adhoc - adhoc_d9994827.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
max_speed_frac: 0.25
model: claude-opus-5
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: 601.6 s
total steps: 358

operator

scenes

trials

errored

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.

user

Goal: Stack the bowls on the table.

Raw transcript

system

user

Goal: Stack the bowls on the table.

step 0

assistant

agent noteThree bowls sit in a row across the table. I am moving the left arm up and forward over the leftmost bowl (visible in its wrist cam) to get a better look before grasping its rim.

move_to

left_x0.4000left_y-0.0600left_z0.2500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7952, 0.6037, -0.3824, -0.0223, -0.041, 0.9995, -0.0219, 0.7937, 0.6014, -0.3824, -0.0154, -0.0334, 0.9992] state[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2941 right_y=-0.0001 right_z=0.1784 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.4171, -1.6342, 10.1128, 1.8339, -0.0073, 0.2759, -0.0708, -0.4581, -1.4838, 10.3316, 1.9463, -0.0708, 0.1929, -0.0952] 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": 0.4, "left_y": -0.06, "left_z": 0.25, "left_gripper": 1.0}, "note": "Three bowls sit in a row across the table. I am moving the left arm up and forward over the leftmost bowl (visible in its wrist cam) to get a better look before grasping its rim."})

tool

executing move_to over 9 steps (0.9s)

step 9

assistant

agent noteThe left bowl appears centred on the jaw column in the left wrist view but still forward of the fingertips, so I advance 5 cm and drop to 14 cm to judge the rim position.

move_to

left_x0.4400left_y-0.0600left_z0.1400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2455, 1.2873, 1.0809, -0.4244, -0.1959, -0.1627, 0.9995, -0.0219, 0.7975, 0.6003, -0.3923, -0.0154, -0.0341, 0.9991] state[eef_state]: left_x=0.3923 left_y=-0.0591 left_z=0.2306 left_yaw=-0.0142 left_pitch=-0.0431 left_roll=0.0038 left_gripper=0.9995 right_x=0.2929 right_y=-0.0001 right_z=0.1747 right_yaw=0.0004 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9991 state[joint_eff]: [-0.3624, -5.5043, 9.0735, 1.663, -0.188, -0.1001, -0.0659, -0.1436, -1.5385, 7.1453, 1.8242, -0.0269, -0.0366, -0.0171] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.06, "left_z": 0.14}, "note": "The left bowl appears centred on the jaw column in the left wrist view but still forward of the fingertips, so I advance 5 cm and drop to 14 cm to judge the rim position."})

tool

executing move_to over 6 steps (0.6s)

step 15

assistant

agent noteIn the wrist view the bowl sits up and to the right of the jaw column, so I move 3 cm right and 4.5 cm forward to hover over the bowl's centre and confirm its position before targeting its rim.

move_to

left_x0.4700left_y-0.0900left_z0.1600

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2146, 1.5181, 0.9253, -0.1177, -0.1806, -0.157, 0.9994, -0.0219, 0.7986, 0.5999, -0.3935, -0.0151, -0.0345, 0.9991] state[eef_state]: left_x=0.4255 left_y=-0.0566 left_z=0.1296 left_yaw=0.0023 left_pitch=-0.123 left_roll=0.0169 left_gripper=0.9994 right_x=0.2927 right_y=-0.0002 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0183 right_roll=-0.0008 right_gripper=0.9991 state[joint_eff]: [0.4171, -6.7624, 6.4479, 1.8974, 0.0366, 0.1392, -0.0171, -0.0752, -1.3333, 7.0632, 1.7265, -0.0269, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.47, "left_y": -0.09, "left_z": 0.16}, "note": "In the wrist view the bowl sits up and to the right of the jaw column, so I move 3 cm right and 4.5 cm forward to hover over the bowl's centre and confirm its position before targeting its rim."})

tool

executing move_to over 4 steps (0.4s)

step 19

assistant

agent noteThe bowl now fills the bottom of the left wrist view, so its centre is roughly under the fingertips at x≈0.44, y≈-0.085. I shift to the bowl's left-side rim (y=-0.022) to set up a rim grasp with the jaws straddling the rim wall.

move_to

left_x0.4400left_y-0.0220left_z0.1200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2764, 1.6627, 1.1641, -0.218, -0.2127, -0.1925, 0.9994, -0.0219, 0.8024, 0.5957, -0.3969, -0.0151, -0.0345, 0.9991] state[eef_state]: left_x=0.4645 left_y=-0.0893 left_z=0.1511 left_yaw=-0.0132 left_pitch=-0.1235 left_roll=0.0115 left_gripper=0.9994 right_x=0.2919 right_y=-0.0002 right_z=0.1704 right_yaw=0.0003 right_pitch=-0.0298 right_roll=-0.0005 right_gripper=0.9991 state[joint_eff]: [-0.1709, -7.8974, 8.3624, 1.4042, -0.3346, -0.1148, -0.0122, -0.3487, -1.0462, 7.3778, 1.7656, -0.0317, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.022, "left_z": 0.12}, "note": "The bowl now fills the bottom of the left wrist view, so its centre is roughly under the fingertips at x\u22480.44, y\u2248-0.085. I shift to the bowl's left-side rim (y=-0.022) to set up a rim grasp with the jaws straddling the rim wall."})

tool

executing move_to over 6 steps (0.6s)

step 25

assistant

agent noteThe jaws are straddling the white bowl's left rim in the wrist view; descending to 4 cm so the rim wall sits between the fingertips.

move_to

left_x0.4400left_y-0.0220left_z0.0400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0998, 1.5978, 0.9394, -0.115, -0.1013, -0.1001, 0.9994, -0.0219, 0.8036, 0.5953, -0.4114, -0.0151, -0.0345, 0.9991] state[eef_state]: left_x=0.4336 left_y=-0.0218 left_z=0.1019 left_yaw=0.0205 left_pitch=-0.1949 left_roll=0.0168 left_gripper=0.9994 right_x=0.2899 right_y=-0.0001 right_z=0.167 right_yaw=0.0003 right_pitch=-0.0458 right_roll=-0.0001 right_gripper=0.9991 state[joint_eff]: [0.3897, -8.9915, 6.735, 1.9365, 0.0904, 0.0415, -0.0122, -0.1026, -1.1692, 7.241, 1.7998, -0.0317, -0.0757, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.022, "left_z": 0.04}, "note": "The jaws are straddling the white bowl's left rim in the wrist view; descending to 4 cm so the rim wall sits between the fingertips."})

tool

executing move_to over 4 steps (0.4s)

step 29

assistant

agent noteThe white bowl's rim lies between the open jaws; closing fully to pinch the rim wall.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0971, 1.7458, 0.8356, 0.0662, -0.091, -0.0975, 0.9994, -0.0219, 0.8051, 0.5953, -0.4152, -0.0151, -0.0345, 0.9991] state[eef_state]: left_x=0.4271 left_y=-0.0219 left_z=0.0316 left_yaw=0.0148 left_pitch=-0.2659 left_roll=0.0195 left_gripper=0.9994 right_x=0.2894 right_y=-0.0001 right_z=0.1658 right_yaw=0.0003 right_pitch=-0.0511 right_roll=-0.0 right_gripper=0.9991 state[joint_eff]: [-0.3214, -8.7453, 6.4479, 1.8095, -0.1783, -0.0611, -0.0122, -0.0889, -1.4154, 6.9949, 1.7607, -0.022, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The white bowl's rim lies between the open jaws; closing fully to pinch the rim wall."})

tool

executing move_to over 10 steps (1.0s)

step 39

assistant

agent noteGripper settled at 0.029 (thin rim or empty); lifting 9 cm to see in the top view whether the white bowl comes with the jaws.

move_to

left_z0.1200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0975, 1.7439, 0.8288, 0.0856, -0.0765, -0.1169, 0.0289, -0.0216, 0.8082, 0.5945, -0.4213, -0.0151, -0.0341, 0.9991] state[eef_state]: left_x=0.4283 left_y=-0.0247 left_z=0.033 left_yaw=0.0123 left_pitch=-0.2525 left_roll=-0.0067 left_gripper=0.0289 right_x=0.2886 right_y=0.0 right_z=0.1634 right_yaw=0.0005 right_pitch=-0.061 right_roll=0.0005 right_gripper=0.9991 state[joint_eff]: [-0.0479, -7.3368, 6.5162, 1.1062, -0.1441, 0.2076, 0.779, -0.0889, -1.5658, 7.0632, 1.7411, -0.022, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.12}, "note": "Gripper settled at 0.029 (thin rim or empty); lifting 9 cm to see in the top view whether the white bowl comes with the jaws."})

tool

executing move_to over 6 steps (0.6s)

step 45

assistant

agent noteThe close was empty (bowl unmoved, gripper 0.04). The bowl's rim sits ~4 cm to the jaws' right in the wrist view, so I reopen and shift to y=-0.06 before descending again.

move_to

left_y-0.0600left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0975, 1.6115, 0.9894, -0.2333, -0.0788, -0.1204, 0.0401, -0.0216, 0.8097, 0.5945, -0.4225, -0.0151, -0.0345, 0.9991] state[eef_state]: left_x=0.426 left_y=-0.0241 left_z=0.0961 left_yaw=0.0171 left_pitch=-0.2781 left_roll=-0.0043 left_gripper=0.0401 right_x=0.2885 right_y=0.0 right_z=0.1628 right_yaw=0.0007 right_pitch=-0.0637 right_roll=0.0003 right_gripper=0.9991 state[joint_eff]: [-0.2256, -9.5521, 9.1282, 1.5604, -0.0171, -0.0415, 1.0281, 0.1162, -1.4564, 6.9949, 1.6581, -0.0122, -0.0806, -0.0122] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.06, "left_gripper": 1.0}, "note": "The close was empty (bowl unmoved, gripper 0.04). The bowl's rim sits ~4 cm to the jaws' right in the wrist view, so I reopen and shift to y=-0.06 before descending again."})

tool

executing move_to over 10 steps (1.0s)

step 55

assistant

agent noteThe bowl is centred on the jaw column (centre ≈ x0.45, y-0.06). Rotating the wrist 90° so the jaws close front-to-back, which lets me pinch the bowl's near rim instead of its side.

move_to

left_yaw1.5710left_z0.1300

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2054, 1.6154, 1.0, -0.2665, -0.1368, -0.2024, 0.9952, -0.0216, 0.8101, 0.5945, -0.4225, -0.0151, -0.0341, 0.9991] state[eef_state]: left_x=0.4191 left_y=-0.0591 left_z=0.0943 left_yaw=0.0072 left_pitch=-0.2967 left_roll=-0.01 left_gripper=0.9952 right_x=0.2885 right_y=0.0 right_z=0.1627 right_yaw=0.0005 right_pitch=-0.0641 right_roll=0.0006 right_gripper=0.9991 state[joint_eff]: [-0.4444, -5.7915, 7.5966, 1.5702, -0.2808, 0.0562, -0.1099, -0.0615, -1.1556, 7.1863, 1.707, -0.0708, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_yaw": 1.571, "left_z": 0.13}, "note": "The bowl is centred on the jaw column (centre \u2248 x0.45, y-0.06). Rotating the wrist 90\u00b0 so the jaws close front-to-back, which lets me pinch the bowl's near rim instead of its side."})

tool

executing move_to over 10 steps (1.0s)

step 65

assistant

agent noteWith the wrist yawed 90° the jaws now close front-to-back; in the wrist view the bowl's rim edge sits ~5 cm along the jaw-closing direction, so I advance x to 0.47 and drop to 4 cm to put that rim between the jaws.

move_to

left_x0.4700left_z0.0400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3977, 2.2707, 2.0239, -1.4204, -0.6479, -1.8492, 0.9957, -0.0219, 0.8162, 0.5945, -0.4271, -0.0151, -0.0345, 0.9991] state[eef_state]: left_x=0.4315 left_y=-0.0617 left_z=0.1025 left_yaw=1.3458 left_pitch=-0.3441 left_roll=-0.0625 left_gripper=0.9957 right_x=0.2881 right_y=-0.0001 right_z=0.1601 right_yaw=0.0004 right_pitch=-0.0748 right_roll=0.0005 right_gripper=0.9991 state[joint_eff]: [1.4974, -11.0701, 5.6957, -0.0904, -0.4567, -0.1392, 0.0366, -0.0615, -1.2103, 7.0222, 1.6923, -0.0611, -0.0415, -0.0122] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.47, "left_z": 0.04}, "note": "With the wrist yawed 90\u00b0 the jaws now close front-to-back; in the wrist view the bowl's rim edge sits ~5 cm along the jaw-closing direction, so I advance x to 0.47 and drop to 4 cm to put that rim between the jaws."})

tool

executing move_to over 5 steps (0.5s)

step 70

assistant

agent noteThe yawed pose stalled at its IK limit, so I return the wrist to yaw 0 and go to the white bowl's right-side rim (x 0.48, y -0.115) where the rim runs front-back and the jaws can close across it.

move_to

left_yaw0.0000left_x0.4800left_y-0.1150left_z0.0600

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3939, 2.2932, 2.0418, -1.4288, -0.6441, -1.8893, 0.9957, -0.0216, 0.8173, 0.5945, -0.4343, -0.0151, -0.0341, 0.9991] state[eef_state]: left_x=0.4331 left_y=-0.0613 left_z=0.0974 left_yaw=1.3779 left_pitch=-0.3466 left_roll=-0.074 left_gripper=0.9957 right_x=0.2871 right_y=0.0001 right_z=0.1584 right_yaw=0.0006 right_pitch=-0.0831 right_roll=0.001 right_gripper=0.9991 state[joint_eff]: [0.0068, -11.453, 7.5692, 0.0513, -0.442, 0.1392, -0.0073, -0.1026, -1.347, 7.1043, 1.7021, -0.0562, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_yaw": 0.0, "left_x": 0.48, "left_y": -0.115, "left_z": 0.06}, "note": "The yawed pose stalled at its IK limit, so I return the wrist to yaw 0 and go to the white bowl's right-side rim (x 0.48, y -0.115) where the rim runs front-back and the jaws can close across it."})

tool

executing move_to over 9 steps (0.9s)

step 79

assistant

agent noteThe left arm is stuck in an awkward yawed pose and no longer tracking targets; retracting up and back to x=0.30, z=0.25 with yaw and pitch zeroed to recover a clean configuration.

move_to

left_x0.3000left_z0.2500left_y-0.0600left_yaw0.0000left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3183, 2.0621, 1.7218, -1.1862, -0.416, -1.6535, 0.9957, -0.0216, 0.8204, 0.5945, -0.4435, -0.0151, -0.0341, 0.9991] state[eef_state]: left_x=0.4087 left_y=-0.0557 left_z=0.0883 left_yaw=1.2515 left_pitch=-0.5818 left_roll=-0.0847 left_gripper=0.9957 right_x=0.2858 right_y=0.0001 right_z=0.1558 right_yaw=0.0006 right_pitch=-0.0954 right_roll=0.0013 right_gripper=0.9991 state[joint_eff]: [0.2256, -13.8325, 8.0615, 1.1404, -0.2759, 0.1245, -0.0122, 0.0479, -1.388, 6.9675, 1.7753, -0.0464, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.3, "left_z": 0.25, "left_y": -0.06, "left_yaw": 0.0, "left_pitch": 0.0}, "note": "The left arm is stuck in an awkward yawed pose and no longer tracking targets; retracting up and back to x=0.30, z=0.25 with yaw and pitch zeroed to recover a clean configuration."})

tool

executing move_to over 20 steps (2.0s)

step 99

assistant

agent noteRecovered the left arm. Switching to the right arm for the pink bowl, which sits slightly to its left in the wrist view: moving forward to x=0.40, y=0.06 to hover near it and pin down its position.

move_to

right_x0.4000right_y0.0600right_z0.1600

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3702, 0.9363, 0.9333, -0.6521, -0.3283, -0.3981, 0.9957, -0.0216, 0.8238, 0.5945, -0.445, -0.0151, -0.0345, 0.9991] state[eef_state]: left_x=0.2988 left_y=-0.051 left_z=0.2394 left_yaw=0.0983 left_pitch=-0.0439 left_roll=-0.1054 left_gripper=0.9957 right_x=0.2858 right_y=0.0001 right_z=0.1546 right_yaw=0.0008 right_pitch=-0.1003 right_roll=0.0011 right_gripper=0.9991 state[joint_eff]: [0.335, -1.8256, 6.8718, 1.9463, -0.0952, 0.2515, -0.0122, -0.0342, -1.3607, 7.1726, 1.7216, -0.0122, -0.0366, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.06, "right_z": 0.16}, "note": "Recovered the left arm. Switching to the right arm for the pink bowl, which sits slightly to its left in the wrist view: moving forward to x=0.40, y=0.06 to hover near it and pin down its position."})

tool

executing move_to over 9 steps (0.9s)

step 108

assistant

agent noteThe pink bowl is centred on the jaw column just forward of the fingertips, so its centre is ≈ (0.41, 0.07). I move to its near-right rim (y=0.02) and descend to 4 cm so the rim wall lies between the open jaws.

move_to

right_x0.4100right_y0.0200right_z0.0400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 0.9424, 0.9291, -0.6662, -0.3145, -0.3931, 0.9957, 0.2089, 1.3613, 0.8593, -0.2749, 0.1345, 0.0795, 0.9991] state[eef_state]: left_x=0.2971 left_y=-0.0516 left_z=0.2328 left_yaw=0.0889 left_pitch=-0.0693 left_roll=-0.0981 left_gripper=0.9957 right_x=0.3795 right_y=0.0599 right_z=0.1332 right_yaw=0.0405 right_pitch=-0.1944 right_roll=-0.0199 right_gripper=0.9991 state[joint_eff]: [-0.335, -2.359, 7.3368, 1.746, -0.2906, -0.0562, -0.0122, -0.0889, -6.1197, 9.6068, 1.8974, 0.2369, 0.3053, -0.0122] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.41, "right_y": 0.02, "right_z": 0.04}, "note": "The pink bowl is centred on the jaw column just forward of the fingertips, so its centre is \u2248 (0.41, 0.07). I move to its near-right rim (y=0.02) and descend to 4 cm so the rim wall lies between the open jaws."})

tool

executing move_to over 7 steps (0.7s)

step 115

assistant

agent noteIn the right wrist view the pink bowl's rim edge runs between the two jaws (left jaw over the bowl, right jaw on the table); closing to pinch the rim.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 0.9428, 0.9291, -0.6689, -0.3138, -0.3931, 0.9957, 0.0593, 1.6314, 0.709, 0.0772, 0.036, -0.0196, 0.9991] state[eef_state]: left_x=0.2968 left_y=-0.0516 left_z=0.2322 left_yaw=0.0883 left_pitch=-0.0723 left_roll=-0.0972 left_gripper=0.9957 right_x=0.3949 right_y=0.0207 right_z=0.0321 right_yaw=0.0295 right_pitch=-0.2709 right_roll=-0.0244 right_gripper=0.9991 state[joint_eff]: [-0.1026, -1.9761, 6.8444, 1.6435, -0.1978, -0.0611, -0.0122, -0.3897, -6.9675, 5.8188, 1.79, -0.105, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "In the right wrist view the pink bowl's rim edge runs between the two jaws (left jaw over the bowl, right jaw on the table); closing to pinch the rim."})

tool

executing move_to over 10 steps (1.0s)

step 125

assistant

agent noteGripper settled at 0.041, consistent with a pinched rim. Lifting to 15 cm to check in the top view whether the pink bowl comes up with the jaws.

