adhoc

completed
2026-09-22T18:51:16.492247+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
297.3 s
total steps
260
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

give_up

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 mid-table (green-white left, blue middle, peach right). Moving the left arm over the left rim of the green bowl to grasp its wall.
move_to
left_x0.3200left_y-0.1500left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7944, 0.6041, -0.3809, -0.0223, -0.0292, 0.9995, -0.0216, 0.7929, 0.601, -0.3828, -0.0158, -0.0334, 0.9966] state[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.294 right_y=0.0 right_z=0.1783 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9966 state[joint_eff]: [-0.4855, -1.6068, 10.0718, 1.7656, -0.0415, 0.1538, -0.0611, -0.2667, -1.4291, 10.3043, 1.9707, -0.0952, 0.188, -0.3639] 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": 0.32, "left_y": -0.15, "left_z": 0.15, "left_gripper": 1}, "note": "Three bowls in a row mid-table (green-white left, blue middle, peach right). Moving the left arm over the left rim of the green bowl to grasp 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 noteWrist cam shows the green bowl centred just ahead of the jaws, so its centre is ~y=-0.145, x~0.36. Moving over its left (+y) rim to straddle the wall with the jaws.
move_to
left_x0.3600left_y-0.0880left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7254, 1.2247, 0.6785, -0.2276, -0.5648, -0.448, 0.9996, -0.0216, 0.7975, 0.5999, -0.3927, -0.0154, -0.0341, 0.9963] state[eef_state]: left_x=0.3105 left_y=-0.1441 left_z=0.1312 left_yaw=-0.0333 left_pitch=-0.0612 left_roll=0.0389 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1745 right_yaw=0.0001 right_pitch=-0.0156 right_roll=-0.0005 right_gripper=0.9963 state[joint_eff]: [-0.2803, -4.6427, 8.9778, 1.6288, -0.4078, -0.1832, -0.0611, -0.0205, -1.5932, 7.1316, 1.7607, -0.0806, -0.0317, -0.0415] 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": 0.36, "left_y": -0.088, "left_z": 0.12}, "note": "Wrist cam shows the green bowl centred just ahead of the jaws, so its centre is ~y=-0.145, x~0.36. Moving over its left (+y) rim to straddle the wall with the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteBowl's left rim now lies on the jaw column in the wrist view. Descending to straddle the wall.
move_to
left_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.424, 1.2823, 0.6514, -0.0914, -0.3801, -0.2756, 0.9995, -0.0216, 0.8005, 0.598, -0.3935, -0.0151, -0.0341, 0.9963] state[eef_state]: left_x=0.351 left_y=-0.0826 left_z=0.1144 left_yaw=0.0289 left_pitch=-0.0909 left_roll=0.0432 left_gripper=0.9995 right_x=0.2926 right_y=-0.0001 right_z=0.1726 right_yaw=-0.0002 right_pitch=-0.0214 right_roll=-0.0006 right_gripper=0.9963 state[joint_eff]: [0.1026, -4.3692, 6.6393, 1.7753, -0.0757, 0.149, -0.022, -0.1983, -1.5111, 7.159, 1.6972, -0.0415, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.05}, "note": "Bowl's left rim now lies on the jaw column in the wrist view. Descending to straddle the wall."})
tool
executing move_to over 5 steps (0.5s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe bowl's left wall sits between the two jaws in the wrist view. Lowering further so the jaws straddle the wall low enough to grip.
move_to
left_z0.0150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4255, 1.449, 0.4965, 0.1555, -0.3672, -0.2703, 0.9994, -0.0216, 0.8017, 0.5957, -0.3927, -0.0151, -0.0341, 0.9963] state[eef_state]: left_x=0.3401 left_y=-0.0806 left_z=0.0412 left_yaw=0.0181 left_pitch=-0.1623 left_roll=0.0719 left_gripper=0.9994 right_x=0.2925 right_y=-0.0001 right_z=0.1714 right_yaw=-0.0002 right_pitch=-0.024 right_roll=-0.0005 right_gripper=0.9963 state[joint_eff]: [0.0205, -5.3265, 5.4769, 1.7314, -0.3004, -0.0366, -0.0122, -0.0479, -1.306, 7.2957, 1.707, -0.0415, -0.0513, -0.0171] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.015}, "note": "The bowl's left wall sits between the two jaws in the wrist view. Lowering further so the jaws straddle the wall low enough to grip."})
tool
executing move_to over 2 steps (0.2s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteDescent was delta-clamped at z=0.033; continuing down to grip the wall low.
move_to
left_z0.0100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4255, 1.5158, 0.4728, 0.2863, -0.3668, -0.2768, 0.9995, -0.0216, 0.8028, 0.5957, -0.3935, -0.0151, -0.0345, 0.9963] state[eef_state]: left_x=0.3479 left_y=-0.0842 left_z=0.033 left_yaw=0.0188 left_pitch=-0.1257 left_roll=0.0491 left_gripper=0.9995 right_x=0.2924 right_y=-0.0001 right_z=0.171 right_yaw=-0.0 right_pitch=-0.0259 right_roll=-0.0008 right_gripper=0.9963 state[joint_eff]: [-0.1162, -4.7385, 3.8085, 1.409, -0.1636, 0.0171, -0.0073, -0.0889, -1.3744, 7.0906, 1.707, -0.0269, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.01}, "note": "Descent was delta-clamped at z=0.033; continuing down to grip the wall low."})
tool
executing move_to over 2 steps (0.2s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
Wall appears between jaws. Closing.
agent noteJaws at table level straddling the green bowl's left wall; 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]: [-0.4255, 1.5944, 0.4381, 0.3527, -0.3668, -0.2779, 0.9994, -0.0216, 0.804, 0.5953, -0.3927, -0.0151, -0.0341, 0.9963] state[eef_state]: left_x=0.34 left_y=-0.0806 left_z=0.0068 left_yaw=0.0225 left_pitch=-0.168 left_roll=0.0687 left_gripper=0.9994 right_x=0.2926 right_y=-0.0001 right_z=0.1706 right_yaw=-0.0002 right_pitch=-0.0267 right_roll=-0.0005 right_gripper=0.9963 state[joint_eff]: [-0.1983, -5.1624, 4.4923, 1.5604, -0.1636, -0.0366, -0.0171, -0.0752, -1.4017, 7.2821, 1.7021, -0.0464, -0.0806, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
Wall appears between jaws. Closing.
move_to({"targets": {"left_gripper": 0}, "note": "Jaws at table level straddling the green bowl's left wall; closing to pinch the wall."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteGripper closed to 0.036 — ambiguous since the bowl wall is thin; the wall looks pinched between the jaws in the wrist view. Lifting to test the grasp.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4305, 1.57, 0.4572, 0.4534, -0.3511, -0.3149, 0.0358, -0.0216, 0.8043, 0.5953, -0.3935, -0.0151, -0.0341, 0.9963] state[eef_state]: left_x=0.3618 left_y=-0.0953 left_z=0.0384 left_yaw=0.0184 left_pitch=-0.0419 left_roll=-0.0326 left_gripper=0.0358 right_x=0.2925 right_y=-0.0001 right_z=0.1704 right_yaw=-0.0002 right_pitch=-0.0279 right_roll=-0.0005 right_gripper=0.9963 state[joint_eff]: [0.1162, -3.3846, 3.7812, 0.6129, -0.2515, 0.2857, 0.779, -0.1026, -1.1966, 7.0496, 1.7118, -0.0513, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.1}, "note": "Gripper closed to 0.036 \u2014 ambiguous since the bowl wall is thin; the wall looks pinched between the jaws in the wrist view. Lifting to test the grasp."})
tool
executing move_to over 4 steps (0.4s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteGreen bowl lifted with the jaws (wrist view unchanged relative to bowl). Carrying it high toward the blue bowl, offset so the green bowl's centre lands over the blue one.
move_to
left_z0.1700left_y-0.2400left_x0.3600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4286, 1.3819, 0.5514, 0.1871, -0.3489, -0.3222, 0.0378, -0.0216, 0.8051, 0.5953, -0.3931, -0.0151, -0.0341, 0.9963] state[eef_state]: left_x=0.3622 left_y=-0.0952 left_z=0.0894 left_yaw=0.0221 left_pitch=-0.0282 left_roll=-0.0468 left_gripper=0.0378 right_x=0.2926 right_y=-0.0001 right_z=0.1702 right_yaw=-0.0002 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9963 state[joint_eff]: [-0.3761, -5.6547, 8.4855, 1.6142, -0.1441, 0.0269, 0.8132, -0.0068, -1.2786, 7.0359, 1.7509, -0.0464, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17, "left_y": -0.24, "left_x": 0.36}, "note": "Green bowl lifted with the jaws (wrist view unchanged relative to bowl). Carrying it high toward the blue bowl, offset so the green bowl's centre lands over the blue one."})
tool
executing move_to over 13 steps (1.3s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteGreen bowl is carried and now appears directly over the blue bowl in the overhead view. Lowering to nest it.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8425, 1.5871, 1.0836, -0.3107, -0.6373, -0.6258, 0.0377, -0.0216, 0.8101, 0.5945, -0.4019, -0.0151, -0.0341, 0.9963] state[eef_state]: left_x=0.3563 left_y=-0.2362 left_z=0.1562 left_yaw=0.0004 left_pitch=-0.0534 left_roll=-0.0398 left_gripper=0.0377 right_x=0.2915 right_y=-0.0 right_z=0.1668 right_yaw=-0.0002 right_pitch=-0.0427 right_roll=-0.0001 right_gripper=0.9963 state[joint_eff]: [-0.2667, -7.2957, 8.9778, 1.4188, -0.4567, 0.0122, 0.8083, -0.1162, -1.4017, 7.2547, 1.8486, -0.0366, -0.0464, -0.0171] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.08}, "note": "Green bowl is carried and now appears directly over the blue bowl in the overhead view. Lowering to nest it."})
tool
executing move_to over 5 steps (0.5s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteBlue bowl's rim peeks out ahead of the green bowl in both views, so the blue bowl sits a few cm further forward. Shifting forward while lowering to nest.
move_to
left_x0.3750left_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8471, 1.7046, 0.8982, -0.0853, -0.6292, -0.6327, 0.0377, -0.0216, 0.8101, 0.5945, -0.4122, -0.0151, -0.0341, 0.9963] state[eef_state]: left_x=0.3467 left_y=-0.2299 left_z=0.0728 left_yaw=-0.0013 left_pitch=-0.1094 left_roll=0.0088 left_gripper=0.0377 right_x=0.29 right_y=-0.0 right_z=0.1647 right_yaw=-0.0002 right_pitch=-0.053 right_roll=0.0001 right_gripper=0.9963 state[joint_eff]: [0.2667, -7.747, 6.3385, 1.6972, -0.4908, 0.0317, 0.8278, -0.335, -1.3197, 6.9949, 1.7558, -0.0464, -0.0073, -0.0122] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.375, "left_z": 0.05}, "note": "Blue bowl's rim peeks out ahead of the green bowl in both views, so the blue bowl sits a few cm further forward. Shifting forward while lowering to nest."})
tool
executing move_to over 3 steps (0.3s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteGreen bowl is sinking into the blue bowl; lowering slightly more until it rests before releasing.
move_to
left_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7967, 1.8008, 0.9047, 0.0078, -0.6018, -0.6086, 0.0397, -0.0216, 0.812, 0.5945, -0.4156, -0.0151, -0.0341, 0.9963] state[eef_state]: left_x=0.365 left_y=-0.2252 left_z=0.048 left_yaw=0.0167 left_pitch=-0.1231 left_roll=0.0105 left_gripper=0.0397 right_x=0.2896 right_y=0.0 right_z=0.1635 right_yaw=-0.0002 right_pitch=-0.0584 right_roll=0.0002 right_gripper=0.9963 state[joint_eff]: [0.253, -8.2803, 7.788, 1.5507, -0.2906, 0.1978, 0.7302, -0.1709, -1.4154, 6.9812, 1.6923, -0.0611, -0.0415, -0.0171] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03}, "note": "Green bowl is sinking into the blue bowl; lowering slightly more until it rests before releasing."})
tool
executing move_to over 2 steps (0.2s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
Stopped at 0.044 — resting on blue bowl. Releasing.
agent noteDescent stopped at z≈0.044, so the green bowl is resting inside the blue bowl. Opening to release it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7883, 1.8248, 0.8963, 0.0662, -0.601, -0.6044, 0.0419, -0.0216, 0.8139, 0.5945, -0.416, -0.0151, -0.0341, 0.9963] state[eef_state]: left_x=0.3706 left_y=-0.226 left_z=0.0436 left_yaw=0.0201 left_pitch=-0.1057 left_roll=-0.0056 left_gripper=0.0419 right_x=0.2897 right_y=0.0 right_z=0.1629 right_yaw=-0.0002 right_pitch=-0.0607 right_roll=0.0002 right_gripper=0.9963 state[joint_eff]: [-0.6769, -6.5026, 4.6974, 1.1013, -0.2808, -0.0513, 0.5006, -0.0752, -0.9504, 6.9812, 1.7021, -0.0708, -0.0513, -0.0122] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
Stopped at 0.044 — resting on blue bowl. Releasing.
move_to({"targets": {"left_gripper": 1}, "note": "Descent stopped at z\u22480.044, so the green bowl is resting inside the blue bowl. Opening to release it."})
tool
executing move_to over 10 steps (1.0s)
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 noteOverhead shows the green-white bowl missed: it's on the table beside the gripper, and the blue bowl is further forward than I estimated. The white bowl's wall still sits between the open jaws, so I'm lowering to re-grip it.
move_to
left_z0.0050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7921, 1.8439, 0.8783, 0.0837, -0.5991, -0.6182, 0.9952, -0.0216, 0.8173, 0.5945, -0.4187, -0.0151, -0.0341, 0.9963] state[eef_state]: left_x=0.3665 left_y=-0.2246 left_z=0.0323 left_yaw=0.024 left_pitch=-0.1201 left_roll=-0.0031 left_gripper=0.9952 right_x=0.2894 right_y=0.0 right_z=0.1615 right_yaw=-0.0002 right_pitch=-0.0668 right_roll=0.0004 right_gripper=0.9963 state[joint_eff]: [-0.5675, -8.0615, 5.2308, 1.3504, -0.3394, 0.0366, -0.1538, -0.1162, -1.6342, 7.0085, 1.7167, -0.0611, -0.0317, -0.0171] 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_z": 0.005}, "note": "Overhead shows the green-white bowl missed: it's on the table beside the gripper, and the blue bowl is further forward than I estimated. The white bowl's wall still sits between the open jaws, so I'm lowering to re-grip it."})
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 noteDescent stopped at z≈0.025 with the white bowl's wall between the jaws; closing to pinch it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7921, 1.8755, 0.8684, 0.1402, -0.601, -0.6182, 0.9958, -0.0216, 0.8173, 0.5945, -0.4187, -0.0151, -0.0341, 0.9963] state[eef_state]: left_x=0.369 left_y=-0.2267 left_z=0.0245 left_yaw=0.0241 left_pitch=-0.1088 left_roll=-0.013 left_gripper=0.9958 right_x=0.2894 right_y=0.0 right_z=0.1615 right_yaw=-0.0002 right_pitch=-0.0668 right_roll=0.0004 right_gripper=0.9963 state[joint_eff]: [-0.2803, -6.7077, 3.959, 1.1941, -0.2466, -0.0171, 0.0269, -0.0615, -1.3744, 6.9675, 1.6484, -0.0269, -0.0415, -0.0122] 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_gripper": 0}, "note": "Descent stopped at z\u22480.025 with the white bowl's wall between the jaws; closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteGripper settled at 0.10, so the white bowl's wall is held. The blue bowl got pushed forward-right (overhead view), so I'm carrying the white bowl high toward the blue bowl's new spot.
move_to
left_z0.1700left_x0.4600left_y-0.3200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.794, 1.8709, 0.8669, 0.1768, -0.5995, -0.6399, 0.1026, -0.0216, 0.8192, 0.5945, -0.4217, -0.0151, -0.0345, 0.9963] state[eef_state]: left_x=0.3726 left_y=-0.2318 left_z=0.0309 left_yaw=0.0301 left_pitch=-0.0829 left_roll=-0.0601 left_gripper=0.1026 right_x=0.2891 right_y=0.0 right_z=0.1603 right_yaw=0.0 right_pitch=-0.0717 right_roll=0.0002 right_gripper=0.9963 state[joint_eff]: [-0.1983, -8.4444, 5.4222, 1.0476, -0.2711, 0.2076, 0.5104, -0.0889, -1.5658, 6.9812, 1.7314, -0.0611, -0.0513, -0.0122] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17, "left_x": 0.46, "left_y": -0.32}, "note": "Gripper settled at 0.10, so the white bowl's wall is held. The blue bowl got pushed forward-right (overhead view), so I'm carrying the white bowl high toward the blue bowl's new spot."})
tool
executing move_to over 9 steps (0.9s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteWrist cam shows the blue bowl just below and slightly right of the jaws, which matches where the held white bowl hangs. Lowering carefully to nest.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7929, 2.0754, 1.7359, -0.4541, -0.5987, -0.6552, 0.1024, -0.0216, 0.823, 0.5945, -0.4229, -0.0151, -0.0345, 0.9963] state[eef_state]: left_x=0.4596 left_y=-0.3196 left_z=0.1642 left_yaw=0.0372 left_pitch=-0.0611 left_roll=-0.0975 left_gripper=0.1024 right_x=0.2891 right_y=0.0 right_z=0.1591 right_yaw=0.0 right_pitch=-0.0767 right_roll=0.0003 right_gripper=0.9963 state[joint_eff]: [-0.2393, -11.453, 7.9248, 1.1258, -0.2857, 0.1001, -0.0317, -0.3077, -1.6479, 6.9675, 1.6825, -0.0171, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.09}, "note": "Wrist cam shows the blue bowl just below and slightly right of the jaws, which matches where the held white bowl hangs. Lowering carefully to nest."})
tool
executing move_to over 5 steps (0.5s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteAt 8 cm up, the blue bowl shows slightly ahead and to the right of the held white bowl. Shifting forward ~3 cm and right ~2 cm to centre over it.
move_to
left_x0.4850left_y-0.3350left_z0.0850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7929, 2.1372, 1.5455, -0.2737, -0.5987, -0.6552, 0.1024, -0.0216, 0.823, 0.5945, -0.4229, -0.0151, -0.0345, 0.9963] state[eef_state]: left_x=0.4514 left_y=-0.3113 left_z=0.0836 left_yaw=0.0417 left_pitch=-0.1094 left_roll=-0.0443 left_gripper=0.1024 right_x=0.2891 right_y=0.0 right_z=0.1591 right_yaw=0.0 right_pitch=-0.0767 right_roll=0.0003 right_gripper=0.9963 state[joint_eff]: [-0.0615, -11.7949, 6.7214, 1.707, -0.2613, -0.022, -0.0171, -0.212, -1.4154, 6.9949, 1.6386, -0.0464, -0.0659, -0.0122] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.485, "left_y": -0.335, "left_z": 0.085}, "note": "At 8 cm up, the blue bowl shows slightly ahead and to the right of the held white bowl. Shifting forward ~3 cm and right ~2 cm to centre over it."})
tool
executing move_to over 3 steps (0.3s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteJaws now sit just inside the blue bowl's left rim, with the held white bowl hanging toward the blue bowl's centre. Lowering to nest it.
move_to
left_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7841, 2.27, 1.7493, -0.3202, -0.5983, -0.6552, 0.1024, -0.0216, 0.8295, 0.5945, -0.4244, -0.0154, -0.0341, 0.9963] state[eef_state]: left_x=0.4809 left_y=-0.3341 left_z=0.0833 left_yaw=0.0484 left_pitch=-0.0932 left_roll=-0.0626 left_gripper=0.1024 right_x=0.2892 right_y=0.0001 right_z=0.1571 right_yaw=0.0002 right_pitch=-0.0847 right_roll=0.001 right_gripper=0.9963 state[joint_eff]: [0.5675, -12.9436, 8.2667, 1.0232, -0.2027, 0.1197, -0.0171, -0.0889, -1.7983, 6.9675, 1.6581, -0.0806, -0.0073, -0.0122] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.05}, "note": "Jaws now sit just inside the blue bowl's left rim, with the held white bowl hanging toward the blue bowl's centre. Lowering to nest it."})
tool
executing move_to over 3 steps (0.3s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe wrist view shows the held white bowl extending to the jaws' left, i.e. away from the blue bowl, and I can't move further right (y bound). Lifting and rotating the tool so the held bowl swings round the grasp point toward the blue bowl.
move_to
left_z0.1300left_yaw1.5700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7826, 2.2959, 1.6989, -0.271, -0.5961, -0.6533, 0.1024, -0.0216, 0.8314, 0.5945, -0.4232, -0.0151, -0.0345, 0.9963] state[eef_state]: left_x=0.4775 left_y=-0.33 left_z=0.0566 left_yaw=0.0493 left_pitch=-0.1127 left_roll=-0.0422 left_gripper=0.1024 right_x=0.2894 right_y=0.0 right_z=0.1568 right_yaw=0.0001 right_pitch=-0.0854 right_roll=0.0005 right_gripper=0.9963 state[joint_eff]: [-0.2803, -11.959, 6.6256, 1.4921, -0.2564, -0.022, -0.0171, -0.1026, -1.5795, 6.9812, 1.6239, -0.0659, -0.0366, -0.0122] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.13, "left_yaw": 1.57}, "note": "The wrist view shows the held white bowl extending to the jaws' left, i.e. away from the blue bowl, and I can't move further right (y bound). Lifting and rotating the tool so the held bowl swings round the grasp point toward the blue bowl."})
tool
executing move_to over 10 steps (1.0s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe yaw move made the IK swing the arm off-course (now at y=-0.11, z=0.02) and the white bowl is down on the table under it. Undoing the yaw and lifting back to a safe height.
move_to
left_yaw0.0000left_z0.1500left_x0.4000left_y-0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5152, 2.6476, 2.2967, -1.5143, -0.7944, -2.0434, 0.1024, -0.0216, 0.836, 0.5941, -0.4377, -0.0151, -0.0345, 0.9963] state[eef_state]: left_x=0.4525 left_y=-0.1072 left_z=0.024 left_yaw=1.3573 left_pitch=-0.1642 left_roll=-0.0431 left_gripper=0.1024 right_x=0.2873 right_y=0.0001 right_z=0.1526 right_yaw=0.0001 right_pitch=-0.1049 right_roll=0.0009 right_gripper=0.9963 state[joint_eff]: [0.212, -18.3453, 5.0803, -0.4274, -0.3346, -0.0415, -0.0171, -0.0889, -1.7436, 7.3641, 1.7607, -0.0611, -0.0366, -0.0122] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_yaw": 0.0, "left_z": 0.15, "left_x": 0.4, "left_y": -0.2}, "note": "The yaw move made the IK swing the arm off-course (now at y=-0.11, z=0.02) and the white bowl is down on the table under it. Undoing the yaw and lifting back to a safe height."})
tool
executing move_to over 9 steps (0.9s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteWhite bowl is back on the table at the left; blue and peach bowls sit together on the right. Parking the left arm and bringing the right arm over the blue bowl's left wall to drop it into the adjacent peach bowl.
move_to
left_x0.2900left_y0.0000left_z0.1800left_yaw0.0000left_roll0.0000left_gripper1.0000right_x0.4500right_y0.1650right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6281, 1.6188, 1.4731, -0.5915, -0.5671, -0.8669, 0.1024, -0.0216, 0.8391, 0.5941, -0.445, -0.0151, -0.0376, 0.9963] state[eef_state]: left_x=0.4188 left_y=-0.1824 left_z=0.2524 left_yaw=0.2878 left_pitch=-0.0646 left_roll=-0.3263 left_gripper=0.1024 right_x=0.2863 right_y=0.0001 right_z=0.1504 right_yaw=0.0018 right_pitch=-0.1152 right_roll=-0.0013 right_gripper=0.9963 state[joint_eff]: [-0.253, -1.4017, 6.0923, 1.8535, 0.1099, 0.188, -0.0171, -0.1026, -1.4154, 7.1316, 1.7656, -0.0269, -0.0269, -0.0171] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": 0.0, "left_z": 0.18, "left_yaw": 0.0, "left_roll": 0, "left_gripper": 1, "right_x": 0.45, "right_y": 0.165, "right_z": 0.15, "right_gripper": 1}, "note": "White bowl is back on the table at the left; blue and peach bowls sit together on the right. Parking the left arm and bringing the right arm over the blue bowl's left wall to drop it into the adjacent peach bowl."})
tool
executing move_to over 17 steps (1.7s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteRight wrist cam shows the blue bowl ahead of the jaws with its left wall roughly on the jaw column; advancing ~4 cm and lowering toward it.
move_to
right_x0.4800right_y0.1650right_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0566, 0.8497, 0.6693, -0.4965, -0.1364, -0.2512, 0.9968, 0.4728, 1.7042, 1.169, -0.2863, 0.3286, 0.2569, 0.9966] state[eef_state]: left_x=0.2898 left_y=0.0112 left_z=0.172 left_yaw=0.1803 left_pitch=-0.1012 left_roll=-0.1011 left_gripper=0.9968 right_x=0.4322 right_y=0.1611 right_z=0.1267 right_yaw=0.0412 right_pitch=-0.1917 right_roll=-0.0391 right_gripper=0.9966 state[joint_eff]: [0.4171, 0.0068, 7.8291, 1.9463, -0.022, 0.2271, -0.0269, -0.0068, -8.4855, 9.5932, 1.79, 0.3492, 0.2515, -0.3639] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.165, "right_z": 0.1}, "note": "Right wrist cam shows the blue bowl ahead of the jaws with its left wall roughly on the jaw column; advancing ~4 cm and lowering toward it."})
tool
executing move_to over 4 steps (0.4s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteArm lagged at x=0.44; the blue bowl is still ahead of the jaws. Pushing forward to put its left wall between the jaws.
move_to
right_x0.5000right_y0.1650right_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 0.8566, 0.6651, -0.495, -0.1165, -0.226, 0.9979, 0.4473, 1.8137, 1.2007, -0.2794, 0.3065, 0.2352, 0.9963] state[eef_state]: left_x=0.2899 left_y=0.0078 left_z=0.1683 left_yaw=0.1505 left_pitch=-0.1121 left_roll=-0.0915 left_gripper=0.9979 right_x=0.4436 right_y=0.1576 right_z=0.0908 right_yaw=0.0391 right_pitch=-0.264 right_roll=-0.0686 right_gripper=0.9963 state[joint_eff]: [-0.212, -2.0991, 7.2957, 1.5897, -0.2076, 0.0562, 0.1001, -0.1299, -9.894, 8.6222, 1.8584, 0.1734, -0.0073, -0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.165, "right_z": 0.08}, "note": "Arm lagged at x=0.44; the blue bowl is still ahead of the jaws. Pushing forward to put its left wall between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteRight arm stalled at x≈0.445 at low height. Trying to go forward at a higher z where reach is better, then descend onto the blue bowl's wall.
move_to
right_x0.5000right_y0.1650right_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 0.8577, 0.6651, -0.5022, -0.128, -0.2478, 0.998, 0.4496, 1.8122, 1.2007, -0.2646, 0.3061, 0.2314, 0.9963] state[eef_state]: left_x=0.2888 left_y=0.0099 left_z=0.1668 left_yaw=0.1722 left_pitch=-0.1197 left_roll=-0.0994 left_gripper=0.998 right_x=0.4457 right_y=0.1599 right_z=0.0937 right_yaw=0.0456 right_pitch=-0.2492 right_roll=-0.0643 right_gripper=0.9963 state[joint_eff]: [-0.3624, -1.5795, 6.9949, 1.663, 0.0317, 0.1685, 0.0024, -0.4991, -10.2222, 8.6906, 1.6239, 0.1392, 0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.165, "right_z": 0.13}, "note": "Right arm stalled at x\u22480.445 at low height. Trying to go forward at a higher z where reach is better, then descend onto the blue bowl's wall."})
tool
executing move_to over 5 steps (0.5s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
assistant
agent noteThe right tool has tipped backward (pitch -0.31), which is limiting reach. Commanding a forward pitch so the grasp point can extend over the blue bowl's wall.
move_to
right_x0.5000right_y0.1650right_z0.1000right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 0.8593, 0.6651, -0.5091, -0.1287, -0.2497, 0.998, 0.4328, 1.9015, 1.338, -0.371, 0.2874, 0.2085, 0.9963] state[eef_state]: left_x=0.2878 left_y=0.0101 left_z=0.1651 left_yaw=0.1741 left_pitch=-0.1279 left_roll=-0.0985 left_gripper=0.998 right_x=0.4618 right_y=0.1621 right_z=0.0891 right_yaw=0.0507 right_pitch=-0.3097 right_roll=-0.089 right_gripper=0.9963 state[joint_eff]: [-0.0615, -1.4838, 6.9128, 1.7753, -0.0855, 0.0171, -0.0122, -1.6479, -9.5248, 7.4325, 1.0134, 0.1392, 0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.165, "right_z": 0.1, "right_pitch": 0.3}, "note": "The right tool has tipped backward (pitch -0.31), which is limiting reach. Commanding a forward pitch so the grasp point can extend over the blue bowl's wall."})
tool
executing move_to over 21 steps (2.1s)
step 178
assistant
agent noteForward pitch fixed the reach: the blue bowl's left wall now runs up the jaw column in the right wrist view. Descending to straddle it.
move_to
right_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 0.8623, 0.6651, -0.5125, -0.1287, -0.252, 0.998, 0.4519, 1.9804, 0.9424, 0.6621, 0.4129, 0.0311, 0.9963] state[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.1636 left_yaw=0.1755 left_pitch=-0.1343 left_roll=-0.0988 left_gripper=0.998 right_x=0.4947 right_y=0.1653 right_z=0.0887 right_yaw=0.0717 right_pitch=0.2286 right_roll=-0.1001 right_gripper=0.9963 state[joint_eff]: [-0.0479, -1.6479, 6.9128, 1.6239, -0.1148, -0.0171, -0.0122, 0.1299, -8.5265, 5.7504, 2.0733, 0.2857, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02}, "note": "Forward pitch fixed the reach: the blue bowl's left wall now runs up the jaw column in the right wrist view. Descending to straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 183
assistant
agent noteThe blue wall sits between the jaws; going a little lower for a firmer pinch.
move_to
right_z0.0100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 0.8635, 0.6651, -0.5129, -0.1287, -0.252, 0.998, 0.4519, 2.1689, 0.9169, 0.8871, 0.4118, 0.0143, 0.9963] state[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.1633 left_yaw=0.1756 left_pitch=-0.1358 left_roll=-0.0984 left_gripper=0.998 right_x=0.4965 right_y=0.1664 right_z=0.0338 right_yaw=0.0811 right_pitch=0.2377 right_roll=-0.1118 right_gripper=0.9963 state[joint_eff]: [-0.0205, -1.6752, 6.8991, 1.6337, -0.1148, -0.0171, -0.0122, 0.0752, -7.7607, 4.6154, 1.3944, 0.0611, 0.1392, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.01}, "note": "The blue wall sits between the jaws; going a little lower for a firmer pinch."})
tool
executing move_to over 2 steps (0.2s)
step 185
assistant
agent noteDescent holds at z≈0.036 with the blue bowl's wall between the jaws; closing to pinch it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 0.8635, 0.6651, -0.5129, -0.1287, -0.252, 0.998, 0.4515, 2.2024, 0.9192, 0.9699, 0.4114, 0.0025, 0.9962] state[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.1633 left_yaw=0.1756 left_pitch=-0.1358 left_roll=-0.0984 left_gripper=0.998 right_x=0.5006 right_y=0.1682 right_z=0.0358 right_yaw=0.0827 right_pitch=0.285 right_roll=-0.104 right_gripper=0.9962 state[joint_eff]: [-0.0068, -1.6068, 6.9949, 1.6044, -0.0904, -0.022, -0.0122, -0.335, -7.2, 4.7658, 1.1795, 0.0317, 0.232, -0.0171] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Descent holds at z\u22480.036 with the blue bowl's wall between the jaws; closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 195
assistant
agent noteEmpty close: the blue bowl is at the edge of reach and the jaws didn't catch the wall. Plan B: put the closed fingers inside the bowl and drag it back toward the base where it's easy to grasp.
