adhoc

completed
2026-09-22T20:05:26.527769+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
197.1 s
total steps
253
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls in a row (grey-green, blue, pink). Moving left arm over the left bowl (estimated left_y≈-0.16) to check alignment in the wrist camera.
move_to
left_x0.3000left_y-0.1600left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.3798, -0.02, -0.0261, 0.9996, -0.0181, 0.7921, 0.6014, -0.3794, -0.0139, -0.0265, 0.9993] state[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0007 right_z=0.1794 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.4855, -1.5385, 10.1128, 1.7949, -0.0708, 0.0708, -0.0562, -0.4991, -1.3744, 10.3316, 1.9121, -0.1197, 0.0855, -0.0904] 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": 0.3, "left_y": -0.16, "left_z": 0.15}, "note": "Three bowls in a row (grey-green, blue, pink). Moving left arm over the left bowl (estimated left_y\u2248-0.16) to check alignment in the wrist camera."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteWhite bowl is slightly left and ahead of the left gripper. Positioning over its right-hand wall so the open jaws can straddle the rim.
move_to
left_x0.3400left_y-0.1900left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8188, 1.1973, 0.6678, -0.2852, -0.6304, -0.5198, 0.9996, -0.02, 0.7975, 0.6003, -0.3893, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.2914 left_y=-0.1539 left_z=0.1312 left_yaw=-0.035 left_pitch=-0.0589 left_roll=0.042 left_gripper=0.9996 right_x=0.2933 right_y=0.0006 right_z=0.1754 right_yaw=0.0005 right_pitch=-0.0164 right_roll=0.0015 right_gripper=0.9992 state[joint_eff]: [-0.3077, -4.3282, 9.306, 1.536, -0.5006, -0.022, -0.0122, -0.0752, -1.6752, 7.1453, 1.8486, -0.0171, -0.0659, -0.0171] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.19, "left_z": 0.12}, "note": "White bowl is slightly left and ahead of the left gripper. Positioning over its right-hand wall so the open jaws can straddle the rim."})
tool
executing move_to over 4 steps (0.4s)
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 right wall lines up with the jaw column but is still ahead of the fingertips; advancing ~4 cm and descending to straddle the wall.
move_to
left_x0.3700left_y-0.1900left_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7841, 1.4586, 0.77, -0.1997, -0.6144, -0.5129, 0.9996, -0.02, 0.8024, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.3244 left_y=-0.1747 left_z=0.0987 left_yaw=-0.0107 left_pitch=-0.1201 left_roll=0.0907 left_gripper=0.9996 right_x=0.2931 right_y=0.0007 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0251 right_roll=0.0016 right_gripper=0.9992 state[joint_eff]: [0.253, -7.1863, 8.9641, 1.4969, -0.2564, 0.2711, -0.0122, -0.2667, -1.1966, 7.0632, 1.7363, -0.0659, -0.0757, -0.0122] 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_x": 0.37, "left_y": -0.19, "left_z": 0.03}, "note": "Bowl's right wall lines up with the jaw column but is still ahead of the fingertips; advancing ~4 cm and 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 notePrevious move was clamped and barely moved; trying a smaller step forward and down toward the bowl's right wall.
move_to
left_x0.3600left_y-0.1900left_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7845, 1.4773, 0.7837, -0.1673, -0.5995, -0.5129, 0.9996, -0.02, 0.8024, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.3298 left_y=-0.1833 left_z=0.1008 left_yaw=-0.0237 left_pitch=-0.1082 left_roll=0.0633 left_gripper=0.9996 right_x=0.293 right_y=0.0007 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0255 right_roll=0.0016 right_gripper=0.9992 state[joint_eff]: [0.253, -6.5846, 8.9368, 1.58, -0.3639, 0.232, -0.0122, -0.3624, -1.1282, 7.0085, 1.746, -0.0659, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.19, "left_z": 0.06}, "note": "Previous move was clamped and barely moved; trying a smaller step forward and down toward the bowl's right wall."})
tool
executing move_to over 3 steps (0.3s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteArm is not tracking; possibly a fingertip touching a rim. Lifting straight up to free it.
move_to
left_x0.3300left_y-0.1800left_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7845, 1.4773, 0.7837, -0.1673, -0.5995, -0.5129, 0.9996, -0.02, 0.8024, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.3298 left_y=-0.1833 left_z=0.1008 left_yaw=-0.0237 left_pitch=-0.1082 left_roll=0.0633 left_gripper=0.9996 right_x=0.2931 right_y=0.0007 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0251 right_roll=0.0016 right_gripper=0.9992 state[joint_eff]: [0.2393, -6.7487, 8.9231, 1.6142, -0.3346, 0.2271, -0.0122, -0.1573, -1.3197, 7.0085, 1.746, -0.0464, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.18, "left_z": 0.14}, "note": "Arm is not tracking; possibly a fingertip touching a rim. Lifting straight up to free it."})
tool
executing move_to over 3 steps (0.3s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteLeft arm is frozen with every move clamped. Testing a small lift that keeps the current wrist orientation, in case the orientation correction is what gets clamped.
move_to
left_x0.3300left_y-0.1830left_z0.1200left_yaw-0.0240left_pitch-0.1080left_roll0.0640
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7845, 1.4773, 0.7837, -0.1673, -0.5995, -0.5125, 0.9996, -0.02, 0.8028, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.3298 left_y=-0.1833 left_z=0.1008 left_yaw=-0.0239 left_pitch=-0.1083 left_roll=0.0636 left_gripper=0.9996 right_x=0.293 right_y=0.0007 right_z=0.173 right_yaw=0.0006 right_pitch=-0.0259 right_roll=0.0017 right_gripper=0.9992 state[joint_eff]: [0.2256, -6.7487, 8.9915, 1.58, -0.3541, 0.2271, -0.0122, -0.2256, -1.2103, 7.0496, 1.7607, -0.0513, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.183, "left_z": 0.12, "left_yaw": -0.024, "left_pitch": -0.108, "left_roll": 0.064}, "note": "Left arm is frozen with every move clamped. Testing a small lift that keeps the current wrist orientation, in case the orientation correction is what gets clamped."})
tool
executing move_to over 2 steps (0.2s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteLeft arm has stalled near z=0.10. Backing out toward home to un-stick it before re-approaching the white bowl.
move_to
left_x0.2900left_y-0.1000left_z0.1800left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7845, 1.4731, 0.7963, -0.207, -0.5991, -0.5144, 0.9996, -0.02, 0.8032, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.3276 left_y=-0.1812 left_z=0.1013 left_yaw=-0.0213 left_pitch=-0.1249 left_roll=0.0778 left_gripper=0.9996 right_x=0.2931 right_y=0.0007 right_z=0.1729 right_yaw=0.0006 right_pitch=-0.0263 right_roll=0.0017 right_gripper=0.9992 state[joint_eff]: [-0.1709, -8.1436, 9.6479, 1.2332, -0.3199, -0.0122, -0.0122, -0.212, -1.2923, 7.2, 1.7216, -0.0757, -0.0513, -0.0122] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": -0.1, "left_z": 0.18, "left_yaw": 0, "left_pitch": 0, "left_roll": 0}, "note": "Left arm has stalled near z=0.10. Backing out toward home to un-stick it before re-approaching the white bowl."})
tool
executing move_to over 8 steps (0.8s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteArm is free again; white bowl is centred ahead in the wrist view (center ≈ y -0.115, x ≈ 0.36). Moving above its right-hand wall.
move_to
left_x0.3600left_y-0.1750left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6506, 0.9802, 0.6823, -0.3721, -0.5461, -0.4297, 0.9996, -0.02, 0.8043, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.295 left_y=-0.1047 left_z=0.1796 left_yaw=0.0189 left_pitch=0.0105 left_roll=-0.022 left_gripper=0.9996 right_x=0.2932 right_y=0.0006 right_z=0.1726 right_yaw=0.0006 right_pitch=-0.0271 right_roll=0.0017 right_gripper=0.9992 state[joint_eff]: [0.335, -2.2496, 6.8308, 1.6288, -0.0904, 0.1587, -0.0122, -0.1026, -1.4154, 7.0085, 1.7656, -0.0073, -0.0562, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.175, "left_z": 0.12}, "note": "Arm is free again; white bowl is centred ahead in the wrist view (center \u2248 y -0.115, x \u2248 0.36). Moving above its right-hand wall."})
tool
executing move_to over 7 steps (0.7s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe white bowl's right wall is near the jaw column. Descending to straddle the wall low down.
move_to
left_x0.3600left_y-0.1800left_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7059, 1.4601, 0.7197, -0.0593, -0.577, -0.4725, 0.9996, -0.02, 0.8097, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.342 left_y=-0.1602 left_z=0.0971 left_yaw=0.0129 left_pitch=-0.0756 left_roll=0.0417 left_gripper=0.9996 right_x=0.2935 right_y=0.0006 right_z=0.1711 right_yaw=0.0006 right_pitch=-0.0328 right_roll=0.0018 right_gripper=0.9992 state[joint_eff]: [-0.4308, -6.9949, 8.9094, 1.5897, -0.3736, -0.0269, -0.0122, -0.2393, -1.7299, 7.0632, 1.7265, -0.0659, -0.0415, -0.0122] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.18, "left_z": 0.02}, "note": "The white bowl's right wall is near the jaw column. Descending to straddle the wall low down."})
tool
executing move_to over 5 steps (0.5s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe bowl's right wall sits between the open jaws at low height. 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]: [-0.7139, 1.7676, 0.6758, 0.2134, -0.577, -0.4797, 0.9996, -0.02, 0.8116, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.3504 left_y=-0.1714 left_z=0.0134 left_yaw=0.0143 left_pitch=-0.1343 left_roll=0.0883 left_gripper=0.9996 right_x=0.2936 right_y=0.0006 right_z=0.1706 right_yaw=0.0006 right_pitch=-0.0347 right_roll=0.0018 right_gripper=0.9992 state[joint_eff]: [-0.6496, -8.1846, 4.9162, 1.5897, -0.3101, -0.0562, -0.0171, -0.0615, -1.4838, 7.1726, 1.7314, -0.0806, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The bowl's right wall sits between the open jaws at low height. Closing to pinch the wall."})
tool
executing move_to over 10 steps (1.0s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteGripper closed at 0.025, consistent with a thin bowl wall pinched. Lifting to check the bowl comes along.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7113, 1.7458, 0.6769, 0.2409, -0.6483, -0.4572, 0.0249, -0.02, 0.812, 0.5999, -0.3939, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.3592 left_y=-0.164 left_z=0.0309 left_yaw=0.0522 left_pitch=-0.0621 left_roll=0.1114 left_gripper=0.0249 right_x=0.2935 right_y=0.0006 right_z=0.1703 right_yaw=0.0006 right_pitch=-0.0358 right_roll=0.0019 right_gripper=0.9992 state[joint_eff]: [-0.1983, -5.2991, 4.9709, 1.1013, 0.359, -0.2222, 1.0525, -0.1299, -1.1829, 7.0496, 1.7118, -0.0513, -0.0757, -0.0122] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.1}, "note": "Gripper closed at 0.025, consistent with a thin bowl wall pinched. Lifting to check the bowl comes along."})
tool
executing move_to over 5 steps (0.5s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteWhite bowl appears held (stays fixed in wrist view while the purple bowl receded). Lifting higher to clear the purple bowl before moving over it.
move_to
left_z0.1800left_y-0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7116, 1.5841, 0.7715, -0.0223, -0.6472, -0.4614, 0.0325, -0.02, 0.812, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.3576 left_y=-0.163 left_z=0.0831 left_yaw=0.0536 left_pitch=-0.0674 left_roll=0.1122 left_gripper=0.0325 right_x=0.2936 right_y=0.0006 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.0351 right_roll=0.0018 right_gripper=0.9992 state[joint_eff]: [-0.1436, -8.0068, 8.3624, 1.409, -0.3297, -0.0171, 1.0281, -0.0889, -1.347, 7.1726, 1.6972, -0.0708, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.18, "left_y": -0.2}, "note": "White bowl appears held (stays fixed in wrist view while the purple bowl receded). Lifting higher to clear the purple bowl before moving over it."})
tool
executing move_to over 7 steps (0.7s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteCarrying the white bowl; purple bowl is just to the right in the wrist view. Moving right to centre the white bowl over the purple one.
move_to
left_z0.1800left_y-0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7963, 1.5616, 1.1133, -0.44, -0.6815, -0.5484, 0.0325, -0.02, 0.812, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.3584 left_y=-0.2021 left_z=0.1632 left_yaw=0.0423 left_pitch=-0.0806 left_roll=0.099 left_gripper=0.0325 right_x=0.2936 right_y=0.0006 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.0351 right_roll=0.0018 right_gripper=0.9992 state[joint_eff]: [-0.2803, -8.0205, 8.5812, 1.2821, -0.4713, 0.0415, 1.0379, -0.0615, -0.9778, 7.159, 1.7021, -0.0806, -0.0855, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.18, "left_y": -0.3}, "note": "Carrying the white bowl; purple bowl is just to the right in the wrist view. Moving right to centre the white bowl over the purple one."})
tool
executing move_to over 9 steps (0.9s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent notePurple bowl appears just right of the jaws, while the held white bowl hangs to the left of them, so the white bowl is still left of the purple one. Moving ~6 cm further right.
move_to
left_z0.1800left_y-0.3600left_x0.3700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9676, 1.8503, 1.4994, -0.6765, -0.7521, -0.7338, 0.0325, -0.02, 0.8162, 0.598, -0.4004, -0.0162, -0.0269, 0.9992] state[eef_state]: left_x=0.3556 left_y=-0.2972 left_z=0.1676 left_yaw=0.0257 left_pitch=-0.1091 left_roll=0.0987 left_gripper=0.0325 right_x=0.2925 right_y=0.0006 right_z=0.167 right_yaw=0.0002 right_pitch=-0.0484 right_roll=0.0019 right_gripper=0.9992 state[joint_eff]: [-0.3077, -9.7983, 8.8821, 0.9792, -0.6129, -0.0073, 1.033, -0.1299, -1.6615, 7.1863, 1.7949, -0.0366, -0.0415, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.18, "left_y": -0.36, "left_x": 0.37}, "note": "Purple bowl appears just right of the jaws, while the held white bowl hangs to the left of them, so the white bowl is still left of the purple one. Moving ~6 cm further right."})
tool
executing move_to over 6 steps (0.6s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteWhite bowl now covers the purple bowl in both views. Lowering it to nest inside.
move_to
left_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0149, 2.0918, 1.8641, -0.8448, -0.7578, -0.8024, 0.036, -0.02, 0.8173, 0.5957, -0.4122, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.3692 left_y=-0.3574 left_z=0.17 left_yaw=0.0232 left_pitch=-0.1249 left_roll=0.0864 left_gripper=0.036 right_x=0.2906 right_y=0.0007 right_z=0.1633 right_yaw=0.0006 right_pitch=-0.0637 right_roll=0.0024 right_gripper=0.9992 state[joint_eff]: [-0.7726, -11.535, 8.4991, 0.7839, -0.569, 0.022, 1.0281, -0.1846, -1.4291, 7.1726, 1.8046, -0.0806, -0.0122, -0.0122] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.05}, "note": "White bowl now covers the purple bowl in both views. Lowering it to nest inside."})
tool
executing move_to over 8 steps (0.8s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteWhite bowl is seated inside the purple bowl (purple rim just visible around it). Releasing.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0191, 2.1666, 1.5436, -0.4793, -0.7502, -0.8089, 0.036, -0.02, 0.8181, 0.5945, -0.416, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.3635 left_y=-0.3541 left_z=0.0586 left_yaw=0.022 left_pitch=-0.1455 left_roll=0.1038 left_gripper=0.036 right_x=0.2899 right_y=0.0007 right_z=0.1618 right_yaw=0.0006 right_pitch=-0.0694 right_roll=0.0026 right_gripper=0.9992 state[joint_eff]: [0.5675, -10.5231, 5.9556, 1.2625, -0.4518, 0.0073, 1.0232, -0.1299, -1.1282, 7.0769, 1.6874, -0.0171, -0.0317, -0.0122] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "White bowl is seated inside the purple bowl (purple rim just visible around it). Releasing."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteReleased the white bowl inside the purple one. Lifting the left arm straight up clear of the stack.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0183, 2.1822, 1.5341, -0.4664, -0.7696, -0.8124, 0.9944, -0.02, 0.8185, 0.5945, -0.416, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.3647 left_y=-0.3506 left_z=0.0514 left_yaw=0.036 left_pitch=-0.1363 left_roll=0.1207 left_gripper=0.9944 right_x=0.2899 right_y=0.0007 right_z=0.1617 right_yaw=0.0006 right_pitch=-0.0698 right_roll=0.0026 right_gripper=0.9992 state[joint_eff]: [-0.1983, -13.2718, 6.735, 0.8913, -0.1832, 0.0269, -0.0952, -0.0068, -1.4017, 6.9949, 1.6484, -0.0317, -0.0708, -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": 0.2}, "note": "Released the white bowl inside the purple one. Lifting the left arm straight up clear of the stack."})
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 noteWhite bowl is nested in the purple bowl. Parking the left arm at home so the right arm can bring the pink bowl over.
move_to
left_x0.2900left_y0.0000left_z0.1800left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0183, 2.1231, 1.9545, -0.9569, -0.7574, -0.8211, 0.9952, -0.02, 0.8185, 0.5945, -0.4164, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.3664 left_y=-0.3562 left_z=0.1758 left_yaw=0.036 left_pitch=-0.1507 left_roll=0.1182 left_gripper=0.9952 right_x=0.2898 right_y=0.0007 right_z=0.1616 right_yaw=0.0006 right_pitch=-0.0701 right_roll=0.0026 right_gripper=0.9992 state[joint_eff]: [-0.1709, -13.6547, 8.5675, 1.0476, -0.4957, 0.0757, 0.0611, -0.0205, -1.2376, 6.9675, 1.6532, -0.0708, -0.0562, -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_x": 0.29, "left_y": 0.0, "left_z": 0.18, "left_yaw": 0, "left_pitch": 0, "left_roll": 0}, "note": "White bowl is nested in the purple bowl. Parking the left arm at home so the right arm can bring the pink bowl over."})
tool
executing move_to over 32 steps (3.2s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteStack (white in purple) is complete in the centre; pink bowl sits ~13 cm left of the right gripper. Moving the right arm over the pink bowl's right-hand wall.
move_to
right_x0.3300right_y0.0700right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0551, 0.7822, 0.6033, -0.4061, -0.1062, -0.0902, 0.9952, -0.02, 0.8185, 0.5945, -0.4191, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.2903 left_y=0.0063 left_z=0.178 left_yaw=0.0716 left_pitch=-0.0113 left_roll=-0.0057 left_gripper=0.9952 right_x=0.2894 right_y=0.0007 right_z=0.1611 right_yaw=0.0006 right_pitch=-0.0728 right_roll=0.0026 right_gripper=0.9992 state[joint_eff]: [0.0342, -1.3607, 7.0222, 1.79, -0.0024, 0.2662, -0.0073, -0.1846, -1.3607, 6.9812, 1.7021, -0.0806, -0.0708, -0.0122] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.07, "right_z": 0.12}, "note": "Stack (white in purple) is complete in the centre; pink bowl sits ~13 cm left of the right gripper. Moving the right arm over the pink bowl's right-hand wall."})
tool
executing move_to over 6 steps (0.6s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent notePink bowl's right wall lines up with the jaw column but sits a bit ahead. Advancing slightly and descending to straddle the wall.
move_to
right_x0.3500right_y0.0750right_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0525, 0.7872, 0.6014, -0.4072, -0.104, -0.0788, 0.9952, 0.3222, 1.1141, 0.5529, -0.1806, 0.207, 0.144, 0.9992] state[eef_state]: left_x=0.2902 left_y=0.0067 left_z=0.1755 left_yaw=0.0662 left_pitch=-0.0194 left_roll=0.0035 left_gripper=0.9952 right_x=0.3159 right_y=0.071 right_z=0.1054 right_yaw=0.0597 right_pitch=-0.1525 right_roll=-0.0184 right_gripper=0.9992 state[joint_eff]: [-0.2393, -1.5795, 7.1453, 1.7314, -0.0904, -0.149, -0.0171, 0.1573, -3.8359, 7.4872, 1.8046, 0.3248, 0.1783, -0.0122] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.075, "right_z": 0.02}, "note": "Pink bowl's right wall lines up with the jaw column but sits a bit ahead. Advancing slightly and descending to straddle the wall."})
tool
executing move_to over 6 steps (0.6s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent notePink bowl wall is between the jaws (left jaw inside, right jaw outside). Closing to pinch it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0525, 0.7918, 0.6014, -0.4072, -0.1055, -0.0784, 0.9952, 0.297, 1.5166, 0.4427, 0.244, 0.1905, 0.1272, 0.9992] state[eef_state]: left_x=0.2905 left_y=0.007 left_z=0.1743 left_yaw=0.0673 left_pitch=-0.0238 left_roll=0.0052 left_gripper=0.9952 right_x=0.3335 right_y=0.0708 right_z=0.0093 right_yaw=0.0532 right_pitch=-0.241 right_roll=-0.0417 right_gripper=0.9992 state[joint_eff]: [-0.1846, -1.5521, 7.0496, 1.7118, -0.0904, -0.0562, -0.0073, -0.6359, -6.0103, 4.7795, 1.5946, 0.0171, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pink bowl wall is between the jaws (left jaw inside, right jaw outside). Closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteJaws closed on the pink wall (reading 0.038). Lifting high to clear the stack.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0525, 0.7948, 0.6014, -0.4068, -0.1051, -0.0784, 0.9952, 0.3008, 1.4979, 0.4526, 0.3042, 0.1581, 0.1413, 0.038] state[eef_state]: left_x=0.2907 left_y=0.0069 left_z=0.1736 left_yaw=0.067 left_pitch=-0.0265 left_roll=0.0053 left_gripper=0.9952 right_x=0.3473 right_y=0.0824 right_z=0.0285 right_yaw=0.0809 right_pitch=-0.1596 right_roll=0.0122 right_gripper=0.038 state[joint_eff]: [-0.1162, -1.1419, 6.9812, 1.7118, -0.0562, -0.0171, -0.0171, -0.6085, -3.6581, 4.9299, 0.8474, 0.3687, -0.1245, 0.9744] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Jaws closed on the pink wall (reading 0.038). Lifting high to clear the stack."})
tool
executing move_to over 12 steps (1.2s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent notePink bowl is lifted with the gripper. Carrying it left over the white/purple stack.
move_to
right_x0.3600right_y0.2900right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0525, 0.7979, 0.6014, -0.4068, -0.1055, -0.0784, 0.9952, 0.3, 1.2152, 0.9276, -0.4892, 0.1513, 0.1307, 0.0398] state[eef_state]: left_x=0.2909 left_y=0.0069 left_z=0.1727 left_yaw=0.0673 left_pitch=-0.0295 left_roll=0.0059 left_gripper=0.9952 right_x=0.3456 right_y=0.0828 right_z=0.1761 right_yaw=0.0904 right_pitch=-0.1957 right_roll=0.0012 right_gripper=0.0398 state[joint_eff]: [-0.1983, -1.2786, 7.159, 1.707, -0.0855, -0.0464, -0.0122, -0.294, -5.7915, 9.8256, 1.7265, 0.105, 0.0708, 0.8913] 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_x": 0.36, "right_y": 0.29, "right_z": 0.2}, "note": "Pink bowl is lifted with the gripper. Carrying it left over the white/purple stack."})
tool
executing move_to over 18 steps (1.8s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteRight wrist view shows the stack to the right of the jaws while the pink bowl hangs to their left, so I overshot. Shifting ~8 cm back right and a bit forward.
move_to
right_x0.3750right_y0.2100right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0525, 0.8032, 0.6014, -0.4137, -0.1055, -0.0784, 0.9952, 0.8585, 1.7496, 1.4975, -0.725, 0.4923, 0.5365, 0.0405] state[eef_state]: left_x=0.2903 left_y=0.007 left_z=0.1699 left_yaw=0.0674 left_pitch=-0.0416 left_roll=0.0074 left_gripper=0.9952 right_x=0.3516 right_y=0.2849 right_z=0.1818 right_yaw=0.1274 right_pitch=-0.2496 right_roll=-0.0396 right_gripper=0.0405 state[joint_eff]: [-0.0205, -1.7162, 7.2137, 1.7851, -0.1001, -0.0562, -0.0122, 0.212, -8.9368, 9.5521, 1.3651, 0.4811, 0.2808, 0.5055] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.21, "right_z": 0.2}, "note": "Right wrist view shows the stack to the right of the jaws while the pink bowl hangs to their left, so I overshot. Shifting ~8 cm back right and a bit forward."})
tool
executing move_to over 7 steps (0.7s)
step 208
top_cam
camera top_cam step 208
left_cam
camera left_cam step 208
assistant
agent notePink bowl now covers most of the stack, with a sliver of it peeking out on the right. Nudging 1.5 cm right and lowering the pink bowl onto the stack.