move_to

right_z0.1500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 0.9447, 0.9291, -0.6689, -0.3134, -0.3931, 0.9957, 0.0589, 1.6325, 0.7013, 0.091, -0.0013, -0.0116, 0.0409] state[eef_state]: left_x=0.297 left_y=-0.0518 left_z=0.2317 left_yaw=0.0881 left_pitch=-0.0741 left_roll=-0.0966 left_gripper=0.9957 right_x=0.3945 right_y=0.0271 right_z=0.0311 right_yaw=0.0571 right_pitch=-0.2663 right_roll=0.0101 right_gripper=0.0409 state[joint_eff]: [-0.0752, -1.812, 6.7761, 1.5946, -0.1685, -0.0659, -0.0122, 0.0068, -5.8462, 6.4752, 1.199, 0.5397, -0.232, 0.9402] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.15}, "note": "Gripper settled at 0.041, consistent with a pinched rim. Lifting to 15 cm to check in the top view whether the pink bowl comes up with the jaws."})

tool

executing move_to over 8 steps (0.8s)

step 133

assistant

agent noteThe pink bowl seems to be hanging from the pinched rim. Carrying it left toward the purple middle bowl (y=0.20 waypoint) at 18 cm height to confirm in the top view that the bowl travels with the gripper.

move_to

right_x0.4200right_y0.2000right_z0.1800

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 0.9466, 0.9291, -0.6689, -0.3134, -0.3931, 0.9957, 0.0608, 1.4563, 0.9752, -0.3973, -0.0082, -0.0227, 0.0439] state[eef_state]: left_x=0.2972 left_y=-0.0519 left_z=0.2311 left_yaw=0.0881 left_pitch=-0.0758 left_roll=-0.0957 left_gripper=0.9957 right_x=0.3913 right_y=0.0289 right_z=0.1243 right_yaw=0.0714 right_pitch=-0.3044 right_roll=0.0082 right_gripper=0.0439 state[joint_eff]: [-0.1846, -2.1812, 6.8855, 1.5995, -0.149, -0.0513, -0.0171, -0.2667, -8.4855, 9.5385, 1.5751, 0.0513, 0.0611, 0.8327] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.2, "right_z": 0.18}, "note": "The pink bowl seems to be hanging from the pinched rim. Carrying it left toward the purple middle bowl (y=0.20 waypoint) at 18 cm height to confirm in the top view that the bowl travels with the gripper."})

tool

executing move_to over 15 steps (1.5s)

step 148

assistant

agent noteConfirmed: the pink bowl is held and has left its original spot. Moving to hover just above the purple middle bowl (its centre ≈ right_y 0.33, and the held bowl hangs ~5 cm to +y of the grasp point).

move_to

right_x0.4500right_y0.2800right_z0.1800

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 0.9485, 0.9291, -0.6689, -0.3111, -0.3931, 0.9957, 0.5392, 1.747, 1.4685, -0.6971, 0.26, 0.3195, 0.0453] state[eef_state]: left_x=0.2973 left_y=-0.0523 left_z=0.2305 left_yaw=0.0863 left_pitch=-0.0782 left_roll=-0.0962 left_gripper=0.9957 right_x=0.4105 right_y=0.1969 right_z=0.163 right_yaw=0.1116 right_pitch=-0.3539 right_roll=-0.0115 right_gripper=0.0453 state[joint_eff]: [-0.0889, -2.1949, 6.7487, 1.58, -0.2027, -0.0513, -0.0171, 0.212, -8.7043, 9.306, 1.3309, 0.4078, 0.2076, 0.823] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.45, "right_y": 0.28, "right_z": 0.18}, "note": "Confirmed: the pink bowl is held and has left its original spot. Moving to hover just above the purple middle bowl (its centre \u2248 right_y 0.33, and the held bowl hangs ~5 cm to +y of the grasp point)."})

tool

executing move_to over 7 steps (0.7s)

step 155

assistant

agent noteIn the wrist view the purple bowl sits just under/right of the grasp point while the held pink bowl hangs ~5 cm to the +y side, so I shift y back to 0.22 to bring the pink bowl directly over the purple bowl.

move_to

right_y0.2200right_x0.4500right_z0.1600

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 0.952, 0.9291, -0.6697, -0.3107, -0.3931, 0.9957, 0.6533, 2.0708, 1.9465, -0.9005, 0.2993, 0.3882, 0.0482] state[eef_state]: left_x=0.2976 left_y=-0.0525 left_z=0.2294 left_yaw=0.0862 left_pitch=-0.0821 left_roll=-0.0946 left_gripper=0.9957 right_x=0.4433 right_y=0.2782 right_z=0.1688 right_yaw=0.1445 right_pitch=-0.3821 right_roll=-0.0236 right_gripper=0.0482 state[joint_eff]: [-0.1709, -2.3179, 6.9812, 1.5751, -0.1783, -0.0708, -0.0171, 0.1436, -11.494, 8.4171, 1.0672, 0.2613, 0.1978, 0.5885] 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_y": 0.22, "right_x": 0.45, "right_z": 0.16}, "note": "In the wrist view the purple bowl sits just under/right of the grasp point while the held pink bowl hangs ~5 cm to the +y side, so I shift y back to 0.22 to bring the pink bowl directly over the purple bowl."})

tool

executing move_to over 5 steps (0.5s)

step 160

assistant

agent noteThe held pink bowl should now be over the purple bowl (it hides it from both cameras); descending toward 7 cm to nest the pink bowl inside the purple one, watching for contact.

move_to

right_z0.0700

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 0.9531, 0.9291, -0.6693, -0.3107, -0.3931, 0.9957, 0.5327, 2.0018, 1.7252, -0.8326, 0.2481, 0.3023, 0.0486] state[eef_state]: left_x=0.2978 left_y=-0.0526 left_z=0.2292 left_yaw=0.0862 left_pitch=-0.0827 left_roll=-0.0943 left_gripper=0.9957 right_x=0.4422 right_y=0.2145 right_z=0.1268 right_yaw=0.1007 right_pitch=-0.48 right_roll=-0.0724 right_gripper=0.0486 state[joint_eff]: [-0.1299, -2.0034, 6.7487, 1.5995, -0.1148, -0.0513, -0.0171, 0.294, -14.7077, 7.5282, 1.58, -0.0171, -0.0366, 0.3883] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.07}, "note": "The held pink bowl should now be over the purple bowl (it hides it from both cameras); descending toward 7 cm to nest the pink bowl inside the purple one, watching for contact."})

tool

executing move_to over 4 steps (0.4s)

step 164

assistant

agent noteThe wrist view shows the purple bowl's rim just forward and to the +y side of the held pink bowl, i.e. they are side by side rather than nested. Lifting back to 13 cm and shifting 3 cm forward / 2.5 cm in +y to get directly over the purple bowl.

move_to

right_z0.1300right_x0.4600right_y0.2350

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 0.955, 0.9291, -0.6693, -0.3107, -0.3931, 0.9957, 0.5301, 2.0289, 1.5532, -0.693, 0.2302, 0.2935, 0.0484] state[eef_state]: left_x=0.298 left_y=-0.0527 left_z=0.2287 left_yaw=0.0863 left_pitch=-0.0845 left_roll=-0.0934 left_gripper=0.9957 right_x=0.4299 right_y=0.2093 right_z=0.0673 right_yaw=0.1054 right_pitch=-0.5413 right_roll=-0.0885 right_gripper=0.0484 state[joint_eff]: [-0.2256, -2.0308, 6.8718, 1.619, -0.1636, -0.0611, -0.0122, 0.1846, -10.5915, 6.9675, 1.5018, 0.3101, -0.0317, 0.6276] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.13, "right_x": 0.46, "right_y": 0.235}, "note": "The wrist view shows the purple bowl's rim just forward and to the +y side of the held pink bowl, i.e. they are side by side rather than nested. Lifting back to 13 cm and shifting 3 cm forward / 2.5 cm in +y to get directly over the purple bowl."})

tool

executing move_to over 5 steps (0.5s)

step 169

assistant

agent notePurple bowl is now hidden directly beneath the held pink bowl, so I descend again to 7 cm to drop the pink bowl into it.

move_to

right_z0.0700

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 0.9577, 0.9291, -0.6758, -0.3107, -0.3931, 0.9957, 0.5434, 2.1574, 1.969, -0.968, 0.2264, 0.2916, 0.0481] state[eef_state]: left_x=0.2973 left_y=-0.0524 left_z=0.2267 left_yaw=0.0866 left_pitch=-0.0927 left_roll=-0.0894 left_gripper=0.9957 right_x=0.4599 right_y=0.2357 right_z=0.1233 right_yaw=0.1263 right_pitch=-0.5317 right_roll=-0.0799 right_gripper=0.0481 state[joint_eff]: [-0.1709, -2.3316, 7.0632, 1.663, -0.149, -0.0366, -0.0122, 0.1162, -11.1658, 7.706, 0.8864, 0.1636, 0.1197, 0.2906] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.07}, "note": "Purple bowl is now hidden directly beneath the held pink bowl, so I descend again to 7 cm to drop the pink bowl into it."})

tool

executing move_to over 4 steps (0.4s)

step 173

assistant

agent noteReleasing the pink bowl at the middle bowl's location, then I will retract to inspect whether it nested.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 0.9596, 0.9287, -0.6758, -0.3107, -0.3931, 0.9957, 0.5449, 2.1704, 1.7828, -0.8528, 0.2226, 0.2909, 0.0474] state[eef_state]: left_x=0.2975 left_y=-0.0525 left_z=0.226 left_yaw=0.0867 left_pitch=-0.0947 left_roll=-0.0884 left_gripper=0.9957 right_x=0.4434 right_y=0.2274 right_z=0.0638 right_yaw=0.1095 right_pitch=-0.6097 right_roll=-0.1177 right_gripper=0.0474 state[joint_eff]: [-0.1709, -2.3043, 6.7624, 1.5995, -0.1929, -0.0464, -0.0122, -0.294, -12.1915, 6.7624, 1.4579, 0.1587, -0.0415, 0.6422] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1.0}, "note": "Releasing the pink bowl at the middle bowl's location, then I will retract to inspect whether it nested."})

tool

executing move_to over 10 steps (1.0s)

step 183

assistant

agent noteBowl released; retracting the right arm to home so the top camera can show whether the pink bowl is nested and where the remaining bowls are.

move_to

right_x0.2800right_y0.0000right_z0.2500right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 0.9615, 0.9291, -0.6758, -0.3107, -0.3931, 0.9957, 0.5453, 2.1731, 1.7523, -0.8333, 0.223, 0.2871, 0.9953] state[eef_state]: left_x=0.2977 left_y=-0.0526 left_z=0.2257 left_yaw=0.0868 left_pitch=-0.0961 left_roll=-0.0877 left_gripper=0.9957 right_x=0.44 right_y=0.2254 right_z=0.0541 right_yaw=0.108 right_pitch=-0.6222 right_roll=-0.127 right_gripper=0.9953 state[joint_eff]: [-0.0479, -2.3179, 6.8308, 1.5946, -0.188, -0.0708, -0.0171, 0.0752, -13.5179, 6.2838, 0.9304, 0.1685, -0.0464, -0.2076] 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": 0.28, "right_y": 0.0, "right_z": 0.25, "right_pitch": 0.0}, "note": "Bowl released; retracting the right arm to home so the top camera can show whether the pink bowl is nested and where the remaining bowls are."})

tool

executing move_to over 21 steps (2.1s)

step 204

assistant

agent noteOnly two bowls remain in view: the white one near the left arm and the pink one now in the middle. Reaching the left arm to the white bowl's near-right rim (commanding x 0.47 to allow for sag) at 4 cm height for a rim pinch like the one that worked on the right.

move_to

left_x0.4700left_y-0.0200left_z0.0400left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 0.9672, 0.9287, -0.6758, -0.3107, -0.3931, 0.9957, -0.0216, 0.8104, 0.8871, -0.6571, 0.0113, -0.1719, 0.9964] state[eef_state]: left_x=0.2983 left_y=-0.0528 left_z=0.2239 left_yaw=0.0871 left_pitch=-0.1016 left_roll=-0.085 left_gripper=0.9957 right_x=0.2842 right_y=-0.0045 right_z=0.2468 right_yaw=0.0529 right_pitch=-0.0125 right_roll=-0.1301 right_gripper=0.9964 state[joint_eff]: [-0.335, -2.6325, 6.9538, 1.5702, -0.1685, -0.0708, -0.0122, -0.1436, -0.9504, 6.5436, 1.7216, -0.1685, 0.0415, 0.0952] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.47, "left_y": -0.02, "left_z": 0.04, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "Only two bowls remain in view: the white one near the left arm and the pink one now in the middle. Reaching the left arm to the white bowl's near-right rim (commanding x 0.47 to allow for sag) at 4 cm height for a rim pinch like the one that worked on the right."})

tool

executing move_to over 14 steps (1.4s)

step 218

assistant

agent noteThe white bowl's rim edge runs between the open jaws in the left wrist view (right jaw over the bowl, left jaw on the table); closing to pinch the rim.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 1.8271, 0.8196, 0.2234, -0.025, -0.1677, 0.9988, -0.0216, 0.8162, 0.8867, -0.6769, -0.001, -0.1905, 0.9964] state[eef_state]: left_x=0.4429 left_y=-0.0169 left_z=0.0182 left_yaw=0.0364 left_pitch=-0.2121 left_roll=-0.0856 left_gripper=0.9988 right_x=0.2822 right_y=-0.0023 right_z=0.241 right_yaw=0.0733 right_pitch=-0.0392 right_roll=-0.1366 right_gripper=0.9964 state[joint_eff]: [0.4855, -9.0872, 7.8017, 1.79, 0.0611, 0.1929, -0.1441, -0.1026, -1.4427, 6.6803, 1.8828, 0.0855, 0.1587, -0.0024] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The white bowl's rim edge runs between the open jaws in the left wrist view (right jaw over the bowl, left jaw on the table); closing to pinch the rim."})

tool

executing move_to over 10 steps (1.0s)

step 228

assistant

agent noteThe close stalled at 0.51 (≈4.9 cm between jaws), suggesting the jaws are clamped around the bowl's lower body; lifting to 16 cm to check the bowl comes along.

move_to

left_z0.1600

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0525, 1.8378, 0.8215, 0.2295, -0.0223, -0.1799, 0.5145, -0.0216, 0.8173, 0.8867, -0.6807, -0.0013, -0.1921, 0.9965] state[eef_state]: left_x=0.4437 left_y=-0.0158 left_z=0.0154 left_yaw=0.0447 left_pitch=-0.2155 left_roll=-0.096 left_gripper=0.5145 right_x=0.2818 right_y=-0.0023 right_z=0.2399 right_yaw=0.0744 right_pitch=-0.0442 right_roll=-0.1371 right_gripper=0.9965 state[joint_eff]: [-0.4991, -9.4017, 5.2034, 1.4579, -0.105, 0.105, 1.0281, -0.0342, -1.1556, 6.653, 1.7363, -0.0171, -0.0513, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.16}, "note": "The close stalled at 0.51 (\u22484.9 cm between jaws), suggesting the jaws are clamped around the bowl's lower body; lifting to 16 cm to check the bowl comes along."})

tool

executing move_to over 10 steps (1.0s)

step 238

assistant

agent noteThe white bowl is lifted and clamped in the jaws. Carrying it across at 22 cm to hover over the pink bowl, which sits at about left_y -0.375, x 0.44.

move_to

left_y-0.3750left_z0.2200left_x0.4400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0521, 1.6089, 1.1187, -0.3355, -0.0227, -0.1837, 0.5146, -0.0216, 0.8223, 0.8867, -0.6842, -0.0017, -0.1951, 0.9965] state[eef_state]: left_x=0.4416 left_y=-0.0154 left_z=0.1322 left_yaw=0.0484 left_pitch=-0.2543 left_roll=-0.0945 left_gripper=0.5146 right_x=0.282 right_y=-0.0022 right_z=0.238 right_yaw=0.0764 right_pitch=-0.0528 right_roll=-0.1386 right_gripper=0.9965 state[joint_eff]: [-0.2393, -9.812, 9.4154, 1.6679, -0.0366, -0.0073, 0.6471, -0.0479, -1.4427, 6.6667, 1.7021, -0.0513, -0.0024, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.375, "left_z": 0.22, "left_x": 0.44}, "note": "The white bowl is lifted and clamped in the jaws. Carrying it across at 22 cm to hover over the pink bowl, which sits at about left_y -0.375, x 0.44."})

tool

executing move_to over 32 steps (3.2s)

step 270

assistant

agent noteThe wrist view shows the pink bowl just to the +y side of the jaws while the held white bowl hangs ~4 cm to the -y side, so I shift y to -0.313 and lower to 13 cm to bring the white bowl directly over the pink one.

move_to

left_y-0.3130left_z0.1300

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8593, 2.5832, 2.8723, -1.3323, -0.5114, -0.8433, 0.5144, -0.0216, 0.8268, 0.8864, -0.6849, -0.0017, -0.1997, 0.9965] state[eef_state]: left_x=0.4433 left_y=-0.3763 left_z=0.1857 left_yaw=0.0397 left_pitch=-0.2816 left_roll=-0.0828 left_gripper=0.5144 right_x=0.2824 right_y=-0.0022 right_z=0.2364 right_yaw=0.0789 right_pitch=-0.0588 right_roll=-0.1417 right_gripper=0.9965 state[joint_eff]: [-0.4308, -15.7607, 7.5966, 0.6569, -0.5104, -0.0122, 0.3785, -0.1026, -1.347, 6.7897, 1.6923, -0.0611, 0.022, -0.0171] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.313, "left_z": 0.13}, "note": "The wrist view shows the pink bowl just to the +y side of the jaws while the held white bowl hangs ~4 cm to the -y side, so I shift y to -0.313 and lower to 13 cm to bring the white bowl directly over the pink one."})

tool

executing move_to over 6 steps (0.6s)

step 276

assistant

agent notePink bowl is now just under the held white bowl's edge; lowering to 8 cm with a small +y nudge to seat the white bowl into the pink one.