move_to
right_y0.1200right_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 0.8642, 0.6651, -0.5129, -0.1287, -0.252, 0.998, 0.4515, 2.2162, 0.9215, 0.992, 0.4065, -0.0051, 0.0097] state[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.163 left_yaw=0.1756 left_pitch=-0.1365 left_roll=-0.0983 left_gripper=0.998 right_x=0.5016 right_y=0.1696 right_z=0.0345 right_yaw=0.0901 right_pitch=0.294 right_roll=-0.1062 right_gripper=0.0097 state[joint_eff]: [-0.0615, -1.6068, 6.9128, 1.58, -0.1001, -0.0513, -0.0122, -0.3214, -11.8222, 4.2325, 1.6044, 0.0952, 0.1099, 0.7692] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.12, "right_z": 0.04}, "note": "Empty close: the blue bowl is at the edge of reach and the jaws didn't catch the wall. Plan B: put the closed fingers inside the bowl and drag it back toward the base where it's easy to grasp."})
tool
executing move_to over 5 steps (0.5s)
step 200
assistant
agent noteThe blue bowl moved sideways with the fingers, so they're hooked inside it. Dragging it back toward the base into easy reach.
move_to
right_x0.4000right_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 0.8673, 0.6651, -0.519, -0.1287, -0.252, 0.998, 0.3355, 2.1811, 0.8402, 1.0378, 0.3065, -0.0391, 0.012] state[eef_state]: left_x=0.2866 left_y=0.0102 left_z=0.1611 left_yaw=0.1759 left_pitch=-0.1454 left_roll=-0.0961 left_gripper=0.998 right_x=0.5012 right_y=0.1221 right_z=0.0325 right_yaw=0.0803 right_pitch=0.2825 right_roll=-0.1106 right_gripper=0.012 state[joint_eff]: [-0.1573, -1.6342, 6.9128, 1.6288, -0.0952, -0.0415, -0.0073, -0.3214, -11.5624, 4.1641, 1.8877, 0.0513, 0.0171, 0.232] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_z": 0.035}, "note": "The blue bowl moved sideways with the fingers, so they're hooked inside it. Dragging it back toward the base into easy reach."})
tool
executing move_to over 8 steps (0.8s)
step 208
assistant
agent noteThe blue bowl didn't come with the drag. The peach bowl sits right beside the right gripper (just to its right), so I'll grasp the peach bowl's left wall and lift it into the blue bowl instead.
move_to
right_gripper1.0000right_x0.3700right_y0.1050right_z0.1000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 0.8719, 0.6651, -0.5198, -0.1287, -0.252, 0.998, 0.4549, 2.03, 0.458, 1.2022, 0.3946, -0.0147, 0.014] state[eef_state]: left_x=0.2867 left_y=0.0102 left_z=0.1598 left_yaw=0.1761 left_pitch=-0.1506 left_roll=-0.0949 left_gripper=0.998 right_x=0.4004 right_y=0.1243 right_z=0.0195 right_yaw=0.1152 right_pitch=0.2289 right_roll=-0.1357 right_gripper=0.014 state[joint_eff]: [0.0068, -1.5248, 6.8991, 1.6337, -0.0659, -0.0366, -0.0122, 0.212, -8.8547, 3.8085, 1.9609, 0.2955, 0.1783, 0.188] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.37, "right_y": 0.105, "right_z": 0.1, "right_pitch": 0.1}, "note": "The blue bowl didn't come with the drag. The peach bowl sits right beside the right gripper (just to its right), so I'll grasp the peach bowl's left wall and lift it into the blue bowl instead."})
tool
executing move_to over 10 steps (1.0s)
step 218
assistant
agent noteThe peach bowl's left rim shows ~4 cm right of the jaw column in the right wrist view. Shifting right and descending so the jaws straddle its wall.
move_to
right_x0.3600right_y0.0750right_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 0.8734, 0.6651, -0.5198, -0.1287, -0.2523, 0.998, 0.4297, 1.4445, 0.4492, 0.5072, 0.3515, 0.0021, 0.9949] state[eef_state]: left_x=0.2868 left_y=0.0102 left_z=0.1593 left_yaw=0.1764 left_pitch=-0.1521 left_roll=-0.0948 left_gripper=0.998 right_x=0.3684 right_y=0.1059 right_z=0.0906 right_yaw=0.1237 right_pitch=0.1124 right_roll=-0.1408 right_gripper=0.9949 state[joint_eff]: [-0.3214, -1.8256, 6.8991, 1.5604, -0.105, -0.0757, -0.0122, -0.6085, -5.8735, 8.5538, 1.8779, 0.1538, 0.1001, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.075, "right_z": 0.02}, "note": "The peach bowl's left rim shows ~4 cm right of the jaw column in the right wrist view. Shifting right and descending so the jaws straddle its wall."})
tool
executing move_to over 5 steps (0.5s)
step 223
assistant
agent noteAt table level the peach bowl's left wall is between the jaws (right jaw just inside it). Closing to pinch the wall.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 0.8772, 0.6647, -0.5289, -0.1287, -0.2523, 0.998, 0.326, 1.7462, 0.2829, 0.878, 0.2756, -0.0395, 0.9955] state[eef_state]: left_x=0.2854 left_y=0.0102 left_z=0.1565 left_yaw=0.1769 left_pitch=-0.1651 left_roll=-0.0917 left_gripper=0.998 right_x=0.3479 right_y=0.0707 right_z=0.0023 right_yaw=0.1069 right_pitch=0.0049 right_roll=-0.1647 right_gripper=0.9955 state[joint_eff]: [-0.0615, -1.9077, 7.0496, 1.663, -0.0904, -0.0562, -0.0122, -0.5402, -5.7778, 3.1795, 1.243, 0.0611, -0.1148, 0.0513] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "At table level the peach bowl's left wall is between the jaws (right jaw just inside it). Closing to pinch the wall."})
tool
executing move_to over 10 steps (1.0s)
step 233
assistant
agent noteGripper settled at 0.036 and the peach bowl lifted with the jaws. Carrying it high toward the blue bowl, offset so the peach bowl's centre ends up over the blue one.
move_to
right_z0.1400right_x0.5100right_y0.1700right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 0.8776, 0.6643, -0.5381, -0.1287, -0.252, 0.998, 0.3244, 1.7275, 0.2871, 0.963, 0.3111, -0.0792, 0.0355] state[eef_state]: left_x=0.2838 left_y=0.0103 left_z=0.1546 left_yaw=0.177 left_pitch=-0.1747 left_roll=-0.0891 left_gripper=0.998 right_x=0.3614 right_y=0.0683 right_z=0.0284 right_yaw=0.0957 right_pitch=0.1102 right_roll=-0.1928 right_gripper=0.0355 state[joint_eff]: [0.0068, -1.388, 6.8991, 1.7216, -0.1001, -0.022, -0.0122, 0.1436, -3.3436, 3.4256, 0.315, -0.3736, 0.4322, 0.7595] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.14, "right_x": 0.51, "right_y": 0.17, "right_pitch": 0.3}, "note": "Gripper settled at 0.036 and the peach bowl lifted with the jaws. Carrying it high toward the blue bowl, offset so the peach bowl's centre ends up over the blue one."})
tool
executing move_to over 12 steps (1.2s)
step 245
assistant
agent notePeach bowl is carried and the overhead view shows it covering the blue bowl's spot. Lowering it into the blue bowl.
move_to
right_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 0.8791, 0.6643, -0.5449, -0.1287, -0.2523, 0.998, 0.4591, 1.9194, 0.9817, 0.598, 0.4198, -0.0837, 0.0355] state[eef_state]: left_x=0.2827 left_y=0.0104 left_z=0.153 left_yaw=0.1776 left_pitch=-0.1829 left_roll=-0.0874 left_gripper=0.998 right_x=0.4982 right_y=0.1699 right_z=0.1212 right_yaw=0.1335 right_pitch=0.2538 right_roll=-0.2011 right_gripper=0.0355 state[joint_eff]: [-0.0068, -1.7436, 7.1043, 1.6093, -0.1245, -0.0659, -0.0122, 0.1709, -9.6205, 8.2803, 1.9365, 0.4127, 0.0024, 1.0085] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.07}, "note": "Peach bowl is carried and the overhead view shows it covering the blue bowl's spot. Lowering it into the blue bowl."})
tool
executing move_to over 4 steps (0.4s)
step 249
assistant
agent noteThe peach bowl sits over the blue bowl, which shows just behind its rim in the overhead view. Releasing it to nest.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 0.8791, 0.6643, -0.5461, -0.1287, -0.2523, 0.998, 0.4625, 2.056, 0.934, 0.7162, 0.4145, -0.0868, 0.0371] state[eef_state]: left_x=0.2825 left_y=0.0104 left_z=0.1528 left_yaw=0.1777 left_pitch=-0.184 left_roll=-0.0871 left_gripper=0.998 right_x=0.4925 right_y=0.1701 right_z=0.0596 right_yaw=0.1479 right_pitch=0.1902 right_roll=-0.2234 right_gripper=0.0371 state[joint_eff]: [-0.0342, -1.6342, 6.8581, 1.5702, -0.1099, -0.0708, -0.0122, -0.5949, -10.6598, 5.7231, 2.42, 0.1832, 0.0269, 0.9206] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The peach bowl sits over the blue bowl, which shows just behind its rim in the overhead view. Releasing it to nest."})
tool
executing move_to over 10 steps (1.0s)
step 259
assistant
agent noteI ran out of call budget before any bowl ended up nested. The right wrist camera shows the peach bowl sitting on the table right next to the blue bowl, not inside it; it landed a few cm to the left (+y) of the blue bowl. The green-white bowl is back on the table at the left. My two earlier nesting tries also missed: the green bowl pushed the blue bowl forward, and a big yaw command made the arm swing off-course.
give_up
hindsight- Grasping a bowl by its wall works well. Put the open jaws over the side rim (the wall running along x, at ±y from the bowl's centre), go down to z≈0.01, and close fully. A settled reading of ≈0.035–0.10 was a real grasp here, even though 0.035 is close to the 'empty' threshold, so confirm with a lift. The held bowl hangs about 5.5–6.5 cm to one side of the gripper (the bowls are ~12 cm across). Note which side before you carry it. - The top camera overstated distances. Wrist cameras were far better for final alignment. Bowls sit higher than they look: descents stop on the lower bowl's rim. - Don't lower a carried bowl onto another bowl until the wrist view shows it centred. An offset drop pushed the lower bowl ~12 cm forward, out toward the reach limit. - Big yaw moves (e.g. 1.57 in one step) make the IK swing the arm wildly: it dropped to z=0.02 and moved 20 cm. Avoid them. - At x≳0.45 and low z the arm stalls if the tool has tipped backward (pitch goes negative on its own). Commanding right_pitch≈+0.3 restored reach to x≈0.50. Even so, grasping at x≈0.50 near the table was unreliable. - A better plan: first bring all bowls to the middle of the workspace (x≈0.35) in easy reach, then nest them onto the bowl closest to both arms. The left-arm y bound of −0.4 and right-arm bound of +0.4 mean a bowl on the far side is out of reach for that arm. - Budget: each grasp–carry–place cycle needs about 7 calls. Plan for 2 cycles plus margin, and don't spend calls on exploring.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 0.8791, 0.6643, -0.5465, -0.1287, -0.252, 0.998, 0.4629, 2.0777, 0.9207, 0.7078, 0.4107, -0.0959, 0.9954] state[eef_state]: left_x=0.2825 left_y=0.0104 left_z=0.1527 left_yaw=0.1775 left_pitch=-0.1844 left_roll=-0.0868 left_gripper=0.998 right_x=0.4869 right_y=0.1682 right_z=0.042 right_yaw=0.1586 right_pitch=0.1471 right_roll=-0.2438 right_gripper=0.9954 state[joint_eff]: [-0.212, -1.4154, 6.8718, 1.5311, -0.0806, -0.0171, -0.0122, -0.3897, -11.7538, 6.1607, 1.8632, 0.0366, 0.0757, -0.1783] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I ran out of call budget before any bowl ended up nested. The right wrist camera shows the peach bowl sitting on the table right next to the blue bowl, not inside it; it landed a few cm to the left (+y) of the blue bowl. The green-white bowl is back on the table at the left. My two earlier nesting tries also missed: the green bowl pushed the blue bowl forward, and a big yaw command made the arm swing off-course.", "hindsight": "- Grasping a bowl by its wall works well. Put the open jaws over the side rim (the wall running along x, at \u00b1y from the bowl's centre), go down to z\u22480.01, and close fully. A settled reading of \u22480.035\u20130.10 was a real grasp here, even though 0.035 is close to the 'empty' threshold, so confirm with a lift. The held bowl hangs about 5.5\u20136.5 cm to one side of the gripper (the bowls are ~12 cm across). Note which side before you carry it.\n- The top camera overstated distances. Wrist cameras were far better for final alignment. Bowls sit higher than they look: descents stop on the lower bowl's rim.\n- Don't lower a carried bowl onto another bowl until the wrist view shows it centred. An offset drop pushed the lower bowl ~12 cm forward, out toward the reach limit.\n- Big yaw moves (e.g. 1.57 in one step) make the IK swing the arm wildly: it dropped to z=0.02 and moved 20 cm. Avoid them.\n- At x\u22730.45 and low z the arm stalls if the tool has tipped backward (pitch goes negative on its own). Commanding right_pitch\u2248+0.3 restored reach to x\u22480.50. Even so, grasping at x\u22480.50 near the table was unreliable.\n- A better plan: first bring all bowls to the middle of the workspace (x\u22480.35) in easy reach, then nest them onto the bowl closest to both arms. The left-arm y bound of \u22120.4 and right-arm bound of +0.4 mean a bowl on the far side is out of reach for that arm.\n- Budget: each grasp\u2013carry\u2013place cycle needs about 7 calls. Plan for 2 cycles plus margin, and don't spend calls on exploring."})
tool
give_up: I ran out of call budget before any bowl ended up nested. The right wrist camera shows the peach bowl sitting on the table right next to the blue bowl, not inside it; it landed a few cm to the left (+y) of the blue bowl. The green-white bowl is back on the table at the left. My two earlier nesting tries also missed: the green bowl pushed the blue bowl forward, and a big yaw command made the arm swing off-course.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 14.94 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7944, 0.6041, -0.3809, -0.0223, -0.0292, 0.9995, -0.0216, 0.7929, 0.601, -0.3828, -0.0158, -0.0334, 0.9966]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.294 right_y=0.0 right_z=0.1783 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.4855, -1.6068, 10.0718, 1.7656, -0.0415, 0.1538, -0.0611, -0.2667, -1.4291, 10.3043, 1.9707, -0.0952, 0.188, -0.3639]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3147d17edbe44c558ddbd07f0b15279ec66fee8e0b362163a709e2df7514527f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a646cbea6d96e7eb1aefde3ef360009f09b2fe7b82138b60ff23732f4645bfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2fdc7113d600227aaf4ae44d252e779dc2f81189d6ffdf372b47314482d3979e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 8.044 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7944, 0.6041, -0.3809, -0.0223, -0.0292, 0.9995, -0.0216, 0.7929, 0.601, -0.3828, -0.0158, -0.0334, 0.9966]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.294 right_y=0.0 right_z=0.1783 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.4855, -1.6068, 10.0718, 1.7656, -0.0415, 0.1538, -0.0611, -0.2667, -1.4291, 10.3043, 1.9707, -0.0952, 0.188, -0.3639]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3147d17edbe44c558ddbd07f0b15279ec66fee8e0b362163a709e2df7514527f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a646cbea6d96e7eb1aefde3ef360009f09b2fe7b82138b60ff23732f4645bfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fdc7113d600227aaf4ae44d252e779dc2f81189d6ffdf372b47314482d3979e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0193Hu6G6zpuV4jwaktxD5C2",
      "input": {
        "note": "Three bowls in a row mid-table (green-white left, blue middle, peach right). Moving the left arm over the left rim of the green bowl to grasp its wall.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.32,
          "left_y": -0.15,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_0193Hu6G6zpuV4jwaktxD5C2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7254, 1.2247, 0.6785, -0.2276, -0.5648, -0.448, 0.9996, -0.0216, 0.7975, 0.5999, -0.3927, -0.0154, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3105 left_y=-0.1441 left_z=0.1312 left_yaw=-0.0333 left_pitch=-0.0612 left_roll=0.0389 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1745 right_yaw=0.0001 right_pitch=-0.0156 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [-0.2803, -4.6427, 8.9778, 1.6288, -0.4078, -0.1832, -0.0611, -0.0205, -1.5932, 7.1316, 1.7607, -0.0806, -0.0317, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f599c64a688e4ced1b08543da3c6e959cc66a7b0bae2704abb649799c6e7d3ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6072de3e4ee5f9c7e7b6ee703fa4aecb20d7c53e84ebedc0ec6f6e6cbd9ef70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5d5f549af27c6d5b0ba8a44bb123450f60bc83871205403ffe76df62c3ed3e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 4.248 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7944, 0.6041, -0.3809, -0.0223, -0.0292, 0.9995, -0.0216, 0.7929, 0.601, -0.3828, -0.0158, -0.0334, 0.9966]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.294 right_y=0.0 right_z=0.1783 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.4855, -1.6068, 10.0718, 1.7656, -0.0415, 0.1538, -0.0611, -0.2667, -1.4291, 10.3043, 1.9707, -0.0952, 0.188, -0.3639]",
      "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]: [-0.7254, 1.2247, 0.6785, -0.2276, -0.5648, -0.448, 0.9996, -0.0216, 0.7975, 0.5999, -0.3927, -0.0154, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3105 left_y=-0.1441 left_z=0.1312 left_yaw=-0.0333 left_pitch=-0.0612 left_roll=0.0389 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1745 right_yaw=0.0001 right_pitch=-0.0156 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [-0.2803, -4.6427, 8.9778, 1.6288, -0.4078, -0.1832, -0.0611, -0.0205, -1.5932, 7.1316, 1.7607, -0.0806, -0.0317, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f599c64a688e4ced1b08543da3c6e959cc66a7b0bae2704abb649799c6e7d3ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6072de3e4ee5f9c7e7b6ee703fa4aecb20d7c53e84ebedc0ec6f6e6cbd9ef70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5d5f549af27c6d5b0ba8a44bb123450f60bc83871205403ffe76df62c3ed3e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CsFJzh2Ay4gSurE6VaPWqB",
      "input": {
        "note": "Wrist cam shows the green bowl centred just ahead of the jaws, so its centre is ~y=-0.145, x~0.36. Moving over its left (+y) rim to straddle the wall with the jaws.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.088,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01CsFJzh2Ay4gSurE6VaPWqB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.424, 1.2823, 0.6514, -0.0914, -0.3801, -0.2756, 0.9995, -0.0216, 0.8005, 0.598, -0.3935, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.351 left_y=-0.0826 left_z=0.1144 left_yaw=0.0289 left_pitch=-0.0909 left_roll=0.0432 left_gripper=0.9995 right_x=0.2926 right_y=-0.0001 right_z=0.1726 right_yaw=-0.0002 right_pitch=-0.0214 right_roll=-0.0006 right_gripper=0.9963\nstate[joint_eff]: [0.1026, -4.3692, 6.6393, 1.7753, -0.0757, 0.149, -0.022, -0.1983, -1.5111, 7.159, 1.6972, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2861ff603315e681bdab02873448a9d2cab7c3bc23da2696abc5bd506f6fe4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b603e067778dd55ef866754c895908b474458ad2d68b6bbde1b651b33b2ad012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a792e3eb74f39f248595824c4265477173a85a8de79559ec0d005e8078de323",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.753 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7944, 0.6041, -0.3809, -0.0223, -0.0292, 0.9995, -0.0216, 0.7929, 0.601, -0.3828, -0.0158, -0.0334, 0.9966]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.294 right_y=0.0 right_z=0.1783 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.4855, -1.6068, 10.0718, 1.7656, -0.0415, 0.1538, -0.0611, -0.2667, -1.4291, 10.3043, 1.9707, -0.0952, 0.188, -0.3639]",
      "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]: [-0.7254, 1.2247, 0.6785, -0.2276, -0.5648, -0.448, 0.9996, -0.0216, 0.7975, 0.5999, -0.3927, -0.0154, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3105 left_y=-0.1441 left_z=0.1312 left_yaw=-0.0333 left_pitch=-0.0612 left_roll=0.0389 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1745 right_yaw=0.0001 right_pitch=-0.0156 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [-0.2803, -4.6427, 8.9778, 1.6288, -0.4078, -0.1832, -0.0611, -0.0205, -1.5932, 7.1316, 1.7607, -0.0806, -0.0317, -0.0415]",
      "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]: [-0.424, 1.2823, 0.6514, -0.0914, -0.3801, -0.2756, 0.9995, -0.0216, 0.8005, 0.598, -0.3935, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.351 left_y=-0.0826 left_z=0.1144 left_yaw=0.0289 left_pitch=-0.0909 left_roll=0.0432 left_gripper=0.9995 right_x=0.2926 right_y=-0.0001 right_z=0.1726 right_yaw=-0.0002 right_pitch=-0.0214 right_roll=-0.0006 right_gripper=0.9963\nstate[joint_eff]: [0.1026, -4.3692, 6.6393, 1.7753, -0.0757, 0.149, -0.022, -0.1983, -1.5111, 7.159, 1.6972, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2861ff603315e681bdab02873448a9d2cab7c3bc23da2696abc5bd506f6fe4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b603e067778dd55ef866754c895908b474458ad2d68b6bbde1b651b33b2ad012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a792e3eb74f39f248595824c4265477173a85a8de79559ec0d005e8078de323",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4QcKEAgSGAI4AUIIdGhpbmtpbmcSDKpYel34QMCkn39o1xoM6fQcEZvBu+NdN5HIIjD1shaL0gG4o7oQS5pdkg2vuxMPTr/QWUn5Ul8/pL2UhKTo2zRaYBJ136Ow9cGfAPgq/gakDf4EdZlrj+pLE9iLBRNk6HRshZXreawmtUPEqQAQF7YLCU1oXFtR5v9JaRxvv71ri0f9Ixk064VbSJpUUJzMvKk0/i97yZElVv79J0JhkmvrVTRjCFS/roZcjfMYex9An396LmlM7tKTauguFAVrScrKpBoquJHhFtamwi7X0RNgOX0Hx15Q6T+06dm1M/aaqBmCkQ4pEyx0OzFEAfa1SNDCO9wRc/xsjVvvGA0TZhnqw/3C7VYFtdHdp2ZMwz7Tx6f397dIjhZX5MWNodvqJLbgXn7WfSw0+bLScpxGyWdRTg7GyfiN/6YrmRbGW2TJSnENkf2nquMhxEO8VWDdokdb6q06QRR8en9Z/rAMgnzfh2oTDvdLsw75imiz6aFJxdNGexYzvkItnsAh/K76BjTm3O/o+PslycyAujeWtifa0y3zDp1i0K3Q9tCnNUwQoOxfJ1PWhi683pmNh1j3aEV8Llijwe4sQGCoJO3rY8BK/+73fPzGd3HVfzOfTib4LBFRwixTIVPafYDVyWAjr71fyMMTR6kVvdVJk3E8PQCSA0UlGptL7VC1W+/zFPDgitRN1UvUjrLQq1w8o0rJe8IFeT19mbkzzw1f6SI8GOefjUvHMOFMh+C9kxn3d2vmKCClWNXV2Z9ofwB52MNfRiD3N/d8XXyHVSjp01ke6UckB7a9mL3SSQYWM5joKuk4N5jyp4ACR2Lzo/eY/YTNAqpOoohJmSy53oQNoeLVMV94bhon21aRuNMc4uq3fZ3jBFfLgTlj15fwICL884wlyaiBONhOCYxfb1STwT5wMfKxqTmxw48CCMhj4fmoqEYVG/xnasJv2tDe8Y+o8BT1zRRXoVV9I112a1xGdAm/GMjXjOpq/xGjzkrNHW+VZgmNMZ6BngGy9i/4aw9+pl8X5nc3Ne/7m658/N9oaQ7+1EBJlFRqUTCpDI0QCjJXgqyXgkikBfK8b73tGqp2c0MI6xbd9kIC1A2JirOWfXJFvDKSHxyj3YPt7e16rmaPG+5FbpDZK+Xg/6QNCtCSOvYwuGXu/S01+tZKgouAKEgpjFOCmk1DSZTFOAoUh5FmnGQoR453iRh+iC4KB0nU+yECbkoZ7IIHtGM20wb2RfjuZqp81vVSx6qHajAegOFlwqdDeppAY8ah6WMIXFSAbwJLeCppKomWIkx+FZRkz3EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UToBvSjsygAPX1PM7hu3vw",
      "input": {
        "note": "Bowl's left rim now lies on the jaw column in the wrist view. Descending to straddle the wall.",
        "targets": {
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01UToBvSjsygAPX1PM7hu3vw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4255, 1.449, 0.4965, 0.1555, -0.3672, -0.2703, 0.9994, -0.0216, 0.8017, 0.5957, -0.3927, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3401 left_y=-0.0806 left_z=0.0412 left_yaw=0.0181 left_pitch=-0.1623 left_roll=0.0719 left_gripper=0.9994 right_x=0.2925 right_y=-0.0001 right_z=0.1714 right_yaw=-0.0002 right_pitch=-0.024 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [0.0205, -5.3265, 5.4769, 1.7314, -0.3004, -0.0366, -0.0122, -0.0479, -1.306, 7.2957, 1.707, -0.0415, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5030bdae09ae2fedd232d7306066c5218145eebdc46f9c781ec60ed2fce0bb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b184b9fa59bbd2c3d62e788bbc2d2a0f7f284dc3933b51d9237864862ef36812",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1bab21e8314eee87dfd0dcc5bc770432a651319eb3e07e35addcf17631db39da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 6.025 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]: [-0.7254, 1.2247, 0.6785, -0.2276, -0.5648, -0.448, 0.9996, -0.0216, 0.7975, 0.5999, -0.3927, -0.0154, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3105 left_y=-0.1441 left_z=0.1312 left_yaw=-0.0333 left_pitch=-0.0612 left_roll=0.0389 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1745 right_yaw=0.0001 right_pitch=-0.0156 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [-0.2803, -4.6427, 8.9778, 1.6288, -0.4078, -0.1832, -0.0611, -0.0205, -1.5932, 7.1316, 1.7607, -0.0806, -0.0317, -0.0415]",