move_to
right_x0.3750right_y0.1950right_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0525, 0.8043, 0.6014, -0.4141, -0.1055, -0.0784, 0.9952, 0.6701, 1.6337, 1.3899, -0.733, 0.382, 0.3725, 0.0412] state[eef_state]: left_x=0.2903 left_y=0.007 left_z=0.1695 left_yaw=0.0674 left_pitch=-0.0432 left_roll=0.0076 left_gripper=0.9952 right_x=0.3677 right_y=0.2119 right_z=0.1808 right_yaw=0.1138 right_pitch=-0.3096 right_roll=-0.0761 right_gripper=0.0412 state[joint_eff]: [-0.1436, -1.1966, 7.2957, 1.7314, -0.0952, -0.0611, -0.0073, -0.5128, -9.9077, 6.7487, 1.7167, 0.1245, 0.0659, 0.8474] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.195, "right_z": 0.07}, "note": "Pink bowl now covers most of the stack, with a sliver of it peeking out on the right. Nudging 1.5 cm right and lowering the pink bowl onto the stack."})
tool
executing move_to over 8 steps (0.8s)
step 216
assistant
agent notePink bowl appears nested inside the stack, with the outer bowl's rim visible around it. Releasing.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0525, 0.8043, 0.6014, -0.4141, -0.1051, -0.0788, 0.9952, 0.6212, 1.684, 1.0355, -0.3477, 0.35, 0.3321, 0.0412] state[eef_state]: left_x=0.2903 left_y=0.0069 left_z=0.1695 left_yaw=0.0673 left_pitch=-0.0432 left_roll=0.007 left_gripper=0.9952 right_x=0.3662 right_y=0.1921 right_z=0.0762 right_yaw=0.11 right_pitch=-0.3418 right_roll=-0.089 right_gripper=0.0412 state[joint_eff]: [-0.0615, -1.265, 6.9949, 1.7167, -0.0415, -0.0757, -0.0073, -0.5812, -6.3248, 6.0103, 1.4774, 0.105, -0.1001, 0.823] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Pink bowl appears nested inside the stack, with the outer bowl's rim visible around it. Releasing."})
tool
executing move_to over 10 steps (1.0s)
step 226
assistant
agent noteReleased the pink bowl on the stack. Lifting straight up so I can check it from above.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0525, 0.8043, 0.6014, -0.4141, -0.1051, -0.0784, 0.9952, 0.6182, 1.7073, 1.0142, -0.3431, 0.3504, 0.321, 0.9955] state[eef_state]: left_x=0.2903 left_y=0.0069 left_z=0.1695 left_yaw=0.0671 left_pitch=-0.0432 left_roll=0.0073 left_gripper=0.9952 right_x=0.3614 right_y=0.187 right_z=0.0602 right_yaw=0.1056 right_pitch=-0.3772 right_roll=-0.1173 right_gripper=0.9955 state[joint_eff]: [-0.1846, -1.2513, 7.0222, 1.746, -0.0415, -0.0366, -0.0073, 0.1983, -9.9214, 7.747, 1.0965, 0.1441, 0.0366, -0.1832] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Released the pink bowl on the stack. Lifting straight up so I can check it from above."})
tool
executing move_to over 10 steps (1.0s)
step 236
assistant
agent notePink bowl rests on top of the stack. Parking the right arm at home so the overhead camera can see the stack clearly.
move_to
right_x0.2900right_y0.0000right_z0.1800right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0525, 0.8043, 0.6014, -0.4141, -0.1051, -0.0788, 0.9952, 0.6178, 1.6344, 1.43, -0.8612, 0.35, 0.3126, 0.9964] state[eef_state]: left_x=0.2903 left_y=0.0069 left_z=0.1695 left_yaw=0.0673 left_pitch=-0.0432 left_roll=0.007 left_gripper=0.9952 right_x=0.3616 right_y=0.187 right_z=0.1781 right_yaw=0.1044 right_pitch=-0.4036 right_roll=-0.1378 right_gripper=0.9964 state[joint_eff]: [-0.0889, -1.265, 7.0632, 1.746, -0.0464, -0.0708, -0.0171, -0.3077, -9.1692, 8.8137, 1.3504, 0.1685, 0.0611, 0.0904] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.0, "right_z": 0.18, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Pink bowl rests on top of the stack. Parking the right arm at home so the overhead camera can see the stack clearly."})
tool
executing move_to over 16 steps (1.6s)
step 252
assistant
agent noteAll three bowls are now in one stack near the centre of the table. The white bowl is nested in the purple/blue bowl and the pink bowl is on top. Both arms are parked at home. From above the table only one stack is visible: the pink bowl on top with the rim of a bowl showing underneath.
done
hindsight- Bowls about 12–13 cm across can be picked by pinching one side wall at yaw 0. Put the gripper about 6 cm to the bowl's right of its centre (−y side), descend to z≈0.01–0.02 and close fully. A settled reading of 0.025–0.04 meant the wall was held, even though that is under the 0.04 'empty' threshold, because the wall is thin. Confirm by lifting and seeing the bowl stay fixed in the wrist view. - To place, line up the held bowl over the target in the wrist view. The held bowl hangs on the +y side of the jaws. Lower to z≈0.06–0.07, open, then lift. - Frame conversion was unreliable here. In left-arm coordinates the stack was around left_y≈−0.30, x≈0.36, but the right arm needed right_y≈0.19–0.21, x≈0.37 over it, not the +0.35 that the 0.65 m spacing predicts. Trust wrist-camera alignment over frame arithmetic. - The left arm stalled around z≈0.10 at x≈0.33, y≈−0.18. Small moves there got delta-clamped and did nothing. A bigger move back toward home freed it, and after that the same area was reachable. - Readbacks run 1–2 cm short and pitch drifts to −0.1 to −0.4 at low z. That was harmless. - Top camera: the arms sit at the image edges (x≈40 and x≈210 at their home y=0), and the bowls sat around row ~100.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0525, 0.8082, 0.6014, -0.4137, -0.1055, -0.0788, 0.9952, 0.0029, 0.7898, 0.606, -0.44, 0.0513, 0.0051, 0.9966] state[eef_state]: left_x=0.2906 left_y=0.007 left_z=0.1686 left_yaw=0.0676 left_pitch=-0.0466 left_roll=0.0077 left_gripper=0.9952 right_x=0.2862 right_y=-0.0047 right_z=0.1699 right_yaw=-0.0511 right_pitch=-0.053 right_roll=-0.0114 right_gripper=0.9966 state[joint_eff]: [-0.1299, -1.6205, 7.0769, 1.7118, -0.0806, -0.0806, -0.0122, -0.0615, -0.9915, 7.5966, 2.1026, -0.1587, -0.0366, -0.0024] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
done({"summary": "All three bowls are now in one stack near the centre of the table. The white bowl is nested in the purple/blue bowl and the pink bowl is on top. Both arms are parked at home. From above the table only one stack is visible: the pink bowl on top with the rim of a bowl showing underneath.", "hindsight": "- Bowls about 12\u201313 cm across can be picked by pinching one side wall at yaw 0. Put the gripper about 6 cm to the bowl's right of its centre (\u2212y side), descend to z\u22480.01\u20130.02 and close fully. A settled reading of 0.025\u20130.04 meant the wall was held, even though that is under the 0.04 'empty' threshold, because the wall is thin. Confirm by lifting and seeing the bowl stay fixed in the wrist view.\n- To place, line up the held bowl over the target in the wrist view. The held bowl hangs on the +y side of the jaws. Lower to z\u22480.06\u20130.07, open, then lift.\n- Frame conversion was unreliable here. In left-arm coordinates the stack was around left_y\u2248\u22120.30, x\u22480.36, but the right arm needed right_y\u22480.19\u20130.21, x\u22480.37 over it, not the +0.35 that the 0.65 m spacing predicts. Trust wrist-camera alignment over frame arithmetic.\n- The left arm stalled around z\u22480.10 at x\u22480.33, y\u2248\u22120.18. Small moves there got delta-clamped and did nothing. A bigger move back toward home freed it, and after that the same area was reachable.\n- Readbacks run 1\u20132 cm short and pitch drifts to \u22120.1 to \u22120.4 at low z. That was harmless.\n- Top camera: the arms sit at the image edges (x\u224840 and x\u2248210 at their home y=0), and the bowls sat around row ~100."})
tool
done: All three bowls are now in one stack near the centre of the table. The white bowl is nested in the purple/blue bowl and the pink bowl is on top. Both arms are parked at home. From above the table only one stack is visible: the pink bowl on top with the rim of a bowl showing underneath.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 13.24 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.3798, -0.02, -0.0261, 0.9996, -0.0181, 0.7921, 0.6014, -0.3794, -0.0139, -0.0265, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0007 right_z=0.1794 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -1.5385, 10.1128, 1.7949, -0.0708, 0.0708, -0.0562, -0.4991, -1.3744, 10.3316, 1.9121, -0.1197, 0.0855, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e7019209dbe8211a73f1e4d71fe28111ee1d50341f7172cfe7926a909222ba2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e0792d9b26740d0848d0891135bae9c80e50c85569057d946c17ff33b91fc5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b592702bdc429267fc12d8d49417b6fac0ba3374aa538302c6bf4ab7cef810d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 9.456 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.3798, -0.02, -0.0261, 0.9996, -0.0181, 0.7921, 0.6014, -0.3794, -0.0139, -0.0265, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0007 right_z=0.1794 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -1.5385, 10.1128, 1.7949, -0.0708, 0.0708, -0.0562, -0.4991, -1.3744, 10.3316, 1.9121, -0.1197, 0.0855, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e7019209dbe8211a73f1e4d71fe28111ee1d50341f7172cfe7926a909222ba2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e0792d9b26740d0848d0891135bae9c80e50c85569057d946c17ff33b91fc5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b592702bdc429267fc12d8d49417b6fac0ba3374aa538302c6bf4ab7cef810d6",
        "media_type": "image/png",
        "type": "base64"
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  "role": "user"
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{
  "content": [
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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SPAbooaEgKoXkRqUBkQiiF",
      "input": {
        "note": "Three bowls in a row (grey-green, blue, pink). Moving left arm over the left bowl (estimated left_y≈-0.16) to check alignment in the wrist camera.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.16,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01SPAbooaEgKoXkRqUBkQiiF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8188, 1.1973, 0.6678, -0.2852, -0.6304, -0.5198, 0.9996, -0.02, 0.7975, 0.6003, -0.3893, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.2914 left_y=-0.1539 left_z=0.1312 left_yaw=-0.035 left_pitch=-0.0589 left_roll=0.042 left_gripper=0.9996 right_x=0.2933 right_y=0.0006 right_z=0.1754 right_yaw=0.0005 right_pitch=-0.0164 right_roll=0.0015 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -4.3282, 9.306, 1.536, -0.5006, -0.022, -0.0122, -0.0752, -1.6752, 7.1453, 1.8486, -0.0171, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d926750f21d953a17771c4bc2c5be0a1f5839d420ca6fbd5ab02eddc9ff895c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d7323307ffef8687011a1cbf39df6993bd516ee762fdbf4ffec41e094f084b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:665c47e41674f983abba3a87b75f62c6c81828a9c95c66f697eeae67081c9557",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.629 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.3798, -0.02, -0.0261, 0.9996, -0.0181, 0.7921, 0.6014, -0.3794, -0.0139, -0.0265, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0007 right_z=0.1794 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -1.5385, 10.1128, 1.7949, -0.0708, 0.0708, -0.0562, -0.4991, -1.3744, 10.3316, 1.9121, -0.1197, 0.0855, -0.0904]",
      "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]: [-0.8188, 1.1973, 0.6678, -0.2852, -0.6304, -0.5198, 0.9996, -0.02, 0.7975, 0.6003, -0.3893, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.2914 left_y=-0.1539 left_z=0.1312 left_yaw=-0.035 left_pitch=-0.0589 left_roll=0.042 left_gripper=0.9996 right_x=0.2933 right_y=0.0006 right_z=0.1754 right_yaw=0.0005 right_pitch=-0.0164 right_roll=0.0015 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -4.3282, 9.306, 1.536, -0.5006, -0.022, -0.0122, -0.0752, -1.6752, 7.1453, 1.8486, -0.0171, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d926750f21d953a17771c4bc2c5be0a1f5839d420ca6fbd5ab02eddc9ff895c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d7323307ffef8687011a1cbf39df6993bd516ee762fdbf4ffec41e094f084b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:665c47e41674f983abba3a87b75f62c6c81828a9c95c66f697eeae67081c9557",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JTfcxznaHGMvQwDf2R4MH2",
      "input": {
        "note": "White bowl is slightly left and ahead of the left gripper. Positioning over its right-hand wall so the open jaws can straddle the rim.",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.19,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JTfcxznaHGMvQwDf2R4MH2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7841, 1.4586, 0.77, -0.1997, -0.6144, -0.5129, 0.9996, -0.02, 0.8024, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3244 left_y=-0.1747 left_z=0.0987 left_yaw=-0.0107 left_pitch=-0.1201 left_roll=0.0907 left_gripper=0.9996 right_x=0.2931 right_y=0.0007 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0251 right_roll=0.0016 right_gripper=0.9992\nstate[joint_eff]: [0.253, -7.1863, 8.9641, 1.4969, -0.2564, 0.2711, -0.0122, -0.2667, -1.1966, 7.0632, 1.7363, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7c8e9b1463b783f7e5142978d133169731a0ed78d29c10648670a75f3d6a7b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e52d38b2ebd3e6d9644e3652892da7ea98915abb2f86c66c59dda41c7640b56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dedd3f243c5b6c43daaf7ee51577c410200fb54ff6059fe51aa78cb91ff36a97",
        "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 · 3.42 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.3798, -0.02, -0.0261, 0.9996, -0.0181, 0.7921, 0.6014, -0.3794, -0.0139, -0.0265, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0007 right_z=0.1794 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4855, -1.5385, 10.1128, 1.7949, -0.0708, 0.0708, -0.0562, -0.4991, -1.3744, 10.3316, 1.9121, -0.1197, 0.0855, -0.0904]",
      "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]: [-0.8188, 1.1973, 0.6678, -0.2852, -0.6304, -0.5198, 0.9996, -0.02, 0.7975, 0.6003, -0.3893, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.2914 left_y=-0.1539 left_z=0.1312 left_yaw=-0.035 left_pitch=-0.0589 left_roll=0.042 left_gripper=0.9996 right_x=0.2933 right_y=0.0006 right_z=0.1754 right_yaw=0.0005 right_pitch=-0.0164 right_roll=0.0015 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -4.3282, 9.306, 1.536, -0.5006, -0.022, -0.0122, -0.0752, -1.6752, 7.1453, 1.8486, -0.0171, -0.0659, -0.0171]",
      "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]: [-0.7841, 1.4586, 0.77, -0.1997, -0.6144, -0.5129, 0.9996, -0.02, 0.8024, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3244 left_y=-0.1747 left_z=0.0987 left_yaw=-0.0107 left_pitch=-0.1201 left_roll=0.0907 left_gripper=0.9996 right_x=0.2931 right_y=0.0007 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0251 right_roll=0.0016 right_gripper=0.9992\nstate[joint_eff]: [0.253, -7.1863, 8.9641, 1.4969, -0.2564, 0.2711, -0.0122, -0.2667, -1.1966, 7.0632, 1.7363, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7c8e9b1463b783f7e5142978d133169731a0ed78d29c10648670a75f3d6a7b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e52d38b2ebd3e6d9644e3652892da7ea98915abb2f86c66c59dda41c7640b56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dedd3f243c5b6c43daaf7ee51577c410200fb54ff6059fe51aa78cb91ff36a97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkQgKEAgSGAI4AUIIdGhpbmtpbmcSDBhdkW45CmIOZLcsyBoMtZ83WeJFVnhwX5yaIjABU+vt/F0EVbB9ATlIKqbCD6kQbC09gufF2FLXAgkNDC7448WHNiKT6IQ5hUzbL5EqrgeBBt8CSdwbwFTdmbXs28ZFR1pj6GXQdv+zNuYWNqrIu9QMRTwbvyEcKCDGsVkw0tzU+rnhI2jXaw5nMaoHI5DVMkg7LXVbwXnHloQm5UQVrFoRgJFoqjFza7o31eoQPz6WM8yLMcFHrY5mJGUmagm1qXE1r0S7LngodgrTa/3LwBOZtnuLIpqqkej0J1muwBvWRub5GMjK4+2+fMyMcfyYdK+YHVUMezilUimtCX4qPDKh4pl32uE2UdaEbYLdUdn6zRi7GJfb0IzOfpsVO3GUE05pi9+DkWrwC6p/eQZzLnvhUrp301r5SrO/46I2x1nloSgGALjPYuL6jpxXJk3yaOuEzuk07jui6csSehonomLRMN/kAvdknNrNu1Z33l9VSBYjSvBsDbcmCHf5WYgQwbXt3g0JpMO6ymVsPDsAyifaJ2parSEFgL2bsZRxqY5yvRolzMJtOdPiODUHs7eIH9xl/3xAJk1nlmB9DqvgsMtENbA0vPraBqzYlbGIqp2Lcu3R/vi9czqDfrT/hEG2MgPF5FOfeDynfWHlKUZM62L/E7+KHkv/F23VaVBlnTuLmcLbyxM4qY9rwW6hHFcR+v8eQZ67cN6oW6MT6fq+89MlhR/P5YSl3CLItI80dFwvrcNvexjKpgknJwZbxAU8+HZlq+Lo5XTILUsfnoDeG+JAdPPUVoeDhRDY/fAnYrCoMPgdVnJidFJU8QSi8X4bLhERL2wIT4lWny7HJsFdbU7r/1cLpNXemVFW1WTAL2uaCYWfz5oNu+C4S41Hmo273RWiAV29ogKOFCTmsw+8uRzaNYwP2ykbW2MoHd2qYmZClTZNv9g0XjxaQX9vzS1p0LqAzclES+Rr+4wF7v4uOM9wRoZT8ZvUofhH5K3xLV1DaJ1QajgGA+lg8LsvzMfS6Yyj0cxNPlt/cIOb+WlImwy7D9m8KQl/+9vF70RayjaY1Kyw1l6Ce0ERyALXSbt+F0KRMKs6kFSDRL2VBu/ej5LIQ9sosUCzI+s8e9Z7jVYN7IDKF3L/mcqNDC5zXRvpqjuQ05Towoc9ACiJAfLZKHDonU3oP7CGU6yEyAATdxH/zoRqJmdWyqcndV49jtqOCgZkbIzVrx73By51czG1r1eEXNwHixBzCkQ0ujm2Cm26kr6PKPqNSEaDuFPrFVW2ZavUnFjxFYIQ2P+NcKck6lxQV2qWJcu9zeE73C7zOjpjKf2zzY8qy2FPms7nDFwfWiMFidOliCY+oCN+fz8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FvBrectG5zcy4Vtt17t9rk",
      "input": {
        "note": "Bowl's right wall lines up with the jaw column but is still ahead of the fingertips; advancing ~4 cm and descending to straddle the wall.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.19,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FvBrectG5zcy4Vtt17t9rk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7845, 1.4773, 0.7837, -0.1673, -0.5995, -0.5129, 0.9996, -0.02, 0.8024, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3298 left_y=-0.1833 left_z=0.1008 left_yaw=-0.0237 left_pitch=-0.1082 left_roll=0.0633 left_gripper=0.9996 right_x=0.293 right_y=0.0007 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0255 right_roll=0.0016 right_gripper=0.9992\nstate[joint_eff]: [0.253, -6.5846, 8.9368, 1.58, -0.3639, 0.232, -0.0122, -0.3624, -1.1282, 7.0085, 1.746, -0.0659, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbac978f1f5f75abad091b814de3389104e33243e989ae91a58c1e77f7b1119e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c40880cb0a409ad44b4354a2b403b551a2e54e8db42b61e749cceeaa84ca263",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd7b2295d3e46d4d0d24a0786d78b1d4644b2f9ba0cd4038334e42960ce84be5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 5.134 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]: [-0.8188, 1.1973, 0.6678, -0.2852, -0.6304, -0.5198, 0.9996, -0.02, 0.7975, 0.6003, -0.3893, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.2914 left_y=-0.1539 left_z=0.1312 left_yaw=-0.035 left_pitch=-0.0589 left_roll=0.042 left_gripper=0.9996 right_x=0.2933 right_y=0.0006 right_z=0.1754 right_yaw=0.0005 right_pitch=-0.0164 right_roll=0.0015 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -4.3282, 9.306, 1.536, -0.5006, -0.022, -0.0122, -0.0752, -1.6752, 7.1453, 1.8486, -0.0171, -0.0659, -0.0171]",