move_to

left_z0.0800left_y-0.3300

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7769, 2.7548, 3.1126, -1.4391, -0.4721, -0.8066, 0.5169, -0.0216, 0.8303, 0.8864, -0.6842, -0.0013, -0.2024, 0.9965] state[eef_state]: left_x=0.4723 left_y=-0.3467 left_z=0.153 left_yaw=0.0845 left_pitch=-0.3312 left_roll=-0.0504 left_gripper=0.5169 right_x=0.2829 right_y=-0.0023 right_z=0.2357 right_yaw=0.0801 right_pitch=-0.0617 right_roll=-0.1438 right_gripper=0.9965 state[joint_eff]: [-0.1709, -13.3675, 7.747, 1.409, -0.3199, 0.3248, 0.2418, -0.0889, -1.4154, 6.8718, 1.6874, -0.022, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.08, "left_y": -0.33}, "note": "Pink bowl is now just under the held white bowl's edge; lowering to 8 cm with a small +y nudge to seat the white bowl into the pink one."})

tool

executing move_to over 5 steps (0.5s)

step 281

assistant

agent noteThe white bowl is hanging just over the pink bowl; releasing it now so it drops into/onto the pink bowl, then I will retract and inspect.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7643, 2.8872, 3.1245, -1.3724, -0.4644, -0.8043, 0.519, -0.0216, 0.8307, 0.886, -0.6846, -0.0017, -0.2028, 0.9965] state[eef_state]: left_x=0.4873 left_y=-0.3525 left_z=0.0878 left_yaw=0.1058 left_pitch=-0.3713 left_roll=-0.01 left_gripper=0.519 right_x=0.2829 right_y=-0.0022 right_z=0.2353 right_yaw=0.0806 right_pitch=-0.0629 right_roll=-0.1438 right_gripper=0.9965 state[joint_eff]: [0.7863, -15.5282, 6.9812, 1.243, -0.2027, 0.0855, 0.2076, -0.0068, -1.1966, 6.7077, 1.663, -0.0073, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "The white bowl is hanging just over the pink bowl; releasing it now so it drops into/onto the pink bowl, then I will retract and inspect."})

tool

executing move_to over 5 steps (0.5s)

step 286

assistant

agent noteWhite bowl released; pulling the left arm back and up to get an unobstructed top view of both bowls to see whether they nested.

move_to

left_x0.3000left_y-0.2000left_z0.2500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7628, 2.9017, 3.1249, -1.346, -0.4583, -0.8047, 0.9955, -0.0216, 0.836, 0.886, -0.7006, -0.0017, -0.2062, 0.9965] state[eef_state]: left_x=0.491 left_y=-0.3561 left_z=0.0816 left_yaw=0.0999 left_pitch=-0.3676 left_roll=-0.0241 left_gripper=0.9955 right_x=0.2812 right_y=-0.0022 right_z=0.2308 right_yaw=0.0826 right_pitch=-0.0844 right_roll=-0.1443 right_gripper=0.9965 state[joint_eff]: [0.4581, -15.9658, 7.0359, 1.2576, -0.2955, 0.0952, -0.1587, -0.1846, -1.3744, 6.6803, 1.7949, -0.0708, -0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.3, "left_y": -0.2, "left_z": 0.25}, "note": "White bowl released; pulling the left arm back and up to get an unobstructed top view of both bowls to see whether they nested."})

tool

executing move_to over 15 steps (1.5s)

step 301

assistant

agent noteThe two bowls ended up side by side, not nested. Hovering the left arm over the nearer pink bowl to re-grasp its rim and place it into the white bowl.

move_to

left_x0.4200left_y-0.3500left_z0.1400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8234, 1.5944, 1.6733, -1.1786, -0.4774, -0.8627, 0.9957, -0.0216, 0.8402, 0.886, -0.7071, -0.0017, -0.2066, 0.9965] state[eef_state]: left_x=0.3128 left_y=-0.2128 left_z=0.253 left_yaw=0.0786 left_pitch=-0.3407 left_roll=-0.0687 left_gripper=0.9957 right_x=0.2807 right_y=-0.0022 right_z=0.2284 right_yaw=0.0829 right_pitch=-0.095 right_roll=-0.1435 right_gripper=0.9965 state[joint_eff]: [-0.7453, -10.4684, 9.6615, 1.3309, -0.4567, -0.1001, 0.0122, -0.0342, -1.388, 6.8444, 1.7118, -0.0757, -0.0611, -0.0122] camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.35, "left_z": 0.14}, "note": "The two bowls ended up side by side, not nested. Hovering the left arm over the nearer pink bowl to re-grasp its rim and place it into the white bowl."})

tool

executing move_to over 13 steps (1.3s)

step 314

assistant

agent notePink bowl centre is about (0.44, -0.33) from the wrist view; moving to its near rim at y=-0.287 and descending to 3 cm, the same geometry that gave a firm grasp on the white bowl.

move_to

left_x0.4700left_y-0.2870left_z0.0300

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8505, 2.2433, 2.0884, -1.0004, -0.4725, -0.9066, 0.9957, -0.0216, 0.8429, 0.886, -0.7074, -0.0017, -0.2066, 0.9965] state[eef_state]: left_x=0.4111 left_y=-0.3411 left_z=0.1321 left_yaw=0.0905 left_pitch=-0.3791 left_roll=-0.0521 left_gripper=0.9957 right_x=0.2809 right_y=-0.0022 right_z=0.2276 right_yaw=0.0829 right_pitch=-0.0981 right_roll=-0.1432 right_gripper=0.9965 state[joint_eff]: [-0.5949, -12.7795, 8.6359, 0.9206, -0.4127, 0.0904, -0.0122, -0.0615, -1.4154, 6.8444, 1.6239, -0.0757, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.47, "left_y": -0.287, "left_z": 0.03}, "note": "Pink bowl centre is about (0.44, -0.33) from the wrist view; moving to its near rim at y=-0.287 and descending to 3 cm, the same geometry that gave a firm grasp on the white bowl."})

tool

executing move_to over 7 steps (0.7s)

step 321

assistant

agent noteThe pink bowl appears entirely to the jaws' right in the wrist view, so I was 2 cm outside its rim; nudging y to -0.305 to put the rim between the jaws.

move_to

left_y-0.3050

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.688, 2.2688, 1.7775, -0.6296, -0.4133, -0.7811, 0.9957, -0.0216, 0.8436, 0.886, -0.7074, -0.0013, -0.2066, 0.9965] state[eef_state]: left_x=0.4604 left_y=-0.282 left_z=0.0429 left_yaw=0.1299 left_pitch=-0.3962 left_roll=-0.04 left_gripper=0.9957 right_x=0.281 right_y=-0.0022 right_z=0.2274 right_yaw=0.0826 right_pitch=-0.0989 right_roll=-0.1434 right_gripper=0.9965 state[joint_eff]: [0.3761, -10.988, 5.8051, 1.1551, -0.1245, 0.2613, -0.0122, -0.1026, -1.1282, 6.8444, 1.6484, -0.022, -0.0562, -0.0122] camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.305}, "note": "The pink bowl appears entirely to the jaws' right in the wrist view, so I was 2 cm outside its rim; nudging y to -0.305 to put the rim between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 324

assistant

agent noteThe right jaw is still just outside the pink bowl's wall; shifting another 2 cm to -0.325 so the rim lies between the jaws.

move_to

left_y-0.3250

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7113, 2.3093, 1.8492, -0.6601, -0.4141, -0.8024, 0.9957, -0.0216, 0.849, 0.8852, -0.7109, -0.0017, -0.207, 0.9965] state[eef_state]: left_x=0.4614 left_y=-0.2991 left_z=0.0437 left_yaw=0.1195 left_pitch=-0.3956 left_roll=-0.0532 left_gripper=0.9957 right_x=0.281 right_y=-0.0022 right_z=0.225 right_yaw=0.0833 right_pitch=-0.1083 right_roll=-0.1424 right_gripper=0.9965 state[joint_eff]: [-0.4581, -10.8923, 8.4718, 0.9646, -0.3492, -0.0366, -0.0122, -0.2803, -1.7026, 6.7761, 1.6777, -0.0562, -0.0757, -0.0171] camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.325}, "note": "The right jaw is still just outside the pink bowl's wall; shifting another 2 cm to -0.325 so the rim lies between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 327

assistant

agent noteThe right jaw is right at the pink bowl's rim; closing now to pinch it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7258, 2.3196, 1.8721, -0.6926, -0.4168, -0.8158, 0.9957, -0.0216, 0.8494, 0.8852, -0.7109, -0.0013, -0.2066, 0.9965] state[eef_state]: left_x=0.4562 left_y=-0.3044 left_z=0.0432 left_yaw=0.1209 left_pitch=-0.4074 left_roll=-0.0436 left_gripper=0.9957 right_x=0.2811 right_y=-0.0022 right_z=0.2249 right_yaw=0.0827 right_pitch=-0.1087 right_roll=-0.1423 right_gripper=0.9965 state[joint_eff]: [0.0479, -12.1094, 8.1162, 1.0525, -0.3101, -0.0464, -0.0122, -0.1709, -1.306, 6.694, 1.6288, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The right jaw is right at the pink bowl's rim; closing now to pinch it."})

tool

executing move_to over 10 steps (1.0s)

step 337

assistant

agent noteThat close was empty. Backing x off to 0.43 (which frees the arm to reach further in -y) and going to y=-0.35 with jaws open, straddling the pink bowl's rim.

move_to

left_gripper1.0000left_x0.4300left_y-0.3500left_z0.0300

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7258, 2.3196, 1.8717, -0.693, -0.4164, -0.8196, 0.0082, -0.0216, 0.8494, 0.8852, -0.7109, -0.0017, -0.2066, 0.9965] state[eef_state]: left_x=0.456 left_y=-0.3043 left_z=0.043 left_yaw=0.1232 left_pitch=-0.4082 left_roll=-0.0455 left_gripper=0.0082 right_x=0.2811 right_y=-0.0022 right_z=0.2249 right_yaw=0.0831 right_pitch=-0.1087 right_roll=-0.1421 right_gripper=0.9965 state[joint_eff]: [-0.0615, -13.2855, 6.3658, 1.0085, -0.2222, 0.0073, 0.6471, -0.253, -1.2786, 6.7077, 1.619, -0.0464, -0.0269, -0.0171] camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0, "left_x": 0.43, "left_y": -0.35, "left_z": 0.03}, "note": "That close was empty. Backing x off to 0.43 (which frees the arm to reach further in -y) and going to y=-0.35 with jaws open, straddling the pink bowl's rim."})

tool

executing move_to over 10 steps (1.0s)

step 347

assistant

agent noteThe jaws are now down at the pink bowl (it sits just under the fingertips, hidden from the wrist view); closing to clamp its wall.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8227, 2.3798, 1.9347, -0.7498, -0.4404, -0.9203, 0.9943, -0.0216, 0.8547, 0.8799, -0.7288, -0.0013, -0.207, 0.9965] state[eef_state]: left_x=0.4267 left_y=-0.3438 left_z=0.0292 left_yaw=0.1204 left_pitch=-0.4267 left_roll=-0.0445 left_gripper=0.9943 right_x=0.2784 right_y=-0.0022 right_z=0.2178 right_yaw=0.0833 right_pitch=-0.1372 right_roll=-0.1396 right_gripper=0.9965 state[joint_eff]: [-0.5265, -11.5897, 8.8684, 0.9548, -0.3492, 0.0611, -0.0073, -0.0342, -1.7162, 7.2957, 1.8339, -0.0171, -0.0513, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The jaws are now down at the pink bowl (it sits just under the fingertips, hidden from the wrist view); closing to clamp its wall."})

tool

executing move_to over 10 steps (1.0s)

step 357

assistant

agent noteI moved the pink bowl next to the white bowl but could not nest them before running out of call budget; the left arm cannot reach far enough in -y at that x to re-grasp the pink bowl, and a further attempt would need the right arm plus several more calls.

give_up

hindsightConcrete lessons for this rig/task: (1) There were only two bowls (white ~left_y -0.06 / x 0.45, pink originally right_y +0.07 / x 0.41); the top camera made a third "bowl" appear that wasn't there — verify object count with a wrist view before planning. (2) The winning grasp recipe for a ~11 cm bowl: hover so the bowl is centred on the jaw column and just forward of the fingertips at z≈0.13, then move ~+0.03 m radially and ~0.04-0.05 m laterally toward the arm's own side (so the jaws straddle the bowl's side rim/lower wall), descend to z≈0.02-0.04 and close fully. A settled gripper reading of ~0.04 is a thin rim pinch (weak but it held); a reading of ~0.5 means the jaws clamped the bowl's lower body — that is the firm grasp to aim for. (3) The held bowl hangs with its centre offset ~4 cm to the far side of the grasp point (opposite the arm), so to nest it the grasp point must be offset that much from the target bowl's centre; my estimate of that offset was the main source of the failed nesting. (4) Yawing the wrist 90° near x>0.43 drives the arm into an IK dead zone where it stops tracking entirely and needs a retract (x→0.30, z→0.25, yaw/pitch→0) to recover — avoid yaw at long reach. (5) At x≈0.45 the left arm cannot actually reach y beyond about -0.345 even though the box allows -0.4; reduce x or switch arms. (6) Cross-frame conversion right_y = left_y + 0.65 worked well; the top camera's horizontal scale in the working region is ~1.9 px/cm, much coarser than the facts sheet suggests.

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8268, 2.3825, 1.9388, -0.7551, -0.4423, -0.9253, 0.0093, -0.0216, 0.8551, 0.8795, -0.73, -0.0013, -0.207, 0.9965] state[eef_state]: left_x=0.4253 left_y=-0.3452 left_z=0.0289 left_yaw=0.1217 left_pitch=-0.4275 left_roll=-0.0429 left_gripper=0.0093 right_x=0.2782 right_y=-0.0022 right_z=0.2173 right_yaw=0.0833 right_pitch=-0.1391 right_roll=-0.1394 right_gripper=0.9965 state[joint_eff]: [0.212, -13.8735, 5.9145, 0.9353, -0.2027, 0.0122, 0.5006, -0.0615, -1.3333, 6.7487, 1.619, -0.0122, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]

assistant

give_up({"reason": "I moved the pink bowl next to the white bowl but could not nest them before running out of call budget; the left arm cannot reach far enough in -y at that x to re-grasp the pink bowl, and a further attempt would need the right arm plus several more calls.", "hindsight": "Concrete lessons for this rig/task: (1) There were only two bowls (white ~left_y -0.06 / x 0.45, pink originally right_y +0.07 / x 0.41); the top camera made a third \"bowl\" appear that wasn't there \u2014 verify object count with a wrist view before planning. (2) The winning grasp recipe for a ~11 cm bowl: hover so the bowl is centred on the jaw column and just forward of the fingertips at z\u22480.13, then move ~+0.03 m radially and ~0.04-0.05 m laterally toward the arm's own side (so the jaws straddle the bowl's side rim/lower wall), descend to z\u22480.02-0.04 and close fully. A settled gripper reading of ~0.04 is a thin rim pinch (weak but it held); a reading of ~0.5 means the jaws clamped the bowl's lower body \u2014 that is the firm grasp to aim for. (3) The held bowl hangs with its centre offset ~4 cm to the far side of the grasp point (opposite the arm), so to nest it the grasp point must be offset that much from the target bowl's centre; my estimate of that offset was the main source of the failed nesting. (4) Yawing the wrist 90\u00b0 near x>0.43 drives the arm into an IK dead zone where it stops tracking entirely and needs a retract (x\u21920.30, z\u21920.25, yaw/pitch\u21920) to recover \u2014 avoid yaw at long reach. (5) At x\u22480.45 the left arm cannot actually reach y beyond about -0.345 even though the box allows -0.4; reduce x or switch arms. (6) Cross-frame conversion right_y = left_y + 0.65 worked well; the top camera's horizontal scale in the working region is ~1.9 px/cm, much coarser than the facts sheet suggests."})

tool

give_up: I moved the pink bowl next to the white bowl but could not nest them before running out of call budget; the left arm cannot reach far enough in -y at that x to re-grasp the pink bowl, and a further attempt would need the right arm plus several more calls.

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 · 27.93 s

model: claude-opus-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, 0.7952, 0.6037, -0.3824, -0.0223, -0.041, 0.9995, -0.0219, 0.7937, 0.6014, -0.3824, -0.0154, -0.0334, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2941 right_y=-0.0001 right_z=0.1784 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4171, -1.6342, 10.1128, 1.8339, -0.0073, 0.2759, -0.0708, -0.4581, -1.4838, 10.3316, 1.9463, -0.0708, 0.1929, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbe81941beb2df46e4c1b68293ba0000819dcad589dd7b8ee3d758b3fcff5c8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:408a0767348da50ca8a540913a96af5d19d24e046551ef3687b2027327cbee9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af29518b6d0081ace16b85f98d89b18943761277da16b2c1f65d0f3136fdaed6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 7.993 s

model: claude-opus-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, 0.7952, 0.6037, -0.3824, -0.0223, -0.041, 0.9995, -0.0219, 0.7937, 0.6014, -0.3824, -0.0154, -0.0334, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2941 right_y=-0.0001 right_z=0.1784 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4171, -1.6342, 10.1128, 1.8339, -0.0073, 0.2759, -0.0708, -0.4581, -1.4838, 10.3316, 1.9463, -0.0708, 0.1929, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbe81941beb2df46e4c1b68293ba0000819dcad589dd7b8ee3d758b3fcff5c8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:408a0767348da50ca8a540913a96af5d19d24e046551ef3687b2027327cbee9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af29518b6d0081ace16b85f98d89b18943761277da16b2c1f65d0f3136fdaed6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W5CWvhhJE4PBprGakdggya",
      "input": {
        "note": "Three bowls sit in a row across the table. I am moving the left arm up and forward over the leftmost bowl (visible in its wrist cam) to get a better look before grasping its rim.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.4,
          "left_y": -0.06,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01W5CWvhhJE4PBprGakdggya",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2455, 1.2873, 1.0809, -0.4244, -0.1959, -0.1627, 0.9995, -0.0219, 0.7975, 0.6003, -0.3923, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3923 left_y=-0.0591 left_z=0.2306 left_yaw=-0.0142 left_pitch=-0.0431 left_roll=0.0038 left_gripper=0.9995 right_x=0.2929 right_y=-0.0001 right_z=0.1747 right_yaw=0.0004 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -5.5043, 9.0735, 1.663, -0.188, -0.1001, -0.0659, -0.1436, -1.5385, 7.1453, 1.8242, -0.0269, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27947993aca4b43415cffb073165ab85ed8f65fa811d52e4ee8f2985bd79df6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:155dd7b90c912662a79c32592c35baec750185a5831cf0cfbe6fe73e511677a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b85f3668b73bb784239c9366ec91e099fe7f579b5f399925bf011b7b5856a3e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 23.28 s

