripper over the bowl's left rim). Descending with jaws open to straddle the wall.",
        "targets": {
          "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_015cLQVysVkwEKSfDZvgFRSL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2657, 1.821, 0.3912, 0.9367, -0.2684, -0.1394, 0.9992, -0.02, 0.8268, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3907 left_y=-0.0541 left_z=0.02 left_yaw=0.0226 left_pitch=0.0978 left_roll=0.0127 left_gripper=0.9992 right_x=0.2893 right_y=0.0007 right_z=0.1581 right_yaw=-0.0018 right_pitch=-0.0816 right_roll=0.0006 right_gripper=0.9974\nstate[joint_eff]: [-0.1709, -7.3094, 3.5487, 1.9707, -0.2173, 0.1245, -0.0171, -0.0479, -1.6479, 7.0222, 1.6972, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ec2f9539fda0601aae656e5ba5c644618d887b78bb09e0168ee62cdd5e85078",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5492fd57b473db5e124ce92898ca25ad46376dc1903e4a73e3ea52f4f99f4e00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:17ab792d1a400ef8cb3b2dd0cad981eb77d6ff797b75c6d20d01f7ece55a26be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 4.414 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]: [-0.6037, 1.0367, 0.6868, -0.3222, -0.49, -0.3878, 0.9992, -0.02, 0.8204, 0.5945, -0.4191, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3071 left_y=-0.1064 left_z=0.1711 left_yaw=-0.0025 left_pitch=-0.0096 left_roll=-0.0152 left_gripper=0.9992 right_x=0.2895 right_y=0.0007 right_z=0.1606 right_yaw=-0.0018 right_pitch=-0.0717 right_roll=0.0005 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -3.2342, 9.2239, 1.5946, -0.2369, -0.0317, -0.0122, -0.335, -1.5248, 7.159, 1.707, -0.0708, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2661, 1.4822, 0.4759, 0.6018, -0.2783, -0.136, 0.9992, -0.02, 0.8238, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3988 left_y=-0.0547 left_z=0.1058 left_yaw=0.0324 left_pitch=0.1838 left_roll=-0.0058 left_gripper=0.9992 right_x=0.2892 right_y=0.0007 right_z=0.159 right_yaw=-0.0018 right_pitch=-0.0786 right_roll=0.0006 right_gripper=0.9974\nstate[joint_eff]: [0.253, -6.188, 5.5179, 2.254, 0.1392, 0.2369, -0.0073, -0.1573, -1.6752, 7.1316, 1.663, -0.0562, -0.0317, -0.0171]",
      "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]: [-0.2657, 1.821, 0.3912, 0.9367, -0.2684, -0.1394, 0.9992, -0.02, 0.8268, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3907 left_y=-0.0541 left_z=0.02 left_yaw=0.0226 left_pitch=0.0978 left_roll=0.0127 left_gripper=0.9992 right_x=0.2893 right_y=0.0007 right_z=0.1581 right_yaw=-0.0018 right_pitch=-0.0816 right_roll=0.0006 right_gripper=0.9974\nstate[joint_eff]: [-0.1709, -7.3094, 3.5487, 1.9707, -0.2173, 0.1245, -0.0171, -0.0479, -1.6479, 7.0222, 1.6972, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ec2f9539fda0601aae656e5ba5c644618d887b78bb09e0168ee62cdd5e85078",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5492fd57b473db5e124ce92898ca25ad46376dc1903e4a73e3ea52f4f99f4e00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17ab792d1a400ef8cb3b2dd0cad981eb77d6ff797b75c6d20d01f7ece55a26be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrQcKEAgSGAI4AUIIdGhpbmtpbmcSDEKewSvtSY18hMxpfxoM5uz/Ygt3xb43+PXxIjDrTUWNbFZB4d+q0VGsudzYF7QBqtT3wLppmxOSxUlb15esxpsxtD4PRF+mHJjnP/wqygbC7bjjqJe6/AZbf5M3G0ufmjFQujaYJdTNDmLS+wfh3KdhYcv5WUWOZYpMNTxACH6lPSR4FlZ6FmBdMAW1zhzAm0Zg3t+ujZwXlDFPOnQ6x1+GNBFZXDSXGr5FqSnmLXRjNwutkh7P5Y1BAKE+iZx98lCtdgy7nr4QvTmMGrAv/YgY/GXNTS7M8ktTePb99HFQznmidAeuTanUStThj7kJX3rKYAlhQJ2GqD/5ljA/tHxbi3eY666vX39TugtqdZo9hYjOEF2nG5qRhCnB/Q5VmOYkMAJh1eovs1baQVdi8NfhWkaX7oYiV/Z9MBQ3xbovB8JtRZzuZZo6fozeMOphhZQ9e68tsAzc8lxHxNDzRWYyouEPImfTPGEYEjwsTo7JRVl87NrQWkHLjnUu8YaogqOIdLaNx8sUlFswmBWQ5Q6mSIP47KtVgDOMPvJ8yECJXEoOFABmpzbvXaS5xC40rK8buwuJqpr8BzhlszKXGlxCy6t7WaPj5F0QPxV6wq23mmlbfyfZVbMHoAFqEL7jBTz8KIdRBqzO2ZSatN7Pj8D1HBEMDJcmZcNeDdO+x8YfZjfAfSZsJyQGbfveBzLWU7seZDZyWE849nPYjB3yAJq+2eK5VIbDsqP0YeS1zZzqbNOQPEBtw9JJTRLoacejdhyho+exIH9qjPnU0ERHRTsHjvZiCT7E87oJD8UKxSsJnY9w4n7uOkkew64uJ5xtAhp5QVUVRq4kiSvV8kDce6A5+4cVP93/NvANSeCXLhWTtG1rRG171Qb9MA1+uN2s76O0oUJzHxenL7ww+etmscfU7Pbbgkg2FCplrxs370xprLGFWHHHU1ClHJi0xxNexlEt4ZmYFrOtbDrOKLrEhSQZXvY/75JiOYo4cTJSNRY87zKwnpJYRawjURHq3/t2qma2YkfemGniuZj469mY1jKia8SuXDR/rc7EevtqWd8FKJonXghCnunvlaFsQv5vU7k7OSWOVZnkqajUw6mjAiPSQA766tkGGRuxqk7wN9I+km1BR2Y3cYSakdpiDF/WtQGtgdBOU5OSxq56QVGR8QJ42vpukrnkl2vp1gE1T0b8jm3n4ZpngvN1hScJTPCCay2MP9esfJM26RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CASegrZM3uj4uYttfz6ki5",
      "input": {
        "note": "Bowl's left wall is between the open jaws at z≈0.02. Closing to pinch the wall.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CASegrZM3uj4uYttfz6ki5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2668, 1.832, 0.3851, 1.0752, -0.2665, -0.1642, 0.0246, -0.02, 0.8307, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.4012 left_y=-0.0577 left_z=0.0442 left_yaw=0.0391 left_pitch=0.2135 left_roll=-0.0469 left_gripper=0.0246 right_x=0.2895 right_y=0.0007 right_z=0.1571 right_yaw=-0.0017 right_pitch=-0.0854 right_roll=0.0007 right_gripper=0.9974\nstate[joint_eff]: [-0.212, -5.094, 2.947, 0.7057, -0.1587, 0.2857, 1.6093, -0.1983, -1.5521, 7.0085, 1.6532, -0.0611, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bee4ee2883f3d15e4ff3d2a7e94bd274cf66756994bba55bfff2126e871d4029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6476f219c8b8be27370d98ee792aadc920cf5fd67b79ca72c7003bfca16be1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72feed2a49e281ae821d480a06e695ad991524210061521f1d5327c8e6d6494b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 6.96 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]: [-0.2661, 1.4822, 0.4759, 0.6018, -0.2783, -0.136, 0.9992, -0.02, 0.8238, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3988 left_y=-0.0547 left_z=0.1058 left_yaw=0.0324 left_pitch=0.1838 left_roll=-0.0058 left_gripper=0.9992 right_x=0.2892 right_y=0.0007 right_z=0.159 right_yaw=-0.0018 right_pitch=-0.0786 right_roll=0.0006 right_gripper=0.9974\nstate[joint_eff]: [0.253, -6.188, 5.5179, 2.254, 0.1392, 0.2369, -0.0073, -0.1573, -1.6752, 7.1316, 1.663, -0.0562, -0.0317, -0.0171]",
      "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]: [-0.2657, 1.821, 0.3912, 0.9367, -0.2684, -0.1394, 0.9992, -0.02, 0.8268, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3907 left_y=-0.0541 left_z=0.02 left_yaw=0.0226 left_pitch=0.0978 left_roll=0.0127 left_gripper=0.9992 right_x=0.2893 right_y=0.0007 right_z=0.1581 right_yaw=-0.0018 right_pitch=-0.0816 right_roll=0.0006 right_gripper=0.9974\nstate[joint_eff]: [-0.1709, -7.3094, 3.5487, 1.9707, -0.2173, 0.1245, -0.0171, -0.0479, -1.6479, 7.0222, 1.6972, -0.0317, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2668, 1.832, 0.3851, 1.0752, -0.2665, -0.1642, 0.0246, -0.02, 0.8307, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.4012 left_y=-0.0577 left_z=0.0442 left_yaw=0.0391 left_pitch=0.2135 left_roll=-0.0469 left_gripper=0.0246 right_x=0.2895 right_y=0.0007 right_z=0.1571 right_yaw=-0.0017 right_pitch=-0.0854 right_roll=0.0007 right_gripper=0.9974\nstate[joint_eff]: [-0.212, -5.094, 2.947, 0.7057, -0.1587, 0.2857, 1.6093, -0.1983, -1.5521, 7.0085, 1.6532, -0.0611, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bee4ee2883f3d15e4ff3d2a7e94bd274cf66756994bba55bfff2126e871d4029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6476f219c8b8be27370d98ee792aadc920cf5fd67b79ca72c7003bfca16be1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72feed2a49e281ae821d480a06e695ad991524210061521f1d5327c8e6d6494b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS7gcKEAgSGAI4AUIIdGhpbmtpbmcSDBrnhtB0m3gD91hU/BoMQXeAj0XdEEBv1Gb4IjAPxC09ADjG1fc3NrFxYqxVJ/pTpAIpF7XDI0K7bhw7CNDHyz7oLx3S4P0De+2zowsqiwdePEcMmS8hgyvyakb5xjLCA6oE7p9cawej6ojoI67tg/QLFTCT5SbI1/KbY2Ss+qxLh6g498JO/rIFR4YtvCT65tnufa6SJu9Al8weIIDQ+XORu6lOUIGfJOQtkyt16vGKnnhI+SBYK5UReI4Ka4pnT9uZPC/de8xBcfiJZYS4OJJBoxO0a7rcj0Dxa+bVwg73KVZOqrkLe3UALVEnsLo6XItl5vcx5EHGA8/TOOjWvD4tm/btVZ1kNqlIy0pqIqDFC+gF4OBLaK2Ww0PVaCnNLSQjVgEYkauCUYs7+XsRAZDKtka+x6XfpbQe8nCB4lJsl9bI/UWu0+Vx57H6/H0vqngl8IZLOaQo0a2YSnf5Q5lQpC2NqW4l3zpgCsZEM7j3/EBIqNc9Iw9bVoAkSFFjDRVbcLSXv5UI70OcQWgwlaCqTDzFbSn9uxLL8CNLZwmDdDNUtnrMcGiWIKCpha/zFT5O63zSzEHheiLVm1wTPbidwxmjeuNgRbzcxez64/SbW6d0FlEX27pQJ7FYu6rO1yv8kDkGwcsER+oBiAlQKSG/fEK35m7kzDJhEHS0iben8miVQMNn4gUAHWt8J1m4O0Ik/XuaWhQXMnEF/mEAdeBFWm+FYkmT/8gPsdovdRdGH9I5s214YwwZ1eeV+gaEvVe9wzPkDud9PT6OqftWsZOa3LpVsHB7Jb/5HjAcJIon8yCIZDHEQ2XCNTqd/Bsd5HkFtnW+2g3ykt57xD0ENwqG7lt3Lix5BgDLmaj2kxV69UgiHoZITrN0cAWI7tNbcF9lpyzBdOAXIp+u1sXBW0XFQeWpFOJbuorZzdqr3MPQTS2FLx/zbocz/7SuxwZTNXFJqyMlsSXPnLRX8EaqamOSFnUfxFm/pBLHRCrlN6zW//c/CXYL5W9V69ATWD5mnHhNV3IdlYyXFXp8zbzWmuYaqay/IvBJsWwPHxfHbZ9dz+BxinnPkflTUaU9F95VmM8rY0bsaM0SsaPrm7nuB1yCBRB/2AJBpzCwFP+NKT6w2QLi0DQiNDa+bpIrS4BzFp60HjWKo3gCh7YP5j7aYyJPwZ6dH6xgFfrb+oUa4Aou5aWac5k6ntOeDmWXYjIn/nfnRc6ss4jDObzUOGCPDL7ZGvOr0otqyJtFpKgwerNyXrKiJ4A256AiM2THJ1+t9eqmzZi5rO/kB+fiKB6rtt1cr4eJMc4DmE59GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ASPGiSJu9YrfFgFR4Qd2Uq",
      "input": {
        "note": "Jaws closed on the white bowl's left wall (reading 0.025, consistent with a thin wall visible between the jaws). Lifting to check the bowl comes with it.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01ASPGiSJu9YrfFgFR4Qd2Uq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2676, 1.4803, 0.4553, 0.7139, -0.2691, -0.1722, 0.038, -0.02, 0.8314, 0.5945, -0.4225, -0.0166, -0.0353, 0.9974]\nstate[eef_state]: left_x=0.4027 left_y=-0.058 left_z=0.1233 left_yaw=0.0497 left_pitch=0.2713 left_roll=-0.073 left_gripper=0.038 right_x=0.2895 right_y=0.0007 right_z=0.1569 right_yaw=-0.0015 right_pitch=-0.0862 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -4.6701, 7.1179, 1.6288, -0.0317, 0.0513, 1.033, -0.0342, -1.4838, 7.1726, 1.707, -0.0562, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe5b3fffde0a3d6f0ea20833e2bf8f5b73a61754bf9cc8608ae62ea98b551110",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c04fdcd5e96951dbce527057cb8635eadc2955fa27773f309f89d55bafd1bdb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4307782b4378fcc5492c54d0ede025dd73182016b5f0ce59b3e113b7999c2940",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 5.583 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]: [-0.2657, 1.821, 0.3912, 0.9367, -0.2684, -0.1394, 0.9992, -0.02, 0.8268, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3907 left_y=-0.0541 left_z=0.02 left_yaw=0.0226 left_pitch=0.0978 left_roll=0.0127 left_gripper=0.9992 right_x=0.2893 right_y=0.0007 right_z=0.1581 right_yaw=-0.0018 right_pitch=-0.0816 right_roll=0.0006 right_gripper=0.9974\nstate[joint_eff]: [-0.1709, -7.3094, 3.5487, 1.9707, -0.2173, 0.1245, -0.0171, -0.0479, -1.6479, 7.0222, 1.6972, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2668, 1.832, 0.3851, 1.0752, -0.2665, -0.1642, 0.0246, -0.02, 0.8307, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.4012 left_y=-0.0577 left_z=0.0442 left_yaw=0.0391 left_pitch=0.2135 left_roll=-0.0469 left_gripper=0.0246 right_x=0.2895 right_y=0.0007 right_z=0.1571 right_yaw=-0.0017 right_pitch=-0.0854 right_roll=0.0007 right_gripper=0.9974\nstate[joint_eff]: [-0.212, -5.094, 2.947, 0.7057, -0.1587, 0.2857, 1.6093, -0.1983, -1.5521, 7.0085, 1.6532, -0.0611, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2676, 1.4803, 0.4553, 0.7139, -0.2691, -0.1722, 0.038, -0.02, 0.8314, 0.5945, -0.4225, -0.0166, -0.0353, 0.9974]\nstate[eef_state]: left_x=0.4027 left_y=-0.058 left_z=0.1233 left_yaw=0.0497 left_pitch=0.2713 left_roll=-0.073 left_gripper=0.038 right_x=0.2895 right_y=0.0007 right_z=0.1569 right_yaw=-0.0015 right_pitch=-0.0862 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -4.6701, 7.1179, 1.6288, -0.0317, 0.0513, 1.033, -0.0342, -1.4838, 7.1726, 1.707, -0.0562, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe5b3fffde0a3d6f0ea20833e2bf8f5b73a61754bf9cc8608ae62ea98b551110",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c04fdcd5e96951dbce527057cb8635eadc2955fa27773f309f89d55bafd1bdb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4307782b4378fcc5492c54d0ede025dd73182016b5f0ce59b3e113b7999c2940",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3AkKEAgSGAI4AUIIdGhpbmtpbmcSDHmx0dHjRw7erSLdgRoMABTT0r8h7ROk/G2YIjC52ovxzUNDcRc6DXUIVbRl+/DiRWRmKxsqw3GsgLyhLsYKHlvebPNtoK9fnFUhP4gq+Qif3Yb505HF1XjkkN0FvdUTvDwCSmlwKqJ6cEYDw4y0H6iyuGii+sgHjPmWI5TrU5wYTOK8v++ZZkVShfwPmhSquVmoOyLPeaIXBF2lit1lmWPwZoheureyw1P5vqqYCwWX8C6mgnIal/eECQfVBswWqcgdhwt3Jy1tN2JmI2kncl0Xut0lminsXh44bk51A2OXVsPBD7yeOPcWh4O/G9mSCTOveE2fc+mDPa84k4nOkJh1tZHI5dT9mNelvQZSOWc+x7yZOqF6XtWZ/dlR/m6Xdpi4rh94Sk8IDG6KRkS8VHLPWR3G9i02LBcr8Q0FlhpOUjaXnO5i8ayK9eVsc7LXbBs2so5dMnYrLqRdvJ6E8Mq6NxPYEbYm71qyXONYHCeR6Av89/ve2E0fi4l+JBUEb+gWqgCDRUlLDRxdeNGcwGRmsYvQOABbpHz6NorwH0jzSJC86ieGSfQDyY6PxJA4ntaNx00ITR7d+68UDmIoZko8jlqvuEgqXUJaUVEPuRsAg7Jeg5UngbttCkPdiRsV+EvxOh1fasHlZqdp3gIARH6siT5bFFuBN8UpYyKwlh0EssTPKqredivWEOpkfZflP2hkDXAqQhYvvga6wWldFwKIkr7IWetPAvxpfCYz3jQVxszXqRs7jsuK9WM4xDXA1mnOHJMqg9oTbk/BOXYtplhvkqwISI9dyIYrMy3xFFlYGrXa9hna8mm9P8fgeNazjddAMV/WlUbQloJTcviwUUzxbT+fixjrHWu5daMQgBiUGs/XDEodTBk9t6LAlejTYapBisI9AHQ2btQShZNrAp/+NXSdE7OWyDG4NqXe/Ge1j/CvSOzPXcdF5mPYDq7on9TIkCM270ZNjlMrpXnu8bKP/FGx+Fk4SdsCPhNC6VzwmUSDbRRIIflThPf65qP+Cfb88gIWOlcwX37R+ixO8ZkO47Z69E5Z3BjBLCqpiWnxP4r4cXezSoPfFu01eRnHkDnQro+U7GH35MjLX151MHsMLuy1/k2eF+OnlzqU5MNAr4KjTRPMDiXN6V3TzemOgpMQFCY4VOYs+KcelpA6ZdML1tVrOrSvLgGBYN4/WYz53bXao/ghOKV/zekca7WXQiMWi1Cop27sibj19PxL+gaEqu7D1Re1raYq0BpICP26D1vMmlBY2KuIGtJtyFPtdc8VkvFZlfGTrHXxxl+brmNTaLaWIosU5QPLqfQH/9oyX0hliOD4ljzdRkpH5HtGDSWLHo9pIj2D8WSFcfpZwfc/8bxpO5vV1nVELLhYYsOaUc6xeUC5GgbzV8pleU6JF4wcDU/yjQBTROp4qxG3zUdHINDk8vPcm9DD2rypUowlBxPbVofNBX9VJjyJljGTudUrp7wwOjUX0hgna54QNUdgjyMppciR3zMiSDQMYvfF4KI9xFZddu1/sXjiN2hs/yRwgZBk671ZXlZpmUIVyyOYAT9xmMRE5W6YyVUpovDV7auPWUsyJOSG0/S/zNl289s+F3Ofd7O0o7n10JBIv1Q0/T1iGHPV1xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TxCx2KJcHYPVV1mj4Vu8fB",