      "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]: [-0.7841, 1.4586, 0.77, -0.1997, -0.6144, -0.5129, 0.9996, -0.02, 0.8024, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3244 left_y=-0.1747 left_z=0.0987 left_yaw=-0.0107 left_pitch=-0.1201 left_roll=0.0907 left_gripper=0.9996 right_x=0.2931 right_y=0.0007 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0251 right_roll=0.0016 right_gripper=0.9992\nstate[joint_eff]: [0.253, -7.1863, 8.9641, 1.4969, -0.2564, 0.2711, -0.0122, -0.2667, -1.1966, 7.0632, 1.7363, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7845, 1.4773, 0.7837, -0.1673, -0.5995, -0.5129, 0.9996, -0.02, 0.8024, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3298 left_y=-0.1833 left_z=0.1008 left_yaw=-0.0237 left_pitch=-0.1082 left_roll=0.0633 left_gripper=0.9996 right_x=0.293 right_y=0.0007 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0255 right_roll=0.0016 right_gripper=0.9992\nstate[joint_eff]: [0.253, -6.5846, 8.9368, 1.58, -0.3639, 0.232, -0.0122, -0.3624, -1.1282, 7.0085, 1.746, -0.0659, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbac978f1f5f75abad091b814de3389104e33243e989ae91a58c1e77f7b1119e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c40880cb0a409ad44b4354a2b403b551a2e54e8db42b61e749cceeaa84ca263",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd7b2295d3e46d4d0d24a0786d78b1d4644b2f9ba0cd4038334e42960ce84be5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3AYKEAgSGAI4AUIIdGhpbmtpbmcSDBPfIbX7JaDP98QCEhoMx6LDpV9RPDU9EbR+IjDRlmVG00lIy5Nwa5XG2l1aH/fUqQmcOQUvcki9B/eOg8nwQEzv2FwuNOt8z80Ze+kq+QWf9jbHWbPjTxq6hJYqIcdEtzSmfk+0+Iupbb0duhvWyQ/7TQud3N+2kwmThDJtNhlms6gQ6NbJ4bZAOaN9hd9yyC/ACwgRgKl6W1u9/F+NpGNXRy2/pGZb8qMn7YOol5voIDd5NOoU1FwUnVurDM4Jvbc0Pus5DcHvojEFGfzD2ji/j0yqPLDV1+oPZHWwEXFF44N1Um3F9kfcqKb48meW0V8x8H9u2DZ7kI7BwFED1h4dkycnFN9MRBsx7xFfTHGnYgDlvLeOhRc/JsZFPsEzNwCMIzJ3/lnKEai2CtTZb51gQNCG+LIgPf7vdtG70wr308uj+ddZNIsoHPlapiNhmoeyZQXKQkOXY0xBJkMaIxnmWhiJl/rUQjkDASYePeEH/ZiF/kgf43K3R3Qg0zaO+QwoQFXFGeEu327lGFeJHZ7T3b9UTz4dmreLpmTutN4ZXyqo89PbM7U0H+8XrKZW9EcrZPd0FHJVb19QyzLwDe61Vuj+ktKRitg+suBKxExHmjoeUdZkbU0fDa0UMF24frOiy/H6IN7z8Ow+WYLgEUW3PvXzy4AUFUVYkr1GKfu74y4m5xoUvTxfUfRhFZcmw5TLPoalG+mautK5gHOLlMEiLaXrkQlADYhmV69ENStyyZ+d0qu5SSADRFUS0HdnftQE2KyNUd6ykajMwkuxzXKTjWXFaSPQR58NM1zKvy3ZMVo8qr++lRTphMJ6Nq4Pi1z++AsNrCNs4FPe2EXixWH6lgxFoiJVg5+4KHP/oA/4+H7+F/kxbxU46iYxr3LMyZep7XeSM7gwPh53xknXtGZtMNr8srvzRSNJ7AzKc9WQ3jVmRarkhcMJX5KsguRPN4ORQ0Vqu89m4UJWroRLwIjDefJ097Gd71ecmi8KDdl3FSWB807PoJ53hkORdMlIx8s+LdMUzMqISWKH7QAfQP5rhwzhfwq+P6v0klugVGjbLpc1T9O6NMECpnAgrzFVpCBwREUp9Y9poHm795z/7mC72Za1/269KRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JciKMFR8suDxVAiCXGefqJ",
      "input": {
        "note": "Previous move was clamped and barely moved; trying a smaller step forward and down toward the bowl's right wall.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.19,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01JciKMFR8suDxVAiCXGefqJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7845, 1.4773, 0.7837, -0.1673, -0.5995, -0.5129, 0.9996, -0.02, 0.8024, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3298 left_y=-0.1833 left_z=0.1008 left_yaw=-0.0237 left_pitch=-0.1082 left_roll=0.0633 left_gripper=0.9996 right_x=0.2931 right_y=0.0007 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0251 right_roll=0.0016 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -6.7487, 8.9231, 1.6142, -0.3346, 0.2271, -0.0122, -0.1573, -1.3197, 7.0085, 1.746, -0.0464, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93115041480b807c0bcb8f4381af7f21650f737e39813e209fa33cec575eb6d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aba20979746e25fa8d5b8b3f867533bade12bc36d1e08742b03df1112677ad87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:11bcedcd9bba40ece21e03b78437cd7267ab9d9cbf934884ec6f5ac82c3a5e46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 5.085 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]: [-0.7841, 1.4586, 0.77, -0.1997, -0.6144, -0.5129, 0.9996, -0.02, 0.8024, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3244 left_y=-0.1747 left_z=0.0987 left_yaw=-0.0107 left_pitch=-0.1201 left_roll=0.0907 left_gripper=0.9996 right_x=0.2931 right_y=0.0007 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0251 right_roll=0.0016 right_gripper=0.9992\nstate[joint_eff]: [0.253, -7.1863, 8.9641, 1.4969, -0.2564, 0.2711, -0.0122, -0.2667, -1.1966, 7.0632, 1.7363, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7845, 1.4773, 0.7837, -0.1673, -0.5995, -0.5129, 0.9996, -0.02, 0.8024, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3298 left_y=-0.1833 left_z=0.1008 left_yaw=-0.0237 left_pitch=-0.1082 left_roll=0.0633 left_gripper=0.9996 right_x=0.293 right_y=0.0007 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0255 right_roll=0.0016 right_gripper=0.9992\nstate[joint_eff]: [0.253, -6.5846, 8.9368, 1.58, -0.3639, 0.232, -0.0122, -0.3624, -1.1282, 7.0085, 1.746, -0.0659, -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 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7845, 1.4773, 0.7837, -0.1673, -0.5995, -0.5129, 0.9996, -0.02, 0.8024, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3298 left_y=-0.1833 left_z=0.1008 left_yaw=-0.0237 left_pitch=-0.1082 left_roll=0.0633 left_gripper=0.9996 right_x=0.2931 right_y=0.0007 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0251 right_roll=0.0016 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -6.7487, 8.9231, 1.6142, -0.3346, 0.2271, -0.0122, -0.1573, -1.3197, 7.0085, 1.746, -0.0464, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93115041480b807c0bcb8f4381af7f21650f737e39813e209fa33cec575eb6d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aba20979746e25fa8d5b8b3f867533bade12bc36d1e08742b03df1112677ad87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11bcedcd9bba40ece21e03b78437cd7267ab9d9cbf934884ec6f5ac82c3a5e46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9gkKEAgSGAI4AUIIdGhpbmtpbmcSDLVPP3FTCaUA1/UVNhoMwscb3rRu6Uq20xvOIjDGJvOrd/+BgfUrZXEkfvKTtaV8w79MPuE0fSKOO1DLXptNnDVgdSNSEte/T7Rw4Boqkwk8YAc/PcyFdMQ2poNtodaUthNj2t3/mpcMRWQGVqQMWL7FHoe/kmCAMcJIMbzyPR1rKYLoaXpsYz2Jyc1hv0fnAwZQ5lNG4drCfKFReXQsJ99qWI3hq2AGthmmdATua4Jh2O1gGK91/7DiZAo0Z1gyyebwe4lnTnjyrHSDAdrD4+6j0jtarI+W4NKow6/ZNkbMmizAEQYADFT3mq/wzhVpGhMJwGQL/a0hDfq7991wxBbnmk2+gDy1KslfE3BEBgnjigcJ0NzRVJ62on4yolQ/M1mmJBknZzGDHIBsGEp0rcyqkshgHmeXkFbtg/dW9rhtw0q7+NEJnQ3qWvAqFK9cbV+mIII1Msf8mj2MIWtMjRZ3UgMMnjidPvq8czakxHfib28FSIrBBrw+ECjLeeVvmZ3maJyq0jvFM1vFGNSf3pLjjsrgFGSyPitFlTgjfFvEvlrbW39m30Tvwhe33nABs2uk8uUX9UdvVb31Vkd1X8nhcMnaaKIBLmevj9wp64mi5PEJJc+F9waEmz8N6QzhtUoc8cZNDtng0sWJFfNGHrQDS8+UIKqL4dFY2ohXOQC4PSkAW5b2EQj4/aMLTZudOC5cML7XfJS8q86wNdr7kdOuZbWc0rNnbalh1msm8/baZJpRKnl1q3gZlT+p+fpZKZr37xpeaG1JnT7jaD515cVk4K8CPK46yMszDhJO2NUCw/xTEFyJW/whUZWORORbBpdRHADPN6PSrWYdmQPM0Sq8laB7vhhQF6lOhojm6EFXa+DFjdAR9UIpBQCDBubf3PigIGQoeYUY1LYVj/r+nLpz6P/nXeTo5tZ6pctMbonU9ixks+lWbkI0uZDwhjxCjLzDsdlqMQ3+m6xr9pIagdvjYpY82hIJt6e7KNbuolS+dZpK18+GbG+QOWJ2t2csY/hJJtgb1hcOa60+RO8tpIo0RBSDMlwZT3ELsz6kstCsFzQExvRCNDJBHTSk7r0EVHlYr8RSfsIu51PLDaKrt0xeeDKpD+WtpTnEA23EA/YHaVsDxzKRkQ7Rg6zT6ci+26aVF+QMZqTyuHlkkHjYfGZ/knSAWrM7PhQvlp/hePE3wZjuBVOHXES9U4jRw4pNflhMFZ7ot3DS+NfhhPZ6e+PrWGO4ef51HTlFd4aieNYd15YGUk0GnP6jyLeg+NHWMyk6JYt9YUVrWEwhSOpFAGbhxIDvcqKBKOgoJBBRpSwiINkr0+GxStxOZyYLpDMvELxFR6p8vGuHiNrqjRn3WntwIgh//6gFxfvxqEnjhplN+2s6Imv/LzcmmiTRw80XETInG1ZEZd5D69gpBeFmVzp3qMa9NNBN+07SmGSAJmjb6ub8h5srT4NTLE9bnuj2AUGv4pNqoV5yNrZUQBUG8zIVq+vEIcBlj1Gt118Fi4ZbbEIVocMHyxp+oZ5/7hIPhhFFqwvpe+7NlEOlxU5m0unn8o7GQPU+Vk/7yMOBwYTBm4+gnsjsCVXdxhlyHds5E6DPov+zOkhNG4Iuna1eotTJM/n8BHHUqez16vm5p79PE0W0mA5RlwgkRFznd8+5+g9PGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q3mAxjVskRKqLR9gwojuXt",
      "input": {
        "note": "Arm is not tracking; possibly a fingertip touching a rim. Lifting straight up to free it.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.18,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Q3mAxjVskRKqLR9gwojuXt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7845, 1.4773, 0.7837, -0.1673, -0.5995, -0.5125, 0.9996, -0.02, 0.8028, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3298 left_y=-0.1833 left_z=0.1008 left_yaw=-0.0239 left_pitch=-0.1083 left_roll=0.0636 left_gripper=0.9996 right_x=0.293 right_y=0.0007 right_z=0.173 right_yaw=0.0006 right_pitch=-0.0259 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [0.2256, -6.7487, 8.9915, 1.58, -0.3541, 0.2271, -0.0122, -0.2256, -1.2103, 7.0496, 1.7607, -0.0513, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bd21ca6b6245ce18c4f50a48862c121a2196c8e6b5bcc95eb923ee0b7f6be29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c948035cbae3fec9062de92e59fa64709b91338e910fa0df950fdaa84bda74b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc82f026b40bb9f7161bd04ea1f0df8d64dbf7d34bf2291275da2f740cf58112",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 5.829 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]: [-0.7845, 1.4773, 0.7837, -0.1673, -0.5995, -0.5129, 0.9996, -0.02, 0.8024, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3298 left_y=-0.1833 left_z=0.1008 left_yaw=-0.0237 left_pitch=-0.1082 left_roll=0.0633 left_gripper=0.9996 right_x=0.293 right_y=0.0007 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0255 right_roll=0.0016 right_gripper=0.9992\nstate[joint_eff]: [0.253, -6.5846, 8.9368, 1.58, -0.3639, 0.232, -0.0122, -0.3624, -1.1282, 7.0085, 1.746, -0.0659, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7845, 1.4773, 0.7837, -0.1673, -0.5995, -0.5129, 0.9996, -0.02, 0.8024, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3298 left_y=-0.1833 left_z=0.1008 left_yaw=-0.0237 left_pitch=-0.1082 left_roll=0.0633 left_gripper=0.9996 right_x=0.2931 right_y=0.0007 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0251 right_roll=0.0016 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -6.7487, 8.9231, 1.6142, -0.3346, 0.2271, -0.0122, -0.1573, -1.3197, 7.0085, 1.746, -0.0464, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7845, 1.4773, 0.7837, -0.1673, -0.5995, -0.5125, 0.9996, -0.02, 0.8028, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3298 left_y=-0.1833 left_z=0.1008 left_yaw=-0.0239 left_pitch=-0.1083 left_roll=0.0636 left_gripper=0.9996 right_x=0.293 right_y=0.0007 right_z=0.173 right_yaw=0.0006 right_pitch=-0.0259 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [0.2256, -6.7487, 8.9915, 1.58, -0.3541, 0.2271, -0.0122, -0.2256, -1.2103, 7.0496, 1.7607, -0.0513, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bd21ca6b6245ce18c4f50a48862c121a2196c8e6b5bcc95eb923ee0b7f6be29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c948035cbae3fec9062de92e59fa64709b91338e910fa0df950fdaa84bda74b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc82f026b40bb9f7161bd04ea1f0df8d64dbf7d34bf2291275da2f740cf58112",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7QgKEAgSGAI4AUIIdGhpbmtpbmcSDPEhBYEmti1z6gmLqxoMvRACy2joR6L7xVXXIjCeelvQKR+Rbd8UcvO26dPh5exfH2xm3LmqsQX5Xm2G9wIzpRMP8nlXrQG4QsHE9m0qigicEnr4TFLHOYNtLpPKlRqc/JwjZa6VxizL/YudxD2gwbFL34RHQB3XZ6glSq+KQbu1SwZjb4ot7JvRr+oCRdZJbTpTVkLbc0MmXzoY5KXDykBltoJRVk75pUdKXyvFvt1U/Rxy8NJvUxHYlWktQtRxQcnSK9Utt0C/Ih81CqJccKHC2SaA3AjRmomfghgibMCV6+Hn57Xr1EFMWkBOTRtOiYmHwvnN73lcewEZofaxyKTkKeNUNoacPD+aJD1TpqSrXqHTb7OxFDFJ0sPwGB3XgOWuDqEAhnWHkVrsKLFMHTXegXoHrssQO2OlFPWYKWOsIXVftOSsYl+5jIDVHAQZvtSmwG6GzmIi07Aj+imeadM+wKvl+ehFUWr6cqIQ+swh/9abgVicVrc/5s+9mkMt778SO3JMccNWFfzFY2SvHeeqB0bvXmeO+cxZUzqT0TpHll/N1OONWh7rNyez6MQUAS/T58GDWEs5kJCp4NjDAzmAi6dU9/fLS5HVTP3INTPTXHFwzXUJwjG+i8CdSGrvnYrcT2NDGlwug2YPL79p3z3AOrJgxcY0Us0HOuQasBWLshHlPBoziJyvYWe82smCQVBOMPLGIomh3o/I77+lPG7s9QnBREjSJGDoMTUOq1sGi/fMlE0TSWvgauGlnia4s2DCdnuPnn+oqNDeNdulP4Pq4nK7LS4+F479CE1KotIq7Z0lgnHC4RbKzsWfEnvdMc8+PgzBAuKdSIj4YBIzi3oH7ACFhHF2zbu4K4a3flRldnqiSRZgIR381x8Bh6rjvqXY/f4cMlyWDmBEqId12LIgAnyC770MJvwRdn8MesEzHgBy8ldhGnwWmVcWgcyhhkP0x4MK19mQEh0drpcNMTefYiw0nwxrBkazztCOrksgR/7ivM3R/sJ4Uppz1dYLYt/qZMzuLQYZiSOGavC5M/1FShFRKdJ+8WmHe8yWNMHyVsvkh0tukQEqN9fDiM6FJlpjl30HsyVsRB1zBzUven7tSIHzj9Vsm+nUcXdugdm58tq/dapQv8xGehyXIHcUGITXzhm57v9jSUQbPhh0Q0gI6EYqPurk+9ovpAqsAW6Qzu+tDgsKEtuf/WjE0xE8hm9OyAphPKffhQF3garjeJn34Y8eNjwj45uLbH3sM32pBvcAmxzsDIayocvmeFeMrF5ZLAYZFLkcc4f+BdNv7O1notV/JwAzrm2GPNnBYGEi/s1Af3m0yAJoY2IqDrXGsJfq0RQg7UoSU0xy93NXosFI6FZ0utkMryfJwrlPk/umnZJv6YVY5qVdxv1dO7hnAY3rFH0ZV+cVbkyB0uYPECFnxqcZr3W0kHQ1yQ+KxeoGYMmhYmbuda8CUHsRG6GreELA8b7ddz51XxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013DaH3tTi5wSzVeJC4aA9Jb",
      "input": {
        "note": "Left arm is frozen with every move clamped. Testing a small lift that keeps the current wrist orientation, in case the orientation correction is what gets clamped.",
        "targets": {
          "left_pitch": -0.108,
          "left_roll": 0.064,
          "left_x": 0.33,
          "left_y": -0.183,
          "left_yaw": -0.024,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_013DaH3tTi5wSzVeJC4aA9Jb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7845, 1.4731, 0.7963, -0.207, -0.5991, -0.5144, 0.9996, -0.02, 0.8032, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3276 left_y=-0.1812 left_z=0.1013 left_yaw=-0.0213 left_pitch=-0.1249 left_roll=0.0778 left_gripper=0.9996 right_x=0.2931 right_y=0.0007 right_z=0.1729 right_yaw=0.0006 right_pitch=-0.0263 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -8.1436, 9.6479, 1.2332, -0.3199, -0.0122, -0.0122, -0.212, -1.2923, 7.2, 1.7216, -0.0757, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c321bcbe8780d6fe9226cae804f273bdd55da30bce65bd1888dd70024d52a71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:069559859316585c76dbe5721bf80abb050f91e4aa34d3df59dacde3cddf40f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:783cbcfd7f7c1edb87cb230c7afe1a66014c1c107076f18fcd3bb057b2517ef5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 9.791 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]: [-0.7845, 1.4773, 0.7837, -0.1673, -0.5995, -0.5129, 0.9996, -0.02, 0.8024, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3298 left_y=-0.1833 left_z=0.1008 left_yaw=-0.0237 left_pitch=-0.1082 left_roll=0.0633 left_gripper=0.9996 right_x=0.2931 right_y=0.0007 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0251 right_roll=0.0016 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -6.7487, 8.9231, 1.6142, -0.3346, 0.2271, -0.0122, -0.1573, -1.3197, 7.0085, 1.746, -0.0464, -0.022, -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]: [-0.7845, 1.4773, 0.7837, -0.1673, -0.5995, -0.5125, 0.9996, -0.02, 0.8028, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3298 left_y=-0.1833 left_z=0.1008 left_yaw=-0.0239 left_pitch=-0.1083 left_roll=0.0636 left_gripper=0.9996 right_x=0.293 right_y=0.0007 right_z=0.173 right_yaw=0.0006 right_pitch=-0.0259 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [0.2256, -6.7487, 8.9915, 1.58, -0.3541, 0.2271, -0.0122, -0.2256, -1.2103, 7.0496, 1.7607, -0.0513, -0.0708, -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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7845, 1.4731, 0.7963, -0.207, -0.5991, -0.5144, 0.9996, -0.02, 0.8032, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3276 left_y=-0.1812 left_z=0.1013 left_yaw=-0.0213 left_pitch=-0.1249 left_roll=0.0778 left_gripper=0.9996 right_x=0.2931 right_y=0.0007 right_z=0.1729 right_yaw=0.0006 right_pitch=-0.0263 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -8.1436, 9.6479, 1.2332, -0.3199, -0.0122, -0.0122, -0.212, -1.2923, 7.2, 1.7216, -0.0757, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c321bcbe8780d6fe9226cae804f273bdd55da30bce65bd1888dd70024d52a71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:069559859316585c76dbe5721bf80abb050f91e4aa34d3df59dacde3cddf40f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:783cbcfd7f7c1edb87cb230c7afe1a66014c1c107076f18fcd3bb057b2517ef5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4QoKEAgSGAI4AUIIdGhpbmtpbmcSDLi4qKkgwb+qpZaE9RoMUrDPeKVaBIrs3qdKIjA+MUiSridcT4mrImVlEAt1/DpQzb7u2kuyWHGHCRifTd3xnyDhUwbc9vftN+8BGUoq/glhCehc3X85IU85knVhLPLavD0qb/tUHxV7KxjYG86jm1lHQ6BTDhQ0bIXuMhexEQ4v5jHxMU1rO+yxnVjVCgU9br0iv2/cUb6nZoX8Lts0gqs9ZqPwsdVLir62B9oCvCrmDwPwJiRM2uBUajld9oow7uaacNKEhyDvPjLmPwZ1PBgItiKcDMMEwDTwgOL8X3pRg09noe1ihuJ24Yak4aU2SvQLU2KlGcblSf7/mz8Tj4oAF/MVavVUHrNFfDVntqg5Sh9AoBZ8jGqOa2yblUik0yxoqHJ9HRVLKGnTd/dzJyQwrRcUrQVWVZXzIg8saJ/pAxavKCzPcdby/SbVv6UNfqHUdPVwTcBjy1Ei6cRFbtWRlyPQNZgxvCMWSadLxPNLyGYx9ju6VpCcBZ8Hw7ZigP+qu8APnzFNPs9uzIZ9kUqlN0In/qVRg/MuDC9spRRFi9lxwNzR7pVEngvyP/odj8nC/YAzoV6pO0FW7+aKrhSZZd/ky/eN78nq6xgPL1Q9d6m8NsVY0zH7uVK5yMAZGhaAnMIkS1Isra0PWN3dC4jlfnSEvW405rIErWoQ2nINKAxfV7GMdZwOKOa4qj0EMfXdNwZD1WfWONrIM3a834Tba1mnXuFIxqLmPNCvW3vUFnwJGFqv/62mDG4NG7ylWiWKdLJ2HJn75/hWrNox7gHb1i4N1Vwt9MxbK1ernPryR1rxtzCj0+apYFaq88DWBaLFF8OxUvqPQImAjoAhyPjXGKDMVUZlWEimjTqakwHjXw7mK3zTb/qRZn9wdiPhvSXFctI7EA00ylrzMX8g5WSX9/EB7XVFet3+cTvL712EeaCug+pRzkhlPkohbf4kZFz8gKboO11x5Z0sMg4NMLxvMosaZh+umhOdu0+QgZSrrR4y2Vt+Ez6XTffqw2fH/BXasSCmX8UwrWPp4vZC7mvN1MbpTKILxQ2fmsdSAMTnFhRjXNR0DR5PsmR8An1gXye4eseu8q/6XGTFQbAGm+Mu8UsoXOnMXZMw4ylG2WWsTVu/vJOxmmZMq8da/ark6dQUJNwD2vWPuMpMMz4ib5iDVI/5+Kg2RDMogcyZRMfth9dWX8yGK6HyoQKuUFuhmSYjwBbJyzqm7SVYCZjVeRJpXcEfuknELzCuY7c349MlkYOMMUkbzEssWIYMzfRUNIhxQzle1naiQxM//bdlpLq5OoeZq71/ZSCm63mvDyjrxwXjyHVWaQxgSFxUhtlgax4nXgAbrTQ4y7qEVtSf/sI01dLK9OH+gSH9lJPN6RfInnNXqb8jJv2/lmC5VOB7nXh4Qatet7mc/OuK51s8Sg6J/qv1Am5aaXQ8HUSc4cWSbNcowUuQD0tWZjEdRZEPGJA82B+1ftUpiR7noz4aefXUM30NORL0LD8SHnid3aF4DoM18f58bUT/pcPQiI8FFwrYq7QNPY1tCqscjchdI9ezv17fKvbJdZ6R2gPXnyb6dg4U1m74F+yT/mGj5mF8tGdJQybcLGo5avzz62ecPmAVbvVVNichFcuyhmokmSLV5GbwdY7dvuF6W4l3nXwLLFQOkuVRhcofUaRZWj+ZUF/uAT9zxeowwCO7Go5BP8EYlgBjij+vB9taEC2+EuSHiyykyT34DHim4YOCEP00RWuBXjviUbVlqheHucf3VwnZI9eGIfuC35Ug4dglM6jECtLAtevaX6YB44rLKAMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T8e5w9NYhdwr9BzpKE2Ja1",
      "input": {
        "note": "Left arm has stalled near z=0.10. Backing out toward home to un-stick it before re-approaching the white bowl.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.29,
          "left_y": -0.1,