model: claude-opus-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, 0.7952, 0.6037, -0.3824, -0.0223, -0.041, 0.9995, -0.0219, 0.7937, 0.6014, -0.3824, -0.0154, -0.0334, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2941 right_y=-0.0001 right_z=0.1784 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4171, -1.6342, 10.1128, 1.8339, -0.0073, 0.2759, -0.0708, -0.4581, -1.4838, 10.3316, 1.9463, -0.0708, 0.1929, -0.0952]",
      "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]: [-0.2455, 1.2873, 1.0809, -0.4244, -0.1959, -0.1627, 0.9995, -0.0219, 0.7975, 0.6003, -0.3923, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3923 left_y=-0.0591 left_z=0.2306 left_yaw=-0.0142 left_pitch=-0.0431 left_roll=0.0038 left_gripper=0.9995 right_x=0.2929 right_y=-0.0001 right_z=0.1747 right_yaw=0.0004 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -5.5043, 9.0735, 1.663, -0.188, -0.1001, -0.0659, -0.1436, -1.5385, 7.1453, 1.8242, -0.0269, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27947993aca4b43415cffb073165ab85ed8f65fa811d52e4ee8f2985bd79df6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:155dd7b90c912662a79c32592c35baec750185a5831cf0cfbe6fe73e511677a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b85f3668b73bb784239c9366ec91e099fe7f579b5f399925bf011b7b5856a3e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS+AkKjgEIEhgCKkBdzZxv6FHfYKFiYG5eeh8qnXxWOy0kpgGkM+y1wzDP6cqW2rUiHfOx2wFaJwkxs1IbVQxcaZF6T0XJpI0UWaDrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYmqzNUGEgzoQYLiCUkFjQskppAaDPA+qcW8JVRaUEvw+yIw9Ir0/IIk8awu6k88N5w7omw184/WNKSKPHhKTGyVetFUpnpIcHtea0hBQHLKSbODKpYIlLoGbECzC8WcrPMmOpYgzbnk//fu9jdzHgOiC53hJ7bySKLAUI8cCeM3zMCJECkKyfAnsCoM+ANWD/+17ifJx98HlokG+Gp0wwunEK2pHLjQvJ4V0DIuxr6xJP4wyXKAUn1E/R5u9DIOVSytu8snwr/Pj1/LDi3Pbc6tYN7Pez0JkjlJK0KpW/QReS0M/QKRNKtfXmB4RUi+v/tsLihSY+XRcZeyDDA/m+YuF1I+hjWE7Y73vA5Gy7wMN3t7eoZi4t6GvecCRbDD/cW7UTMSAy190P2xiRv+c3nejRrekSTCl4YmRFOwJzYwW1KAzXCilffEb2MllvugELC1U4HeSAaTT3kfukUIpnnWE2mT4WJU0CPE3L2o4jqfQe/9fwQAeiUiQEbmNd0s07x6VBpoDnO0qkKRtD5JCA6bWvEYYLp7QHr8Nr0g+enUef0LeUP8mE4YqNSfT+4+aDv3t/fr68Cp5L5Mud/+mZw+5oOGPixUu1B9KJZjIvOHP9anKj7VET4yLwyuBJwcCverRbOO56gEACbB94XjR6gl3ntJyBQvK7xS3/24sKdMnFLKy5av4qbFq7NFGDpYKOdAzntxbBC6mp9npHq1Ecx3YtdtThMP3QAYig15zozOaJ7oXy9g9iBQbFiOKVbcKjL68djczsge11SgiXdKSnN9Hpl6h3lUUN8JoQJWqd+rhSXnRwE5Nhd4RlJFFd+gTaXtHcCjh4DZZGvB4mkNVxkunqol1GSTVDA+akICArHBldVwzkAPw7Lvc1eAxfNApncsZUwReXp8ZwEbgFz9Ve4KUsnxh+jA2PSYgw04RWY8jx1m1XXZOlw8u7SGZkhYJEwJXGMRlGcfOjE/Tt6Ap18iKxvBSF+CrTShhwUPJ3zxl+xpOmSAT+5K9Z/zEnJabOBiomhNkRuVhOkaVNBdDoyKGY1IZOe3xztbKLxPlGqZZF5s7PsC3b1JfSPsSFquoPn2GJcyEhqgWb+f7EbK4UgnekDJuM4+XnaswIQw2HepMYy6PuonT382bmGV4IeBCDCo4J8cvoJdX2QH0fHepMjqoFjvS60FkodcpGHCkGMW/CCCO7DWyOFfE7bTcNdIEzzVuArlw5ur5jpvLtAsSVONGRoPy9KAkXfx9285hV7Hc80yFLyYHhIejFZA/2ry9+JvSSO6GQe4+lhmldmueztm/+H4HMPYcfoX5nW9ELKLHaGm+QMVPI92T3Tl8/pm++rZr5dyzn5mwJMogpbbtdEOpa51320qGnJb6HA6ieCUXn03OvnJkHKDkgj2IpyjqYvbyctMUQV5lyp8rgQqQW0hDFNZ3I6YcBmGB3CtevF6FyZVQ1PgJaRDbpfY372Icp6NPTNwXbv0lELYTc67Xx6r3CFw/Af7tUoBL6wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FChgi32pKH3rse3tqv2ALu",
      "input": {
        "note": "The left bowl appears centred on the jaw column in the left wrist view but still forward of the fingertips, so I advance 5 cm and drop to 14 cm to judge the rim position.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.06,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01FChgi32pKH3rse3tqv2ALu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2146, 1.5181, 0.9253, -0.1177, -0.1806, -0.157, 0.9994, -0.0219, 0.7986, 0.5999, -0.3935, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4255 left_y=-0.0566 left_z=0.1296 left_yaw=0.0023 left_pitch=-0.123 left_roll=0.0169 left_gripper=0.9994 right_x=0.2927 right_y=-0.0002 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0183 right_roll=-0.0008 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -6.7624, 6.4479, 1.8974, 0.0366, 0.1392, -0.0171, -0.0752, -1.3333, 7.0632, 1.7265, -0.0269, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81ccf958683a22caed887b47447d4452cf6197b71db456635c8e3445550f8e42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5341ba815dd25119e75cfbdfa16f04209d4b973aadb9180e8946b4f09e3d485d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ec87d19669be54c9571eaa141b3c41e3bb19888ea350926bd5d4feff67de99e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 20.92 s

model: claude-opus-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, 0.7952, 0.6037, -0.3824, -0.0223, -0.041, 0.9995, -0.0219, 0.7937, 0.6014, -0.3824, -0.0154, -0.0334, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2941 right_y=-0.0001 right_z=0.1784 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4171, -1.6342, 10.1128, 1.8339, -0.0073, 0.2759, -0.0708, -0.4581, -1.4838, 10.3316, 1.9463, -0.0708, 0.1929, -0.0952]",
      "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]: [-0.2455, 1.2873, 1.0809, -0.4244, -0.1959, -0.1627, 0.9995, -0.0219, 0.7975, 0.6003, -0.3923, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3923 left_y=-0.0591 left_z=0.2306 left_yaw=-0.0142 left_pitch=-0.0431 left_roll=0.0038 left_gripper=0.9995 right_x=0.2929 right_y=-0.0001 right_z=0.1747 right_yaw=0.0004 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -5.5043, 9.0735, 1.663, -0.188, -0.1001, -0.0659, -0.1436, -1.5385, 7.1453, 1.8242, -0.0269, -0.0366, -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]: [-0.2146, 1.5181, 0.9253, -0.1177, -0.1806, -0.157, 0.9994, -0.0219, 0.7986, 0.5999, -0.3935, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4255 left_y=-0.0566 left_z=0.1296 left_yaw=0.0023 left_pitch=-0.123 left_roll=0.0169 left_gripper=0.9994 right_x=0.2927 right_y=-0.0002 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0183 right_roll=-0.0008 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -6.7624, 6.4479, 1.8974, 0.0366, 0.1392, -0.0171, -0.0752, -1.3333, 7.0632, 1.7265, -0.0269, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81ccf958683a22caed887b47447d4452cf6197b71db456635c8e3445550f8e42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5341ba815dd25119e75cfbdfa16f04209d4b973aadb9180e8946b4f09e3d485d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ec87d19669be54c9571eaa141b3c41e3bb19888ea350926bd5d4feff67de99e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LQ6KU7MGz9w3oqoHzFkutw",
      "input": {
        "note": "In the wrist view the bowl sits up and to the right of the jaw column, so I move 3 cm right and 4.5 cm forward to hover over the bowl's centre and confirm its position before targeting its rim.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.09,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LQ6KU7MGz9w3oqoHzFkutw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2764, 1.6627, 1.1641, -0.218, -0.2127, -0.1925, 0.9994, -0.0219, 0.8024, 0.5957, -0.3969, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4645 left_y=-0.0893 left_z=0.1511 left_yaw=-0.0132 left_pitch=-0.1235 left_roll=0.0115 left_gripper=0.9994 right_x=0.2919 right_y=-0.0002 right_z=0.1704 right_yaw=0.0003 right_pitch=-0.0298 right_roll=-0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -7.8974, 8.3624, 1.4042, -0.3346, -0.1148, -0.0122, -0.3487, -1.0462, 7.3778, 1.7656, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d4e13f4e31a2b3e50faa375143d35c5f77caa546ed9a306e236a820be5f34ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fb174774a8d9abcc018f9479a85544f515cffb428e926f6f4b7260041363b14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fbd2ced3b9e7dd2851ebfe4efb57ebe70e6d88fdec6e460a4385fa25f681e9d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 9.179 s

model: claude-opus-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]: [-0.2455, 1.2873, 1.0809, -0.4244, -0.1959, -0.1627, 0.9995, -0.0219, 0.7975, 0.6003, -0.3923, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3923 left_y=-0.0591 left_z=0.2306 left_yaw=-0.0142 left_pitch=-0.0431 left_roll=0.0038 left_gripper=0.9995 right_x=0.2929 right_y=-0.0001 right_z=0.1747 right_yaw=0.0004 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -5.5043, 9.0735, 1.663, -0.188, -0.1001, -0.0659, -0.1436, -1.5385, 7.1453, 1.8242, -0.0269, -0.0366, -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]: [-0.2146, 1.5181, 0.9253, -0.1177, -0.1806, -0.157, 0.9994, -0.0219, 0.7986, 0.5999, -0.3935, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4255 left_y=-0.0566 left_z=0.1296 left_yaw=0.0023 left_pitch=-0.123 left_roll=0.0169 left_gripper=0.9994 right_x=0.2927 right_y=-0.0002 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0183 right_roll=-0.0008 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -6.7624, 6.4479, 1.8974, 0.0366, 0.1392, -0.0171, -0.0752, -1.3333, 7.0632, 1.7265, -0.0269, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2764, 1.6627, 1.1641, -0.218, -0.2127, -0.1925, 0.9994, -0.0219, 0.8024, 0.5957, -0.3969, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4645 left_y=-0.0893 left_z=0.1511 left_yaw=-0.0132 left_pitch=-0.1235 left_roll=0.0115 left_gripper=0.9994 right_x=0.2919 right_y=-0.0002 right_z=0.1704 right_yaw=0.0003 right_pitch=-0.0298 right_roll=-0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -7.8974, 8.3624, 1.4042, -0.3346, -0.1148, -0.0122, -0.3487, -1.0462, 7.3778, 1.7656, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d4e13f4e31a2b3e50faa375143d35c5f77caa546ed9a306e236a820be5f34ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fb174774a8d9abcc018f9479a85544f515cffb428e926f6f4b7260041363b14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbd2ced3b9e7dd2851ebfe4efb57ebe70e6d88fdec6e460a4385fa25f681e9d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011ACWH7yzzfbXzPtS8fhgGq",
      "input": {
        "note": "The bowl now fills the bottom of the left wrist view, so its centre is roughly under the fingertips at x≈0.44, y≈-0.085. I shift to the bowl's left-side rim (y=-0.022) to set up a rim grasp with the jaws straddling the rim wall.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.022,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_011ACWH7yzzfbXzPtS8fhgGq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0998, 1.5978, 0.9394, -0.115, -0.1013, -0.1001, 0.9994, -0.0219, 0.8036, 0.5953, -0.4114, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4336 left_y=-0.0218 left_z=0.1019 left_yaw=0.0205 left_pitch=-0.1949 left_roll=0.0168 left_gripper=0.9994 right_x=0.2899 right_y=-0.0001 right_z=0.167 right_yaw=0.0003 right_pitch=-0.0458 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.3897, -8.9915, 6.735, 1.9365, 0.0904, 0.0415, -0.0122, -0.1026, -1.1692, 7.241, 1.7998, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eacc166a8b7aec6b4710038d4dba6f4a6db659712b859dcf73a595f11a79ff33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11a3181abbab7a1ba7c274ff6bb1c206b3490ea9deed1d8668eca9f580d198e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:53545673b445cba51027c43fa0965c137b2e07728fa94ceb17f03c31fd47a1c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 7.597 s

model: claude-opus-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]: [-0.2146, 1.5181, 0.9253, -0.1177, -0.1806, -0.157, 0.9994, -0.0219, 0.7986, 0.5999, -0.3935, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4255 left_y=-0.0566 left_z=0.1296 left_yaw=0.0023 left_pitch=-0.123 left_roll=0.0169 left_gripper=0.9994 right_x=0.2927 right_y=-0.0002 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0183 right_roll=-0.0008 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -6.7624, 6.4479, 1.8974, 0.0366, 0.1392, -0.0171, -0.0752, -1.3333, 7.0632, 1.7265, -0.0269, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2764, 1.6627, 1.1641, -0.218, -0.2127, -0.1925, 0.9994, -0.0219, 0.8024, 0.5957, -0.3969, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4645 left_y=-0.0893 left_z=0.1511 left_yaw=-0.0132 left_pitch=-0.1235 left_roll=0.0115 left_gripper=0.9994 right_x=0.2919 right_y=-0.0002 right_z=0.1704 right_yaw=0.0003 right_pitch=-0.0298 right_roll=-0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -7.8974, 8.3624, 1.4042, -0.3346, -0.1148, -0.0122, -0.3487, -1.0462, 7.3778, 1.7656, -0.0317, -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 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0998, 1.5978, 0.9394, -0.115, -0.1013, -0.1001, 0.9994, -0.0219, 0.8036, 0.5953, -0.4114, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4336 left_y=-0.0218 left_z=0.1019 left_yaw=0.0205 left_pitch=-0.1949 left_roll=0.0168 left_gripper=0.9994 right_x=0.2899 right_y=-0.0001 right_z=0.167 right_yaw=0.0003 right_pitch=-0.0458 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.3897, -8.9915, 6.735, 1.9365, 0.0904, 0.0415, -0.0122, -0.1026, -1.1692, 7.241, 1.7998, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eacc166a8b7aec6b4710038d4dba6f4a6db659712b859dcf73a595f11a79ff33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11a3181abbab7a1ba7c274ff6bb1c206b3490ea9deed1d8668eca9f580d198e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53545673b445cba51027c43fa0965c137b2e07728fa94ceb17f03c31fd47a1c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS1ggKjgEIEhgCKkBFklz5jD51YMFN6yNbxk7h8u7KHQPf1U8g3nZ3q4h3f5oRB04ljo5hxhEXPlbu66nXFwXO8tYDY2Gn3oRNUrTsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcCqzNUGEgy/8X8+iUZZp14VGwIaDKQLkahDd2GG/AAuTCIwJO1eClSOpfeVPQ1SjBUTOwEncmRZWzCdAorW22Qu0nUMXNnL0WwDdnj+ksCAStfsKvQGF4vzHk4asZyRdlo1g5iZ6DnjbK2/ajQtjqap+Dgf4xMagWBdriTdIylzNsr5LC+MbUkzU28pk6SOBe/SEufEfCmv3yI1wLluV6CYIGkkNI7KeQtKVC3M7ctnQ+LZ6gvAFk9ulmMHwfupI4BmQqFWd50+SHvicmdtrbi8BzI0miEmyXOW3zHZ3deMWHPu39fi1uawBP2Uvy9mHoXzvE84aXEAyhPo9FJRSF3+hSz+nrm5zuTyvTI3C002CDybxr/tAFgaXsK6T6Tz92zn4pL0KgHp0ZsetxWr4BNJdSqhh0utYjEbVrD8o1S88NFqmKkxNZCS0AdHetthcOp9h43dZXia1ZAV91I6OTyFHb5PwsgI6ggPVo4c3Fwtmp1cVBHR/zVQgUpiZXJZBevKaD9y8dgz0ltE84Vq/8/Rj262fWctcyg5YqzHp9Gjbv4IeRDcsPC9cGw+EBeQjO1x8WWr2Z9cmw3OHdZNoOrQNWOVYufB+4xdeHDTvWlb1PKrYzb6Motf74kYrGBPqc/9OdxM/ckWowmsegUsdfmeB1olS7dez24eiLwSJrY8xq7ffctg25bjTmK6ldlwQpqYFpbj3ddl8O5sBo3lzAugat4aKAm9jL7UtPV+0O/dHE4EV5ltOyUODm0d3wUkLeNzupvF55dEGl+Rw6+cEpzYfbmuRQLKj2s5VL3j6FX+pb1x2tFH8xyMUNtFFSppglI3zJNnFS2XqLQbW6ZDH4up78RsHDIEFExDmECdx1i6eDpjRlHzFeewCCqCa5TIYqe3/ROITOsHO7kkYulZeBTIxek7ps3cszzXSopWgoM9Jbr1IMRHc89vqJdHxvtRjKskSineSBaqaEV5ou4VNeI+kjf9bW1h7A6VHTDQbuKcQyA1pHZeh6HAZ7azK7I1tO74GiRFvce54jQXM7ZNiIngcX/cs82Wm9pu72yRUfPg7lsfcvIzjvUEgYjDGLthUigEbgD1FhagPDaXwyWiWpflMMcRiQsHEjmP2Gu/48tRJS/db7eK2lGoZUSjeUs/3Wk6cNMvUh10Et7quwynKo/YDw1xJE6y/PPWtxl3HOcbjD6YYfI26kPKM0bzv4DFD28hMBXHl+z/FIE6fpDbNh/csc0s6lSzt7xKYPjvxtwYims8AneSIx9b8BZDgDZzTulQ4YA2K8rdxTIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014MWnnzRcr583w987poQUA9",
      "input": {
        "note": "The jaws are straddling the white bowl's left rim in the wrist view; descending to 4 cm so the rim wall sits between the fingertips.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.022,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_014MWnnzRcr583w987poQUA9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0971, 1.7458, 0.8356, 0.0662, -0.091, -0.0975, 0.9994, -0.0219, 0.8051, 0.5953, -0.4152, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4271 left_y=-0.0219 left_z=0.0316 left_yaw=0.0148 left_pitch=-0.2659 left_roll=0.0195 left_gripper=0.9994 right_x=0.2894 right_y=-0.0001 right_z=0.1658 right_yaw=0.0003 right_pitch=-0.0511 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -8.7453, 6.4479, 1.8095, -0.1783, -0.0611, -0.0122, -0.0889, -1.4154, 6.9949, 1.7607, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e149ee0abd61b5252f5773c50b501287d0e36588ce8a6c24fba6b3889383a8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9186e4c4b7eee9053d4ed6de789c31f68eda3e4649bc6797b67fdeefbe2d5c61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:52a3a78b74297f3b8e108dd3591c747aa9c7f417bcf466feb1f480f6681cd8aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 4.789 s