      "input": {
        "note": "White bowl is lifted with the gripper (visible raised and tilted in top view). Carrying it ~13 cm right to hover over the middle blue bowl.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.19,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01TxCx2KJcHYPVV1mj4Vu8fB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6945, 1.5799, 0.7303, 0.4366, -0.6491, -0.3305, 0.043, -0.02, 0.8314, 0.5945, -0.4229, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3953 left_y=-0.1856 left_z=0.1472 left_yaw=0.0239 left_pitch=0.2459 left_roll=-0.0571 left_gripper=0.043 right_x=0.2895 right_y=0.0007 right_z=0.1568 right_yaw=-0.0017 right_pitch=-0.0866 right_roll=0.0007 right_gripper=0.9974\nstate[joint_eff]: [-0.335, -6.4342, 8.5949, 1.8486, -0.2418, -0.0171, 1.033, -0.0752, -1.3333, 7.0085, 1.6288, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3b1056a9ccf1f98364c4dd0e817aed0c2d2e5786ad2618b8946f1c98f688cbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2a0e8cb37334e8ca4d673c652209c5e4c2c4ab8f129fe353be6848866158786",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc191e137e1a5d24de760f30862fb3010447f642792c38c77d5fc3b82fd274d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 3.385 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]: [-0.2668, 1.832, 0.3851, 1.0752, -0.2665, -0.1642, 0.0246, -0.02, 0.8307, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.4012 left_y=-0.0577 left_z=0.0442 left_yaw=0.0391 left_pitch=0.2135 left_roll=-0.0469 left_gripper=0.0246 right_x=0.2895 right_y=0.0007 right_z=0.1571 right_yaw=-0.0017 right_pitch=-0.0854 right_roll=0.0007 right_gripper=0.9974\nstate[joint_eff]: [-0.212, -5.094, 2.947, 0.7057, -0.1587, 0.2857, 1.6093, -0.1983, -1.5521, 7.0085, 1.6532, -0.0611, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2676, 1.4803, 0.4553, 0.7139, -0.2691, -0.1722, 0.038, -0.02, 0.8314, 0.5945, -0.4225, -0.0166, -0.0353, 0.9974]\nstate[eef_state]: left_x=0.4027 left_y=-0.058 left_z=0.1233 left_yaw=0.0497 left_pitch=0.2713 left_roll=-0.073 left_gripper=0.038 right_x=0.2895 right_y=0.0007 right_z=0.1569 right_yaw=-0.0015 right_pitch=-0.0862 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -4.6701, 7.1179, 1.6288, -0.0317, 0.0513, 1.033, -0.0342, -1.4838, 7.1726, 1.707, -0.0562, -0.0757, -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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6945, 1.5799, 0.7303, 0.4366, -0.6491, -0.3305, 0.043, -0.02, 0.8314, 0.5945, -0.4229, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3953 left_y=-0.1856 left_z=0.1472 left_yaw=0.0239 left_pitch=0.2459 left_roll=-0.0571 left_gripper=0.043 right_x=0.2895 right_y=0.0007 right_z=0.1568 right_yaw=-0.0017 right_pitch=-0.0866 right_roll=0.0007 right_gripper=0.9974\nstate[joint_eff]: [-0.335, -6.4342, 8.5949, 1.8486, -0.2418, -0.0171, 1.033, -0.0752, -1.3333, 7.0085, 1.6288, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3b1056a9ccf1f98364c4dd0e817aed0c2d2e5786ad2618b8946f1c98f688cbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2a0e8cb37334e8ca4d673c652209c5e4c2c4ab8f129fe353be6848866158786",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc191e137e1a5d24de760f30862fb3010447f642792c38c77d5fc3b82fd274d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS/QgKEAgSGAI4AUIIdGhpbmtpbmcSDIgx4+lL3f81MTU2rBoMnuA3UdoY3Ns6S4DHIjCG4z7K/UwIHa1VifUG87DgAvKFsIfzPONl/PmOliyAWLOqDfZDJg7AzjAWGDkHgdUqmggRGDFVtNNdy90oHt+Oil26JT2MKLN33qQaWmtQvPvZRjvgsxFCemy0ZVfPk+YOZWz1gh4T3ej9LzKFXrB9XIofAMLNekjY16nmdgFEvuxBp3J7rkrrRqUamXV6rijvxNscH7wvXlXXhuacY3SNoyjvK1QJff61oQmss9vpPgZ47NEN0UUUajzYcw+yqpexWjso6c50+zzr3OplHfcNP3fQ4FTcs1zS0gpddNy0eU3IWIWKzaCJ8sFfxPQZceSOhOGBBUrVWDGJ34LPg09npxmll3mkxnYUwgj4xhbPMa/zCJAs/I82aWI3JrUGaoceduLjm19cvNYYSVhuYL0/gBaOGLRMfKDSo9Njq+zG4TzA/M5kpbemflN+/fEFX6/CM3IWNoH71kkTcjUoEOr0t6Gx4tCE0RpcO8ad6V33Y/VPQisLhaM7jtE7+avOyd9Pt7La0tEZA1K2iFP8gkFhZlgZnYjwCJ0VsOYjUUHd/3hfSQ5o5mzgU8JVv6OvLBGkgr9Ey/GK/r5wo1ldtUl6Y2Q7Tl+uSPu45Wvq1Nx91+lVf3GlOBAS08GMlIk8kou2P2KojDvoQQM0SZZhx+scdnIj67zLB4VPsZkzCgcTFyJxIPaPdPopHePrO/qVaCKPocx9WpNWCpMNfwVNf0l+Xc5PZWTrMf8IA/84T/Ly9B2l6sdxVNzdfxBJ2C2cuQSj5eJO+NHU73vSanDwfAL8gtJQs+hfJ7Q8Y4hjA1kEtE9YmUhkpujWDa8Or72AmD2QRrn9n+fjCsaYTgRJdVAiOq93fYITn4J6YFvGTcizTtCchJL1ciYyqaKNzaWp6bLm10TBmB2J2RSfc481i96DUAHSrRzRxGvw06Cr8eN6Bp65h1NRkFHWkl1MsOSxzhQmupCceUJlU2Ti0iaSZm8TsAj4JVKzSKLeLWipacpJt4A1z+cYN1w0HBuuIr7YFgx79vcVPHBHFWSqH/1LOTSUqX/3uI/vRfobVEr3hbGbYf50aXllk4/tVSm5FLQBngNXL77eCR3dftmsFGD7YBkUe3qw33N4IrA6fwj1HFjztp2RhGrWnaKws6mGsZb+WWF1mU6Ui+e1wWe17vGuwA60ukTboaU4i0TBm8y76yxcx3/5Am2Z873tCn2kWVRf2lF79EfwWeMw6xdCu9Nep/ClESYADLRIbvxnfyhXgbdt1u/T4pR5tF4tMCtXBbMaqJR0FusQ2rrvh9VsBvIjk5iNXicRQZc4iIK31EfH3wJbFd16yGJmKzb0I2q8rVYT190OmGw+IZjQL0XeUPYKGSrrTyZAuGYSILOlVASSorzrVVn20bdL36CWZpOvOXdF8YYbfyANqYwwKVt6WGyZBUaxNSkqajwD4NSaok2puMrTVF0JLCbW540he+dbwwUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NsHr7w5FtP9T4YZXZS9dKt",
      "input": {
        "note": "White bowl hangs just above/left of the blue bowl. Nudging slightly right and back and lowering it into the blue bowl.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.21,
          "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_01NsHr7w5FtP9T4YZXZS9dKt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7704, 1.7763, 0.6769, 0.5858, -0.6991, -0.3603, 0.0458, -0.02, 0.836, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3813 left_y=-0.2067 left_z=0.0787 left_yaw=-0.0093 left_pitch=0.1863 left_roll=0.0007 left_gripper=0.0458 right_x=0.2897 right_y=0.0007 right_z=0.1557 right_yaw=-0.0017 right_pitch=-0.0908 right_roll=0.0008 right_gripper=0.9974\nstate[joint_eff]: [-0.253, -8.9641, 5.3675, 2.1709, -0.4176, -0.1343, 1.033, -0.1299, -1.812, 6.9812, 1.6239, -0.0806, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:655c4a294e11aeeead1d28fc17011dbca3c25bb3c0f4ecc4ceda833862e896a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c36228413ede95d26dd7183c36bcc938580e318512174b3890dfca9f56164b7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9fc3ea38f37b17496622780ca1a4ab232ee08910896679170fc757108879710",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 5.737 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]: [-0.2676, 1.4803, 0.4553, 0.7139, -0.2691, -0.1722, 0.038, -0.02, 0.8314, 0.5945, -0.4225, -0.0166, -0.0353, 0.9974]\nstate[eef_state]: left_x=0.4027 left_y=-0.058 left_z=0.1233 left_yaw=0.0497 left_pitch=0.2713 left_roll=-0.073 left_gripper=0.038 right_x=0.2895 right_y=0.0007 right_z=0.1569 right_yaw=-0.0015 right_pitch=-0.0862 right_roll=0.0004 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -4.6701, 7.1179, 1.6288, -0.0317, 0.0513, 1.033, -0.0342, -1.4838, 7.1726, 1.707, -0.0562, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6945, 1.5799, 0.7303, 0.4366, -0.6491, -0.3305, 0.043, -0.02, 0.8314, 0.5945, -0.4229, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3953 left_y=-0.1856 left_z=0.1472 left_yaw=0.0239 left_pitch=0.2459 left_roll=-0.0571 left_gripper=0.043 right_x=0.2895 right_y=0.0007 right_z=0.1568 right_yaw=-0.0017 right_pitch=-0.0866 right_roll=0.0007 right_gripper=0.9974\nstate[joint_eff]: [-0.335, -6.4342, 8.5949, 1.8486, -0.2418, -0.0171, 1.033, -0.0752, -1.3333, 7.0085, 1.6288, -0.0464, -0.0562, -0.0171]",
      "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]: [-0.7704, 1.7763, 0.6769, 0.5858, -0.6991, -0.3603, 0.0458, -0.02, 0.836, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3813 left_y=-0.2067 left_z=0.0787 left_yaw=-0.0093 left_pitch=0.1863 left_roll=0.0007 left_gripper=0.0458 right_x=0.2897 right_y=0.0007 right_z=0.1557 right_yaw=-0.0017 right_pitch=-0.0908 right_roll=0.0008 right_gripper=0.9974\nstate[joint_eff]: [-0.253, -8.9641, 5.3675, 2.1709, -0.4176, -0.1343, 1.033, -0.1299, -1.812, 6.9812, 1.6239, -0.0806, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:655c4a294e11aeeead1d28fc17011dbca3c25bb3c0f4ecc4ceda833862e896a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c36228413ede95d26dd7183c36bcc938580e318512174b3890dfca9f56164b7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9fc3ea38f37b17496622780ca1a4ab232ee08910896679170fc757108879710",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7AYKEAgSGAI4AUIIdGhpbmtpbmcSDG0+jiBJmBOPzX+v3hoMwzFyEIjH7QZ2CHroIjAMnomd7onjb9MGHdfwIkDBoMuqAlGlPGBZWXg8BP6YGHWIvYjSKEx8guGCsM5CwTYqiQYSkhDeIvkl9gPZAczDmlwK12r/TwDTCWLqahZ49/1rC84yBG4Dw9G2z5shpVtknVJuppy6AXNX6LhYKMnYJ4Kce6jpKlLdu+YPhwkQDSHmofke3bWBUkQlIZyWNH+SPs699DK/IAwvUp6JRGKFzpWu8E4MZr+haBBzvjWb9snD8zIZYbTJINLpv1bdikB5HgU4U+92bPxwnxMFUsu2LSd1keA78pmZsr3ulF/Cy51gGVtOWVoDvH9Kj8qG08/xCLWxXFmGf9CMTPASy6cZAnFxCsBjLKF9E4Hy6CA285mB+85RvvN2VC9poGrDeAYLTv3g/iGuKTHHT79spxxWehnEUbMHqeo0XCyVVfcqg2/XWl1UEdBnc+OmsqUFdsYQqg/X51Lh1iqiNdCU8v4rdSOwIkMSENBdvJrkjWSZVJhawrlL1YgUlgFGAf0J/gjFQBYLqWdq/eaV/KA5uEXReefLxhqR2htRZsqeTUH9XprAMrFuWmawxOpzK9APUSfMGIIyOIx7MohDbGrucdcz+VYbIsiFURs6e5WzyTsoq9zwXwwL2V3E/Ybw1qZTtpiOe+bKnFe28XHN8jDG6kuHv/wPf/EAFNZNFMgQ7w7JN/PHjEVfqkf0sogsdhzCAnBDfaDPqUmASQof0m8zyYRZEv45Pt/ByZeMfCOmuxWdPTsSuusXV+IRBz2lwA25YCq/dD5TYCDYYIwfZmdBtii0yiXEKilKa7Kjdwb1rPqXi2hSquJRldgiMBas2g49keAc3XtBnmwvNJ0nhUhE0kbw228xTk21L/Bc+z/vNb/f5PO528YLEEw0U9XkTD2qqubDLhUFuPWwzK+z/KucnUyAiRRflzKxEEC5MsK3ecADu4rFRmC8LBUxWCdkPHv7Mse1ZyjAG59C8oUykYAuimsONs/TK4qRfF+D5YXzQeKtgIevduyn7bWGLCJh+SdNJ7iMDRe3iMGrcIG0bBKrCd/bjdIUJZTJKMzlNyJD90dCDYCF9pd9bxYSkmopiu0AXaHzhPo1SGFbnJ+l5JkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RcQhQbFbWyV9g8m2n1eNWg",
      "input": {
        "note": "White bowl appears seated inside the blue bowl (blue rim visible around it). Releasing.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RcQhQbFbWyV9g8m2n1eNWg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7811, 1.7992, 0.6662, 0.6628, -0.7166, -0.3836, 0.9947, -0.02, 0.8364, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3821 left_y=-0.2103 left_z=0.0808 left_yaw=0.0134 left_pitch=0.2229 left_roll=-0.0467 left_gripper=0.9947 right_x=0.2897 right_y=0.0007 right_z=0.1556 right_yaw=-0.0017 right_pitch=-0.0912 right_roll=0.0008 right_gripper=0.9974\nstate[joint_eff]: [0.1983, -8.759, 5.5179, 1.7705, -0.3101, 0.0952, 0.0366, -0.3761, -1.306, 7.2137, 1.6532, -0.0659, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:383748460d0379a519e5fcb40cae5658345fc56ab5575181584ef47086e7fedf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59777d8d83007c3fb7318bd2132f6efc7e54ce20a5585ab4b2595fec0ce8dff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:154937379777be57576c1dc58f1d1e48fdb1c1debf7891b02f6b0e1df4bbdcbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 10.94 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]: [-0.6945, 1.5799, 0.7303, 0.4366, -0.6491, -0.3305, 0.043, -0.02, 0.8314, 0.5945, -0.4229, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3953 left_y=-0.1856 left_z=0.1472 left_yaw=0.0239 left_pitch=0.2459 left_roll=-0.0571 left_gripper=0.043 right_x=0.2895 right_y=0.0007 right_z=0.1568 right_yaw=-0.0017 right_pitch=-0.0866 right_roll=0.0007 right_gripper=0.9974\nstate[joint_eff]: [-0.335, -6.4342, 8.5949, 1.8486, -0.2418, -0.0171, 1.033, -0.0752, -1.3333, 7.0085, 1.6288, -0.0464, -0.0562, -0.0171]",
      "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]: [-0.7704, 1.7763, 0.6769, 0.5858, -0.6991, -0.3603, 0.0458, -0.02, 0.836, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3813 left_y=-0.2067 left_z=0.0787 left_yaw=-0.0093 left_pitch=0.1863 left_roll=0.0007 left_gripper=0.0458 right_x=0.2897 right_y=0.0007 right_z=0.1557 right_yaw=-0.0017 right_pitch=-0.0908 right_roll=0.0008 right_gripper=0.9974\nstate[joint_eff]: [-0.253, -8.9641, 5.3675, 2.1709, -0.4176, -0.1343, 1.033, -0.1299, -1.812, 6.9812, 1.6239, -0.0806, -0.0269, -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]: [-0.7811, 1.7992, 0.6662, 0.6628, -0.7166, -0.3836, 0.9947, -0.02, 0.8364, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3821 left_y=-0.2103 left_z=0.0808 left_yaw=0.0134 left_pitch=0.2229 left_roll=-0.0467 left_gripper=0.9947 right_x=0.2897 right_y=0.0007 right_z=0.1556 right_yaw=-0.0017 right_pitch=-0.0912 right_roll=0.0008 right_gripper=0.9974\nstate[joint_eff]: [0.1983, -8.759, 5.5179, 1.7705, -0.3101, 0.0952, 0.0366, -0.3761, -1.306, 7.2137, 1.6532, -0.0659, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:383748460d0379a519e5fcb40cae5658345fc56ab5575181584ef47086e7fedf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59777d8d83007c3fb7318bd2132f6efc7e54ce20a5585ab4b2595fec0ce8dff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:154937379777be57576c1dc58f1d1e48fdb1c1debf7891b02f6b0e1df4bbdcbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQShgkKEAgSGAI4AUIIdGhpbmtpbmcSDEehOp9rk2WgdsH5ARoM0m1Dny3jWIY48yqvIjCHzJxHAmSkUtrkB5AkyNGrL8fEUyluOZZ32m1w4D3NzbJh8C+SK+GfUwWqWO754hsqowhtDxBz0x4ISHgDEXJPGsM6cYNpclIkCJiUKWt9sJW3Fa2enohFQT1stdoqvYqpqAnZvYL8LoVQfrfw8pfURv8MTKHk+AM/9GCrL42ChXbTL1MjL9hqpCnlN+YPt6WCjGYZj0LNeBnR9R1USgJEyb5lKL28qa2sIatovK+RFGQilD1W+lwn9YNHvZmBLL5N1naslQcjLsTw//CQL4kobg82Pbd8WmOY9MqXzVQSUC/smf4+4YZNUdQPAZ+2lhAx5iEnu4KMRcv+rP2Tog2xMpDdydLaYPEWN1BTEC7JmaoJZY78TsnHHVIPOFXy9nlw13csC9adplO11exVgNfWoz6DpQ9B+ELaBFKzQASdvNphtANLFmTCYcScQ1eN/8ARH2vFPpIODMYYQ9bBWRhAJ0dU70uLB9ApIdNGlDXsiv7yv5IEhSwUbAM3iG1TT75a9wu8iiRChf/h/aspHo9CZ5l+kSHDlNXTabNzKQti4x42LiVAXph4AsJxZVITNQD50dDb/qJjYQqUXA9jms0bRMp+DtaRmuKUW5jJyf/vgpbHkfOOwf/A/RNYsZ/EaJgNN69xztSsT17jLiHecU9ut4B4FjmWzMaMqOoHn6a6qsu6L0dvs9GvrBsxgSG7cMK76enZlM6pCLOj/FoHrTRXBTrFqMf92qS2igVM9pYR+j0Ejppjt/+xkJbfB+D+cvFStKIG8B+4zMGFssBP+pA8qAn6qXSdfztUmdvcdhlz6Zkgy1j4lIJaSr+bZtABWsNWW55mxxAKmlC99QnVTp25n3lQ7vwp8lABPDTaQZ29icpnCbp33qOhx3WMTuxd1P3z2Qf1udpar7kz4WtdoVsFpg2qu/UpVpNmQ11CRJl3lT22e5/WZYGIVHQZrhw3t4R5eFIRbP57G4+SJLwjkgvmeM08/pmFys1Lb6yhxE10xk9v9UrWrjvIK0wICDPeTRWePqgcTWoiaU1uY6wx93w+fvpI5gaU+bhFhRLylAxngtena609Qz81kVwwqItWgJMTYXBA7LFRzAGLd2xCjOTXO8F/+WPFSck/XvcubnEJ2ZUzmuq8C1mlvvfrUAfRHzwfcBDMuwVtb3La6fWptGHXKb+X7rGzWepZkvUNCX+LDgcMwHCINDqC7a5w+YNfwnB87xei8iiWnd14dtQAtALgjleQQKXHHnA00vGMqmMeex3Zt9/iZtcLB7maroxmV5wzjkOnUbWaMPAe1eUV55yghDRIU3VzqZKu1rUn1tNRE03Ll8BD4iYzPk/Z5MGl8I6bUn0QEKwSOYJblEML1nuyr/gdznEe9jJW6E45LCBYHhu4RAf9POwtOmQS+lfNkjTUXd0mD9rBYYYryhHT5WRR6qrBhzgZK3pUc1odh/B4onwqqfKFxdwOGXz8C0V1K0a0JZx+wCkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CQzU1F2owTi2p4xXGzrf5Q",