          "left_yaw": 0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01T8e5w9NYhdwr9BzpKE2Ja1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6506, 0.9802, 0.6823, -0.3721, -0.5461, -0.4297, 0.9996, -0.02, 0.8043, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=-0.1047 left_z=0.1796 left_yaw=0.0189 left_pitch=0.0105 left_roll=-0.022 left_gripper=0.9996 right_x=0.2932 right_y=0.0006 right_z=0.1726 right_yaw=0.0006 right_pitch=-0.0271 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [0.335, -2.2496, 6.8308, 1.6288, -0.0904, 0.1587, -0.0122, -0.1026, -1.4154, 7.0085, 1.7656, -0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:119c43f3439ab126b540df2426eb720e2a0bf1374e73a2156131ae30f9736a7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce64ea22648ea7afa33af077f98aab83e64b1fd40bcb2c378592377eb86e7682",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd11125a4c3a01a37bcb01df948a7ce913a52b9c3b6d26365e14b20fa82f2d8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /messages · status 200 · 4.712 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]: [-0.7845, 1.4773, 0.7837, -0.1673, -0.5995, -0.5125, 0.9996, -0.02, 0.8028, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3298 left_y=-0.1833 left_z=0.1008 left_yaw=-0.0239 left_pitch=-0.1083 left_roll=0.0636 left_gripper=0.9996 right_x=0.293 right_y=0.0007 right_z=0.173 right_yaw=0.0006 right_pitch=-0.0259 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [0.2256, -6.7487, 8.9915, 1.58, -0.3541, 0.2271, -0.0122, -0.2256, -1.2103, 7.0496, 1.7607, -0.0513, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.7845, 1.4731, 0.7963, -0.207, -0.5991, -0.5144, 0.9996, -0.02, 0.8032, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3276 left_y=-0.1812 left_z=0.1013 left_yaw=-0.0213 left_pitch=-0.1249 left_roll=0.0778 left_gripper=0.9996 right_x=0.2931 right_y=0.0007 right_z=0.1729 right_yaw=0.0006 right_pitch=-0.0263 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -8.1436, 9.6479, 1.2332, -0.3199, -0.0122, -0.0122, -0.212, -1.2923, 7.2, 1.7216, -0.0757, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6506, 0.9802, 0.6823, -0.3721, -0.5461, -0.4297, 0.9996, -0.02, 0.8043, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=-0.1047 left_z=0.1796 left_yaw=0.0189 left_pitch=0.0105 left_roll=-0.022 left_gripper=0.9996 right_x=0.2932 right_y=0.0006 right_z=0.1726 right_yaw=0.0006 right_pitch=-0.0271 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [0.335, -2.2496, 6.8308, 1.6288, -0.0904, 0.1587, -0.0122, -0.1026, -1.4154, 7.0085, 1.7656, -0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:119c43f3439ab126b540df2426eb720e2a0bf1374e73a2156131ae30f9736a7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce64ea22648ea7afa33af077f98aab83e64b1fd40bcb2c378592377eb86e7682",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd11125a4c3a01a37bcb01df948a7ce913a52b9c3b6d26365e14b20fa82f2d8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UNT6mcA7y4HFGLyre1TYwQ",
      "input": {
        "note": "Arm is free again; white bowl is centred ahead in the wrist view (center ≈ y -0.115, x ≈ 0.36). Moving above its right-hand wall.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.175,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01UNT6mcA7y4HFGLyre1TYwQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7059, 1.4601, 0.7197, -0.0593, -0.577, -0.4725, 0.9996, -0.02, 0.8097, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.342 left_y=-0.1602 left_z=0.0971 left_yaw=0.0129 left_pitch=-0.0756 left_roll=0.0417 left_gripper=0.9996 right_x=0.2935 right_y=0.0006 right_z=0.1711 right_yaw=0.0006 right_pitch=-0.0328 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -6.9949, 8.9094, 1.5897, -0.3736, -0.0269, -0.0122, -0.2393, -1.7299, 7.0632, 1.7265, -0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caa8e61995f849cde5ffc4fa80b602bb2473dda29d938522b06cc66935f1e156",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acb3098de55e482cce981296cfc7a97d405dd4c8f7d18bda1daf9440ceb24c54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0008a1284b26eb38fdcb970cb99c7d1e214bcd71e3355978cc6871fdb433c3a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 4.06 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]: [-0.7845, 1.4731, 0.7963, -0.207, -0.5991, -0.5144, 0.9996, -0.02, 0.8032, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3276 left_y=-0.1812 left_z=0.1013 left_yaw=-0.0213 left_pitch=-0.1249 left_roll=0.0778 left_gripper=0.9996 right_x=0.2931 right_y=0.0007 right_z=0.1729 right_yaw=0.0006 right_pitch=-0.0263 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -8.1436, 9.6479, 1.2332, -0.3199, -0.0122, -0.0122, -0.212, -1.2923, 7.2, 1.7216, -0.0757, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6506, 0.9802, 0.6823, -0.3721, -0.5461, -0.4297, 0.9996, -0.02, 0.8043, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=-0.1047 left_z=0.1796 left_yaw=0.0189 left_pitch=0.0105 left_roll=-0.022 left_gripper=0.9996 right_x=0.2932 right_y=0.0006 right_z=0.1726 right_yaw=0.0006 right_pitch=-0.0271 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [0.335, -2.2496, 6.8308, 1.6288, -0.0904, 0.1587, -0.0122, -0.1026, -1.4154, 7.0085, 1.7656, -0.0073, -0.0562, -0.0122]",
      "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]: [-0.7059, 1.4601, 0.7197, -0.0593, -0.577, -0.4725, 0.9996, -0.02, 0.8097, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.342 left_y=-0.1602 left_z=0.0971 left_yaw=0.0129 left_pitch=-0.0756 left_roll=0.0417 left_gripper=0.9996 right_x=0.2935 right_y=0.0006 right_z=0.1711 right_yaw=0.0006 right_pitch=-0.0328 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -6.9949, 8.9094, 1.5897, -0.3736, -0.0269, -0.0122, -0.2393, -1.7299, 7.0632, 1.7265, -0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caa8e61995f849cde5ffc4fa80b602bb2473dda29d938522b06cc66935f1e156",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acb3098de55e482cce981296cfc7a97d405dd4c8f7d18bda1daf9440ceb24c54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0008a1284b26eb38fdcb970cb99c7d1e214bcd71e3355978cc6871fdb433c3a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSkAgKEAgSGAI4AUIIdGhpbmtpbmcSDAl393uXhYLJ6Dx68BoMtOrU9axxlywwlrL3IjDKbrhW1Y0/kkzZYJ9rhBMpyU+zlgGN6uq9gfkWAVbf/ZwyKlIEAbUJtZrQq3o2ygUqrQdLA9uaQLOtVi0gRs0sY+8+KwvBcPMDDNnNY903AzyEo1jb62u8UgBUCXzR3rl7n3l61DIXnuBFrrod0M+uf4op1DyPk1om8VeeBQvL14L4rTKWSF4tQo4B0YIn+2DlJMTAPfwSG8wWap0409lv4APp84yjTBk058PWzSSMpmoDuTOyi6RUNQZJg0QfxEsAOgyejp0CnGU2miO19sa0LmNAhkkzBs7ACXngcoqmREwxyGc7pVpHF5NsBeq+Ajd1MJYFHnNxol1yXtONAGWeyUHAe6jglQkH5jAzN+S4NEEwmyp3JbOU7orq9KK8w/Bfw6DSLBGNWy3boyIUp+rc75C+FPLvYtd6nUQhFEwpGS9YUOG4xzJ65WWkKcTVoThvjPcF3iyC0J/DouForumZpGPj5kiImAWqwZHVTMzyTfSpM548LVpbpOytVZ3CSxn07BOmJx40wlZlp0M5AH+UcwECY4YrRWjSEx4u+vPfBMD6em50j0BarlNs1Ta3vdxihaN9bZxYgbuXg7gbLguvlRBF82dfbjqR2imi6xlau1EFyPW5Cr+AqwbhIwaOumUZUfWmDQsOPJv3ESC1YZv+QR+WMijw/r0qFZU+98lIDOeNc4wjWq7dI9NHRshThTR9aiY7tfr8QKmXC9u4d55oudzN7JqhVEOfY9kh0/4boj+pkTpCJZPe8LE4o3Y1RR+ZNKvkCEbVo39c6UV1ojU48Z5lMfwTuoYPYnpHnyXPzqT3GYxHSqZ0CkXQFZG3Q1+PPJRsPbbnWS+m3WcUqNP1uo/PvB0WEdtSUYADPRIAxNsttegO+ZsVuE7LLt8X/aek7JxTzSJmbXcKh4rMnAVi7bWBzXHYDEO4g9LuGjFFcmgLacG+IBQDSvV5c9SgBGCI8nwOB5e5D7IofTPL1B0ZPtJBFAdhwH1WhymWzOJcDGzqSp0FwU8xo0hfLT+Egl4DDnZekwSh8PEG9I8tMEfob9/WCkIafAQEtEKuhUdA1c0oc/1RqPJz/gJAXD3FCFKwQjcFK0yWh2Avl8SqiClkczg9+Rob2X76S9PpGOi/G1bEGQFOOofejFAD9IZSaUfN2Rgyq3nxlcHXJrR/lqa6iva/oustzov7G9zY+GkoUTdNfgXDL48enfgB3l4h2VRvDZT+pOZoIZjbBWs/t/31qSGXrfI7b88er9v1a2jrPsc1J606JR+YLp2f8LpqjgY1F/5HQF0J7T6CCU0XEbt1KaZ5hDf4Gmd0ZEsYyj9WKRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NfaTcsnL3PkU1UhzvX4UEF",
      "input": {
        "note": "The white bowl's right wall is near the jaw column. Descending to straddle the wall low down.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.18,
          "left_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_01NfaTcsnL3PkU1UhzvX4UEF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7139, 1.7676, 0.6758, 0.2134, -0.577, -0.4797, 0.9996, -0.02, 0.8116, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3504 left_y=-0.1714 left_z=0.0134 left_yaw=0.0143 left_pitch=-0.1343 left_roll=0.0883 left_gripper=0.9996 right_x=0.2936 right_y=0.0006 right_z=0.1706 right_yaw=0.0006 right_pitch=-0.0347 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.6496, -8.1846, 4.9162, 1.5897, -0.3101, -0.0562, -0.0171, -0.0615, -1.4838, 7.1726, 1.7314, -0.0806, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47e33a34eb3521f2d0da0cdd7f432369ba3befabb5ae2de4c974c0eff489fc8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d387175489d1df8d57d38c49db8dafe40c21d285b862ad7bf9530e8fd64c1e2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3341a4afa37b05484615ff7c6c4fa20c29db6e48d6c5089008863dd6e07e928d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 3.707 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]: [-0.6506, 0.9802, 0.6823, -0.3721, -0.5461, -0.4297, 0.9996, -0.02, 0.8043, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=-0.1047 left_z=0.1796 left_yaw=0.0189 left_pitch=0.0105 left_roll=-0.022 left_gripper=0.9996 right_x=0.2932 right_y=0.0006 right_z=0.1726 right_yaw=0.0006 right_pitch=-0.0271 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [0.335, -2.2496, 6.8308, 1.6288, -0.0904, 0.1587, -0.0122, -0.1026, -1.4154, 7.0085, 1.7656, -0.0073, -0.0562, -0.0122]",
      "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]: [-0.7059, 1.4601, 0.7197, -0.0593, -0.577, -0.4725, 0.9996, -0.02, 0.8097, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.342 left_y=-0.1602 left_z=0.0971 left_yaw=0.0129 left_pitch=-0.0756 left_roll=0.0417 left_gripper=0.9996 right_x=0.2935 right_y=0.0006 right_z=0.1711 right_yaw=0.0006 right_pitch=-0.0328 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -6.9949, 8.9094, 1.5897, -0.3736, -0.0269, -0.0122, -0.2393, -1.7299, 7.0632, 1.7265, -0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7139, 1.7676, 0.6758, 0.2134, -0.577, -0.4797, 0.9996, -0.02, 0.8116, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3504 left_y=-0.1714 left_z=0.0134 left_yaw=0.0143 left_pitch=-0.1343 left_roll=0.0883 left_gripper=0.9996 right_x=0.2936 right_y=0.0006 right_z=0.1706 right_yaw=0.0006 right_pitch=-0.0347 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.6496, -8.1846, 4.9162, 1.5897, -0.3101, -0.0562, -0.0171, -0.0615, -1.4838, 7.1726, 1.7314, -0.0806, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47e33a34eb3521f2d0da0cdd7f432369ba3befabb5ae2de4c974c0eff489fc8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d387175489d1df8d57d38c49db8dafe40c21d285b862ad7bf9530e8fd64c1e2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3341a4afa37b05484615ff7c6c4fa20c29db6e48d6c5089008863dd6e07e928d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjQgKEAgSGAI4AUIIdGhpbmtpbmcSDITCIsp/BIR+KLivmxoM9KOndeV9yCWmrboRIjDL/uasMbkQ1QLwNPFhnfMAc3jFlPW5zFDzSNGdP6m/yFgGWAWx7i/JKeGxQGHT3bwqqgfV4WrJro17EfU0i5a0eiNdw1fHWqwn5p5V73mDoZwdY+RA0CpWeFt3gvXMHXiKYG9rObjlxC3/r45fF37A5NfJJUNbv9pFvFOKDHuxksUaVdinyNPzw4uk7p3odaC70PnGGsMD5XA1sHuGNit5wxXP0v967d42O8MoHiHky0dMIv7zJ+McrsHWsUVIM/fPzqZSN7qixwYXNf9K7acZ9B6KIM9smXqzdN7luesD7LlwCcZVP4r9g0mhmp5qbByh9+z16C55K8z77E0YQCVw46uMIJmW5o4itWhNuxm4fHMTOxHFJDIYEr0tbZZNHK+4Y9Y/pGUEbp21jTzUEXz9zrcWSLVcJOn1ei8L7Vf7IXqs+wUZ+ISza03S1h/Kguo5MUUZ3j7cPiyucR9vYlfuRYa4QfRiMXiBx+woJzo3zZ+UIGwjBMUGM8yeZWexJNobfN7eO7xsn6TvCRHmYxIx3BdhGk1SUIp7VtoTCKvwigO4ZWPhxloAJ1W55y6X+kzbzhqGIh+E/8SvU+6z+ykjEaRLu72OFcbB7WAbByBn9+NuXd2Oz87z2SL+NdxNP2I6nmKfvaa27t3Cro5+WT37nIfp9E8Vb+nP98d7Qf1yYHfPNmfb4FZ3hPcjucuwz3R/mftxibDxS3BobkU85lOQkXNx3Z9v88h9R5fUJcOwHP7k4pf+btROwTK4LibQrZQ0qFkbTcJ2136EnS2jBCmCVi62Gmk+VSwecu3TYP0t8CO+4vfGRW3QCNYrS5HenM9DBAgb9bcSRN0QaS5oX5/nbp/ys2qh0dDYxM12XrrDNgahIJ4qqFJP7rt+SsNMGCBRcLEe2fYB0mn8FeR/Q9UraGqJsvv9IRC51VO8s/sST45Kdk0F+lEacCkuO4u3tgXLATUKKcmL2SVklLl9LnHFM7RYncMcJvDqCffxwHp7awrTL52HPiAowAZ3/t+8pDKQvYx/xn6XoEsBocgIpdhGjNkGD9LTKlqH8Q0UIdL346u0FOZUO1DoX+McwKwqtL2VmNmlhvaDyhUX9N+DjQuROWBYG/UKhjY1VQlTTT4AHUahtc9/RrTAb8RZpFctuh2m3hsKkZaq7zRGoDJ7MmRDds1MpX/4rYvE/aU1AH/ZuCa6RYLZc4+kkRD7HT3aklsTN1rl3EHeyEqpqBvNK4gmriEnzCfpLiL3nnt2eATDtJkY8nMvDkUdusnTuroSziA2BD7Np7bANLrtOa6ustD8DWqBZTQjZTzEnX5YHBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rv572xMbrsbAMT9KGMMUMJ",
      "input": {
        "note": "The bowl's right wall sits between the open jaws at low height. Closing to pinch the wall.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Rv572xMbrsbAMT9KGMMUMJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7113, 1.7458, 0.6769, 0.2409, -0.6483, -0.4572, 0.0249, -0.02, 0.812, 0.5999, -0.3939, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3592 left_y=-0.164 left_z=0.0309 left_yaw=0.0522 left_pitch=-0.0621 left_roll=0.1114 left_gripper=0.0249 right_x=0.2935 right_y=0.0006 right_z=0.1703 right_yaw=0.0006 right_pitch=-0.0358 right_roll=0.0019 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -5.2991, 4.9709, 1.1013, 0.359, -0.2222, 1.0525, -0.1299, -1.1829, 7.0496, 1.7118, -0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6eeab458cb7511b1c4cb0238dbc4a082f4a41b32eeb445ec8bb38b98041fea3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd9abdaab1a0d46f934ecb196b293e4caaff0b2b8ff10bd4aa97cef70f4be359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05122d141b388357d58e46a75a75e491e643b16a4b8b2c47254247be39fc46ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 6.524 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]: [-0.7059, 1.4601, 0.7197, -0.0593, -0.577, -0.4725, 0.9996, -0.02, 0.8097, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.342 left_y=-0.1602 left_z=0.0971 left_yaw=0.0129 left_pitch=-0.0756 left_roll=0.0417 left_gripper=0.9996 right_x=0.2935 right_y=0.0006 right_z=0.1711 right_yaw=0.0006 right_pitch=-0.0328 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -6.9949, 8.9094, 1.5897, -0.3736, -0.0269, -0.0122, -0.2393, -1.7299, 7.0632, 1.7265, -0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7139, 1.7676, 0.6758, 0.2134, -0.577, -0.4797, 0.9996, -0.02, 0.8116, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3504 left_y=-0.1714 left_z=0.0134 left_yaw=0.0143 left_pitch=-0.1343 left_roll=0.0883 left_gripper=0.9996 right_x=0.2936 right_y=0.0006 right_z=0.1706 right_yaw=0.0006 right_pitch=-0.0347 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.6496, -8.1846, 4.9162, 1.5897, -0.3101, -0.0562, -0.0171, -0.0615, -1.4838, 7.1726, 1.7314, -0.0806, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7113, 1.7458, 0.6769, 0.2409, -0.6483, -0.4572, 0.0249, -0.02, 0.812, 0.5999, -0.3939, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3592 left_y=-0.164 left_z=0.0309 left_yaw=0.0522 left_pitch=-0.0621 left_roll=0.1114 left_gripper=0.0249 right_x=0.2935 right_y=0.0006 right_z=0.1703 right_yaw=0.0006 right_pitch=-0.0358 right_roll=0.0019 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -5.2991, 4.9709, 1.1013, 0.359, -0.2222, 1.0525, -0.1299, -1.1829, 7.0496, 1.7118, -0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6eeab458cb7511b1c4cb0238dbc4a082f4a41b32eeb445ec8bb38b98041fea3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd9abdaab1a0d46f934ecb196b293e4caaff0b2b8ff10bd4aa97cef70f4be359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05122d141b388357d58e46a75a75e491e643b16a4b8b2c47254247be39fc46ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSuAcKEAgSGAI4AUIIdGhpbmtpbmcSDCAbyM3RL/EVH7Vn3RoMNUjppFlbAb973AQZIjCOdR2N6wIcmS1zfXd3dON7W8uwKxh2Du5ZYpK36mO1nTG3rdJPvJn5yrFfGFI8tcIq1QZbYNFfetEuGt/HA0MOQOI4FolEcsIMkpGTgfYr4JRPZJ5qQJS22PlNyuiY0F4Jj4gXsQAxGesaUyFsC1TnowcTkQ1J23mVQ1dtmxOKxyFxe9Y/1shtr0fa9ycRN77nUqxAkk5klsldxaCvPO4IyWajfukLndV13M3jktNMCXzfIOFcEqaSQ0ymPOQ2W1b/+4M+rjKzYkmdKXRxkh9BrpDbsf/4Rf0/jNVDPErcgBBpcQDKMLKsak5VTVku4SQQ8X7Ig1suYx09G6Vt7PpwgB/sMhPUQURyX958mf5qpUuw6OX/oc1+JqpZzNCbu9YBDeNnYvq+HsNhXj1yHi9l1R9WP9OnMMkAoUueU+yHnPvTOq6W00ueFMjvjwKjvx4wQT7xxxhfJVI9Az6W+t/0bzA5eS5wxI3QRAviMRHVDTLM3y7hsdx6hAj8/BLsMox6wftAxm4tPwgMS4YcN5P91vTbNjwDGS1t3ibQhBcjFLwNmAjLOFbND8F8iMJPz63SS77oDA+N9AnhKqUQe6dmQA5ycqNBUfVbCcH73O1Q0SOMy9sh/wjfvoYoRqhOuY1yoxqs5EIntFjMbKq9MWJN++qSfZzABgeJIgRYVpgjFcmCrVH7rpRRnfWoJJluyecLzA47orHMNAhLfOY63CvkfiWpjumsbSYTRTqN6ZJksUNtkiWoHYLgumoVLsKl8IuJ92tUgDYwcefF4FyynbIIt4bOQUPp+zD4Jd5lu9EgRr20JGpGF+1CCWZbbCoQO07qfv5KKBdILJv+tYAcnvLsBoEynzbVSHfSRyjpWi7YoBqDG6ywo0lqjmSQasZoCkQvW43CjDFA/DPcDChCyXSU5BI8TRys/eqlyDWe/fGQdvmH6ymItTIuuwOTKkrlutlTxPvkt90bFl5DGcHeayHciFgxzKO/5Hd0gbuoioYD5e7+oYXme8GorQ+9BNzML7rDEs+LhHbXaGgkoPCVXOKJGcsKwhUKeezFG0smaL6BdLpPpsjaGlDL7bjMnZorgFudv98mRktjqU47EkoJHInKPxC05efxkWsZqUKkhr63leQu7Cs5iIl3J0+rhmcnr4cfIzMbI0a/OJt1oj5vBSwa1TYJZFfcPvC6vKEOpkJ+5dd3Bj5cYJf1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VYUNrL4grJ8f7iedjf1nEK",
      "input": {
        "note": "Gripper closed at 0.025, consistent with a thin bowl wall pinched. Lifting to check the bowl comes along.",
        "targets": {
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01VYUNrL4grJ8f7iedjf1nEK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7116, 1.5841, 0.7715, -0.0223, -0.6472, -0.4614, 0.0325, -0.02, 0.812, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3576 left_y=-0.163 left_z=0.0831 left_yaw=0.0536 left_pitch=-0.0674 left_roll=0.1122 left_gripper=0.0325 right_x=0.2936 right_y=0.0006 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.0351 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -8.0068, 8.3624, 1.409, -0.3297, -0.0171, 1.0281, -0.0889, -1.347, 7.1726, 1.6972, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa8129390ed07ea4124d9b0dd9249a17cd467f71e5b033f7aa837e1b81590f84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c3e92995af4cae06bf4486b01d068c8026120b980ebdc332c84917c70efddb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:097dd8a406fa94567c33ec750be7c4b99274a7c9945ce9bac40129edb26aefb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 4.662 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]: [-0.7139, 1.7676, 0.6758, 0.2134, -0.577, -0.4797, 0.9996, -0.02, 0.8116, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3504 left_y=-0.1714 left_z=0.0134 left_yaw=0.0143 left_pitch=-0.1343 left_roll=0.0883 left_gripper=0.9996 right_x=0.2936 right_y=0.0006 right_z=0.1706 right_yaw=0.0006 right_pitch=-0.0347 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.6496, -8.1846, 4.9162, 1.5897, -0.3101, -0.0562, -0.0171, -0.0615, -1.4838, 7.1726, 1.7314, -0.0806, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7113, 1.7458, 0.6769, 0.2409, -0.6483, -0.4572, 0.0249, -0.02, 0.812, 0.5999, -0.3939, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3592 left_y=-0.164 left_z=0.0309 left_yaw=0.0522 left_pitch=-0.0621 left_roll=0.1114 left_gripper=0.0249 right_x=0.2935 right_y=0.0006 right_z=0.1703 right_yaw=0.0006 right_pitch=-0.0358 right_roll=0.0019 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -5.2991, 4.9709, 1.1013, 0.359, -0.2222, 1.0525, -0.1299, -1.1829, 7.0496, 1.7118, -0.0513, -0.0757, -0.0122]",