model: claude-opus-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]: [-0.2764, 1.6627, 1.1641, -0.218, -0.2127, -0.1925, 0.9994, -0.0219, 0.8024, 0.5957, -0.3969, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4645 left_y=-0.0893 left_z=0.1511 left_yaw=-0.0132 left_pitch=-0.1235 left_roll=0.0115 left_gripper=0.9994 right_x=0.2919 right_y=-0.0002 right_z=0.1704 right_yaw=0.0003 right_pitch=-0.0298 right_roll=-0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -7.8974, 8.3624, 1.4042, -0.3346, -0.1148, -0.0122, -0.3487, -1.0462, 7.3778, 1.7656, -0.0317, -0.0659, -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]: [-0.0998, 1.5978, 0.9394, -0.115, -0.1013, -0.1001, 0.9994, -0.0219, 0.8036, 0.5953, -0.4114, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4336 left_y=-0.0218 left_z=0.1019 left_yaw=0.0205 left_pitch=-0.1949 left_roll=0.0168 left_gripper=0.9994 right_x=0.2899 right_y=-0.0001 right_z=0.167 right_yaw=0.0003 right_pitch=-0.0458 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.3897, -8.9915, 6.735, 1.9365, 0.0904, 0.0415, -0.0122, -0.1026, -1.1692, 7.241, 1.7998, -0.0317, -0.0757, -0.0122]",
      "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]: [-0.0971, 1.7458, 0.8356, 0.0662, -0.091, -0.0975, 0.9994, -0.0219, 0.8051, 0.5953, -0.4152, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4271 left_y=-0.0219 left_z=0.0316 left_yaw=0.0148 left_pitch=-0.2659 left_roll=0.0195 left_gripper=0.9994 right_x=0.2894 right_y=-0.0001 right_z=0.1658 right_yaw=0.0003 right_pitch=-0.0511 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -8.7453, 6.4479, 1.8095, -0.1783, -0.0611, -0.0122, -0.0889, -1.4154, 6.9949, 1.7607, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e149ee0abd61b5252f5773c50b501287d0e36588ce8a6c24fba6b3889383a8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9186e4c4b7eee9053d4ed6de789c31f68eda3e4649bc6797b67fdeefbe2d5c61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52a3a78b74297f3b8e108dd3591c747aa9c7f417bcf466feb1f480f6681cd8aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISsQQKjgEIEhgCKkBzLofINdslynm3vKN8zUiC5sBg9vv9MvMbScbSxNMkak+eUa7ngbEjsobeQDmSl3Qm1TtkG71edke/gfyxsDKPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAciqzNUGEgx/jAzCb2cBbsJXjFkaDKE9d3IfHTbwb6AzFCIwjMGweEVnAOnuwBDk1hrLFuTlKQOyK9ou+WNzOgXK91LJrce4Ak9l+5CDzhj+ljadKs8CEJwAocQJnQfDIGJajH9jJaU43FO2MhsEpQyPQT3m5eXRw5RKKg+3UewxsioF5Pk/vc6P59xtKQONHAFAepXaFdogTLADBiuTKtPRUpH0J4gzZQJGQ+dHCazbLJNBoA3Q/jeg4hRletF+Lf5Odffoj+Ir/ACXVGixaRrFRhfetnNei8snSfAc6u1YtZcu55JDelUmCeo6OOlkeabkUvJCHLerBVysnvoV2+dRu2UL+r/c0EkueB69Rs+3YCIGQ5Cl5ACh9zln47ObgsM4JjFhSvkGVMPPG/8sDwSm/8MbiC3THeMCaecRLI9ULl69SL/E8b4mnoAbTXGTpDtSDlGcGOVX1HdI7SBDqpzfpVSfn0Haqt7yq7GDCZwHaXEdls9YVW2UQk4LCYQFOxx+ZT3fqE4nxI9yJd1FvEmRkdukfL3TaDvfZptLMyD5++nZOnQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ht2yafMcX4KYqXKQCE73eT",
      "input": {
        "note": "The white bowl's rim lies between the open jaws; closing fully to pinch the rim 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_01Ht2yafMcX4KYqXKQCE73eT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0975, 1.7439, 0.8288, 0.0856, -0.0765, -0.1169, 0.0289, -0.0216, 0.8082, 0.5945, -0.4213, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4283 left_y=-0.0247 left_z=0.033 left_yaw=0.0123 left_pitch=-0.2525 left_roll=-0.0067 left_gripper=0.0289 right_x=0.2886 right_y=0.0 right_z=0.1634 right_yaw=0.0005 right_pitch=-0.061 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -7.3368, 6.5162, 1.1062, -0.1441, 0.2076, 0.779, -0.0889, -1.5658, 7.0632, 1.7411, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0143c53214a8604ea28f629fe58c32362bf758d7844ac39c93ded38fc58a7be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:601efd8fdfcc2d91d922adbf6480058c3bcefa3f9323a4ab3441140e31fc5363",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:37224ef010054bc0c007e2ea78d4b8395c12ba2fc4d23b4c7028dfc66c238c5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 12.57 s

model: claude-opus-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]: [-0.0998, 1.5978, 0.9394, -0.115, -0.1013, -0.1001, 0.9994, -0.0219, 0.8036, 0.5953, -0.4114, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4336 left_y=-0.0218 left_z=0.1019 left_yaw=0.0205 left_pitch=-0.1949 left_roll=0.0168 left_gripper=0.9994 right_x=0.2899 right_y=-0.0001 right_z=0.167 right_yaw=0.0003 right_pitch=-0.0458 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [0.3897, -8.9915, 6.735, 1.9365, 0.0904, 0.0415, -0.0122, -0.1026, -1.1692, 7.241, 1.7998, -0.0317, -0.0757, -0.0122]",
      "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]: [-0.0971, 1.7458, 0.8356, 0.0662, -0.091, -0.0975, 0.9994, -0.0219, 0.8051, 0.5953, -0.4152, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4271 left_y=-0.0219 left_z=0.0316 left_yaw=0.0148 left_pitch=-0.2659 left_roll=0.0195 left_gripper=0.9994 right_x=0.2894 right_y=-0.0001 right_z=0.1658 right_yaw=0.0003 right_pitch=-0.0511 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -8.7453, 6.4479, 1.8095, -0.1783, -0.0611, -0.0122, -0.0889, -1.4154, 6.9949, 1.7607, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0975, 1.7439, 0.8288, 0.0856, -0.0765, -0.1169, 0.0289, -0.0216, 0.8082, 0.5945, -0.4213, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4283 left_y=-0.0247 left_z=0.033 left_yaw=0.0123 left_pitch=-0.2525 left_roll=-0.0067 left_gripper=0.0289 right_x=0.2886 right_y=0.0 right_z=0.1634 right_yaw=0.0005 right_pitch=-0.061 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -7.3368, 6.5162, 1.1062, -0.1441, 0.2076, 0.779, -0.0889, -1.5658, 7.0632, 1.7411, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0143c53214a8604ea28f629fe58c32362bf758d7844ac39c93ded38fc58a7be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:601efd8fdfcc2d91d922adbf6480058c3bcefa3f9323a4ab3441140e31fc5363",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37224ef010054bc0c007e2ea78d4b8395c12ba2fc4d23b4c7028dfc66c238c5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISoQMKjgEIEhgCKkBw230QHFzbTXU3CXA3qnVzVryxoj39Tf6+fsXXj+tDc7zgyZKHzeLy2CPvXLYq/LSVOf9iGjHxxp0pbZ8lUPzYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc6qzNUGEgzaB40Q7x6J19mWBE4aDP1YnjglcUv5/GGcLiIwYsw9NLBc5Ga3Q8lINUen716ITgcPiinQ0LKgMYWJtZ4uPFmBY7eYNoX+ad+g/cP1Kr8BLl23XIS/Gz2LpVyW1QeLV51MH0N2P9Ng7oxuhm1LI0BDzTHQSzrO9nsimH4RVZ25O/yNNLEZiF8D6OnZrbk4l7jRQXU5jwdO1aYsGXcIgVpWTqblz8DKYwucbTNJ+zl9vBxlqA9mRk0IOKQ+A4K+jaxs4wD1egRloLq9+MUJcWkKn7iK4zpw5TRP3wOGErjbGD1P7dfuldK0mR/H5cDchsbSf0CwAye3BtdMYeKilFGpJXPG6RBsZzVjP9H4jeUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QX7LVBkDiWqX6uvAXRDYa6",
      "input": {
        "note": "Gripper settled at 0.029 (thin rim or empty); lifting 9 cm to see in the top view whether the white bowl comes with the jaws.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QX7LVBkDiWqX6uvAXRDYa6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0975, 1.6115, 0.9894, -0.2333, -0.0788, -0.1204, 0.0401, -0.0216, 0.8097, 0.5945, -0.4225, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.426 left_y=-0.0241 left_z=0.0961 left_yaw=0.0171 left_pitch=-0.2781 left_roll=-0.0043 left_gripper=0.0401 right_x=0.2885 right_y=0.0 right_z=0.1628 right_yaw=0.0007 right_pitch=-0.0637 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -9.5521, 9.1282, 1.5604, -0.0171, -0.0415, 1.0281, 0.1162, -1.4564, 6.9949, 1.6581, -0.0122, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e6cfcf65be40db472a0560d6ee72cea71c1154d105a8408fa4e938bd40445fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2208d78924cd280dd4ff9644ab1d5a25af273c2c3233060641f85f4679052246",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d707bcc9ecc590c82788df640c4d73e24e280f46f2a8bf78778e28f4ec9cda90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 46.2 s

model: claude-opus-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]: [-0.0971, 1.7458, 0.8356, 0.0662, -0.091, -0.0975, 0.9994, -0.0219, 0.8051, 0.5953, -0.4152, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4271 left_y=-0.0219 left_z=0.0316 left_yaw=0.0148 left_pitch=-0.2659 left_roll=0.0195 left_gripper=0.9994 right_x=0.2894 right_y=-0.0001 right_z=0.1658 right_yaw=0.0003 right_pitch=-0.0511 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -8.7453, 6.4479, 1.8095, -0.1783, -0.0611, -0.0122, -0.0889, -1.4154, 6.9949, 1.7607, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0975, 1.7439, 0.8288, 0.0856, -0.0765, -0.1169, 0.0289, -0.0216, 0.8082, 0.5945, -0.4213, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4283 left_y=-0.0247 left_z=0.033 left_yaw=0.0123 left_pitch=-0.2525 left_roll=-0.0067 left_gripper=0.0289 right_x=0.2886 right_y=0.0 right_z=0.1634 right_yaw=0.0005 right_pitch=-0.061 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -7.3368, 6.5162, 1.1062, -0.1441, 0.2076, 0.779, -0.0889, -1.5658, 7.0632, 1.7411, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0975, 1.6115, 0.9894, -0.2333, -0.0788, -0.1204, 0.0401, -0.0216, 0.8097, 0.5945, -0.4225, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.426 left_y=-0.0241 left_z=0.0961 left_yaw=0.0171 left_pitch=-0.2781 left_roll=-0.0043 left_gripper=0.0401 right_x=0.2885 right_y=0.0 right_z=0.1628 right_yaw=0.0007 right_pitch=-0.0637 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -9.5521, 9.1282, 1.5604, -0.0171, -0.0415, 1.0281, 0.1162, -1.4564, 6.9949, 1.6581, -0.0122, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e6cfcf65be40db472a0560d6ee72cea71c1154d105a8408fa4e938bd40445fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2208d78924cd280dd4ff9644ab1d5a25af273c2c3233060641f85f4679052246",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d707bcc9ecc590c82788df640c4d73e24e280f46f2a8bf78778e28f4ec9cda90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W6szymmDnFdni4Wa3cGRcR",
      "input": {
        "note": "The close was empty (bowl unmoved, gripper 0.04). The bowl's rim sits ~4 cm to the jaws' right in the wrist view, so I reopen and shift to y=-0.06 before descending again.",
        "targets": {
          "left_gripper": 1.0,
          "left_y": -0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01W6szymmDnFdni4Wa3cGRcR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2054, 1.6154, 1.0, -0.2665, -0.1368, -0.2024, 0.9952, -0.0216, 0.8101, 0.5945, -0.4225, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4191 left_y=-0.0591 left_z=0.0943 left_yaw=0.0072 left_pitch=-0.2967 left_roll=-0.01 left_gripper=0.9952 right_x=0.2885 right_y=0.0 right_z=0.1627 right_yaw=0.0005 right_pitch=-0.0641 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -5.7915, 7.5966, 1.5702, -0.2808, 0.0562, -0.1099, -0.0615, -1.1556, 7.1863, 1.707, -0.0708, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e33895438caca58858630fdcc5fc697ffeb3432e85eb9803c01916939bf48aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:238119e68f6fafcd63af51ada68e263b6792bd2ba9c88583daf315e5f1fb5eb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8100c71b929b3f94210f6f6c88137635f09b73cbcbea54a92a594c1e9c13da7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 45 s

model: claude-opus-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]: [-0.0975, 1.7439, 0.8288, 0.0856, -0.0765, -0.1169, 0.0289, -0.0216, 0.8082, 0.5945, -0.4213, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4283 left_y=-0.0247 left_z=0.033 left_yaw=0.0123 left_pitch=-0.2525 left_roll=-0.0067 left_gripper=0.0289 right_x=0.2886 right_y=0.0 right_z=0.1634 right_yaw=0.0005 right_pitch=-0.061 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -7.3368, 6.5162, 1.1062, -0.1441, 0.2076, 0.779, -0.0889, -1.5658, 7.0632, 1.7411, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0975, 1.6115, 0.9894, -0.2333, -0.0788, -0.1204, 0.0401, -0.0216, 0.8097, 0.5945, -0.4225, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.426 left_y=-0.0241 left_z=0.0961 left_yaw=0.0171 left_pitch=-0.2781 left_roll=-0.0043 left_gripper=0.0401 right_x=0.2885 right_y=0.0 right_z=0.1628 right_yaw=0.0007 right_pitch=-0.0637 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -9.5521, 9.1282, 1.5604, -0.0171, -0.0415, 1.0281, 0.1162, -1.4564, 6.9949, 1.6581, -0.0122, -0.0806, -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]: [-0.2054, 1.6154, 1.0, -0.2665, -0.1368, -0.2024, 0.9952, -0.0216, 0.8101, 0.5945, -0.4225, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4191 left_y=-0.0591 left_z=0.0943 left_yaw=0.0072 left_pitch=-0.2967 left_roll=-0.01 left_gripper=0.9952 right_x=0.2885 right_y=0.0 right_z=0.1627 right_yaw=0.0005 right_pitch=-0.0641 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -5.7915, 7.5966, 1.5702, -0.2808, 0.0562, -0.1099, -0.0615, -1.1556, 7.1863, 1.707, -0.0708, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e33895438caca58858630fdcc5fc697ffeb3432e85eb9803c01916939bf48aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:238119e68f6fafcd63af51ada68e263b6792bd2ba9c88583daf315e5f1fb5eb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8100c71b929b3f94210f6f6c88137635f09b73cbcbea54a92a594c1e9c13da7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0194THuEDDsPfQkMKGaUzDeu",
      "input": {
        "note": "The bowl is centred on the jaw column (centre ≈ x0.45, y-0.06). Rotating the wrist 90° so the jaws close front-to-back, which lets me pinch the bowl's near rim instead of its side.",
        "targets": {
          "left_yaw": 1.571,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0194THuEDDsPfQkMKGaUzDeu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3977, 2.2707, 2.0239, -1.4204, -0.6479, -1.8492, 0.9957, -0.0219, 0.8162, 0.5945, -0.4271, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4315 left_y=-0.0617 left_z=0.1025 left_yaw=1.3458 left_pitch=-0.3441 left_roll=-0.0625 left_gripper=0.9957 right_x=0.2881 right_y=-0.0001 right_z=0.1601 right_yaw=0.0004 right_pitch=-0.0748 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [1.4974, -11.0701, 5.6957, -0.0904, -0.4567, -0.1392, 0.0366, -0.0615, -1.2103, 7.0222, 1.6923, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:814221f99a5eb40f4d20d9ef22679e4db4d79c202154ccc418aafb7d65d7531f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abe77c45a04e93ca64bc2984f0a955af3a459a8f593a17c418353fac457b57a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7cbb63ce7fd2fccda6a7d61d22c97b6334db97acbc153001008572ca27bd4bcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 17.94 s

model: claude-opus-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]: [-0.0975, 1.6115, 0.9894, -0.2333, -0.0788, -0.1204, 0.0401, -0.0216, 0.8097, 0.5945, -0.4225, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.426 left_y=-0.0241 left_z=0.0961 left_yaw=0.0171 left_pitch=-0.2781 left_roll=-0.0043 left_gripper=0.0401 right_x=0.2885 right_y=0.0 right_z=0.1628 right_yaw=0.0007 right_pitch=-0.0637 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -9.5521, 9.1282, 1.5604, -0.0171, -0.0415, 1.0281, 0.1162, -1.4564, 6.9949, 1.6581, -0.0122, -0.0806, -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]: [-0.2054, 1.6154, 1.0, -0.2665, -0.1368, -0.2024, 0.9952, -0.0216, 0.8101, 0.5945, -0.4225, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4191 left_y=-0.0591 left_z=0.0943 left_yaw=0.0072 left_pitch=-0.2967 left_roll=-0.01 left_gripper=0.9952 right_x=0.2885 right_y=0.0 right_z=0.1627 right_yaw=0.0005 right_pitch=-0.0641 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -5.7915, 7.5966, 1.5702, -0.2808, 0.0562, -0.1099, -0.0615, -1.1556, 7.1863, 1.707, -0.0708, -0.0464, -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 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3977, 2.2707, 2.0239, -1.4204, -0.6479, -1.8492, 0.9957, -0.0219, 0.8162, 0.5945, -0.4271, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4315 left_y=-0.0617 left_z=0.1025 left_yaw=1.3458 left_pitch=-0.3441 left_roll=-0.0625 left_gripper=0.9957 right_x=0.2881 right_y=-0.0001 right_z=0.1601 right_yaw=0.0004 right_pitch=-0.0748 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [1.4974, -11.0701, 5.6957, -0.0904, -0.4567, -0.1392, 0.0366, -0.0615, -1.2103, 7.0222, 1.6923, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:814221f99a5eb40f4d20d9ef22679e4db4d79c202154ccc418aafb7d65d7531f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abe77c45a04e93ca64bc2984f0a955af3a459a8f593a17c418353fac457b57a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cbb63ce7fd2fccda6a7d61d22c97b6334db97acbc153001008572ca27bd4bcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015xTKFQFvb3zJks9b6WR4zP",
      "input": {
        "note": "With the wrist yawed 90° the jaws now close front-to-back; in the wrist view the bowl's rim edge sits ~5 cm along the jaw-closing direction, so I advance x to 0.47 and drop to 4 cm to put that rim between the jaws.",
        "targets": {
          "left_x": 0.47,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_015xTKFQFvb3zJks9b6WR4zP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3939, 2.2932, 2.0418, -1.4288, -0.6441, -1.8893, 0.9957, -0.0216, 0.8173, 0.5945, -0.4343, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4331 left_y=-0.0613 left_z=0.0974 left_yaw=1.3779 left_pitch=-0.3466 left_roll=-0.074 left_gripper=0.9957 right_x=0.2871 right_y=0.0001 right_z=0.1584 right_yaw=0.0006 right_pitch=-0.0831 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -11.453, 7.5692, 0.0513, -0.442, 0.1392, -0.0073, -0.1026, -1.347, 7.1043, 1.7021, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36a4e12588085b6799b5a6a77e1b8e65410214d6ca76ecd4f62eae8ed13d9c7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:628d55a7529e0b66bc47074c01630014c48f36e77471a9999007b0c16e2580c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd1e09cfcbea5a5808c99b425e50f3022d7b7fa236610db3cbfffef3d57c44c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 6.093 s