      "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]: [-0.424, 1.2823, 0.6514, -0.0914, -0.3801, -0.2756, 0.9995, -0.0216, 0.8005, 0.598, -0.3935, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.351 left_y=-0.0826 left_z=0.1144 left_yaw=0.0289 left_pitch=-0.0909 left_roll=0.0432 left_gripper=0.9995 right_x=0.2926 right_y=-0.0001 right_z=0.1726 right_yaw=-0.0002 right_pitch=-0.0214 right_roll=-0.0006 right_gripper=0.9963\nstate[joint_eff]: [0.1026, -4.3692, 6.6393, 1.7753, -0.0757, 0.149, -0.022, -0.1983, -1.5111, 7.159, 1.6972, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4255, 1.449, 0.4965, 0.1555, -0.3672, -0.2703, 0.9994, -0.0216, 0.8017, 0.5957, -0.3927, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3401 left_y=-0.0806 left_z=0.0412 left_yaw=0.0181 left_pitch=-0.1623 left_roll=0.0719 left_gripper=0.9994 right_x=0.2925 right_y=-0.0001 right_z=0.1714 right_yaw=-0.0002 right_pitch=-0.024 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [0.0205, -5.3265, 5.4769, 1.7314, -0.3004, -0.0366, -0.0122, -0.0479, -1.306, 7.2957, 1.707, -0.0415, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5030bdae09ae2fedd232d7306066c5218145eebdc46f9c781ec60ed2fce0bb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b184b9fa59bbd2c3d62e788bbc2d2a0f7f284dc3933b51d9237864862ef36812",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bab21e8314eee87dfd0dcc5bc770432a651319eb3e07e35addcf17631db39da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvggKEAgSGAI4AUIIdGhpbmtpbmcSDCGTpKHNV6pMeB+xbxoMjsdMmWw8ruHpvTp4IjCxmOglRyn4QdCZpQx8n2HwopElkyBpZNlHkNy5vriaFTnqEGZwgbT0X/ReATe1u1cq2wdEJ2xZDAA4jb9Rhu51Ub/IkOOKVNpGJRRVPdYV2qnms3l5CLPQ3QXk9VjB7KNu6hFt9xVXeNq/dZASbnFfsRVytWKonPiIfWdpku8TeRjU9SOhLSpHDaDeN3WpsxZMn4mvshoHbkjjpiMt11l8FepzgdyzS0zEFT89UMugyo59GnOgMnG+jglhuCd8x3GrLoS9eb4ijwWTNipuQkqIZwLjQ1RiAuNKJ5UWcxx4Dzvb9Ozei6Lb41PyrwUubg7tpUQSu7kurTMxBZUgRevR/3MFvumMKx0A3UFVSZ5Ss3nmmQ79D+C1tK5l3IsllHscQbrrcHS+aUFgZ+ikp7HpryJcEfZfcrrabSYtSrKJ8Jh6+pqJepY5fZKtQhU7pfmIU9HVggPx4pbkkLPV+Ldwhz7NMEaaCxsVQy5d+Jen65g1H96EmeDAPLJ5h2TbT2nYyQRKA4AQ1DZLtYMKRlmYpipKJ9h1WornNK7syaT7ec8v4Ds6YNCTiseQ6YpwPgW2GOngrkPVF06Mf5noRcdn5CR9+YopPfSFjPC23Un7gL436oLe7iroyze4pJ0ZyKNLZNmxKHxXJ0vImmfzdMRDObHNCMEbl+VYOm5oiDbbzM5IcskuK2SfGHswFtDwVhaKT01SISkPy+RfF0eEPrUZqnez+ydbVoHsZfOXFZoeyI6w2fWcLiol42rPLRkzSXv9ngh/EwFGjfYzJGmzHxdknkBCgwyNnpn/1vEbIIHaL0pQBRgWjeWnwCfHO8686AE9GqYNYvsC8+Gh8hZiqcx33IfQZHtf39NVANe30X7ZPMlufBkVccJ3PK9lDUzMIhy/54Lauq8Ne9IXhlBeHLNh6YveA7dPi6iB/pvtOT8AbKyooYl1gJJkJJPtMMVLBbODC96uz1JTQ3QgycO9/+CkNOJJRoBr0+yaSP34OhGgXj65R3Nyiqvv1W9EjpmKzw5cyLwaij7+QrBfnopMZX3mmEzTSoe/d52jM7wmP80XDPoGVvyWp78kHFmXzHl77F6mxZvWPvv71qAkH0owPsLkHT2YRf57x2MsNHtlVNkqL4uUmN9EG1p1ph3gPAiaJor5s5fTpAELFirwZqwlVNqUQDixApVTCbRL4m/fOtMpibencdlnxWEh33j0H3ClQq+4WkA7pLp2Hpp4Q2IvGafUAR3A/TqEiKEP1OygoWFVnj1Dk1Etw8vEc3h2ip4YPEMFTcdWv2tOkH9TXccS5FM6+W+R1Biq3j5qHcHmOCdQc3EXsCmqvGYdxoc5eVJnUee6l2It/JPxRGLolQ8+A+JBlmJxcGeBEUjPg58JXNcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Aib5VeirC7UtDfb9nd66mE",
      "input": {
        "note": "The bowl's left wall sits between the two jaws in the wrist view. Lowering further so the jaws straddle the wall low enough to grip.",
        "targets": {
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Aib5VeirC7UtDfb9nd66mE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4255, 1.5158, 0.4728, 0.2863, -0.3668, -0.2768, 0.9995, -0.0216, 0.8028, 0.5957, -0.3935, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.3479 left_y=-0.0842 left_z=0.033 left_yaw=0.0188 left_pitch=-0.1257 left_roll=0.0491 left_gripper=0.9995 right_x=0.2924 right_y=-0.0001 right_z=0.171 right_yaw=-0.0 right_pitch=-0.0259 right_roll=-0.0008 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -4.7385, 3.8085, 1.409, -0.1636, 0.0171, -0.0073, -0.0889, -1.3744, 7.0906, 1.707, -0.0269, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7f654067966c23bb3079a047327db16d1a4cb37ca040ce3cdada6ebe73625bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbdb8cccba9cba5c3fe4c7012df9d1eec8d7bb30cdbea8d58c93b1245771e165",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c657c12602ebb06bac1ba90647c13afe4d8a50fbfeda698c22800169de243333",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.489 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]: [-0.424, 1.2823, 0.6514, -0.0914, -0.3801, -0.2756, 0.9995, -0.0216, 0.8005, 0.598, -0.3935, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.351 left_y=-0.0826 left_z=0.1144 left_yaw=0.0289 left_pitch=-0.0909 left_roll=0.0432 left_gripper=0.9995 right_x=0.2926 right_y=-0.0001 right_z=0.1726 right_yaw=-0.0002 right_pitch=-0.0214 right_roll=-0.0006 right_gripper=0.9963\nstate[joint_eff]: [0.1026, -4.3692, 6.6393, 1.7753, -0.0757, 0.149, -0.022, -0.1983, -1.5111, 7.159, 1.6972, -0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4255, 1.449, 0.4965, 0.1555, -0.3672, -0.2703, 0.9994, -0.0216, 0.8017, 0.5957, -0.3927, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3401 left_y=-0.0806 left_z=0.0412 left_yaw=0.0181 left_pitch=-0.1623 left_roll=0.0719 left_gripper=0.9994 right_x=0.2925 right_y=-0.0001 right_z=0.1714 right_yaw=-0.0002 right_pitch=-0.024 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [0.0205, -5.3265, 5.4769, 1.7314, -0.3004, -0.0366, -0.0122, -0.0479, -1.306, 7.2957, 1.707, -0.0415, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4255, 1.5158, 0.4728, 0.2863, -0.3668, -0.2768, 0.9995, -0.0216, 0.8028, 0.5957, -0.3935, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.3479 left_y=-0.0842 left_z=0.033 left_yaw=0.0188 left_pitch=-0.1257 left_roll=0.0491 left_gripper=0.9995 right_x=0.2924 right_y=-0.0001 right_z=0.171 right_yaw=-0.0 right_pitch=-0.0259 right_roll=-0.0008 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -4.7385, 3.8085, 1.409, -0.1636, 0.0171, -0.0073, -0.0889, -1.3744, 7.0906, 1.707, -0.0269, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7f654067966c23bb3079a047327db16d1a4cb37ca040ce3cdada6ebe73625bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbdb8cccba9cba5c3fe4c7012df9d1eec8d7bb30cdbea8d58c93b1245771e165",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c657c12602ebb06bac1ba90647c13afe4d8a50fbfeda698c22800169de243333",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AYKEAgSGAI4AUIIdGhpbmtpbmcSDIfH8pqRL7qaCl7jqRoM5c8X+OQQPx7K43kSIjC6y31QjNvJoHnLeaCr2ycnbJQa002WfzFKPT3w0iSWtoGST7HZEqkMwZBSZYwPrzwqhQYxbUHrEm2XEtN/wOsbhspzzCtjRQ/udY7wMJrfe6Br26vOQeLT10Ygo0jpnp1K04Inqjc8Uj8XtasdvcrmqhIg9zUenF81gcn/p+p4sSdBxKUCpPiVNKpNVSPdfKiOTfHtQinBIVlDgjwIly6sqxN+dSYUTHwks6AAMi4kC0WYPh3YjZWkHq7zlNOjxPVOy0h3sjk7ofElgH6zyWKsYKsyLpRCQrTBQAO1FQhbBBCNhL0id7W28455tC+Xk1OaIEWPbfbxoRvdzFcm0bgh8BTXXX/j34nYsyA5isHAl6TOANeeqv4TtpNb1M5P4D/ay4UgRQ9I986k8oLjVRiQjSo/Zx6NcZ6hGNgQShnIOfbQaPUjrH95QoHrGNyRCj9MYBWaCozBmIWGyGjDM241ZojUoDgdjIqPWZPR7IWclLkxdl6mgLfw3nMLT8lbZK9efahD8F0bN0ASBt8rxwhzWV1wwsgo6X0D6qV8PFKl7Bd5zdWUQ+c21YxZA7pH8F+5Q+TgOpkQlKJjLwFRZrtYJqvVIKbPATX441mwErDS6vS2a7ADow9pHswbOn+Agl8ArzN3x0TEF5w9//L/zEu/pJn7kSLVvzBhtrAnILz6eWvn03GvqtsC9BExpXsK4n99ky7GOgazOx4TCjVxjzbvsSorwg0zyDlbI1bi6UJvhTAVNResapKSyWlh0Ya7e42I1/0LSSQl59wpELj0ZpGwcTYPo9tsvsh4MNlmH+hhSAElx585CzwE1Upcr1gog2R3ppuAbVSUR9IhjqI3erDmhYHBJuZRCYJLC8zpQRHyCUE80h+XhsNGFuGZMhuJtK7OJ8W6kPjcppfb+zRzAIK8Mo/JXjofTZW6cfg7ahLA/tVLSq4z/GJLhG7lSc7ftkcuVzySyvsT9hrE0P9V7cWkKuKipI/8J6tUp8kk4plTDrLkO5wg/I/KwtrIdLCKlqydW3vR16rwtC6m7lrS/P0UVCypcZFRcS897yf8MNFJRxHOY2maOs9YPJwmxpk1jr1cZ6aqjOZ8rRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012GupQGq9T8SzDm3TmFfv6y",
      "input": {
        "note": "Descent was delta-clamped at z=0.033; continuing down to grip the wall low.",
        "targets": {
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_012GupQGq9T8SzDm3TmFfv6y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4255, 1.5944, 0.4381, 0.3527, -0.3668, -0.2779, 0.9994, -0.0216, 0.804, 0.5953, -0.3927, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.34 left_y=-0.0806 left_z=0.0068 left_yaw=0.0225 left_pitch=-0.168 left_roll=0.0687 left_gripper=0.9994 right_x=0.2926 right_y=-0.0001 right_z=0.1706 right_yaw=-0.0002 right_pitch=-0.0267 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -5.1624, 4.4923, 1.5604, -0.1636, -0.0366, -0.0171, -0.0752, -1.4017, 7.2821, 1.7021, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df6f114de83f46e2344ef3c914840b20be1540db283707e1099ed65a57d33ed5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92a2b40ed55cf8ab74db2675ca9395dbc443ba2ca95f94145250c2b234bd8a42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0bc311b5d5b4b724f777fbea143dc4f7f06e44e80340bc349477572db3c5e43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 5.691 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]: [-0.4255, 1.449, 0.4965, 0.1555, -0.3672, -0.2703, 0.9994, -0.0216, 0.8017, 0.5957, -0.3927, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3401 left_y=-0.0806 left_z=0.0412 left_yaw=0.0181 left_pitch=-0.1623 left_roll=0.0719 left_gripper=0.9994 right_x=0.2925 right_y=-0.0001 right_z=0.1714 right_yaw=-0.0002 right_pitch=-0.024 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [0.0205, -5.3265, 5.4769, 1.7314, -0.3004, -0.0366, -0.0122, -0.0479, -1.306, 7.2957, 1.707, -0.0415, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4255, 1.5158, 0.4728, 0.2863, -0.3668, -0.2768, 0.9995, -0.0216, 0.8028, 0.5957, -0.3935, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.3479 left_y=-0.0842 left_z=0.033 left_yaw=0.0188 left_pitch=-0.1257 left_roll=0.0491 left_gripper=0.9995 right_x=0.2924 right_y=-0.0001 right_z=0.171 right_yaw=-0.0 right_pitch=-0.0259 right_roll=-0.0008 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -4.7385, 3.8085, 1.409, -0.1636, 0.0171, -0.0073, -0.0889, -1.3744, 7.0906, 1.707, -0.0269, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4255, 1.5944, 0.4381, 0.3527, -0.3668, -0.2779, 0.9994, -0.0216, 0.804, 0.5953, -0.3927, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.34 left_y=-0.0806 left_z=0.0068 left_yaw=0.0225 left_pitch=-0.168 left_roll=0.0687 left_gripper=0.9994 right_x=0.2926 right_y=-0.0001 right_z=0.1706 right_yaw=-0.0002 right_pitch=-0.0267 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -5.1624, 4.4923, 1.5604, -0.1636, -0.0366, -0.0171, -0.0752, -1.4017, 7.2821, 1.7021, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df6f114de83f46e2344ef3c914840b20be1540db283707e1099ed65a57d33ed5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92a2b40ed55cf8ab74db2675ca9395dbc443ba2ca95f94145250c2b234bd8a42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0bc311b5d5b4b724f777fbea143dc4f7f06e44e80340bc349477572db3c5e43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Wall appears between jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qn65eZQn1ZvmpwbW7hCHyH",
      "input": {
        "note": "Jaws at table level straddling the green bowl's left wall; closing to pinch the wall.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Qn65eZQn1ZvmpwbW7hCHyH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4305, 1.57, 0.4572, 0.4534, -0.3511, -0.3149, 0.0358, -0.0216, 0.8043, 0.5953, -0.3935, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3618 left_y=-0.0953 left_z=0.0384 left_yaw=0.0184 left_pitch=-0.0419 left_roll=-0.0326 left_gripper=0.0358 right_x=0.2925 right_y=-0.0001 right_z=0.1704 right_yaw=-0.0002 right_pitch=-0.0279 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [0.1162, -3.3846, 3.7812, 0.6129, -0.2515, 0.2857, 0.779, -0.1026, -1.1966, 7.0496, 1.7118, -0.0513, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c998e2f3eaab66c919648a85b712b86d0a7eef0f24340b0ecedcbda111970cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69fc6ae6ab7f14a00a14e65f335578d77b6682672787ab53084d27462fb98545",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b402d8939a038eb046f4efadeee8627f3c7c0080b68dd25f64bf8b865b1bc605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 7.398 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]: [-0.4255, 1.5158, 0.4728, 0.2863, -0.3668, -0.2768, 0.9995, -0.0216, 0.8028, 0.5957, -0.3935, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.3479 left_y=-0.0842 left_z=0.033 left_yaw=0.0188 left_pitch=-0.1257 left_roll=0.0491 left_gripper=0.9995 right_x=0.2924 right_y=-0.0001 right_z=0.171 right_yaw=-0.0 right_pitch=-0.0259 right_roll=-0.0008 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -4.7385, 3.8085, 1.409, -0.1636, 0.0171, -0.0073, -0.0889, -1.3744, 7.0906, 1.707, -0.0269, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4255, 1.5944, 0.4381, 0.3527, -0.3668, -0.2779, 0.9994, -0.0216, 0.804, 0.5953, -0.3927, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.34 left_y=-0.0806 left_z=0.0068 left_yaw=0.0225 left_pitch=-0.168 left_roll=0.0687 left_gripper=0.9994 right_x=0.2926 right_y=-0.0001 right_z=0.1706 right_yaw=-0.0002 right_pitch=-0.0267 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -5.1624, 4.4923, 1.5604, -0.1636, -0.0366, -0.0171, -0.0752, -1.4017, 7.2821, 1.7021, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4305, 1.57, 0.4572, 0.4534, -0.3511, -0.3149, 0.0358, -0.0216, 0.8043, 0.5953, -0.3935, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3618 left_y=-0.0953 left_z=0.0384 left_yaw=0.0184 left_pitch=-0.0419 left_roll=-0.0326 left_gripper=0.0358 right_x=0.2925 right_y=-0.0001 right_z=0.1704 right_yaw=-0.0002 right_pitch=-0.0279 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [0.1162, -3.3846, 3.7812, 0.6129, -0.2515, 0.2857, 0.779, -0.1026, -1.1966, 7.0496, 1.7118, -0.0513, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c998e2f3eaab66c919648a85b712b86d0a7eef0f24340b0ecedcbda111970cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69fc6ae6ab7f14a00a14e65f335578d77b6682672787ab53084d27462fb98545",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b402d8939a038eb046f4efadeee8627f3c7c0080b68dd25f64bf8b865b1bc605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwgKEAgSGAI4AUIIdGhpbmtpbmcSDNfYSJYv0jW5fzOSPBoMMva2MH9+i+4kRti/IjDVJfeJ42SxMwL3OS3rID9qqY9UjeeMsxq5ZthhcfI400LO10OvYw3iff4PbPQ+bi0qyAeYrzr8mMhfyKbXuKGbMyB4nZnPfPoH9/TvWfvxthYP8zg798a7P/pNAP1DeMkIcgVj0CjCw5e/hjvE/t25b6CDYGGvf9VVrQdiyRVqXVZpTc1s23HVWrgjzY0b0+g8cZm3KMjuaRotvSULUJrIcIpEUQnJh8gs7vmbszqTP/cUiulM1z3ry7X/DdCYrswTTm5WPIul626zvgHfGRIa/2T/Kpt6FFtTJztNw4qfrbnhbQkhzc+xPXnWmSoowKFIemgmcovdMDBga3NItp4Ki2aYb84sgOrrJw0TjQ85dG2acEWhr2W5HHBQrYrZIGtF5QgnuXb3BqVHqs86yMBrorZ3QFM9rmjlzTr4B9GEE9VNgNvVYEgAiN3Egt0kUBMtNOP0MLhmyUYXge5JmjLsQjyG6lzmDFQ5W1e7DImQuzXt77QTLYMoK7HESfDcT/a7xiqtI8Kbi/t3b4VwEvLLa8cLx/5PSuHNWh7YQS7OYWXbPv3F3wJ6xoFgsy5HQaCBEuowkRd+J5d+uJUXoVewpVUfkt5iVHokPzjUEHY6PISjdV8hUlDMDxbQwjczS+Emx5sKSHQPp2TumQsAKcWhEXpnEuC5T1a94uA0s4qsKLihvk17/hBDLQR2lZMgmfqK0ze86aJlDUkwQL3OLDI6Z5O8CTuogp9IlrY+Kr4+yRaUqyeufOUv6Mh7N6iEiDKcIntAxjRLWovIzM5Rp0pXj+nbPXFiaXEh1DHPoA2g1pI/LEbSUXnqFRFiUhf+Xh2CChL9jxYC9OCgvSyH/zSSq+iqyNc6G4EOTP4Xu4CtNXF8rnwHnq11bAbQrqi620IJSkKkmF5IAJDCSfAihhkwWm1LtyAd4XZAlxGsGFe5TtuBc6Rwcxqzme8DNMwh99q+V4lHNbR+BnWyBsFLwfYIpl5LmIgi3e/ZkKxZfp9Efr/qHw/FQHX0NbP2RVSYBTlHbpG/KU09OJcw3kKwl+jUbRDU/tRXL7KwQiQfO6LEEMpo1mwSkVYeNaH0ViR6Tg05d1z1xtuYe2Tfrni16okmV63QiA61IrxCTaw8Oq/dHpapxfDZmuaz7cqwJq58VttqD5OroHUF9L39liwuodTZ92Xzi1DO50sCTAaowvGJNWQbSSHkdWnFuIjHDrTevwNWTsJQVOSnntX2MwIsBFQetGHpqjplcgnrLl3rNK+RtViSbJB3N+JPCitPxTpjMT4Y/vxhX8QqXGLjWU5ba/EbAK7OFx3zASC7baaFUI7YuDsQNaN0ZgIMMfGcm5yOGhQ3dDKpNCdWiZwQVhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X61MRgy6QqVRbSL6seRpWF",
      "input": {
        "note": "Gripper closed to 0.036 — ambiguous since the bowl wall is thin; the wall looks pinched between the jaws in the wrist view. Lifting to test the grasp.",
        "targets": {
          "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_01X61MRgy6QqVRbSL6seRpWF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4286, 1.3819, 0.5514, 0.1871, -0.3489, -0.3222, 0.0378, -0.0216, 0.8051, 0.5953, -0.3931, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3622 left_y=-0.0952 left_z=0.0894 left_yaw=0.0221 left_pitch=-0.0282 left_roll=-0.0468 left_gripper=0.0378 right_x=0.2926 right_y=-0.0001 right_z=0.1702 right_yaw=-0.0002 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [-0.3761, -5.6547, 8.4855, 1.6142, -0.1441, 0.0269, 0.8132, -0.0068, -1.2786, 7.0359, 1.7509, -0.0464, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b3cb17fbe4f1feb861957b435affb858c9c5a5153e3fb846b19ad73c11d81e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:992c8b0affcccc15ce0c940e8edbaaf926eb8fadd69fd0b286afa5ca8613c1e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d467f064387f99cdefe55758c72e686031403bfc6545663c47d4490486844391",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 8 attempt 0 · /messages · status 200 · 4.088 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]: [-0.4255, 1.5944, 0.4381, 0.3527, -0.3668, -0.2779, 0.9994, -0.0216, 0.804, 0.5953, -0.3927, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.34 left_y=-0.0806 left_z=0.0068 left_yaw=0.0225 left_pitch=-0.168 left_roll=0.0687 left_gripper=0.9994 right_x=0.2926 right_y=-0.0001 right_z=0.1706 right_yaw=-0.0002 right_pitch=-0.0267 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -5.1624, 4.4923, 1.5604, -0.1636, -0.0366, -0.0171, -0.0752, -1.4017, 7.2821, 1.7021, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4305, 1.57, 0.4572, 0.4534, -0.3511, -0.3149, 0.0358, -0.0216, 0.8043, 0.5953, -0.3935, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3618 left_y=-0.0953 left_z=0.0384 left_yaw=0.0184 left_pitch=-0.0419 left_roll=-0.0326 left_gripper=0.0358 right_x=0.2925 right_y=-0.0001 right_z=0.1704 right_yaw=-0.0002 right_pitch=-0.0279 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [0.1162, -3.3846, 3.7812, 0.6129, -0.2515, 0.2857, 0.779, -0.1026, -1.1966, 7.0496, 1.7118, -0.0513, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4286, 1.3819, 0.5514, 0.1871, -0.3489, -0.3222, 0.0378, -0.0216, 0.8051, 0.5953, -0.3931, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3622 left_y=-0.0952 left_z=0.0894 left_yaw=0.0221 left_pitch=-0.0282 left_roll=-0.0468 left_gripper=0.0378 right_x=0.2926 right_y=-0.0001 right_z=0.1702 right_yaw=-0.0002 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [-0.3761, -5.6547, 8.4855, 1.6142, -0.1441, 0.0269, 0.8132, -0.0068, -1.2786, 7.0359, 1.7509, -0.0464, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b3cb17fbe4f1feb861957b435affb858c9c5a5153e3fb846b19ad73c11d81e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:992c8b0affcccc15ce0c940e8edbaaf926eb8fadd69fd0b286afa5ca8613c1e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d467f064387f99cdefe55758c72e686031403bfc6545663c47d4490486844391",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TpU8sodeUiRHpQgYd37LPE",
      "input": {
        "note": "Green bowl lifted with the jaws (wrist view unchanged relative to bowl). Carrying it high toward the blue bowl, offset so the green bowl's centre lands over the blue one.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.24,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01TpU8sodeUiRHpQgYd37LPE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8425, 1.5871, 1.0836, -0.3107, -0.6373, -0.6258, 0.0377, -0.0216, 0.8101, 0.5945, -0.4019, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3563 left_y=-0.2362 left_z=0.1562 left_yaw=0.0004 left_pitch=-0.0534 left_roll=-0.0398 left_gripper=0.0377 right_x=0.2915 right_y=-0.0 right_z=0.1668 right_yaw=-0.0002 right_pitch=-0.0427 right_roll=-0.0001 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -7.2957, 8.9778, 1.4188, -0.4567, 0.0122, 0.8083, -0.1162, -1.4017, 7.2547, 1.8486, -0.0366, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67fdd208e9e9aef28dfbe8a6eec1d2bf1fe6c14939a5a1c4ff6fa1c61d3f2b58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd0d9e7d558e4801d241fab75e4b06aac13c1ee7fc35562564536f30181c2ff5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60ae40dc4463632c1453210a24e0d3835d6eae6eafb1cad2ccfa8aa569f8198a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 6.047 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]: [-0.4305, 1.57, 0.4572, 0.4534, -0.3511, -0.3149, 0.0358, -0.0216, 0.8043, 0.5953, -0.3935, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3618 left_y=-0.0953 left_z=0.0384 left_yaw=0.0184 left_pitch=-0.0419 left_roll=-0.0326 left_gripper=0.0358 right_x=0.2925 right_y=-0.0001 right_z=0.1704 right_yaw=-0.0002 right_pitch=-0.0279 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [0.1162, -3.3846, 3.7812, 0.6129, -0.2515, 0.2857, 0.779, -0.1026, -1.1966, 7.0496, 1.7118, -0.0513, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4286, 1.3819, 0.5514, 0.1871, -0.3489, -0.3222, 0.0378, -0.0216, 0.8051, 0.5953, -0.3931, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3622 left_y=-0.0952 left_z=0.0894 left_yaw=0.0221 left_pitch=-0.0282 left_roll=-0.0468 left_gripper=0.0378 right_x=0.2926 right_y=-0.0001 right_z=0.1702 right_yaw=-0.0002 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [-0.3761, -5.6547, 8.4855, 1.6142, -0.1441, 0.0269, 0.8132, -0.0068, -1.2786, 7.0359, 1.7509, -0.0464, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8425, 1.5871, 1.0836, -0.3107, -0.6373, -0.6258, 0.0377, -0.0216, 0.8101, 0.5945, -0.4019, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3563 left_y=-0.2362 left_z=0.1562 left_yaw=0.0004 left_pitch=-0.0534 left_roll=-0.0398 left_gripper=0.0377 right_x=0.2915 right_y=-0.0 right_z=0.1668 right_yaw=-0.0002 right_pitch=-0.0427 right_roll=-0.0001 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -7.2957, 8.9778, 1.4188, -0.4567, 0.0122, 0.8083, -0.1162, -1.4017, 7.2547, 1.8486, -0.0366, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67fdd208e9e9aef28dfbe8a6eec1d2bf1fe6c14939a5a1c4ff6fa1c61d3f2b58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd0d9e7d558e4801d241fab75e4b06aac13c1ee7fc35562564536f30181c2ff5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60ae40dc4463632c1453210a24e0d3835d6eae6eafb1cad2ccfa8aa569f8198a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQcKEAgSGAI4AUIIdGhpbmtpbmcSDPZh7kNG5erhyEq+5RoMLOB/VrhNFmoabQeHIjCT1SysjUCAveu0hQvx86gqfiUGS+w5h7MjkccvpXU3emkRBjBK2u6H/vadoE/uyTYqzgYI0P0V7EToNNzH61GDMv6mHhKNFc43xJ0h1upxEO60uN4mipoTp4tkGYW91ps/GJ3d5fUo4YuJmPsIT9A0iHviRtdmIjIPuWBkp8AJ5rn6KkkpbNTK4wdRSLJiSlf7aVJCyFRlLd+3Ob+rJnlCTlUUci+8sE7ECP5y4/HBBQIwO3jeN0mkAhqN877ikIfghvUZ5W754pBNncsgquvi1wyCVuMcnX3K317QpDCynGcWI1ysNvaFl2l/t08YIsyJtnxQQQ87KR/VzpkXHbGF6G3zTHpI+vwknW2Aiu/Ll5R7dT5KI4/sLJL/j81M55pPouJwx3o/iTbWV6K4NIs7gdMmEcfLRqGVtka60QlbfFrMTp973lCQum/CLEbevKF9KcDb08aD6tr4LtUDtmaY4YfY8zUI1Z+YYq6+cu43iuM/dh8Vw0j4O16bpw3Qoan+Q9WfgIj6clMeBGDmXsrOpobm/jC37OlCgQ+dAKI9aFjIfG2TWfBit6JKqeRHnqYIXwgrScdcesmq00ct0ePQEbslLk6strcCqbdzEdH+R7okTJUnhczwGfF3QTxJ+X5PadXdsc3kUzc/cb6EdYHGZ9bl7D9hWG2jjLf+7AtgMPnlkiYEBJ9ecxOIVS8VOLzjA1oesFjNI/fN5GFonJMLvVRsUYD/qbfhh7Fkvz/h2kew/+k4c48hbULRzUqSsR20L/Mz3no4sGv5K0yLyhaMoRuuPS3eqEnQPjRhmbiMOa25e4QQ/jIzDLZNtagqBMA6Dpf+02wQYwWoy1gvqqrAt2gK40FANzUYlOvVzd9ghW0WRSUoTcqIccXmaFGnvlQM858UDefLGvLc9/UdqBivSAr5ioNKsnGVluJGUlnI5Z6Fu1F6DpMxdQb5m+nij3i8Un2k6Kro2yJUae+3unVFJJLf3U6TkuEyLtPOQVUsn3sb39jXFhlExi1V+Oy9/2wpMpov2ocKK0nZEi4yXE9zdm7MwVPTQidG3gGUz9Ej81cLyD/Qxa89oLam8FjarMjzz2bE8v6y0tcYItwThsRP6fBPdKnoHweDrPrACoWW8IzkcgOAz4oq6lHWV6OHcqL9b1K+nMxHbORCnkjhzjF9JJrYyiQrYhkN8D1AXQxlRs0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V2HnKEwG95iFZXVan56Zba",
      "input": {
        "note": "Green bowl is carried and now appears directly over the blue bowl in the overhead view. Lowering to nest it.",
        "targets": {