      "input": {
        "note": "Released the white bowl onto the blue one. Parking the left arm at home to clear the view and make room for the right arm to fetch the pink bowl.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.29,
          "left_y": 0.0,
          "left_yaw": 0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01CQzU1F2owTi2p4xXGzrf5Q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0593, 0.7948, 0.6388, -0.4156, -0.1066, -0.0921, 0.9955, -0.02, 0.8379, 0.5945, -0.4229, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.2941 left_y=0.005 left_z=0.1889 left_yaw=0.0671 left_pitch=0.0039 left_roll=-0.0104 left_gripper=0.9955 right_x=0.2898 right_y=0.0007 right_z=0.1551 right_yaw=-0.0017 right_pitch=-0.0931 right_roll=0.0009 right_gripper=0.9974\nstate[joint_eff]: [0.212, -1.6068, 10.1402, 1.6825, 0.0611, 0.1832, 0.0659, -0.1162, -1.6205, 6.9812, 1.6288, -0.0122, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db6e3a3208f4af071c2fef4dee541aa2b318a6961fcfdbbcc60cde718848d80d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9e6c036f29a87287e782a7bb685adf604aed84e6cf6d8c09711ee7fcaf04e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:390708649319d2ff65379984c8df84fc83a08e6cf2219db8aff4d07c20927a11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 4.276 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]: [-0.7704, 1.7763, 0.6769, 0.5858, -0.6991, -0.3603, 0.0458, -0.02, 0.836, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3813 left_y=-0.2067 left_z=0.0787 left_yaw=-0.0093 left_pitch=0.1863 left_roll=0.0007 left_gripper=0.0458 right_x=0.2897 right_y=0.0007 right_z=0.1557 right_yaw=-0.0017 right_pitch=-0.0908 right_roll=0.0008 right_gripper=0.9974\nstate[joint_eff]: [-0.253, -8.9641, 5.3675, 2.1709, -0.4176, -0.1343, 1.033, -0.1299, -1.812, 6.9812, 1.6239, -0.0806, -0.0269, -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]: [-0.7811, 1.7992, 0.6662, 0.6628, -0.7166, -0.3836, 0.9947, -0.02, 0.8364, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3821 left_y=-0.2103 left_z=0.0808 left_yaw=0.0134 left_pitch=0.2229 left_roll=-0.0467 left_gripper=0.9947 right_x=0.2897 right_y=0.0007 right_z=0.1556 right_yaw=-0.0017 right_pitch=-0.0912 right_roll=0.0008 right_gripper=0.9974\nstate[joint_eff]: [0.1983, -8.759, 5.5179, 1.7705, -0.3101, 0.0952, 0.0366, -0.3761, -1.306, 7.2137, 1.6532, -0.0659, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0593, 0.7948, 0.6388, -0.4156, -0.1066, -0.0921, 0.9955, -0.02, 0.8379, 0.5945, -0.4229, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.2941 left_y=0.005 left_z=0.1889 left_yaw=0.0671 left_pitch=0.0039 left_roll=-0.0104 left_gripper=0.9955 right_x=0.2898 right_y=0.0007 right_z=0.1551 right_yaw=-0.0017 right_pitch=-0.0931 right_roll=0.0009 right_gripper=0.9974\nstate[joint_eff]: [0.212, -1.6068, 10.1402, 1.6825, 0.0611, 0.1832, 0.0659, -0.1162, -1.6205, 6.9812, 1.6288, -0.0122, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db6e3a3208f4af071c2fef4dee541aa2b318a6961fcfdbbcc60cde718848d80d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9e6c036f29a87287e782a7bb685adf604aed84e6cf6d8c09711ee7fcaf04e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:390708649319d2ff65379984c8df84fc83a08e6cf2219db8aff4d07c20927a11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TcbUxMTHxMaNAxLJniAoFi",
      "input": {
        "note": "White bowl now nested in the blue one (only one stack visible centre). Right arm heads toward the pink bowl's right wall, as seen ahead-left in its wrist camera.",
        "targets": {
          "right_pitch": 0.3,
          "right_x": 0.4,
          "right_y": 0.08,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01TcbUxMTHxMaNAxLJniAoFi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8001, 0.6411, -0.4374, -0.1055, -0.0944, 0.9955, 0.3149, 1.4651, 0.445, 0.6003, 0.2684, 0.0559, 0.9974]\nstate[eef_state]: left_x=0.2918 left_y=0.005 left_z=0.184 left_yaw=0.0678 left_pitch=-0.0208 left_roll=-0.0098 left_gripper=0.9955 right_x=0.3854 right_y=0.08 right_z=0.0994 right_yaw=0.0416 right_pitch=0.1689 right_roll=-0.0358 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.7026, 6.8444, 1.917, -0.0952, -0.0317, -0.0073, 0.3624, -5.9829, 7.4462, 2.1856, 0.2125, 0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f1a66bf30dea0690b2109e15dcea43a2a3097bdfc99d21d76d7468e2180353d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70afe44dea2e33aaa8201b89e33caa547bbded660d9a2f4d2fe5350ecbf8c0a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4afd14488d07337c95f348ad7a9e1aca24fc23d45be82aa0109115445034fe42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 3.429 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]: [-0.7811, 1.7992, 0.6662, 0.6628, -0.7166, -0.3836, 0.9947, -0.02, 0.8364, 0.5945, -0.4225, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.3821 left_y=-0.2103 left_z=0.0808 left_yaw=0.0134 left_pitch=0.2229 left_roll=-0.0467 left_gripper=0.9947 right_x=0.2897 right_y=0.0007 right_z=0.1556 right_yaw=-0.0017 right_pitch=-0.0912 right_roll=0.0008 right_gripper=0.9974\nstate[joint_eff]: [0.1983, -8.759, 5.5179, 1.7705, -0.3101, 0.0952, 0.0366, -0.3761, -1.306, 7.2137, 1.6532, -0.0659, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0593, 0.7948, 0.6388, -0.4156, -0.1066, -0.0921, 0.9955, -0.02, 0.8379, 0.5945, -0.4229, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.2941 left_y=0.005 left_z=0.1889 left_yaw=0.0671 left_pitch=0.0039 left_roll=-0.0104 left_gripper=0.9955 right_x=0.2898 right_y=0.0007 right_z=0.1551 right_yaw=-0.0017 right_pitch=-0.0931 right_roll=0.0009 right_gripper=0.9974\nstate[joint_eff]: [0.212, -1.6068, 10.1402, 1.6825, 0.0611, 0.1832, 0.0659, -0.1162, -1.6205, 6.9812, 1.6288, -0.0122, -0.0513, -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]: [-0.0589, 0.8001, 0.6411, -0.4374, -0.1055, -0.0944, 0.9955, 0.3149, 1.4651, 0.445, 0.6003, 0.2684, 0.0559, 0.9974]\nstate[eef_state]: left_x=0.2918 left_y=0.005 left_z=0.184 left_yaw=0.0678 left_pitch=-0.0208 left_roll=-0.0098 left_gripper=0.9955 right_x=0.3854 right_y=0.08 right_z=0.0994 right_yaw=0.0416 right_pitch=0.1689 right_roll=-0.0358 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.7026, 6.8444, 1.917, -0.0952, -0.0317, -0.0073, 0.3624, -5.9829, 7.4462, 2.1856, 0.2125, 0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f1a66bf30dea0690b2109e15dcea43a2a3097bdfc99d21d76d7468e2180353d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70afe44dea2e33aaa8201b89e33caa547bbded660d9a2f4d2fe5350ecbf8c0a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4afd14488d07337c95f348ad7a9e1aca24fc23d45be82aa0109115445034fe42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqggKEAgSGAI4AUIIdGhpbmtpbmcSDHqWDLfYEo9vFAO3mxoMnlgbyXza3AC/mnahIjDr00ArzjRfXRlUNI8SX/DSovaABmboUv2CGjYvzYeyb1F+vgDMQOIZTt9IRhbllEYqxwcMgGXMHgee6wHgYwUBAPyP2BG3N+lIROHr411KH3elll1HPV85FTJjKe/FKoCldqj5ucepqgWWLvKKJC0lQKB3N9MgKpMhjx5vbG5Mp7xwP5g4lnz7t8RUcTgp2uftvK3Anhjas/MNVFQOXFMt8gS0ixE8K9uecaVjP4RzGUrJP25dNhXVz8QNez03a7ncLzPajszlVTeXlVujkJTbc2Tb9XLo6qDSNM6gh23QiNmsRGnKv26WeFkse7Xrdt01XMK35iuHcKF+ErQ3Qke4kAAnXuZuhq2d690Lc4Z9xTA3yz2gn2Koou62cnb9qNvRayhzKSroDVUwbgzcXLs/KCCEWSQL5Ms9j8Esk2pmHtaM2ffFfSe3OtD+EylNPti1T++rNrrEbBZjWelp3/HLmYing/YKy/ay2BYYeQgbYcsBaOQYK/211TaTriFbQtqau1CDLxVQjjNYFCfFnHtwRxoVZ2p51LBxXmZNrR3JmVQvL3lgJwHl8aaKxQlrWzw+B2kD+5qhVlR+qjotdStp9sgOJiJkrspzi5jUEVwkN84ckLDcEMpRKbRx3/MXXBXEUxMuuEGWdPsfBTcq4su6zkFNf56v9LcShpbPDoAmaXZjKOToPR6H+3pyDkx7qbnPgVNNCnKo8uNsQ/AYYSEtB8x8u3dWp0tnAOxBRLO6hGe8T4GxAFX5QXKfENliGH3I3eujb3FyqMXyqBuDFMfHLSoQ4QpCXZUdNSsR3gs5Dju4rsC6Zn6TT2OEikSLZQcVcZO3DTwX/vgzR8saSiVWwdK3kTR7ET84zrvEcIspjgT5rdOsQRFFme8x9TIoE+FiyACYzX7LEPWJtNZRf/cYkRQari7EbSMx67zbw9dNozV36vVuYo1hZ6dJmaWfR0yhjztGsEcgUVQZO6QCFUmhxic5n5Y9KqfsRTLVVXNKZa3u5mbRgBqjP12saDG58LEZ3r5hwof7g8YSmTPuQ0k2HsZseqehrERF+sk27LIZe2wr0g3rhQBkGhRLQS3iDXq0bQxSVSoqXPemBprXvPA2+HQHXnwXJ0QjeFCANijMoeVYlDjdGJ7RMJcPv2dgVwR91nFZaJRfiC0ApINXHEXdDF8LNmt7d0NAwY8FYZMuYH7ew4TDL4YSv7tqXYciYScBDXbcEpNvymEJW0eL1AI0esBS+JZoP//E/asmxpRZTRu1fHcr/OlFwKXT6XDfyRtEFLWU+gV3SgEVkub9g/lOgdKqDk566TYY6SYq7tvl7k3fPsVBxNGJ0cGUn6DKBHh3o8zILGauMztLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0179WcGbkrh6iZPaKqoPPkih",
      "input": {
        "note": "Pink bowl's right wall lies between the open jaws just below the fingertips. Descending to straddle it.",
        "targets": {
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0179WcGbkrh6iZPaKqoPPkih",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.804, 0.6411, -0.4412, -0.1055, -0.0944, 0.9955, 0.3187, 1.8153, 0.3611, 0.9356, 0.2714, 0.0521, 0.9974]\nstate[eef_state]: left_x=0.2915 left_y=0.005 left_z=0.1822 left_yaw=0.0678 left_pitch=-0.0283 left_roll=-0.0089 left_gripper=0.9955 right_x=0.3754 right_y=0.0778 right_z=0.0129 right_yaw=0.0482 right_pitch=0.074 right_roll=-0.0673 right_gripper=0.9974\nstate[joint_eff]: [-0.0205, -1.5932, 7.2274, 1.7118, -0.0659, -0.0562, -0.0073, -0.3897, -7.1179, 3.3436, 2.1856, -0.0171, -0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68c14ab464fa3b2ca861d7d9977100d200f07ced2c7996ccfaafdaa3b0fb8f71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c99d9a2e6380eec06f56ec455b3b60b7e33f4e27bde623ac84737055b57868d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83976866f71883960efcc59ed54b060287f21e7c8e5c56b4a5e0fc39cf9712ab",
        "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 · 4.649 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]: [-0.0593, 0.7948, 0.6388, -0.4156, -0.1066, -0.0921, 0.9955, -0.02, 0.8379, 0.5945, -0.4229, -0.0166, -0.0349, 0.9974]\nstate[eef_state]: left_x=0.2941 left_y=0.005 left_z=0.1889 left_yaw=0.0671 left_pitch=0.0039 left_roll=-0.0104 left_gripper=0.9955 right_x=0.2898 right_y=0.0007 right_z=0.1551 right_yaw=-0.0017 right_pitch=-0.0931 right_roll=0.0009 right_gripper=0.9974\nstate[joint_eff]: [0.212, -1.6068, 10.1402, 1.6825, 0.0611, 0.1832, 0.0659, -0.1162, -1.6205, 6.9812, 1.6288, -0.0122, -0.0513, -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]: [-0.0589, 0.8001, 0.6411, -0.4374, -0.1055, -0.0944, 0.9955, 0.3149, 1.4651, 0.445, 0.6003, 0.2684, 0.0559, 0.9974]\nstate[eef_state]: left_x=0.2918 left_y=0.005 left_z=0.184 left_yaw=0.0678 left_pitch=-0.0208 left_roll=-0.0098 left_gripper=0.9955 right_x=0.3854 right_y=0.08 right_z=0.0994 right_yaw=0.0416 right_pitch=0.1689 right_roll=-0.0358 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.7026, 6.8444, 1.917, -0.0952, -0.0317, -0.0073, 0.3624, -5.9829, 7.4462, 2.1856, 0.2125, 0.0708, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.804, 0.6411, -0.4412, -0.1055, -0.0944, 0.9955, 0.3187, 1.8153, 0.3611, 0.9356, 0.2714, 0.0521, 0.9974]\nstate[eef_state]: left_x=0.2915 left_y=0.005 left_z=0.1822 left_yaw=0.0678 left_pitch=-0.0283 left_roll=-0.0089 left_gripper=0.9955 right_x=0.3754 right_y=0.0778 right_z=0.0129 right_yaw=0.0482 right_pitch=0.074 right_roll=-0.0673 right_gripper=0.9974\nstate[joint_eff]: [-0.0205, -1.5932, 7.2274, 1.7118, -0.0659, -0.0562, -0.0073, -0.3897, -7.1179, 3.3436, 2.1856, -0.0171, -0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68c14ab464fa3b2ca861d7d9977100d200f07ced2c7996ccfaafdaa3b0fb8f71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c99d9a2e6380eec06f56ec455b3b60b7e33f4e27bde623ac84737055b57868d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83976866f71883960efcc59ed54b060287f21e7c8e5c56b4a5e0fc39cf9712ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0QYKEAgSGAI4AUIIdGhpbmtpbmcSDCLZLYnyY0qYYE2QRhoMCkOpWUeeFAfAuWC4IjDwZnUx4ehFH6VRo/3xKgHfPrJm+ZMKisg8gD27FZS15+weIiFBOTrqMeBbPYHR6QUq7gVlCpQMpohM51tr5uBzFfVo+Z2bECJF6Gw3ug6TUacUK285vWuHLmSFk+3L7yiFv1BD8CAco+6yohJyR+eLMGSihavi5fWfQqpHXlm3t7D8fU9TYIdIy9JXg3nrQ2zehmVuW3bklW+AfK2UjI9cguMvFpmD4o6+0xTC+9Q/98Gnnf3Qg9CwSshEnPf9Ps1PcXbXbYeyC1k2A100PE84jjsbW1hN91Ie/tX7/YIwmndY4CUHuh3UQQf3xme408ojk0cjQWljWsDh4O5YehEJQgFdGT0NVgDXRzSYAKlTw9vQz5NtELcb5RklKMRc5+RHY0d8v/T5j75ZFWt6CWSJLctE17CGzWnEcJMd4SiQQ9YLDYb47mVbK4lBpsPgq2lY03uUDelrkIkLsQTfOOKCe0+6JkSzjOpj9x1KBTtrbrTQQSLuJTS6sDv0TKLDBYo9NVRHriHrYkEGpJNRG5JrJunAVtgT0sl8di2OKGCYM0bfgogo9yl0bfgC40FODw1YhIlTdnQOQag2TZX2+MXAkJpBusGAYaSR5VR5RLk/4/L2rqg/OkoJndRvzPazN9XaG36/yHXuXsl2EPBeSMtKkGIE2dRCGFnvL33nih7fCKboQzyPR0D10O/8Owjq1wlCQHXLurD3kpAoa+wItEjj44s0LBuN23h4Esa86Bu+1TtkY15Xcjm6JpCWffBbieCGNhAXelr+t0wbjHelOU5iE8XpwTHZAoMGHHRCLIY0gItG9bQzHWX+iMH1dOxV7h+vxasryCVJyP34WHddCJOV5CQMQ9iWMFDmCGoh0/uS6zdqAEgjw56srw+Is8p5QFRIL5KQj5NtARJAz/IgEV9b4GHxJILBi3GhX7x70553ftHa/bAaX1ORCzeL39zweVyPQpghR3kOWPiryp8ADImqgpZuwfarii6lAD7a+aKGI86hO76CnED1rlb4KhJKcOvn299lovmi6uVWByJGbVtuT+kVy1IN0SBZgIlA2nQU9uoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015ikbmARJcUVfiLDd32hL4o",
      "input": {