      "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]: [-0.7116, 1.5841, 0.7715, -0.0223, -0.6472, -0.4614, 0.0325, -0.02, 0.812, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3576 left_y=-0.163 left_z=0.0831 left_yaw=0.0536 left_pitch=-0.0674 left_roll=0.1122 left_gripper=0.0325 right_x=0.2936 right_y=0.0006 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.0351 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -8.0068, 8.3624, 1.409, -0.3297, -0.0171, 1.0281, -0.0889, -1.347, 7.1726, 1.6972, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa8129390ed07ea4124d9b0dd9249a17cd467f71e5b033f7aa837e1b81590f84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c3e92995af4cae06bf4486b01d068c8026120b980ebdc332c84917c70efddb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:097dd8a406fa94567c33ec750be7c4b99274a7c9945ce9bac40129edb26aefb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwwsKEAgSGAI4AUIIdGhpbmtpbmcSDFjtoetTpgQB73lAjhoMJjyuJPbPOrS+TKuhIjB7Fl981jeYxX7UbkvFmaUouYgfverv8mMSGbyc5drL4u5YEe5ZBCDUEzFIiJdn1FEq4Apj1w/0oSQOrDue0xHzVnjIKoU9aP7EOW9fGpenP81Dwfg6nmOCpT8zk7FJfAjcj9XdTqQux0B9pLmVA+HT0bsiDQHpHlyvvudxMz8WSEqPl4Q/4kcjS9M8/m6PvwcLP+XO11lZZ7Oz76gCYpSSGjb22/A3pXJuGkY7pVKAgLHZ0gVxj38Zc4ejzyCSFDoPJIlTcuGTlOB/nLfmUZ4dFCeiijy0y7dvM9oVhTcEzQiq8fu+kpV9g9Bk23yfWvpGQV5LO520MKXcEzt7GSrm6kmUbfOlmKp209Eml9NqlOkJm/mLYJGNOblBMibAsz8XjhZLICXso8Ui89smxVsBcomGnkKsnSiRt0YxbuSx9CHubTRvgu1/D34J48tXKSvr/cW+scVXYb+0bujOiHdV49Es+lsB8WKn7UqHOPtLKUWk8xBwPhhY7448oiBAZB0Xz3A6XUKebyJ4vFaacM69QnrD0VkHqUSMCLOo44u24Z9rIxlowLY9ZA4QROG2AFgaURsL77ZsTqv8kZr8J4pd6s0wV8uImnpGsf+IwN8BnTaoxuuPKrRIH2rAz0dpfz3kOClTNNqiHLY/L+34ljK7RjOWsdcfAmiYKoL01Bb76i/0vd/G2c6FElDCwnIEs8s8j9AVsY9v5MN8m8c47MNA8Qcs6sJGaMTkXzueK7Sye4EJeE4ie1kOoYmEtxBJuuFBPf9H7qtu/dqHt7cUU/VnXnwXDqtwMBR1zG1VlmVT6oE4nXlw+bkcn6ac8qr26IYvS8XJbjAbgE1TcLfx5eppJ7RWTithJgqyD+1C5t4X39N18vZWc7FdVheN4f7jSJ+Hl3FRV/iwFNNwOJFKtYbxH6nnAg0dajotxsRptDGvaA7lEWCV4m4PjgFj9yIcesx0yYN9ISs5LlPp0BJPmKY1K/8sS7SCaY8ejht4beAee4bXC6/R1nICHZ2mb7gGs8+rzl4urKSq71zEI3gcyCTUyRjByWx7hahsCT1zvGoZTVArGWSd7uZNa9uJsGeTpF3M9Tx5MfgK2ET/PKggz8ycfjblNGWi1J80kDRnE4wayzZ9FUkLLyK0FqYCsy4TniPHR7u6XyWHmFjw3BG8pmAI3JTxSqyhYH/IYTV8kXlnKjpNuTeZvar4Uomu71MTY4LNEG1fAWghUVcCwBnx56GvKaVH6rdePiTbcAi2rsHg+k7jlWvjdelyoBQK2jTVQduw0Pmf62stXVZnYqv+mlh2SF84NFZUz0jboZcAYsShqGOWoeaLygpCwBQn6KKlB3mwEuSX2Y6FGBylELcuN0xnWpDvcRnnaQtNalKWT2vfPE1XDP94DjMDENbsrzQRjFASH+D+faCAuw7a5d24Mg7qJjVNTNcsPZ0xnzQDAYJevXU1p4oCFXw1WGstCcxT1gJcaeToXCGAKJEFhwgkK5aLJg4Ay5YSKQgq4I3JZSxrfOv6YcayRjqyoI04x+nIrXNB7ZiSiUSjpA+3qGVzvOsVKFsmhJQrjCJR7BKlxLWHtW8N/ibDNXz9yeg/RmQoV0QmLvpwcRfmv/a5VQx5im/TOxA6VyM7LE/wCt5C+Sx7UzYRWBSOY5TII4MoxWsEo9EltUSW1ym3ZQaRwswr/WK/dcAbeW1k4FFnAUb9IWdpyFUmOAJpCvqsiwpJi8h4+FiYJzU8gxc7o346ChkwPzI+UTFUMNRfg3fvNQ37TX8h9NJOhbB0yOpf1kDteK+7TBRO7S0PTBB5cGNDKLtbIghV9hmWkLU1AYRnkGc/goc7GrhCvFQNK4XpISiImRvx23QDrk1lzZPh6xIrsORXR2nTrvrtfoY+LiBuKmcW9Eq3mNDSkRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T2TgXUPjWNMrMPUjLBuefT",
      "input": {
        "note": "White bowl appears held (stays fixed in wrist view while the purple bowl receded). Lifting higher to clear the purple bowl before moving over it.",
        "targets": {
          "left_y": -0.2,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01T2TgXUPjWNMrMPUjLBuefT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7963, 1.5616, 1.1133, -0.44, -0.6815, -0.5484, 0.0325, -0.02, 0.812, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3584 left_y=-0.2021 left_z=0.1632 left_yaw=0.0423 left_pitch=-0.0806 left_roll=0.099 left_gripper=0.0325 right_x=0.2936 right_y=0.0006 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.0351 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -8.0205, 8.5812, 1.2821, -0.4713, 0.0415, 1.0379, -0.0615, -0.9778, 7.159, 1.7021, -0.0806, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9af6c012440c39ea467131b0f87c42e79bb53b585618867d2fc7b7c59b6eb618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a449b9f699c6d51cbb36b6acea82a6d24106095db9f9f92038cdd4c7f94b74d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dcef02daa4884927eeb298cc547f4abe92e6d602822c7c609aa23d8930b19da4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 6.115 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]: [-0.7113, 1.7458, 0.6769, 0.2409, -0.6483, -0.4572, 0.0249, -0.02, 0.812, 0.5999, -0.3939, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3592 left_y=-0.164 left_z=0.0309 left_yaw=0.0522 left_pitch=-0.0621 left_roll=0.1114 left_gripper=0.0249 right_x=0.2935 right_y=0.0006 right_z=0.1703 right_yaw=0.0006 right_pitch=-0.0358 right_roll=0.0019 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -5.2991, 4.9709, 1.1013, 0.359, -0.2222, 1.0525, -0.1299, -1.1829, 7.0496, 1.7118, -0.0513, -0.0757, -0.0122]",
      "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]: [-0.7116, 1.5841, 0.7715, -0.0223, -0.6472, -0.4614, 0.0325, -0.02, 0.812, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3576 left_y=-0.163 left_z=0.0831 left_yaw=0.0536 left_pitch=-0.0674 left_roll=0.1122 left_gripper=0.0325 right_x=0.2936 right_y=0.0006 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.0351 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -8.0068, 8.3624, 1.409, -0.3297, -0.0171, 1.0281, -0.0889, -1.347, 7.1726, 1.6972, -0.0708, -0.0562, -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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7963, 1.5616, 1.1133, -0.44, -0.6815, -0.5484, 0.0325, -0.02, 0.812, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3584 left_y=-0.2021 left_z=0.1632 left_yaw=0.0423 left_pitch=-0.0806 left_roll=0.099 left_gripper=0.0325 right_x=0.2936 right_y=0.0006 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.0351 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -8.0205, 8.5812, 1.2821, -0.4713, 0.0415, 1.0379, -0.0615, -0.9778, 7.159, 1.7021, -0.0806, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9af6c012440c39ea467131b0f87c42e79bb53b585618867d2fc7b7c59b6eb618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a449b9f699c6d51cbb36b6acea82a6d24106095db9f9f92038cdd4c7f94b74d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcef02daa4884927eeb298cc547f4abe92e6d602822c7c609aa23d8930b19da4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQStAgKEAgSGAI4AUIIdGhpbmtpbmcSDHsW7yV4zaVAkMKAlxoMw47JRGL8KM5dW268IjBJnUi7Vouk3vJ+7LleHn/wBZe5d4jbpvk0zjIGjBmvXH44ISB1ipMf4A7hu0ECCHoq0QcdEjexfMx8yqUok9ckb4dYoZntH+uudxlSpA4PFBxC3i9rxJ4ct61MKUANi/eSL/GCbVpQV8bWDSgthT0XMPDjTn1MyjP8BeAw0hnXTSDet2NxCzhXNITITiFN2POQlkOxFX5ftmIRzTWa5XYcAisOyg2gckiDshZ6FhTCxCwCpZZ9WUE4S8BFtBe81VLU4sIdX+4uMnX09L9m3QrdOXz3PUgTvaTMwUsceZsJFKjszlDr6x6ZK+STwNg96zVS111gt5/utgw0H4zDyBuOqRy2RBMTySg3kzH/A3ZHSyKZP79WbrYiPwild3kNTL3i8wSl/HMN5nHRuBENlWl1WxHQR9Zko/YQtuRg5flfCM/0Lr391fh8qa0Rx6xX1IkEMVtZRCDWcOdHHKetMRPMdQni9bd5Y1qzLGuLa2XW2LFxDKo43rHfYmiuMme8AfhcXdJr5z8rCyX47kaKDKFmadm6xWyNZkwc5e7uMoOSPvfbGX12kaDUEBONUgjoVKslrKZPUxREBLk9Oa0NtizNmvj7iRyD751DKr521FiyQ8xHtNb/2bEkhpfXzQpA74elf1Et9npjnFJxxCMuiUbGdqHUmJdpvNPOPG26w9O2ACXtBhQFf4GnlJ0Oy/rocpKRMGBUajKoN7S8DsId5F26LPLqO1DPfny0BQ9Zc8KrKIbL3ixf9uGCYmChHeufV9u7yNi7h+QY6YWLtVWrPCwE0pSc0UYwCIxV68SBUT2LGEfH0GBzzelbr493Yb2qzNRJ24dBokjUd5cq4bjRddLQfRtpU0+Ik15O1KCroKUcxEW3hg0Suv5oFaWTSP5wDAnhgwftD5wpb0mK3UBcOp2eZo0cHIeNRXy5LYyukiEYyGzbCK3AEBOXzNB6KM3KWlFvCPPrYRtJ9VBtc3rPs2GZadvJpnWODk9+eImM7bM/MemRL8Vxx45PRaIqw5SiRwMm2x+j2M+hA/MKjU3iTZXdAmLMnlGyje7WwJFOmsdwXhyRFsj99LODcKCOaD9yNCK41wsFNETSyspezoyQQS8wXmJ+mjklgi8euCFGmjNTDtRtvRCYaZ7zSca5ylkmXGoKoICwRBsHyMcYPR9eWXTuDaGE3pEu4+/DimAhNNTogCtSsI8aZf/k1H++7Xz98I9jkyBg+0twAG3lzuGEXCbdWHcFTexNyaeLS77qYkZdjMnTnoggoCWdlUMJdjeRGWYXG+3W5AbNFik+udR7uMR+sjWsgaTMdz937dIDX19tDms1B46uO4JqithMF6OWIxZjc/Kpkv95T0SdyjcMnZm7UDUC+hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Po6wzobKKhdqcd1ftRnCg",
      "input": {
        "note": "Carrying the white bowl; purple bowl is just to the right in the wrist view. Moving right to centre the white bowl over the purple one.",
        "targets": {
          "left_y": -0.3,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_011Po6wzobKKhdqcd1ftRnCg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9676, 1.8503, 1.4994, -0.6765, -0.7521, -0.7338, 0.0325, -0.02, 0.8162, 0.598, -0.4004, -0.0162, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3556 left_y=-0.2972 left_z=0.1676 left_yaw=0.0257 left_pitch=-0.1091 left_roll=0.0987 left_gripper=0.0325 right_x=0.2925 right_y=0.0006 right_z=0.167 right_yaw=0.0002 right_pitch=-0.0484 right_roll=0.0019 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -9.7983, 8.8821, 0.9792, -0.6129, -0.0073, 1.033, -0.1299, -1.6615, 7.1863, 1.7949, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19df831812eb5fde27ad7b2524fa13fcf7f8cd19513b013b47632530e5c6f257",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f7304ef504f7ed554ab7a1f57895edbeec803868b83fc037bea1dfe35793cb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c571ac6e952d0eca54bbc09101978ba99e6bedb6acf2ecd335efa9c2e788bf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 3.859 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]: [-0.7116, 1.5841, 0.7715, -0.0223, -0.6472, -0.4614, 0.0325, -0.02, 0.812, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3576 left_y=-0.163 left_z=0.0831 left_yaw=0.0536 left_pitch=-0.0674 left_roll=0.1122 left_gripper=0.0325 right_x=0.2936 right_y=0.0006 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.0351 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -8.0068, 8.3624, 1.409, -0.3297, -0.0171, 1.0281, -0.0889, -1.347, 7.1726, 1.6972, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7963, 1.5616, 1.1133, -0.44, -0.6815, -0.5484, 0.0325, -0.02, 0.812, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3584 left_y=-0.2021 left_z=0.1632 left_yaw=0.0423 left_pitch=-0.0806 left_roll=0.099 left_gripper=0.0325 right_x=0.2936 right_y=0.0006 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.0351 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -8.0205, 8.5812, 1.2821, -0.4713, 0.0415, 1.0379, -0.0615, -0.9778, 7.159, 1.7021, -0.0806, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9676, 1.8503, 1.4994, -0.6765, -0.7521, -0.7338, 0.0325, -0.02, 0.8162, 0.598, -0.4004, -0.0162, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3556 left_y=-0.2972 left_z=0.1676 left_yaw=0.0257 left_pitch=-0.1091 left_roll=0.0987 left_gripper=0.0325 right_x=0.2925 right_y=0.0006 right_z=0.167 right_yaw=0.0002 right_pitch=-0.0484 right_roll=0.0019 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -9.7983, 8.8821, 0.9792, -0.6129, -0.0073, 1.033, -0.1299, -1.6615, 7.1863, 1.7949, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19df831812eb5fde27ad7b2524fa13fcf7f8cd19513b013b47632530e5c6f257",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f7304ef504f7ed554ab7a1f57895edbeec803868b83fc037bea1dfe35793cb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c571ac6e952d0eca54bbc09101978ba99e6bedb6acf2ecd335efa9c2e788bf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiAsKEAgSGAI4AUIIdGhpbmtpbmcSDO6YY3r4ONCsXIgJzBoMc2aMVoMDbaPTVAKrIjAM63GPDIA8U9LNwRtk3FXUOyMOtPT4QIy6/iLzejyTM4IJsqqNcvvD0oMQxLPzFtUqpQrueBpMEZCvKYLa1iZxP1lrb2gUJlDUHoxo17anP/2tSE4CGjkmgDHVft+4nsQ7nk/BDgEw5JKKoPjJqezPVlIHEq13a/A5RR7pTOh0kNMmlUmqU2FwH/EPU083Qy3UbpcKLi/8Vmg7hbzPLH0eOFvr8RuQ29ljVJolI1FG7YO+iua57ycdJpmuqBvKI2SWhCz3T8b2Tb5ZGNQi700VsoDTRe0yFeKWlNt1vpltXXDzQvYxZ/8goPVSQ7z+FGGZ3UyDywSw1dwSOP8kS3v8qHF1bSGIdJE/PteyGFzG4kvsylpfHlwbfIoPxzU2YLmXuC4N5QVRpPldmbxXDQ18HK2yOsWrOMRqVmy7ab4vb7VmeyBLSYZCarj68P1c2EScEqxXP2hSGtfjxBGHKcte2UUyzP067QNcJ5sWP1ucHKc2epGtjLtcc2QDSLKMo29Lyz1ul1bAEewzN7TC7MpUt9OTHOhthB9gpEHwLKfGkaAkrHFYG0UWEfS0z5tIMJIvml1k+0oktsF+sKXaAqIbFpSazyNqtIWv/r6qRpwIVZxeS6LCXMFMjqcQD6ZzD6WNQZPoKQbzfSGk9Le7NHiOf2veNOEAA0umYzsGaf/Gwv5VK4FQyjh+TYoKe6pVnd6V0U8qP8dIUGDnATYfzDockbAiQ+NwofGeGI9uK/2kdLUmu39z/oEzgihIwZzDFhElBlId3AdtmTWfN3UmUfb/dy4h6gCq5r+H/+d+rPqTC8VN230MffFtqcQ85ztA1+ZnMUf7FWAzbFLUs5kLYlFGOq+yGoWosV0WrGRfBrNf9bgomm2EEUvPwA0wvN0QghauOxkxmgUXSkXDDmfUKy1QwKLjxaU7k2aPyup+GJYZcoiJ82990JlGiXvrUkdTfa6TXjYAYFg2ULgt97pmLKTMBW5lzkCLqSVzCbzet6VklXXYhlAizpr/+aWTF0TyM1dsJt69BW3udLo5RVZ5RNZZ+Zq85cUL4b6Dzth2b9lCc6+H4S4Txh8feG4lA2ukNkjmLJEn6WAffrtwyIB6IoTB7fkgnj6vLWQoS65Qlmn8V3n1bWrfv2c8jDVxvf3CndzEOC3E/v3danYgIemN+/y3hKc8Mu/jaaWhOxqHnGSFLsO3RdLBhbEmWkP92C4iIfTq9vd+3j11E2rxRFA8Q/TF7TVvlGZ05ht6yvmUepEr+DVrme2mLHCCgxnYr+4Tvi2fxyzCD8yIOfm6LffamNf6of6BqXyyoX2x3nqP4KX91LvCC6L/fcH/pmIPWuoGAQhMZcke4n1KOil06JojtjRIuZ2m8eN07peoZsptBRNRl6GYpxXRaPcI8k5IRKhHGBSroLs4Kry9e+4els0lsH6NxYvdrMnqKeTPlSYwMD9amSX7F0QuHY0s6Em4AgT7T0TEVp2XtZ040sVNS1gKp9n+24yCTc+3Kt0Bb89zbhwCv2sEvhcjVVVyfidGZV7wrbSG+7g+KFElZLmbfOl2p7xyj7UQ1YaKquVkbltk6X2sgSPyBC5SpT26DcpSaFuKLHB1KTQr3gof3O821yTf/nvJi80ahYAvbHqOpASuDGi1JJDX4GJ/EJ6ZEqcOC5wNDbrzC0pmk3ZH3atJsuex+6LpRdxOLKguDO6pf+YVgwf0pcUzbKSVrj4HwHpjemZhfd6tdgl4BlaZkeep0gQkJUp329OQe7JTpMqXOyBuc7CVslrmXXm37ApkhzpR7iR/WiZwpFf5EBmS0UD1hxVifc8w7lVZuWbfqZoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SE8odxnpoCKt24p3yRJxar",
      "input": {
        "note": "Purple bowl appears just right of the jaws, while the held white bowl hangs to the left of them, so the white bowl is still left of the purple one. Moving ~6 cm further right.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.36,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01SE8odxnpoCKt24p3yRJxar",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0149, 2.0918, 1.8641, -0.8448, -0.7578, -0.8024, 0.036, -0.02, 0.8173, 0.5957, -0.4122, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3692 left_y=-0.3574 left_z=0.17 left_yaw=0.0232 left_pitch=-0.1249 left_roll=0.0864 left_gripper=0.036 right_x=0.2906 right_y=0.0007 right_z=0.1633 right_yaw=0.0006 right_pitch=-0.0637 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [-0.7726, -11.535, 8.4991, 0.7839, -0.569, 0.022, 1.0281, -0.1846, -1.4291, 7.1726, 1.8046, -0.0806, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23c0bb486ab2f047d83f32b6ea8174e1cfc6ed92554b86f2a311c7d20f34e6cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9e28ebdbc88e0eaf0b81b0027c68edda383a905395e2a066d6643c1ac5a8a52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e506b8e8fb1b1f5b885630448b650fed0aca141db439f06c6609726c9e99fe1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 3.186 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]: [-0.7963, 1.5616, 1.1133, -0.44, -0.6815, -0.5484, 0.0325, -0.02, 0.812, 0.5999, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3584 left_y=-0.2021 left_z=0.1632 left_yaw=0.0423 left_pitch=-0.0806 left_roll=0.099 left_gripper=0.0325 right_x=0.2936 right_y=0.0006 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.0351 right_roll=0.0018 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -8.0205, 8.5812, 1.2821, -0.4713, 0.0415, 1.0379, -0.0615, -0.9778, 7.159, 1.7021, -0.0806, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9676, 1.8503, 1.4994, -0.6765, -0.7521, -0.7338, 0.0325, -0.02, 0.8162, 0.598, -0.4004, -0.0162, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3556 left_y=-0.2972 left_z=0.1676 left_yaw=0.0257 left_pitch=-0.1091 left_roll=0.0987 left_gripper=0.0325 right_x=0.2925 right_y=0.0006 right_z=0.167 right_yaw=0.0002 right_pitch=-0.0484 right_roll=0.0019 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -9.7983, 8.8821, 0.9792, -0.6129, -0.0073, 1.033, -0.1299, -1.6615, 7.1863, 1.7949, -0.0366, -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]: [-1.0149, 2.0918, 1.8641, -0.8448, -0.7578, -0.8024, 0.036, -0.02, 0.8173, 0.5957, -0.4122, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3692 left_y=-0.3574 left_z=0.17 left_yaw=0.0232 left_pitch=-0.1249 left_roll=0.0864 left_gripper=0.036 right_x=0.2906 right_y=0.0007 right_z=0.1633 right_yaw=0.0006 right_pitch=-0.0637 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [-0.7726, -11.535, 8.4991, 0.7839, -0.569, 0.022, 1.0281, -0.1846, -1.4291, 7.1726, 1.8046, -0.0806, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23c0bb486ab2f047d83f32b6ea8174e1cfc6ed92554b86f2a311c7d20f34e6cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9e28ebdbc88e0eaf0b81b0027c68edda383a905395e2a066d6643c1ac5a8a52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e506b8e8fb1b1f5b885630448b650fed0aca141db439f06c6609726c9e99fe1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS7wcKEAgSGAI4AUIIdGhpbmtpbmcSDNXEP13HCYkaviAQ5xoMAMOQ+UtH6mgTKdDUIjCrtIQrhaiZfxlxmrMSDLEPRWA91uXxfv0vSOuXVHj0bQiXI9l6io0lXmtIXxkUXggqjAdYo8CwDjTGrYTWj0QxeqREoITBmNbaiAonG+C6ZZ9zJimqx2e96/bJqH5ZJOkyBtOFLjj1Qi2+N60nBtALAQgErsyv0BZhSgE7cCdnCw10eiizJ5gNTNMu3iEP5TYJKrSSNLJ/D8yBQxY5mRTMTLH3Woz6tOLka2ME3s13Pu9bCuvZXlLpETKRKSPX+t5iCn/lcIm2UQpouNIwr3JEc1RYSDsHZOeeXR1p4nMLy9jFddAwAhTnzDIHMz8jDGwvB+T2a6N14BKQ1nLX6pt7Dow3lVXB6fHYOhOzxomclU1SONiUKd1iu7kyWwIdrinG8kFOi7X25Qd9WagdG9LmJqVy1DpvAXumdbEilCKUObVD/qg3fwqi1L3z3FUh0RbKljvtYbSfjJYasED4WQ0N/pTR5+iqywjPyI6XiLoU9S7Oije54N+8ES4leUTnGQjHphd9VU3xESa2fgiYAkwbKDXa2pkGboOcV3IvICbAdj//Ali2ObSn0yg2NGtiMIFQ0A3jbZ3yf81u0Tr2wAe61RIFVd/WNuLnfNk/3LTV/5c9WtAEPDzveWI0LNDNEjWdP0Yltaan2cmpsQ4F4+y1y/poNN5TiWlDx9BbRmZB9t6Hp7jAQy58ER1c5luGrZUUMiR0H6SWOa392c+sC6EMN/5OjsibOQLUl0W0oVk/8O8bq3yrr5L6igghwjNiEnX2CMzIQkZlUuXXhdBc9cD1SLFxJ992GBtLJlX6YIinZTiD0GCC2LP0tFIpFVNbe9LrvHcdyF/vL+BIiej3OBybWtMyqWzq5KKrPFcjGg9zlHjgaLUQHbKtBM22YUstrSlh5/P6uCLxmKKWQsM+q7isOA+P8wCgLax3/B7FegWnoXAgRQCHYEPMTJG0lM9yatCnkiwz85nOJTNdPl/wR6bG+4jHzpW6551V7FZ8a/H60HcXLR6G0Cdo/iom61wX7dLNgwOIhFwfk6n1ScLA7u6f+ULcjKEQS8qfjtuac/DtTWlgIuIFRr4M/q3TTkCk9+X+miqR9PpwrZom7k0tCgFmZ/LYFjSoWcVc6CqZqnv+KETA7SiNKpRrm5zZSNLFOBP0uais4CKKDSyN4fjAMyy8LUrz6i/qijGvPiydbduDIVRGXCbgbuUbxMQrm+QjBgIqT/37rh5a5ERUhEw6Y2+7R/kr1yqeCXIY9b1hhwSoEr3Ypydhk2NIRwHEz/k6gRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EyH8KXi3G4WvgzGXdYm4dm",
      "input": {
        "note": "White bowl now covers the purple bowl in both views. Lowering it to nest inside.",
        "targets": {
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01EyH8KXi3G4WvgzGXdYm4dm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0191, 2.1666, 1.5436, -0.4793, -0.7502, -0.8089, 0.036, -0.02, 0.8181, 0.5945, -0.416, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3635 left_y=-0.3541 left_z=0.0586 left_yaw=0.022 left_pitch=-0.1455 left_roll=0.1038 left_gripper=0.036 right_x=0.2899 right_y=0.0007 right_z=0.1618 right_yaw=0.0006 right_pitch=-0.0694 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.5675, -10.5231, 5.9556, 1.2625, -0.4518, 0.0073, 1.0232, -0.1299, -1.1282, 7.0769, 1.6874, -0.0171, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16a47fdeab5ed9e9e8cfdea49ea335da3c2937abb840f0e49e42439d8b3da994",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5287b129a82c3386cb7e8448d4ab15cf40c6925d580189d8ccef234bcc64ea7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d1366fca8f94b89d93890b3d4d3f569dfdb1a6da299c428655a8b832819d02e",