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01V2HnKEwG95iFZXVan56Zba",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8471, 1.7046, 0.8982, -0.0853, -0.6292, -0.6327, 0.0377, -0.0216, 0.8101, 0.5945, -0.4122, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3467 left_y=-0.2299 left_z=0.0728 left_yaw=-0.0013 left_pitch=-0.1094 left_roll=0.0088 left_gripper=0.0377 right_x=0.29 right_y=-0.0 right_z=0.1647 right_yaw=-0.0002 right_pitch=-0.053 right_roll=0.0001 right_gripper=0.9963\nstate[joint_eff]: [0.2667, -7.747, 6.3385, 1.6972, -0.4908, 0.0317, 0.8278, -0.335, -1.3197, 6.9949, 1.7558, -0.0464, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84758b783f6d29a5e830e603ab2f49341a458d404f4e8b5125bb4fc674c77fbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc160daf50c0f43892acaa1e72ef735642d9236234f7abd5288845acdadc7e43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d105086aa13fc1f61e6636c4649ea2bbb73ebdf86b4520226beefba610c6cd3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 4.003 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]: [-0.4286, 1.3819, 0.5514, 0.1871, -0.3489, -0.3222, 0.0378, -0.0216, 0.8051, 0.5953, -0.3931, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3622 left_y=-0.0952 left_z=0.0894 left_yaw=0.0221 left_pitch=-0.0282 left_roll=-0.0468 left_gripper=0.0378 right_x=0.2926 right_y=-0.0001 right_z=0.1702 right_yaw=-0.0002 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9963\nstate[joint_eff]: [-0.3761, -5.6547, 8.4855, 1.6142, -0.1441, 0.0269, 0.8132, -0.0068, -1.2786, 7.0359, 1.7509, -0.0464, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8425, 1.5871, 1.0836, -0.3107, -0.6373, -0.6258, 0.0377, -0.0216, 0.8101, 0.5945, -0.4019, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3563 left_y=-0.2362 left_z=0.1562 left_yaw=0.0004 left_pitch=-0.0534 left_roll=-0.0398 left_gripper=0.0377 right_x=0.2915 right_y=-0.0 right_z=0.1668 right_yaw=-0.0002 right_pitch=-0.0427 right_roll=-0.0001 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -7.2957, 8.9778, 1.4188, -0.4567, 0.0122, 0.8083, -0.1162, -1.4017, 7.2547, 1.8486, -0.0366, -0.0464, -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]: [-0.8471, 1.7046, 0.8982, -0.0853, -0.6292, -0.6327, 0.0377, -0.0216, 0.8101, 0.5945, -0.4122, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3467 left_y=-0.2299 left_z=0.0728 left_yaw=-0.0013 left_pitch=-0.1094 left_roll=0.0088 left_gripper=0.0377 right_x=0.29 right_y=-0.0 right_z=0.1647 right_yaw=-0.0002 right_pitch=-0.053 right_roll=0.0001 right_gripper=0.9963\nstate[joint_eff]: [0.2667, -7.747, 6.3385, 1.6972, -0.4908, 0.0317, 0.8278, -0.335, -1.3197, 6.9949, 1.7558, -0.0464, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84758b783f6d29a5e830e603ab2f49341a458d404f4e8b5125bb4fc674c77fbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc160daf50c0f43892acaa1e72ef735642d9236234f7abd5288845acdadc7e43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d105086aa13fc1f61e6636c4649ea2bbb73ebdf86b4520226beefba610c6cd3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4wgKEAgSGAI4AUIIdGhpbmtpbmcSDGcBBQs5kr4PjFDjHRoMek1Ic3YFoWs8zAVPIjB7MWwO0ALftgy9hxkTifGzVXgIeEOtW4IJUg2PqvEJ7rDi8kHxP3V7tEA7N2rho0oqgAgLOLtAyn+qZtc/ML5AfMJ7mqCzhMrscC5uq3CG+BGT5rBECZxTkI3qDHGhB3MKKay80YN0IUiGqqbMr/z+LfgjlvmODNjTXCPpYD+DEKn3EWlQtSQA0TPyoovggGPpIRIh7YYOyCMoGVuu1P3g4SrLvFm+Gd7go/g3T2B4CJaHugNmGis9MZBDgThG/bH3He7dYGy9WLMAqyJAqRnMkTvCFUWnDH9rq+B3+FP/q3Wiuk+O+6pHnmpfv0l4v080OAqlIPbdKPHhrtVRmCCK+CCCMCq/T3kXyxJe3Uvdp/wA/+o6W+6FM/WJazyW0t5u2H+N8EBnw58uowR4gv6Q2zwPpjdxNBwnYRCUTqSm5t9u8OXFC2lF34y2YnWL41Gfv8Qf21QeMhev310L8Ygwywz333HTq1RH+rWrJiC7aOrbaIGVSr5n/JbpcXJaZ8D5vSqH7r5MSfl83edT/86FcZCBVv3Yaeu7u8km2ZyPbOkdDzKfvfNGhrXNTyYuNocjQcnqfr/HEqc7+fJz16QBttfZOGbs8dxC2Nk0fb9A0CTwGKkeCBhqJChCsfD+qtKvggXU/kaP0g4r/YcO+7kAIwLtE6gaCm+SAnzXo2IoTyesCR64eNSreV/eQdLN8lEp7aExO2zNrqLKrPGAkIDzG9CDCFY41y256e6MuFgPGDKtvrSCm41icNRyK34MvC7/aw5sNsNcxbw5S3FHqaPFgp+i9HxvonvirTM/baf3Sk78t/ppt26ZYY5U/pjhtx20Dx/JDCWwSvTzeH5a/MB00xQw85wePP82NPIDeoi2FTmLOa2lvWWwXJ8YHOHtlyDy/Ke/TRJNP8CdzImOS2lxxkGVPSqzDeAMucIFf8oWisp6ebOLeuMEpgG8V9E1VIJJPeQGYOiIG7KkJSYPAYCHy5RS9srIGYqmH43csKZWFc9gOW9nUNH8QpC8lrlPB5GkO6hi9PbFgingDa6RQf99ew9tnDygcIKRBx57Ozdx+5PD2FRPQDyTvAJS6EqhmpZ03QIdxEhYHzInkXUkDpah+m/UChoh0W2qCxyUuvRVFerkXKlkGKaE4sqMcAPVsqJYNZMlCQAZFp40PoaKA0JngWCON+/pOnp8kULHlrAajBtbRYwd/5tLodIhQHfRPjGO8LswGvc1KApBBUCr8H85MI+4yMAIm/pb3Y4cJ5NyS6Aw3o4Ymbr29RqehlLKYQ+XcTiMaE3pWa916XOn/hBNyBNdgohrw369u1q+6lxy+zxKh4nmJ3eQ/mqdHvP29FukMI8NBYmI9YprnBHvDFPudj4FJK2zqsr6OiH6tEJpjqGzRa1gVlkn2fua+xhDZP8YXktQq5wWhnG2A9PEFiX4F4R8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YKLshLktDuq4jYZEFmWNVo",
      "input": {
        "note": "Blue bowl's rim peeks out ahead of the green bowl in both views, so the blue bowl sits a few cm further forward. Shifting forward while lowering to nest.",
        "targets": {
          "left_x": 0.375,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01YKLshLktDuq4jYZEFmWNVo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7967, 1.8008, 0.9047, 0.0078, -0.6018, -0.6086, 0.0397, -0.0216, 0.812, 0.5945, -0.4156, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.365 left_y=-0.2252 left_z=0.048 left_yaw=0.0167 left_pitch=-0.1231 left_roll=0.0105 left_gripper=0.0397 right_x=0.2896 right_y=0.0 right_z=0.1635 right_yaw=-0.0002 right_pitch=-0.0584 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [0.253, -8.2803, 7.788, 1.5507, -0.2906, 0.1978, 0.7302, -0.1709, -1.4154, 6.9812, 1.6923, -0.0611, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:229a31578cd05aecc1f449ec76df4670bfd6a92b34a551649b314d4c44033042",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c2c0ceb4c358a2b1b3fd942a71c7b874e41b30241a56a54d1f920a6680cb3da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:156062040fa9d422ef607c9344b39812654af5627168713a8d71e59117f4f6fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 6.496 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]: [-0.8425, 1.5871, 1.0836, -0.3107, -0.6373, -0.6258, 0.0377, -0.0216, 0.8101, 0.5945, -0.4019, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3563 left_y=-0.2362 left_z=0.1562 left_yaw=0.0004 left_pitch=-0.0534 left_roll=-0.0398 left_gripper=0.0377 right_x=0.2915 right_y=-0.0 right_z=0.1668 right_yaw=-0.0002 right_pitch=-0.0427 right_roll=-0.0001 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -7.2957, 8.9778, 1.4188, -0.4567, 0.0122, 0.8083, -0.1162, -1.4017, 7.2547, 1.8486, -0.0366, -0.0464, -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]: [-0.8471, 1.7046, 0.8982, -0.0853, -0.6292, -0.6327, 0.0377, -0.0216, 0.8101, 0.5945, -0.4122, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3467 left_y=-0.2299 left_z=0.0728 left_yaw=-0.0013 left_pitch=-0.1094 left_roll=0.0088 left_gripper=0.0377 right_x=0.29 right_y=-0.0 right_z=0.1647 right_yaw=-0.0002 right_pitch=-0.053 right_roll=0.0001 right_gripper=0.9963\nstate[joint_eff]: [0.2667, -7.747, 6.3385, 1.6972, -0.4908, 0.0317, 0.8278, -0.335, -1.3197, 6.9949, 1.7558, -0.0464, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7967, 1.8008, 0.9047, 0.0078, -0.6018, -0.6086, 0.0397, -0.0216, 0.812, 0.5945, -0.4156, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.365 left_y=-0.2252 left_z=0.048 left_yaw=0.0167 left_pitch=-0.1231 left_roll=0.0105 left_gripper=0.0397 right_x=0.2896 right_y=0.0 right_z=0.1635 right_yaw=-0.0002 right_pitch=-0.0584 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [0.253, -8.2803, 7.788, 1.5507, -0.2906, 0.1978, 0.7302, -0.1709, -1.4154, 6.9812, 1.6923, -0.0611, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:229a31578cd05aecc1f449ec76df4670bfd6a92b34a551649b314d4c44033042",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c2c0ceb4c358a2b1b3fd942a71c7b874e41b30241a56a54d1f920a6680cb3da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:156062040fa9d422ef607c9344b39812654af5627168713a8d71e59117f4f6fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QYKEAgSGAI4AUIIdGhpbmtpbmcSDC3jGgAL7eWoq9ZgUBoMeaLyEvCbUOfnU1+LIjDDrL+/T9Zt4wn4+C0fweVOO0V2Lx2Vz/UvY6TFLUcaMOAV5DIeB9QGR8XNOkpGwwYqjgaNA9OB66t9CGsC12fJuOvuMYeFqB8/sRTwYWsAczmOAF50+7fLW+KIr6SjzJM17rxEWaAesiV9x201KTmPbObXbFoGOg+7BIr4Z2yzmgVuf6+V3U3WYmxuezKWJSuXhGw4J9bWeobS3Ju6u4uoBQuovfAuHxdfdWDOVBrfhNKvYOpynIyoB3b5MlM4n7Hne3Qj+Rf6XRtkmauG7YIe64fStVw5vw9SjDd8GN2oc3bOLDswThpylss51v6tQPeeMBWr+rHUIDz2q+Vogbrqw8Q+ZkCjzIML9fnsshPwnIGRy7P45ncpztDDqqtTSiUk5VmmT4ivCny5xtjIM1hO6jiYYspMn7C13ledcdm8xGZkmkQZUor7h+KjLhXei4n9p2GdE7XNsBl7Av5IC4OjcAz+clWe82bf5/L6caf6MTpKpV4cbaRnuIUg9I5GC0Ylefw4FoHiTMwSZq4kpXX3HJBe0/6q5bo3w6TepKq32roE8SnG6qdS6mxC7L9nOO4DJf7+myxkLnDUANC7hW0qYTv1zHlVlVPgR4Jz1jt54OUPGrYoaLg75lWCVY6NPopnxIGwazpA67O2Zq6hApsDBPkO/IKjJJUjK5bdnbloJMrZoD540CV61H5qgm3FzNpzDkbThLxEby8rxjiZgwovWKcQ7hYQeZaYraCyfN2cqdm5n3vOyt2ZOA6idK9BGGubIuph1wRKEsqetWYCzzHX22KRjX7g1O3LJ8TMAoFWpMUNiurtnFHKqTkKv1XJPjxNdoAkEFjEvV+jyumeU+AaTlEs6SWnuhtQRjtsBgrh825zWYkWr3G17h5/4qWUTxf8dvazB8qOoljtF9CXUFoLGeDc0cYHNZhmv47iX44xSpdwCY73hJmAXoKZzeHe33bvfa2dyzioQq6CjmK723/H2e6BYjQHDwRGHfzUb6L04jTSx8/MiV8RE0D3Gsx/pt2pKM4osftKe8a4iczgdR1s6DBus1+K/EZgbVNl9oi7wIGxiw3WJNBjDVLER3SSKxUE4cyEV42CyrccUFlCXiR7EBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MwVUFft44HgtSDEDisQDBe",
      "input": {
        "note": "Green bowl is sinking into the blue bowl; lowering slightly more until it rests before releasing.",
        "targets": {
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01MwVUFft44HgtSDEDisQDBe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7883, 1.8248, 0.8963, 0.0662, -0.601, -0.6044, 0.0419, -0.0216, 0.8139, 0.5945, -0.416, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3706 left_y=-0.226 left_z=0.0436 left_yaw=0.0201 left_pitch=-0.1057 left_roll=-0.0056 left_gripper=0.0419 right_x=0.2897 right_y=0.0 right_z=0.1629 right_yaw=-0.0002 right_pitch=-0.0607 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.6769, -6.5026, 4.6974, 1.1013, -0.2808, -0.0513, 0.5006, -0.0752, -0.9504, 6.9812, 1.7021, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3857531bec16b814f03a42d7219a1771b37a225aba72b3a673dfc1bd56a34c11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c6e74f805d093ab84c8138f6f3a0530d04322a39adb701fa9a4fcd266a99251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13dd25cd0ff0b789ab09035591d002febe36a714f5fe0809f12c07acf83a9fa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 13.34 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]: [-0.8471, 1.7046, 0.8982, -0.0853, -0.6292, -0.6327, 0.0377, -0.0216, 0.8101, 0.5945, -0.4122, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3467 left_y=-0.2299 left_z=0.0728 left_yaw=-0.0013 left_pitch=-0.1094 left_roll=0.0088 left_gripper=0.0377 right_x=0.29 right_y=-0.0 right_z=0.1647 right_yaw=-0.0002 right_pitch=-0.053 right_roll=0.0001 right_gripper=0.9963\nstate[joint_eff]: [0.2667, -7.747, 6.3385, 1.6972, -0.4908, 0.0317, 0.8278, -0.335, -1.3197, 6.9949, 1.7558, -0.0464, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7967, 1.8008, 0.9047, 0.0078, -0.6018, -0.6086, 0.0397, -0.0216, 0.812, 0.5945, -0.4156, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.365 left_y=-0.2252 left_z=0.048 left_yaw=0.0167 left_pitch=-0.1231 left_roll=0.0105 left_gripper=0.0397 right_x=0.2896 right_y=0.0 right_z=0.1635 right_yaw=-0.0002 right_pitch=-0.0584 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [0.253, -8.2803, 7.788, 1.5507, -0.2906, 0.1978, 0.7302, -0.1709, -1.4154, 6.9812, 1.6923, -0.0611, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7883, 1.8248, 0.8963, 0.0662, -0.601, -0.6044, 0.0419, -0.0216, 0.8139, 0.5945, -0.416, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3706 left_y=-0.226 left_z=0.0436 left_yaw=0.0201 left_pitch=-0.1057 left_roll=-0.0056 left_gripper=0.0419 right_x=0.2897 right_y=0.0 right_z=0.1629 right_yaw=-0.0002 right_pitch=-0.0607 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.6769, -6.5026, 4.6974, 1.1013, -0.2808, -0.0513, 0.5006, -0.0752, -0.9504, 6.9812, 1.7021, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3857531bec16b814f03a42d7219a1771b37a225aba72b3a673dfc1bd56a34c11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c6e74f805d093ab84c8138f6f3a0530d04322a39adb701fa9a4fcd266a99251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13dd25cd0ff0b789ab09035591d002febe36a714f5fe0809f12c07acf83a9fa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Stopped at 0.044 — resting on blue bowl. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nc53XKwMSMjKEJUttZqReN",
      "input": {
        "note": "Descent stopped at z≈0.044, so the green bowl is resting inside the blue bowl. Opening to release it.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Nc53XKwMSMjKEJUttZqReN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7921, 1.8439, 0.8783, 0.0837, -0.5991, -0.6182, 0.9952, -0.0216, 0.8173, 0.5945, -0.4187, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3665 left_y=-0.2246 left_z=0.0323 left_yaw=0.024 left_pitch=-0.1201 left_roll=-0.0031 left_gripper=0.9952 right_x=0.2894 right_y=0.0 right_z=0.1615 right_yaw=-0.0002 right_pitch=-0.0668 right_roll=0.0004 right_gripper=0.9963\nstate[joint_eff]: [-0.5675, -8.0615, 5.2308, 1.3504, -0.3394, 0.0366, -0.1538, -0.1162, -1.6342, 7.0085, 1.7167, -0.0611, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7acac40378c80cfaa63543156397ff7745a6b8a720ff3bd683dd3abff06a7bf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc30224ce1765cd5e90a034d02d2c371ea8172c85e5f392dcff7542a3cc45814",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:df8453ef0ab94d6b2d6de7ab53d8dbf26b9d0a8e1d3bc8b2e95ca75ecc4f4f3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 5.532 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]: [-0.7967, 1.8008, 0.9047, 0.0078, -0.6018, -0.6086, 0.0397, -0.0216, 0.812, 0.5945, -0.4156, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.365 left_y=-0.2252 left_z=0.048 left_yaw=0.0167 left_pitch=-0.1231 left_roll=0.0105 left_gripper=0.0397 right_x=0.2896 right_y=0.0 right_z=0.1635 right_yaw=-0.0002 right_pitch=-0.0584 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [0.253, -8.2803, 7.788, 1.5507, -0.2906, 0.1978, 0.7302, -0.1709, -1.4154, 6.9812, 1.6923, -0.0611, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7883, 1.8248, 0.8963, 0.0662, -0.601, -0.6044, 0.0419, -0.0216, 0.8139, 0.5945, -0.416, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3706 left_y=-0.226 left_z=0.0436 left_yaw=0.0201 left_pitch=-0.1057 left_roll=-0.0056 left_gripper=0.0419 right_x=0.2897 right_y=0.0 right_z=0.1629 right_yaw=-0.0002 right_pitch=-0.0607 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.6769, -6.5026, 4.6974, 1.1013, -0.2808, -0.0513, 0.5006, -0.0752, -0.9504, 6.9812, 1.7021, -0.0708, -0.0513, -0.0122]",
      "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]: [-0.7921, 1.8439, 0.8783, 0.0837, -0.5991, -0.6182, 0.9952, -0.0216, 0.8173, 0.5945, -0.4187, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3665 left_y=-0.2246 left_z=0.0323 left_yaw=0.024 left_pitch=-0.1201 left_roll=-0.0031 left_gripper=0.9952 right_x=0.2894 right_y=0.0 right_z=0.1615 right_yaw=-0.0002 right_pitch=-0.0668 right_roll=0.0004 right_gripper=0.9963\nstate[joint_eff]: [-0.5675, -8.0615, 5.2308, 1.3504, -0.3394, 0.0366, -0.1538, -0.1162, -1.6342, 7.0085, 1.7167, -0.0611, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7acac40378c80cfaa63543156397ff7745a6b8a720ff3bd683dd3abff06a7bf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc30224ce1765cd5e90a034d02d2c371ea8172c85e5f392dcff7542a3cc45814",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df8453ef0ab94d6b2d6de7ab53d8dbf26b9d0a8e1d3bc8b2e95ca75ecc4f4f3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KhpyDk89qnTUTe9fTAVmqD",
      "input": {
        "note": "Overhead shows the green-white bowl missed: it's on the table beside the gripper, and the blue bowl is further forward than I estimated. The white bowl's wall still sits between the open jaws, so I'm lowering to re-grip it.",
        "targets": {
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01KhpyDk89qnTUTe9fTAVmqD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7921, 1.8755, 0.8684, 0.1402, -0.601, -0.6182, 0.9958, -0.0216, 0.8173, 0.5945, -0.4187, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.369 left_y=-0.2267 left_z=0.0245 left_yaw=0.0241 left_pitch=-0.1088 left_roll=-0.013 left_gripper=0.9958 right_x=0.2894 right_y=0.0 right_z=0.1615 right_yaw=-0.0002 right_pitch=-0.0668 right_roll=0.0004 right_gripper=0.9963\nstate[joint_eff]: [-0.2803, -6.7077, 3.959, 1.1941, -0.2466, -0.0171, 0.0269, -0.0615, -1.3744, 6.9675, 1.6484, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de44536aea2530e8d1ecfa80ccfcce220ac627aa75e11bbf08d23683baa902ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:541afb2a02d11151664345a14854507fafe2f8060cdcf2958beabd0ba70c3463",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a9e89eb1bfb0dcbd2605ec7b78138ec72c00cd0f5b6de15a089b9791d2a37de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 15.46 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]: [-0.7883, 1.8248, 0.8963, 0.0662, -0.601, -0.6044, 0.0419, -0.0216, 0.8139, 0.5945, -0.416, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3706 left_y=-0.226 left_z=0.0436 left_yaw=0.0201 left_pitch=-0.1057 left_roll=-0.0056 left_gripper=0.0419 right_x=0.2897 right_y=0.0 right_z=0.1629 right_yaw=-0.0002 right_pitch=-0.0607 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.6769, -6.5026, 4.6974, 1.1013, -0.2808, -0.0513, 0.5006, -0.0752, -0.9504, 6.9812, 1.7021, -0.0708, -0.0513, -0.0122]",
      "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]: [-0.7921, 1.8439, 0.8783, 0.0837, -0.5991, -0.6182, 0.9952, -0.0216, 0.8173, 0.5945, -0.4187, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3665 left_y=-0.2246 left_z=0.0323 left_yaw=0.024 left_pitch=-0.1201 left_roll=-0.0031 left_gripper=0.9952 right_x=0.2894 right_y=0.0 right_z=0.1615 right_yaw=-0.0002 right_pitch=-0.0668 right_roll=0.0004 right_gripper=0.9963\nstate[joint_eff]: [-0.5675, -8.0615, 5.2308, 1.3504, -0.3394, 0.0366, -0.1538, -0.1162, -1.6342, 7.0085, 1.7167, -0.0611, -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]: [-0.7921, 1.8755, 0.8684, 0.1402, -0.601, -0.6182, 0.9958, -0.0216, 0.8173, 0.5945, -0.4187, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.369 left_y=-0.2267 left_z=0.0245 left_yaw=0.0241 left_pitch=-0.1088 left_roll=-0.013 left_gripper=0.9958 right_x=0.2894 right_y=0.0 right_z=0.1615 right_yaw=-0.0002 right_pitch=-0.0668 right_roll=0.0004 right_gripper=0.9963\nstate[joint_eff]: [-0.2803, -6.7077, 3.959, 1.1941, -0.2466, -0.0171, 0.0269, -0.0615, -1.3744, 6.9675, 1.6484, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de44536aea2530e8d1ecfa80ccfcce220ac627aa75e11bbf08d23683baa902ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:541afb2a02d11151664345a14854507fafe2f8060cdcf2958beabd0ba70c3463",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a9e89eb1bfb0dcbd2605ec7b78138ec72c00cd0f5b6de15a089b9791d2a37de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjwkKEAgSGAI4AUIIdGhpbmtpbmcSDNp4eftab5GEZGXoARoMXKlFXQk6pTtXBdl4IjCJGfhqN2gyRq14s9iPutfx5+ApTiwEVahG1mwrS04y3NuV2tmZx/05t5nruTZzj1wqrAh3JHy19Vf7r7ftGRDEXRKUX3gS6e/odhWMKVdbfaYcUbwXayXmUY925Tr9A7bqR+AMQgLEedyXupxhJaFcYpwf/J73D5ML3FLZ73F0RjtTeQcnIUFFQuDm/JC1g06m/HdEuttnrm7yq8qV7wPdgAPUHMw/pTvd9Nr2u8iHIYVamtRZ92GMVrTtw5BLg1k6DovZXijtAxa0deQXai4Wxi9rTQSdmwuuKAvtJ6suEQllXSfxtXnMD9ZyuAYu7kmOJVUZ3rQA7lwCun5Iiao21V4nPcCqQr8TUyKA/eapmNLfkoa1PPusvRqdxQGWYIXTnzpMAXIBLexuOQz1i0b0DkEVDAdGYOdSpx6jpVp9NmysSfpvP9+uhbAsrwYhLmA1oyoE0qavJpDJji3pjMAOUXWM1+guH2hx/8oTsTgdPK5J3t2/uXVazqgkNKQX50xXHBIhW4xbhKGgnwUyUxDYrAtEbNoKxmkSmaUBegWJE96+u+rxDwX3qmQFVmcyg2/j6s54GkGGMKG0shm3xbxu0X0yZV76WEocb/Wws2iPiaP00LGRwo0QtZjMgfT2nLGMX2UGh/Fuu71NIbvu6VpAumv+ndetWCuMKbO2FMjUbFqJBUsbyUSZX4GNbln0/sJEUVRSeo2DjcjBVpIfE5SLPnnxqQyJ5eoTj7cwFSu6lPPmOcCAZnHaNbjCZinl/L7vMooVgyxGh02oOgoX2kLU/8f1Q5Np+zvHOkrOTo9kbrMAerHMWZjTudxGxkZltrueYW8W9BwTQuAN0lsGd2zAynAwAObdPh1LE9Q95TF0P0wVL2S2BEkDMxCKk3JfmLPn55axs5P09pTQRrVvpbccY9E+PpC7YZ2JukA0Bjb4tKXLpjs1jMcYydF4FbOJ3UMujmAs09viaAl/dscH3w6EzAknO8NVBLxpfHp+xp0AcCWMW8PlvOd/E4fkHbaBWqAb9SrARdG1Oc2b88mK4bwu1B87skGf6UafwXIks+kPFGj0xoGJI1+p3ZaQpgwSdlhnoxjdJ0IF7JKujFzEnWiO1l267bHqynU5HqqGRsLbAjf08acjIL7lUWg1+fY/mudvEiRekzXcpvIXoVurVRDefzNaLVtdlLTzD4+eepyqvGACo2f+2Z1YIPYMCO/Y0AHU+LWPR2zC+PxKjvh09reqAHtQSpML3Z36p+E2sSqtvtA8AdNJ/izZjkuFQLsZCHxJaghaHso2LedBRHSIxTUZxGEttEmwEmBVZ42I/CC4MqTuxtoxWpMpN6DAQshoxNM1mlaBYwpVDSy/Cqtm/p2O0Mzqjtr1OnIeftukjYSxNAjhgGaPJNU6VwviCfo408GsC/fyWg+nvGOuqQ5Pr2NmLEjcpoRpZP9BleQOZjWcxxiuspxXbaaxOPmMAkzL/JCStSy7Wirj7TjZ0+vir+8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bk7zb5Wo1g9W4KdDC2WpvK",
      "input": {
        "note": "Descent stopped at z≈0.025 with the white bowl's wall between the jaws; closing to pinch it.",
        "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_01Bk7zb5Wo1g9W4KdDC2WpvK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.794, 1.8709, 0.8669, 0.1768, -0.5995, -0.6399, 0.1026, -0.0216, 0.8192, 0.5945, -0.4217, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.3726 left_y=-0.2318 left_z=0.0309 left_yaw=0.0301 left_pitch=-0.0829 left_roll=-0.0601 left_gripper=0.1026 right_x=0.2891 right_y=0.0 right_z=0.1603 right_yaw=0.0 right_pitch=-0.0717 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -8.4444, 5.4222, 1.0476, -0.2711, 0.2076, 0.5104, -0.0889, -1.5658, 6.9812, 1.7314, -0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6b997751dbd338f6e2fb998f7dfc45d7e1887017e7106ac49702ac5219a179b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a39da9272d654c892943c0b20a95042b9faa92b506b8226a6e1dc041f2243f5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57a2920864a48cdd087a65d8637bd03a7e9a0c08a0e1aaa86da7ca71ccdfc2b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 5.665 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]: [-0.7921, 1.8439, 0.8783, 0.0837, -0.5991, -0.6182, 0.9952, -0.0216, 0.8173, 0.5945, -0.4187, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.3665 left_y=-0.2246 left_z=0.0323 left_yaw=0.024 left_pitch=-0.1201 left_roll=-0.0031 left_gripper=0.9952 right_x=0.2894 right_y=0.0 right_z=0.1615 right_yaw=-0.0002 right_pitch=-0.0668 right_roll=0.0004 right_gripper=0.9963\nstate[joint_eff]: [-0.5675, -8.0615, 5.2308, 1.3504, -0.3394, 0.0366, -0.1538, -0.1162, -1.6342, 7.0085, 1.7167, -0.0611, -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]: [-0.7921, 1.8755, 0.8684, 0.1402, -0.601, -0.6182, 0.9958, -0.0216, 0.8173, 0.5945, -0.4187, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.369 left_y=-0.2267 left_z=0.0245 left_yaw=0.0241 left_pitch=-0.1088 left_roll=-0.013 left_gripper=0.9958 right_x=0.2894 right_y=0.0 right_z=0.1615 right_yaw=-0.0002 right_pitch=-0.0668 right_roll=0.0004 right_gripper=0.9963\nstate[joint_eff]: [-0.2803, -6.7077, 3.959, 1.1941, -0.2466, -0.0171, 0.0269, -0.0615, -1.3744, 6.9675, 1.6484, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.794, 1.8709, 0.8669, 0.1768, -0.5995, -0.6399, 0.1026, -0.0216, 0.8192, 0.5945, -0.4217, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.3726 left_y=-0.2318 left_z=0.0309 left_yaw=0.0301 left_pitch=-0.0829 left_roll=-0.0601 left_gripper=0.1026 right_x=0.2891 right_y=0.0 right_z=0.1603 right_yaw=0.0 right_pitch=-0.0717 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -8.4444, 5.4222, 1.0476, -0.2711, 0.2076, 0.5104, -0.0889, -1.5658, 6.9812, 1.7314, -0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6b997751dbd338f6e2fb998f7dfc45d7e1887017e7106ac49702ac5219a179b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a39da9272d654c892943c0b20a95042b9faa92b506b8226a6e1dc041f2243f5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57a2920864a48cdd087a65d8637bd03a7e9a0c08a0e1aaa86da7ca71ccdfc2b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B7LLLFUjFSYDj8SAQ2AVFu",
      "input": {