        "note": "Pink bowl wall is between the jaws at z≈0.013. Closing to pinch it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015ikbmARJcUVfiLDd32hL4o",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8043, 0.6411, -0.4416, -0.1055, -0.094, 0.9956, 0.3256, 1.7927, 0.3725, 1.034, 0.244, 0.0772, 0.0351]\nstate[eef_state]: left_x=0.2915 left_y=0.005 left_z=0.182 left_yaw=0.0676 left_pitch=-0.0291 left_roll=-0.0085 left_gripper=0.9956 right_x=0.3897 right_y=0.0903 right_z=0.0455 right_yaw=0.0596 right_pitch=0.1988 right_roll=0.0028 right_gripper=0.0351\nstate[joint_eff]: [-0.1846, -0.9778, 7.0496, 1.707, -0.105, -0.0269, -0.0073, -0.3761, -4.2735, 3.0154, 0.9255, 0.1929, -0.2173, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa6838d9c5502b6459ef3ae2dc1ff8cc94aff3885d69c49dd9be03b4d639c7f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5613467a00c7a5bc2a119a4a75605dbc572e62348d37755395534e844c130e27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b07b01ce22ab2d62c7b362fd44c27198318e769ad36e78c54303db3850d4beb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 8.941 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]: [-0.0589, 0.8001, 0.6411, -0.4374, -0.1055, -0.0944, 0.9955, 0.3149, 1.4651, 0.445, 0.6003, 0.2684, 0.0559, 0.9974]\nstate[eef_state]: left_x=0.2918 left_y=0.005 left_z=0.184 left_yaw=0.0678 left_pitch=-0.0208 left_roll=-0.0098 left_gripper=0.9955 right_x=0.3854 right_y=0.08 right_z=0.0994 right_yaw=0.0416 right_pitch=0.1689 right_roll=-0.0358 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.7026, 6.8444, 1.917, -0.0952, -0.0317, -0.0073, 0.3624, -5.9829, 7.4462, 2.1856, 0.2125, 0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.804, 0.6411, -0.4412, -0.1055, -0.0944, 0.9955, 0.3187, 1.8153, 0.3611, 0.9356, 0.2714, 0.0521, 0.9974]\nstate[eef_state]: left_x=0.2915 left_y=0.005 left_z=0.1822 left_yaw=0.0678 left_pitch=-0.0283 left_roll=-0.0089 left_gripper=0.9955 right_x=0.3754 right_y=0.0778 right_z=0.0129 right_yaw=0.0482 right_pitch=0.074 right_roll=-0.0673 right_gripper=0.9974\nstate[joint_eff]: [-0.0205, -1.5932, 7.2274, 1.7118, -0.0659, -0.0562, -0.0073, -0.3897, -7.1179, 3.3436, 2.1856, -0.0171, -0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8043, 0.6411, -0.4416, -0.1055, -0.094, 0.9956, 0.3256, 1.7927, 0.3725, 1.034, 0.244, 0.0772, 0.0351]\nstate[eef_state]: left_x=0.2915 left_y=0.005 left_z=0.182 left_yaw=0.0676 left_pitch=-0.0291 left_roll=-0.0085 left_gripper=0.9956 right_x=0.3897 right_y=0.0903 right_z=0.0455 right_yaw=0.0596 right_pitch=0.1988 right_roll=0.0028 right_gripper=0.0351\nstate[joint_eff]: [-0.1846, -0.9778, 7.0496, 1.707, -0.105, -0.0269, -0.0073, -0.3761, -4.2735, 3.0154, 0.9255, 0.1929, -0.2173, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa6838d9c5502b6459ef3ae2dc1ff8cc94aff3885d69c49dd9be03b4d639c7f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5613467a00c7a5bc2a119a4a75605dbc572e62348d37755395534e844c130e27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b07b01ce22ab2d62c7b362fd44c27198318e769ad36e78c54303db3850d4beb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqAkKEAgSGAI4AUIIdGhpbmtpbmcSDFqiifI4BVFUyWlQ1hoM/yin0UKbHCi/lKUqIjBzsXZxG3yAxgjPxZ+cKmCuWEBQ15TilWUV6jZJHNhdhqMi9VYcByZlttJqmljYsPMqxQg2B4WQuRt0sgQS9tdjXBGQrtKSH+RVPR2SBZgsnjc8OhoebX1TE5ZoKVUZx7hPArtKrFXTL4yJ9UNifVulIjHHmSy9vKmz1V30CMzPic500jWEsR1B+no9w6Bea4r27KEsPs/Tsc4fJQ9CponcQFHJqjo3qylsD1vtf8s1offu5TbijzwQuXjGpKOf0lAOsXvKB1ALMj+6yFv1cLQK7AJ0jbo7LnHeiPlaDpnsS2mIfozgjTgiVAHuuHVcrrz3NQ5MaNTYO23wlLJFkwRYriJOxVQPs1CUoAiXlA8CeEI0G8lBHFZqAsRwsutkO52ypTEYyv/wZCcvGxCiVW+8PSeRD6trATAR001LFhOu44Sylhg4k9EEv1LqMZuYaLBD0zjwXe//x6gl5Gy6LtfXH1KdzH10AMAsev8oNMIL1MknQl2ohPcncbHEYEz2fIh7ewhBe+dXkP13WH3oag927h7+SVbfTz44aCGsEhbEHK6qJ8xB2cPuJdRNo35YCznrA4wMtLuoceHYGB9KKW/rdF+4wJniVqjlznYd2VYB7OaODhVguByDWpekCr8pW0XjR5qaHH02mRnYHtn5iJLF0xhmzV0eYWYN1DbDNpRoDCD790DnXmXVsNUjc++zHe4XpywpB3m8WY9sfApDVy1GF6xnBlvMRuboruoeFgMBGccKzoPqmhz3FKyBjabBLrvn6nhUyrm4GTvRDwOzEVmajTIw3GLOiaSDQNSIcKakcji3dpso9UpvoM6ei4+smjJN8lSjr4gH0Ftt7PTeCqphOy7w20RpsAzDQok8XcV3vsks66HmBdImy9l1aI5R33a0r/N6MqFRtAmhQiyAX4UwTCsGZaWE86Y+z1f9zb+1x5MIXrWwT9SBsqwW80Nrv3JcFa5ZKreT6aHSEQeZmxYKh/2z3fpNhHWt2mEpAcenf5EaBVwjA09y3bGMeSD3G5m5iHQ1M3FF4gj5h4o3RwXGZW9QayQiiSqhF9a6gleQm4qoxlDdJwG+dMSvGbuC1mfybocvqwQ7RYkZxXdt/8S6koUa0QbxUqFFSyMkywfpptBRONUDxCZGG7tRV4RAdXsRZCGS0zNDfpVc/ueacSMzBF58o78/sVegXUMwzAX36WDk/oRmvMyr0mwfOuW7EBFwQLzFXhcUHxyeJZIwnHxCAo0Mwgk4zEdL6yj5glX32e2d0dNrEuSvDJWk9qvKXTzVSk8J+CVWyxB3rv0jnltommNN73sfWyXX4hFrp9mY9z+JLWuNdIFtoVftdB0RXzWreaap5uHiDjSyCqwNVtjenW9WCN39dW52IRm5B8N8946QqYNd1hZwEEXkT2CwWMwohk+g9C5onZFsRaz1aSP2docK1Rw/xr0qt3C3TFqbl1GAjRW69jkhaYxuPh9vLlRb5IRvyMAFmUpEdp2UZnjThUEsKXy5JjJgOerbCFJkmLEX4hk66LdEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011FbdaEvy1ur7MjM4u7PASi",
      "input": {
        "note": "Closed on the pink bowl's wall (reading 0.035, ambiguous). Lifting to verify the bowl comes up.",
        "targets": {
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_011FbdaEvy1ur7MjM4u7PASi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8059, 0.6411, -0.4416, -0.1055, -0.0944, 0.9956, 0.3256, 1.4227, 0.4591, 0.5701, 0.2382, 0.0704, 0.0354]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1816 left_yaw=0.0678 left_pitch=-0.0306 left_roll=-0.0086 left_gripper=0.9956 right_x=0.3851 right_y=0.0898 right_z=0.1136 right_yaw=0.0686 right_pitch=0.1913 right_roll=-0.0035 right_gripper=0.0354\nstate[joint_eff]: [-0.0615, -1.4154, 7.1179, 1.7118, -0.0611, -0.0611, -0.0171, -0.2256, -5.9966, 9.0735, 2.0879, 0.0611, 0.0562, 0.8083]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e58b02e998f2ce2243334fe4453a1f7ffa7e42a865c41a4543e639e10686fb24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f827432c4b7df7973ddca95381f8fbde9e6928485161836e2d8ac3ae31ba5f18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f8328d3c12fedbc3d906d2adbf99f6665a7bab25aa02c136dc7b42e897fcb1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 4.585 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]: [-0.0589, 0.804, 0.6411, -0.4412, -0.1055, -0.0944, 0.9955, 0.3187, 1.8153, 0.3611, 0.9356, 0.2714, 0.0521, 0.9974]\nstate[eef_state]: left_x=0.2915 left_y=0.005 left_z=0.1822 left_yaw=0.0678 left_pitch=-0.0283 left_roll=-0.0089 left_gripper=0.9955 right_x=0.3754 right_y=0.0778 right_z=0.0129 right_yaw=0.0482 right_pitch=0.074 right_roll=-0.0673 right_gripper=0.9974\nstate[joint_eff]: [-0.0205, -1.5932, 7.2274, 1.7118, -0.0659, -0.0562, -0.0073, -0.3897, -7.1179, 3.3436, 2.1856, -0.0171, -0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8043, 0.6411, -0.4416, -0.1055, -0.094, 0.9956, 0.3256, 1.7927, 0.3725, 1.034, 0.244, 0.0772, 0.0351]\nstate[eef_state]: left_x=0.2915 left_y=0.005 left_z=0.182 left_yaw=0.0676 left_pitch=-0.0291 left_roll=-0.0085 left_gripper=0.9956 right_x=0.3897 right_y=0.0903 right_z=0.0455 right_yaw=0.0596 right_pitch=0.1988 right_roll=0.0028 right_gripper=0.0351\nstate[joint_eff]: [-0.1846, -0.9778, 7.0496, 1.707, -0.105, -0.0269, -0.0073, -0.3761, -4.2735, 3.0154, 0.9255, 0.1929, -0.2173, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8059, 0.6411, -0.4416, -0.1055, -0.0944, 0.9956, 0.3256, 1.4227, 0.4591, 0.5701, 0.2382, 0.0704, 0.0354]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1816 left_yaw=0.0678 left_pitch=-0.0306 left_roll=-0.0086 left_gripper=0.9956 right_x=0.3851 right_y=0.0898 right_z=0.1136 right_yaw=0.0686 right_pitch=0.1913 right_roll=-0.0035 right_gripper=0.0354\nstate[joint_eff]: [-0.0615, -1.4154, 7.1179, 1.7118, -0.0611, -0.0611, -0.0171, -0.2256, -5.9966, 9.0735, 2.0879, 0.0611, 0.0562, 0.8083]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e58b02e998f2ce2243334fe4453a1f7ffa7e42a865c41a4543e639e10686fb24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f827432c4b7df7973ddca95381f8fbde9e6928485161836e2d8ac3ae31ba5f18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f8328d3c12fedbc3d906d2adbf99f6665a7bab25aa02c136dc7b42e897fcb1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NYsyo9qjCraQaDEPEauD5R",
      "input": {
        "note": "Pink bowl rose with the gripper (its wrist-view appearance stayed fixed while the floor shifted). Carrying it ~13 cm left, high, to above the white/blue stack.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.22,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01NYsyo9qjCraQaDEPEauD5R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8062, 0.6411, -0.4419, -0.1055, -0.0944, 0.9955, 0.7036, 1.5669, 0.8822, 0.1936, 0.5426, 0.2108, 0.0368]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1814 left_yaw=0.0678 left_pitch=-0.0314 left_roll=-0.0085 left_gripper=0.9955 right_x=0.3938 right_y=0.2192 right_z=0.1633 right_yaw=0.1212 right_pitch=0.1571 right_roll=-0.0326 right_gripper=0.0368\nstate[joint_eff]: [-0.0752, -1.2786, 7.1043, 1.6777, -0.0806, -0.0611, -0.0171, 0.212, -7.1316, 9.0325, 1.8486, 0.2906, 0.2564, 0.7057]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0125ab270fb0da1890ad8e5df7be7723e576cac9165a83862e91882b4cc8f576",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:918bfca3bf2a3573f2487dbf937a456632ee95891fdcc90a5444798095162ecf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:10738ca5dca5434706b2b03839fc11f52018dd41472a069006526537b4d4fb35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 5.699 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]: [-0.0589, 0.8043, 0.6411, -0.4416, -0.1055, -0.094, 0.9956, 0.3256, 1.7927, 0.3725, 1.034, 0.244, 0.0772, 0.0351]\nstate[eef_state]: left_x=0.2915 left_y=0.005 left_z=0.182 left_yaw=0.0676 left_pitch=-0.0291 left_roll=-0.0085 left_gripper=0.9956 right_x=0.3897 right_y=0.0903 right_z=0.0455 right_yaw=0.0596 right_pitch=0.1988 right_roll=0.0028 right_gripper=0.0351\nstate[joint_eff]: [-0.1846, -0.9778, 7.0496, 1.707, -0.105, -0.0269, -0.0073, -0.3761, -4.2735, 3.0154, 0.9255, 0.1929, -0.2173, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8059, 0.6411, -0.4416, -0.1055, -0.0944, 0.9956, 0.3256, 1.4227, 0.4591, 0.5701, 0.2382, 0.0704, 0.0354]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1816 left_yaw=0.0678 left_pitch=-0.0306 left_roll=-0.0086 left_gripper=0.9956 right_x=0.3851 right_y=0.0898 right_z=0.1136 right_yaw=0.0686 right_pitch=0.1913 right_roll=-0.0035 right_gripper=0.0354\nstate[joint_eff]: [-0.0615, -1.4154, 7.1179, 1.7118, -0.0611, -0.0611, -0.0171, -0.2256, -5.9966, 9.0735, 2.0879, 0.0611, 0.0562, 0.8083]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8062, 0.6411, -0.4419, -0.1055, -0.0944, 0.9955, 0.7036, 1.5669, 0.8822, 0.1936, 0.5426, 0.2108, 0.0368]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1814 left_yaw=0.0678 left_pitch=-0.0314 left_roll=-0.0085 left_gripper=0.9955 right_x=0.3938 right_y=0.2192 right_z=0.1633 right_yaw=0.1212 right_pitch=0.1571 right_roll=-0.0326 right_gripper=0.0368\nstate[joint_eff]: [-0.0752, -1.2786, 7.1043, 1.6777, -0.0806, -0.0611, -0.0171, 0.212, -7.1316, 9.0325, 1.8486, 0.2906, 0.2564, 0.7057]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0125ab270fb0da1890ad8e5df7be7723e576cac9165a83862e91882b4cc8f576",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:918bfca3bf2a3573f2487dbf937a456632ee95891fdcc90a5444798095162ecf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10738ca5dca5434706b2b03839fc11f52018dd41472a069006526537b4d4fb35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5AcKEAgSGAI4AUIIdGhpbmtpbmcSDEkVvpn7r/RaY+tJfBoMAvVJG2XVRY2kvIoTIjD8zO4tucBmZghqAfaAOhzNskqtDgjJIbyLaRvHTcdPG+qWDWM8PgHcOGOVH5VTSUgqgQcPAsAZL0nXx5+RImZxSHWYuvVpyTTf2JnUoFiqiecAXKXIVWR0ZS93trnpMSYElMdvHU+MB9W3XHk3I1On5Ye8chVj/y/5YeK8otPgc+oRsadHsn/gVX3hW3WJGgUFzH542ABVbA6kJz/vBNahYVjjhGOYIOh15f3vpzgeMUgFG6p+1oRH5OLpYQigwaNDRI095/khSPugaGdK8outfR8+x9bzs2QQISH2AbDvHK0rZTcLmqJr/nqY/yTaz3GnK7T3B25jChXXCNIpxgWqkFgJUuqvBDIss0ulwR7eqdrkzLCLZnS4L3NSG1+ZRcGFjlC3hFUoaxDE4iIWNWt4dOjWz0qcmwi50jbwyHGNZHGbcFMM89QR494FaRXFNFQE6vCZ5xL5n9G8mO5u5qb8cz0zslRo3pF+tneb5MVB3hx38tlFAuEdanLaFnO4onPZEs51GRxgDJosAzGcf1G4af9dS17JW/EHecZBI64kfJg/c03jLA/7wrWA7i28PyL88RUgTQRN0xhyw9TOLbPI+8Hv0S8wORfpWUoPYxtp8S7q589Fg7kFuhieVFZShdkYXC3JuwcwEadGxIsSCuodnkOaVvjVVHTam/IZ348rNwgAuScqVcfuwamc39cRsi51S2TOrAdsEG4EDLkI0nleFFPAs+a00Q8xjBYy9/D5ptwsCEgRx5Lklh1APFUB2C4PYPCrQm9cS3SbOjoKcJqbB1ZnbbV9cEFFohQxOL7U5h/mjYTM8htsyXA9RpRhMMrbdlrajOLG3OfmYYTkEevNq4nNvoXMBb1o5uoYEeh87Xx+2zDWd8Xr9mUAqtm7Ag8RhnzalfqSpiuk/FGTVyNnrpWsS21aiHqhxKtF+uLa4PzKGaLvBzmvhPk3GKgLefEQyrA762L6B4pyihg4OzJsoj92fhMTfOewR+g8SqzvCVMBbrEIUKkNccSccmyHJf110xm9/a0J/mZApEEK3fRfH4tAGlcJ6BC0OuA3fHeT+PxPBREiUgQ677ooYjcbwBxRxYhOaH1xQ5qAQVRSjNuEOxQwZ8EG9XrFcfuk1cD2t6IaCf5p2RF/QBiOwo/iMOrpg/kHz1HsCmJ13akxTtDcSu9f0q/Z5CDIO5wegXJhJJELqJh/J3CnYwYpUsOUzfN6NgkuII+Bi6CU5duOr4hWuGBRPBoai2juFGt+1Zzzox1oTWgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018kcdqfgH7XuJasc8Rjbhfw",
      "input": {
        "note": "Pink bowl hangs almost exactly over the white bowl stack. Nudging 1 cm left and lowering it into the stack.",
        "targets": {
          "right_y": 0.23,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_018kcdqfgH7XuJasc8Rjbhfw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8062, 0.6411, -0.4419, -0.1051, -0.0944, 0.9956, 0.7235, 1.7313, 0.7845, 0.3813, 0.561, 0.2207, 0.0374]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1814 left_yaw=0.0675 left_pitch=-0.0314 left_roll=-0.0087 left_gripper=0.9956 right_x=0.3894 right_y=0.2233 right_z=0.0913 right_yaw=0.1262 right_pitch=0.1006 right_roll=-0.073 right_gripper=0.0374\nstate[joint_eff]: [-0.0615, -1.265, 6.9812, 1.6679, -0.0757, -0.0806, -0.0073, 0.5675, -7.7744, 5.5726, 1.917, 0.1392, 0.0122, 0.6862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6257a5e5c5429d6704b8df362b282a777bdd2837118d9812c5782614544c808",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bad62d7116b57250d9347456adff7b2163bfa7c866e66a23903383fdd12debe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71248274e0e91ddf5ab65eb8351bab1b4c14a81a7f700b9a8d2c190d2c5cad34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 5.323 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]: [-0.0589, 0.8059, 0.6411, -0.4416, -0.1055, -0.0944, 0.9956, 0.3256, 1.4227, 0.4591, 0.5701, 0.2382, 0.0704, 0.0354]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1816 left_yaw=0.0678 left_pitch=-0.0306 left_roll=-0.0086 left_gripper=0.9956 right_x=0.3851 right_y=0.0898 right_z=0.1136 right_yaw=0.0686 right_pitch=0.1913 right_roll=-0.0035 right_gripper=0.0354\nstate[joint_eff]: [-0.0615, -1.4154, 7.1179, 1.7118, -0.0611, -0.0611, -0.0171, -0.2256, -5.9966, 9.0735, 2.0879, 0.0611, 0.0562, 0.8083]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0589, 0.8062, 0.6411, -0.4419, -0.1055, -0.0944, 0.9955, 0.7036, 1.5669, 0.8822, 0.1936, 0.5426, 0.2108, 0.0368]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1814 left_yaw=0.0678 left_pitch=-0.0314 left_roll=-0.0085 left_gripper=0.9955 right_x=0.3938 right_y=0.2192 right_z=0.1633 right_yaw=0.1212 right_pitch=0.1571 right_roll=-0.0326 right_gripper=0.0368\nstate[joint_eff]: [-0.0752, -1.2786, 7.1043, 1.6777, -0.0806, -0.0611, -0.0171, 0.212, -7.1316, 9.0325, 1.8486, 0.2906, 0.2564, 0.7057]",