        "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 · 3.523 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]: [-0.9676, 1.8503, 1.4994, -0.6765, -0.7521, -0.7338, 0.0325, -0.02, 0.8162, 0.598, -0.4004, -0.0162, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3556 left_y=-0.2972 left_z=0.1676 left_yaw=0.0257 left_pitch=-0.1091 left_roll=0.0987 left_gripper=0.0325 right_x=0.2925 right_y=0.0006 right_z=0.167 right_yaw=0.0002 right_pitch=-0.0484 right_roll=0.0019 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -9.7983, 8.8821, 0.9792, -0.6129, -0.0073, 1.033, -0.1299, -1.6615, 7.1863, 1.7949, -0.0366, -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]: [-1.0149, 2.0918, 1.8641, -0.8448, -0.7578, -0.8024, 0.036, -0.02, 0.8173, 0.5957, -0.4122, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3692 left_y=-0.3574 left_z=0.17 left_yaw=0.0232 left_pitch=-0.1249 left_roll=0.0864 left_gripper=0.036 right_x=0.2906 right_y=0.0007 right_z=0.1633 right_yaw=0.0006 right_pitch=-0.0637 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [-0.7726, -11.535, 8.4991, 0.7839, -0.569, 0.022, 1.0281, -0.1846, -1.4291, 7.1726, 1.8046, -0.0806, -0.0122, -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]: [-1.0191, 2.1666, 1.5436, -0.4793, -0.7502, -0.8089, 0.036, -0.02, 0.8181, 0.5945, -0.416, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3635 left_y=-0.3541 left_z=0.0586 left_yaw=0.022 left_pitch=-0.1455 left_roll=0.1038 left_gripper=0.036 right_x=0.2899 right_y=0.0007 right_z=0.1618 right_yaw=0.0006 right_pitch=-0.0694 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.5675, -10.5231, 5.9556, 1.2625, -0.4518, 0.0073, 1.0232, -0.1299, -1.1282, 7.0769, 1.6874, -0.0171, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16a47fdeab5ed9e9e8cfdea49ea335da3c2937abb840f0e49e42439d8b3da994",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5287b129a82c3386cb7e8448d4ab15cf40c6925d580189d8ccef234bcc64ea7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d1366fca8f94b89d93890b3d4d3f569dfdb1a6da299c428655a8b832819d02e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wYKEAgSGAI4AUIIdGhpbmtpbmcSDMonFsyvcDzXeZt3MRoMyFjqnJgVikK0kV0eIjAjPvVhPr2zjxoVUmSa7vqxvD/oXdcyYeNi3YzZyfJioUA+nx2xf3M8UvnErMzTWpcqlAZsW8doomM8xzK0M61YM4KKBI9wM3EUODfKOFKMuhHJeZDzOzpW8lIYXG2JHrxvftO0BJGtZhXomYd81r7+66SgOeHbYYz6jCmWcnFeGZNwi31sjBqoxgIosOFIVOkQDEEqJmX2lsWpxD0uZ3PBzRSB6DMSc7Lp6i2IxV9jfQYq2atwU58bhcbjvm7cfOM7OruNjt+FHRfNH2AK3bAoYpubWsouDAeXFhwd4WVmMsbCsWQfO1PJxvAVfuLWpm69S+oR0X87mFlgOc3l4CjSju28X2hD3t4YJ0Z/Jb2QrAp+Hch4w0cmeCxmq9QC7WQ0wOUnewgAVQP8uuYBDSojfsBA9AERVlcaDu/zGJnqX7xNrykzWFBC395fB0LT5lYrZb33e4Dq5nNSXzpYUmln/bjYhmaexupvo8xBnelUo3z3UucP3P+eqsihbX8bnZQkGFA1WyH1fWTTPWfK1Oe7oDZSMqJuP6fw3dieEJ2CD7ANWotnweuOUbe+S2eUp9Tpysf3hRCBPYw0dMeEcam4ewXH8J3wKDuYqybj6dAZXfE7BNBs379zfno0qcqIEW1fufY+6sZQxTj8LiIaOWkrY3bDd5OIkO589sJExJc3O8sLKUrFXT7z1mQhAc+O+huaatZmWfNvtWyyT33RNxkoCaRYn9RScaHNPnOuBRvrRguGo96x0sKuhNlM4WYnkVT/9yY0Q4eUmoZrPCn7TN8eGXO65unPw1ZehxepoillvoEwwCKcdotZckvRKCS4iTRHV6o8ENXYoSoIpxyuFoP6ye5TdBynyxfQ1svc8tgYed6hEkB76K+MUkpMRQJhDvANXSa4Sq2OXO0rXtu+9qbg7L4r4Efihwn1icqyi+MUSLTrpnLwzggDkcfjhDkFHiIsyQxWwLAf99ya3JKyk6u1FCC3IC2G4kzLybeVvtAeQ3g7opw2Sud2AxUCATKygPlES4vhTq+kZTdSuilfmZAEW6ej3bgak+WsjlvGSQVHAH0oG4fvKAVBW+qOQ0O4Rucp5f+aDJkl0oX8CxT4u2KG72sTQG+RnRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y81DMt3D4ci7HToEJeec6e",
      "input": {
        "note": "White bowl is seated inside the purple bowl (purple rim just visible around it). Releasing.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Y81DMt3D4ci7HToEJeec6e",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0183, 2.1822, 1.5341, -0.4664, -0.7696, -0.8124, 0.9944, -0.02, 0.8185, 0.5945, -0.416, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3647 left_y=-0.3506 left_z=0.0514 left_yaw=0.036 left_pitch=-0.1363 left_roll=0.1207 left_gripper=0.9944 right_x=0.2899 right_y=0.0007 right_z=0.1617 right_yaw=0.0006 right_pitch=-0.0698 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -13.2718, 6.735, 0.8913, -0.1832, 0.0269, -0.0952, -0.0068, -1.4017, 6.9949, 1.6484, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3561b57b766fb4cd4f1e19a1c075e52645d2c7095c47f245392d828b8fc1cb42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e04eed2700ab0765b86a61304afdec359b9c233feb87405b05679fcd70f59bbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0de9db331cad933445f826d2e887fdfa46a3e8c694de7620467c4fa7ca7d5021",
        "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 · 10.12 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]: [-1.0149, 2.0918, 1.8641, -0.8448, -0.7578, -0.8024, 0.036, -0.02, 0.8173, 0.5957, -0.4122, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3692 left_y=-0.3574 left_z=0.17 left_yaw=0.0232 left_pitch=-0.1249 left_roll=0.0864 left_gripper=0.036 right_x=0.2906 right_y=0.0007 right_z=0.1633 right_yaw=0.0006 right_pitch=-0.0637 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [-0.7726, -11.535, 8.4991, 0.7839, -0.569, 0.022, 1.0281, -0.1846, -1.4291, 7.1726, 1.8046, -0.0806, -0.0122, -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]: [-1.0191, 2.1666, 1.5436, -0.4793, -0.7502, -0.8089, 0.036, -0.02, 0.8181, 0.5945, -0.416, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3635 left_y=-0.3541 left_z=0.0586 left_yaw=0.022 left_pitch=-0.1455 left_roll=0.1038 left_gripper=0.036 right_x=0.2899 right_y=0.0007 right_z=0.1618 right_yaw=0.0006 right_pitch=-0.0694 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.5675, -10.5231, 5.9556, 1.2625, -0.4518, 0.0073, 1.0232, -0.1299, -1.1282, 7.0769, 1.6874, -0.0171, -0.0317, -0.0122]",
      "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]: [-1.0183, 2.1822, 1.5341, -0.4664, -0.7696, -0.8124, 0.9944, -0.02, 0.8185, 0.5945, -0.416, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3647 left_y=-0.3506 left_z=0.0514 left_yaw=0.036 left_pitch=-0.1363 left_roll=0.1207 left_gripper=0.9944 right_x=0.2899 right_y=0.0007 right_z=0.1617 right_yaw=0.0006 right_pitch=-0.0698 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -13.2718, 6.735, 0.8913, -0.1832, 0.0269, -0.0952, -0.0068, -1.4017, 6.9949, 1.6484, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3561b57b766fb4cd4f1e19a1c075e52645d2c7095c47f245392d828b8fc1cb42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e04eed2700ab0765b86a61304afdec359b9c233feb87405b05679fcd70f59bbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0de9db331cad933445f826d2e887fdfa46a3e8c694de7620467c4fa7ca7d5021",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSswcKEAgSGAI4AUIIdGhpbmtpbmcSDN0+OEQuc62lFvK8ohoMrMKEn+7nlay3ZmBVIjCtTsMo5oHlwxxsgsLODbNfr+8/IL2pNlD/w//ycUNbbD5I5GG4ShST7AT8jfrBRngq0Aa+/OMCTxSxZmQPbBReRajHrSIeYBdPIDVKUvZaTY7EWdaprftJxpgDbUxoEgvajYx/MTlS+GBiBAd7fMLC677/ZLKqiXa9xCRVzR3CK9m4BfLCypbLylF59wStG+c4QG88Q0YZowG0J/eAqvC/M2IFGaR5hlg0bOnUfwlihtki6fVHowS5WHuH3FlhLEqHiPH0MhJsLS08jZDciwOeAq6w60raEyCaZGvTZI2rWk84EP5umY7siMed6qlFZua/6JWeLefslYqsyZjy30Dsq1eVsi3pWRQAWpC3ORp0pyCeyvHATOXaqy9NHpoVjDuObOKaJe1ZvlKHLkcx7Ftz83N5cTiLiVOeoIsUlq05280diY7Z76se6+Pqr/difEHSdX/zIGVFJduRwZIJUoVBxUIXHPv/MxLX34plWlXkRESKywkIYgGt+rrwYFbugtt3SquC/bwvSow3/1vcwkXCFY7sxq13WjTHFFFQ/gKGiYFzGiVDCkSLatYnSkQt0uKAjVSvji20wHB2+RgzWnuJjwNmj55H4g0bKVbs39DNsfeJ+XdzsGknlDc3Tn6mRROgLZGC/Wb1PIK04Ii7JV8yyjNDQjrnBqFzwNSY8tuoQldqxwAW9dO949JKwUr1zupD8PJN8HveDikmxoF+WPgBqUz9N7QJOR/wdOCRU5PeNwDMfk9+b86Zh5Zhqpw9UTca4iuJm/FSQFD5Xfv+RBRiArZ9NW1wyaikvrprSY/mJnXvZoNCUkbCl/PjXiVd9kkiFNSsVr4PH+o2e8sChd43GBMdQyuVrKlyPN5udB5Xva7OoCLHWTmsfc5v4RNTNxt/TuFWTKUgDzjg3aoM/rLgZ7nUDFyIdy/u9DHLP6497txsPN/LtkZq5D6CLcrnQZoqKoNs5X0cxrSuXoPE8gB3BrdMep50TJXjmx8vd+QEzS1JL8vpZlczR/laYrwzNIuCMClF/ZHloXlrJx9aM7quJdnx58SOvCBHvKfJ/jMur55hvE9XoVtZDpU4abVbiknv3e8Odie9xNBYB/i0cMYtIruSYp4ZP8QE4S07y9AkvF2bNh2QTeANtEdrGIbc58GsdXufYJf9b6gDkAm8o/QVtn63vdduqMNmPdXM25Q2ojp/hhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ci6DaGZJMunUTdAQ8GKzTo",
      "input": {
        "note": "Released the white bowl inside the purple one. Lifting the left arm straight up clear of the stack.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ci6DaGZJMunUTdAQ8GKzTo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0183, 2.1231, 1.9545, -0.9569, -0.7574, -0.8211, 0.9952, -0.02, 0.8185, 0.5945, -0.4164, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3664 left_y=-0.3562 left_z=0.1758 left_yaw=0.036 left_pitch=-0.1507 left_roll=0.1182 left_gripper=0.9952 right_x=0.2898 right_y=0.0007 right_z=0.1616 right_yaw=0.0006 right_pitch=-0.0701 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -13.6547, 8.5675, 1.0476, -0.4957, 0.0757, 0.0611, -0.0205, -1.2376, 6.9675, 1.6532, -0.0708, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e7f121557fa8e96efb3eb4552c1e401a2e232266f2cc352907e0ebecf0e36c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5af42ea1b0c7f59bc9c4e601a25d4cd470b8ef92cb240faa528143aef8b369df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2fb151592b2f9d99a06c137994de473a7eb22707bc7d601f57ad90bcd623baa9",
        "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 · 6.115 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]: [-1.0191, 2.1666, 1.5436, -0.4793, -0.7502, -0.8089, 0.036, -0.02, 0.8181, 0.5945, -0.416, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3635 left_y=-0.3541 left_z=0.0586 left_yaw=0.022 left_pitch=-0.1455 left_roll=0.1038 left_gripper=0.036 right_x=0.2899 right_y=0.0007 right_z=0.1618 right_yaw=0.0006 right_pitch=-0.0694 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.5675, -10.5231, 5.9556, 1.2625, -0.4518, 0.0073, 1.0232, -0.1299, -1.1282, 7.0769, 1.6874, -0.0171, -0.0317, -0.0122]",
      "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]: [-1.0183, 2.1822, 1.5341, -0.4664, -0.7696, -0.8124, 0.9944, -0.02, 0.8185, 0.5945, -0.416, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3647 left_y=-0.3506 left_z=0.0514 left_yaw=0.036 left_pitch=-0.1363 left_roll=0.1207 left_gripper=0.9944 right_x=0.2899 right_y=0.0007 right_z=0.1617 right_yaw=0.0006 right_pitch=-0.0698 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -13.2718, 6.735, 0.8913, -0.1832, 0.0269, -0.0952, -0.0068, -1.4017, 6.9949, 1.6484, -0.0317, -0.0708, -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]: [-1.0183, 2.1231, 1.9545, -0.9569, -0.7574, -0.8211, 0.9952, -0.02, 0.8185, 0.5945, -0.4164, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3664 left_y=-0.3562 left_z=0.1758 left_yaw=0.036 left_pitch=-0.1507 left_roll=0.1182 left_gripper=0.9952 right_x=0.2898 right_y=0.0007 right_z=0.1616 right_yaw=0.0006 right_pitch=-0.0701 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -13.6547, 8.5675, 1.0476, -0.4957, 0.0757, 0.0611, -0.0205, -1.2376, 6.9675, 1.6532, -0.0708, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e7f121557fa8e96efb3eb4552c1e401a2e232266f2cc352907e0ebecf0e36c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5af42ea1b0c7f59bc9c4e601a25d4cd470b8ef92cb240faa528143aef8b369df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fb151592b2f9d99a06c137994de473a7eb22707bc7d601f57ad90bcd623baa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DmSx9w8ZX1u7ZkLdLk4BkH",
      "input": {
        "note": "White bowl is nested in the purple bowl. Parking the left arm at home so the right arm can bring the pink bowl over.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.29,
          "left_y": 0.0,
          "left_yaw": 0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 32 steps (3.2s)",
      "tool_use_id": "toolu_01DmSx9w8ZX1u7ZkLdLk4BkH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0551, 0.7822, 0.6033, -0.4061, -0.1062, -0.0902, 0.9952, -0.02, 0.8185, 0.5945, -0.4191, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.2903 left_y=0.0063 left_z=0.178 left_yaw=0.0716 left_pitch=-0.0113 left_roll=-0.0057 left_gripper=0.9952 right_x=0.2894 right_y=0.0007 right_z=0.1611 right_yaw=0.0006 right_pitch=-0.0728 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.0342, -1.3607, 7.0222, 1.79, -0.0024, 0.2662, -0.0073, -0.1846, -1.3607, 6.9812, 1.7021, -0.0806, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:842936cd6f168afa32e540a295379d8b2fa3b00835b7db201ccda3f3cef8ea4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98db99aaa1d372595c888c23c7697fe4b73ff8a577715c0b553b23fde2ac2031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f4d3568eb68f15edbbc2361fc415914b6774ecf41388a097aa326ad4a3a99d3b",
        "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 · 4.409 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]: [-1.0183, 2.1822, 1.5341, -0.4664, -0.7696, -0.8124, 0.9944, -0.02, 0.8185, 0.5945, -0.416, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3647 left_y=-0.3506 left_z=0.0514 left_yaw=0.036 left_pitch=-0.1363 left_roll=0.1207 left_gripper=0.9944 right_x=0.2899 right_y=0.0007 right_z=0.1617 right_yaw=0.0006 right_pitch=-0.0698 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -13.2718, 6.735, 0.8913, -0.1832, 0.0269, -0.0952, -0.0068, -1.4017, 6.9949, 1.6484, -0.0317, -0.0708, -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]: [-1.0183, 2.1231, 1.9545, -0.9569, -0.7574, -0.8211, 0.9952, -0.02, 0.8185, 0.5945, -0.4164, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3664 left_y=-0.3562 left_z=0.1758 left_yaw=0.036 left_pitch=-0.1507 left_roll=0.1182 left_gripper=0.9952 right_x=0.2898 right_y=0.0007 right_z=0.1616 right_yaw=0.0006 right_pitch=-0.0701 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -13.6547, 8.5675, 1.0476, -0.4957, 0.0757, 0.0611, -0.0205, -1.2376, 6.9675, 1.6532, -0.0708, -0.0562, -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]: [-0.0551, 0.7822, 0.6033, -0.4061, -0.1062, -0.0902, 0.9952, -0.02, 0.8185, 0.5945, -0.4191, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.2903 left_y=0.0063 left_z=0.178 left_yaw=0.0716 left_pitch=-0.0113 left_roll=-0.0057 left_gripper=0.9952 right_x=0.2894 right_y=0.0007 right_z=0.1611 right_yaw=0.0006 right_pitch=-0.0728 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.0342, -1.3607, 7.0222, 1.79, -0.0024, 0.2662, -0.0073, -0.1846, -1.3607, 6.9812, 1.7021, -0.0806, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:842936cd6f168afa32e540a295379d8b2fa3b00835b7db201ccda3f3cef8ea4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98db99aaa1d372595c888c23c7697fe4b73ff8a577715c0b553b23fde2ac2031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4d3568eb68f15edbbc2361fc415914b6774ecf41388a097aa326ad4a3a99d3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2QoKEAgSGAI4AUIIdGhpbmtpbmcSDA849NTumS4SUw5GCBoMWB4Mi27N+kdCbXBtIjCi9k/Mh01AeXr/YInZxHnvUNtculryFTwEx8/vul+gFBIjYvTa99HXGgXDMTwRgWcq9glFQeKYaQ8Ns0Hek6aA75ewGqW7f/T/Tl3t/42TY6GH/bHeSR/ggbhr8dFscuDkX1JBrMweddn0SNJJ+VsZt9nKLyvUeanUt8BixxGDYM4xC312n7vOjFVwMFrfH3lmlYlO4qPDvppv1GirKmm56Du1UGGGiZuJFjY+nY95sK2pY0x6PDtsBXhY9eTs4/5p2aC2/IvzOEYlrARE+iS8DQVsJom7ev5FS50BKUJTxhIQBF5zdgCnFN5mXou5QrSaVyhcXX6t/WnkIiRZIqEG9+2YGcPFmSu++L+IjQKjKBspTcChe+x/w2sksvT8z5X1Ht0cTpS8zQSNWSEZ0uBmjizrI3gYe+iQ8tOBLwaTlYrPchza24BGO0gyr3lBJOacz50FbYAXgEfKlwYtA39Bw+piCqzPy7DzHPNJvE+JEiIKM9lFWAgYyhQytE0v/7k0n+Z1cMDHdFJgXmwYxvZIAGIf8zbOvM5XYlpS7Ls+zOM4PPMZ78/wZ6VwKZH0P4N1pAfoxBFUwVaW6VOBdcuCNkixqftHJmBtoIWcop6uNIeHW7eHkHBFwbWTIXMogBaVjMQ4VGb7GSOMoGxG/Zdo8veNn33zr5omXxUANLh15b8jmg1mFipoXAjcbfmtpK7J9vLSty60Bo9iSEn/ZL7y5ime+5xd3KYHfwliEWUnb0muNlncCshcgYhwvIym5RZ3ED/JMwavG/uuLYO6c8sAM0xldxlczJwX8vRRuHsVbCrmjw+HLcrBO3oGfWOrenJVCQJxMPNIIl4Iod7vqPJDntzeLU/tmvDSBC0kl7Ix0fgTPuU3b7nSs9A9SUAW/N92XHRxeoFDW0YUhF8RezliDMfVbKdvlpFYnlOmdyQ5c7i63nWq89jBucsf2gCqK8EeW5W7UaLtuvuIP72OlSLLVi2umojHYUuDChCn55Z7Vjq+qGQO3I+NxI6ehuwO5RlDFyJg0HmyavBnFS+o+VmOcdFpsHaszjGAG5jODY3qB86Cp78JNcy2oCLclX+25PUCLj5U55G2P56U7Wwhub3NblIVOiWmezntw0ma+mvh2sVZoFtWBXIXBr7bDxuMZZr4BqjFAxQxPmHp3loDrfxGHrQPZfnX58DqpVVooM6yI5wyu7D+VYCRz83UFYk2AGug6Lp+L/FlZ+bvAMNftiNmaCAvRV0RE0+pCDWdOXcU1oYhCXvXKHkbkMA2SAb+6g9T08nF8/GDIhaJSx9gKmLeFT04QW5DXAJJWnazLAKxceEHNRavDwubbj5l5NL6mrXtPgXyulftEIDjApwBvgpzSBeNCX0X6cyCG6QB7mWpSb6xVIGQMJ3JlZDkih+4fDUtXevqm4jbW5LYJckVm1UPMxXnaSd3frsGENbrhIXQDko6INCTgHRHMfmQGwbrNBlaYqnwIPfGaXjpX4FJjP0zTiRbaNz7WnoT+y7qAfPvlFDSzTxK/AU5KdHY6X+5uyvIyFKFqQOL3NjKWO1bgWUC4jTbWlQYLeViXjKKmcw7hGusEmRQ2SeSTpSc9OOPbjv0MQqcHEdCmGKkhThL0eZowCn2GFMvv2CTzNvp0owNh1LpmY5bhSjCIK+On8JsgstUkmhJzv6u3JSwxIgY4OuHsrx5+u7wXC/09MaxM/LxPLtFfZ6idXCRyNMT0wcEZnCVuAyXWjOP+IEzXKHgpPNTbRgBnx7ouxGzGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0127P26Wb5FwgB9J69qo9kC4",
      "input": {
        "note": "Stack (white in purple) is complete in the centre; pink bowl sits ~13 cm left of the right gripper. Moving the right arm over the pink bowl's right-hand wall.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.07,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0127P26Wb5FwgB9J69qo9kC4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0525, 0.7872, 0.6014, -0.4072, -0.104, -0.0788, 0.9952, 0.3222, 1.1141, 0.5529, -0.1806, 0.207, 0.144, 0.9992]\nstate[eef_state]: left_x=0.2902 left_y=0.0067 left_z=0.1755 left_yaw=0.0662 left_pitch=-0.0194 left_roll=0.0035 left_gripper=0.9952 right_x=0.3159 right_y=0.071 right_z=0.1054 right_yaw=0.0597 right_pitch=-0.1525 right_roll=-0.0184 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.5795, 7.1453, 1.7314, -0.0904, -0.149, -0.0171, 0.1573, -3.8359, 7.4872, 1.8046, 0.3248, 0.1783, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:455b959db7040fb878807d8ff804314bf4a0fdd5154c1c4ecf2d1694d05be62e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e60bdfbdbdda03b0f2526bc7f02de6dc1cb932d327954e97b2b6e4003ba15b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:97680fd976916c51bfb72f7019005d8ac7cd28c1102569c9db92c03f66012306",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 3.968 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]: [-1.0183, 2.1231, 1.9545, -0.9569, -0.7574, -0.8211, 0.9952, -0.02, 0.8185, 0.5945, -0.4164, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3664 left_y=-0.3562 left_z=0.1758 left_yaw=0.036 left_pitch=-0.1507 left_roll=0.1182 left_gripper=0.9952 right_x=0.2898 right_y=0.0007 right_z=0.1616 right_yaw=0.0006 right_pitch=-0.0701 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -13.6547, 8.5675, 1.0476, -0.4957, 0.0757, 0.0611, -0.0205, -1.2376, 6.9675, 1.6532, -0.0708, -0.0562, -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]: [-0.0551, 0.7822, 0.6033, -0.4061, -0.1062, -0.0902, 0.9952, -0.02, 0.8185, 0.5945, -0.4191, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.2903 left_y=0.0063 left_z=0.178 left_yaw=0.0716 left_pitch=-0.0113 left_roll=-0.0057 left_gripper=0.9952 right_x=0.2894 right_y=0.0007 right_z=0.1611 right_yaw=0.0006 right_pitch=-0.0728 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.0342, -1.3607, 7.0222, 1.79, -0.0024, 0.2662, -0.0073, -0.1846, -1.3607, 6.9812, 1.7021, -0.0806, -0.0708, -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]: [-0.0525, 0.7872, 0.6014, -0.4072, -0.104, -0.0788, 0.9952, 0.3222, 1.1141, 0.5529, -0.1806, 0.207, 0.144, 0.9992]\nstate[eef_state]: left_x=0.2902 left_y=0.0067 left_z=0.1755 left_yaw=0.0662 left_pitch=-0.0194 left_roll=0.0035 left_gripper=0.9952 right_x=0.3159 right_y=0.071 right_z=0.1054 right_yaw=0.0597 right_pitch=-0.1525 right_roll=-0.0184 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.5795, 7.1453, 1.7314, -0.0904, -0.149, -0.0171, 0.1573, -3.8359, 7.4872, 1.8046, 0.3248, 0.1783, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:455b959db7040fb878807d8ff804314bf4a0fdd5154c1c4ecf2d1694d05be62e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e60bdfbdbdda03b0f2526bc7f02de6dc1cb932d327954e97b2b6e4003ba15b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97680fd976916c51bfb72f7019005d8ac7cd28c1102569c9db92c03f66012306",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2QgKEAgSGAI4AUIIdGhpbmtpbmcSDF53dCqw4/ekkUqaVBoMltyawJKXoNEJZCtHIjCFfKnD2XnobfAtFT/zwCCuzkCeJJ6bwmdtybROJ2C6hdIIB+NeQ3b6SyxOvs6FmiEq9ge+7xpXxU3+Tm0Ds8zZgvA9kzph2+lxDQqoq/HwDRe+4y5rADVyrWbuPTaPbuTyRxrk/xjfwPKeUP/tYmgcbvzOMuXwhDllvSL+CPnh0cakljf3AgFkO0m9A08LwjQaCt5AGVxS9KwL7lKexLrrMvbcACeBkh0Azg+eKFE9fxCu+fMbhWD842VdUzISYWrRSuQ5/8zk5pzXjJWYu04NxV+sBcTPrs++noiOH2GscI0AB6caF/pCRfIbnFd03lZ6jZ4VHgTTNcv6CxaToB5Merc0rqsLI7NkIxcLQWRGdJ+BrUvztqvF5OMAfdoCZwdHjOmMCU7tZXMiSuCMp7wtbNg+R2G16rs8X2uXcxoNMzZZ7Un1vHweyneHzpp3ABD51r3sAQzacFmjdH3NBvzrXINPnI1t3sZ/3QUfvvnmX1mqhzKh3X+lH7tztSdNVJebR0pMVGpt36O9Ty7Cg4+jbeP+QHZOL4Ut8rw6+8DeJE636LalW4JPeMOM6pGrqK+B5/7H6dAosDrGS0e74J0egzTlbnPDyUnIsC4xIDQZqqLmUf7AKYqzc3tU4mVQTnx9mE8VraolKt0hJPKJY+YF4UfDAe77a5rx0bP6LMF8vNLHpDIGQiydfru0sPXmMzrnNeofUUnwuHe5BaUwr6MoVKKg6wio2/a9kFZaGtmQYPPoGwlHsc+MREwpwIee5l9gOobH2yJt5Ck5aYNAJFAbb1x+bjUfzhtkDc2HyO5el1DhGPQiEvnQ8iYJ9ceXB1LnQU44Gp+t24OzSI/8kqLgXxjOs/1PrCkIjvqy3MoEZFbwSgdqWsYsXidtl6gHiHn+ZFpZfyhRnNlGCj+DaCvizcYIM7Ttc3wlEt1OM5z7IfWaZXo74y7NooaY9DYt9E3C7YOU/Qcssw+bZ/C835JfeqXCTtgR+lUO2wKnsgw8sGnmPaoDaWlKW961RxHpszDDfl3i/xHd+z1nWDBVStL51H8O8YNJAacj3aWqb5fUzb+IFnUKLHRRDwDCVPDxj2TdzULGJwreL/GG+4fagcPCOtTznIowQ2loOcfyTTfPW+iZKfTjp+g931kmxSvc5APR+hK5+QwqsXxt3cPd07uvDbUG4SGpOxNHKWwf3zMEN41JXsicTcV1O+RyDqWa0MdXtUDDCRGKOReP9Qr/s++CF4yZ9mKGcWTQICKS2ciQThZWf37429rnS+0u8xHnwK6Ij0d7PuZ0dG2T+uZY532NQLBz/d3AUTXW7AzSwS/IlDHCSCOUkJ1hC2RM76ks0bDkcbsjiyLmJwHVPb1jCJh9xQ00NiIwquaGN4DRXqklk1WMVbnQ5S/THxZPb9OytG0MKySg1KxKL44YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017BGegwfRKLYD9PtJfZz6mv",