        "note": "Gripper settled at 0.10, so the white bowl's wall is held. The blue bowl got pushed forward-right (overhead view), so I'm carrying the white bowl high toward the blue bowl's new spot.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.32,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01B7LLLFUjFSYDj8SAQ2AVFu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7929, 2.0754, 1.7359, -0.4541, -0.5987, -0.6552, 0.1024, -0.0216, 0.823, 0.5945, -0.4229, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.4596 left_y=-0.3196 left_z=0.1642 left_yaw=0.0372 left_pitch=-0.0611 left_roll=-0.0975 left_gripper=0.1024 right_x=0.2891 right_y=0.0 right_z=0.1591 right_yaw=0.0 right_pitch=-0.0767 right_roll=0.0003 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -11.453, 7.9248, 1.1258, -0.2857, 0.1001, -0.0317, -0.3077, -1.6479, 6.9675, 1.6825, -0.0171, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e2ace2f87ab89a67061f7b4e80c8fe06ba61c9ca45e7cacfcbd06bb4395d6bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46fb51d99bc3d6d11d239a567ee0971b6d58ab6df6df9a4dbf6e14ea9158514c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b3e103303b31b967c23c6e07b9bcb488d13a6a00889ba05463bcfc68e425734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 6.727 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]: [-0.7921, 1.8755, 0.8684, 0.1402, -0.601, -0.6182, 0.9958, -0.0216, 0.8173, 0.5945, -0.4187, -0.0151, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.369 left_y=-0.2267 left_z=0.0245 left_yaw=0.0241 left_pitch=-0.1088 left_roll=-0.013 left_gripper=0.9958 right_x=0.2894 right_y=0.0 right_z=0.1615 right_yaw=-0.0002 right_pitch=-0.0668 right_roll=0.0004 right_gripper=0.9963\nstate[joint_eff]: [-0.2803, -6.7077, 3.959, 1.1941, -0.2466, -0.0171, 0.0269, -0.0615, -1.3744, 6.9675, 1.6484, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.794, 1.8709, 0.8669, 0.1768, -0.5995, -0.6399, 0.1026, -0.0216, 0.8192, 0.5945, -0.4217, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.3726 left_y=-0.2318 left_z=0.0309 left_yaw=0.0301 left_pitch=-0.0829 left_roll=-0.0601 left_gripper=0.1026 right_x=0.2891 right_y=0.0 right_z=0.1603 right_yaw=0.0 right_pitch=-0.0717 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -8.4444, 5.4222, 1.0476, -0.2711, 0.2076, 0.5104, -0.0889, -1.5658, 6.9812, 1.7314, -0.0611, -0.0513, -0.0122]",
      "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]: [-0.7929, 2.0754, 1.7359, -0.4541, -0.5987, -0.6552, 0.1024, -0.0216, 0.823, 0.5945, -0.4229, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.4596 left_y=-0.3196 left_z=0.1642 left_yaw=0.0372 left_pitch=-0.0611 left_roll=-0.0975 left_gripper=0.1024 right_x=0.2891 right_y=0.0 right_z=0.1591 right_yaw=0.0 right_pitch=-0.0767 right_roll=0.0003 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -11.453, 7.9248, 1.1258, -0.2857, 0.1001, -0.0317, -0.3077, -1.6479, 6.9675, 1.6825, -0.0171, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e2ace2f87ab89a67061f7b4e80c8fe06ba61c9ca45e7cacfcbd06bb4395d6bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46fb51d99bc3d6d11d239a567ee0971b6d58ab6df6df9a4dbf6e14ea9158514c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b3e103303b31b967c23c6e07b9bcb488d13a6a00889ba05463bcfc68e425734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgwoKEAgSGAI4AUIIdGhpbmtpbmcSDE03KhXmJpfZQhwvHBoMUcKeCvsYcvsLFxs1IjCHF0zhnRZ3fcyaQ6fG8hee5fnDuOde0mLkPXadGPKzpfbyWonaImF/UQ1EDCfpW6kqoAlkbrNyvWVN9XQY6ZT1GrlM6On014u3i/xVInvppfi5cnPhC3hUrLYZZJGMFsUtZbrBA4G+Bk1+nyENdBS5wY0yl7Xq4EsYG+fZIPuYmIDztXw7AoBU1xZpM7xnDPurJV+9lrY8LixBKLyhqP/m6qQ8QNZ5zBDjVX3c4jHvCAVtZINyeh14II+dA2pTmeB1i5gKpvnz/YdRakRHZzO5k1MaAMbyuDPrZDI+yRlnso1TACOzUjKsJGvpLCzZzbciBldMSwlFWwYM3hyLYIjmeMzVucLkardlfImKRhQyLiMo9RBT0jbEpZQG6tREu9m/Lw2019eZFKnBH0CAHq2MM2N4Zh+x+lWvGRSFRFvrgv7wlvaw7E5U9HalwK4N1FS0PCIOPzZvLXCpcYjDHQWJjK9F55A9uJ5iaJx2bU4jhn10Okn1VZncZEAHutFYtPfrd5uSGDwLMe8YzQSlzgxzKwSH6LDVIB2a6WxXIkHaAIJ4c01VdxOSdleVYq3uTMQ8Xol6V47PBmiphhjVpcD8x8+ERrcvVguUy3vqZ/XwsXnCeEHEfqrRWcbxRSGHjfd5ooK4LheKuKZbDvmkq9AeEp/Mo9n9ou42WLSIQoatvlEMtYMOPAUq9OyPZgh2elXE9qYkdcfG+pui75+RRJ/sfx8UanEGZyh6OHhRcVc65H/aLNexaVhsnxo9v09uQmprsitlIIbnF/SvKYIyZw5TXVOcNoSvePxtU5lGXFeB5GQqpLJSf7h0fmZngCjVEHsOh9VSDo1GHTMQKOdqSKx4paEI0hTZQwca6YWdsGHPWEie2vruYoWaxukChiYWQfU7Ckgjxysu5w5S8hjMlnbHfsNExEI37YK0hk6rM0c2BGpVwxlJAMajMkZixzXO/ceqGO98ipcQ5QsoMIEAng/g0kNgGHlfqswiwTu3aqCJeyzCjtoUCBpSEO3yoHSK4Ii0wR2Edse+rseU7f0BIhThk+2Jylnppm/MlpZ3qxuvzKRcWcxRlQO8ZeHN12S5FwUUlElS+XUl5UgN6xiW775am25qKuc0nKWdLzAb1oguDsyGOlaobyHGBEY3erxMLQXagVANyZFzGuqjmzlocRhFOahnXbA5EgnE2CE4sMmhRN0FT1wWzY6n7iMq5EqgQVewJMzMUlSjyGfaTw9QbR1xur4Er4SJA+n//VHfjp2Frw4p0TaqsxANEIk519BbIyHcPEeoZ32umEVj3U9sGewwpZuYO2yXluGTGMaJVkj6WzmhGomQPCGWp2Nlyic75/FgKeDkPL8NMCZdlKgeanVh6ualXWTm62Czn9VGkExyPXpc7EovEQq9ILhp166TquCKNvJx7LG1YmVV53re5YdWKwvsD9p3eJISBnJUQzkjgmRBG8A4uleLNZAO0tc+qy4nxr3OQV3KdM/ub+/naCgFdsHGNJV7mYhC3BB40K/YQ+eCSUITBbDzHGU3oXS4gjFMM7WVWrC3xfXzr1HuEwGB8uE5vus/OShpDBscBaixIz47LxOE+L1gHBLZ/vdRrMEpisnoWt2maoXMlGKHfOCugUyknG5g1TkYc4CxRY7gBXR+vxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CNVdXZpyx6K7F7psbKTdvZ",
      "input": {
        "note": "Wrist cam shows the blue bowl just below and slightly right of the jaws, which matches where the held white bowl hangs. Lowering carefully to nest.",
        "targets": {
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01CNVdXZpyx6K7F7psbKTdvZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7929, 2.1372, 1.5455, -0.2737, -0.5987, -0.6552, 0.1024, -0.0216, 0.823, 0.5945, -0.4229, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.4514 left_y=-0.3113 left_z=0.0836 left_yaw=0.0417 left_pitch=-0.1094 left_roll=-0.0443 left_gripper=0.1024 right_x=0.2891 right_y=0.0 right_z=0.1591 right_yaw=0.0 right_pitch=-0.0767 right_roll=0.0003 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -11.7949, 6.7214, 1.707, -0.2613, -0.022, -0.0171, -0.212, -1.4154, 6.9949, 1.6386, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2c69c7968f5f20053783eb57c0036d5d1210c09ec1dcb0cafee3df136508242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7b706f6dbc9e1cc5599becd89349c716b4336affdb2085f8843acd5fcab26aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:73af6138c65fee1a9ccb658aff168caee695230d40052ceeaecb2f25100caa23",
        "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 · 7.368 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]: [-0.794, 1.8709, 0.8669, 0.1768, -0.5995, -0.6399, 0.1026, -0.0216, 0.8192, 0.5945, -0.4217, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.3726 left_y=-0.2318 left_z=0.0309 left_yaw=0.0301 left_pitch=-0.0829 left_roll=-0.0601 left_gripper=0.1026 right_x=0.2891 right_y=0.0 right_z=0.1603 right_yaw=0.0 right_pitch=-0.0717 right_roll=0.0002 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -8.4444, 5.4222, 1.0476, -0.2711, 0.2076, 0.5104, -0.0889, -1.5658, 6.9812, 1.7314, -0.0611, -0.0513, -0.0122]",
      "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]: [-0.7929, 2.0754, 1.7359, -0.4541, -0.5987, -0.6552, 0.1024, -0.0216, 0.823, 0.5945, -0.4229, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.4596 left_y=-0.3196 left_z=0.1642 left_yaw=0.0372 left_pitch=-0.0611 left_roll=-0.0975 left_gripper=0.1024 right_x=0.2891 right_y=0.0 right_z=0.1591 right_yaw=0.0 right_pitch=-0.0767 right_roll=0.0003 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -11.453, 7.9248, 1.1258, -0.2857, 0.1001, -0.0317, -0.3077, -1.6479, 6.9675, 1.6825, -0.0171, -0.0415, -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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7929, 2.1372, 1.5455, -0.2737, -0.5987, -0.6552, 0.1024, -0.0216, 0.823, 0.5945, -0.4229, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.4514 left_y=-0.3113 left_z=0.0836 left_yaw=0.0417 left_pitch=-0.1094 left_roll=-0.0443 left_gripper=0.1024 right_x=0.2891 right_y=0.0 right_z=0.1591 right_yaw=0.0 right_pitch=-0.0767 right_roll=0.0003 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -11.7949, 6.7214, 1.707, -0.2613, -0.022, -0.0171, -0.212, -1.4154, 6.9949, 1.6386, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2c69c7968f5f20053783eb57c0036d5d1210c09ec1dcb0cafee3df136508242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7b706f6dbc9e1cc5599becd89349c716b4336affdb2085f8843acd5fcab26aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73af6138c65fee1a9ccb658aff168caee695230d40052ceeaecb2f25100caa23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQoKEAgSGAI4AUIIdGhpbmtpbmcSDOk2zPMsMQbRg8Lc2hoM2HQwCiXLPhYOA2b9IjAuOUCZQfPFy0HGTM7QqKfBFs20mQjDxoWdZAnxExe5me35T6+zyuuo/OG7XLVs0bUqsgnGRaBE89tNSmwLhwIw8F4U03uib5QZdpkYM8HUMkQEBybUgdWV0W0PcyjsITAFv+vplD71cXECjQ8GK79Wg2/l6kzaM3l+V3eFIaDcn7j9KSnZ8xZvMP6jkxfHjWUxX32Do23PdY8GdfgrKBfUvsQsgriQAqoI8QSIk2lasrOer1SHs1nj7FOFFk26Hja1aE+VAX/6V5P8lr+OKCSTeBpF4sjzPr6Q9zoJkrq1ePaAGULCp4QNHw8ChCu+QkTqAUbE8ZruwxtvenEqce7SIwA6+DJAobWXxHkv6Y/QpAbEyqNHYcFuDXIfMiNWgp6+2Jeb+fw5JKCTeSFkBx9RfEb4d10IWW5UCHtUkRHFXPPk7daOX7N34JHDCMVS+q0arkKTLbVGL4ZQb7juOe/bt+ngS8JyD8wUPS2LrmqGZwzByxHeXnpOYMArVPwlPPmmaN+bJGSqfOkN7OF3mlnPRMrvtdkciHdjX3sSF7+X1aOqGiNabo9x8uTrgjWE6LJioutE/9MoSNUgXUCPMb3Qf1o2NTCC8F4lWf1Z6QRPYE2EVrITGE+9RUPhH3JdQ6PNRdb1FO6f7d3RAKNmvjkYsLm27JMTPrHOjj9qk6jWDza0WPejAIaV0sNqTJBfJV7oOu3Rxbnl3n0l3xAZZvP5fNoRq/+dbz3M2ttPmRNIRAnivxlgK+UQHDXxtJt7HLrs5Dvza+J5TUFrFwDM7RFRJgGcRMA4tFOoPKtSPYcYLO2+y4Z7jXtrXtA2+ic7OajYqI9XQh6uYtIpVMoj035bzZ1r4JYNLXVGD9raskaTbNsuAF6ToeTzIoDJnLcjJG+7+wlM7TB3QVdAVzWXxE7aquIBb45nGUDB1cP/b1d/nwzswqegjMOD/8YfJiHrjMh0wu7KBVq/tzxikx5dQ4GPpunRtjAp0TSFvp8kbDz6i4mkcWCC3ZKjCbjC/HtjAdhXBWQP+PXvzu4fjM6B6Bf5COTAEeu4L8xyei2ciQW3ZpcLdozo5JiETo6Aq2qv/QGx6Tud6YZJcfL7NQ1eaNzWaVbfo/oR/NtRKIXjCxNH6/ysQwr/AZaD3u7sZ+n4JL8E7ItJqr/8OOK07Ow82YBNzRSzuTffJ3BZl78wmprZbwEzaC0kBbeXGE1bzcl3qSbufFyVDG+zK0s91BS6YrAXzwrlfuJwf/cTdRon7bxrfpx5wUzi1ldKzW9C2FqZ5mtaTJCuwoPaZkcVaeKX4gaZZ3F6Wa+BQ9wtU2eaXDlqHDxmdv1ueuwQ2PzkC1j+/cEM1meGabWGf9YFHSaQx57W14O8FAsiEbpEveDMbaimVrNNGSMrrumCgaxNuj3C/nIP2NChkYyUWSbdv+H6ojM880TKm/V6tsj9REnstODqNdZlfbat38UGAgyEqvHqBy4alwpHeR4kaMoIpeBS2CXA7Gno3pW7Is+IG7H+SmD85WraYBDeNfxswcGRJKsADjvi5ySiCLNRWL+zTKRbvHIMCoNBVO5AMDAY0UGQs2f5qhdqGCD7TIrCgKYYhGbIH571IOeGpMZRBSiUb5uM6SZ4J8I6r04/F8kdy8hhqP/SruMBC0dxLUyp/oVAvedJOwj3zVu6zRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T2KKYLBJi5LHuhzH1fuNm9",
      "input": {
        "note": "At 8 cm up, the blue bowl shows slightly ahead and to the right of the held white bowl. Shifting forward ~3 cm and right ~2 cm to centre over it.",
        "targets": {
          "left_x": 0.485,
          "left_y": -0.335,
          "left_z": 0.085
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01T2KKYLBJi5LHuhzH1fuNm9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7841, 2.27, 1.7493, -0.3202, -0.5983, -0.6552, 0.1024, -0.0216, 0.8295, 0.5945, -0.4244, -0.0154, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.4809 left_y=-0.3341 left_z=0.0833 left_yaw=0.0484 left_pitch=-0.0932 left_roll=-0.0626 left_gripper=0.1024 right_x=0.2892 right_y=0.0001 right_z=0.1571 right_yaw=0.0002 right_pitch=-0.0847 right_roll=0.001 right_gripper=0.9963\nstate[joint_eff]: [0.5675, -12.9436, 8.2667, 1.0232, -0.2027, 0.1197, -0.0171, -0.0889, -1.7983, 6.9675, 1.6581, -0.0806, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9783acb75632d09e740470d546505c0007c8a49c265bea6cd02c2f75026d1a52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5931dc13a5a805bcd41feeb3495cf90e6f938bd749e30e091f440c25017702e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0939a602d457625cf74e782acaa46b9ae6eb820be3536810417f493e72216603",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 10 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]: [-0.7929, 2.0754, 1.7359, -0.4541, -0.5987, -0.6552, 0.1024, -0.0216, 0.823, 0.5945, -0.4229, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.4596 left_y=-0.3196 left_z=0.1642 left_yaw=0.0372 left_pitch=-0.0611 left_roll=-0.0975 left_gripper=0.1024 right_x=0.2891 right_y=0.0 right_z=0.1591 right_yaw=0.0 right_pitch=-0.0767 right_roll=0.0003 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -11.453, 7.9248, 1.1258, -0.2857, 0.1001, -0.0317, -0.3077, -1.6479, 6.9675, 1.6825, -0.0171, -0.0415, -0.0122]\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]: [-0.7929, 2.1372, 1.5455, -0.2737, -0.5987, -0.6552, 0.1024, -0.0216, 0.823, 0.5945, -0.4229, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.4514 left_y=-0.3113 left_z=0.0836 left_yaw=0.0417 left_pitch=-0.1094 left_roll=-0.0443 left_gripper=0.1024 right_x=0.2891 right_y=0.0 right_z=0.1591 right_yaw=0.0 right_pitch=-0.0767 right_roll=0.0003 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -11.7949, 6.7214, 1.707, -0.2613, -0.022, -0.0171, -0.212, -1.4154, 6.9949, 1.6386, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7841, 2.27, 1.7493, -0.3202, -0.5983, -0.6552, 0.1024, -0.0216, 0.8295, 0.5945, -0.4244, -0.0154, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.4809 left_y=-0.3341 left_z=0.0833 left_yaw=0.0484 left_pitch=-0.0932 left_roll=-0.0626 left_gripper=0.1024 right_x=0.2892 right_y=0.0001 right_z=0.1571 right_yaw=0.0002 right_pitch=-0.0847 right_roll=0.001 right_gripper=0.9963\nstate[joint_eff]: [0.5675, -12.9436, 8.2667, 1.0232, -0.2027, 0.1197, -0.0171, -0.0889, -1.7983, 6.9675, 1.6581, -0.0806, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9783acb75632d09e740470d546505c0007c8a49c265bea6cd02c2f75026d1a52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5931dc13a5a805bcd41feeb3495cf90e6f938bd749e30e091f440c25017702e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0939a602d457625cf74e782acaa46b9ae6eb820be3536810417f493e72216603",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwAsKEAgSGAI4AUIIdGhpbmtpbmcSDLJHhb7wXrQ6hrSUnhoMNuo9bi1hS2Pvu3IRIjBqbsemUrlPbPZwrKtj5z8om2StKp1sBboHh7SdzKqLt1g3EMB9xh3g5Bim3I9veB4q3QpDC/Vkykp8Q439dH1EtMEUc/Xu30mN1oUkjpu0DK4trnYYPE0qzvWBiqCChk3M6HpqMLhO8+lXPg2ONyeOhv3HVjxvJ7wOJpsGUSr3wId35XUiCdnZyDEjC24/dx0g0yNyLNZ3UO0QFbHo8w6M9mE8TkRhuHbckSxQv2R81B6xHtr89eHdLbG9klVWJ1rbU7uOK6W1cvSMa9whZlCAMLECuP+aaq//xqHIETbHdvV5WeAhg5QUmzuCrLEJETa1HIIfZLs9ojR13iQrioSNfP0JbwvqZLb3nOFxJahSu48icZxbV3scYZDXAuhckOx+UqvrY8DjcF9+GzrCjtrfvwRgbghxbm+CqV/eph5j4pBOg+sS7p9ASJnocnAhrhwfjmzGIAw5lERzkd3OgOWPNuULFe6v/s6WMjzN+PH3VUK5MKgbQmRmIM6TmF8l8prbXjzLz4fLTEN0iWppwO0MRtFwiVKukKfOC+F5/ghOw4DgqoDouDfaPcu2GRh+RradDXId9An908HEaXGe0LqJwpQUzevXCy7KXY3uqjL+ic0zczAgd966y/g0I3P8FYj440++kBdvY3CyaRbuoK5F5jr+RgbEL+i0/tnGW3sc5e9JtHpWR/46B/UWNkgdBanWb0SlKFZ6/vu2mlpBJUiMgWdHRGS5blDckXO87koLaEmabEhHlh7xJqb/1tEx5t8IK6L/DWJlTVv6dApYNLQ/dHR/WO6p1MGURU0HitWfY1m1aniihFU+cVCtb3YbRylEmEO4LUg4JZFja9t7/+vrZZrB4CCEaqQNgYdZy10gAkr4gZvZmLonv/wO4Ogd7wveH7qMcK1SXOvVSv9AGIpvNDm+MourF1fZ53N5UYhaGWoB972fzsWrH8rWPjN0e/btmvnypB6VwyuHuqJERljKAxJcTJBQsfT/y39V4Oh7U1iMGeQXJ+O5EPZ4MOVK0pyOO1PC1qdVxUR4t3XLWwi8QVaZhaoEear7r5knFuN4cq/TDH7aO5sdTzms8TK30u2PsF8B6vWI/IRVTcRXJJ/PoxUrM1dP7XrRsSbqfmawBAy5HgP3cIRZEe8HbvUDBaN0ZNhTpzRY+rOsZgEGnvrJ0GqpvlPC4+mgdlAf8CiAZ8SvcPo/qjK4a6QllPvpB5LEEU1Kc6nFYgJvjSa0PkUHc2BwV4kiOhDgLiGolaPmPTdXLFYHUo4gkaVsMV960VI7U+zveb64ujUVHn82i34nNQelLlhImUorC7g/N8giMOLEnFE5W98SKM97uLjqTQFOEveXUM2F+d0KnGSUN+dHISANGkhNxHgmGgmkA/xK8cb6O8jJ003an3iHBGwkN6dmQzD4jWmavBM8LWAoDlQ2HHFd+gvFJjbtW+9769DJ8uTER1DXFYOkjZ543MZXpSMVLmRQqO6zNeysIibG3xF4GmJpCPe1l7btHgUkxT8hwhYq4GDfk1FU55lCeoaONfA/1IO0ZqOJj5pgzg74G/cwnWiTx7ciceBcuVDWb6qSdKScYsUbG1YJVPZpk/3gM3YZCcKAh3HsFllbQVA9NWTy9oPyw/humTufP6ieRCAcgHuVKDhXQbul3BfJMynKScswdKZbLKOsvl2zJXCIDU9jNhZpY2w3GhgILFBCkMagBFnTlQC1uQIPaH5mbQtx+u/iC6XbgB3P3GcPh8jwnNm0NUz/0BdwXKnRIwdl3eM0NL7TSqx2tSuB0yvddevtC56ow8Hx8R07q9rSA62eBcUGvG0ncaMQ1yXMRcoBusjCxWeKFf9WPmGkDsVFSLP8oKOyT4JYQC5Lte2EuFn93FDNwZdqn0VLO+olyyd2vRI1jxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DZwVfkd4fmo2nXmv42WD1J",
      "input": {
        "note": "Jaws now sit just inside the blue bowl's left rim, with the held white bowl hanging toward the blue bowl's centre. Lowering to nest it.",
        "targets": {
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DZwVfkd4fmo2nXmv42WD1J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7826, 2.2959, 1.6989, -0.271, -0.5961, -0.6533, 0.1024, -0.0216, 0.8314, 0.5945, -0.4232, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.4775 left_y=-0.33 left_z=0.0566 left_yaw=0.0493 left_pitch=-0.1127 left_roll=-0.0422 left_gripper=0.1024 right_x=0.2894 right_y=0.0 right_z=0.1568 right_yaw=0.0001 right_pitch=-0.0854 right_roll=0.0005 right_gripper=0.9963\nstate[joint_eff]: [-0.2803, -11.959, 6.6256, 1.4921, -0.2564, -0.022, -0.0171, -0.1026, -1.5795, 6.9812, 1.6239, -0.0659, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52ad840d03ac047ab2f767b99a8c66fb5686915c00a4b923710c77e2a178f7ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:403c2d5a200e6fdb6b60ec0cc20ac08db8dcb2c16cfe3c2bf0a2f5ac1b4a3cf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a419dcc51449a7c7067a05dc7f5a5e384a6e53cc16d93dacde8c07f56da1957c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 6.555 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]: [-0.7929, 2.1372, 1.5455, -0.2737, -0.5987, -0.6552, 0.1024, -0.0216, 0.823, 0.5945, -0.4229, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.4514 left_y=-0.3113 left_z=0.0836 left_yaw=0.0417 left_pitch=-0.1094 left_roll=-0.0443 left_gripper=0.1024 right_x=0.2891 right_y=0.0 right_z=0.1591 right_yaw=0.0 right_pitch=-0.0767 right_roll=0.0003 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -11.7949, 6.7214, 1.707, -0.2613, -0.022, -0.0171, -0.212, -1.4154, 6.9949, 1.6386, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7841, 2.27, 1.7493, -0.3202, -0.5983, -0.6552, 0.1024, -0.0216, 0.8295, 0.5945, -0.4244, -0.0154, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.4809 left_y=-0.3341 left_z=0.0833 left_yaw=0.0484 left_pitch=-0.0932 left_roll=-0.0626 left_gripper=0.1024 right_x=0.2892 right_y=0.0001 right_z=0.1571 right_yaw=0.0002 right_pitch=-0.0847 right_roll=0.001 right_gripper=0.9963\nstate[joint_eff]: [0.5675, -12.9436, 8.2667, 1.0232, -0.2027, 0.1197, -0.0171, -0.0889, -1.7983, 6.9675, 1.6581, -0.0806, -0.0073, -0.0122]",
      "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]: [-0.7826, 2.2959, 1.6989, -0.271, -0.5961, -0.6533, 0.1024, -0.0216, 0.8314, 0.5945, -0.4232, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.4775 left_y=-0.33 left_z=0.0566 left_yaw=0.0493 left_pitch=-0.1127 left_roll=-0.0422 left_gripper=0.1024 right_x=0.2894 right_y=0.0 right_z=0.1568 right_yaw=0.0001 right_pitch=-0.0854 right_roll=0.0005 right_gripper=0.9963\nstate[joint_eff]: [-0.2803, -11.959, 6.6256, 1.4921, -0.2564, -0.022, -0.0171, -0.1026, -1.5795, 6.9812, 1.6239, -0.0659, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52ad840d03ac047ab2f767b99a8c66fb5686915c00a4b923710c77e2a178f7ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:403c2d5a200e6fdb6b60ec0cc20ac08db8dcb2c16cfe3c2bf0a2f5ac1b4a3cf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a419dcc51449a7c7067a05dc7f5a5e384a6e53cc16d93dacde8c07f56da1957c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018FVth6KVjJc7AiAaURfdcV",
      "input": {
        "note": "The wrist view shows the held white bowl extending to the jaws' left, i.e. away from the blue bowl, and I can't move further right (y bound). Lifting and rotating the tool so the held bowl swings round the grasp point toward the blue bowl.",
        "targets": {
          "left_yaw": 1.57,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018FVth6KVjJc7AiAaURfdcV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5152, 2.6476, 2.2967, -1.5143, -0.7944, -2.0434, 0.1024, -0.0216, 0.836, 0.5941, -0.4377, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.4525 left_y=-0.1072 left_z=0.024 left_yaw=1.3573 left_pitch=-0.1642 left_roll=-0.0431 left_gripper=0.1024 right_x=0.2873 right_y=0.0001 right_z=0.1526 right_yaw=0.0001 right_pitch=-0.1049 right_roll=0.0009 right_gripper=0.9963\nstate[joint_eff]: [0.212, -18.3453, 5.0803, -0.4274, -0.3346, -0.0415, -0.0171, -0.0889, -1.7436, 7.3641, 1.7607, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28a25c8d2eb46626d8508d7e8486ae68287e971d5b8e9b6791587a6cf5fc1c39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3eb86c849910d1ac68168b3e79d39e4d012d60e3475808f796472c6969e36d1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ab2af618bb6e80b33f53f3e0c25e2026a0273364e10b05554edb7c35968a06f",
        "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 · 9.906 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]: [-0.7841, 2.27, 1.7493, -0.3202, -0.5983, -0.6552, 0.1024, -0.0216, 0.8295, 0.5945, -0.4244, -0.0154, -0.0341, 0.9963]\nstate[eef_state]: left_x=0.4809 left_y=-0.3341 left_z=0.0833 left_yaw=0.0484 left_pitch=-0.0932 left_roll=-0.0626 left_gripper=0.1024 right_x=0.2892 right_y=0.0001 right_z=0.1571 right_yaw=0.0002 right_pitch=-0.0847 right_roll=0.001 right_gripper=0.9963\nstate[joint_eff]: [0.5675, -12.9436, 8.2667, 1.0232, -0.2027, 0.1197, -0.0171, -0.0889, -1.7983, 6.9675, 1.6581, -0.0806, -0.0073, -0.0122]",
      "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]: [-0.7826, 2.2959, 1.6989, -0.271, -0.5961, -0.6533, 0.1024, -0.0216, 0.8314, 0.5945, -0.4232, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.4775 left_y=-0.33 left_z=0.0566 left_yaw=0.0493 left_pitch=-0.1127 left_roll=-0.0422 left_gripper=0.1024 right_x=0.2894 right_y=0.0 right_z=0.1568 right_yaw=0.0001 right_pitch=-0.0854 right_roll=0.0005 right_gripper=0.9963\nstate[joint_eff]: [-0.2803, -11.959, 6.6256, 1.4921, -0.2564, -0.022, -0.0171, -0.1026, -1.5795, 6.9812, 1.6239, -0.0659, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5152, 2.6476, 2.2967, -1.5143, -0.7944, -2.0434, 0.1024, -0.0216, 0.836, 0.5941, -0.4377, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.4525 left_y=-0.1072 left_z=0.024 left_yaw=1.3573 left_pitch=-0.1642 left_roll=-0.0431 left_gripper=0.1024 right_x=0.2873 right_y=0.0001 right_z=0.1526 right_yaw=0.0001 right_pitch=-0.1049 right_roll=0.0009 right_gripper=0.9963\nstate[joint_eff]: [0.212, -18.3453, 5.0803, -0.4274, -0.3346, -0.0415, -0.0171, -0.0889, -1.7436, 7.3641, 1.7607, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28a25c8d2eb46626d8508d7e8486ae68287e971d5b8e9b6791587a6cf5fc1c39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3eb86c849910d1ac68168b3e79d39e4d012d60e3475808f796472c6969e36d1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ab2af618bb6e80b33f53f3e0c25e2026a0273364e10b05554edb7c35968a06f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkAkKEAgSGAI4AUIIdGhpbmtpbmcSDODsIs/1OLVKi+5tjBoMJAdWVboiC6c8ohCkIjCl4fjfQFMXi+1cvwASki0iwJjZKcx1w9KFLb4Az1YzOY/ktiCnsSa+Uysqcz+wjyIqrQjdv9xd4jTjQH8iB9cLLJYB2v124WuN0a8MdBCyQFyW2Mv4xSTize4Qvi0huxd5+fUnO75LCOK+crDsVqyEWPMEF6oTKcjCO4NTOCeR0AayYPuoWprHKH6z5JeWtIKFodmCRh1IWifVcNUZhqi7jYchYa+FA+2SYahD4/tdMOxCod7d1nGG2wyKkI7ztisJK98g4HEpdG8o/8gz+x+ZhwEmJWyIOhlIPsceqRY/3vvqsVKkWgw1mRlP0CC7yC/1y1aeZ8Sk080bhWU+ytfjdUdeD4Uuf7wOtOJ8WNb44CgvsgQ2jMXIG8NdcB3f9INTvREgz4jST0uIlLF/WSTYFLeN/NgVfgozNiZLdu9lP7CASyaWpTDqnxYN+v7TvXa0tGtJPnaqlY33oSDhnKly1ECqYoiDWWx/5oNrU1F1OhZ6vfJg1jwiA7nXxSELlRhh4/9cIoS2KUhu8SJ4LKcfUYheer0gYKQz1VSpOKBvT1UmwfKHqFArAKY29kNxeTifR4UR9hxpDPlLvRUieP+YF2zX8mg4vCVl2KCeNZhQSXGwicMsOsg7zwF9GwnRUdnfbqjHyXzrcT6yHWOpBlXUFQZOl5H48uwp/KkYQ6p2mWHEdny82D1U3M/56NjDl6lm87P3/hmbXZUFNorZRmOmbImozBmfyv07vnd4tQaxV9u3ZVa0JnZ3VT6BnkdXuvdNbiwIbURpLtTLXAAHgBV0YZ7nK2HAsSVOiMQrcH2an0Be0Wh9313Cgk4zHOdh3UOagO77Exs1u9fAPy7EazbfBfwVZapRzz5h1CIMqKPIjt2h0kdwB5nxg7KGsd/ukQsZP/5dNTAeTJpj3GBzvSIzZy4a6Fok+rg9KBG82bnU27STfJaXQ1wUleC4M3GoEqV22CgN55eNujBIuPs3Oh4OcC3RfjCK2IfQZJzfuPBeMuafYZA3hjN7KEK5gYjQdUnBr/qrD8ofY4uh8EmDfFQyOig81CagT2jJFn8K5YOiJSC24AJFkAVS3y49as5K65As9GAls66NAmxTM5RGCxGMkD4OShvf+IajzWMuW+2eRFM7zZqGkh8ZcGQdYjmSvlT3AkgRA0arTEg08AZVbBSYAvXcN5/RcqXbik0oZ9uJHY1rRfHFqjdr0RlfX3FmpiVZTT3yUNXou15AlUvdGVqOFVgl4kReqD9kaJ5t44Br3QP9nIIvvu1RruqB+FGWo8GSoPqpGskVeIUlq5h6Q9omfgF8xzqZQBEEE3YYsv/VjoGBgwMQoMSKCWA82Tq/REYLFVEXVtPOIPY+1q3G814sTjNleg+w06O9su79ktAIrcnDTBQ0IxoWuPNLSal+qzL6TjfBnoUK2G8DmhSCxyjWIpudwaw61g4H+X+wKJ6rVWp8Nm5EBfKPNBzLMg5ABakxoI9EjDwFJdiD+Fw5V9HNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RhnB4rMY5XagLCuFez4jeJ",
      "input": {
        "note": "The yaw move made the IK swing the arm off-course (now at y=-0.11, z=0.02) and the white bowl is down on the table under it. Undoing the yaw and lifting back to a safe height.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.2,
          "left_yaw": 0.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01RhnB4rMY5XagLCuFez4jeJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6281, 1.6188, 1.4731, -0.5915, -0.5671, -0.8669, 0.1024, -0.0216, 0.8391, 0.5941, -0.445, -0.0151, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.4188 left_y=-0.1824 left_z=0.2524 left_yaw=0.2878 left_pitch=-0.0646 left_roll=-0.3263 left_gripper=0.1024 right_x=0.2863 right_y=0.0001 right_z=0.1504 right_yaw=0.0018 right_pitch=-0.1152 right_roll=-0.0013 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -1.4017, 6.0923, 1.8535, 0.1099, 0.188, -0.0171, -0.1026, -1.4154, 7.1316, 1.7656, -0.0269, -0.0269, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f58ca559dcc7960a729d4c08edf9123fb2db04a38d22fdf682540f3c4354fa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c92ba560d041ee8302f2b3fa9e70e38f38c676b56c4d5ea84c29d9e409b694a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:993acbf2f71edfdd85bc1472cbe5a2b7de50ec468a9e0c6bb0e70faeeec0cbad",