      "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]: [-0.0589, 0.8062, 0.6411, -0.4419, -0.1051, -0.0944, 0.9956, 0.7235, 1.7313, 0.7845, 0.3813, 0.561, 0.2207, 0.0374]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1814 left_yaw=0.0675 left_pitch=-0.0314 left_roll=-0.0087 left_gripper=0.9956 right_x=0.3894 right_y=0.2233 right_z=0.0913 right_yaw=0.1262 right_pitch=0.1006 right_roll=-0.073 right_gripper=0.0374\nstate[joint_eff]: [-0.0615, -1.265, 6.9812, 1.6679, -0.0757, -0.0806, -0.0073, 0.5675, -7.7744, 5.5726, 1.917, 0.1392, 0.0122, 0.6862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6257a5e5c5429d6704b8df362b282a777bdd2837118d9812c5782614544c808",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bad62d7116b57250d9347456adff7b2163bfa7c866e66a23903383fdd12debe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71248274e0e91ddf5ab65eb8351bab1b4c14a81a7f700b9a8d2c190d2c5cad34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwAgKEAgSGAI4AUIIdGhpbmtpbmcSDMdIMMoJUCDekEud5xoMZVmT8KgL8wUoC370IjD7JR4h/9QltFn5r/CADbj0Gu+NpD9LE88zd5o8pMbe7gaw0Kx2Scifh8AQtAvSYSUq3QdudhSHZzSjwgHOBgUn/HQQOpnl2iAnHvkLn2PcY9G5jHCl1FjW2tiLbBuNwyjLFMx8mV+eFKlZoz87zarsqPDOOV1IzL0pd3C8OVVCQ1RXRxKYFOOVYFgSk2yaW1bFzKjyaT4zuPjMoAbN4dlHh0QBIS2SgjPasHt1cZFjwR4FoW2BUXBS3pR+L34Fpr4nyE0cp+PwdCdmVy/0pjH24p1OcHKQO6Zt4CytMo/rBEk1kUE1FZjxvxaGR2S2ItXVOdD2am4Qp6scOuvh2/Kr9ppzAlOJKkjv8CKyCj1eUohoW46g8WKTubDeWicL6DaDD7nlAt0RVbOhELxOoMPoi17yow3aLil75dxKjccyJpRJHo/lPfxPE+IlUN2+TzZhtgPa92lzUb/Rafa1htSVapueffiKiByItC4gAwm0SfD/wt8h8LucYME31cEfPfDcnR9KtWbxXbrUj+HUNYqI/Dw0a5rxGC+y9hOIQRcLG41QrOjO8t215H2c4PFpSOGLOjXdb392w0Zal/PxeSxdfe6SPeZh3/NIhzafXmfKrSLFGFdZptjD1pv20brz2mQg8ux2QkntZ0yZGyHim2Vw4F2+dzAy6rEl4O5JyBp+VE21K0QIhgg6Q+l6aa5/AtpC3W9Yakag64/0bFKbioXTZ7PMWvvNdx7mK1FPHO335aqFIFdrG3V78H5fglqWAHV375MR0XHIZUysjK3tCiZSnm8UG411vr9LJLh86Ax4V0zqUp4Ym8msszWcVfvkYOWBh2D5h64BT4YFVxSamRAEKQ0sHlnkl3jIuMxNGVLH/Dx2QNY8RW9IgNFTMkIM+XreATSnjR125xSwtLVrQ6h/xgGoxjz0A9ND+JHmm0BxXtsr+6SBZj2+LfXLEixZEpZS3maTAfW2rrCyg26zXexpIqtbysQLRXoRj6oK14P0ux5Hry6Xw2IcLh6Opv1OG2GX1Zv83ypoOyK2I41/Zuvc7Uea9Spr42IZJDznW0NDRHC0lMTDG/LEepmsHT69tXRhuoeEn8zZzkwe9e0EodFZ+rzu7YMpVBc/zgWeHhrKIUJLyoP3Kr90bSnhskvnf7D6OZYQcmVJu8m7sVCW/6aWuyCCqQo9wBLsK7xoFhagCvKJdCt/yNEWXU7SVCs46DrACWuUlmbySsylO4DIsGOwsr78Hq9vPLokaUv/78E6H2Ak3stTu+4X1Fg1lg2dZMtB4xzZHSvSwcwhct8BOH1J11J5EGG65AcoW33JJN9noAXjoXyOX7Q9M+IjIRuciOEIDwyoiCKDqmfB14EGdNiKBajXM9H3W426ysqsNjo3ehgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TrRD4ZuH6o1Yo9anofbrJo",
      "input": {
        "note": "White bowl rim peeks out to the left of the pink bowl, so pink is slightly right of centre. Shifting 2 cm left while lowering to seat it.",
        "targets": {
          "right_y": 0.25,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TrRD4ZuH6o1Yo9anofbrJo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8062, 0.6411, -0.4419, -0.1055, -0.0944, 0.9956, 0.7715, 1.8107, 0.8181, 0.3935, 0.5808, 0.2371, 0.0397]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1814 left_yaw=0.0678 left_pitch=-0.0314 left_roll=-0.0085 left_gripper=0.9956 right_x=0.3854 right_y=0.2446 right_z=0.0734 right_yaw=0.1513 right_pitch=0.08 right_roll=-0.0867 right_gripper=0.0397\nstate[joint_eff]: [-0.1162, -1.1692, 7.2, 1.6679, -0.105, -0.0073, -0.0171, 0.1299, -8.8, 7.8291, 1.663, 0.4615, 0.1929, 0.6129]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85f6bdc3d9c8741d8f7e299a753078defd4134da39b5e23a0fa77cc165ca6c43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f26e114efc68dec5b85f3f52b945c4bc124c04923c6082c9a5fc9ff9c4a88e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00abeeeafbce819629b53955ad2359c49c8ea5abacd417549a4d285abbfd4368",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 5.009 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]: [-0.0589, 0.8062, 0.6411, -0.4419, -0.1055, -0.0944, 0.9955, 0.7036, 1.5669, 0.8822, 0.1936, 0.5426, 0.2108, 0.0368]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1814 left_yaw=0.0678 left_pitch=-0.0314 left_roll=-0.0085 left_gripper=0.9955 right_x=0.3938 right_y=0.2192 right_z=0.1633 right_yaw=0.1212 right_pitch=0.1571 right_roll=-0.0326 right_gripper=0.0368\nstate[joint_eff]: [-0.0752, -1.2786, 7.1043, 1.6777, -0.0806, -0.0611, -0.0171, 0.212, -7.1316, 9.0325, 1.8486, 0.2906, 0.2564, 0.7057]",
      "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]: [-0.0589, 0.8062, 0.6411, -0.4419, -0.1051, -0.0944, 0.9956, 0.7235, 1.7313, 0.7845, 0.3813, 0.561, 0.2207, 0.0374]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1814 left_yaw=0.0675 left_pitch=-0.0314 left_roll=-0.0087 left_gripper=0.9956 right_x=0.3894 right_y=0.2233 right_z=0.0913 right_yaw=0.1262 right_pitch=0.1006 right_roll=-0.073 right_gripper=0.0374\nstate[joint_eff]: [-0.0615, -1.265, 6.9812, 1.6679, -0.0757, -0.0806, -0.0073, 0.5675, -7.7744, 5.5726, 1.917, 0.1392, 0.0122, 0.6862]",
      "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]: [-0.0589, 0.8062, 0.6411, -0.4419, -0.1055, -0.0944, 0.9956, 0.7715, 1.8107, 0.8181, 0.3935, 0.5808, 0.2371, 0.0397]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1814 left_yaw=0.0678 left_pitch=-0.0314 left_roll=-0.0085 left_gripper=0.9956 right_x=0.3854 right_y=0.2446 right_z=0.0734 right_yaw=0.1513 right_pitch=0.08 right_roll=-0.0867 right_gripper=0.0397\nstate[joint_eff]: [-0.1162, -1.1692, 7.2, 1.6679, -0.105, -0.0073, -0.0171, 0.1299, -8.8, 7.8291, 1.663, 0.4615, 0.1929, 0.6129]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85f6bdc3d9c8741d8f7e299a753078defd4134da39b5e23a0fa77cc165ca6c43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f26e114efc68dec5b85f3f52b945c4bc124c04923c6082c9a5fc9ff9c4a88e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00abeeeafbce819629b53955ad2359c49c8ea5abacd417549a4d285abbfd4368",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQkKEAgSGAI4AUIIdGhpbmtpbmcSDI8w3kCHR5AVO9ArjBoMGQZuY7bO1zrI4yOLIjDEvgqEAyke5IUQp0ere+0EBwrZbWhpXygzGSd55TVXYuHdK9F4sUKjTfRkodaYxTwqsggWGXYIZYSm+rKmWQSjfNC6wMqfZdRiF8yvrcH0dUkFzR/gfZaG29n5GsTVZAygikRrGAJPQzdllR2EQ7LlQPrMBi5fivycEZGhm9gVhsh3VdpgrO1ACyLfr895WZG7Y4MMiGL1yZ9t33cJZVovlY8xeKlVrTUai+0DiJ+1VAYNX5DrOjvnRmF5HjN7YZvMUHKEMLRk1rfqkr0VJsb+qY9nI/H8JjjPJtYQESSoAmP41eyAmAOwbqAtfK9PiGZ7YJN9JCZZUfV86d84iDJMW/ZlGFSrBiZyTAcQpgqINkqvEsTQdWpnjxdJO0kgM/qfg/BTA1oBx+3Ma7TzqWeVa+GvY+tjTVWCPOq+qdXtSNhhJQwqMg4QM/CCwCUZ0U/Ot4bTnupiW8mxSKkNiMaYRSH3qfi7Du6xJxRwxKObwEqk0RwdgCTA6bi1kI3dWeIZ9Mz23nS0saEm1315agkehvkseKgImUy1wtddgbfbLeS0HWe+O1H1ykuGhPcPdbtjr4h7YJtfWz3z2Yx+5GfIepHSJK88w9+EQCDedUEGUpoOA5N4kJaP2P3RFMRW1wexi2qWFO6Rt49wgR+niuGzYJ+/sen7oCi7N3U8gA/0mphHzthwPW785T32PUyenPJcQBTyZEa7U1gLsZ+COv1GfQ0NcqK5yoUderYEOjDDV9WfcFJFFOO4ALvb+l9lnmt8POvJIcTQnmMBxyo1tYGVcKRRv6bgsD9+k80y/L5nckL1HAj/+wqd2vYI5zd/FEAz477RR91J0i5vyPRMtLuApdRhRzgrWvbmxjJUn3Yaue4QrPi/rD8GIVuUuk4lN6waiTI9ttuihYXwfT5xrlLXh6o5jGBRMrB6aX+DUpWCKRN8yVLOEzv6qopfqUAFEg4XZ/vFvUFK+gTj+6rk9mBDl5VTiCZIkm9sCSVl+x6lBPyYu/pTceW/RcCAcQUPJ2tR+av76pu3teskzjb5uawhfn7X/leUHNWxQSsa0X1Ke5kNMwlrMsUxGTWw7tIpkAUMKr+iJqoYfNHzeXJj/6ZD2YclgKB5RY8X3+6cdNyLaRsvyoZNT6JbgDvuqqBJHHGkH5WhbB6IES/0QCnGWz1CFB3G3qJiipR3B6q/iymcIcaXcXPY8gtmNZafay0OA8KLuOJBL1zNpg0x+93ptkKJhQTKog1aVUW3cOsNvq9dy+pYDBjxKr3QNG7FgxlDUkayq2LjDt12ZlFYNi6D+iIMjgBCjULxnfgnrpkbxMYGYAed2ByA26oRH3KN/dXHg0CrZfm+3zVufcthaIgYBKdWx4BNis1mB+2uDEJhRBiYJvJ6zZY5XGvhp//ehZ4naiwrEVStiu/G7FEHZKTqzmeZmOS2g6alUbgmeFv20sFfKMmIx3u3WELpSrbJ5Kuo6/X0lBSgNuQZVE/J0DS7KA3pu5FmyhQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0184j4eUgMsc7wcpjKucfPNx",
      "input": {
        "note": "Wrist and top views show the white stack sits ~5 cm further forward than the pink bowl. Raising and moving forward/left to get over it.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.26,
          "right_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_0184j4eUgMsc7wcpjKucfPNx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.807, 0.6411, -0.4419, -0.1055, -0.0944, 0.9956, 0.7086, 1.8332, 1.0836, 0.1696, 0.5243, 0.189, 0.0425]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1812 left_yaw=0.0678 left_pitch=-0.0321 left_roll=-0.0084 left_gripper=0.9956 right_x=0.4313 right_y=0.2579 right_z=0.1219 right_yaw=0.1585 right_pitch=0.0763 right_roll=-0.0923 right_gripper=0.0425\nstate[joint_eff]: [-0.0205, -0.7863, 6.9812, 1.6728, -0.0904, -0.0513, -0.0171, -0.7316, -7.9658, 8.4855, 1.7558, 0.2857, 0.0122, 0.2857]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00d2ca5b3b92bf33b484446c0625313de34b07fd2a2b51c53f98363d80a7e316",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c3e33f61830398ddcd27faa731482d29a7f299c7212db2c71bccd7a2d472383",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e5a7801bc821185e7e5ee99e487aa2b5a8d4cd3f83e018e3b7e5059461f5464",
        "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 · 5.264 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]: [-0.0589, 0.8062, 0.6411, -0.4419, -0.1051, -0.0944, 0.9956, 0.7235, 1.7313, 0.7845, 0.3813, 0.561, 0.2207, 0.0374]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1814 left_yaw=0.0675 left_pitch=-0.0314 left_roll=-0.0087 left_gripper=0.9956 right_x=0.3894 right_y=0.2233 right_z=0.0913 right_yaw=0.1262 right_pitch=0.1006 right_roll=-0.073 right_gripper=0.0374\nstate[joint_eff]: [-0.0615, -1.265, 6.9812, 1.6679, -0.0757, -0.0806, -0.0073, 0.5675, -7.7744, 5.5726, 1.917, 0.1392, 0.0122, 0.6862]",
      "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]: [-0.0589, 0.8062, 0.6411, -0.4419, -0.1055, -0.0944, 0.9956, 0.7715, 1.8107, 0.8181, 0.3935, 0.5808, 0.2371, 0.0397]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1814 left_yaw=0.0678 left_pitch=-0.0314 left_roll=-0.0085 left_gripper=0.9956 right_x=0.3854 right_y=0.2446 right_z=0.0734 right_yaw=0.1513 right_pitch=0.08 right_roll=-0.0867 right_gripper=0.0397\nstate[joint_eff]: [-0.1162, -1.1692, 7.2, 1.6679, -0.105, -0.0073, -0.0171, 0.1299, -8.8, 7.8291, 1.663, 0.4615, 0.1929, 0.6129]",
      "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]: [-0.0589, 0.807, 0.6411, -0.4419, -0.1055, -0.0944, 0.9956, 0.7086, 1.8332, 1.0836, 0.1696, 0.5243, 0.189, 0.0425]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1812 left_yaw=0.0678 left_pitch=-0.0321 left_roll=-0.0084 left_gripper=0.9956 right_x=0.4313 right_y=0.2579 right_z=0.1219 right_yaw=0.1585 right_pitch=0.0763 right_roll=-0.0923 right_gripper=0.0425\nstate[joint_eff]: [-0.0205, -0.7863, 6.9812, 1.6728, -0.0904, -0.0513, -0.0171, -0.7316, -7.9658, 8.4855, 1.7558, 0.2857, 0.0122, 0.2857]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00d2ca5b3b92bf33b484446c0625313de34b07fd2a2b51c53f98363d80a7e316",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c3e33f61830398ddcd27faa731482d29a7f299c7212db2c71bccd7a2d472383",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e5a7801bc821185e7e5ee99e487aa2b5a8d4cd3f83e018e3b7e5059461f5464",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrQgKEAgSGAI4AUIIdGhpbmtpbmcSDGNEhQswl3L9wO3l+RoMrBakwtVR/sLuq6DdIjCCbYslkfND6ZwF8lz/pq/OdMrq/M9fIj078nseN7qOprwjn2hiarRw0+2HRFdImbwqygcEl0Jyy9Ho3qLgN02JFJH147k1fWsPnOcQsMNEMEYj/JQ5ClNS54iVf6MYy2MaK2+kjAw3Xjk3Hofz6T+I89GomuZoObZm4YEP99NPNMuwgxoRmfO1izJn/elB2ZFnCUvzbH2UsItjR9u7yB0mjNA5870woxj/YZtJ5rH1Vx3iFbimOmOUdBj5HcyLSvdt0sirQRCVZ7wBvJ39Nla+rdn4L0q9ts9JoVAv7zYL+yuRL1tt6LdnM4557GflAsGM0qPHzcwgdx6lDnRoTuBYj1uz3KuJcdl5KobXxn4cNhay8ZexTNXNyYHVOs6MLKkDhLkfCYLUo3LgTF7bXFomPlP3ztCtqQX0WzinZdwzyyrsvp0qb8rqR2F6OohMQ7Mdk6jwZRq4jfaDyYcoTI39+wdJuCvnPiM69Dym1u2oDLwa6rGMqOErABuQ95s7E5Q5bOFKhOmkPKXNsNQ4ODyWpRagx2TLe4xvP6yQbvqvrJewp5VrGlZ712AjPnK/ekwD1Gl79LifJm1UZ4Pn9au6MixzYzS/lTicE4lOXLxTBezuXLO82SdAmw81I0AaEjF96/7zMOOlXz02KebbHmQqiBmePpLoliQREZiSnxCsG+9uMLFMaOZ3o/X+OCukSfImAi/78FUPecCHd5jLs40Tmalq8NWLWOxMQDRNUzdNcinPbEbk+ksmwabImSe/bMHKlbzLpKp5T7HTLsryYxvjdPhTqN5Cp6GduB/+iSeUyMEA/tpYB1Wh2AEUHnEOrfHoKEXMs+VySz/i5CT77OtYbBZb8Wch+Ryv2hFoGmmvjbeV4mZMkpRuDX54Z0VwUcGaX3JgYRErhD3a6qoQm+hi17MJ3WeBpfaQmwMkH26ut4S1GHKzc52pfuzmbUMGBRL794DI65x94b11amnDMKvGYUQizR9v2W0DeUku1pYPPMRqhsVbzK8Xv3t4gMFhzIAIXQluv1LzQwN27RQUok/Ac2N/C/rmM9ukjSCsUiu+o3szOiadOUNAtfgpmyQ65EBpcQIhrZEi4lMAnHnz2Fir6r3Ax1BjbO4jeAUF3yzDvqxiJzlQtNNkuYz/OuTvIerpop14bVlDFxWv/pXEfIiaZf7zZ6gFHeZU6rtxIpgH2PwFv+6UlRvOa7TuJmpFiSaf5JV7fWBsqv/VIK0pQyqD/mA/7fMZxj+Lsk9F3/KeK5lVHm0aS2ZUxQp75P6CHwcRi55b91KAh9EZbEGcn7TbYV45nuvfg0YNhpD+ArO6rn2g3eAafWsSE8ilMRe5d4S7jBz4v+mfGxsJYjJ/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012uTZNCz65HUepjPgHe3Akr",
      "input": {
        "note": "Pink bowl now covers the white stack in both views. Lowering it in.",
        "targets": {
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_012uTZNCz65HUepjPgHe3Akr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8101, 0.6411, -0.4419, -0.1055, -0.0944, 0.9956, 0.7071, 1.8999, 1.0275, 0.2661, 0.5129, 0.1867, 0.0448]\nstate[eef_state]: left_x=0.2918 left_y=0.005 left_z=0.1804 left_yaw=0.0678 left_pitch=-0.0351 left_roll=-0.008 left_gripper=0.9956 right_x=0.4288 right_y=0.2571 right_z=0.0853 right_yaw=0.1682 right_pitch=0.0504 right_roll=-0.1025 right_gripper=0.0448\nstate[joint_eff]: [-0.0342, -1.5385, 6.9812, 1.707, -0.0611, -0.0415, -0.0171, 0.0205, -9.1966, 5.7778, 1.8339, 0.2222, 0.0366, 0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2767e61df9eb9c67f08073d058eb456a237acbf7de0dcc6a552295e02368fea9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b20786375e08b2411280786d35d1d9eb08e814674095d301b525e219b7c239fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b546b93f3e4cc2497d02e8869bcbc6f61ba4df0b5c49e004d1da531a9e03fa95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 6.234 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]: [-0.0589, 0.8062, 0.6411, -0.4419, -0.1055, -0.0944, 0.9956, 0.7715, 1.8107, 0.8181, 0.3935, 0.5808, 0.2371, 0.0397]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1814 left_yaw=0.0678 left_pitch=-0.0314 left_roll=-0.0085 left_gripper=0.9956 right_x=0.3854 right_y=0.2446 right_z=0.0734 right_yaw=0.1513 right_pitch=0.08 right_roll=-0.0867 right_gripper=0.0397\nstate[joint_eff]: [-0.1162, -1.1692, 7.2, 1.6679, -0.105, -0.0073, -0.0171, 0.1299, -8.8, 7.8291, 1.663, 0.4615, 0.1929, 0.6129]",