      "input": {
        "note": "Pink bowl's right wall lines up with the jaw column but sits a bit ahead. Advancing slightly and descending to straddle the wall.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.075,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_017BGegwfRKLYD9PtJfZz6mv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0525, 0.7918, 0.6014, -0.4072, -0.1055, -0.0784, 0.9952, 0.297, 1.5166, 0.4427, 0.244, 0.1905, 0.1272, 0.9992]\nstate[eef_state]: left_x=0.2905 left_y=0.007 left_z=0.1743 left_yaw=0.0673 left_pitch=-0.0238 left_roll=0.0052 left_gripper=0.9952 right_x=0.3335 right_y=0.0708 right_z=0.0093 right_yaw=0.0532 right_pitch=-0.241 right_roll=-0.0417 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -1.5521, 7.0496, 1.7118, -0.0904, -0.0562, -0.0073, -0.6359, -6.0103, 4.7795, 1.5946, 0.0171, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:803d61d1355eae58ce19659d3ea491959ca016c9bbdef6c39c8457d03c37ec12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c90ad9cfb4fe68c76a4e04590754f60fea745285e92fbb5b2d3c436bc2fe5359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30e6266446d9360ba6c6a717d04bb744af030540c001f1fda3a8d257fe9ff9ca",
        "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 · 4.82 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]: [-0.0551, 0.7822, 0.6033, -0.4061, -0.1062, -0.0902, 0.9952, -0.02, 0.8185, 0.5945, -0.4191, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.2903 left_y=0.0063 left_z=0.178 left_yaw=0.0716 left_pitch=-0.0113 left_roll=-0.0057 left_gripper=0.9952 right_x=0.2894 right_y=0.0007 right_z=0.1611 right_yaw=0.0006 right_pitch=-0.0728 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.0342, -1.3607, 7.0222, 1.79, -0.0024, 0.2662, -0.0073, -0.1846, -1.3607, 6.9812, 1.7021, -0.0806, -0.0708, -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]: [-0.0525, 0.7872, 0.6014, -0.4072, -0.104, -0.0788, 0.9952, 0.3222, 1.1141, 0.5529, -0.1806, 0.207, 0.144, 0.9992]\nstate[eef_state]: left_x=0.2902 left_y=0.0067 left_z=0.1755 left_yaw=0.0662 left_pitch=-0.0194 left_roll=0.0035 left_gripper=0.9952 right_x=0.3159 right_y=0.071 right_z=0.1054 right_yaw=0.0597 right_pitch=-0.1525 right_roll=-0.0184 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.5795, 7.1453, 1.7314, -0.0904, -0.149, -0.0171, 0.1573, -3.8359, 7.4872, 1.8046, 0.3248, 0.1783, -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]: [-0.0525, 0.7918, 0.6014, -0.4072, -0.1055, -0.0784, 0.9952, 0.297, 1.5166, 0.4427, 0.244, 0.1905, 0.1272, 0.9992]\nstate[eef_state]: left_x=0.2905 left_y=0.007 left_z=0.1743 left_yaw=0.0673 left_pitch=-0.0238 left_roll=0.0052 left_gripper=0.9952 right_x=0.3335 right_y=0.0708 right_z=0.0093 right_yaw=0.0532 right_pitch=-0.241 right_roll=-0.0417 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -1.5521, 7.0496, 1.7118, -0.0904, -0.0562, -0.0073, -0.6359, -6.0103, 4.7795, 1.5946, 0.0171, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:803d61d1355eae58ce19659d3ea491959ca016c9bbdef6c39c8457d03c37ec12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c90ad9cfb4fe68c76a4e04590754f60fea745285e92fbb5b2d3c436bc2fe5359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30e6266446d9360ba6c6a717d04bb744af030540c001f1fda3a8d257fe9ff9ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3wcKEAgSGAI4AUIIdGhpbmtpbmcSDPw7JDj/XgR644Zm2RoMoqkpArFX58mZciCCIjDGGVPe5Hirx2F4pS3j9SVsjtSprrLkDSMQxVkb24GpUG4Cc3w5FIRJzACzxw5M9Pgq/Ab7Iedl1NeYWn1hKdve2kP/a2Daf7nUGONoWiiQErutwJW98dIrSYYxIJ8kUv10LReDwfFPqIFfUAuq+j2t5dQk2z7suxlzjXuowMO/SeEfduGNNQe/F5dcaJ1ud+bVR9qV7AcY3Q/V1fF9OVMpa0e0VdQfGuc2KnJn9+KMOJ0wAkOAw8YSN4eTsFBFaXsAAMAYg+SjBsxORfKsqbo9tQ06owKOKdBcJ/Ijm4HQOBHvAwIJNXDdxmk5TsQtnzomrV1ZBLMHaTXcKPbEHqlta18G+sF1RxL+LhOw4RKrV44v1gp/Qbb+dAJXzQU4E76E+Vo2mSH8oPhhoBQFhx5qoH5/jgUXxDhcdNrEr3s/SaBEf9dhec1cFpZBmyeZsIbOOt0I3tWDD88FZviwEp1LHeSJmm2nu8URRwSg+bJY2b7tibZKTuwWbvfUv79r/R8Z4h9eaxuaNt5yTSCtY/y+dPqvdW3Jr3WkAEkXFmu9Q0jB1wHkzAOsS+HjWb32qefacxb/LMXYnXo3EWtDrV4rbx/YH4QNYZmddpmkEcRe+zs0RZ2scj4Jkr4QqjzTM5Vz4MotLdHQpTNZnWG2mQCtDbkgWv5GIsF+yRjOofwMMcBPrJ6dAFZTTZf59vGCGvso3R2+VhC/BIOYaX3reXX3tEAkN50neK3faWkD0iED9e/KsEcj9mnDOmCGjKfNbB2ei4B1UybG9zQRNWAsn6SKBw1kYPl8TcDUAhhSFl9SPaeUxkzOWw5AuFBg6tLYGSgnsMUys3VyNi5mhzjsH7K9nFgKAIMTanDBiFO1W8dRvbqJlKWpQOISSGYjBzH6TR4sd0cwo78Bwq7T7n6OPOoaaz5sVzk9CJ2o8oXa0KEwkgRAS/NlnIWgQMWka3mZb9JIEV3TVebNYc4FOdOceQvBycDHB2W40TeMV6V6lx1K3vHMCg7pZkEJK+DF1biLCtlFYYuD2yZn5zBeMc/dJGYVaUuGn0+ErmeMOIU60UcmZtPT6BaoLfQL2XJdOGfD1bjh5caNf3Jq6rAireE6DXv5cKJq2C0DJX3C02R0Dm0LawNw/LA3Efc2LAto+Vg2nMd+EVcQKGrZrho4re1+3Jnt0a5fByonwctAmF/sStczz2AEHLPS6m8sQa1IRSm/jtZ7YoZ85dzteaQtueN7ckdP1WsNhf8SuqCuVWIcsEVcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DR5ZeRhwd4uQ5J7FvDuGph",
      "input": {
        "note": "Pink bowl wall is between the jaws (left jaw inside, right jaw outside). Closing to pinch it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DR5ZeRhwd4uQ5J7FvDuGph",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0525, 0.7948, 0.6014, -0.4068, -0.1051, -0.0784, 0.9952, 0.3008, 1.4979, 0.4526, 0.3042, 0.1581, 0.1413, 0.038]\nstate[eef_state]: left_x=0.2907 left_y=0.0069 left_z=0.1736 left_yaw=0.067 left_pitch=-0.0265 left_roll=0.0053 left_gripper=0.9952 right_x=0.3473 right_y=0.0824 right_z=0.0285 right_yaw=0.0809 right_pitch=-0.1596 right_roll=0.0122 right_gripper=0.038\nstate[joint_eff]: [-0.1162, -1.1419, 6.9812, 1.7118, -0.0562, -0.0171, -0.0171, -0.6085, -3.6581, 4.9299, 0.8474, 0.3687, -0.1245, 0.9744]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28e6ba85efa9e99cc7e63802b8d89f4917790c35fcfb0f0dca597ed35fad0d6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e326678161cfdbc7720ef08076bb3b2559eaed5f95560cfe0f5a8fd74a2bd6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8f7532e98226937bfc00389b290cc8d352c7bcdf99dbf692b347449f163eb40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 3.795 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]: [-0.0525, 0.7872, 0.6014, -0.4072, -0.104, -0.0788, 0.9952, 0.3222, 1.1141, 0.5529, -0.1806, 0.207, 0.144, 0.9992]\nstate[eef_state]: left_x=0.2902 left_y=0.0067 left_z=0.1755 left_yaw=0.0662 left_pitch=-0.0194 left_roll=0.0035 left_gripper=0.9952 right_x=0.3159 right_y=0.071 right_z=0.1054 right_yaw=0.0597 right_pitch=-0.1525 right_roll=-0.0184 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.5795, 7.1453, 1.7314, -0.0904, -0.149, -0.0171, 0.1573, -3.8359, 7.4872, 1.8046, 0.3248, 0.1783, -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]: [-0.0525, 0.7918, 0.6014, -0.4072, -0.1055, -0.0784, 0.9952, 0.297, 1.5166, 0.4427, 0.244, 0.1905, 0.1272, 0.9992]\nstate[eef_state]: left_x=0.2905 left_y=0.007 left_z=0.1743 left_yaw=0.0673 left_pitch=-0.0238 left_roll=0.0052 left_gripper=0.9952 right_x=0.3335 right_y=0.0708 right_z=0.0093 right_yaw=0.0532 right_pitch=-0.241 right_roll=-0.0417 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -1.5521, 7.0496, 1.7118, -0.0904, -0.0562, -0.0073, -0.6359, -6.0103, 4.7795, 1.5946, 0.0171, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0525, 0.7948, 0.6014, -0.4068, -0.1051, -0.0784, 0.9952, 0.3008, 1.4979, 0.4526, 0.3042, 0.1581, 0.1413, 0.038]\nstate[eef_state]: left_x=0.2907 left_y=0.0069 left_z=0.1736 left_yaw=0.067 left_pitch=-0.0265 left_roll=0.0053 left_gripper=0.9952 right_x=0.3473 right_y=0.0824 right_z=0.0285 right_yaw=0.0809 right_pitch=-0.1596 right_roll=0.0122 right_gripper=0.038\nstate[joint_eff]: [-0.1162, -1.1419, 6.9812, 1.7118, -0.0562, -0.0171, -0.0171, -0.6085, -3.6581, 4.9299, 0.8474, 0.3687, -0.1245, 0.9744]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28e6ba85efa9e99cc7e63802b8d89f4917790c35fcfb0f0dca597ed35fad0d6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e326678161cfdbc7720ef08076bb3b2559eaed5f95560cfe0f5a8fd74a2bd6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8f7532e98226937bfc00389b290cc8d352c7bcdf99dbf692b347449f163eb40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQkKEAgSGAI4AUIIdGhpbmtpbmcSDGxUHCZzIY17WBJJkxoMePpxEIaZhdHQAvZOIjD55bNppKKH0K8/ijonshoD7WyJgHc2UaVwrwjVjzliX1e4OEDFokOTnN9TmSmm+T4qxghXg9q20TrJ4rqWV4RR7HOe+sXHS/Dzn7+ZJtvzric/0kCKvT+MBiCMaW+GxewQQokz5h4bu+tRKIIMEwfWGlPlKeGPjEBz+OkjWY+IMFhM7yTgaebm/gGn1MAnb534d1GuoDilfrks95jzLKMLE92IjYf609MSnw0/BGhunjkQPRm4gWEhdPPTJaRMhgSYmKJUfV/u0Ew5j6sd76tFhbqgtFLyB+FtAvqMGvfrYuDPzXzA7sKRjoOp8vV/cDhuWakv7T/1Ml+GXpW5YYGycbtF2gevod8nmL8wWoXEdRZzj6eoEO3wzSsUhRsF4Vq7Dy26eG0ViLRsfv1rxg3MUDhPPRX0E+Nkb2tq5XXGIIrnwGAC6UMqOJxUglVKG6IDlJYCwXwAAtMlihj+T8sYzCNcqDfaYc9Rv/WH8rr1u88irE6kkge5bO9N+twXlhXzBeqN77PqeOMhtwLw45FmN/scNFeb0UTcqrzfPONd9VjCFFxLmw5rj1wU22oGM9h0AlhTi43HsYVCzQWs0ccR9wu9nQ9UtuTgxSORGARtXsE6KXBAmV8LeREsBmAv8yx0XBDJxUCEvOLfrtcAj1b32TYjb54N3zZAmC+3d6y0237ujOOPhoaq2v0R2WxkQdU4VINTip/0Ao/mRAYA1iY6f6MpP6bC+b9tglpWjRdxfpKm/aBh2xhxWXNvgtPAx9yOqyh+AAI6TUsMIxaSOyUqK/fdIqK0BjJtaLw5D8KEZA7mwJL12YGyB/BCUhNvlmzifuSryPT9u+bTsB/WAPpXMHzjQ54pMNJ6LjzeLyZgNqHeP1id3+eD1uRHnkkcmEiLAjg6oqXlCw6Nl0zyeWvLpGEvVM9IB9SFqysZ74VWoE84FWoVipkrX5LISCjJyJA6F26yBj+pn8jPuFM5cdOxDjFa7Q3X7ak1WvvhSVLIpa/9EOy8CnMUASirYYkNCCgrYAGEX8+V91Z9gZc5PfRn22ZQdGZ61l34dwQ1mwjoyZUfjkQYmyBUmNhBwqAB0ASbbASw3yuWM4xmBI3Wvo2GY0M5I3qZ4p6z72DtIDMtoMMDrGWJOpWZbKW8C+s8Zouszs+sJ57dpQiyN5b5JSwyn89Hh38Fygd5AslgNWQi1P4rDORg7Fgy7bB0sbOL0X5SrMN3UGuzLB99fLPIyTDij3jmnNX8UC82obtki3lSIaw8Fq/7LEUql/WWuUE+U8iFjrNLUkLcJGs8Oy8SdaoKwrZ+hT+68yPiczSKpOyB4Sgq4YM42eO1plB19kGuzVVHtCzNUOQZZLcYxhxtvzXWYDAqZ0ouTknN5S9xEnlCcGS8ZlZB63FUrXTjcGLw9chsvsjDZt4O+beEEkS3jbMivGgCvnjRTZWneuJZ42VOnCyOE92gz05hmBwJ2dRaN+r3S5e5uoW+3WcGWMnZh4CHHKs8BgXrtDv0qp6ONplo1B6PvLPusOFqxBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019W4EC2Fbf3Quxn4E6ceLiR",
      "input": {
        "note": "Jaws closed on the pink wall (reading 0.038). Lifting high to clear the stack.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_019W4EC2Fbf3Quxn4E6ceLiR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0525, 0.7979, 0.6014, -0.4068, -0.1055, -0.0784, 0.9952, 0.3, 1.2152, 0.9276, -0.4892, 0.1513, 0.1307, 0.0398]\nstate[eef_state]: left_x=0.2909 left_y=0.0069 left_z=0.1727 left_yaw=0.0673 left_pitch=-0.0295 left_roll=0.0059 left_gripper=0.9952 right_x=0.3456 right_y=0.0828 right_z=0.1761 right_yaw=0.0904 right_pitch=-0.1957 right_roll=0.0012 right_gripper=0.0398\nstate[joint_eff]: [-0.1983, -1.2786, 7.159, 1.707, -0.0855, -0.0464, -0.0122, -0.294, -5.7915, 9.8256, 1.7265, 0.105, 0.0708, 0.8913]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91d6092977202a4be80ca8ace1df4eabed98a671753f0b6eb07e55e272def5ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6629189a6e8398ad98bb15ca1f5ca282846def8ff56b23ee8e1c28148b4a78fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6af9a1a183828e19a2f169282e159f1111e4d9920ee8f70ec326560ef18c1f0b",
        "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 · 10.28 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]: [-0.0525, 0.7918, 0.6014, -0.4072, -0.1055, -0.0784, 0.9952, 0.297, 1.5166, 0.4427, 0.244, 0.1905, 0.1272, 0.9992]\nstate[eef_state]: left_x=0.2905 left_y=0.007 left_z=0.1743 left_yaw=0.0673 left_pitch=-0.0238 left_roll=0.0052 left_gripper=0.9952 right_x=0.3335 right_y=0.0708 right_z=0.0093 right_yaw=0.0532 right_pitch=-0.241 right_roll=-0.0417 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -1.5521, 7.0496, 1.7118, -0.0904, -0.0562, -0.0073, -0.6359, -6.0103, 4.7795, 1.5946, 0.0171, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0525, 0.7948, 0.6014, -0.4068, -0.1051, -0.0784, 0.9952, 0.3008, 1.4979, 0.4526, 0.3042, 0.1581, 0.1413, 0.038]\nstate[eef_state]: left_x=0.2907 left_y=0.0069 left_z=0.1736 left_yaw=0.067 left_pitch=-0.0265 left_roll=0.0053 left_gripper=0.9952 right_x=0.3473 right_y=0.0824 right_z=0.0285 right_yaw=0.0809 right_pitch=-0.1596 right_roll=0.0122 right_gripper=0.038\nstate[joint_eff]: [-0.1162, -1.1419, 6.9812, 1.7118, -0.0562, -0.0171, -0.0171, -0.6085, -3.6581, 4.9299, 0.8474, 0.3687, -0.1245, 0.9744]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0525, 0.7979, 0.6014, -0.4068, -0.1055, -0.0784, 0.9952, 0.3, 1.2152, 0.9276, -0.4892, 0.1513, 0.1307, 0.0398]\nstate[eef_state]: left_x=0.2909 left_y=0.0069 left_z=0.1727 left_yaw=0.0673 left_pitch=-0.0295 left_roll=0.0059 left_gripper=0.9952 right_x=0.3456 right_y=0.0828 right_z=0.1761 right_yaw=0.0904 right_pitch=-0.1957 right_roll=0.0012 right_gripper=0.0398\nstate[joint_eff]: [-0.1983, -1.2786, 7.159, 1.707, -0.0855, -0.0464, -0.0122, -0.294, -5.7915, 9.8256, 1.7265, 0.105, 0.0708, 0.8913]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91d6092977202a4be80ca8ace1df4eabed98a671753f0b6eb07e55e272def5ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6629189a6e8398ad98bb15ca1f5ca282846def8ff56b23ee8e1c28148b4a78fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6af9a1a183828e19a2f169282e159f1111e4d9920ee8f70ec326560ef18c1f0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4wcKEAgSGAI4AUIIdGhpbmtpbmcSDKltX5Pt3ObsblvJ2RoMWcJpGtQ6y97T/f/JIjCoIhLXg1+CCcNJycH+koQ5+jfAETYdMsiAOwlFEsIUDO1UEcDYokhhOFLfwpkEE6sqgAc71+jpwNWXbUiq8lMGgsSQu5nAlyc5vipkSaeSddWFVsvM5xqEzv56t2uBqi7PMTLVe0f7Ez7H4cb1HdCwpHEiT3UWX7qMTZe/znRsH3PA5t3DYZtAsgWAWYaNSt8jxwTljMe3PlGaEQiycI4DMumK1NtCfJeV4NZaqPesfy63ORgNRQGgRschbxxasDOfiYfo98NJgCDMTVyhcLy1Y3gU2vwUxntjCs2linB76jn83xEHVSQ93B8qRCP8WqnsqiAiuiUqeQE4sWFvmqwZgu0NOu3U8tYiD+mx6zsWOetu83jty9saHScYG8fyd6M/Bxk5R9TxK58N3qs7UVLcXJ7atnUPE8lmWP1PEsqvax8BDsaqBBPcCDTtQJ9LIjPIUfKlRIpBkTS+OGlEK2eYpKIavlHRpgdMwummzm/2VL6vujdjvxXb+e2bgDuRBa5ZPEsPoINZ8BbckJNQhPFP+Hu18dIXQ5s/Io5aNXRGLiUap+utkR5hLN3HF3fhvY0c7eHhrW+Z1lSNli+ROWbN0vAcF28hSpD0/wshjohY8/pjcxCqeBREtaXOS0SNQ7EKhPyVHqy3MZIQVgwUOZrAsUGY9ir8YWTLVMjd7AYD2gU41OEgiLrlcc3mJpNu/7jP+M4Ximt2J5St8+t0exXgHRmAXgnYt5S3Y2qH0rffKSuaaPbPonQ6j/jWfo881+8A9xx6p0DaHZNehaS165zTwc8TrLsXGvGU8U10Hc3AxlAlXa8EInqABfAI9qW2Suq+DZSbmS3j8/UzUgrGyn1zbDoR8U42xEnz6JP0fAmwJvLNvRLQ+tywqyg7C+OtdXw7+3vbI0TEDtLeHPyoSAwWc1ZbSoEUerqvY4IX7E5b0KpvnRbXw+5R+c+26XEf4QzmB3ehHz+bf+62EXLAkHD5jDvRdcl4sxdBLO4JpZlpPrtCGVA8KgcE38lPNfA8UABLN0ckE/ogxTPvmB0G9jR0PH2RxuDY5xJiHReDgRTUptxTpYK0t8UF4ZA9DS8xgoNSNKQM2JPbdzsXXUk+pynZGJ1c/X1ulGjDHtv/rtQ5XjRtdARbdViFKSv46CFHARs5hogrqG6MsjTDb4A+FFMEvIQwVfW8Rp6GSSTEHE/2eH+79I4fu4zdHUnAS0qFXr2zKehDkaCEWQRnq6cbaQr6lb4W0jWZrqGGtNAr/pPonPW/4hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ThBDQxDWiGuvanXgVEfnKA",
      "input": {
        "note": "Pink bowl is lifted with the gripper. Carrying it left over the white/purple stack.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.29,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01ThBDQxDWiGuvanXgVEfnKA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0525, 0.8032, 0.6014, -0.4137, -0.1055, -0.0784, 0.9952, 0.8585, 1.7496, 1.4975, -0.725, 0.4923, 0.5365, 0.0405]\nstate[eef_state]: left_x=0.2903 left_y=0.007 left_z=0.1699 left_yaw=0.0674 left_pitch=-0.0416 left_roll=0.0074 left_gripper=0.9952 right_x=0.3516 right_y=0.2849 right_z=0.1818 right_yaw=0.1274 right_pitch=-0.2496 right_roll=-0.0396 right_gripper=0.0405\nstate[joint_eff]: [-0.0205, -1.7162, 7.2137, 1.7851, -0.1001, -0.0562, -0.0122, 0.212, -8.9368, 9.5521, 1.3651, 0.4811, 0.2808, 0.5055]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02a7731fbfaa43c3ee27a7698aa47ac877d2ee6805fe607781a59be47aa6e32d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a1dcc109bccfb012bcceb341a305ca0961df569e2a78eafe9a145949cce0528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2233fc3c5ff7e67f57867b1e5db021b10b19d80adeb9748a5f4534655aa7f2f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 4.466 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]: [-0.0525, 0.7948, 0.6014, -0.4068, -0.1051, -0.0784, 0.9952, 0.3008, 1.4979, 0.4526, 0.3042, 0.1581, 0.1413, 0.038]\nstate[eef_state]: left_x=0.2907 left_y=0.0069 left_z=0.1736 left_yaw=0.067 left_pitch=-0.0265 left_roll=0.0053 left_gripper=0.9952 right_x=0.3473 right_y=0.0824 right_z=0.0285 right_yaw=0.0809 right_pitch=-0.1596 right_roll=0.0122 right_gripper=0.038\nstate[joint_eff]: [-0.1162, -1.1419, 6.9812, 1.7118, -0.0562, -0.0171, -0.0171, -0.6085, -3.6581, 4.9299, 0.8474, 0.3687, -0.1245, 0.9744]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0525, 0.7979, 0.6014, -0.4068, -0.1055, -0.0784, 0.9952, 0.3, 1.2152, 0.9276, -0.4892, 0.1513, 0.1307, 0.0398]\nstate[eef_state]: left_x=0.2909 left_y=0.0069 left_z=0.1727 left_yaw=0.0673 left_pitch=-0.0295 left_roll=0.0059 left_gripper=0.9952 right_x=0.3456 right_y=0.0828 right_z=0.1761 right_yaw=0.0904 right_pitch=-0.1957 right_roll=0.0012 right_gripper=0.0398\nstate[joint_eff]: [-0.1983, -1.2786, 7.159, 1.707, -0.0855, -0.0464, -0.0122, -0.294, -5.7915, 9.8256, 1.7265, 0.105, 0.0708, 0.8913]\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]: [-0.0525, 0.8032, 0.6014, -0.4137, -0.1055, -0.0784, 0.9952, 0.8585, 1.7496, 1.4975, -0.725, 0.4923, 0.5365, 0.0405]\nstate[eef_state]: left_x=0.2903 left_y=0.007 left_z=0.1699 left_yaw=0.0674 left_pitch=-0.0416 left_roll=0.0074 left_gripper=0.9952 right_x=0.3516 right_y=0.2849 right_z=0.1818 right_yaw=0.1274 right_pitch=-0.2496 right_roll=-0.0396 right_gripper=0.0405\nstate[joint_eff]: [-0.0205, -1.7162, 7.2137, 1.7851, -0.1001, -0.0562, -0.0122, 0.212, -8.9368, 9.5521, 1.3651, 0.4811, 0.2808, 0.5055]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02a7731fbfaa43c3ee27a7698aa47ac877d2ee6805fe607781a59be47aa6e32d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a1dcc109bccfb012bcceb341a305ca0961df569e2a78eafe9a145949cce0528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2233fc3c5ff7e67f57867b1e5db021b10b19d80adeb9748a5f4534655aa7f2f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XFAPgqYDnxZA2X5FpgJm7V",