        "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 · 5.309 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]: [-0.7826, 2.2959, 1.6989, -0.271, -0.5961, -0.6533, 0.1024, -0.0216, 0.8314, 0.5945, -0.4232, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.4775 left_y=-0.33 left_z=0.0566 left_yaw=0.0493 left_pitch=-0.1127 left_roll=-0.0422 left_gripper=0.1024 right_x=0.2894 right_y=0.0 right_z=0.1568 right_yaw=0.0001 right_pitch=-0.0854 right_roll=0.0005 right_gripper=0.9963\nstate[joint_eff]: [-0.2803, -11.959, 6.6256, 1.4921, -0.2564, -0.022, -0.0171, -0.1026, -1.5795, 6.9812, 1.6239, -0.0659, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5152, 2.6476, 2.2967, -1.5143, -0.7944, -2.0434, 0.1024, -0.0216, 0.836, 0.5941, -0.4377, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.4525 left_y=-0.1072 left_z=0.024 left_yaw=1.3573 left_pitch=-0.1642 left_roll=-0.0431 left_gripper=0.1024 right_x=0.2873 right_y=0.0001 right_z=0.1526 right_yaw=0.0001 right_pitch=-0.1049 right_roll=0.0009 right_gripper=0.9963\nstate[joint_eff]: [0.212, -18.3453, 5.0803, -0.4274, -0.3346, -0.0415, -0.0171, -0.0889, -1.7436, 7.3641, 1.7607, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6281, 1.6188, 1.4731, -0.5915, -0.5671, -0.8669, 0.1024, -0.0216, 0.8391, 0.5941, -0.445, -0.0151, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.4188 left_y=-0.1824 left_z=0.2524 left_yaw=0.2878 left_pitch=-0.0646 left_roll=-0.3263 left_gripper=0.1024 right_x=0.2863 right_y=0.0001 right_z=0.1504 right_yaw=0.0018 right_pitch=-0.1152 right_roll=-0.0013 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -1.4017, 6.0923, 1.8535, 0.1099, 0.188, -0.0171, -0.1026, -1.4154, 7.1316, 1.7656, -0.0269, -0.0269, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f58ca559dcc7960a729d4c08edf9123fb2db04a38d22fdf682540f3c4354fa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c92ba560d041ee8302f2b3fa9e70e38f38c676b56c4d5ea84c29d9e409b694a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:993acbf2f71edfdd85bc1472cbe5a2b7de50ec468a9e0c6bb0e70faeeec0cbad",
        "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_01HUGr4H7WKo4USGe2DCjAxX",
      "input": {
        "note": "White bowl is back on the table at the left; blue and peach bowls sit together on the right. Parking the left arm and bringing the right arm over the blue bowl's left wall to drop it into the adjacent peach bowl.",
        "targets": {
          "left_gripper": 1,
          "left_roll": 0,
          "left_x": 0.29,
          "left_y": 0.0,
          "left_yaw": 0.0,
          "left_z": 0.18,
          "right_gripper": 1,
          "right_x": 0.45,
          "right_y": 0.165,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01HUGr4H7WKo4USGe2DCjAxX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0566, 0.8497, 0.6693, -0.4965, -0.1364, -0.2512, 0.9968, 0.4728, 1.7042, 1.169, -0.2863, 0.3286, 0.2569, 0.9966]\nstate[eef_state]: left_x=0.2898 left_y=0.0112 left_z=0.172 left_yaw=0.1803 left_pitch=-0.1012 left_roll=-0.1011 left_gripper=0.9968 right_x=0.4322 right_y=0.1611 right_z=0.1267 right_yaw=0.0412 right_pitch=-0.1917 right_roll=-0.0391 right_gripper=0.9966\nstate[joint_eff]: [0.4171, 0.0068, 7.8291, 1.9463, -0.022, 0.2271, -0.0269, -0.0068, -8.4855, 9.5932, 1.79, 0.3492, 0.2515, -0.3639]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbe5761741b4cc5006bf6de1d09d986defb22b1d456406042cd17833efd18515",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39e774fc5c3fc335d1af0d1eb7315d5ac43a3dec96cfc55f9f8dac2d0e1bdafe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:90223922c8b63473c1ab1b84bc489046b2ec8a6ea74b681a1c41e36417a75542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 4.446 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]: [-0.5152, 2.6476, 2.2967, -1.5143, -0.7944, -2.0434, 0.1024, -0.0216, 0.836, 0.5941, -0.4377, -0.0151, -0.0345, 0.9963]\nstate[eef_state]: left_x=0.4525 left_y=-0.1072 left_z=0.024 left_yaw=1.3573 left_pitch=-0.1642 left_roll=-0.0431 left_gripper=0.1024 right_x=0.2873 right_y=0.0001 right_z=0.1526 right_yaw=0.0001 right_pitch=-0.1049 right_roll=0.0009 right_gripper=0.9963\nstate[joint_eff]: [0.212, -18.3453, 5.0803, -0.4274, -0.3346, -0.0415, -0.0171, -0.0889, -1.7436, 7.3641, 1.7607, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6281, 1.6188, 1.4731, -0.5915, -0.5671, -0.8669, 0.1024, -0.0216, 0.8391, 0.5941, -0.445, -0.0151, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.4188 left_y=-0.1824 left_z=0.2524 left_yaw=0.2878 left_pitch=-0.0646 left_roll=-0.3263 left_gripper=0.1024 right_x=0.2863 right_y=0.0001 right_z=0.1504 right_yaw=0.0018 right_pitch=-0.1152 right_roll=-0.0013 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -1.4017, 6.0923, 1.8535, 0.1099, 0.188, -0.0171, -0.1026, -1.4154, 7.1316, 1.7656, -0.0269, -0.0269, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.0566, 0.8497, 0.6693, -0.4965, -0.1364, -0.2512, 0.9968, 0.4728, 1.7042, 1.169, -0.2863, 0.3286, 0.2569, 0.9966]\nstate[eef_state]: left_x=0.2898 left_y=0.0112 left_z=0.172 left_yaw=0.1803 left_pitch=-0.1012 left_roll=-0.1011 left_gripper=0.9968 right_x=0.4322 right_y=0.1611 right_z=0.1267 right_yaw=0.0412 right_pitch=-0.1917 right_roll=-0.0391 right_gripper=0.9966\nstate[joint_eff]: [0.4171, 0.0068, 7.8291, 1.9463, -0.022, 0.2271, -0.0269, -0.0068, -8.4855, 9.5932, 1.79, 0.3492, 0.2515, -0.3639]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbe5761741b4cc5006bf6de1d09d986defb22b1d456406042cd17833efd18515",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39e774fc5c3fc335d1af0d1eb7315d5ac43a3dec96cfc55f9f8dac2d0e1bdafe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90223922c8b63473c1ab1b84bc489046b2ec8a6ea74b681a1c41e36417a75542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8AgKEAgSGAI4AUIIdGhpbmtpbmcSDMO2jY0SolHtKBCAoxoMwlO/ODoYw4YnFQqQIjAs0lQf1FqaqAVjvczew2Qo1IHNcsKnq8pCBYfJ+GGDJSoOFS+3H44Mn5fVPOwLXpgqjQiwyqF3GXYJYQFEGkSAZEm7hs1kJteRTblbkSrcYpEE3yOCK01Atst/oQJNr9hZfhMrKw4SRHXvySJ+eaFP3w54EBu9NIxTERiwYmdSrCpaqqRN4PAigE1F1SHXJat2YhjsEAsLYI/v41k3RfS65TrPvzkIgP1o3+7SzJRkziEvjCxBxvMV3aWahyyBMMQmjkyy1QZbW380sQ/6NQlakbxu4Y6nYd8Ag6MSYKUmskrj1azG5oBHwBRRmSgOMGpTkTXWroikHitsCoNFr/n6IXzONv+f/l1yQO7OC77dTS1UeJXzaQjqLW/QOEswTHvi2Oie5ch8y1v8tpL7hHvjujwTloblE79B74wm4oyup8T9z2SKu9vdFUxgF9s5nB8wpNDGmWkVR9N+MIPGNJqjGb2LOnk10aSi6RtELMmmmfSYzLUwK//Nj+wpA+YzYBikpNxN1o6nxrQr5JHNJzw2l8omL6n0unZvpZNKwbXiB9ppkc24ZFVIO9XCC6I98/N/RjUV0VbxRDX6JynyPihpqqyQu0Y5ZdAct3cwdA+E0MIMsYLUphHOJc91XwJShK+mdE8alwJCYrsYu6H/saUfF8yCSdgjUjKFEcMpxGmocGZ9DBZvRNLwqlft0QxIcKTFaFFY+QbjX+GINOxq1jXiSlPmG8kjEH5lIZa5hhuXVj0RfNfd115eogdnjZc1qF1lPu2jfPVJn52QN8KsOpeRU7g4NyTjT61LCJmxOSXUi+yXatfyx6HonQPSQXnd0KLvlTsat852jzYj3fz3eY6HmIMBZpNGpspVyaH+gbFjNMg7EHbJi3Lj83pb109zmNzky8JdFHqesOLe+8GMxCr+tRpS7O2Z47fz9pwWo8gMcjfO4sZUZTdaUABrUCOwTqnHDgl2ati7rk+dptwuEXf9z5Ftfd4JwOq9HccUsJd+b2H7HzXEMKVk2st74z+PqtkDqMoQUBecPRDUXRp7PCDcjF5maBleE/bZiwlc/hSDld0mc4Z8LeWY63RCFXn9aDvSahMBzPCLu0mAgLy8Lz45uoG9k5FM/m8DTws6R4XF5AoqIpEYfMZhnmnknpgJjDCHs4K+wLdfKUfvcmP579cyAivb+oSkRtv6atMfZS/3wRvXmuoj4nFkNQRPM/cWUuQcdGAH07vXYQeWVs2eoUIG744eaHA6V+vqPIaxcgj+PlDSNZY9eKtiaR1Za1SWdztJrGXKnpqBydVMO0XEMJ63IC7Sf0AvhJsu4ly2TQAb+2hMMNCRMDv59sZvbLt7Xxx143ZSxUehcGTIcsD+ezRn7+/S1CVnMDYB27Qu464OFXM0MpSs5aEV0SrdhCdV7VE1N9nHDXuy+CLOs9Ea0PpU/oJitqBRkGJr2uhsv6Wl9hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C8FVNaJjCtJBKVoPqYmr3a",
      "input": {
        "note": "Right wrist cam shows the blue bowl ahead of the jaws with its left wall roughly on the jaw column; advancing ~4 cm and lowering toward it.",
        "targets": {
          "right_x": 0.48,
          "right_y": 0.165,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01C8FVNaJjCtJBKVoPqYmr3a",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8566, 0.6651, -0.495, -0.1165, -0.226, 0.9979, 0.4473, 1.8137, 1.2007, -0.2794, 0.3065, 0.2352, 0.9963]\nstate[eef_state]: left_x=0.2899 left_y=0.0078 left_z=0.1683 left_yaw=0.1505 left_pitch=-0.1121 left_roll=-0.0915 left_gripper=0.9979 right_x=0.4436 right_y=0.1576 right_z=0.0908 right_yaw=0.0391 right_pitch=-0.264 right_roll=-0.0686 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -2.0991, 7.2957, 1.5897, -0.2076, 0.0562, 0.1001, -0.1299, -9.894, 8.6222, 1.8584, 0.1734, -0.0073, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fd92e99ea02f7f1f68fe8a79d289148991812e035537718467c89a5313b48ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:827fc9f078c3500a3efa25faee759b90633ba81ad9eb88f0347038d930595574",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:56c22d28c471112cf6eb6deb2a66dde151576899fa8d1bbd94f346377b8f2e1d",
        "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 · 11.06 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]: [-0.6281, 1.6188, 1.4731, -0.5915, -0.5671, -0.8669, 0.1024, -0.0216, 0.8391, 0.5941, -0.445, -0.0151, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.4188 left_y=-0.1824 left_z=0.2524 left_yaw=0.2878 left_pitch=-0.0646 left_roll=-0.3263 left_gripper=0.1024 right_x=0.2863 right_y=0.0001 right_z=0.1504 right_yaw=0.0018 right_pitch=-0.1152 right_roll=-0.0013 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -1.4017, 6.0923, 1.8535, 0.1099, 0.188, -0.0171, -0.1026, -1.4154, 7.1316, 1.7656, -0.0269, -0.0269, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.0566, 0.8497, 0.6693, -0.4965, -0.1364, -0.2512, 0.9968, 0.4728, 1.7042, 1.169, -0.2863, 0.3286, 0.2569, 0.9966]\nstate[eef_state]: left_x=0.2898 left_y=0.0112 left_z=0.172 left_yaw=0.1803 left_pitch=-0.1012 left_roll=-0.1011 left_gripper=0.9968 right_x=0.4322 right_y=0.1611 right_z=0.1267 right_yaw=0.0412 right_pitch=-0.1917 right_roll=-0.0391 right_gripper=0.9966\nstate[joint_eff]: [0.4171, 0.0068, 7.8291, 1.9463, -0.022, 0.2271, -0.0269, -0.0068, -8.4855, 9.5932, 1.79, 0.3492, 0.2515, -0.3639]\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]: [-0.0563, 0.8566, 0.6651, -0.495, -0.1165, -0.226, 0.9979, 0.4473, 1.8137, 1.2007, -0.2794, 0.3065, 0.2352, 0.9963]\nstate[eef_state]: left_x=0.2899 left_y=0.0078 left_z=0.1683 left_yaw=0.1505 left_pitch=-0.1121 left_roll=-0.0915 left_gripper=0.9979 right_x=0.4436 right_y=0.1576 right_z=0.0908 right_yaw=0.0391 right_pitch=-0.264 right_roll=-0.0686 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -2.0991, 7.2957, 1.5897, -0.2076, 0.0562, 0.1001, -0.1299, -9.894, 8.6222, 1.8584, 0.1734, -0.0073, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fd92e99ea02f7f1f68fe8a79d289148991812e035537718467c89a5313b48ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:827fc9f078c3500a3efa25faee759b90633ba81ad9eb88f0347038d930595574",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56c22d28c471112cf6eb6deb2a66dde151576899fa8d1bbd94f346377b8f2e1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/QYKEAgSGAI4AUIIdGhpbmtpbmcSDMtZvK7ktHgmI07DVhoMNhfOZV1pJIt9iTKIIjAr5J69fJXskyWAKWmLzibTFNM4bEA7iqktscRVbxYsGspeu0MGmTJH9x/MEI2QOS8qmgaqMDcm8mPpcrgRPHaqvb2TnlnVWIbLvMtjHnheOIP5WG+ZIpk49iAnXMPpIN26TJ+ByIqWgkFrwhJCUQhazLTeKbdWX6OEulCXsaQ5XoS+DFXr3wJYlC1lD3EDNjNkLZBy4ZMPyINvnbyJaAlRLnfzvTB3ozv6RfnQxfVRZ6r58s+DrWIsSd9nOeitUPBa3U9Vr8CnaK5iDDWVxGHh7vok7HyZLSKcAzDkIBKSJjJLE+qweh+NnjI3eNfinguDJpwikcH/aCEpgpKhF0qZ4H71N+HTg53wuAXhg8HlZSujXooKzWVO+WMzVeN+LWPk/oFFnTjekp0p6Xexj2bSO9HtaZB+TUCdqForuZvmP3YbbH4uYvX5BjK37zdBynqeH4pJrtDcAZDS/jsX125YSh0hUkrqCZ58vpC0OWOpPvWQYU2sZzNWSlYfncN2V9bXRi1MVCqVVQo0gpNJa5yyac63hsLhQVvhEcE88RdUfuB55NnZQXeAhPVhqCpnKuGg94gAyyKmoMBdXwWZ5ZZAJrVnG4CMkaz3DYUG9iGLCeOrzL86yM/BhS51S2nj/vgihlalfLL/3jJ6tTlJKSEQG5+o6BBCLIS5lDtluWbzQ5cFiFdGAIXCTToTjcVSEr2gCdxPRSf7OzQIynzUMQMCqjcBUIGzk+/TvvXXkhL0WZ0mcxM6psPNtaUmNcamD8E+BdA5h3VduEQu7aJSYGqqyK2inigUGDxTljYpst1PPH6yu22bfRTnCrFSCraupm9sVSa/uVBY8woBZQFsJT1x9IbVv86cAJHa3W1FqMzoQwSgFSUo6ii+HDnRHPPV3UkKu27R8oeabR7wTyHbngcHWq/2W6PJr/5V3MRuSKJ61oMbtXtECDekkuN5uxnA6hte566xpGXQbcdStG8eKjLNRXkzk7IvYwKfOMDNOdmva72l36M39n612NxZe2Jr/tyUxRQJc8C9BB0jcQ/q8pBydvbzNAZORBXsf6Io8VUf5JTxoNweo3tXvtTHizF2l4zUUXNhdxS9ApeLXxxgCa8uIoo8v8chb+13koaJWxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014KTHvaGswYao1di8F4AnJV",
      "input": {
        "note": "Arm lagged at x=0.44; the blue bowl is still ahead of the jaws. Pushing forward to put its left wall between the jaws.",
        "targets": {
          "right_x": 0.5,
          "right_y": 0.165,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014KTHvaGswYao1di8F4AnJV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8577, 0.6651, -0.5022, -0.128, -0.2478, 0.998, 0.4496, 1.8122, 1.2007, -0.2646, 0.3061, 0.2314, 0.9963]\nstate[eef_state]: left_x=0.2888 left_y=0.0099 left_z=0.1668 left_yaw=0.1722 left_pitch=-0.1197 left_roll=-0.0994 left_gripper=0.998 right_x=0.4457 right_y=0.1599 right_z=0.0937 right_yaw=0.0456 right_pitch=-0.2492 right_roll=-0.0643 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -1.5795, 6.9949, 1.663, 0.0317, 0.1685, 0.0024, -0.4991, -10.2222, 8.6906, 1.6239, 0.1392, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a413b7723d03704cf9f8647fd67db1f0f3d1fdcd5712d50d8b2d80578b02dd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67b734921a109dac3e7e52aa51948e34c1c756b1011d5d278dba83cd33550efa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:951842c24cb555167c0faf0822cef9ec824056f8bf68f860e56320ee31ec3435",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 5.157 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]: [-0.0566, 0.8497, 0.6693, -0.4965, -0.1364, -0.2512, 0.9968, 0.4728, 1.7042, 1.169, -0.2863, 0.3286, 0.2569, 0.9966]\nstate[eef_state]: left_x=0.2898 left_y=0.0112 left_z=0.172 left_yaw=0.1803 left_pitch=-0.1012 left_roll=-0.1011 left_gripper=0.9968 right_x=0.4322 right_y=0.1611 right_z=0.1267 right_yaw=0.0412 right_pitch=-0.1917 right_roll=-0.0391 right_gripper=0.9966\nstate[joint_eff]: [0.4171, 0.0068, 7.8291, 1.9463, -0.022, 0.2271, -0.0269, -0.0068, -8.4855, 9.5932, 1.79, 0.3492, 0.2515, -0.3639]\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]: [-0.0563, 0.8566, 0.6651, -0.495, -0.1165, -0.226, 0.9979, 0.4473, 1.8137, 1.2007, -0.2794, 0.3065, 0.2352, 0.9963]\nstate[eef_state]: left_x=0.2899 left_y=0.0078 left_z=0.1683 left_yaw=0.1505 left_pitch=-0.1121 left_roll=-0.0915 left_gripper=0.9979 right_x=0.4436 right_y=0.1576 right_z=0.0908 right_yaw=0.0391 right_pitch=-0.264 right_roll=-0.0686 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -2.0991, 7.2957, 1.5897, -0.2076, 0.0562, 0.1001, -0.1299, -9.894, 8.6222, 1.8584, 0.1734, -0.0073, -0.0366]\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]: [-0.0563, 0.8577, 0.6651, -0.5022, -0.128, -0.2478, 0.998, 0.4496, 1.8122, 1.2007, -0.2646, 0.3061, 0.2314, 0.9963]\nstate[eef_state]: left_x=0.2888 left_y=0.0099 left_z=0.1668 left_yaw=0.1722 left_pitch=-0.1197 left_roll=-0.0994 left_gripper=0.998 right_x=0.4457 right_y=0.1599 right_z=0.0937 right_yaw=0.0456 right_pitch=-0.2492 right_roll=-0.0643 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -1.5795, 6.9949, 1.663, 0.0317, 0.1685, 0.0024, -0.4991, -10.2222, 8.6906, 1.6239, 0.1392, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a413b7723d03704cf9f8647fd67db1f0f3d1fdcd5712d50d8b2d80578b02dd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67b734921a109dac3e7e52aa51948e34c1c756b1011d5d278dba83cd33550efa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:951842c24cb555167c0faf0822cef9ec824056f8bf68f860e56320ee31ec3435",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014vKNf8qMKVLed2w1ZyJx5g",
      "input": {
        "note": "Right arm stalled at x≈0.445 at low height. Trying to go forward at a higher z where reach is better, then descend onto the blue bowl's wall.",
        "targets": {
          "right_x": 0.5,
          "right_y": 0.165,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014vKNf8qMKVLed2w1ZyJx5g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8593, 0.6651, -0.5091, -0.1287, -0.2497, 0.998, 0.4328, 1.9015, 1.338, -0.371, 0.2874, 0.2085, 0.9963]\nstate[eef_state]: left_x=0.2878 left_y=0.0101 left_z=0.1651 left_yaw=0.1741 left_pitch=-0.1279 left_roll=-0.0985 left_gripper=0.998 right_x=0.4618 right_y=0.1621 right_z=0.0891 right_yaw=0.0507 right_pitch=-0.3097 right_roll=-0.089 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.4838, 6.9128, 1.7753, -0.0855, 0.0171, -0.0122, -1.6479, -9.5248, 7.4325, 1.0134, 0.1392, 0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7f97638c5c3cb793899c7cad6b9d030adbe04f361eb74507f439cfc0ae348a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77db6158fe3869a9f9dd7a4456a68c714efefb194bbb400b40fc62a27a3625ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:51438eced09bb7bc8289735949dc4cd70d45ad8190f7443e1ee968b743127355",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 5.943 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]: [-0.0563, 0.8566, 0.6651, -0.495, -0.1165, -0.226, 0.9979, 0.4473, 1.8137, 1.2007, -0.2794, 0.3065, 0.2352, 0.9963]\nstate[eef_state]: left_x=0.2899 left_y=0.0078 left_z=0.1683 left_yaw=0.1505 left_pitch=-0.1121 left_roll=-0.0915 left_gripper=0.9979 right_x=0.4436 right_y=0.1576 right_z=0.0908 right_yaw=0.0391 right_pitch=-0.264 right_roll=-0.0686 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -2.0991, 7.2957, 1.5897, -0.2076, 0.0562, 0.1001, -0.1299, -9.894, 8.6222, 1.8584, 0.1734, -0.0073, -0.0366]\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]: [-0.0563, 0.8577, 0.6651, -0.5022, -0.128, -0.2478, 0.998, 0.4496, 1.8122, 1.2007, -0.2646, 0.3061, 0.2314, 0.9963]\nstate[eef_state]: left_x=0.2888 left_y=0.0099 left_z=0.1668 left_yaw=0.1722 left_pitch=-0.1197 left_roll=-0.0994 left_gripper=0.998 right_x=0.4457 right_y=0.1599 right_z=0.0937 right_yaw=0.0456 right_pitch=-0.2492 right_roll=-0.0643 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -1.5795, 6.9949, 1.663, 0.0317, 0.1685, 0.0024, -0.4991, -10.2222, 8.6906, 1.6239, 0.1392, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8593, 0.6651, -0.5091, -0.1287, -0.2497, 0.998, 0.4328, 1.9015, 1.338, -0.371, 0.2874, 0.2085, 0.9963]\nstate[eef_state]: left_x=0.2878 left_y=0.0101 left_z=0.1651 left_yaw=0.1741 left_pitch=-0.1279 left_roll=-0.0985 left_gripper=0.998 right_x=0.4618 right_y=0.1621 right_z=0.0891 right_yaw=0.0507 right_pitch=-0.3097 right_roll=-0.089 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.4838, 6.9128, 1.7753, -0.0855, 0.0171, -0.0122, -1.6479, -9.5248, 7.4325, 1.0134, 0.1392, 0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7f97638c5c3cb793899c7cad6b9d030adbe04f361eb74507f439cfc0ae348a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77db6158fe3869a9f9dd7a4456a68c714efefb194bbb400b40fc62a27a3625ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51438eced09bb7bc8289735949dc4cd70d45ad8190f7443e1ee968b743127355",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS4AgKEAgSGAI4AUIIdGhpbmtpbmcSDPH9+WQr0EOn9v3YwBoMtJeFbzGfMbfdJflaIjAH5gJPzI2u71E+xyMTUfsnddrevWEqPFvVd1FtQWGqkQxVNFJJ7S7ygmL+vmOW81Uq/QfrTTK0yUqUzpRKqlDurIXNZHP8nuYT2m0TGImSD/e5+T2qYxnOb6Mow7Ww+HsW5QrXrCZxOuv+8lquPT4RyufTDtFl+W+LGIsSysi9L/w1vD2fRN5fDZcF8pDxSeHAZvAFi4hzRwKRunufK6WUGHKLpbVWot3Fff8LTbAV2vMkv7jM7R2TO+vv/CJ2mvBhAHGWYCyaUxIQmQSplFT3c+Eujh10xI2rqQdQutNOtDb+2tbfWeKF3tS0mBLtp7DNu+ka/muPetFnih+6jrWmOlNyqcUYrU5z2gwpecxdZ7B7CCvCREhuh0pxM/QTnGt/1bbN+Uz9Ap9xPgD5owb3uvLXxdud2WagPCJYg/QvNEd0qMrmehEe5dhhvpnkCuTr2ixPfpX8xzOKeha+m/pKmo1/73It/wt+Wy0DFyEQwC3JpL+P8Lrq3FysgUkrrXkSN2bNSTuWPfW9I+/JzNEQbXsUlh0ImepMj1570ENluw5hqtLjbdXKFn36PEfhKMd7WWmk7dokO2reS70miBCSIQkQ2DaL3eJRpDFY0ri/vQXdaF2g1dj388Qb/ZMs4L6EpFYDZtSpOrraqLXWnRCHtqT6+8j7Em/H3xnXU4jiEbvVZaHjbOVbOTG3DdpK1iXNqLOuOEgcSoxDssTzmaPwOGZIfzoz/iDuaD2PWyV9jsDjHetIwRbqOtF5Iua1ER+wCviGd51tqiRE5qnCD6Aym+932xkbNTCIuVH9nyH8TQDSHjY9YDVjiZydwpBPWDg2covuf5pCrURXkK6X0v042R1v2xyzV5R6zDX+w2FJ3c+AdXoY8/LwHdMcPMMm6/HfPAEEJB4W5ED4P68RPPjV5oehGpJqwL9lTIx2Z267uhKQtrb/tS0KHxxpJmUfGh2DLu1wi/FCk2K/COwdxJw0JA4QgDPOV1mVo/fMBcEFWHWAxrdsqWq1uJHsO1KZttDl5AuYAPI6gDeMFdOxWknya4okSTjext3NpOa/v7IOMwNMpbHE7dlkTto97Qj59yHyioAjcbXiXcp4E1+bVoMlAHsNyPWhY6Wan/UAvqnbEe5nelZLKAFaPVmq+VDkZ+9NMAmplx+lXBQEmSlyT+a9hWTRzEp20xQIM8vJX/EaFiFjvV0IvFxrY4B//VCJgx/6xglhVWePNDa8ChBpiyyJAxDgjNaDjD+yRqCvI1amRGGDmgW6lBRtsuxA/jPuCHEU5Ut0baBJwR5fCQPgG3oXgrwBHsdKxBuOmwSBp5r8CH/tWrPsem9Ao4hXyZODlbi9lqUpeFEXcSvrbAuX66MqBh+Eq3cLMy8Tp1ApcxiO4QcghGnzYuc32UhmEG44NoFkK6zC/O/fbu8VzI4i76dqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R5qDCE159rhhqAcZdNYvB1",
      "input": {
        "note": "The right tool has tipped backward (pitch -0.31), which is limiting reach. Commanding a forward pitch so the grasp point can extend over the blue bowl's wall.",
        "targets": {
          "right_pitch": 0.3,
          "right_x": 0.5,
          "right_y": 0.165,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01R5qDCE159rhhqAcZdNYvB1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8623, 0.6651, -0.5125, -0.1287, -0.252, 0.998, 0.4519, 1.9804, 0.9424, 0.6621, 0.4129, 0.0311, 0.9963]\nstate[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.1636 left_yaw=0.1755 left_pitch=-0.1343 left_roll=-0.0988 left_gripper=0.998 right_x=0.4947 right_y=0.1653 right_z=0.0887 right_yaw=0.0717 right_pitch=0.2286 right_roll=-0.1001 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -1.6479, 6.9128, 1.6239, -0.1148, -0.0171, -0.0122, 0.1299, -8.5265, 5.7504, 2.0733, 0.2857, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef184d11c8c13070754d8f459da9618d5fb802bc2389be1cbef08f3fef65691c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a41966821fb5f77119f85b8918af87ff443869ac753d4ccfe1549acaddbb7de2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:339d58fd0bd440b3f2874244072b0929e6a4a3949a9b9f1230aaa4ffe2217d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 26 attempt 0 · /messages · status 200 · 5.953 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]: [-0.0563, 0.8577, 0.6651, -0.5022, -0.128, -0.2478, 0.998, 0.4496, 1.8122, 1.2007, -0.2646, 0.3061, 0.2314, 0.9963]\nstate[eef_state]: left_x=0.2888 left_y=0.0099 left_z=0.1668 left_yaw=0.1722 left_pitch=-0.1197 left_roll=-0.0994 left_gripper=0.998 right_x=0.4457 right_y=0.1599 right_z=0.0937 right_yaw=0.0456 right_pitch=-0.2492 right_roll=-0.0643 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -1.5795, 6.9949, 1.663, 0.0317, 0.1685, 0.0024, -0.4991, -10.2222, 8.6906, 1.6239, 0.1392, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8593, 0.6651, -0.5091, -0.1287, -0.2497, 0.998, 0.4328, 1.9015, 1.338, -0.371, 0.2874, 0.2085, 0.9963]\nstate[eef_state]: left_x=0.2878 left_y=0.0101 left_z=0.1651 left_yaw=0.1741 left_pitch=-0.1279 left_roll=-0.0985 left_gripper=0.998 right_x=0.4618 right_y=0.1621 right_z=0.0891 right_yaw=0.0507 right_pitch=-0.3097 right_roll=-0.089 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.4838, 6.9128, 1.7753, -0.0855, 0.0171, -0.0122, -1.6479, -9.5248, 7.4325, 1.0134, 0.1392, 0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8623, 0.6651, -0.5125, -0.1287, -0.252, 0.998, 0.4519, 1.9804, 0.9424, 0.6621, 0.4129, 0.0311, 0.9963]\nstate[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.1636 left_yaw=0.1755 left_pitch=-0.1343 left_roll=-0.0988 left_gripper=0.998 right_x=0.4947 right_y=0.1653 right_z=0.0887 right_yaw=0.0717 right_pitch=0.2286 right_roll=-0.1001 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -1.6479, 6.9128, 1.6239, -0.1148, -0.0171, -0.0122, 0.1299, -8.5265, 5.7504, 2.0733, 0.2857, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef184d11c8c13070754d8f459da9618d5fb802bc2389be1cbef08f3fef65691c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a41966821fb5f77119f85b8918af87ff443869ac753d4ccfe1549acaddbb7de2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:339d58fd0bd440b3f2874244072b0929e6a4a3949a9b9f1230aaa4ffe2217d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwAgKEAgSGAI4AUIIdGhpbmtpbmcSDBSBrcnQjDg27fnXkxoMD8LZt3tQM+9mt63pIjB5VdTnejYJjwdg/hHiwq8ZZe4tLuW04M6y2QYhgQ9NNMsk+1SiBek+Gn3cOOl9kyUq3QcJ89XNDq8Ngw5IXbyqflq0mC8/iqMPfWXHXaJg/+UOeWFN5TJv41VuIdzT0f+Gn5m/69cPpvN79az9d0Wn+UP24Du9vh4NWYGaDFLvHtUILkdzEJ6RBOPLJgsgPdqOKMmwGPChXmSZLIGWvIVia5vaaczg/8kWfXenvX6Jb6NIOpHhuaCuozdgTMY09wjxlILeGMPNjt4X6yb83y9txjzRLoVaO5MGYLZBcRFyrfXp87KrXzXVibyNtnalzQjB53oN33y+R6WDmgXeJ51OatTj53Cd2062mFHg5klEteJueNVlpHPr2kCGaYOie3l6nKPnw3AHIZpfFP2sb2poFxtshgY+aXVvMoNnUJWZ7pNZUqqOaYXd8zBFUGaF7cflEAqCUKSMFN4uwqHOW/De+S1wZDt4qm9ILiYu2tg7yCRRQkBd9e7jZGUlLnFXA1Bi/LRzxpgVvOVg5vRrQdIb40z4N/hU5s+UtdkwhdIKs1GBxwbl1Tlc9A1ekaUXCW3Z51kmVtRxYAal7AKxZGime8kGJxTKtpKmQxyO4QNwz9/knKS5uVGM/MqE8X8B4x0HnCLN3TUXTNZ7iD1VRwy51SGHIhCzlrUby5n0goVqdUYEjct0bm0sJulHv82nHS9tet8+DopvO2gCnzy9TgOj9O6E8ty7Ps3kJHLuO5wEYCIX0WQ/qbC9UVVarHK2XFp7Z4uJt73x+xTdAee7ML1BpRl1eQDQ7f7sHZDGMEcxuYZEBTgqg8j8+4V+BLNLZ+R9ARi3Oj6jrHy9IwQlWh/q4Etb1ALBrF9crQkODOuri2gPFdSQCYkPp5KV9/jv8ylj1H9+AEZxOX8yTql8nikRwTlQJIEr/l5p5jP4EZbTz2IiIq0aj7sfSfrSTW1XyqXrRWp2+CrSSjqMaqtXNKlxevD6aL8QP4bdJXpUYBUW5p7SPhnZyfqclVz/ZV2IVYAOVKmKUYZWylDITrDWxExuxDxJM6Wi5GNjRy/lGnAjg4xPBIMvOK0HDM0IC3bZtRqnfSZV5w+Ui4+KrI1nQQX/KgxCx/mDHkG4d7LhaHDQfDTyhGQv4Pl51zMYz72aWZZVdMNeVmX1dpizVThXtO9924BqRq8cRGX/av3i/aeYInDCTK7e5HkyAp/uNInWaEHNj0t1KSoBuhDkgfLbVWuWcxWRO6nYx+76dRFN9onw76PffNCvnrK6dymMoY3JYNh0ZDpLZ1nYQceByUv7HxuwWwEzDV1GC/ZOGQ7E6wu4ipSM04UHAxWjMQk1K5Mseu9ytEWYftbRZG9eRlXePT6zJaawImCmZCz08HmrxETGzBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019mX9ENxp3LyoVA44cXWHbg",