      "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]: [-0.0589, 0.807, 0.6411, -0.4419, -0.1055, -0.0944, 0.9956, 0.7086, 1.8332, 1.0836, 0.1696, 0.5243, 0.189, 0.0425]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1812 left_yaw=0.0678 left_pitch=-0.0321 left_roll=-0.0084 left_gripper=0.9956 right_x=0.4313 right_y=0.2579 right_z=0.1219 right_yaw=0.1585 right_pitch=0.0763 right_roll=-0.0923 right_gripper=0.0425\nstate[joint_eff]: [-0.0205, -0.7863, 6.9812, 1.6728, -0.0904, -0.0513, -0.0171, -0.7316, -7.9658, 8.4855, 1.7558, 0.2857, 0.0122, 0.2857]",
      "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]: [-0.0589, 0.8101, 0.6411, -0.4419, -0.1055, -0.0944, 0.9956, 0.7071, 1.8999, 1.0275, 0.2661, 0.5129, 0.1867, 0.0448]\nstate[eef_state]: left_x=0.2918 left_y=0.005 left_z=0.1804 left_yaw=0.0678 left_pitch=-0.0351 left_roll=-0.008 left_gripper=0.9956 right_x=0.4288 right_y=0.2571 right_z=0.0853 right_yaw=0.1682 right_pitch=0.0504 right_roll=-0.1025 right_gripper=0.0448\nstate[joint_eff]: [-0.0342, -1.5385, 6.9812, 1.707, -0.0611, -0.0415, -0.0171, 0.0205, -9.1966, 5.7778, 1.8339, 0.2222, 0.0366, 0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2767e61df9eb9c67f08073d058eb456a237acbf7de0dcc6a552295e02368fea9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b20786375e08b2411280786d35d1d9eb08e814674095d301b525e219b7c239fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b546b93f3e4cc2497d02e8869bcbc6f61ba4df0b5c49e004d1da531a9e03fa95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQkKEAgSGAI4AUIIdGhpbmtpbmcSDFfqAeYhBiOvNJxKlxoMcUGKyWZPEwYKFD3MIjDx/k9kHqwNan4riZ8GrmmkbMcl7URWVFVijUx/oGPBqhdOd1YC+7Ys4uePh66dvUgqvgjzR2kjosvvtkAG6y6mvopVQug46+tIDGkp4lCLI6prYZuKZtf2CJ93VUp+cyI7w9B6N3bnZVBFicbvlQKHjYW0o3XhMDu3Z4DSx81fN2L3vv+5NgYrGq4twRSmkXvKABJXtTWujQXMMcLrf53UusRztHyFVEdFO3bsEJH2rJlatIeufzAcXEQz3qDqr+iSmEE+79z2vhc04XeLn3LqpxC4bNuR5Is1ti+rlVzpovLM+mnj6xNWPfbSHKd1tmV8fjDg5uDHDpomtqB/jURQOrgJOt8y8ybECep3/gbbqLgm8t2dT9sPXNeNWz0Brg9Yc6nfRV5oK1CQbFa7HnHRBPDE2d69ruEtonPRWefvfG/k8udjbDqxbmD4spgXPAlaVMs0KImmupQ0u2hokg2rliqXJehci6xMFr5sCdHWvaIsVWttsgx0Jtb+n/p+IaMw9Ul+D83aPrd6WI7b9Yjel0ZqWW4zf0NMUhqChXJwTrQoaTIQtzkw5kdtsMD6f8pDu0bOChlVBAhDa1k2CQ2GommKytfG0y0bPBt7vtxwU74rZ2BMTskqOj3PcdOcTkc5TapIhLRoYQ3WGcujyQ+zlmKh7wAc04+sukuQSKAAjwO6f/a0Z+Bd7jz18Ms37npzIaRkdIx4IcG5Mkr7wfXIcksrRlLTdmyZy9hWU1sg2YWNG9ADx5gkGgEL1gdEnGhNS0DTi98MG1Y357FDHi1ZzrD22mlvMwO/NsyVxADGC/CygRMBQKoojR7NPIVkHxJC+yjtigqLouCbA0FIG1X2sIDDrXl/MaOn9rq8gXv+9kfwWThrzvXI2SuRbVFCCjP3hZL+I9x2MC21XLt77w1BF7sbe83BLpcoBvJGBVnRgINShdsSGK+nSy4b2KbPnOoAN8eJFqOcZQQP69ZDSI6QLk+VtnBn5VSLJPK/ZAURixg8Z6C55IORJPAgv8BroGwWI9xhUmXsJGGWEh9JhQ1J6hr7kF0h1GxElqXy6hvf+jrLwWl27uv1WXz34mVEL+nTO6HsEwP0LogNBuAgJTj+KHFO2eQ14CF3VIQNJYiC3thk8lwUe3NUvR455mJ/1us16Mx689EL70t2OqYwpXCrRTTBVof5eLpawqI63bippD3S9mZDCBDT35K3XwD+/8DK8j3I4sHp3Hp2EQ5SYYrFvoarnVxUKiDjHU9q9Kn9m/sUtIpX4sDyQdN01OggTkqQVT9q2VG/vF59UCVJ+XzUVKnkaIZLN1Y+S/2Hk7vk1kRWbmMoOJVx22KKI7kGK3fYDaD8Q6PAN6AAUp20Pc2Hk2KIol47OwHaqeyQtMbRGpChLvLKsJ/iEVpD6oM3Zxg8xAESr4wtX7yU3PWhByvQxnoK8KRiLgnlHicxronmrvVJGojfbSmG2Z+q04RdXZzRgGwxLzaGdyQhjloat8dOEgyTpsWBTY824Y6fxO7aHDkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017CydoYAKJupcGQqufZ7H4i",
      "input": {
        "note": "White bowl still peeks out ahead of the pink one in the wrist view, so pink sits a bit short. Sliding 2 cm forward while lowering.",
        "targets": {
          "right_x": 0.45,
          "right_z": 0.075
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_017CydoYAKJupcGQqufZ7H4i",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8101, 0.6411, -0.4419, -0.1055, -0.0944, 0.9955, 0.7013, 1.9377, 1.0122, 0.2771, 0.503, 0.1757, 0.0468]\nstate[eef_state]: left_x=0.2918 left_y=0.005 left_z=0.1804 left_yaw=0.0678 left_pitch=-0.0351 left_roll=-0.008 left_gripper=0.9955 right_x=0.4265 right_y=0.2534 right_z=0.0632 right_yaw=0.1769 right_pitch=0.0106 right_roll=-0.1282 right_gripper=0.0468\nstate[joint_eff]: [-0.0479, -1.1692, 6.9675, 1.6728, -0.1099, -0.0513, -0.0171, -0.9915, -9.7162, 9.3197, 1.8339, 0.1978, 0.0415, 0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdd66314c653f7ebfc6485f95f8ecd8323918ef7b12daa1ed4635af0eef882f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ff8d208236025a3ae91a045e27c51e1bc18e8dad31604e7924e85522b1eb099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92fbc57e4026a8c2df5c14bad829825323c882b80ec945935b8b8ec6f06c8407",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 6.269 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]: [-0.0589, 0.807, 0.6411, -0.4419, -0.1055, -0.0944, 0.9956, 0.7086, 1.8332, 1.0836, 0.1696, 0.5243, 0.189, 0.0425]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1812 left_yaw=0.0678 left_pitch=-0.0321 left_roll=-0.0084 left_gripper=0.9956 right_x=0.4313 right_y=0.2579 right_z=0.1219 right_yaw=0.1585 right_pitch=0.0763 right_roll=-0.0923 right_gripper=0.0425\nstate[joint_eff]: [-0.0205, -0.7863, 6.9812, 1.6728, -0.0904, -0.0513, -0.0171, -0.7316, -7.9658, 8.4855, 1.7558, 0.2857, 0.0122, 0.2857]",
      "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]: [-0.0589, 0.8101, 0.6411, -0.4419, -0.1055, -0.0944, 0.9956, 0.7071, 1.8999, 1.0275, 0.2661, 0.5129, 0.1867, 0.0448]\nstate[eef_state]: left_x=0.2918 left_y=0.005 left_z=0.1804 left_yaw=0.0678 left_pitch=-0.0351 left_roll=-0.008 left_gripper=0.9956 right_x=0.4288 right_y=0.2571 right_z=0.0853 right_yaw=0.1682 right_pitch=0.0504 right_roll=-0.1025 right_gripper=0.0448\nstate[joint_eff]: [-0.0342, -1.5385, 6.9812, 1.707, -0.0611, -0.0415, -0.0171, 0.0205, -9.1966, 5.7778, 1.8339, 0.2222, 0.0366, 0.2222]",
      "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]: [-0.0589, 0.8101, 0.6411, -0.4419, -0.1055, -0.0944, 0.9955, 0.7013, 1.9377, 1.0122, 0.2771, 0.503, 0.1757, 0.0468]\nstate[eef_state]: left_x=0.2918 left_y=0.005 left_z=0.1804 left_yaw=0.0678 left_pitch=-0.0351 left_roll=-0.008 left_gripper=0.9955 right_x=0.4265 right_y=0.2534 right_z=0.0632 right_yaw=0.1769 right_pitch=0.0106 right_roll=-0.1282 right_gripper=0.0468\nstate[joint_eff]: [-0.0479, -1.1692, 6.9675, 1.6728, -0.1099, -0.0513, -0.0171, -0.9915, -9.7162, 9.3197, 1.8339, 0.1978, 0.0415, 0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdd66314c653f7ebfc6485f95f8ecd8323918ef7b12daa1ed4635af0eef882f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ff8d208236025a3ae91a045e27c51e1bc18e8dad31604e7924e85522b1eb099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92fbc57e4026a8c2df5c14bad829825323c882b80ec945935b8b8ec6f06c8407",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywoKEAgSGAI4AUIIdGhpbmtpbmcSDAB7+Ct9ZlXvnTnSbRoMlWHFVnG9/MRnQWnxIjAzgfrcZ85mooucOffiAzmrOU1bHsK4Jzjzxzlt1uuA629cEcPd9uSFxoAD3vHqm2Mq6AmiD10MuIL0f87tjeGq6eHO77eFnPQhkjh+tI0foqvLQofPZM3d1LLDX4Fw+EBbixXXjUfkbymDT3ECJEX8+afM/9FI0rQv+txUt91wOX+Zauh8YuGoFHSF9gNaUxM/4MY399KG8xxxHSpqPZ+i/lDnlG7XgWsFkMC8UrrO5rmRWlSHPp7UKeTkY1Dz29Qs7iOEUOzj8wccMLf52J169TCMs18c2d5VLzyd+NPPUgviXwmuGTVJCn5q5d1MfTCMqQZRSCWrauMBkZix5V5cY7mJMVmCnPch8VncbkJFbuuvqg7LOqf4vsSZ5c3Ksn+YWVuglfiHfIVrM3LQvgu7wNUeoN1JXWwVWEvzG3wmwaB4PL7XuXkZwAFFQ26Z0QlfLqsdOKHxThYXqw0zbH8nhQlWfXAFBYsl/T15nI/r9scU9FlUbJz+RoAwDiX1Qkk/Bv2v0ZLr/YbuLe0fyINnqh5OJFtys4e4m62mX+rWkdvlGJUSoe0iYn6vsUOxGAObftg78Q3+yh7XP2ATEMMbH4cEGuUbyAaklEJ5tNuxvxc0aAOezBvTa/e0CD8IOKOzHHklpFG6IpAloEpdfRssjnt/dPKsf8eYTFXFPEpCgi2iYFZ1Jwigw3aAuvpRJXTrerUGV3R65p8BNHobLCYBscINSEIblUseKMh5jTEu4SqfFgE4ypygTYq7yr6fLTMmfOsty5jO6Z/WCHHb7iLGng2TNGO9ob8vWescVqnEhGYChsYBJ3WYUGSxj90L+GyqOztWbYXGuyqQfdlT6+lZYTpDDoEu26zBzsaaQovE5WFBWwWFQt5YOpPV9/Jblya4yODvaXdT9B5lT8Jxqy7jTF8CIBxJcMBmkFiOTJCnMoe99VDgpLEUNR0OnZ//n62fXkvMF69CBSqGRZ52hw6RKUQch40lIDS9kFbU7kw1Ft/IS/EvmPpeW8M+W/852M6vqHUn5G0eaSBdpF7BX1GwPh9Gm1GMw2vkz7NOVs3TwK8iPE715qK33ne/lSZuofHnUC4wunq2Riqil535rZHjxQL8AZFpB6Y/bFeFIEG1aJk18OxP40jwsWosykzduxxLCEws+ev7GKWP6GhfGOkUxcK1BVBeG/WpPWXQgN6US/DQQsBQxZy6pAmF/Ya6jaJN+eyorb0QcwHd34K8rJQ4jNKbzIAFNK1vt06wZjIjjhKjb2GyBZYiz0t3A+5rQkGRY0/67xViHykms/MLh9wWGYgvnsDfbhUHM1qznUMfOd9ZOFR6oqAmOYJ9hdnw3A0GUl346168XS7ToXnLfHkKDcX/LvdjIPOMxEq2LD2M8IttZu+/FaNYjNxRio45eFyAsDD/bKJxSGCxDfgX7A8gkonbdEo+JoRBUbTs/2Tc0klhXNhIgzWqM/L/WvGjBB8T39WOCHiJgg41bKEbqNwHGA4vcihtX6ui42qNK0dEb6ViapWhsVTJELfVjmY+cxcTdNXGHkN83Ov7Yy+Qks2JGnDTdbzmL2O3FjQ/oiQB4wXxMByxu0EQIZF8WP6CEfz/S6EsSbOjCvqaQSh+gh6DKMq0/C9z3zAueKVMnn4IMzuaHS6gmtmvKQ+TVoa6MAR6ROlt20QMQKz9GGV5yENkXCiGC8Q7sIpU0HgkcrDRl1oXT9FM63XiSEVChD5Gw5WeJ9Xr/NjCFBrIIxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TDm1JTT8KjBWLdpP9NrnY6",
      "input": {
        "note": "The white/blue stack is actually ~8 cm further forward than the pink bowl (it may have been nudged). Raising and reaching forward with more pitch to get over it.",
        "targets": {
          "right_pitch": 0.4,
          "right_x": 0.5,
          "right_y": 0.27,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01TDm1JTT8KjBWLdpP9NrnY6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8116, 0.6411, -0.4423, -0.1055, -0.0944, 0.9955, 0.6514, 2.0052, 1.1507, 0.5003, 0.5003, -0.0162, 0.0483]\nstate[eef_state]: left_x=0.2919 left_y=0.005 left_z=0.1799 left_yaw=0.0678 left_pitch=-0.037 left_roll=-0.0078 left_gripper=0.9955 right_x=0.4854 right_y=0.268 right_z=0.1282 right_yaw=0.2157 right_pitch=0.2566 right_roll=-0.1655 right_gripper=0.0483\nstate[joint_eff]: [-0.0615, -1.2513, 6.9675, 1.6777, -0.0611, -0.0513, -0.0073, -0.5675, -9.9214, 8.9778, 2.0733, 0.3541, 0.1001, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a4ff51f33ed80040f8689d746fce9a61ebb372711d5445990e8bf39aa52b569",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77f699c9c935d853a31714417ca0e6bdf265556a2b10814d5a069ae3b18a9acd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6de19439633f50aab64aa2108cdde8c1c90e6c878f686c5131052cf59245198e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 4.681 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]: [-0.0589, 0.8101, 0.6411, -0.4419, -0.1055, -0.0944, 0.9956, 0.7071, 1.8999, 1.0275, 0.2661, 0.5129, 0.1867, 0.0448]\nstate[eef_state]: left_x=0.2918 left_y=0.005 left_z=0.1804 left_yaw=0.0678 left_pitch=-0.0351 left_roll=-0.008 left_gripper=0.9956 right_x=0.4288 right_y=0.2571 right_z=0.0853 right_yaw=0.1682 right_pitch=0.0504 right_roll=-0.1025 right_gripper=0.0448\nstate[joint_eff]: [-0.0342, -1.5385, 6.9812, 1.707, -0.0611, -0.0415, -0.0171, 0.0205, -9.1966, 5.7778, 1.8339, 0.2222, 0.0366, 0.2222]",
      "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]: [-0.0589, 0.8101, 0.6411, -0.4419, -0.1055, -0.0944, 0.9955, 0.7013, 1.9377, 1.0122, 0.2771, 0.503, 0.1757, 0.0468]\nstate[eef_state]: left_x=0.2918 left_y=0.005 left_z=0.1804 left_yaw=0.0678 left_pitch=-0.0351 left_roll=-0.008 left_gripper=0.9955 right_x=0.4265 right_y=0.2534 right_z=0.0632 right_yaw=0.1769 right_pitch=0.0106 right_roll=-0.1282 right_gripper=0.0468\nstate[joint_eff]: [-0.0479, -1.1692, 6.9675, 1.6728, -0.1099, -0.0513, -0.0171, -0.9915, -9.7162, 9.3197, 1.8339, 0.1978, 0.0415, 0.1978]",
      "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]: [-0.0589, 0.8116, 0.6411, -0.4423, -0.1055, -0.0944, 0.9955, 0.6514, 2.0052, 1.1507, 0.5003, 0.5003, -0.0162, 0.0483]\nstate[eef_state]: left_x=0.2919 left_y=0.005 left_z=0.1799 left_yaw=0.0678 left_pitch=-0.037 left_roll=-0.0078 left_gripper=0.9955 right_x=0.4854 right_y=0.268 right_z=0.1282 right_yaw=0.2157 right_pitch=0.2566 right_roll=-0.1655 right_gripper=0.0483\nstate[joint_eff]: [-0.0615, -1.2513, 6.9675, 1.6777, -0.0611, -0.0513, -0.0073, -0.5675, -9.9214, 8.9778, 2.0733, 0.3541, 0.1001, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a4ff51f33ed80040f8689d746fce9a61ebb372711d5445990e8bf39aa52b569",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77f699c9c935d853a31714417ca0e6bdf265556a2b10814d5a069ae3b18a9acd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6de19439633f50aab64aa2108cdde8c1c90e6c878f686c5131052cf59245198e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQoKEAgSGAI4AUIIdGhpbmtpbmcSDGYxXct5PshGnunS2BoMSaEZ/YKezD/jD/tKIjAFc5Zn16CzRBztdrtV7KtISN5BjhfG2C1/+tWdgmcS8duGRC4CBZ6TCDyXKXG7mCQqvgmXBEla7amCceAQGU06NhQuKBJ4lnHMANm9QNv57SMczqNYn5Grks9KRrtDGPnaYMjGo9e9FDKvi53iaBjLtB+YZoEh4UfvyUTTrUulwPJumP2O6xrLBF4cFbzOHPNl1c36Z3VAy5XOgEtjVXmLcJwJulur9U4EIm9kurQ+8uZH5UzrVAewwHq72cyq2VhOQKRbJi4hHNbor7n5VbsYAExWCxhZCbgCrsyoCpWfKQaLNuOz4iV59X90A90NtVigHk/OohDw8Y7WLkF1VZCJ5f8uBwBUhhP4kbR0+wLWHpAZDbVvpcRvcG7iJtqqDSkHc0WC8EvpFFgd2JkwwRK2daVHQ1ay6wy5NRQs5ikMDBuYGfiPnvBmcNSk6SflQ5jtkr37uJM+EWWgJSllWDvAyLioNJUiQDHet/h1j+S30IVM16E7GQwgEfD2dt93WJlcFnwL0mUWs7hOAeFzc58XVWi9e7PBB9obNlLKEsGkrBAxq9ABWrgCmHc7SqrYMHz1NNRwCRt67T3XsalkMf6lXrLAE0N8RyIsZ0KHRwn7odu8ZCW1qaXyz43I/p8I5iYcCgrHQza6OgAer/6NlWbiHdVqKVVODsTKTPFf8V/Lbr5pj6aVaWymozlr1kC1RP2R5O33OisODt8K7CsnpAV9GqUB3skTc9W7tKswQORKta4fYmbvJpe8gYR4R6H2/bTgfSmTxXOWS3A14St8E+v/BYzLWbIC95WrjxqK20C1X37IXIR3zVRhFt2KrP1l/zqFPS0MgTuefhpIhCGPcs2vE7FA4imwDUDM8CArIsW4jnstcfuGpNvJUNULT9BdbrgnIRdFBsuadPyfz1dpnZtYpr57KhR18UEtisjvDpp/XnlTP6glYDS0cY2BZ+HUona4srUD/+Dw3qYFQQ1Atsn/X/xDjXG5Hkp8H+v2EmGI53OQH6wEJyK359dyYdfbeZiMmsytzfmLzMj10+vD4wU0vQPQKHn7Uty4mI/Bk4pfjdfbjfzIhBRjIv/WZDJm0hghDklM25FF7lwhpMJRbFh0ke+MiTk7AVlkAeMI/rCnsAPnLa04XLl24lLRuaTLiG+F0kdptBC4L9WaecTVe+Z9qCup6sWBVXJ/JGdL1VA3+Kpa9Oqiz7nDHfaMMai6ReRhGvb6/tl0d1u3Ij7+M0+IaBOCdZ3i1TJFNJh0Z7ZX0TQcvesln+w+JKmkUhmrmsNX0jr4qxChg1Jq9Zr2hftiiVZQ7+/5a1+0FmRQDFdgqCK5QnowautnGcGxoL0/8uwOcwNr6RDXroi+iETCuYwV31S0RtVPBwFj0rA6djX/FD+W+gp+8mOoAFWBPvi19A/N5VHBBikzu9UG0AFl/H8QWOobZOBaHn5SvJK+TbaM777Daq6qNDbxcES53ZW0gumn9r0usSetPS2SdYtCLdkYR7KCKDMtERiUExxEPyRC8ab5Tt/4ZPozAhbRnhUBYzT+JZJPm7kBIM00qD2kVDMKAnWwpCDdlvfaffC27s+YTbJqqSrCbe2AMUogLy7DstOu5TkNTVUL8KY7Tve/UaJnLj6YqH23xZ3snVNlGfG874x7wSJRPH1Ys6oah5AL7PjEkagULw8VqYEF0nWxOYKVKRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CCeQGZ4NcpxtCTShnX84gt",