      "input": {
        "note": "Right wrist view shows the stack to the right of the jaws while the pink bowl hangs to their left, so I overshot. Shifting ~8 cm back right and a bit forward.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.21,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01XFAPgqYDnxZA2X5FpgJm7V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0525, 0.8043, 0.6014, -0.4141, -0.1055, -0.0784, 0.9952, 0.6701, 1.6337, 1.3899, -0.733, 0.382, 0.3725, 0.0412]\nstate[eef_state]: left_x=0.2903 left_y=0.007 left_z=0.1695 left_yaw=0.0674 left_pitch=-0.0432 left_roll=0.0076 left_gripper=0.9952 right_x=0.3677 right_y=0.2119 right_z=0.1808 right_yaw=0.1138 right_pitch=-0.3096 right_roll=-0.0761 right_gripper=0.0412\nstate[joint_eff]: [-0.1436, -1.1966, 7.2957, 1.7314, -0.0952, -0.0611, -0.0073, -0.5128, -9.9077, 6.7487, 1.7167, 0.1245, 0.0659, 0.8474]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f834d5adf1d86c218483f90adfc1ec90d4d0f7505de8870ac0c4811499e1fe7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b985c0efbf3a368a069de2ba6d02cfb5913c30cbc4eead4dbee4932d1bee4f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c21534212629353bf75ede37acf22a7da27ec9cf4de4663329531f6a381ad77b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 3.553 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]: [-0.0525, 0.7979, 0.6014, -0.4068, -0.1055, -0.0784, 0.9952, 0.3, 1.2152, 0.9276, -0.4892, 0.1513, 0.1307, 0.0398]\nstate[eef_state]: left_x=0.2909 left_y=0.0069 left_z=0.1727 left_yaw=0.0673 left_pitch=-0.0295 left_roll=0.0059 left_gripper=0.9952 right_x=0.3456 right_y=0.0828 right_z=0.1761 right_yaw=0.0904 right_pitch=-0.1957 right_roll=0.0012 right_gripper=0.0398\nstate[joint_eff]: [-0.1983, -1.2786, 7.159, 1.707, -0.0855, -0.0464, -0.0122, -0.294, -5.7915, 9.8256, 1.7265, 0.105, 0.0708, 0.8913]\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]: [-0.0525, 0.8032, 0.6014, -0.4137, -0.1055, -0.0784, 0.9952, 0.8585, 1.7496, 1.4975, -0.725, 0.4923, 0.5365, 0.0405]\nstate[eef_state]: left_x=0.2903 left_y=0.007 left_z=0.1699 left_yaw=0.0674 left_pitch=-0.0416 left_roll=0.0074 left_gripper=0.9952 right_x=0.3516 right_y=0.2849 right_z=0.1818 right_yaw=0.1274 right_pitch=-0.2496 right_roll=-0.0396 right_gripper=0.0405\nstate[joint_eff]: [-0.0205, -1.7162, 7.2137, 1.7851, -0.1001, -0.0562, -0.0122, 0.212, -8.9368, 9.5521, 1.3651, 0.4811, 0.2808, 0.5055]",
      "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]: [-0.0525, 0.8043, 0.6014, -0.4141, -0.1055, -0.0784, 0.9952, 0.6701, 1.6337, 1.3899, -0.733, 0.382, 0.3725, 0.0412]\nstate[eef_state]: left_x=0.2903 left_y=0.007 left_z=0.1695 left_yaw=0.0674 left_pitch=-0.0432 left_roll=0.0076 left_gripper=0.9952 right_x=0.3677 right_y=0.2119 right_z=0.1808 right_yaw=0.1138 right_pitch=-0.3096 right_roll=-0.0761 right_gripper=0.0412\nstate[joint_eff]: [-0.1436, -1.1966, 7.2957, 1.7314, -0.0952, -0.0611, -0.0073, -0.5128, -9.9077, 6.7487, 1.7167, 0.1245, 0.0659, 0.8474]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f834d5adf1d86c218483f90adfc1ec90d4d0f7505de8870ac0c4811499e1fe7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b985c0efbf3a368a069de2ba6d02cfb5913c30cbc4eead4dbee4932d1bee4f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c21534212629353bf75ede37acf22a7da27ec9cf4de4663329531f6a381ad77b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQgKEAgSGAI4AUIIdGhpbmtpbmcSDPtaEZBlsTKVAjE/GxoMM1oAF5cveq1cBBatIjDYOxulLgLHiakDfGfPQnysPaqNF1/fZ8iqz2TRIRKicdAObFX2eHKrjfvStfgbrgsqogd3GiHMGy52i9lKR5GwfQQRYy/smPgJdvNdr655g9F+cYPLcG7yPOOD5+iTfUDlHLLecgaEftrDHSiu5UnNoNbBqFXQiWDHEj99IICPsbqxDeEo47hhIsHaz2fH1Akg9ddPNIDBbjDz33xyEyxj/G+/0vEl1/NtBoYVMPC8aqSAlV6whQldo3FEf7YYtKmgCqgIQ/huhzxDbiBMaljlCr9P14O7tPno8Mb76vG2e/fHzffoOxOSbRV1Y4V0jtYdMRtd1wpkPZxhGuwlywKkFN/JMkJmXl/jRQc1qcSt51g6l2osZh3TWIxEeARZmAhp8HOu+saCBIq//kJ2KYnMitys2KyIPG58odPW/5SWtJhifJRAio3qznkL3rjipC2WEIjlw0pixz1RpTrx3tdxCBYnPORtebYk8eFcN+/2QkKCvwVL/2w33xZzXwJcfZLqY/h/jFaLbR8Y+18qS6dB8o0ZYsUVebis2+Wd4p+vVNSvzyzMiiRhFPCkRrhCsbnrC3+VuooolSfr5M1xSJkczsHwXc37H3/lWw/A+79xH38+aCYYlSZpWVMmdsA2YvL5iuHJLwL77yg9iAvfEDJAm7VbspqcBj9R7ZvIDxzylO1B77gIVqe18VLkRRhFdbVSPfLwd/oC7ce0WOB28KXyBDUUJ9T2Fsvib3faVkHPvcbdADpN5yTUOOsMyAH8DF3B1xPCqat+SdUfME3v5FLOiOg1r9re/FBbaGMllLdp5joeHcPEVr6Od6BmVkuHVw5kbmzZBIviLTlgk57o6Rh7G9hXZYdGRkliQenOde3glm6eBnHje12pjyjmpKyULJzd8MuZTJiNu23qn03OZCaewNmVJc4kbAMRJyDP0mcANoXjgwKm5vu8mVrbvsPA+OBEZoN8cN1crcVLwAA2fi9O68crznbfc4z+MbAkRbvYpBLLPnJNv5FdFS6QQYdg5ZaVwdgeBZ8+TdCVLrro5Wa0hypUMWqZ5iwMunSvPtHcmQI5LJpF9JHq6TOrjIs3v56JujXWpU8LE7erlwX5J1vs/4XrD4yu1iJRgUFbWTHvQt7It46tG6UqC2Ffa9PoPF3XoPPlUqgnpNwjrBkctXVLXNXszNT6nFHtscktqDP9c6Dv0tLT8oOMgZoKZM5YPLgRlmwFC5xy8bG9bfRcvbDxWPJYjFvgWqIdUXkxrfUYnahyU+pV+tlfpVMGyuinA6sbVSaKmp926GuzsqJTZzxicEcp5KsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JvUdzeR1rVbpoVz1NjUZND",
      "input": {
        "note": "Pink bowl now covers most of the stack, with a sliver of it peeking out on the right. Nudging 1.5 cm right and lowering the pink bowl onto the stack.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.195,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01JvUdzeR1rVbpoVz1NjUZND",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0525, 0.8043, 0.6014, -0.4141, -0.1051, -0.0788, 0.9952, 0.6212, 1.684, 1.0355, -0.3477, 0.35, 0.3321, 0.0412]\nstate[eef_state]: left_x=0.2903 left_y=0.0069 left_z=0.1695 left_yaw=0.0673 left_pitch=-0.0432 left_roll=0.007 left_gripper=0.9952 right_x=0.3662 right_y=0.1921 right_z=0.0762 right_yaw=0.11 right_pitch=-0.3418 right_roll=-0.089 right_gripper=0.0412\nstate[joint_eff]: [-0.0615, -1.265, 6.9949, 1.7167, -0.0415, -0.0757, -0.0073, -0.5812, -6.3248, 6.0103, 1.4774, 0.105, -0.1001, 0.823]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66bbd9d4a8667da086ca37717c877a096f8ce445368d96ab096fda837839c804",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c23af948a684e3175705796c4ae2df180c73e3fe0fb9c0b4c911f42bed1fa7c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a96db15cba243708767568b2e1dec9097fc56b88e28c4888bef3c05d7637708a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 3.392 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]: [-0.0525, 0.8032, 0.6014, -0.4137, -0.1055, -0.0784, 0.9952, 0.8585, 1.7496, 1.4975, -0.725, 0.4923, 0.5365, 0.0405]\nstate[eef_state]: left_x=0.2903 left_y=0.007 left_z=0.1699 left_yaw=0.0674 left_pitch=-0.0416 left_roll=0.0074 left_gripper=0.9952 right_x=0.3516 right_y=0.2849 right_z=0.1818 right_yaw=0.1274 right_pitch=-0.2496 right_roll=-0.0396 right_gripper=0.0405\nstate[joint_eff]: [-0.0205, -1.7162, 7.2137, 1.7851, -0.1001, -0.0562, -0.0122, 0.212, -8.9368, 9.5521, 1.3651, 0.4811, 0.2808, 0.5055]",
      "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]: [-0.0525, 0.8043, 0.6014, -0.4141, -0.1055, -0.0784, 0.9952, 0.6701, 1.6337, 1.3899, -0.733, 0.382, 0.3725, 0.0412]\nstate[eef_state]: left_x=0.2903 left_y=0.007 left_z=0.1695 left_yaw=0.0674 left_pitch=-0.0432 left_roll=0.0076 left_gripper=0.9952 right_x=0.3677 right_y=0.2119 right_z=0.1808 right_yaw=0.1138 right_pitch=-0.3096 right_roll=-0.0761 right_gripper=0.0412\nstate[joint_eff]: [-0.1436, -1.1966, 7.2957, 1.7314, -0.0952, -0.0611, -0.0073, -0.5128, -9.9077, 6.7487, 1.7167, 0.1245, 0.0659, 0.8474]",
      "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]: [-0.0525, 0.8043, 0.6014, -0.4141, -0.1051, -0.0788, 0.9952, 0.6212, 1.684, 1.0355, -0.3477, 0.35, 0.3321, 0.0412]\nstate[eef_state]: left_x=0.2903 left_y=0.0069 left_z=0.1695 left_yaw=0.0673 left_pitch=-0.0432 left_roll=0.007 left_gripper=0.9952 right_x=0.3662 right_y=0.1921 right_z=0.0762 right_yaw=0.11 right_pitch=-0.3418 right_roll=-0.089 right_gripper=0.0412\nstate[joint_eff]: [-0.0615, -1.265, 6.9949, 1.7167, -0.0415, -0.0757, -0.0073, -0.5812, -6.3248, 6.0103, 1.4774, 0.105, -0.1001, 0.823]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66bbd9d4a8667da086ca37717c877a096f8ce445368d96ab096fda837839c804",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c23af948a684e3175705796c4ae2df180c73e3fe0fb9c0b4c911f42bed1fa7c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a96db15cba243708767568b2e1dec9097fc56b88e28c4888bef3c05d7637708a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkwcKEAgSGAI4AUIIdGhpbmtpbmcSDJ8nviDXiQazMeDaTxoMM5T0FSroaDtcJBUEIjDyBZzQ5CxKGmxZnAKcFUHiMrMOSDKOQ/sVyRCjcHYhpWmwhe0XIWWU573We7ZV8PkqsAYAH0v21cgybP1y69Yn+dBgq7mLD9thBvjFYxF9qkfS8qap+QqOzHpPzQYLB1QV/RSFS1ZA/S9rHjwrZ8Hv/ALTbCc+rDDpYwSSCl0zSuuUPq7gsMTdMiEFJ+u/Q8wOwQL8lAsrAGoh7Iy53QvuQJjNFBk4BvNiNICAJIlq0YZu7CXRb9mtnbtR1axzsM0FY09OIIGF4HflsewKhWrQST2lVbNe34IRRVErshTvVm+fMh4Xa2HKIKmhJEC6fMYyfpKMRDvarwMhujhcr0EHWS6md6U17nmk/eVW/pf/JY6qyw8lJDaLhvW/c+eielt+daTO9vMJFS2WKsOfL6NGEfak7dWFVvzvdZhWJVJ4LQsPXKagQJsl5qzvA51FzdCyttCyVJQSpGw/hv1MCS5R1dVbmoPUjnLcLlAsUraUIaddjEiswR9NPw9/5M6cG+l46X8ObVoWi/Vhqg/pPyIF3ztZyXVLIXk713E1mm8HuyXJQfwL8DYcKXi9qnERZV/kqO2iKAqXJE4DOwLo3jdOBY2GZRxGeNxJH8B6XIKU9aaBA1DjIDmljG5Bbv7hyo1ZOCwNOqygi0LMmIqOekFcNNPw6bQgySXsdsP6ij/Ws+5HwAXIrQbipmIlKiB7szQa7Wd2irZm5ygPYlsICxpeYc9oUverxkQBJ0Z4VcT1ovy4bOZMGkb0DTIx2xXt6/Gk9S/F6gLIvtB0KNu7FmPYV1HAbcuNCzk6UGoXRuE6yDQKR8oG0ItzjpJnt9nl6FFmM+v6T8YhEoql0iCx6sjg+R9kePduKaaRmJ/qjIZ/QDbx/++JyMfaLwrcr5dMexAORtggXX0kR7sABOlAGPKXvArg9I8oO3F3gp3mjQfPVqWRzqwNMdcPirzWoHpDLSAGEp5SeHtfRtI/ZGTFU17RQCaMDZvMnVya4yXsuut4IwwbiGqrGlBsHvYlqG0IQzduH/XPmTglWAfpZuHsHYLHHVUnJyP9Jbw4lzrohQc8RZ5ib+TlurUKhjoZUgkdhGJMKucM2Y9un7KNpPWQh39L6NSqdZSdrcOU5fC8X0ktVkLe8OD3ZZdoI57/Y9DZqAxwqjMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011peYXrKrPL9Qe7QTHZQ7Ba",
      "input": {
        "note": "Pink bowl appears nested inside the stack, with the outer bowl's rim visible around it. Releasing.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011peYXrKrPL9Qe7QTHZQ7Ba",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0525, 0.8043, 0.6014, -0.4141, -0.1051, -0.0784, 0.9952, 0.6182, 1.7073, 1.0142, -0.3431, 0.3504, 0.321, 0.9955]\nstate[eef_state]: left_x=0.2903 left_y=0.0069 left_z=0.1695 left_yaw=0.0671 left_pitch=-0.0432 left_roll=0.0073 left_gripper=0.9952 right_x=0.3614 right_y=0.187 right_z=0.0602 right_yaw=0.1056 right_pitch=-0.3772 right_roll=-0.1173 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.2513, 7.0222, 1.746, -0.0415, -0.0366, -0.0073, 0.1983, -9.9214, 7.747, 1.0965, 0.1441, 0.0366, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28ddcf67707460282a2f04fe357ea694ffdf0f374054b5a6b95c257e84c9b9cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da228c9140e12f251d975a8bd7db4a6c23fda46797850df53b9ddc927cda6064",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fce2f2ce79981f03da0830625dac7912f4630929c4068434047abd8732521d76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 4.224 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]: [-0.0525, 0.8043, 0.6014, -0.4141, -0.1055, -0.0784, 0.9952, 0.6701, 1.6337, 1.3899, -0.733, 0.382, 0.3725, 0.0412]\nstate[eef_state]: left_x=0.2903 left_y=0.007 left_z=0.1695 left_yaw=0.0674 left_pitch=-0.0432 left_roll=0.0076 left_gripper=0.9952 right_x=0.3677 right_y=0.2119 right_z=0.1808 right_yaw=0.1138 right_pitch=-0.3096 right_roll=-0.0761 right_gripper=0.0412\nstate[joint_eff]: [-0.1436, -1.1966, 7.2957, 1.7314, -0.0952, -0.0611, -0.0073, -0.5128, -9.9077, 6.7487, 1.7167, 0.1245, 0.0659, 0.8474]",
      "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]: [-0.0525, 0.8043, 0.6014, -0.4141, -0.1051, -0.0788, 0.9952, 0.6212, 1.684, 1.0355, -0.3477, 0.35, 0.3321, 0.0412]\nstate[eef_state]: left_x=0.2903 left_y=0.0069 left_z=0.1695 left_yaw=0.0673 left_pitch=-0.0432 left_roll=0.007 left_gripper=0.9952 right_x=0.3662 right_y=0.1921 right_z=0.0762 right_yaw=0.11 right_pitch=-0.3418 right_roll=-0.089 right_gripper=0.0412\nstate[joint_eff]: [-0.0615, -1.265, 6.9949, 1.7167, -0.0415, -0.0757, -0.0073, -0.5812, -6.3248, 6.0103, 1.4774, 0.105, -0.1001, 0.823]\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]: [-0.0525, 0.8043, 0.6014, -0.4141, -0.1051, -0.0784, 0.9952, 0.6182, 1.7073, 1.0142, -0.3431, 0.3504, 0.321, 0.9955]\nstate[eef_state]: left_x=0.2903 left_y=0.0069 left_z=0.1695 left_yaw=0.0671 left_pitch=-0.0432 left_roll=0.0073 left_gripper=0.9952 right_x=0.3614 right_y=0.187 right_z=0.0602 right_yaw=0.1056 right_pitch=-0.3772 right_roll=-0.1173 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.2513, 7.0222, 1.746, -0.0415, -0.0366, -0.0073, 0.1983, -9.9214, 7.747, 1.0965, 0.1441, 0.0366, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28ddcf67707460282a2f04fe357ea694ffdf0f374054b5a6b95c257e84c9b9cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da228c9140e12f251d975a8bd7db4a6c23fda46797850df53b9ddc927cda6064",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fce2f2ce79981f03da0830625dac7912f4630929c4068434047abd8732521d76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015ugofqY6qadFLjJTzUqZAf",
      "input": {
        "note": "Released the pink bowl on the stack. Lifting straight up so I can check it from above.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015ugofqY6qadFLjJTzUqZAf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0525, 0.8043, 0.6014, -0.4141, -0.1051, -0.0788, 0.9952, 0.6178, 1.6344, 1.43, -0.8612, 0.35, 0.3126, 0.9964]\nstate[eef_state]: left_x=0.2903 left_y=0.0069 left_z=0.1695 left_yaw=0.0673 left_pitch=-0.0432 left_roll=0.007 left_gripper=0.9952 right_x=0.3616 right_y=0.187 right_z=0.1781 right_yaw=0.1044 right_pitch=-0.4036 right_roll=-0.1378 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -1.265, 7.0632, 1.746, -0.0464, -0.0708, -0.0171, -0.3077, -9.1692, 8.8137, 1.3504, 0.1685, 0.0611, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80c528ebe0a4aa12fdcadefb1deb24919a3508039cc2765b76b2171fb2a63952",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f19af89b0e883f9207899616966a556a80621490d2ab5a7947816645a67e9995",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:68112a0c3505ded38d3293f6a594fa3691a48857bb9e6a17db0c07dfb3d8caf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 10.14 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]: [-0.0525, 0.8043, 0.6014, -0.4141, -0.1051, -0.0788, 0.9952, 0.6212, 1.684, 1.0355, -0.3477, 0.35, 0.3321, 0.0412]\nstate[eef_state]: left_x=0.2903 left_y=0.0069 left_z=0.1695 left_yaw=0.0673 left_pitch=-0.0432 left_roll=0.007 left_gripper=0.9952 right_x=0.3662 right_y=0.1921 right_z=0.0762 right_yaw=0.11 right_pitch=-0.3418 right_roll=-0.089 right_gripper=0.0412\nstate[joint_eff]: [-0.0615, -1.265, 6.9949, 1.7167, -0.0415, -0.0757, -0.0073, -0.5812, -6.3248, 6.0103, 1.4774, 0.105, -0.1001, 0.823]\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]: [-0.0525, 0.8043, 0.6014, -0.4141, -0.1051, -0.0784, 0.9952, 0.6182, 1.7073, 1.0142, -0.3431, 0.3504, 0.321, 0.9955]\nstate[eef_state]: left_x=0.2903 left_y=0.0069 left_z=0.1695 left_yaw=0.0671 left_pitch=-0.0432 left_roll=0.0073 left_gripper=0.9952 right_x=0.3614 right_y=0.187 right_z=0.0602 right_yaw=0.1056 right_pitch=-0.3772 right_roll=-0.1173 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.2513, 7.0222, 1.746, -0.0415, -0.0366, -0.0073, 0.1983, -9.9214, 7.747, 1.0965, 0.1441, 0.0366, -0.1832]",
      "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]: [-0.0525, 0.8043, 0.6014, -0.4141, -0.1051, -0.0788, 0.9952, 0.6178, 1.6344, 1.43, -0.8612, 0.35, 0.3126, 0.9964]\nstate[eef_state]: left_x=0.2903 left_y=0.0069 left_z=0.1695 left_yaw=0.0673 left_pitch=-0.0432 left_roll=0.007 left_gripper=0.9952 right_x=0.3616 right_y=0.187 right_z=0.1781 right_yaw=0.1044 right_pitch=-0.4036 right_roll=-0.1378 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -1.265, 7.0632, 1.746, -0.0464, -0.0708, -0.0171, -0.3077, -9.1692, 8.8137, 1.3504, 0.1685, 0.0611, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80c528ebe0a4aa12fdcadefb1deb24919a3508039cc2765b76b2171fb2a63952",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f19af89b0e883f9207899616966a556a80621490d2ab5a7947816645a67e9995",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68112a0c3505ded38d3293f6a594fa3691a48857bb9e6a17db0c07dfb3d8caf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQShAgKEAgSGAI4AUIIdGhpbmtpbmcSDDbAMNp2+8NC0ciXzxoMHu6mae/2zFZTzpbxIjCE7NPS6z7OkGNZRKS4mXtMnna5LCmwIKEzXmcEvCF8+iTqidmi/2WLKTcLhz1dOicqoQfRcuyM275WT2EilQNp/a0RPlBQOzEFMWmvwSOKaDZYJ19iVqvTYPDpVxflNHfT5TsEDC/xaiOIizVzqgiVBXFmECGEWPv0NXg3Cg/uTlZ2PKXcgDs9kbtiAaKoXYaJ1TlJ7i1mcMMCv9u7PYrMnDsY6tJ2E1NhgYyuM2iui+B1PqPRgbujKKVJCwltYiATN6QUyGK7U5AgMNOO6jy/Z2DVj0aYmK5SZOSUsRaLCH6IkXzMZ1uruYqbfgwtSv48b0aKNCGHB24ozdZZPksQl6eITgJauhtSApt2BA8IErGWNx4XHBKZxwwp3k47Bn4nwg5RXNWbyaKSwqscAgMXKz3buxVe60bZesOVIvlbCTbLly9hUMH7cpSnOeL2tN1CbMQZ5f51TD3wKZBBt8d5Wnct8e+ZJnqG+0waLq6sL/BE6FcjMzNMMuO7iKbehZvil8a4u6bhNoHIW8sDCr70FdWjSDpZ7nW7blK3O2P7Rve0PudPl6K1H8u/2VDAEVlncA2WsaUnfZxshISBm/oWdi42MK7YF8w37TlzkujiQRzSeFt69HDCbcJhloTdfqRkU2vR1XpK4+bEgw1U/uZgyB7GfR+GCVitLEawswGrLxftSWCAnmQVN/TqY7rgeSEKJP2kuLPJG3UPt64bYjFyfHF1ojhtWHzUsnWSJ/kpGq4XJmMIFI98TfSSdRLvNkrIng+82nndEy+GU/HSAlHS6cIZD5jowKtyWzmpEdaOM/4xy+f9UNp6ErMjfk2I8E8iC7omLW43nbqTzP8OvKS2p7dw63IU/7uFgi/yImM47DzLFs5DimKqLCsQkHiO6OZbWSLIFegk0aiRYFwGvij/usri87hcIen8Fz5nvGHHfdil7f1eG0+MQ/0zf6LV7X6UuHnWMFjlRWvmaoAavMmlJEM1q9Dtbc6iBhmkGVUwClQhAN5Lk7M4Uo2mmkKK76QBX0GM3PC4zDiYDBbOLCTpQuRdx/7OPzm6gtcXogNXuYyF4hqYPdsC8TbNyJ6pyiU/41zLpLNOhtex2/dmS6Sl+lkKZZw3PtYPDP4FhqSFL+1ABl7exk+mmVfRKrG9xGMx+kcDvhSYcDh3X/3lXewXCZg4OGVLE3LV9gohG2V7bzIJBY9M4LkfOVqM2gAJeXuXN6ZCiv1/5ZAjQ2m35wKbU4ELDyillSVRlU3jnHbAV72iKjkVVjQ2TC/XxY/rOxRAAlsVZnhrb/4VugNymAfLSIZhlxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pr4ZVnxuZJzXeAHoFmJywt",
      "input": {
        "note": "Pink bowl rests on top of the stack. Parking the right arm at home so the overhead camera can see the stack clearly.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.29,
          "right_y": 0.0,
          "right_yaw": 0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01Pr4ZVnxuZJzXeAHoFmJywt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0525, 0.8082, 0.6014, -0.4137, -0.1055, -0.0788, 0.9952, 0.0029, 0.7898, 0.606, -0.44, 0.0513, 0.0051, 0.9966]\nstate[eef_state]: left_x=0.2906 left_y=0.007 left_z=0.1686 left_yaw=0.0676 left_pitch=-0.0466 left_roll=0.0077 left_gripper=0.9952 right_x=0.2862 right_y=-0.0047 right_z=0.1699 right_yaw=-0.0511 right_pitch=-0.053 right_roll=-0.0114 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.6205, 7.0769, 1.7118, -0.0806, -0.0806, -0.0122, -0.0615, -0.9915, 7.5966, 2.1026, -0.1587, -0.0366, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08e6c3455fd9085ddb2a31e983c6e6bb5aeac104a07561eb1a18e3f19c49adfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d5397c3f61df0f2a28d8c7d274434e93c838b1269f69a61a2f3d935fd1add0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:10669ca49a5d403a038e7c4cfb2491452a94fb4ff22462b794ba1a73aaa3f35c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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