      "input": {
        "note": "Forward pitch fixed the reach: the blue bowl's left wall now runs up the jaw column in the right wrist view. Descending to straddle it.",
        "targets": {
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_019mX9ENxp3LyoVA44cXWHbg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8635, 0.6651, -0.5129, -0.1287, -0.252, 0.998, 0.4519, 2.1689, 0.9169, 0.8871, 0.4118, 0.0143, 0.9963]\nstate[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.1633 left_yaw=0.1756 left_pitch=-0.1358 left_roll=-0.0984 left_gripper=0.998 right_x=0.4965 right_y=0.1664 right_z=0.0338 right_yaw=0.0811 right_pitch=0.2377 right_roll=-0.1118 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -1.6752, 6.8991, 1.6337, -0.1148, -0.0171, -0.0122, 0.0752, -7.7607, 4.6154, 1.3944, 0.0611, 0.1392, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50d37f33edc74d28b598162a1bbefd48c25351a50bce8a75b83ec02fd6cd2712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:281f8245033ed663d80f3f62c309dc4888c415910858ec21e8630994986743f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e4efd2c8313da914916fd77464cb6e79711eee973ad72ed0b8d756e39aa6640c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 3.712 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]: [-0.0563, 0.8593, 0.6651, -0.5091, -0.1287, -0.2497, 0.998, 0.4328, 1.9015, 1.338, -0.371, 0.2874, 0.2085, 0.9963]\nstate[eef_state]: left_x=0.2878 left_y=0.0101 left_z=0.1651 left_yaw=0.1741 left_pitch=-0.1279 left_roll=-0.0985 left_gripper=0.998 right_x=0.4618 right_y=0.1621 right_z=0.0891 right_yaw=0.0507 right_pitch=-0.3097 right_roll=-0.089 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.4838, 6.9128, 1.7753, -0.0855, 0.0171, -0.0122, -1.6479, -9.5248, 7.4325, 1.0134, 0.1392, 0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8623, 0.6651, -0.5125, -0.1287, -0.252, 0.998, 0.4519, 1.9804, 0.9424, 0.6621, 0.4129, 0.0311, 0.9963]\nstate[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.1636 left_yaw=0.1755 left_pitch=-0.1343 left_roll=-0.0988 left_gripper=0.998 right_x=0.4947 right_y=0.1653 right_z=0.0887 right_yaw=0.0717 right_pitch=0.2286 right_roll=-0.1001 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -1.6479, 6.9128, 1.6239, -0.1148, -0.0171, -0.0122, 0.1299, -8.5265, 5.7504, 2.0733, 0.2857, -0.0806, -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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8635, 0.6651, -0.5129, -0.1287, -0.252, 0.998, 0.4519, 2.1689, 0.9169, 0.8871, 0.4118, 0.0143, 0.9963]\nstate[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.1633 left_yaw=0.1756 left_pitch=-0.1358 left_roll=-0.0984 left_gripper=0.998 right_x=0.4965 right_y=0.1664 right_z=0.0338 right_yaw=0.0811 right_pitch=0.2377 right_roll=-0.1118 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -1.6752, 6.8991, 1.6337, -0.1148, -0.0171, -0.0122, 0.0752, -7.7607, 4.6154, 1.3944, 0.0611, 0.1392, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50d37f33edc74d28b598162a1bbefd48c25351a50bce8a75b83ec02fd6cd2712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:281f8245033ed663d80f3f62c309dc4888c415910858ec21e8630994986743f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4efd2c8313da914916fd77464cb6e79711eee973ad72ed0b8d756e39aa6640c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS0ggKEAgSGAI4AUIIdGhpbmtpbmcSDFu64KRA9sOYeUBcixoMsQdGx1w442J3CqH6IjAX8plHKKUtn+0EtOdGx2+8GSRtI8NkCcbluB7j1JF/ZCozHjujCQU3oRZtxeQy2roq7weU56z0gOqH1rQQUBposTm5AKQVG8bBOBbeiT6qnhDD+KikHHjd76QnlxwwawKIS2PIipi3FUmhhJys24wGE4ls8qxtkCsQYAxMAMlVq+IhhxQaKi0FtbC4e6fmHfDIAaIohGPh+qYcjNjWod9iLAtGDw/NaGrbK8EA8/5k+kgYZBaXdnyieBaDFEFm7RscMNksJ9lvE9U9gXOrRGVLkgCon2upuqE82pdDta1M3EPt3ise1uTYbxaykcmPeqkjAWDFM2IEyNPLEgNdw1JmXYvyiUdgoY8f7vMh4Rk76oKb2O3vuCvopiSTFC0hbE7b47fqBRLx1dL8pUySX1bzeOUBnynXd+TFtMk3IZaOO8hQBWptYNEZOyBphGGGrkj4ylDvs6No6OhjzDL/YF+6nPBztN0lBjoNH7QZ5rNUnPCEAfr728pZ5MAAfObPdYtqFHALpAbsHit5OZMhdWtBZj0ofCq4/LT5yY+SmnUMVlRngJNbKXUmLBlz1DmmqusWob6jvyGKFV88vpJp0SGE6LWp9UNpxJ0NPk0Rg47lVtLjhMaiOdbfP4HrlVbfEqmkDKk8Uz1jP1owHjeqoHSQ0KhKrRrUG89hf+gb+DSVy+Ye30YZEk67dNxWNR8MRB7aJewQbMf8Q8emWv4wfjXnLsPXNZrfPIhNgWng5yCLWxKpDktVr6O49qPH+WlHI2xcj7/FGuTnnczsS9yTLpJXMLIl+6h79o2W/UQxfoURDuf4BQw24LcEby5EsqZjBSJyoQYQtQTdweFt6VwIqZzcAGrBVKCYVTL93cWJUCqsoKSbAf3n0EmZySZ5NrqIP0M9UTOhJMM34TmjoPY574IsqRNi42AfdB5T9OM8v5OR+UTUBFiWmpW/8d6m1Ygy+h1reLBX5mVVo6k9ONvYQUT2ltFMUh4Ntw80Cl9W7G2howkggL8gkQFnORyNFMH2m9EYYFcjlkEGcsyHJAgu1adlq+gj/s2Vg466/1z2zOxGUH9YUecl6MRRklg61CUBukrM3IbQs233FhtU58XYd5BGtKrOlH4uD1/MNWTikS1Hqcz1cqYnhIPA7KLFmsHmbRk6OIRukvTNSSwnZdxcUB2xXhTj0Zzh6ih7sYQ/ZVobD5m1d/gOKGw232X7q14TLk/KfmE+A1iow9bhVKT7aNJ8kqurql/Gc+AUpqdgofZiI78dZnYWPJ9dKxYX2gJlDiF4Z631tEvH/WhK7z6oFnLYPmy5OK8tpky6/FGFS0jlYbLBZKxByC0hFQfOB1GmwMu/N6Zv4/VlqEqPZ5+SmDxwleV/uY/kxUKZ1i6dXadsJLZnaBYqM4VTF0S5nbv+TMEGYRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VsJugpniUE3XzKUoA8Q7yj",
      "input": {
        "note": "The blue wall sits between the jaws; going a little lower for a firmer pinch.",
        "targets": {
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01VsJugpniUE3XzKUoA8Q7yj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8635, 0.6651, -0.5129, -0.1287, -0.252, 0.998, 0.4515, 2.2024, 0.9192, 0.9699, 0.4114, 0.0025, 0.9962]\nstate[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.1633 left_yaw=0.1756 left_pitch=-0.1358 left_roll=-0.0984 left_gripper=0.998 right_x=0.5006 right_y=0.1682 right_z=0.0358 right_yaw=0.0827 right_pitch=0.285 right_roll=-0.104 right_gripper=0.9962\nstate[joint_eff]: [-0.0068, -1.6068, 6.9949, 1.6044, -0.0904, -0.022, -0.0122, -0.335, -7.2, 4.7658, 1.1795, 0.0317, 0.232, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b450b19f1c85105664daf370df811b23663501990650aaa9e529a89bf8e2080c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e5cebb9c5e0a79d9325c583dd9ac448be4f996d9eda890b0740f89548f07029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b3c6ba67abf990a3968e1070480bcc94855628123ef2c579d0bd629eae70f2c",
        "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 · 13.55 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]: [-0.0563, 0.8623, 0.6651, -0.5125, -0.1287, -0.252, 0.998, 0.4519, 1.9804, 0.9424, 0.6621, 0.4129, 0.0311, 0.9963]\nstate[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.1636 left_yaw=0.1755 left_pitch=-0.1343 left_roll=-0.0988 left_gripper=0.998 right_x=0.4947 right_y=0.1653 right_z=0.0887 right_yaw=0.0717 right_pitch=0.2286 right_roll=-0.1001 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -1.6479, 6.9128, 1.6239, -0.1148, -0.0171, -0.0122, 0.1299, -8.5265, 5.7504, 2.0733, 0.2857, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0563, 0.8635, 0.6651, -0.5129, -0.1287, -0.252, 0.998, 0.4519, 2.1689, 0.9169, 0.8871, 0.4118, 0.0143, 0.9963]\nstate[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.1633 left_yaw=0.1756 left_pitch=-0.1358 left_roll=-0.0984 left_gripper=0.998 right_x=0.4965 right_y=0.1664 right_z=0.0338 right_yaw=0.0811 right_pitch=0.2377 right_roll=-0.1118 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -1.6752, 6.8991, 1.6337, -0.1148, -0.0171, -0.0122, 0.0752, -7.7607, 4.6154, 1.3944, 0.0611, 0.1392, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8635, 0.6651, -0.5129, -0.1287, -0.252, 0.998, 0.4515, 2.2024, 0.9192, 0.9699, 0.4114, 0.0025, 0.9962]\nstate[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.1633 left_yaw=0.1756 left_pitch=-0.1358 left_roll=-0.0984 left_gripper=0.998 right_x=0.5006 right_y=0.1682 right_z=0.0358 right_yaw=0.0827 right_pitch=0.285 right_roll=-0.104 right_gripper=0.9962\nstate[joint_eff]: [-0.0068, -1.6068, 6.9949, 1.6044, -0.0904, -0.022, -0.0122, -0.335, -7.2, 4.7658, 1.1795, 0.0317, 0.232, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b450b19f1c85105664daf370df811b23663501990650aaa9e529a89bf8e2080c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e5cebb9c5e0a79d9325c583dd9ac448be4f996d9eda890b0740f89548f07029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b3c6ba67abf990a3968e1070480bcc94855628123ef2c579d0bd629eae70f2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wYKEAgSGAI4AUIIdGhpbmtpbmcSDLB7kpqS842chfjdWRoMrlGEmkP/ntbBsFQMIjDXRo+M/kKtlScVARBFXXKe1VyJVqHCQCRouaTnjejlzPl0dbkkiXK8aPItxK//vCwqlAZ20u3ea98aflu2Q6aBt8ZmlkCSHLspT4d47cbxhu6MDG1kqrGzxa/9am+eFNSzLPXybGyiEurvYhUj56M+bbI18KUPoGY2yPdOf5l92UZCMRTiCJkLN2BdwWCt5z49UFkXIj+/SKsro5iLKpx8YoMCzw5ywM2Maiov4EfvQNo2c3yMqpY0gF6x3V/RQDf5fV2MQ2vVwkHztCWA2zBouNud6l/HBpmzi3ggllcWYEPMdEsCLZ8eaZeJOgPbnh7xgfcLlTYP/TlLTiyDdDS+eThZtgeDle1p4XxzrSsqTqnRXrKFy3B0fnKIb53gFnAst8YurcJEDlVPfYULdKoExg1IvrBdEGp+Fs4abQXBsWxCDi5upTcocA/EfYDix62r4ks+Pa3jOhkJKv4/zpwHuZUuq3d5xl9KK4aanp3qpZe8ZrBDmKPUi0MUy0dgdKQJeAhIZV6M6VlC+SRi58Jg7ysSK9f0YTWfMXQFWVUT9ghI538q+3uUsrnyX9eMtIWW4fb3vr6ZSnvx054QgSmq3uh5BPR8auWx2IFuqDA5DeqAv5GkVbsPnWj2e0fWF4TFl5qXpSuIJXj8k/9kBvRaHfggjYEI7+HGyl6AYfnEsHwJd3YIdA1+KhBGcfMKVgde2fzLwuL2lSjCTc/XJ8mKDq+a+8v8doo4JlNRFM4fj5DcHrFurLb+F1MoNuqVUjKkNx4EhPlDrZvdpI70qVQk5se8xfZZljcd84o2weaY0DqvbihF2oKLCCYylbKtXEM3IapchuK+PIwtFPsf9/h2JNbP+uBD3ReSI8BmMuFO7A9tLotV74diABFiRSbWg9OR3ARUIrSRM7klWZuojby/dCak8hjqHvCdiQ0rq/ItfJLJgR68WzgDL/e5ikzgUN20ywJQlkI/BelPzNxu3bP05NT9ChVl6xAS1A81kLunvayeIMZe8xbbW/CyEBHCpvGxrXBxkXGPksNLXzGfkEdxNEUIPtXFeG1swy+2roRRD9ggwzjZ7i4b4xkfgGw1jyad4oul+7iVAXIiQZjIwtAgVxL9TlxHzhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015qMGdgjVcFv6nx3tVdqh2V",
      "input": {
        "note": "Descent holds at z≈0.036 with the blue bowl's wall between the jaws; 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_015qMGdgjVcFv6nx3tVdqh2V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8642, 0.6651, -0.5129, -0.1287, -0.252, 0.998, 0.4515, 2.2162, 0.9215, 0.992, 0.4065, -0.0051, 0.0097]\nstate[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.163 left_yaw=0.1756 left_pitch=-0.1365 left_roll=-0.0983 left_gripper=0.998 right_x=0.5016 right_y=0.1696 right_z=0.0345 right_yaw=0.0901 right_pitch=0.294 right_roll=-0.1062 right_gripper=0.0097\nstate[joint_eff]: [-0.0615, -1.6068, 6.9128, 1.58, -0.1001, -0.0513, -0.0122, -0.3214, -11.8222, 4.2325, 1.6044, 0.0952, 0.1099, 0.7692]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54665a9c685a6118257ed836807c332daa7dcf88dbff757f9f49ebb1000a4dcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10794df299d99d28a16b3c58fab7d01ace7a0576476acd52d4b1a8340dec4b31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60e96563c8e063cfca2a1baa5ffa9eca3945101d829bac2f5e121e1baa2456b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 5.019 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]: [-0.0563, 0.8635, 0.6651, -0.5129, -0.1287, -0.252, 0.998, 0.4519, 2.1689, 0.9169, 0.8871, 0.4118, 0.0143, 0.9963]\nstate[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.1633 left_yaw=0.1756 left_pitch=-0.1358 left_roll=-0.0984 left_gripper=0.998 right_x=0.4965 right_y=0.1664 right_z=0.0338 right_yaw=0.0811 right_pitch=0.2377 right_roll=-0.1118 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -1.6752, 6.8991, 1.6337, -0.1148, -0.0171, -0.0122, 0.0752, -7.7607, 4.6154, 1.3944, 0.0611, 0.1392, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8635, 0.6651, -0.5129, -0.1287, -0.252, 0.998, 0.4515, 2.2024, 0.9192, 0.9699, 0.4114, 0.0025, 0.9962]\nstate[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.1633 left_yaw=0.1756 left_pitch=-0.1358 left_roll=-0.0984 left_gripper=0.998 right_x=0.5006 right_y=0.1682 right_z=0.0358 right_yaw=0.0827 right_pitch=0.285 right_roll=-0.104 right_gripper=0.9962\nstate[joint_eff]: [-0.0068, -1.6068, 6.9949, 1.6044, -0.0904, -0.022, -0.0122, -0.335, -7.2, 4.7658, 1.1795, 0.0317, 0.232, -0.0171]",
      "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]: [-0.0563, 0.8642, 0.6651, -0.5129, -0.1287, -0.252, 0.998, 0.4515, 2.2162, 0.9215, 0.992, 0.4065, -0.0051, 0.0097]\nstate[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.163 left_yaw=0.1756 left_pitch=-0.1365 left_roll=-0.0983 left_gripper=0.998 right_x=0.5016 right_y=0.1696 right_z=0.0345 right_yaw=0.0901 right_pitch=0.294 right_roll=-0.1062 right_gripper=0.0097\nstate[joint_eff]: [-0.0615, -1.6068, 6.9128, 1.58, -0.1001, -0.0513, -0.0122, -0.3214, -11.8222, 4.2325, 1.6044, 0.0952, 0.1099, 0.7692]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54665a9c685a6118257ed836807c332daa7dcf88dbff757f9f49ebb1000a4dcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10794df299d99d28a16b3c58fab7d01ace7a0576476acd52d4b1a8340dec4b31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60e96563c8e063cfca2a1baa5ffa9eca3945101d829bac2f5e121e1baa2456b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dy4u84fduqszx8gF51B4qE",
      "input": {
        "note": "Empty close: the blue bowl is at the edge of reach and the jaws didn't catch the wall. Plan B: put the closed fingers inside the bowl and drag it back toward the base where it's easy to grasp.",
        "targets": {
          "right_y": 0.12,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Dy4u84fduqszx8gF51B4qE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8673, 0.6651, -0.519, -0.1287, -0.252, 0.998, 0.3355, 2.1811, 0.8402, 1.0378, 0.3065, -0.0391, 0.012]\nstate[eef_state]: left_x=0.2866 left_y=0.0102 left_z=0.1611 left_yaw=0.1759 left_pitch=-0.1454 left_roll=-0.0961 left_gripper=0.998 right_x=0.5012 right_y=0.1221 right_z=0.0325 right_yaw=0.0803 right_pitch=0.2825 right_roll=-0.1106 right_gripper=0.012\nstate[joint_eff]: [-0.1573, -1.6342, 6.9128, 1.6288, -0.0952, -0.0415, -0.0073, -0.3214, -11.5624, 4.1641, 1.8877, 0.0513, 0.0171, 0.232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed64f3452b30c8801c780b5c945c74b592da33b8cbc8bd7ec0bedbb6098a9e16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcedfb944db5ac88475c7e61dc5f62b6da4181602d1141a7ac4ff7dab15a1e5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c44b9f2d22be0bbd88c5a8f6fbe10676fccbbf3211fdc1d5f8ad155016e40396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 10.32 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]: [-0.0563, 0.8635, 0.6651, -0.5129, -0.1287, -0.252, 0.998, 0.4515, 2.2024, 0.9192, 0.9699, 0.4114, 0.0025, 0.9962]\nstate[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.1633 left_yaw=0.1756 left_pitch=-0.1358 left_roll=-0.0984 left_gripper=0.998 right_x=0.5006 right_y=0.1682 right_z=0.0358 right_yaw=0.0827 right_pitch=0.285 right_roll=-0.104 right_gripper=0.9962\nstate[joint_eff]: [-0.0068, -1.6068, 6.9949, 1.6044, -0.0904, -0.022, -0.0122, -0.335, -7.2, 4.7658, 1.1795, 0.0317, 0.232, -0.0171]",
      "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]: [-0.0563, 0.8642, 0.6651, -0.5129, -0.1287, -0.252, 0.998, 0.4515, 2.2162, 0.9215, 0.992, 0.4065, -0.0051, 0.0097]\nstate[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.163 left_yaw=0.1756 left_pitch=-0.1365 left_roll=-0.0983 left_gripper=0.998 right_x=0.5016 right_y=0.1696 right_z=0.0345 right_yaw=0.0901 right_pitch=0.294 right_roll=-0.1062 right_gripper=0.0097\nstate[joint_eff]: [-0.0615, -1.6068, 6.9128, 1.58, -0.1001, -0.0513, -0.0122, -0.3214, -11.8222, 4.2325, 1.6044, 0.0952, 0.1099, 0.7692]",
      "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]: [-0.0563, 0.8673, 0.6651, -0.519, -0.1287, -0.252, 0.998, 0.3355, 2.1811, 0.8402, 1.0378, 0.3065, -0.0391, 0.012]\nstate[eef_state]: left_x=0.2866 left_y=0.0102 left_z=0.1611 left_yaw=0.1759 left_pitch=-0.1454 left_roll=-0.0961 left_gripper=0.998 right_x=0.5012 right_y=0.1221 right_z=0.0325 right_yaw=0.0803 right_pitch=0.2825 right_roll=-0.1106 right_gripper=0.012\nstate[joint_eff]: [-0.1573, -1.6342, 6.9128, 1.6288, -0.0952, -0.0415, -0.0073, -0.3214, -11.5624, 4.1641, 1.8877, 0.0513, 0.0171, 0.232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed64f3452b30c8801c780b5c945c74b592da33b8cbc8bd7ec0bedbb6098a9e16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcedfb944db5ac88475c7e61dc5f62b6da4181602d1141a7ac4ff7dab15a1e5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c44b9f2d22be0bbd88c5a8f6fbe10676fccbbf3211fdc1d5f8ad155016e40396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjQkKEAgSGAI4AUIIdGhpbmtpbmcSDBLqu/5s5cXuB0lSwRoMX3Fvt4HDgIya4AnTIjCXyelozqfxisSZfKpzwz8Dle9t8E5SaRl6/yHi/Xr5qQ0QbbpjvHmUYdlQAaD4Rj4qqgj34X0u4eY3qX9VJIc7Arma8p8W/c8AMcQlACie8gs0RTB33mp/JibfOo/ySbSePXWMhg5us/xnS7lLOPFOJT1efQIosMa30EXQWOTboIowUKtyh6mvutJ+r/GaWuYbeCU2Ti4pnKK7IDO5/uPotH11RvALFkleFjLplmIO02XhQbmReu1KVg4Bwz8CWcTjj7/dDq6jaL2NmLnmEPUFxYfME3+F26KyaVKWiuZvN3uaEyXS0Hmm7hFCFBJF6Mttd8lytyTE/7BvL2TrXFZFMi0sINCJ9rQb9qLtuZnMKhE6cJ/MMdFn2fy3P0opLN92oue8xUivvwZ17MO9j99LvyQXhfCMgdRQGG0DwVQGnBQvsuU2L/XK5FSiXI0QctStJpgqcEiNFBr49EFfJDEs+usjqaoh0MQUQdp542P52o0y3YnGCfKGqCAvt+s6CSbf/lABpnzLwtT7ziCcgKkxjdcWQy3xPYuGttljEAH9hII1Q2DuuaWuNDwAOKc28Fe9g1cbC6/DbnrJepna4Bw6g2DH3gWr49vmB1ShGm7tlXNqt4RTjnGHPOTQe5M6Z+rbzNcdY2KcAWPJKerN6zgr64hylifF78YxT02p4bfzTCNeic5L1ti0OlrIJGDvuuFxUzYXDZq8EfxO/g3g2w+yz1vboTFKTjMEepuQEBahtV6A3ZQEUGvEJ4hngLWV3lcCDgNgGRZuqK+rHfa75Qr2pl/hzESbxQrPvOHovc1RjF/jVH/zFUSt06x5tFXQhi506ey5uJ1+yi8Nbm6muvUlUeBYATRJzOWOuLamJyzUX4tZMSSZFB5SEglRi/iECK2+5zhFr1oW4yzmlbCSem2sIXTHPI/Zx4j6d6PNt3VP6IfLcUaWkNhMHp8M/BQrzHdS4miEn9h24aZrkA40N93qu9ed+OPWFzB2zbZbDqvPIoIGinRs5QBJENxmCxFCl6ksKXQZg3XS5bnMiwEUgpNtKTrCqrbrSbcLcgVY3gOD2RitdIm9lRITgIBvYljyA1Ty2rspPrDN346/8kS8PIcGveRIkvfd8dDITxgzKtCHHm4X2pcN5PWyk5jAZuJVr/T3tdmbs9iEumW+osGTln8uDP5aWlVsznCxL95KRiVM0DHeE92b2MvtblqLIQ6T5+QCbPMcGrvWnHkItZHQGBgQ2SH6BqSS5VxWNw873FUdWi/TikUSWCxmMr+vKH6pbdC7aZD9f4TxJUZ3gA+xPozXgEK+E+5SO62qNms52VoEMMvf444mIHMFjvsTrDmsJnaQr+NYFQZnJ9EGA6z3QzPP9gbw6DhhlYWvitzukBhhb6Lr9fMEYds9DKhW2cjgdDoDNlYAFMkzO/DzWWcAkNzOvYV8GJa4ZxrJJc7akrkqm9qPofdgXw6jayAz5Dm6kbVSOlJSR7XDgHe24aHPGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KHuxWGebQ8sWP9TWLZ7SSU",
      "input": {
        "note": "The blue bowl moved sideways with the fingers, so they're hooked inside it. Dragging it back toward the base into easy reach.",
        "targets": {
          "right_x": 0.4,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KHuxWGebQ8sWP9TWLZ7SSU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8719, 0.6651, -0.5198, -0.1287, -0.252, 0.998, 0.4549, 2.03, 0.458, 1.2022, 0.3946, -0.0147, 0.014]\nstate[eef_state]: left_x=0.2867 left_y=0.0102 left_z=0.1598 left_yaw=0.1761 left_pitch=-0.1506 left_roll=-0.0949 left_gripper=0.998 right_x=0.4004 right_y=0.1243 right_z=0.0195 right_yaw=0.1152 right_pitch=0.2289 right_roll=-0.1357 right_gripper=0.014\nstate[joint_eff]: [0.0068, -1.5248, 6.8991, 1.6337, -0.0659, -0.0366, -0.0122, 0.212, -8.8547, 3.8085, 1.9609, 0.2955, 0.1783, 0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5496a91e5e63b4267b4a40de7940a51cdca8a60a203b632a3ff9c8479c9d2c8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4b4dc333a2bc2f9c8ce0a3faeb9814693d2406f7a674728e2e01b6b9ecb8102",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d52c5ca2f6c2e6d3dade73e2f147688b41b320c93c30aa8bb888b3cbbc4cfaf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 6.04 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]: [-0.0563, 0.8642, 0.6651, -0.5129, -0.1287, -0.252, 0.998, 0.4515, 2.2162, 0.9215, 0.992, 0.4065, -0.0051, 0.0097]\nstate[eef_state]: left_x=0.2874 left_y=0.0101 left_z=0.163 left_yaw=0.1756 left_pitch=-0.1365 left_roll=-0.0983 left_gripper=0.998 right_x=0.5016 right_y=0.1696 right_z=0.0345 right_yaw=0.0901 right_pitch=0.294 right_roll=-0.1062 right_gripper=0.0097\nstate[joint_eff]: [-0.0615, -1.6068, 6.9128, 1.58, -0.1001, -0.0513, -0.0122, -0.3214, -11.8222, 4.2325, 1.6044, 0.0952, 0.1099, 0.7692]",
      "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]: [-0.0563, 0.8673, 0.6651, -0.519, -0.1287, -0.252, 0.998, 0.3355, 2.1811, 0.8402, 1.0378, 0.3065, -0.0391, 0.012]\nstate[eef_state]: left_x=0.2866 left_y=0.0102 left_z=0.1611 left_yaw=0.1759 left_pitch=-0.1454 left_roll=-0.0961 left_gripper=0.998 right_x=0.5012 right_y=0.1221 right_z=0.0325 right_yaw=0.0803 right_pitch=0.2825 right_roll=-0.1106 right_gripper=0.012\nstate[joint_eff]: [-0.1573, -1.6342, 6.9128, 1.6288, -0.0952, -0.0415, -0.0073, -0.3214, -11.5624, 4.1641, 1.8877, 0.0513, 0.0171, 0.232]",
      "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]: [-0.0563, 0.8719, 0.6651, -0.5198, -0.1287, -0.252, 0.998, 0.4549, 2.03, 0.458, 1.2022, 0.3946, -0.0147, 0.014]\nstate[eef_state]: left_x=0.2867 left_y=0.0102 left_z=0.1598 left_yaw=0.1761 left_pitch=-0.1506 left_roll=-0.0949 left_gripper=0.998 right_x=0.4004 right_y=0.1243 right_z=0.0195 right_yaw=0.1152 right_pitch=0.2289 right_roll=-0.1357 right_gripper=0.014\nstate[joint_eff]: [0.0068, -1.5248, 6.8991, 1.6337, -0.0659, -0.0366, -0.0122, 0.212, -8.8547, 3.8085, 1.9609, 0.2955, 0.1783, 0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5496a91e5e63b4267b4a40de7940a51cdca8a60a203b632a3ff9c8479c9d2c8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4b4dc333a2bc2f9c8ce0a3faeb9814693d2406f7a674728e2e01b6b9ecb8102",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d52c5ca2f6c2e6d3dade73e2f147688b41b320c93c30aa8bb888b3cbbc4cfaf5",
        "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_01SxV76F1FuKHx95ApgL1nxf",
      "input": {
        "note": "The blue bowl didn't come with the drag. The peach bowl sits right beside the right gripper (just to its right), so I'll grasp the peach bowl's left wall and lift it into the blue bowl instead.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0.1,
          "right_x": 0.37,
          "right_y": 0.105,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SxV76F1FuKHx95ApgL1nxf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8734, 0.6651, -0.5198, -0.1287, -0.2523, 0.998, 0.4297, 1.4445, 0.4492, 0.5072, 0.3515, 0.0021, 0.9949]\nstate[eef_state]: left_x=0.2868 left_y=0.0102 left_z=0.1593 left_yaw=0.1764 left_pitch=-0.1521 left_roll=-0.0948 left_gripper=0.998 right_x=0.3684 right_y=0.1059 right_z=0.0906 right_yaw=0.1237 right_pitch=0.1124 right_roll=-0.1408 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -1.8256, 6.8991, 1.5604, -0.105, -0.0757, -0.0122, -0.6085, -5.8735, 8.5538, 1.8779, 0.1538, 0.1001, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:688a44f45219d588c42d261aa0eeb96fae991ede403521a6796ee05b3e75951a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b9f15055c695fb2f965885860feea26c67fcef66b29bd2fb3df2f0b39822cea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b5503dd69e535b9862e846761a20d23e713b759306afd2916c85e198bf6feee0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 5.17 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]: [-0.0563, 0.8673, 0.6651, -0.519, -0.1287, -0.252, 0.998, 0.3355, 2.1811, 0.8402, 1.0378, 0.3065, -0.0391, 0.012]\nstate[eef_state]: left_x=0.2866 left_y=0.0102 left_z=0.1611 left_yaw=0.1759 left_pitch=-0.1454 left_roll=-0.0961 left_gripper=0.998 right_x=0.5012 right_y=0.1221 right_z=0.0325 right_yaw=0.0803 right_pitch=0.2825 right_roll=-0.1106 right_gripper=0.012\nstate[joint_eff]: [-0.1573, -1.6342, 6.9128, 1.6288, -0.0952, -0.0415, -0.0073, -0.3214, -11.5624, 4.1641, 1.8877, 0.0513, 0.0171, 0.232]",