model: claude-opus-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]: [-0.2054, 1.6154, 1.0, -0.2665, -0.1368, -0.2024, 0.9952, -0.0216, 0.8101, 0.5945, -0.4225, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4191 left_y=-0.0591 left_z=0.0943 left_yaw=0.0072 left_pitch=-0.2967 left_roll=-0.01 left_gripper=0.9952 right_x=0.2885 right_y=0.0 right_z=0.1627 right_yaw=0.0005 right_pitch=-0.0641 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -5.7915, 7.5966, 1.5702, -0.2808, 0.0562, -0.1099, -0.0615, -1.1556, 7.1863, 1.707, -0.0708, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.3977, 2.2707, 2.0239, -1.4204, -0.6479, -1.8492, 0.9957, -0.0219, 0.8162, 0.5945, -0.4271, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4315 left_y=-0.0617 left_z=0.1025 left_yaw=1.3458 left_pitch=-0.3441 left_roll=-0.0625 left_gripper=0.9957 right_x=0.2881 right_y=-0.0001 right_z=0.1601 right_yaw=0.0004 right_pitch=-0.0748 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [1.4974, -11.0701, 5.6957, -0.0904, -0.4567, -0.1392, 0.0366, -0.0615, -1.2103, 7.0222, 1.6923, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3939, 2.2932, 2.0418, -1.4288, -0.6441, -1.8893, 0.9957, -0.0216, 0.8173, 0.5945, -0.4343, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4331 left_y=-0.0613 left_z=0.0974 left_yaw=1.3779 left_pitch=-0.3466 left_roll=-0.074 left_gripper=0.9957 right_x=0.2871 right_y=0.0001 right_z=0.1584 right_yaw=0.0006 right_pitch=-0.0831 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -11.453, 7.5692, 0.0513, -0.442, 0.1392, -0.0073, -0.1026, -1.347, 7.1043, 1.7021, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36a4e12588085b6799b5a6a77e1b8e65410214d6ca76ecd4f62eae8ed13d9c7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:628d55a7529e0b66bc47074c01630014c48f36e77471a9999007b0c16e2580c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd1e09cfcbea5a5808c99b425e50f3022d7b7fa236610db3cbfffef3d57c44c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bnc186j61p1uNSqC2rzyT9",
      "input": {
        "note": "The yawed pose stalled at its IK limit, so I return the wrist to yaw 0 and go to the white bowl's right-side rim (x 0.48, y -0.115) where the rim runs front-back and the jaws can close across it.",
        "targets": {
          "left_x": 0.48,
          "left_y": -0.115,
          "left_yaw": 0.0,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Bnc186j61p1uNSqC2rzyT9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3183, 2.0621, 1.7218, -1.1862, -0.416, -1.6535, 0.9957, -0.0216, 0.8204, 0.5945, -0.4435, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4087 left_y=-0.0557 left_z=0.0883 left_yaw=1.2515 left_pitch=-0.5818 left_roll=-0.0847 left_gripper=0.9957 right_x=0.2858 right_y=0.0001 right_z=0.1558 right_yaw=0.0006 right_pitch=-0.0954 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -13.8325, 8.0615, 1.1404, -0.2759, 0.1245, -0.0122, 0.0479, -1.388, 6.9675, 1.7753, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9608fa0afb4a0c37722891c2ea9943d2c5767de4d3efdc4d6fd00a936e000c1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed39fe6ffa813282082c104ac4850dbf24d3af53ef7da2b7d71ad3f9204fb372",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac4f4117c48ae4fe8f60a3bfdbf89ab99276ffc93d42f6675202223b32e8b46b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 16.24 s

model: claude-opus-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]: [-0.3977, 2.2707, 2.0239, -1.4204, -0.6479, -1.8492, 0.9957, -0.0219, 0.8162, 0.5945, -0.4271, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4315 left_y=-0.0617 left_z=0.1025 left_yaw=1.3458 left_pitch=-0.3441 left_roll=-0.0625 left_gripper=0.9957 right_x=0.2881 right_y=-0.0001 right_z=0.1601 right_yaw=0.0004 right_pitch=-0.0748 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [1.4974, -11.0701, 5.6957, -0.0904, -0.4567, -0.1392, 0.0366, -0.0615, -1.2103, 7.0222, 1.6923, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3939, 2.2932, 2.0418, -1.4288, -0.6441, -1.8893, 0.9957, -0.0216, 0.8173, 0.5945, -0.4343, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4331 left_y=-0.0613 left_z=0.0974 left_yaw=1.3779 left_pitch=-0.3466 left_roll=-0.074 left_gripper=0.9957 right_x=0.2871 right_y=0.0001 right_z=0.1584 right_yaw=0.0006 right_pitch=-0.0831 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -11.453, 7.5692, 0.0513, -0.442, 0.1392, -0.0073, -0.1026, -1.347, 7.1043, 1.7021, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3183, 2.0621, 1.7218, -1.1862, -0.416, -1.6535, 0.9957, -0.0216, 0.8204, 0.5945, -0.4435, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4087 left_y=-0.0557 left_z=0.0883 left_yaw=1.2515 left_pitch=-0.5818 left_roll=-0.0847 left_gripper=0.9957 right_x=0.2858 right_y=0.0001 right_z=0.1558 right_yaw=0.0006 right_pitch=-0.0954 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -13.8325, 8.0615, 1.1404, -0.2759, 0.1245, -0.0122, 0.0479, -1.388, 6.9675, 1.7753, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9608fa0afb4a0c37722891c2ea9943d2c5767de4d3efdc4d6fd00a936e000c1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed39fe6ffa813282082c104ac4850dbf24d3af53ef7da2b7d71ad3f9204fb372",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac4f4117c48ae4fe8f60a3bfdbf89ab99276ffc93d42f6675202223b32e8b46b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS5AMKjgEIEhgCKkAYA+BPD9cixevXT6vFGCwAT7o7ITqPeadFi8m/7TdGoqiIxdPD213T7KvtAa/bsYWmxKaMZa0o19LFsyqEOY6ZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdGrzNUGEgxIYEzC11jL4tbc2DUaDL4icBxJapNVZqUfryIwiOMkqQyyHnREMZFMRSvficz2ondhphUVv1np1F82obS9HKzM6RoQdyaj2waLNMhiKoIC8r734GesSanZnco74AL45UejnUY7DK3ejTx4V5yzelIR/b+MtnAw9XMQkfsB1F7FeslMSsD5QTaKkFg4tUpwdoEeEGarONLIpzEsn25bKoE8q6gkTO2IySFXT2K2xY8FHyJejejJcp26aml9mZLLLl4Xf1xwB6f7eiIKkIqQUs+PJF9/7lfQZb0k1iJffi+BY9eyh2zIxqZfmQq2pVsgeLdSPfPoPdqY97WFc98ZOfMgTP8hyKXbQtzb1viavELYfKZ4kO53Lljnr8t0KcksRoDXcsNrwcECQeGxeZVdRxw2ZJmRDbFNhZHhzpp5m3yZtz/RVLYjGzTAOVlR9rny7LXKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SoMVZznL6npKHnTquqcQGJ",
      "input": {
        "note": "The left arm is stuck in an awkward yawed pose and no longer tracking targets; retracting up and back to x=0.30, z=0.25 with yaw and pitch zeroed to recover a clean configuration.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": -0.06,
          "left_yaw": 0.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01SoMVZznL6npKHnTquqcQGJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3702, 0.9363, 0.9333, -0.6521, -0.3283, -0.3981, 0.9957, -0.0216, 0.8238, 0.5945, -0.445, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.2988 left_y=-0.051 left_z=0.2394 left_yaw=0.0983 left_pitch=-0.0439 left_roll=-0.1054 left_gripper=0.9957 right_x=0.2858 right_y=0.0001 right_z=0.1546 right_yaw=0.0008 right_pitch=-0.1003 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.335, -1.8256, 6.8718, 1.9463, -0.0952, 0.2515, -0.0122, -0.0342, -1.3607, 7.1726, 1.7216, -0.0122, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60ab0dbc5f62afcaf7daaa18aa3b17e5e0e7a88f13666200bbf4890c71522572",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8c9ea0b10e0ee159d324fa4aae37fd4b4355a38b18f112a8e9cb906982cd3f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e8ee9238b8554132be2ed0469e5a65e8420f8c3cf74e0ee73437e9eca6d6daa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 13.74 s

model: claude-opus-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]: [-0.3939, 2.2932, 2.0418, -1.4288, -0.6441, -1.8893, 0.9957, -0.0216, 0.8173, 0.5945, -0.4343, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4331 left_y=-0.0613 left_z=0.0974 left_yaw=1.3779 left_pitch=-0.3466 left_roll=-0.074 left_gripper=0.9957 right_x=0.2871 right_y=0.0001 right_z=0.1584 right_yaw=0.0006 right_pitch=-0.0831 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -11.453, 7.5692, 0.0513, -0.442, 0.1392, -0.0073, -0.1026, -1.347, 7.1043, 1.7021, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3183, 2.0621, 1.7218, -1.1862, -0.416, -1.6535, 0.9957, -0.0216, 0.8204, 0.5945, -0.4435, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4087 left_y=-0.0557 left_z=0.0883 left_yaw=1.2515 left_pitch=-0.5818 left_roll=-0.0847 left_gripper=0.9957 right_x=0.2858 right_y=0.0001 right_z=0.1558 right_yaw=0.0006 right_pitch=-0.0954 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -13.8325, 8.0615, 1.1404, -0.2759, 0.1245, -0.0122, 0.0479, -1.388, 6.9675, 1.7753, -0.0464, -0.0317, -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]: [-0.3702, 0.9363, 0.9333, -0.6521, -0.3283, -0.3981, 0.9957, -0.0216, 0.8238, 0.5945, -0.445, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.2988 left_y=-0.051 left_z=0.2394 left_yaw=0.0983 left_pitch=-0.0439 left_roll=-0.1054 left_gripper=0.9957 right_x=0.2858 right_y=0.0001 right_z=0.1546 right_yaw=0.0008 right_pitch=-0.1003 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.335, -1.8256, 6.8718, 1.9463, -0.0952, 0.2515, -0.0122, -0.0342, -1.3607, 7.1726, 1.7216, -0.0122, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60ab0dbc5f62afcaf7daaa18aa3b17e5e0e7a88f13666200bbf4890c71522572",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8c9ea0b10e0ee159d324fa4aae37fd4b4355a38b18f112a8e9cb906982cd3f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8ee9238b8554132be2ed0469e5a65e8420f8c3cf74e0ee73437e9eca6d6daa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013uQCcZd51vdma3sAEx61ht",
      "input": {
        "note": "Recovered the left arm. Switching to the right arm for the pink bowl, which sits slightly to its left in the wrist view: moving forward to x=0.40, y=0.06 to hover near it and pin down its position.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.06,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_013uQCcZd51vdma3sAEx61ht",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9424, 0.9291, -0.6662, -0.3145, -0.3931, 0.9957, 0.2089, 1.3613, 0.8593, -0.2749, 0.1345, 0.0795, 0.9991]\nstate[eef_state]: left_x=0.2971 left_y=-0.0516 left_z=0.2328 left_yaw=0.0889 left_pitch=-0.0693 left_roll=-0.0981 left_gripper=0.9957 right_x=0.3795 right_y=0.0599 right_z=0.1332 right_yaw=0.0405 right_pitch=-0.1944 right_roll=-0.0199 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -2.359, 7.3368, 1.746, -0.2906, -0.0562, -0.0122, -0.0889, -6.1197, 9.6068, 1.8974, 0.2369, 0.3053, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e98d43958f219b9f2402da9725eede03d968bd776fe1906f4e5529065428abfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb47933e7c947fcb17f647fc7b3a204c3d6a274be06ace3a29129940d6b015b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f49c72136d92124b78f4046b1d70cb1820a97ea7d48845c32a8c44a58ef1c79a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 7.999 s

model: claude-opus-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]: [-0.3183, 2.0621, 1.7218, -1.1862, -0.416, -1.6535, 0.9957, -0.0216, 0.8204, 0.5945, -0.4435, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4087 left_y=-0.0557 left_z=0.0883 left_yaw=1.2515 left_pitch=-0.5818 left_roll=-0.0847 left_gripper=0.9957 right_x=0.2858 right_y=0.0001 right_z=0.1558 right_yaw=0.0006 right_pitch=-0.0954 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -13.8325, 8.0615, 1.1404, -0.2759, 0.1245, -0.0122, 0.0479, -1.388, 6.9675, 1.7753, -0.0464, -0.0317, -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]: [-0.3702, 0.9363, 0.9333, -0.6521, -0.3283, -0.3981, 0.9957, -0.0216, 0.8238, 0.5945, -0.445, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.2988 left_y=-0.051 left_z=0.2394 left_yaw=0.0983 left_pitch=-0.0439 left_roll=-0.1054 left_gripper=0.9957 right_x=0.2858 right_y=0.0001 right_z=0.1546 right_yaw=0.0008 right_pitch=-0.1003 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.335, -1.8256, 6.8718, 1.9463, -0.0952, 0.2515, -0.0122, -0.0342, -1.3607, 7.1726, 1.7216, -0.0122, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9424, 0.9291, -0.6662, -0.3145, -0.3931, 0.9957, 0.2089, 1.3613, 0.8593, -0.2749, 0.1345, 0.0795, 0.9991]\nstate[eef_state]: left_x=0.2971 left_y=-0.0516 left_z=0.2328 left_yaw=0.0889 left_pitch=-0.0693 left_roll=-0.0981 left_gripper=0.9957 right_x=0.3795 right_y=0.0599 right_z=0.1332 right_yaw=0.0405 right_pitch=-0.1944 right_roll=-0.0199 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -2.359, 7.3368, 1.746, -0.2906, -0.0562, -0.0122, -0.0889, -6.1197, 9.6068, 1.8974, 0.2369, 0.3053, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e98d43958f219b9f2402da9725eede03d968bd776fe1906f4e5529065428abfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb47933e7c947fcb17f647fc7b3a204c3d6a274be06ace3a29129940d6b015b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f49c72136d92124b78f4046b1d70cb1820a97ea7d48845c32a8c44a58ef1c79a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017GJGzUQGWNKhc7g67wwJJC",
      "input": {
        "note": "The pink bowl is centred on the jaw column just forward of the fingertips, so its centre is ≈ (0.41, 0.07). I move to its near-right rim (y=0.02) and descend to 4 cm so the rim wall lies between the open jaws.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.02,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_017GJGzUQGWNKhc7g67wwJJC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9428, 0.9291, -0.6689, -0.3138, -0.3931, 0.9957, 0.0593, 1.6314, 0.709, 0.0772, 0.036, -0.0196, 0.9991]\nstate[eef_state]: left_x=0.2968 left_y=-0.0516 left_z=0.2322 left_yaw=0.0883 left_pitch=-0.0723 left_roll=-0.0972 left_gripper=0.9957 right_x=0.3949 right_y=0.0207 right_z=0.0321 right_yaw=0.0295 right_pitch=-0.2709 right_roll=-0.0244 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.9761, 6.8444, 1.6435, -0.1978, -0.0611, -0.0122, -0.3897, -6.9675, 5.8188, 1.79, -0.105, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ab7aaeffe52d845205f22bb7dbdccf850b1b4ccc9fdb951583132d20011dc0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee23d215470b97399cdcf2de0037ca8df6fdc9f1da568192a35fbd45015c2266",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83afeb33553e8f12a9e002b4e47e91138a970cc6b32bee38b4a05642bbdb8136",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 4.643 s

model: claude-opus-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]: [-0.3702, 0.9363, 0.9333, -0.6521, -0.3283, -0.3981, 0.9957, -0.0216, 0.8238, 0.5945, -0.445, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.2988 left_y=-0.051 left_z=0.2394 left_yaw=0.0983 left_pitch=-0.0439 left_roll=-0.1054 left_gripper=0.9957 right_x=0.2858 right_y=0.0001 right_z=0.1546 right_yaw=0.0008 right_pitch=-0.1003 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.335, -1.8256, 6.8718, 1.9463, -0.0952, 0.2515, -0.0122, -0.0342, -1.3607, 7.1726, 1.7216, -0.0122, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.3664, 0.9424, 0.9291, -0.6662, -0.3145, -0.3931, 0.9957, 0.2089, 1.3613, 0.8593, -0.2749, 0.1345, 0.0795, 0.9991]\nstate[eef_state]: left_x=0.2971 left_y=-0.0516 left_z=0.2328 left_yaw=0.0889 left_pitch=-0.0693 left_roll=-0.0981 left_gripper=0.9957 right_x=0.3795 right_y=0.0599 right_z=0.1332 right_yaw=0.0405 right_pitch=-0.1944 right_roll=-0.0199 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -2.359, 7.3368, 1.746, -0.2906, -0.0562, -0.0122, -0.0889, -6.1197, 9.6068, 1.8974, 0.2369, 0.3053, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9428, 0.9291, -0.6689, -0.3138, -0.3931, 0.9957, 0.0593, 1.6314, 0.709, 0.0772, 0.036, -0.0196, 0.9991]\nstate[eef_state]: left_x=0.2968 left_y=-0.0516 left_z=0.2322 left_yaw=0.0883 left_pitch=-0.0723 left_roll=-0.0972 left_gripper=0.9957 right_x=0.3949 right_y=0.0207 right_z=0.0321 right_yaw=0.0295 right_pitch=-0.2709 right_roll=-0.0244 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.9761, 6.8444, 1.6435, -0.1978, -0.0611, -0.0122, -0.3897, -6.9675, 5.8188, 1.79, -0.105, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ab7aaeffe52d845205f22bb7dbdccf850b1b4ccc9fdb951583132d20011dc0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee23d215470b97399cdcf2de0037ca8df6fdc9f1da568192a35fbd45015c2266",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83afeb33553e8f12a9e002b4e47e91138a970cc6b32bee38b4a05642bbdb8136",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISzwcKjgEIEhgCKkDLShIsnzLQZGA/Z6fTxT5rEFD3+0NchoNE1RtXSTYOpaKcxmSXb8pLC0gMpV+SGvGkwhEOdLaWcIOiftfQyp3fMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfurzNUGEgyNKRIzqvRDM4+OtCIaDJyn5Oo3DHgihFJxJSIwtsFqYqx0V/Fss2SI1iD9djKQn2a7ktJNktczFVyaUdPIalMWAznJCUYivMlKnF08Ku0FIpBMptGUC3dICeiXT3dSAwxTsDReXEibXKEFPRJil0rjk0W/btkeFUmPpL1TWXG/znhHNmPsOyzVyQLbeQg/QmQyX32gSSUaCCeofY3aGmZlNoom5FP43MiaO2Wdhn/r9h8bA6XXmY23XJU+2gB2JvLHieQP52LomkXe3IZgw7+17Of98KbiF4QtvPArdjAONJ8zNM7oC6ZW8Ca3L61wdiCGbQPCzUDLJHqYj7F30LCtIadlyM7HVJ3zAaGEWbiPj+/vRxe4MlkwtRfs40/ytpj1gF+qKI05cDBnpxtZ5DGNrPLmbe9+lopE4jucGrPlP0kffpkoAlWAqctrnt8K9WER+LPipE6OBbX+ZdX/PfpyEo88tMOyP63Z3s1ZdCRX8s7qWf8JAF27Osal31URJf2oVsmJNTKm8X89MHLI0bQVfp2mCyag5duM/sex3ltrnJXYYP1/aLaJK75LvhYfh8Y8oGvBNPDDJgR5vx2jQ8ki3eoBxYyGMMS1g1azhjufkmCABqBT2f7tP5FD2XCts35x8EZKn9VjCMhx4ewOaqAmin8vxiWLLMcEVl8WD8Cw3hQlApqudErwZbVUk2ITvU9V7LipguJ6V46eEXWDLN8PwcwlVFTbAAgezQgyjc2W5P3zJU1zjqcyiDfahZ0D+xSInj8tW69PXh1/Vj1q9GSSnvzJ3BD5AtJAg8kg97EOp+/AL2s/BCS9DCEP5nR6z7HsLrJVqZjuqBmr0gfMozYlAoWO43BzgQ8apkGxV0Otm7pUg1xPKlyCgAL6nvh73CrtPjtUZzTmhcdYE5kbGHdmqak1vVnyL7NTX+0CmnICOHGdnLzfOFwPMA+rO6wozLxkqEFsbQap5HmdeeehaOLThNwnYVNOLnrffvLBbGfP5nRkswW6pCkbD/FFZsgkX9WqoQX4L/4iXGf6jCUzAPQTS74z8t/pZAfhEtXfPMG4KmDk8mbNXlWjwqc84QlLNzaP9xhl4onp/YKw4OAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L8bPJXbsH6fzVKNKDvSjhG",
      "input": {
        "note": "In the right wrist view the pink bowl's rim edge runs between the two jaws (left jaw over the bowl, right jaw on the table); closing to pinch the rim.",
        "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_01L8bPJXbsH6fzVKNKDvSjhG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9447, 0.9291, -0.6689, -0.3134, -0.3931, 0.9957, 0.0589, 1.6325, 0.7013, 0.091, -0.0013, -0.0116, 0.0409]\nstate[eef_state]: left_x=0.297 left_y=-0.0518 left_z=0.2317 left_yaw=0.0881 left_pitch=-0.0741 left_roll=-0.0966 left_gripper=0.9957 right_x=0.3945 right_y=0.0271 right_z=0.0311 right_yaw=0.0571 right_pitch=-0.2663 right_roll=0.0101 right_gripper=0.0409\nstate[joint_eff]: [-0.0752, -1.812, 6.7761, 1.5946, -0.1685, -0.0659, -0.0122, 0.0068, -5.8462, 6.4752, 1.199, 0.5397, -0.232, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea39f6bbcb8f2a5e7c10972fe617b184cb51bfadd915feb604e8307d6adbc243",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:658efa3fc1b454555adbb1b8c1795c304d5b778a5fe860e67a603e678bfeb9b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:365b1a11ed7d86961a7a1ac8c563282ae209594bef1dfb575583ccf08f5ababc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 21.5 s