      "input": {
        "note": "Pink now partly overlaps the white stack; the stack is ~3 cm right and a bit further forward. Adjusting right/forward before lowering.",
        "targets": {
          "right_pitch": 0.4,
          "right_x": 0.51,
          "right_y": 0.24,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01CCeQGZ4NcpxtCTShnX84gt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8135, 0.6411, -0.4454, -0.1051, -0.0944, 0.9955, 0.6151, 2.0094, 1.1217, 0.5735, 0.4801, -0.0574, 0.0497]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1787 left_yaw=0.0675 left_pitch=-0.042 left_roll=-0.0073 left_gripper=0.9955 right_x=0.4935 right_y=0.2532 right_z=0.129 right_yaw=0.2152 right_pitch=0.2867 right_roll=-0.183 right_gripper=0.0497\nstate[joint_eff]: [-0.0205, -1.4974, 7.1453, 1.6972, -0.0366, -0.0415, -0.0073, 0.294, -10.7966, 6.8581, 2.0635, -0.0269, -0.0073, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e4cd422fd435e9d6152634f2cc171a9582c703e41fb399b7288fdc8e91b7c7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fcb0f01e34c11256142a873c912b0253a0f9715c545674f999745b5f33962f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aaa9c714d74282ff03d884ab54277f319c23982f63b5bd1dd0a3388b83ea9e48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 6.049 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]: [-0.0589, 0.8101, 0.6411, -0.4419, -0.1055, -0.0944, 0.9955, 0.7013, 1.9377, 1.0122, 0.2771, 0.503, 0.1757, 0.0468]\nstate[eef_state]: left_x=0.2918 left_y=0.005 left_z=0.1804 left_yaw=0.0678 left_pitch=-0.0351 left_roll=-0.008 left_gripper=0.9955 right_x=0.4265 right_y=0.2534 right_z=0.0632 right_yaw=0.1769 right_pitch=0.0106 right_roll=-0.1282 right_gripper=0.0468\nstate[joint_eff]: [-0.0479, -1.1692, 6.9675, 1.6728, -0.1099, -0.0513, -0.0171, -0.9915, -9.7162, 9.3197, 1.8339, 0.1978, 0.0415, 0.1978]",
      "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]: [-0.0589, 0.8116, 0.6411, -0.4423, -0.1055, -0.0944, 0.9955, 0.6514, 2.0052, 1.1507, 0.5003, 0.5003, -0.0162, 0.0483]\nstate[eef_state]: left_x=0.2919 left_y=0.005 left_z=0.1799 left_yaw=0.0678 left_pitch=-0.037 left_roll=-0.0078 left_gripper=0.9955 right_x=0.4854 right_y=0.268 right_z=0.1282 right_yaw=0.2157 right_pitch=0.2566 right_roll=-0.1655 right_gripper=0.0483\nstate[joint_eff]: [-0.0615, -1.2513, 6.9675, 1.6777, -0.0611, -0.0513, -0.0073, -0.5675, -9.9214, 8.9778, 2.0733, 0.3541, 0.1001, 0.1392]",
      "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]: [-0.0589, 0.8135, 0.6411, -0.4454, -0.1051, -0.0944, 0.9955, 0.6151, 2.0094, 1.1217, 0.5735, 0.4801, -0.0574, 0.0497]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1787 left_yaw=0.0675 left_pitch=-0.042 left_roll=-0.0073 left_gripper=0.9955 right_x=0.4935 right_y=0.2532 right_z=0.129 right_yaw=0.2152 right_pitch=0.2867 right_roll=-0.183 right_gripper=0.0497\nstate[joint_eff]: [-0.0205, -1.4974, 7.1453, 1.6972, -0.0366, -0.0415, -0.0073, 0.294, -10.7966, 6.8581, 2.0635, -0.0269, -0.0073, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e4cd422fd435e9d6152634f2cc171a9582c703e41fb399b7288fdc8e91b7c7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fcb0f01e34c11256142a873c912b0253a0f9715c545674f999745b5f33962f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aaa9c714d74282ff03d884ab54277f319c23982f63b5bd1dd0a3388b83ea9e48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjQgKEAgSGAI4AUIIdGhpbmtpbmcSDNB/zq/ULZIfrOVaZhoMrv7MwAVXF8MDLOKyIjAbxbNPHU7UnWMEBc0Fmovfvf4Z9Ed/VpByy6/PWB99mSbqbOyvgZ/0pWr8vDHnpNAqqgcJTiOm88OaN/i2J+MSK/SFqjpPmffmYKmse3lM5ZVAO6DVr8ZevN/6oQCvA2m53Kxu+ODzWmcRl3D1hnQ7KdcU17jmFhrt5NoonJyWjH3H2p1IuimkGMRao/o2oEQILtLq/rORUuBTu0mZasMz981dDn7p70i/lRggMUlIM6xet608Dfyt9MzWzIFtaEavKku3qVHjb+99D+RPw+Vb17/hyLckb2vS7+wLq8+VTRpRXn2bGLNHDIgANIuBNgqFhZH2C23FJPT3TbgzSZ9382IzfAohSCtkJh5b0ZnfpLJSCTmJhN7YDphSMwIzug9efTSqZ3oYWRXuYIrpxNI0OGpb0rTh7Nr/mi7Kr3L0yNMpR5zywSV1+GYC0T3jQ5/F+o/U+5Yxw9RStxqcqXr95t4dJa+H0E2g1fXJxZe40FVHxSY571zfcgbXPOWl/JFFip0QnxTeALPlrRLQSf3l38iCRJm+XwLq0w7mlizGEsaen/vrywUw3MvWyfjP0YyWyUDpCmOYZwLe/2/t34oPTK5IVf1wXXjl2Zx1koYQtfbdcVWDehKjr5PaeO4Tk9ttKtoL8RLJMi6eoYxqd6NeS95NHKS7Td0oK+ij4YlEN/FegIozOze3xUYfY7GdqD2NNs8Jm93WPHIkrpCseWqU2cbT2L5o+GZUbbQfOOjqV2dDsAsvvi2iUH2DOsj9TosHcOIH9B8ibrB4TMz3VSBLLkJe/Co+d7pSa922r5oKURa4kfSD7kxCAfBGAp+JNaZycwtaMOzEKkgUjlNQ1m2RPY8hLUGaU/2vjslDiaADtvnjOBp4CHf2BEGDscoSYE5+TnC2jqsN18YhfEPirgpXFE6PQumn3jy08fqEzusC5+TyEWkkOj3l5fG2Fk8ftYFgI62cw/6RkrJFi05bQQ6lW81WKTwNelBCprP2ye/mrtj510TNmzdHN7ZQ94mJ5J6TzU66O+OJL7U4LYpyM260KjbLdkaVPPaWTJ3V7H1XUZuIfTavfEjk0y/o+KeUSlaQzH0ZXsnY0/XBBN7m/biozw+b6kQ6+6MK1O8ecBPT/K6c0vlW8tGqqZVbA8OcBxyye9b4ttjbv7RUbq+sgTEUZKaS6EtGHp90m/+olhA6fb0HDzgO6SUJfpM28rZZ7nKdELeuc/LGUqtN/evRXXGd1TqPUrtP8EBxOb+dm73dOtyqlDYjbcintX1GuybAFJR/WJz8RwDSnH76VyAzGS+wfT4z8zXvZ+QR59H1UxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S1ZQwd7LobYNammWSWHkVP",
      "input": {
        "note": "Pink bowl now sits squarely over the white stack (white rim ring visible around it from above). Lowering it in.",
        "targets": {
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01S1ZQwd7LobYNammWSWHkVP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8135, 0.6411, -0.4454, -0.1055, -0.0944, 0.9955, 0.617, 2.0094, 1.1217, 0.5735, 0.4698, -0.0574, 0.0512]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1787 left_yaw=0.0678 left_pitch=-0.042 left_roll=-0.0071 left_gripper=0.9955 right_x=0.4928 right_y=0.2559 right_z=0.1287 right_yaw=0.226 right_pitch=0.2855 right_roll=-0.18 right_gripper=0.0512\nstate[joint_eff]: [-0.0889, -1.3333, 7.0906, 1.7021, -0.0708, -0.0562, -0.0073, -0.335, -10.6188, 6.7077, 1.9951, 0.105, 0.0171, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:954665c0797859a340d47fd211e42123283543c287022733872e607942fb7bb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c3f2c1f93cc5479946f93a32e605187e71bc861ee723db2ffe919714352caf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f1ffb1f65346348e7636e8652e4b92a030db39edbbf1a8dc2d04876d29c41cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 5.244 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]: [-0.0589, 0.8116, 0.6411, -0.4423, -0.1055, -0.0944, 0.9955, 0.6514, 2.0052, 1.1507, 0.5003, 0.5003, -0.0162, 0.0483]\nstate[eef_state]: left_x=0.2919 left_y=0.005 left_z=0.1799 left_yaw=0.0678 left_pitch=-0.037 left_roll=-0.0078 left_gripper=0.9955 right_x=0.4854 right_y=0.268 right_z=0.1282 right_yaw=0.2157 right_pitch=0.2566 right_roll=-0.1655 right_gripper=0.0483\nstate[joint_eff]: [-0.0615, -1.2513, 6.9675, 1.6777, -0.0611, -0.0513, -0.0073, -0.5675, -9.9214, 8.9778, 2.0733, 0.3541, 0.1001, 0.1392]",
      "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]: [-0.0589, 0.8135, 0.6411, -0.4454, -0.1051, -0.0944, 0.9955, 0.6151, 2.0094, 1.1217, 0.5735, 0.4801, -0.0574, 0.0497]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1787 left_yaw=0.0675 left_pitch=-0.042 left_roll=-0.0073 left_gripper=0.9955 right_x=0.4935 right_y=0.2532 right_z=0.129 right_yaw=0.2152 right_pitch=0.2867 right_roll=-0.183 right_gripper=0.0497\nstate[joint_eff]: [-0.0205, -1.4974, 7.1453, 1.6972, -0.0366, -0.0415, -0.0073, 0.294, -10.7966, 6.8581, 2.0635, -0.0269, -0.0073, 0.1343]\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]: [-0.0589, 0.8135, 0.6411, -0.4454, -0.1055, -0.0944, 0.9955, 0.617, 2.0094, 1.1217, 0.5735, 0.4698, -0.0574, 0.0512]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1787 left_yaw=0.0678 left_pitch=-0.042 left_roll=-0.0071 left_gripper=0.9955 right_x=0.4928 right_y=0.2559 right_z=0.1287 right_yaw=0.226 right_pitch=0.2855 right_roll=-0.18 right_gripper=0.0512\nstate[joint_eff]: [-0.0889, -1.3333, 7.0906, 1.7021, -0.0708, -0.0562, -0.0073, -0.335, -10.6188, 6.7077, 1.9951, 0.105, 0.0171, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:954665c0797859a340d47fd211e42123283543c287022733872e607942fb7bb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c3f2c1f93cc5479946f93a32e605187e71bc861ee723db2ffe919714352caf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f1ffb1f65346348e7636e8652e4b92a030db39edbbf1a8dc2d04876d29c41cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1woKEAgSGAI4AUIIdGhpbmtpbmcSDFCIK3ZVOKBvS67aCBoMfJ+2/Jio3FoCVos/IjB8vO2DUyjAmTbLrEj+9+HtPDMawCuwV0RFu0CLGreopyXtzOS3gSASEceIKH6PoyIq9AmLSVEKWG/uieXyPexchFM/lj041qHg1zoMfttzcMpBNc++O7bLS882esBB11xleLEC+5yAJWG6F+FGBi4IJQmB5fsmeVCVRXQHELIgLKaI6sGwBOWw2iMkxvB1Vrr5n68jCgVWZr7TT1n/zgYwWP+AWfGz8Z+Rq8mV0BFHe3IDVd7c+DIoXPcdomKSwaRw3xL2HxIC0swqYma7UwbAzd35N/h9TxpzJYBZypxL7fGWRqUgXSXiObo9AzAc4Mli3myyrBxf+AwhlqH1ZZ8z/ZI+7XE6CfcGp2Tr0Sh7sa1Vat80OFDekrID/8zBm2F/x5lrcY+OEtMczCb234UaOsXpYd578Uh94FMim7h7mDbfVd7I3ms4CuNFaMXk+oXucNFOmjRYT3l/ChuLOIoDPvQbfUxdJ2UWhvzHZ9XNyWve/EL7oyE2M3L2IXCQ67oIQcHsyeJkO7hg0dehbFeqmbudQAMqh6380NQp8Ui7W6/B+9qs0FgvgtG1J1gvHf1TrD9QSQG2Jmj1xEH4fbWKlqYxspr+2BGl7SuHnbPU3+dWLaVR3dYEFh4P8J3yFpNexD+erKzSg0RvgB3ZC8gGqZiQRrv+Cp4AS3Sf9C0knoOzt219ucbskGyHDoR2xAQoKub0R0Ii0vQcxfKSl6/FK9dTnCParJjvnT1VkbMGAjwecEadpr6Iqkc/ji9CCdyFZEf5AM6/LnNhSrH8Zs5odrTZHm8l1ivVKhv/hQj0cAuB6BykAdfEIOOwIlx+0Xp4tWaJJGmf5qpWscC91WORtcyGUlpxfSeBCps5lv6M1ZSIrHf27E8P4fK1vWzc83fxiQVKzp97UCsETX2pw3Rj0ZFBCERhCnKsNus48StT7TpTaWg4W1CikyNHtUH4OLJ2O2EG0ZVgemiaKu6/t8kF0ipQEz8OqM4j8JlIgqjLjQMJGQ93bSsb2WBRa+rTJ+Fscu4AYXGSE3mrs3aXdv4JckCrE3qvevUukF6s6h3wG3IKCku6wTRYbSvyXcx7xQ0cdlad6j+Merf0jLPXszgnBHSUbRilntaT+ee/Cqi4Y/anYfKfRLZzNwX1tHKKi3nUyDMXGnzAEKrQI5Mg0+j8j1PaMhf8Vakq4UhKgY9VbUAlb11UrjkhSjgMdhEfnpAfX1H1YUnnm8rwjLduqkZc3J+PAs42VYkjwwkLQhijOfUS8ciK8eLQy1/1gMOr2JgnM0SktRvZhkRyqQMJP3xnf8GjdgA1DA0dcKd9unL+N7SCmHB3ON6oTi6CBWBGlEpY+kx4k6a+uSaivr2UeITfwb0jC2YNe5ahDy24/ep5lND0ZsSEDY47sv8ZDkCa+K0zYQ5sdoq1tytPPwHnjWOSKK3LK+/ykY6uegg0acASd0LZu4tmgStACIyUDum1t8+JbsP3Zq1+nIufUaWcBNB9td3WRnqesRMd41yPCwcO24CmcMXk70mPgiRLlyQ7QqxUiIY5x7FqXMojdqsu3kcHglSFftyboi9RSA28amLnUvAPYr7OoF6CzTT1g845c5x21fo5Bj5dajV7aPInfI+u/n4WPw3oaCRdz0Ys/vF+DUbRaxObyl81PJSJEewoGxs96sU+8T0pvCXQ96mSZeuF8ec7dxjqQ8RDJCQUZu8bVpi9iV5kpDFHLX283hUG/H314ZDr6qiqzidO0AzAprSWULuw8tpWUBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E15gthFvFzEAM9Zpy19x3B",
      "input": {
        "note": "Arm didn't descend (likely at reach limit at x≈0.49). Pulling in 1 cm while lowering to seat the pink bowl.",
        "targets": {
          "right_x": 0.48,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01E15gthFvFzEAM9Zpy19x3B",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8139, 0.6411, -0.4454, -0.1055, -0.0944, 0.9956, 0.617, 2.0094, 1.1217, 0.5735, 0.4698, -0.0574, 0.052]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1786 left_yaw=0.0678 left_pitch=-0.0423 left_roll=-0.0071 left_gripper=0.9956 right_x=0.4928 right_y=0.2559 right_z=0.1287 right_yaw=0.226 right_pitch=0.2855 right_roll=-0.18 right_gripper=0.052\nstate[joint_eff]: [-0.1436, -1.1282, 6.9675, 1.7021, -0.0659, -0.0317, -0.0073, -0.2256, -10.8103, 6.9675, 2.0098, 0.1001, -0.0269, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3eadd3c070fd8556b49795b7bdbb891945ebbbeb4dd43af3b5fe0aadf1b6c24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c44aee07dd01748a2089c7e1b6695607f2ab9acd7a0661ee9c3e6e8a3dda8ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:329e0bdc965e408a9bdffa0fff1c0aaee78bebcd5a8f6f33f132985f3eed102e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 16.3 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]: [-0.0589, 0.8135, 0.6411, -0.4454, -0.1051, -0.0944, 0.9955, 0.6151, 2.0094, 1.1217, 0.5735, 0.4801, -0.0574, 0.0497]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1787 left_yaw=0.0675 left_pitch=-0.042 left_roll=-0.0073 left_gripper=0.9955 right_x=0.4935 right_y=0.2532 right_z=0.129 right_yaw=0.2152 right_pitch=0.2867 right_roll=-0.183 right_gripper=0.0497\nstate[joint_eff]: [-0.0205, -1.4974, 7.1453, 1.6972, -0.0366, -0.0415, -0.0073, 0.294, -10.7966, 6.8581, 2.0635, -0.0269, -0.0073, 0.1343]\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]: [-0.0589, 0.8135, 0.6411, -0.4454, -0.1055, -0.0944, 0.9955, 0.617, 2.0094, 1.1217, 0.5735, 0.4698, -0.0574, 0.0512]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1787 left_yaw=0.0678 left_pitch=-0.042 left_roll=-0.0071 left_gripper=0.9955 right_x=0.4928 right_y=0.2559 right_z=0.1287 right_yaw=0.226 right_pitch=0.2855 right_roll=-0.18 right_gripper=0.0512\nstate[joint_eff]: [-0.0889, -1.3333, 7.0906, 1.7021, -0.0708, -0.0562, -0.0073, -0.335, -10.6188, 6.7077, 1.9951, 0.105, 0.0171, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8139, 0.6411, -0.4454, -0.1055, -0.0944, 0.9956, 0.617, 2.0094, 1.1217, 0.5735, 0.4698, -0.0574, 0.052]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1786 left_yaw=0.0678 left_pitch=-0.0423 left_roll=-0.0071 left_gripper=0.9956 right_x=0.4928 right_y=0.2559 right_z=0.1287 right_yaw=0.226 right_pitch=0.2855 right_roll=-0.18 right_gripper=0.052\nstate[joint_eff]: [-0.1436, -1.1282, 6.9675, 1.7021, -0.0659, -0.0317, -0.0073, -0.2256, -10.8103, 6.9675, 2.0098, 0.1001, -0.0269, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3eadd3c070fd8556b49795b7bdbb891945ebbbeb4dd43af3b5fe0aadf1b6c24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c44aee07dd01748a2089c7e1b6695607f2ab9acd7a0661ee9c3e6e8a3dda8ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:329e0bdc965e408a9bdffa0fff1c0aaee78bebcd5a8f6f33f132985f3eed102e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkwgKEAgSGAI4AUIIdGhpbmtpbmcSDJzpMjREDVsBy20zGxoMqeruJ7BhblbzRHLsIjDEIhY9GaG5DtuYaFkJb8FasZV/73ksEEkv7tqQYvzNb667NBCXjqMRejAeZZTbeMwqsAejXUTa06PGP4K79FsshjYSW8QYgZxs3Kvcq28o/TiAUhjZyMyhGvrgICdekNPh1tfNy74qCWzXHaNv2BDBX9BbkERNQgJ+3DHesU/iMRRuRx0/RWegopcQuEk43lQ5ZfKIOolSni0PA8+wtp96gdrlWO+fxAKrxgJNX9gbjPnhgsHnspsjzZt5srzoDutQ0vbCMaNciSFbr3QmbroRBNYPQfmLNRdu9iwASjqTOjJJcYqb3wS+tguVDI5zmwImFfi8ch/W4eKMNFk3Xjzneo89FCRXAgnKdxao12ixOqTiTdbwv58/OMIfSh2uHI7jEQgsuiWbzZo0rlaSYmzEvuhI2+ilepF9SOIS3SDDR4k+465eqSqNuOdCILAqZyuBgkNILcSHEfPmCQLaqWCDhaFBMKbvfFQuyMZDqHvBt3EaD6SFpOO9jXrBPSCK5Kjfy4Y0HAwgDDWjRqxvNm8MWzdJbkNZGeyC3NL2a6OOlRDy1dqqNTPiGHgVVVBl+p/Y7blO9OIMiO9EgJqUfty4kmgFSjICn5emnRDFGOogug+24Yp3yvJq93Etq6OTeSVwIyaI8GE+q/amQrNTfBoioGrC/c2JSXGCAMBBUEhMO0ihbTxwhhYA6rKZGYw2DN4R/rq2K03umMqRE/PBOKorR7Gsc6t83mNcAkmNDBN9b+7D+DwYMq31V2DDiirf8w2pbeF6IFKw/ZVmmCQdB75zoq3GXcWxLwd0vzzur/fZvqZka7A8a76M/YHszVvAqw4FC2qIQ8fm/XC+94uvewmMN7YeUgr/62b5Q7tE+KCH/xEdcdNRI30UKmGdiQORQoCNdR1LkpfWM/WHHXQSB4gPK3EG9nEGIbak80dqS2HEUYfzJoWMRnWWIgL3eXIlcRLOQ30WbrhHpmOVEV2hIzELvm2gY/20J4W4dBdK/L0G2O59DLeRkT5p9UJ765D+px9yxrk/AMRrNGLiOP/iGBLilLzSvuBx8E0PVEW9uvsJaNXSYkaPUYYO6SkOPuGwK206TiWBs3LNxcVxI7h+BVadrevF3W71Grl3C7bpQtd5cIZU5KFM5re039FjbT3j+ToJK4gObG1GFJUzUlnjWHYBCZdNzBHaZYwLKUYCDf94PXIha0SYnM11ZCgmcx/nxO4rvVHzrglRPQjk9+M3Vi0LxkK5IzPMXsKZMJTW84xl74ANGR6bAyr7R0LDn/S0L+Y9ic8UhEcsmhxG9/vWldudVkUtfEu0WCpx9VFl+rQaYLV+phgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DPA51FiwXxvJhruJDi9iTS",