      "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]: [-0.0563, 0.8719, 0.6651, -0.5198, -0.1287, -0.252, 0.998, 0.4549, 2.03, 0.458, 1.2022, 0.3946, -0.0147, 0.014]\nstate[eef_state]: left_x=0.2867 left_y=0.0102 left_z=0.1598 left_yaw=0.1761 left_pitch=-0.1506 left_roll=-0.0949 left_gripper=0.998 right_x=0.4004 right_y=0.1243 right_z=0.0195 right_yaw=0.1152 right_pitch=0.2289 right_roll=-0.1357 right_gripper=0.014\nstate[joint_eff]: [0.0068, -1.5248, 6.8991, 1.6337, -0.0659, -0.0366, -0.0122, 0.212, -8.8547, 3.8085, 1.9609, 0.2955, 0.1783, 0.188]",
      "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]: [-0.0563, 0.8734, 0.6651, -0.5198, -0.1287, -0.2523, 0.998, 0.4297, 1.4445, 0.4492, 0.5072, 0.3515, 0.0021, 0.9949]\nstate[eef_state]: left_x=0.2868 left_y=0.0102 left_z=0.1593 left_yaw=0.1764 left_pitch=-0.1521 left_roll=-0.0948 left_gripper=0.998 right_x=0.3684 right_y=0.1059 right_z=0.0906 right_yaw=0.1237 right_pitch=0.1124 right_roll=-0.1408 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -1.8256, 6.8991, 1.5604, -0.105, -0.0757, -0.0122, -0.6085, -5.8735, 8.5538, 1.8779, 0.1538, 0.1001, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:688a44f45219d588c42d261aa0eeb96fae991ede403521a6796ee05b3e75951a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b9f15055c695fb2f965885860feea26c67fcef66b29bd2fb3df2f0b39822cea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5503dd69e535b9862e846761a20d23e713b759306afd2916c85e198bf6feee0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1gkKEAgSGAI4AUIIdGhpbmtpbmcSDKmC00YI80JYvyYgZxoMn/uS61ELu/jgUJShIjBrToEa6K3QUnN22cF55CPopIHs429RsppNU7lxt0jNmLCjLAV5WQky7z11Z6h2z+Uq8wgwyDcEAzMqLEeyLluJqdsdbPeaSm0ifNv7bK2aSBV17jV+guf1XFxn4JTQDgpouIdjxYD+Zoco3lgQF3BM48KcBiFKUElngx3HUm25an7TQmERIFXsJgm2D1MqVtLjwgsxmJguiuusMEbNqsf9u2wDsNjy2I62+qOpurAbtZNU3Hy7bm7HlMloyiwjvBXEYZuVNV09iWEUUa2wZzh+bT6CIS+fNYl1d8gFD//mgL43SxTyOiqhtLw7kdLZMDzQhVqG0iNIMGs2q/T7Dk1c0mGCl1yxWdpWyIwSob2w97BdY5kem2rhnOJ8YX6LjgxB8JspXDSGZY8FL84r4k4ZKir1OY5d2Yg9jPQ3j1B4CkH19yY4WXMuDsSiktd60FyCsDYO+qAlzXOyLb1zR/i0UMZsP+VelVrUHOC9AlLu87WTxJ9Nvwf2Uf7Az3f6oqeUkBfK5KBcj7VJtQMghBjf1C3fqTAiPMqsG1Ev8fc0MBjeGRL26ouPbMDBLni15+UrSKBFUaGEqmzyRnf+1oc2rRdIDRTldFBGoeRLGKmgrWui9cztdNiogNDuWdzS2hiDRNV9TvHTBoapppRqS2eT2EMOZ346ZDN2ufZajUswRfzfXL+Zz9Jks9jqkl8HXFeELUWig94lSFT8K0MYrMRm5esCH7ZKNRX7EJ+fpPywAb7p6rL7HHruZMri429YIkGE5ekoO8/kaPl7oSZWeAvTLBJM+MwnpJmvXg5RTR3AxHpiOFJEyWY6AimF1aAt2vkECLSIAJDxGAnI4mtKBymdeIRPls+do7waevRPIaelm+RJ9frMjRUxJ/t9CKWSKUnwEYEWc7/jylEs85yqnEhIUYNhj1R0ycCkyd+W5v/sczlauQD87Un9tyza7nUxs+DPGs41Z5EVyb2+u9rFdelLCUP7t2Wn66XbWlOjhJAlA69O80t/o8AU+75vBPxZCNfR0Un6+sD4B6w7QFMPMaf3w9AT61VBC7EE1kmkQ/PlyYNKlzWQzVQ5ro2I4wEvWftg682g1rHOmxsWiz4PRIXI6zJ4yRQ/rFSOsCuIRNSLL4yAcSRUxqolN8HGahTd8tM+YLDfimyp1KzWz7mubDDek3iyrhzCAOvVl4XQ8N/LkEFmNLX30OVT7oyvjqqG4m/gN9vEwXdIuw6pAvSdzj4/KofaJJ4jBR4ogNTDzG1OI5WfQxeU1fTN6WxvkHBSl6Wh9mMXEoUleW6oxTGfw9kmhI60K6N6RAJCxqRbA9fvoYaCxDb9Mb8Zjc5gm24Gfh9uyiputfDHF8ytEX6NEA0WNUJDqsVeY0vFudFRYcsBqbyuomE8dJ7xg8+PrGbbjbSFRwBGjOjUcBeEP/4JDXym0VuwEtQWn5drj6Q8gUN5HOTEeMFH8Bdp1liVs9BTmo1FLm6IbGcZimQz9TZ2mz+cfmutN5Nx+nwEUiDMlkXH6DT4sYUosZaRBKk5jvtegMbrVkkiJ7h1S2MXuM4YtQMKVJlYQQIhDyTIfp4qCeTJeJme1O5PfxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HyifBDuCxNpkLijErxeFEa",
      "input": {
        "note": "The peach bowl's left rim shows ~4 cm right of the jaw column in the right wrist view. Shifting right and descending so the jaws straddle its wall.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.075,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01HyifBDuCxNpkLijErxeFEa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8772, 0.6647, -0.5289, -0.1287, -0.2523, 0.998, 0.326, 1.7462, 0.2829, 0.878, 0.2756, -0.0395, 0.9955]\nstate[eef_state]: left_x=0.2854 left_y=0.0102 left_z=0.1565 left_yaw=0.1769 left_pitch=-0.1651 left_roll=-0.0917 left_gripper=0.998 right_x=0.3479 right_y=0.0707 right_z=0.0023 right_yaw=0.1069 right_pitch=0.0049 right_roll=-0.1647 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.9077, 7.0496, 1.663, -0.0904, -0.0562, -0.0122, -0.5402, -5.7778, 3.1795, 1.243, 0.0611, -0.1148, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be2b5313900eff2286264fd7a6790b3ac0dbe4c34d7140d85208548852882d2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d405837fdea52d355d3769888a425cd68e2bea3b291ecef76096223d633e8db5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:595a4f27aadee45d4f2fef55b8a194529a86e946f1ddaf485a9284537577dd35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 6.908 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]: [-0.0563, 0.8719, 0.6651, -0.5198, -0.1287, -0.252, 0.998, 0.4549, 2.03, 0.458, 1.2022, 0.3946, -0.0147, 0.014]\nstate[eef_state]: left_x=0.2867 left_y=0.0102 left_z=0.1598 left_yaw=0.1761 left_pitch=-0.1506 left_roll=-0.0949 left_gripper=0.998 right_x=0.4004 right_y=0.1243 right_z=0.0195 right_yaw=0.1152 right_pitch=0.2289 right_roll=-0.1357 right_gripper=0.014\nstate[joint_eff]: [0.0068, -1.5248, 6.8991, 1.6337, -0.0659, -0.0366, -0.0122, 0.212, -8.8547, 3.8085, 1.9609, 0.2955, 0.1783, 0.188]",
      "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]: [-0.0563, 0.8734, 0.6651, -0.5198, -0.1287, -0.2523, 0.998, 0.4297, 1.4445, 0.4492, 0.5072, 0.3515, 0.0021, 0.9949]\nstate[eef_state]: left_x=0.2868 left_y=0.0102 left_z=0.1593 left_yaw=0.1764 left_pitch=-0.1521 left_roll=-0.0948 left_gripper=0.998 right_x=0.3684 right_y=0.1059 right_z=0.0906 right_yaw=0.1237 right_pitch=0.1124 right_roll=-0.1408 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -1.8256, 6.8991, 1.5604, -0.105, -0.0757, -0.0122, -0.6085, -5.8735, 8.5538, 1.8779, 0.1538, 0.1001, -0.0269]\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]: [-0.0563, 0.8772, 0.6647, -0.5289, -0.1287, -0.2523, 0.998, 0.326, 1.7462, 0.2829, 0.878, 0.2756, -0.0395, 0.9955]\nstate[eef_state]: left_x=0.2854 left_y=0.0102 left_z=0.1565 left_yaw=0.1769 left_pitch=-0.1651 left_roll=-0.0917 left_gripper=0.998 right_x=0.3479 right_y=0.0707 right_z=0.0023 right_yaw=0.1069 right_pitch=0.0049 right_roll=-0.1647 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.9077, 7.0496, 1.663, -0.0904, -0.0562, -0.0122, -0.5402, -5.7778, 3.1795, 1.243, 0.0611, -0.1148, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be2b5313900eff2286264fd7a6790b3ac0dbe4c34d7140d85208548852882d2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d405837fdea52d355d3769888a425cd68e2bea3b291ecef76096223d633e8db5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:595a4f27aadee45d4f2fef55b8a194529a86e946f1ddaf485a9284537577dd35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6QcKEAgSGAI4AUIIdGhpbmtpbmcSDO1kHg84ZpS4ioBNiRoM7wwYueBrfigeJCsmIjAVjnZw2jBxsXgJT99BDqXkTS+sZhiDLkEh263fuSCZDS7aAt8AmeBtiyzWNo8TYawqhgcjAhQUAbhnmeMuRBUA6GvoXlupXrfsKztc5/nj5TlK/Z9IttHekKBoIh1NtZNYfnnWKb1PuFoU3CLCAfaOL1VxlDpNqOVbGHVQCLxvYOuoBeMbhQ2AIcJxhCMiOpn9bKaNvj9OdCrBjChSukDuEokhG5qgE/77os0uMBF4Aq0ykJXVCS/s+5Xm4B1jlYK2kj59MqSr9ytYHv0QB55B6hintQdfn7EZJhHB1r/BOpYwLW7WDBwRcZ0mnRZtWy2QbRBbIe9OtsqNR77inG+TO1VrAX8H4n62xRDymr0DCET5SyQD16DHNZFOHQEqJKQNP95b4PPs3eVGx8a+wz4qkoKoCFnaFQEEiOQnB+L9HOJemBvZHWkH9lVQLTCDbmI4nnWjewnnynAmJUQPE3/FPVatk1XAy6HOVjVa4WdM6xK2+PjhgfU9d9hopPXcitjiBjWHobnh48fHlI5UxZPz1CgSV9TsSOZL6B+U1Txe36Pa2WxMP8yj0xgUkVSN2i/WSUt0igj0Rn652j0Ico1vnfaEwnsnMcfzsLnDTPIKZ13rPg+tMM7d2KBYTSkS6IzGDR/+QAD5G8XCM5uakgYfRUxQ16uBls4LfipghCU4j5bajRdOq0GZSXyul/qZZh/63KYdxR4p+cPqs9uNSock95osY7AZ6liBdf2BZ4knwLuqa4lBtSFeHyToEn7+VDsK87CmU7Gzaj4XZQiTk33AAETihwPj59IXb0Txne5h1GIScITUnhgx3zlCiHYGuDwkG6//R6xu/J2JdC9ka1LPeFQKcbTu1/Dyp2Ah0Il6gxFe9CadUEwGfmmCjrovK41H2kvULJxZPhicIgYpkjeS/MWj59zLw5nouWAq5ozgDvUJEAekgRYTyuiblWVb7SF6rIxyK6yRSvChOk+ky6xrjAUxBJUVngUwNog++zjt9gFg/gh1ugrc6SIRVQSW+Vhum2BSOcYE+/cEKdqB/RcZl+sDYMlDe66u8d0zH+tNMsXG2Pk5P++8BoUb8hTYMypDagcgSBzKuaQIfqbSztDpoW8Qr9c/HOFXMDEyGI0A+mgplSKdB7Do6Jr3pfWAFbcIkNdOjvfQHx7G/uwu9uS3zsVr0LST5dq7eoNLV2tPbCU59gZ/DovUE1Ukn5sm5Jyx2j46nkEaPufPBlcLJS3CmeKgrYUbo5Rle+cODGxFMHL7mFy+LG+22RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WcYSMmyYbNPRpnnXAzDxNZ",
      "input": {
        "note": "At table level the peach bowl's left wall is between the jaws (right jaw just inside it). Closing to pinch the wall.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WcYSMmyYbNPRpnnXAzDxNZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8776, 0.6643, -0.5381, -0.1287, -0.252, 0.998, 0.3244, 1.7275, 0.2871, 0.963, 0.3111, -0.0792, 0.0355]\nstate[eef_state]: left_x=0.2838 left_y=0.0103 left_z=0.1546 left_yaw=0.177 left_pitch=-0.1747 left_roll=-0.0891 left_gripper=0.998 right_x=0.3614 right_y=0.0683 right_z=0.0284 right_yaw=0.0957 right_pitch=0.1102 right_roll=-0.1928 right_gripper=0.0355\nstate[joint_eff]: [0.0068, -1.388, 6.8991, 1.7216, -0.1001, -0.022, -0.0122, 0.1436, -3.3436, 3.4256, 0.315, -0.3736, 0.4322, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9158942ea4df7ab255f2a5c75987cfc7941737e66ab11bf1415fd2ca8e460ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca62caf3e98f0fcd1ed2bbd592e7ab84a57b96b8cc3c7cc01697316bb12b9a53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:93cd5f1f835b201775a6f5f352b6e2e6ddab2ebc72e84554a8c25eda6d4ffe1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 3.91 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]: [-0.0563, 0.8734, 0.6651, -0.5198, -0.1287, -0.2523, 0.998, 0.4297, 1.4445, 0.4492, 0.5072, 0.3515, 0.0021, 0.9949]\nstate[eef_state]: left_x=0.2868 left_y=0.0102 left_z=0.1593 left_yaw=0.1764 left_pitch=-0.1521 left_roll=-0.0948 left_gripper=0.998 right_x=0.3684 right_y=0.1059 right_z=0.0906 right_yaw=0.1237 right_pitch=0.1124 right_roll=-0.1408 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -1.8256, 6.8991, 1.5604, -0.105, -0.0757, -0.0122, -0.6085, -5.8735, 8.5538, 1.8779, 0.1538, 0.1001, -0.0269]\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]: [-0.0563, 0.8772, 0.6647, -0.5289, -0.1287, -0.2523, 0.998, 0.326, 1.7462, 0.2829, 0.878, 0.2756, -0.0395, 0.9955]\nstate[eef_state]: left_x=0.2854 left_y=0.0102 left_z=0.1565 left_yaw=0.1769 left_pitch=-0.1651 left_roll=-0.0917 left_gripper=0.998 right_x=0.3479 right_y=0.0707 right_z=0.0023 right_yaw=0.1069 right_pitch=0.0049 right_roll=-0.1647 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.9077, 7.0496, 1.663, -0.0904, -0.0562, -0.0122, -0.5402, -5.7778, 3.1795, 1.243, 0.0611, -0.1148, 0.0513]",
      "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]: [-0.0563, 0.8776, 0.6643, -0.5381, -0.1287, -0.252, 0.998, 0.3244, 1.7275, 0.2871, 0.963, 0.3111, -0.0792, 0.0355]\nstate[eef_state]: left_x=0.2838 left_y=0.0103 left_z=0.1546 left_yaw=0.177 left_pitch=-0.1747 left_roll=-0.0891 left_gripper=0.998 right_x=0.3614 right_y=0.0683 right_z=0.0284 right_yaw=0.0957 right_pitch=0.1102 right_roll=-0.1928 right_gripper=0.0355\nstate[joint_eff]: [0.0068, -1.388, 6.8991, 1.7216, -0.1001, -0.022, -0.0122, 0.1436, -3.3436, 3.4256, 0.315, -0.3736, 0.4322, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9158942ea4df7ab255f2a5c75987cfc7941737e66ab11bf1415fd2ca8e460ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca62caf3e98f0fcd1ed2bbd592e7ab84a57b96b8cc3c7cc01697316bb12b9a53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93cd5f1f835b201775a6f5f352b6e2e6ddab2ebc72e84554a8c25eda6d4ffe1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpQsKEAgSGAI4AUIIdGhpbmtpbmcSDNmqPu8Pm4C8NSPVCxoMFl9qJKkV3O251/oLIjDp08K2raUAgg6Vs622ArlaGY+MuExnnUkV+fWrWs0LJePlt8bUDWgA3WVqpIN2SU4qwgrFrmGhjEHFMhSv8M+hVADrQyvuxmFwqxNkjju5VGYluUL0VODApXgczj2RUpVl/8yITpnod9X9tBcHT7rT+trraMZzVErBMitr64P6TqMIySq2/q/uDkSKX4tfFXAIlK08e6YCaLJoXx7g6ZiyOijcJszLGeAVseP6OtGkjfNic0+jFJJXi4DIffxAxlKn+h+/UKHlCa0S6xtYpVu0Xq6Zf9czEEeaXGCyoohqtAnJwivtuoyyrCoapivnK5FPcM4ChZaW4dTfaHRokc8sI22Eu65LMtV4JLLT49RRjqESjDKSWVsFuWdqEiOFSQiwpVy0qEvDNp5rZPDjosd0EknnRPhefT6FFSVlpgGY17VpARIEqYC031pa243UBEy8VbZ5p45ViN1l7zMXafkOb2PMp2/E5AjbIC4gvCdA9JEHWwNSmuuI+WUhdKIKbUmGOeeH5b9wd2ySdtBPusKgKw+E1+SaGXu7xfr6+dTFI5TNoLcTx+7xk1th2v8a/33rKzSzayI2hifB+Qm5VV1nP/VS5jK7HE4MdJv1ce1Tbh43wnrmZDnXeENcqBXSNI3I8HVf5f23+jeXAGGMHZWPcMnvWVFtbFv2CG/LUAiK1CWFOjEU8RNlCkB5smev82jYdUJZNn/L3081shR3zT6modiXgL5VWHnw6EhQ1HSIK+onpY5+DMQw7okHiJnkMs4yatmhZz+B8beMindGm+3Ev7KS4q1yd7Xu+hvZHsUpXwK7NigMtiuFon3/AVx6a23rJfuMQdY8HiI4+9ooWHAt9YInEZtFIQefizFl5TPbBIKy9NN3USbbyB1L53+0FfHxMRaof2TMl818u2Ga5j5Vd3I2MZN5cKRMD0SLfmKvnm1+9BrFHN90YN1MZ63o9v1fJSXrBZSfM+Q+We4LKNaU5bBZg/I8xSJik2H5zAE20K++ZkDkHpBsrC0D/IO1iEKbvQvlQO+f+fKTZA16jygLZn8yE8MqEcDWOsxkN/pBIlmRsdPcs5PWiqoagkwyeIdb3n0B7YKstqOQoeb0D/d8daKJyHtmi+GyMpV2gEe9qLiy4bJY8HhuvU8OEF7PDqj312Ba0bdTc4V4CHuvlAPfyVwN3/w7rFdEUV2BvEdRL9rhfeFdNnpkBISqlA1W43digK+2pFyKjVKrJTR4N0lu9Tr5/9O4L37cKLbW8wuGtwpCjUk+IM1UWixSUudX5+BoqZo4cv1vS1ORcetGMKqiEfVRzmtbXPV/aKiKoGO9D4SAdrWoe9at8JJIOIqzzz5HRxQjfuzXhZxbDp35hv1ddjlRR1nu97Q0/WC27bc5IAJPrB+YOXhoE3WAVzHUmaW5EoionCth5iGNeJlif4Tqar1RyMLE8KXr0C3X4kG+AZplv/EH8dABT9Rme5iOj/tJQe24ElcsJ4ESd5I5sZDNsohpIx2YaTb6AHSBDl8XG+spVg97rzQLGZ2yQnTt4Zrqbux5LjJs5+I/j205BvWX6rFzTyol/YBcHr6F630AnEJqqJcEIgOFoytbgutAz5CcvtRXgVuVGEY0Zvt0F6aMa0PzOWYiSvyab3WWUaJHKpBjlA7W2inoFCeG6QYT6h3Kt0le22EfeI2cp/cgjOqQE2VPtJ23OfHUo5ZjU2rVzUELfWn2MIOCZbPxtYOuHyMuwgnSLJ9RRCZEVonjsmsI+fxnReV+SdDqxCfpbxCVVU5+CslxZvvnXSGcSUXOWK6B0LCG3iKvTYuZg3hdnRw+xyMNdpaK742xAU8aQtmAIfoo3IC7dr3F850Qj9tu8eASTJSO5RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SKu6fiA381dTUg2yMA8Tok",
      "input": {
        "note": "Gripper settled at 0.036 and the peach bowl lifted with the jaws. Carrying it high toward the blue bowl, offset so the peach bowl's centre ends up over the blue one.",
        "targets": {
          "right_pitch": 0.3,
          "right_x": 0.51,
          "right_y": 0.17,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01SKu6fiA381dTUg2yMA8Tok",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8791, 0.6643, -0.5449, -0.1287, -0.2523, 0.998, 0.4591, 1.9194, 0.9817, 0.598, 0.4198, -0.0837, 0.0355]\nstate[eef_state]: left_x=0.2827 left_y=0.0104 left_z=0.153 left_yaw=0.1776 left_pitch=-0.1829 left_roll=-0.0874 left_gripper=0.998 right_x=0.4982 right_y=0.1699 right_z=0.1212 right_yaw=0.1335 right_pitch=0.2538 right_roll=-0.2011 right_gripper=0.0355\nstate[joint_eff]: [-0.0068, -1.7436, 7.1043, 1.6093, -0.1245, -0.0659, -0.0122, 0.1709, -9.6205, 8.2803, 1.9365, 0.4127, 0.0024, 1.0085]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1430917486891ac18c9eba1b9b4e5ff8f2de082b6878783c9767ddaa3faadfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ba1746b2031eb8f0cc69415ae92784b347e4c3203154f614fdd0e14f9f8105e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f1b821dc895e412df5ac616b0ab61ba441d90f67975de833252ab7a484b47a09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 5.894 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]: [-0.0563, 0.8772, 0.6647, -0.5289, -0.1287, -0.2523, 0.998, 0.326, 1.7462, 0.2829, 0.878, 0.2756, -0.0395, 0.9955]\nstate[eef_state]: left_x=0.2854 left_y=0.0102 left_z=0.1565 left_yaw=0.1769 left_pitch=-0.1651 left_roll=-0.0917 left_gripper=0.998 right_x=0.3479 right_y=0.0707 right_z=0.0023 right_yaw=0.1069 right_pitch=0.0049 right_roll=-0.1647 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.9077, 7.0496, 1.663, -0.0904, -0.0562, -0.0122, -0.5402, -5.7778, 3.1795, 1.243, 0.0611, -0.1148, 0.0513]",
      "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]: [-0.0563, 0.8776, 0.6643, -0.5381, -0.1287, -0.252, 0.998, 0.3244, 1.7275, 0.2871, 0.963, 0.3111, -0.0792, 0.0355]\nstate[eef_state]: left_x=0.2838 left_y=0.0103 left_z=0.1546 left_yaw=0.177 left_pitch=-0.1747 left_roll=-0.0891 left_gripper=0.998 right_x=0.3614 right_y=0.0683 right_z=0.0284 right_yaw=0.0957 right_pitch=0.1102 right_roll=-0.1928 right_gripper=0.0355\nstate[joint_eff]: [0.0068, -1.388, 6.8991, 1.7216, -0.1001, -0.022, -0.0122, 0.1436, -3.3436, 3.4256, 0.315, -0.3736, 0.4322, 0.7595]\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]: [-0.0563, 0.8791, 0.6643, -0.5449, -0.1287, -0.2523, 0.998, 0.4591, 1.9194, 0.9817, 0.598, 0.4198, -0.0837, 0.0355]\nstate[eef_state]: left_x=0.2827 left_y=0.0104 left_z=0.153 left_yaw=0.1776 left_pitch=-0.1829 left_roll=-0.0874 left_gripper=0.998 right_x=0.4982 right_y=0.1699 right_z=0.1212 right_yaw=0.1335 right_pitch=0.2538 right_roll=-0.2011 right_gripper=0.0355\nstate[joint_eff]: [-0.0068, -1.7436, 7.1043, 1.6093, -0.1245, -0.0659, -0.0122, 0.1709, -9.6205, 8.2803, 1.9365, 0.4127, 0.0024, 1.0085]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1430917486891ac18c9eba1b9b4e5ff8f2de082b6878783c9767ddaa3faadfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ba1746b2031eb8f0cc69415ae92784b347e4c3203154f614fdd0e14f9f8105e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1b821dc895e412df5ac616b0ab61ba441d90f67975de833252ab7a484b47a09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmQcKEAgSGAI4AUIIdGhpbmtpbmcSDBpIUeaTRXfKLNljRxoM+ru7eYzPtpKfqeBwIjBgiKLX3zRLkbDtuJau0/4EUaPoVUXGqPLd471mRWGYOj3bkPCq1P9TXLoZbnlAFa4qtgYCfDIum3+fMHBLlIP6C88lSmcF+QBd24w7OIpDyIQZAugwJWw2MSn9GH34fcoJES5LM9kAo7HjdHTLpwwoWkUjXjseyCtIVRPYcn7PoYJ/u3Llh0pTiX50ZOPWK+JhiZuYh8ENwlH0gTX/glOPF4jzIDu6njCn+9fqcPSWY037vkydvQxIA4mcygzgwk8Oj6T/XeSNRGLCBUCzKG4W16UJ0xczvkpZEaMv7M0tJWw4W06Y/YwMNvMiLFYo8rVL33IdU8+d+A4jQhYa1mr8TKCGRYisfPfSPgISwloOotnuTBT0a24hs4gWQYcEZu4ryr8cAG5beI6f+m+oN1FvdtsScK+Fcjh8FJWO0QGFQolIwQG910hxajIEfmRObRFkwV39WRi27yPNfC8iUQ/Ks4Zv0Sh6K1h7hu61G2I0AAeRaSPlyw1A9vxP5lRmuIPk91UE0mXLBXmfP+2t/llR+H4Tutk/rNN9TumGToptdA5WWWsE29vWMmH3rqzUzSHYNdu08faeDI2xiFW4IMebDMkIIXJDEANXoF8Kq8A13Ct7rFK+amfiw/OhCdzAGR6BXNn/EsB6CzGxYzAXA7ndhycq5AZufxPqPEBgWr40UG8o+jKeZm9nVtKyrnvb1oAo0K1o8k+aG1DY8XX243Xzuxo2nn9iu5DoPbFS/MczNvYo7dzEFWTHPTzVQKAXz9e5Z5a/+Ya2+RIgjZQOBwVCDN02E37ShvmpkJJDdj8ylUAVrCNid8bRE0+h6F/+oq2NZWWmyS9F/2ZhqpNZh1gSg/MZvCH8D8+9B755wf7Tk9R/VvmOEjmj2gkJU/JikHO1D5KWHlb4dAzCwNA67dhThjVC8E7M/3QPsigq1n707UrkVZTNxooKOXKM1x7FKMdbxVEnh/h/35RJnCL3eZNFncBTR8qK90RwXADff5OfcR5y1duLfScqncwp5xm78CHPgSPrEe/4mb1srhDyqXTbEBfoD2ajLYpfOUppNtEbgbamGtdJAwAjBtkkJWkzTnKGaMq3xabGERQN+Mt4ejlqFcAzO0gH3IEqOcDCL6Ky6v2W/9sqmd+kHOHjrxsQMQ6LKi2fpHvgBJ4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AW4Cg4UtSE6ZE2PhpYuG7J",
      "input": {
        "note": "Peach bowl is carried and the overhead view shows it covering the blue bowl's spot. Lowering it into the blue bowl.",
        "targets": {
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01AW4Cg4UtSE6ZE2PhpYuG7J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8791, 0.6643, -0.5461, -0.1287, -0.2523, 0.998, 0.4625, 2.056, 0.934, 0.7162, 0.4145, -0.0868, 0.0371]\nstate[eef_state]: left_x=0.2825 left_y=0.0104 left_z=0.1528 left_yaw=0.1777 left_pitch=-0.184 left_roll=-0.0871 left_gripper=0.998 right_x=0.4925 right_y=0.1701 right_z=0.0596 right_yaw=0.1479 right_pitch=0.1902 right_roll=-0.2234 right_gripper=0.0371\nstate[joint_eff]: [-0.0342, -1.6342, 6.8581, 1.5702, -0.1099, -0.0708, -0.0122, -0.5949, -10.6598, 5.7231, 2.42, 0.1832, 0.0269, 0.9206]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0af4a1cf5f6b32e0582ab7bea26c6de0d68bb4e13b0df40000061c0ab9b3ad62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:346860e2a23c8aa877ec70229f9ea8a5972d54c417105287f957e11ccd252661",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e7d495aa137efeb7bee32d113fbedef97d00567599e2e69b8bb6e74fc3fb281",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 12.12 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]: [-0.0563, 0.8776, 0.6643, -0.5381, -0.1287, -0.252, 0.998, 0.3244, 1.7275, 0.2871, 0.963, 0.3111, -0.0792, 0.0355]\nstate[eef_state]: left_x=0.2838 left_y=0.0103 left_z=0.1546 left_yaw=0.177 left_pitch=-0.1747 left_roll=-0.0891 left_gripper=0.998 right_x=0.3614 right_y=0.0683 right_z=0.0284 right_yaw=0.0957 right_pitch=0.1102 right_roll=-0.1928 right_gripper=0.0355\nstate[joint_eff]: [0.0068, -1.388, 6.8991, 1.7216, -0.1001, -0.022, -0.0122, 0.1436, -3.3436, 3.4256, 0.315, -0.3736, 0.4322, 0.7595]\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]: [-0.0563, 0.8791, 0.6643, -0.5449, -0.1287, -0.2523, 0.998, 0.4591, 1.9194, 0.9817, 0.598, 0.4198, -0.0837, 0.0355]\nstate[eef_state]: left_x=0.2827 left_y=0.0104 left_z=0.153 left_yaw=0.1776 left_pitch=-0.1829 left_roll=-0.0874 left_gripper=0.998 right_x=0.4982 right_y=0.1699 right_z=0.1212 right_yaw=0.1335 right_pitch=0.2538 right_roll=-0.2011 right_gripper=0.0355\nstate[joint_eff]: [-0.0068, -1.7436, 7.1043, 1.6093, -0.1245, -0.0659, -0.0122, 0.1709, -9.6205, 8.2803, 1.9365, 0.4127, 0.0024, 1.0085]\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 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8791, 0.6643, -0.5461, -0.1287, -0.2523, 0.998, 0.4625, 2.056, 0.934, 0.7162, 0.4145, -0.0868, 0.0371]\nstate[eef_state]: left_x=0.2825 left_y=0.0104 left_z=0.1528 left_yaw=0.1777 left_pitch=-0.184 left_roll=-0.0871 left_gripper=0.998 right_x=0.4925 right_y=0.1701 right_z=0.0596 right_yaw=0.1479 right_pitch=0.1902 right_roll=-0.2234 right_gripper=0.0371\nstate[joint_eff]: [-0.0342, -1.6342, 6.8581, 1.5702, -0.1099, -0.0708, -0.0122, -0.5949, -10.6598, 5.7231, 2.42, 0.1832, 0.0269, 0.9206]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0af4a1cf5f6b32e0582ab7bea26c6de0d68bb4e13b0df40000061c0ab9b3ad62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:346860e2a23c8aa877ec70229f9ea8a5972d54c417105287f957e11ccd252661",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e7d495aa137efeb7bee32d113fbedef97d00567599e2e69b8bb6e74fc3fb281",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9AcKEAgSGAI4AUIIdGhpbmtpbmcSDBE4nKIPTeYlQQaRBhoMcFDWZzspyizlo7FVIjCYC11FAYDP+mK2fp2/1baCURkUUaC9Tc+6WUf/MGSd65oQdq8aBn7vWRo6YbbL8RsqkQdjcXzkXodaoVwYvaCbuStVKcJngP88TFtmqDfwmvOjE2e87jftkzczfOJo6EfLFduRfE3FxiRjJj0Nxlo067GqKWL36PVaDsPuSPwZtYKD6yS7FzNQtq+8rxSjiZgnrpqV55w+DOWRMbOKX97DxviUKzCP31PjLsAV1rh8wgaSDY4rdm5hfxxnOON1xV9jERbmZXP+I+iWEz7j1AXepcbSo+1+iz7h9zKmhwK3E+7DQYNAaL/xtBo1ybZ4iC1c0o5W1gYMictzN1qub7aUdEpUoLnWBUcqDu8r12YQbWKxm+jykAUi1ywNbigdEQkzTkCOOpCgld9RqACc/hfh501j2tmp7uDiO6ArvhL8drGDEjETC+OPpNtdFJZOcP56GdreMFwQb8lbGR31w7ZpSVT51cnVa6ic0hRDNfRwr7MASb104UwpNlr4LabPAld2xHggZBtrvzdqEMvncGvPAGFJbhIkl/tMyuvHqJKqAt8YZThUf3ZORPDthaUNmyNrctDClyt96N4y5DrulzXlByspEVC6xJ1grE10Hn/zTm92nscd589fAGAHdvu/5QUgJyaPxH39JONiBifhwL0WVQWhACjZN99F5fzfdS80EtlBU3iWSiG1HAM+yUb0/zyfEFUD6ulsGp6oM212jwQhu+iBrVH62GDDsc84pqEb9BuEopucpKe/3Uc2vkDpsARMLmjCMaX6DX7rAauP+OVg2PKeQ62EZoYc2l8vSMFKoOqmREhdqlHHp6WS/xRR6ffC6fd8++CcGNfvOP5cxE7spVIh7set1ayW4z7C5g8af6BTdzhH32xLKo1CIlU54r5zEb/XZ3SUfhRxCkY4nR3qu8/9dlZogq/DRU/oon/vgjPLeIxkvWB8tOzWxo7/BoeTqAtdPrwiy9ZVB3Lfm8jCgeT79NMawMs1mxNeWAixCmpnEYxTZSErdMvaDDOUd3585HbezyEVX7H4Qe94LtDtCCOBTDHZAPAo0ZFSIxNFb1VOd+eOulotdnMGT7yK1RWnvIPbkzqalugr9pco0yTqtVC5F5Xm71vEmLGeZiwgU+4FGZ71d3t8RIklZdzYVrGQVcXe7PhNNgIBUDM3xuqcmScrEyusQdEa19Yej/h6JrWpWdBdEVpunulKjkj4pQUxGYe4JGCSYKv9oBg3Fzda/MACJS/XtidLmOHQB4E8OEkHlnTsKcYTV0FOsobyh0UBx5HZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CfChPaSyiQHzu4PWM8aFDg",
      "input": {
        "note": "The peach bowl sits over the blue bowl, which shows just behind its rim in the overhead view. Releasing it to nest.",
        "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_01CfChPaSyiQHzu4PWM8aFDg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8791, 0.6643, -0.5465, -0.1287, -0.252, 0.998, 0.4629, 2.0777, 0.9207, 0.7078, 0.4107, -0.0959, 0.9954]\nstate[eef_state]: left_x=0.2825 left_y=0.0104 left_z=0.1527 left_yaw=0.1775 left_pitch=-0.1844 left_roll=-0.0868 left_gripper=0.998 right_x=0.4869 right_y=0.1682 right_z=0.042 right_yaw=0.1586 right_pitch=0.1471 right_roll=-0.2438 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -1.4154, 6.8718, 1.5311, -0.0806, -0.0171, -0.0122, -0.3897, -11.7538, 6.1607, 1.8632, 0.0366, 0.0757, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74e9c847a39e1e1cbd1de6329bfc03495b85d71a86783ee3f81e91fbba97301a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d1ab98f3a2853f8c511d7f135fa65e7cc1c2c559ccf83e0adf971153f6ca4dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e160789a2e565f9158757520539abaf67a58543a5670aeaa06611677550e8ca9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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