model: claude-opus-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]: [-0.3664, 0.9424, 0.9291, -0.6662, -0.3145, -0.3931, 0.9957, 0.2089, 1.3613, 0.8593, -0.2749, 0.1345, 0.0795, 0.9991]\nstate[eef_state]: left_x=0.2971 left_y=-0.0516 left_z=0.2328 left_yaw=0.0889 left_pitch=-0.0693 left_roll=-0.0981 left_gripper=0.9957 right_x=0.3795 right_y=0.0599 right_z=0.1332 right_yaw=0.0405 right_pitch=-0.1944 right_roll=-0.0199 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -2.359, 7.3368, 1.746, -0.2906, -0.0562, -0.0122, -0.0889, -6.1197, 9.6068, 1.8974, 0.2369, 0.3053, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9428, 0.9291, -0.6689, -0.3138, -0.3931, 0.9957, 0.0593, 1.6314, 0.709, 0.0772, 0.036, -0.0196, 0.9991]\nstate[eef_state]: left_x=0.2968 left_y=-0.0516 left_z=0.2322 left_yaw=0.0883 left_pitch=-0.0723 left_roll=-0.0972 left_gripper=0.9957 right_x=0.3949 right_y=0.0207 right_z=0.0321 right_yaw=0.0295 right_pitch=-0.2709 right_roll=-0.0244 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.9761, 6.8444, 1.6435, -0.1978, -0.0611, -0.0122, -0.3897, -6.9675, 5.8188, 1.79, -0.105, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9447, 0.9291, -0.6689, -0.3134, -0.3931, 0.9957, 0.0589, 1.6325, 0.7013, 0.091, -0.0013, -0.0116, 0.0409]\nstate[eef_state]: left_x=0.297 left_y=-0.0518 left_z=0.2317 left_yaw=0.0881 left_pitch=-0.0741 left_roll=-0.0966 left_gripper=0.9957 right_x=0.3945 right_y=0.0271 right_z=0.0311 right_yaw=0.0571 right_pitch=-0.2663 right_roll=0.0101 right_gripper=0.0409\nstate[joint_eff]: [-0.0752, -1.812, 6.7761, 1.5946, -0.1685, -0.0659, -0.0122, 0.0068, -5.8462, 6.4752, 1.199, 0.5397, -0.232, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea39f6bbcb8f2a5e7c10972fe617b184cb51bfadd915feb604e8307d6adbc243",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:658efa3fc1b454555adbb1b8c1795c304d5b778a5fe860e67a603e678bfeb9b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:365b1a11ed7d86961a7a1ac8c563282ae209594bef1dfb575583ccf08f5ababc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS5AMKjgEIEhgCKkBRd2RkBq5IOriXONq/3tJFegyH+eMoSrhwJ6nr5Nud9VOdpmlLq33skMLcv99X28++TxeeIKAj5ZOu8sD1NYjIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYGszNUGEgy9VYP165iH391NhP8aDGajjl6y2RN4qs3roSIwJdUxi/tuGazWP8IGoFRbubsY+yGm8KTiWct7/1ea2zColW0yXGPj3LudR6xUNuOQKoICp7oe+OU/Omyb+nurus4WWqO8xORUcxR3dOlvP1E/CEos2lni4xsN7z9kWAXxn7IaoilbbwvRI4DSVJQ6UPXSpzi4U0tY3G9sY+JKTFt5f2tMEnK9/xX5Z3lLT3xioZEb5GjSjfYGHYLKXRwSc+fWnw6NwgC1kqjtSAwXZD9pmtRJmgxIGsIA5jE4UidLBH+DylW7LUAnhvOZUTe1A4iQMNjp4+LAvRiv4HJ2k60oj8dEoffdfDcmWWvqt7CZSML426RBSiYdv5GtCqYONl+0hhdtJ0KNi1OSIrUEgs2+8Airi3Z0jRK0J4l96JV8NmB+FVz0EKIfhfbwT2DfJpulYeDlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014nB88nivdtS7853nqHE4LN",
      "input": {
        "note": "Gripper settled at 0.041, consistent with a pinched rim. Lifting to 15 cm to check in the top view whether the pink bowl comes up with the jaws.",
        "targets": {
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_014nB88nivdtS7853nqHE4LN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9466, 0.9291, -0.6689, -0.3134, -0.3931, 0.9957, 0.0608, 1.4563, 0.9752, -0.3973, -0.0082, -0.0227, 0.0439]\nstate[eef_state]: left_x=0.2972 left_y=-0.0519 left_z=0.2311 left_yaw=0.0881 left_pitch=-0.0758 left_roll=-0.0957 left_gripper=0.9957 right_x=0.3913 right_y=0.0289 right_z=0.1243 right_yaw=0.0714 right_pitch=-0.3044 right_roll=0.0082 right_gripper=0.0439\nstate[joint_eff]: [-0.1846, -2.1812, 6.8855, 1.5995, -0.149, -0.0513, -0.0171, -0.2667, -8.4855, 9.5385, 1.5751, 0.0513, 0.0611, 0.8327]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a981fe5c8c091a459cc0d0e27c496157dd0dd9e2ef2ba2f2bfdf38a19060625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:959add42f9e76d8f693193bb4d530618606b13f07d2bd0d892dbb34f087e543d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:093f0a30a0eb22d0955641968bab8ec8b25a92c6850089614dfb3aeb42201d33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 11.98 s

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

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9428, 0.9291, -0.6689, -0.3138, -0.3931, 0.9957, 0.0593, 1.6314, 0.709, 0.0772, 0.036, -0.0196, 0.9991]\nstate[eef_state]: left_x=0.2968 left_y=-0.0516 left_z=0.2322 left_yaw=0.0883 left_pitch=-0.0723 left_roll=-0.0972 left_gripper=0.9957 right_x=0.3949 right_y=0.0207 right_z=0.0321 right_yaw=0.0295 right_pitch=-0.2709 right_roll=-0.0244 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.9761, 6.8444, 1.6435, -0.1978, -0.0611, -0.0122, -0.3897, -6.9675, 5.8188, 1.79, -0.105, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9447, 0.9291, -0.6689, -0.3134, -0.3931, 0.9957, 0.0589, 1.6325, 0.7013, 0.091, -0.0013, -0.0116, 0.0409]\nstate[eef_state]: left_x=0.297 left_y=-0.0518 left_z=0.2317 left_yaw=0.0881 left_pitch=-0.0741 left_roll=-0.0966 left_gripper=0.9957 right_x=0.3945 right_y=0.0271 right_z=0.0311 right_yaw=0.0571 right_pitch=-0.2663 right_roll=0.0101 right_gripper=0.0409\nstate[joint_eff]: [-0.0752, -1.812, 6.7761, 1.5946, -0.1685, -0.0659, -0.0122, 0.0068, -5.8462, 6.4752, 1.199, 0.5397, -0.232, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9466, 0.9291, -0.6689, -0.3134, -0.3931, 0.9957, 0.0608, 1.4563, 0.9752, -0.3973, -0.0082, -0.0227, 0.0439]\nstate[eef_state]: left_x=0.2972 left_y=-0.0519 left_z=0.2311 left_yaw=0.0881 left_pitch=-0.0758 left_roll=-0.0957 left_gripper=0.9957 right_x=0.3913 right_y=0.0289 right_z=0.1243 right_yaw=0.0714 right_pitch=-0.3044 right_roll=0.0082 right_gripper=0.0439\nstate[joint_eff]: [-0.1846, -2.1812, 6.8855, 1.5995, -0.149, -0.0513, -0.0171, -0.2667, -8.4855, 9.5385, 1.5751, 0.0513, 0.0611, 0.8327]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a981fe5c8c091a459cc0d0e27c496157dd0dd9e2ef2ba2f2bfdf38a19060625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:959add42f9e76d8f693193bb4d530618606b13f07d2bd0d892dbb34f087e543d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:093f0a30a0eb22d0955641968bab8ec8b25a92c6850089614dfb3aeb42201d33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TPgaxMytREQjdVMamTxcsD",
      "input": {
        "note": "The pink bowl seems to be hanging from the pinched rim. Carrying it left toward the purple middle bowl (y=0.20 waypoint) at 18 cm height to confirm in the top view that the bowl travels with the gripper.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.2,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01TPgaxMytREQjdVMamTxcsD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9485, 0.9291, -0.6689, -0.3111, -0.3931, 0.9957, 0.5392, 1.747, 1.4685, -0.6971, 0.26, 0.3195, 0.0453]\nstate[eef_state]: left_x=0.2973 left_y=-0.0523 left_z=0.2305 left_yaw=0.0863 left_pitch=-0.0782 left_roll=-0.0962 left_gripper=0.9957 right_x=0.4105 right_y=0.1969 right_z=0.163 right_yaw=0.1116 right_pitch=-0.3539 right_roll=-0.0115 right_gripper=0.0453\nstate[joint_eff]: [-0.0889, -2.1949, 6.7487, 1.58, -0.2027, -0.0513, -0.0171, 0.212, -8.7043, 9.306, 1.3309, 0.4078, 0.2076, 0.823]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:295405e20790754a7c9adc6df489522abc71b63c4e2c317d829b09dc2f3ebd0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b6c3ac0f7abc61793e3793571268647a22fcab1f026148d85c06494d7d8eba7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e2bd0b32a0950c4c829b4ebde450649f5cff07ab552c2ad7ad1637eae186465",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 11.08 s

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

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9447, 0.9291, -0.6689, -0.3134, -0.3931, 0.9957, 0.0589, 1.6325, 0.7013, 0.091, -0.0013, -0.0116, 0.0409]\nstate[eef_state]: left_x=0.297 left_y=-0.0518 left_z=0.2317 left_yaw=0.0881 left_pitch=-0.0741 left_roll=-0.0966 left_gripper=0.9957 right_x=0.3945 right_y=0.0271 right_z=0.0311 right_yaw=0.0571 right_pitch=-0.2663 right_roll=0.0101 right_gripper=0.0409\nstate[joint_eff]: [-0.0752, -1.812, 6.7761, 1.5946, -0.1685, -0.0659, -0.0122, 0.0068, -5.8462, 6.4752, 1.199, 0.5397, -0.232, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9466, 0.9291, -0.6689, -0.3134, -0.3931, 0.9957, 0.0608, 1.4563, 0.9752, -0.3973, -0.0082, -0.0227, 0.0439]\nstate[eef_state]: left_x=0.2972 left_y=-0.0519 left_z=0.2311 left_yaw=0.0881 left_pitch=-0.0758 left_roll=-0.0957 left_gripper=0.9957 right_x=0.3913 right_y=0.0289 right_z=0.1243 right_yaw=0.0714 right_pitch=-0.3044 right_roll=0.0082 right_gripper=0.0439\nstate[joint_eff]: [-0.1846, -2.1812, 6.8855, 1.5995, -0.149, -0.0513, -0.0171, -0.2667, -8.4855, 9.5385, 1.5751, 0.0513, 0.0611, 0.8327]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9485, 0.9291, -0.6689, -0.3111, -0.3931, 0.9957, 0.5392, 1.747, 1.4685, -0.6971, 0.26, 0.3195, 0.0453]\nstate[eef_state]: left_x=0.2973 left_y=-0.0523 left_z=0.2305 left_yaw=0.0863 left_pitch=-0.0782 left_roll=-0.0962 left_gripper=0.9957 right_x=0.4105 right_y=0.1969 right_z=0.163 right_yaw=0.1116 right_pitch=-0.3539 right_roll=-0.0115 right_gripper=0.0453\nstate[joint_eff]: [-0.0889, -2.1949, 6.7487, 1.58, -0.2027, -0.0513, -0.0171, 0.212, -8.7043, 9.306, 1.3309, 0.4078, 0.2076, 0.823]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:295405e20790754a7c9adc6df489522abc71b63c4e2c317d829b09dc2f3ebd0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b6c3ac0f7abc61793e3793571268647a22fcab1f026148d85c06494d7d8eba7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e2bd0b32a0950c4c829b4ebde450649f5cff07ab552c2ad7ad1637eae186465",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019KpH2hvsXtysWLdxVKdwD2",
      "input": {
        "note": "Confirmed: the pink bowl is held and has left its original spot. Moving to hover just above the purple middle bowl (its centre ≈ right_y 0.33, and the held bowl hangs ~5 cm to +y of the grasp point).",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.28,
          "right_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_019KpH2hvsXtysWLdxVKdwD2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.952, 0.9291, -0.6697, -0.3107, -0.3931, 0.9957, 0.6533, 2.0708, 1.9465, -0.9005, 0.2993, 0.3882, 0.0482]\nstate[eef_state]: left_x=0.2976 left_y=-0.0525 left_z=0.2294 left_yaw=0.0862 left_pitch=-0.0821 left_roll=-0.0946 left_gripper=0.9957 right_x=0.4433 right_y=0.2782 right_z=0.1688 right_yaw=0.1445 right_pitch=-0.3821 right_roll=-0.0236 right_gripper=0.0482\nstate[joint_eff]: [-0.1709, -2.3179, 6.9812, 1.5751, -0.1783, -0.0708, -0.0171, 0.1436, -11.494, 8.4171, 1.0672, 0.2613, 0.1978, 0.5885]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66baef8a728f8ebdca6d343a3841506e97bbceee338fdc291f2320bc45cca271",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32332d8f412703af1704b5f94355fb5610e0904871440603f612e2b23f588bc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb5db3a902effd29a02616db8ac92041440c407abfb30a5ae153f2716a031f01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 8.823 s

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

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9466, 0.9291, -0.6689, -0.3134, -0.3931, 0.9957, 0.0608, 1.4563, 0.9752, -0.3973, -0.0082, -0.0227, 0.0439]\nstate[eef_state]: left_x=0.2972 left_y=-0.0519 left_z=0.2311 left_yaw=0.0881 left_pitch=-0.0758 left_roll=-0.0957 left_gripper=0.9957 right_x=0.3913 right_y=0.0289 right_z=0.1243 right_yaw=0.0714 right_pitch=-0.3044 right_roll=0.0082 right_gripper=0.0439\nstate[joint_eff]: [-0.1846, -2.1812, 6.8855, 1.5995, -0.149, -0.0513, -0.0171, -0.2667, -8.4855, 9.5385, 1.5751, 0.0513, 0.0611, 0.8327]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9485, 0.9291, -0.6689, -0.3111, -0.3931, 0.9957, 0.5392, 1.747, 1.4685, -0.6971, 0.26, 0.3195, 0.0453]\nstate[eef_state]: left_x=0.2973 left_y=-0.0523 left_z=0.2305 left_yaw=0.0863 left_pitch=-0.0782 left_roll=-0.0962 left_gripper=0.9957 right_x=0.4105 right_y=0.1969 right_z=0.163 right_yaw=0.1116 right_pitch=-0.3539 right_roll=-0.0115 right_gripper=0.0453\nstate[joint_eff]: [-0.0889, -2.1949, 6.7487, 1.58, -0.2027, -0.0513, -0.0171, 0.212, -8.7043, 9.306, 1.3309, 0.4078, 0.2076, 0.823]",
      "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]: [-0.3664, 0.952, 0.9291, -0.6697, -0.3107, -0.3931, 0.9957, 0.6533, 2.0708, 1.9465, -0.9005, 0.2993, 0.3882, 0.0482]\nstate[eef_state]: left_x=0.2976 left_y=-0.0525 left_z=0.2294 left_yaw=0.0862 left_pitch=-0.0821 left_roll=-0.0946 left_gripper=0.9957 right_x=0.4433 right_y=0.2782 right_z=0.1688 right_yaw=0.1445 right_pitch=-0.3821 right_roll=-0.0236 right_gripper=0.0482\nstate[joint_eff]: [-0.1709, -2.3179, 6.9812, 1.5751, -0.1783, -0.0708, -0.0171, 0.1436, -11.494, 8.4171, 1.0672, 0.2613, 0.1978, 0.5885]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66baef8a728f8ebdca6d343a3841506e97bbceee338fdc291f2320bc45cca271",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32332d8f412703af1704b5f94355fb5610e0904871440603f612e2b23f588bc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb5db3a902effd29a02616db8ac92041440c407abfb30a5ae153f2716a031f01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VRpoR7v1rwdrp6sFnv8MDR",
      "input": {
        "note": "In the wrist view the purple bowl sits just under/right of the grasp point while the held pink bowl hangs ~5 cm to the +y side, so I shift y back to 0.22 to bring the pink bowl directly over the purple bowl.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.22,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01VRpoR7v1rwdrp6sFnv8MDR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9531, 0.9291, -0.6693, -0.3107, -0.3931, 0.9957, 0.5327, 2.0018, 1.7252, -0.8326, 0.2481, 0.3023, 0.0486]\nstate[eef_state]: left_x=0.2978 left_y=-0.0526 left_z=0.2292 left_yaw=0.0862 left_pitch=-0.0827 left_roll=-0.0943 left_gripper=0.9957 right_x=0.4422 right_y=0.2145 right_z=0.1268 right_yaw=0.1007 right_pitch=-0.48 right_roll=-0.0724 right_gripper=0.0486\nstate[joint_eff]: [-0.1299, -2.0034, 6.7487, 1.5995, -0.1148, -0.0513, -0.0171, 0.294, -14.7077, 7.5282, 1.58, -0.0171, -0.0366, 0.3883]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f61975baf9132c33a3f86ae6d1d44a6a2246b87ae0a6bd8851af9c1a057957ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:907c02e876a61561b6f72e0fb324a931529f5501a5951b54152b5dd59f2ced5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e76d3863bee3a0e3576e5f4ec9475428289bd5f48769e0aabb4ec0383630db8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 10.93 s