      "input": {
        "note": "Right arm is frozen at z≈0.13 (same IK hold seen before), but the pink bowl is centred over the white stack a few cm above it. Releasing to drop it into the stack.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DPA51FiwXxvJhruJDi9iTS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8139, 0.6411, -0.4461, -0.1055, -0.0944, 0.9956, 0.617, 2.0094, 1.1191, 0.572, 0.4629, -0.065, 0.9954]\nstate[eef_state]: left_x=0.2915 left_y=0.005 left_z=0.1785 left_yaw=0.0679 left_pitch=-0.0431 left_roll=-0.007 left_gripper=0.9956 right_x=0.492 right_y=0.2567 right_z=0.1271 right_yaw=0.2367 right_pitch=0.2801 right_roll=-0.1872 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -1.1419, 7.0085, 1.6728, -0.105, -0.0317, -0.0171, -0.3624, -10.7145, 6.4342, 1.79, 0.0904, 0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea0931db0817654bf277926517d95e56fa475c4b06a63f8670fc2ea8fc1ad035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fbc4c2ccb0436725fb078bb9c2b0bae3b8f2f51bfbe2a55a2eea0805147a460",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1091bc23693e45708fb485145b8f232b99ae1e373cf042a0f4cc17dc0de28c5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 5.252 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]: [-0.0589, 0.8135, 0.6411, -0.4454, -0.1055, -0.0944, 0.9955, 0.617, 2.0094, 1.1217, 0.5735, 0.4698, -0.0574, 0.0512]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1787 left_yaw=0.0678 left_pitch=-0.042 left_roll=-0.0071 left_gripper=0.9955 right_x=0.4928 right_y=0.2559 right_z=0.1287 right_yaw=0.226 right_pitch=0.2855 right_roll=-0.18 right_gripper=0.0512\nstate[joint_eff]: [-0.0889, -1.3333, 7.0906, 1.7021, -0.0708, -0.0562, -0.0073, -0.335, -10.6188, 6.7077, 1.9951, 0.105, 0.0171, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8139, 0.6411, -0.4454, -0.1055, -0.0944, 0.9956, 0.617, 2.0094, 1.1217, 0.5735, 0.4698, -0.0574, 0.052]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1786 left_yaw=0.0678 left_pitch=-0.0423 left_roll=-0.0071 left_gripper=0.9956 right_x=0.4928 right_y=0.2559 right_z=0.1287 right_yaw=0.226 right_pitch=0.2855 right_roll=-0.18 right_gripper=0.052\nstate[joint_eff]: [-0.1436, -1.1282, 6.9675, 1.7021, -0.0659, -0.0317, -0.0073, -0.2256, -10.8103, 6.9675, 2.0098, 0.1001, -0.0269, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0589, 0.8139, 0.6411, -0.4461, -0.1055, -0.0944, 0.9956, 0.617, 2.0094, 1.1191, 0.572, 0.4629, -0.065, 0.9954]\nstate[eef_state]: left_x=0.2915 left_y=0.005 left_z=0.1785 left_yaw=0.0679 left_pitch=-0.0431 left_roll=-0.007 left_gripper=0.9956 right_x=0.492 right_y=0.2567 right_z=0.1271 right_yaw=0.2367 right_pitch=0.2801 right_roll=-0.1872 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -1.1419, 7.0085, 1.6728, -0.105, -0.0317, -0.0171, -0.3624, -10.7145, 6.4342, 1.79, 0.0904, 0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea0931db0817654bf277926517d95e56fa475c4b06a63f8670fc2ea8fc1ad035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fbc4c2ccb0436725fb078bb9c2b0bae3b8f2f51bfbe2a55a2eea0805147a460",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1091bc23693e45708fb485145b8f232b99ae1e373cf042a0f4cc17dc0de28c5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016wMmsDvnqTNzdTMJ4u5TuZ",
      "input": {
        "note": "The pink bowl dropped behind the white bowl instead of into it (top view: white far, pink ~12 cm nearer). Going straight to straddle the pink bowl's right wall to regrasp it.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0.2,
          "right_x": 0.38,
          "right_y": 0.23,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_016wMmsDvnqTNzdTMJ4u5TuZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8181, 0.6411, -0.453, -0.1055, -0.0944, 0.9955, 0.746, 1.9942, 0.6418, 0.8745, 0.548, 0.0082, 0.9973]\nstate[eef_state]: left_x=0.2908 left_y=0.0051 left_z=0.176 left_yaw=0.0679 left_pitch=-0.0541 left_roll=-0.0056 left_gripper=0.9955 right_x=0.3806 right_y=0.2313 right_z=0.0251 right_yaw=0.2684 right_pitch=0.1566 right_roll=-0.2155 right_gripper=0.9973\nstate[joint_eff]: [-0.0752, -1.6889, 6.9675, 1.7216, -0.0855, -0.0513, -0.0171, 0.1846, -7.5556, 4.6427, 2.0342, 0.3394, 0.1587, -0.2906]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dce4ae686e8246ea506ea89bcc385836736f2c967d4ee1299781f8bb0169e96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c9e61efa738065c686785f9f20bebf36a09a997eeae4f2fe29d2b6348132ec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0a1986c6e137884a1170e828e37a6d97795462429773e43a8764b1c12393cf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 6.758 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]: [-0.0589, 0.8139, 0.6411, -0.4454, -0.1055, -0.0944, 0.9956, 0.617, 2.0094, 1.1217, 0.5735, 0.4698, -0.0574, 0.052]\nstate[eef_state]: left_x=0.2916 left_y=0.005 left_z=0.1786 left_yaw=0.0678 left_pitch=-0.0423 left_roll=-0.0071 left_gripper=0.9956 right_x=0.4928 right_y=0.2559 right_z=0.1287 right_yaw=0.226 right_pitch=0.2855 right_roll=-0.18 right_gripper=0.052\nstate[joint_eff]: [-0.1436, -1.1282, 6.9675, 1.7021, -0.0659, -0.0317, -0.0073, -0.2256, -10.8103, 6.9675, 2.0098, 0.1001, -0.0269, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0589, 0.8139, 0.6411, -0.4461, -0.1055, -0.0944, 0.9956, 0.617, 2.0094, 1.1191, 0.572, 0.4629, -0.065, 0.9954]\nstate[eef_state]: left_x=0.2915 left_y=0.005 left_z=0.1785 left_yaw=0.0679 left_pitch=-0.0431 left_roll=-0.007 left_gripper=0.9956 right_x=0.492 right_y=0.2567 right_z=0.1271 right_yaw=0.2367 right_pitch=0.2801 right_roll=-0.1872 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -1.1419, 7.0085, 1.6728, -0.105, -0.0317, -0.0171, -0.3624, -10.7145, 6.4342, 1.79, 0.0904, 0.0952, -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 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8181, 0.6411, -0.453, -0.1055, -0.0944, 0.9955, 0.746, 1.9942, 0.6418, 0.8745, 0.548, 0.0082, 0.9973]\nstate[eef_state]: left_x=0.2908 left_y=0.0051 left_z=0.176 left_yaw=0.0679 left_pitch=-0.0541 left_roll=-0.0056 left_gripper=0.9955 right_x=0.3806 right_y=0.2313 right_z=0.0251 right_yaw=0.2684 right_pitch=0.1566 right_roll=-0.2155 right_gripper=0.9973\nstate[joint_eff]: [-0.0752, -1.6889, 6.9675, 1.7216, -0.0855, -0.0513, -0.0171, 0.1846, -7.5556, 4.6427, 2.0342, 0.3394, 0.1587, -0.2906]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dce4ae686e8246ea506ea89bcc385836736f2c967d4ee1299781f8bb0169e96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c9e61efa738065c686785f9f20bebf36a09a997eeae4f2fe29d2b6348132ec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0a1986c6e137884a1170e828e37a6d97795462429773e43a8764b1c12393cf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSxwcKEAgSGAI4AUIIdGhpbmtpbmcSDHov/wJ4Bs+6edYbZBoMb28LMVIr4InhdRBaIjBcIWLunOsCB1vH58geufmDwr3RpP/5ab3cnIIuioSphuxnjytH5xOJkVOOOvGb8/Mq5Aac+J4GEAxYfZF8zCwLX4RR6TWcm1Nr1v4ty6ROc2Qa/q1lfZZD1BJmR7Ye6iCWId7IwsWlCO4MCTkPAnbtu6TaPTi1L1g1bwqx2H0nJBBwEYYy4SwxhYKmjnomuzDIlSsWs/DXfqMs6B162CB4UagORxXc679Frd8akFusRdvw67IceagMMNX7ATfqVn1pTXwpnSql1v1+n/tlUe0yY3HLRGdmvpMzBQpnZCx9TfFT+l643TpZte4gshlEEMpJkcIZstYI3UyyOb+uKtE8hl/iahx5dVGNom0RcuYMm2+GNpxswRRCwi67NlbDiLFZgih4I5Tqaj974tU8Nm8CQ9j7jWrtGm8ANeAEC/2ZQuC4FxfAe6FtBgb6MxZfWtXBQ7nCctc21BD6mGrdrXao5Y1u1boI0wXguAh/u+ErRU1bofRos8KKHCh6g3jIH7btQtpGi2VOg91LeVA22yi5HqGspguEAKIb/nnq3H7l2kgbc1EEBcEm13OqbL8nq7xpSXGzMehrS5eEoFKAT7mD4PqDPoyO2RcSA7+CPkmhf3hTyXifGi+ygXMAKGq28gm6KHL3hkPcW+eieXNil1g2cLguO8scB3m88aBUsKxpHFLc27VsfsGqm/l1arUj9lyx1si7nZNBaCvrF6wERM9QIxchW4bvS3WF7ULdNqVkv5vCBwJEan1Tq/u+CC61qRtxV1uGK/x7M1KrSsaq4IeScMHXPoAm8gxUsXKOpNM+0/TVXgbXSYymry6BIHAPqYilxis0VddZ6W5Me31fNy1Tbw5x6c+NBGVrBngesBl6xoHmq4RXligK9vfSUq/1DH2x4pAzCbLFah39ZnnyAo5cd06SltCARuKxBjssg2uBldgsC9LbE5o5mgIXsTEUK+NfdH5y73dcYC1/u9T+z/qEFTGvGX7F2+Is80vQYIR7LPTyR2Q+Y/4oa5olLzu4eH8sNbjRaHbEK/9vnw82gTHvMW3wt44xCMvHGKrhg8GHqeQrRym6+XQXKyBqoXrjJe1vYVy20jlDKQiTqPmsciPiJO9xzG+Y/41X3et9xzAyYBqLhqNZJdWdyYRcupSJ7mnh9BtoEZZIoARnrpCBpl0r629pNaPnDUZ7BfigUCrUMSr2VgkrxoUO2jUqocOmVoy7EH8fjmo0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016hEFQ8rnsVgbLtJje4Gqch",
      "input": {
        "note": "Pink bowl's right wall is between the jaws (left jaw inside, right jaw outside). Closing.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016hEFQ8rnsVgbLtJje4Gqch",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8185, 0.6411, -0.4595, -0.1055, -0.0944, 0.9956, 0.746, 1.9968, 0.6228, 0.8684, 0.5411, 0.0032, 0.0076]\nstate[eef_state]: left_x=0.2898 left_y=0.0051 left_z=0.1746 left_yaw=0.068 left_pitch=-0.0609 left_roll=-0.0047 left_gripper=0.9956 right_x=0.375 right_y=0.2275 right_z=0.0167 right_yaw=0.2785 right_pitch=0.1298 right_roll=-0.23 right_gripper=0.0076\nstate[joint_eff]: [-0.0342, -1.1009, 6.9812, 1.7363, -0.0757, -0.0757, -0.0073, -0.0752, -8.4308, 5.4222, 1.7851, 0.188, 0.0562, 0.525]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de122e58b2a53f16f7d26deb2cc988f24df0a9ca884d56ee19ed2b7917056fad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0db372a08fc7d2b642a1cd3d3917daa7e7265ccf4f580904ba156fc78b3b95f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:654270d623da0ff8e5f9ba84780043b54f686607c7fd199b74c917847500adbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /messages · status 200 · 13.47 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8139, 0.6411, -0.4461, -0.1055, -0.0944, 0.9956, 0.617, 2.0094, 1.1191, 0.572, 0.4629, -0.065, 0.9954]\nstate[eef_state]: left_x=0.2915 left_y=0.005 left_z=0.1785 left_yaw=0.0679 left_pitch=-0.0431 left_roll=-0.007 left_gripper=0.9956 right_x=0.492 right_y=0.2567 right_z=0.1271 right_yaw=0.2367 right_pitch=0.2801 right_roll=-0.1872 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -1.1419, 7.0085, 1.6728, -0.105, -0.0317, -0.0171, -0.3624, -10.7145, 6.4342, 1.79, 0.0904, 0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8181, 0.6411, -0.453, -0.1055, -0.0944, 0.9955, 0.746, 1.9942, 0.6418, 0.8745, 0.548, 0.0082, 0.9973]\nstate[eef_state]: left_x=0.2908 left_y=0.0051 left_z=0.176 left_yaw=0.0679 left_pitch=-0.0541 left_roll=-0.0056 left_gripper=0.9955 right_x=0.3806 right_y=0.2313 right_z=0.0251 right_yaw=0.2684 right_pitch=0.1566 right_roll=-0.2155 right_gripper=0.9973\nstate[joint_eff]: [-0.0752, -1.6889, 6.9675, 1.7216, -0.0855, -0.0513, -0.0171, 0.1846, -7.5556, 4.6427, 2.0342, 0.3394, 0.1587, -0.2906]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8185, 0.6411, -0.4595, -0.1055, -0.0944, 0.9956, 0.746, 1.9968, 0.6228, 0.8684, 0.5411, 0.0032, 0.0076]\nstate[eef_state]: left_x=0.2898 left_y=0.0051 left_z=0.1746 left_yaw=0.068 left_pitch=-0.0609 left_roll=-0.0047 left_gripper=0.9956 right_x=0.375 right_y=0.2275 right_z=0.0167 right_yaw=0.2785 right_pitch=0.1298 right_roll=-0.23 right_gripper=0.0076\nstate[joint_eff]: [-0.0342, -1.1009, 6.9812, 1.7363, -0.0757, -0.0757, -0.0073, -0.0752, -8.4308, 5.4222, 1.7851, 0.188, 0.0562, 0.525]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de122e58b2a53f16f7d26deb2cc988f24df0a9ca884d56ee19ed2b7917056fad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0db372a08fc7d2b642a1cd3d3917daa7e7265ccf4f580904ba156fc78b3b95f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:654270d623da0ff8e5f9ba84780043b54f686607c7fd199b74c917847500adbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UxBeGpYRuMXan2tGXtbW3e",
      "input": {
        "note": "Closed on the pink bowl's wall (top view shows it tilted up in the jaws). Carrying it straight forward to above the white bowl, which lies directly ahead.",
        "targets": {
          "right_pitch": 0.35,
          "right_x": 0.48,
          "right_y": 0.23,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01UxBeGpYRuMXan2tGXtbW3e",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8185, 0.6411, -0.4603, -0.1055, -0.0944, 0.9955, 0.5827, 1.9823, 0.9134, 0.7681, 0.4164, -0.1436, 0.0102]\nstate[eef_state]: left_x=0.2897 left_y=0.0051 left_z=0.1744 left_yaw=0.068 left_pitch=-0.0616 left_roll=-0.0046 left_gripper=0.9955 right_x=0.4695 right_y=0.2281 right_z=0.0996 right_yaw=0.2845 right_pitch=0.2829 right_roll=-0.2452 right_gripper=0.0102\nstate[joint_eff]: [-0.0752, -1.347, 7.0632, 1.7167, -0.0757, -0.0708, -0.0122, -0.4855, -11.9179, 7.5692, 2.0928, 0.0659, 0.0659, 0.2515]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:706873936ab31c10fc4a1a3de9d6d211cb3c1068c08839f02606c6b9641aeaf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63ebf7afb89b1fcfd77abe86f186e7872ed25e0b6bc8e8e6e4af144a4f9bc0f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:461106b52da9c2e44ec1ad5d0e910a86d22b38d9a6cec077ef840f81f038315a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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