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

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9485, 0.9291, -0.6689, -0.3111, -0.3931, 0.9957, 0.5392, 1.747, 1.4685, -0.6971, 0.26, 0.3195, 0.0453]\nstate[eef_state]: left_x=0.2973 left_y=-0.0523 left_z=0.2305 left_yaw=0.0863 left_pitch=-0.0782 left_roll=-0.0962 left_gripper=0.9957 right_x=0.4105 right_y=0.1969 right_z=0.163 right_yaw=0.1116 right_pitch=-0.3539 right_roll=-0.0115 right_gripper=0.0453\nstate[joint_eff]: [-0.0889, -2.1949, 6.7487, 1.58, -0.2027, -0.0513, -0.0171, 0.212, -8.7043, 9.306, 1.3309, 0.4078, 0.2076, 0.823]",
      "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]: [-0.3664, 0.952, 0.9291, -0.6697, -0.3107, -0.3931, 0.9957, 0.6533, 2.0708, 1.9465, -0.9005, 0.2993, 0.3882, 0.0482]\nstate[eef_state]: left_x=0.2976 left_y=-0.0525 left_z=0.2294 left_yaw=0.0862 left_pitch=-0.0821 left_roll=-0.0946 left_gripper=0.9957 right_x=0.4433 right_y=0.2782 right_z=0.1688 right_yaw=0.1445 right_pitch=-0.3821 right_roll=-0.0236 right_gripper=0.0482\nstate[joint_eff]: [-0.1709, -2.3179, 6.9812, 1.5751, -0.1783, -0.0708, -0.0171, 0.1436, -11.494, 8.4171, 1.0672, 0.2613, 0.1978, 0.5885]",
      "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]: [-0.3664, 0.9531, 0.9291, -0.6693, -0.3107, -0.3931, 0.9957, 0.5327, 2.0018, 1.7252, -0.8326, 0.2481, 0.3023, 0.0486]\nstate[eef_state]: left_x=0.2978 left_y=-0.0526 left_z=0.2292 left_yaw=0.0862 left_pitch=-0.0827 left_roll=-0.0943 left_gripper=0.9957 right_x=0.4422 right_y=0.2145 right_z=0.1268 right_yaw=0.1007 right_pitch=-0.48 right_roll=-0.0724 right_gripper=0.0486\nstate[joint_eff]: [-0.1299, -2.0034, 6.7487, 1.5995, -0.1148, -0.0513, -0.0171, 0.294, -14.7077, 7.5282, 1.58, -0.0171, -0.0366, 0.3883]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f61975baf9132c33a3f86ae6d1d44a6a2246b87ae0a6bd8851af9c1a057957ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:907c02e876a61561b6f72e0fb324a931529f5501a5951b54152b5dd59f2ced5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e76d3863bee3a0e3576e5f4ec9475428289bd5f48769e0aabb4ec0383630db8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISjwgKjgEIEhgCKkBb0Nm5TpZPruQDaXnZIUCfkl3IF2X1HSUDEGukz0BasYPx+RV5x6vRafTSadE5AIZpB+91iKSAL/fDx8IBesXMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbmszNUGEgzKkwBzgFda/VPsIo0aDLWr0yxZDR5LHjeofSIwEby6TITSTiuajbN0m5+LKXN0+6063fML0nJfq3HrQQhmFfXpNRrcQGCB9ou245x4Kq0GecFcdk8Ht0nnwz7WKPuLIEApWrx1pVsJph2s5lbca8Wb3jt2vUMR/q9SQK5h0sUMr+9J+7RrK7ShxOgY1ajcqvv1VojoNWgCUrHIaZPXCqgP/P7eYo0fGAs4LxiB2S3OOfFt4wgZ+j2VoApVb0xldOPJOHHh8D12dNhbhmE1S5rpnS6c57D14ePkG/4ynPXLMPoa//HlVZWHsZafxI3x8/GxcAKpCkYmvXzap7cUE9U1pB6IpzQ1j8zkLpP4wezuIC9uFblJNljcIIUki1p4TITJZOKB2NznTG9YeRVJePZyz6r+T35co/ODyCL1xbSdR65Ue9/LSLCu7yVHW/8WH2QgsMrpq1yFStB2u0cz9xvGiTnF/Zuv4JM8hRkhVMJG99sAxvmYSAwk1W+Kd2W257zk5X9GzWMB5o3aZevr8ZO6XpqcucZca6vEux+lLX2Fv3SDF/BD3GqcwHKPhyjwwoWMunrBQsGih9XmVh1NqbrAKTMVW24QsWzxJCWspaRNjgSVIS2iyBtm0OmVvXbCHN6d5rtalRlndrouHt5iEogVxH/0mOkgrBu8sugR0NlgUJ5NmjyEw4oMTpZ0wNNWSukXz21XYKq/Xk34p0+9UctF530oR0laYrofhInNGzA6SEJMdnmv+WMr+K59eURIrv8ziZqMxY6BtXwTppNbvFUuT033fUUtRKPWT+5zVsjhD7vuIekXECrXS3Vai5HWA05i3XnC9R8eKKyTE0VgJhm9NG0ff3MTw+wa2iq1LX7MI2uX2k8gzANG61X4rP9nk1gFMq4d0jdcVYEs7RZg1ymgkxKtaAlxU1a1Qo5Vv71vU0WTQo8SzHPCr2Sw8HOig5URScR2x+PDd1QGDKo8WecBFQUin2HylRj+cigoz0Pmze/+xZdUgq6mPa06WGAPnYmgBa+ZcZxPJ2NS++lTLjorbHYtmJ0FuseobKw4JMmzcDl+ZWBH7YV0EoOHRvGORuAZwsEf+3k2P4NUtlpIJwvuPUGpeONAsF7QUFY9b3/FNQPGNNT2WOurfPV+3KnB23tpVnjf7DyAhq510WzPy1vIsdvjYCVm5R6BEYH3GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hr4A7cqeFGqNTm761rUQN7",
      "input": {
        "note": "The held pink bowl should now be over the purple bowl (it hides it from both cameras); descending toward 7 cm to nest the pink bowl inside the purple one, watching for contact.",
        "targets": {
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Hr4A7cqeFGqNTm761rUQN7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.955, 0.9291, -0.6693, -0.3107, -0.3931, 0.9957, 0.5301, 2.0289, 1.5532, -0.693, 0.2302, 0.2935, 0.0484]\nstate[eef_state]: left_x=0.298 left_y=-0.0527 left_z=0.2287 left_yaw=0.0863 left_pitch=-0.0845 left_roll=-0.0934 left_gripper=0.9957 right_x=0.4299 right_y=0.2093 right_z=0.0673 right_yaw=0.1054 right_pitch=-0.5413 right_roll=-0.0885 right_gripper=0.0484\nstate[joint_eff]: [-0.2256, -2.0308, 6.8718, 1.619, -0.1636, -0.0611, -0.0122, 0.1846, -10.5915, 6.9675, 1.5018, 0.3101, -0.0317, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac334d8da861a8c2cfe7de8cd669b927d84994aa4f5394af5a47c050ddf11af0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edb96b9cf82818037cc11d2f075938e9a8b23747679bb9f5003bea582d50dd27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7bf4080ee0f230af3e55c77b7a19226924534c770a1c272a5483deb9d82696f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 8.804 s

model: claude-opus-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]: [-0.3664, 0.952, 0.9291, -0.6697, -0.3107, -0.3931, 0.9957, 0.6533, 2.0708, 1.9465, -0.9005, 0.2993, 0.3882, 0.0482]\nstate[eef_state]: left_x=0.2976 left_y=-0.0525 left_z=0.2294 left_yaw=0.0862 left_pitch=-0.0821 left_roll=-0.0946 left_gripper=0.9957 right_x=0.4433 right_y=0.2782 right_z=0.1688 right_yaw=0.1445 right_pitch=-0.3821 right_roll=-0.0236 right_gripper=0.0482\nstate[joint_eff]: [-0.1709, -2.3179, 6.9812, 1.5751, -0.1783, -0.0708, -0.0171, 0.1436, -11.494, 8.4171, 1.0672, 0.2613, 0.1978, 0.5885]",
      "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]: [-0.3664, 0.9531, 0.9291, -0.6693, -0.3107, -0.3931, 0.9957, 0.5327, 2.0018, 1.7252, -0.8326, 0.2481, 0.3023, 0.0486]\nstate[eef_state]: left_x=0.2978 left_y=-0.0526 left_z=0.2292 left_yaw=0.0862 left_pitch=-0.0827 left_roll=-0.0943 left_gripper=0.9957 right_x=0.4422 right_y=0.2145 right_z=0.1268 right_yaw=0.1007 right_pitch=-0.48 right_roll=-0.0724 right_gripper=0.0486\nstate[joint_eff]: [-0.1299, -2.0034, 6.7487, 1.5995, -0.1148, -0.0513, -0.0171, 0.294, -14.7077, 7.5282, 1.58, -0.0171, -0.0366, 0.3883]",
      "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]: [-0.3664, 0.955, 0.9291, -0.6693, -0.3107, -0.3931, 0.9957, 0.5301, 2.0289, 1.5532, -0.693, 0.2302, 0.2935, 0.0484]\nstate[eef_state]: left_x=0.298 left_y=-0.0527 left_z=0.2287 left_yaw=0.0863 left_pitch=-0.0845 left_roll=-0.0934 left_gripper=0.9957 right_x=0.4299 right_y=0.2093 right_z=0.0673 right_yaw=0.1054 right_pitch=-0.5413 right_roll=-0.0885 right_gripper=0.0484\nstate[joint_eff]: [-0.2256, -2.0308, 6.8718, 1.619, -0.1636, -0.0611, -0.0122, 0.1846, -10.5915, 6.9675, 1.5018, 0.3101, -0.0317, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac334d8da861a8c2cfe7de8cd669b927d84994aa4f5394af5a47c050ddf11af0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edb96b9cf82818037cc11d2f075938e9a8b23747679bb9f5003bea582d50dd27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bf4080ee0f230af3e55c77b7a19226924534c770a1c272a5483deb9d82696f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS+woKjgEIEhgCKkCWKBTztXYxEFbhiNjltIa8JH0yrQBy5BY7lv90rNabA6hqDPgesiy//gFZI8Zd5uAlvau/zFd5VSYvKvBorsz4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcOszNUGEgwD1S9FTNwJfg92PzAaDLN33oB2Q08AD4Ep9yIw1OfEA1EYVeuy27mAWvKiBdm2zy9jyIiGqJjfCAEWTnal7xtmfRpugCKN35SEXMVIKpkJ2ZMfPVhCyjWNYjsnNC7gHZ8WzAZkYRB8XA+JLeiU4LOVgcb81Es5GnPZPAcDA3Jdct+rrqTf3WdJ000IrpH4x3dt0wrlHtWJU83RyWjzKAL1tdKgmYh+MetJ8Z4F+d3J4NLgcrlnlFOVCsAVI2MjvSyFhyFtFcnU1J5s3E5T2JldwE5McF75lHx9/jUB9h0dpXYJAqbwLD4vO6S3hqyDVZd2OUxXnmOF/hWTqEGOVvE3WhkVaNf4HMzE19YQ5VT4ECGp+hSwZ8C+0KPZWUdBdgCw6GuBxuaZ5d6qoVUgBWdOvG3ly2aI0GUbVSi7nO7C+eaXbZu55ealxkFl0AS8v/gYmI1RGOMUX2qTNGTFiCwI6umvQ/EZEw10nWSMCpZ04lXtilrcBf07fKyrZ8nxRQwBLcFjP7ct5sgWE8C6wgxJooG3mRBd2jOXxh4XspDdd/ZoFz2lzLZJSoSj/spRtpmMoXyq2oJ9YsShU2jgaj7jvRsGsoJeIcCKshJXHwcV+dzUp5i1IpFAyVKGM3qKnnSN61Yz120l2rsOOHn5k6qpewSQXUzab+YuaftvY8CRj2sYW6tps8pY/CNDbxI/fLgk06Q8wqWLpeuabD3Fh/ucCngsdCBwQNWy4VHrIZ53c8Z8YjmMi2kUuWreFXbko3z7Th5nphY2i6Ka6XEBPqO/T6//rhpOC138eItlZs/xTKU72EM8vK2Xd6dqOhK3T1fLx6VgPFdlH4teD1jh6LmTRYyKlrQVeS1wOj9w6TWSVTb6Yt48XHLiuJZyPBw5WFL09jXlGLBWM4zX4APEc+70AwAEKlJzJ+PoQo+ahAbZYuO9VmzDBjqvMTx0NBeckzcySzGFPrD++FQyMcJBFkU40T6IPmcxneFm9PLcITJEutZEEDNcnaMahJuml//fQXHRoG/Oqo9QDoUqCsNEMHWtVYsrsyi0YGtLDdCoFkiB/2DLPWnnhamU6KhgXLg8cr+cWY2Sq/mbwV8fRexCfrvFd/Cf2ufs7pEDCOYEvQSAJpugKk+BvWpgTbjcd63yjsHnjFQsITO8TqF3tIKUEsriU2I9KH3mxLv94zm8iaoJuhcDAQ8IQ+uKCuAYPYeLnb1mQheuT6qAk1eFDat/RPFdksvPajgvG+DCylH6T4pL/XHhDaH8w9GN8IwhzbmEJdCUCVto6NSp1V7Gi9ajMM6Y7uT6+cKvFYf52SU8PqMIzvstmMKs0uUzPM3VU70/Inu0ki/2AlUca6vkVdBAYCC195ebQMYt4qbXVunE5N2Ty0QwDRLf5lprmGYDG4wbioeprfmN3EejAkSCet8lEdPD4uZh5wQXmV+LayGAFolTQaACe9AkO4MbhSSbvFyaPxWzEb6vCGwaJCwiBhus/kcPst6sDCZwbFNqqDqIh07oeA/a+KsGtGTcegPsAAarXrsn7dVKXH5sx4xLEZi0X3sJbkrOzwqfOJJnMGZ9+Ey3ye3wTgY0ZH5Z+aY9Zirxne8oRis8twiRRpjaovnIVpoZsUubGaAbl/BCYXysbwIZkxavzV0Ry5rp8W1TZW+b64dWeatbrrHSbRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CQp89qVW9TZzhmqUniAL95",
      "input": {
        "note": "The wrist view shows the purple bowl's rim just forward and to the +y side of the held pink bowl, i.e. they are side by side rather than nested. Lifting back to 13 cm and shifting 3 cm forward / 2.5 cm in +y to get directly over the purple bowl.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.235,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01CQp89qVW9TZzhmqUniAL95",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9577, 0.9291, -0.6758, -0.3107, -0.3931, 0.9957, 0.5434, 2.1574, 1.969, -0.968, 0.2264, 0.2916, 0.0481]\nstate[eef_state]: left_x=0.2973 left_y=-0.0524 left_z=0.2267 left_yaw=0.0866 left_pitch=-0.0927 left_roll=-0.0894 left_gripper=0.9957 right_x=0.4599 right_y=0.2357 right_z=0.1233 right_yaw=0.1263 right_pitch=-0.5317 right_roll=-0.0799 right_gripper=0.0481\nstate[joint_eff]: [-0.1709, -2.3316, 7.0632, 1.663, -0.149, -0.0366, -0.0122, 0.1162, -11.1658, 7.706, 0.8864, 0.1636, 0.1197, 0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9085f4d9fa642328eda0e73d1557ae95bcb7ab6a5362555af415050730221aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccfb2e0c321a6340bb54c2976d5641f1e4fa826c79805558f869f1cd75d68db2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:98b0977a4a88b2ff33d75ee5dc9ddcb1cc6bed4220a26a62bd79e0eb2550a8ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 9.416 s

model: claude-opus-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]: [-0.3664, 0.9531, 0.9291, -0.6693, -0.3107, -0.3931, 0.9957, 0.5327, 2.0018, 1.7252, -0.8326, 0.2481, 0.3023, 0.0486]\nstate[eef_state]: left_x=0.2978 left_y=-0.0526 left_z=0.2292 left_yaw=0.0862 left_pitch=-0.0827 left_roll=-0.0943 left_gripper=0.9957 right_x=0.4422 right_y=0.2145 right_z=0.1268 right_yaw=0.1007 right_pitch=-0.48 right_roll=-0.0724 right_gripper=0.0486\nstate[joint_eff]: [-0.1299, -2.0034, 6.7487, 1.5995, -0.1148, -0.0513, -0.0171, 0.294, -14.7077, 7.5282, 1.58, -0.0171, -0.0366, 0.3883]",
      "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]: [-0.3664, 0.955, 0.9291, -0.6693, -0.3107, -0.3931, 0.9957, 0.5301, 2.0289, 1.5532, -0.693, 0.2302, 0.2935, 0.0484]\nstate[eef_state]: left_x=0.298 left_y=-0.0527 left_z=0.2287 left_yaw=0.0863 left_pitch=-0.0845 left_roll=-0.0934 left_gripper=0.9957 right_x=0.4299 right_y=0.2093 right_z=0.0673 right_yaw=0.1054 right_pitch=-0.5413 right_roll=-0.0885 right_gripper=0.0484\nstate[joint_eff]: [-0.2256, -2.0308, 6.8718, 1.619, -0.1636, -0.0611, -0.0122, 0.1846, -10.5915, 6.9675, 1.5018, 0.3101, -0.0317, 0.6276]\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]: [-0.3664, 0.9577, 0.9291, -0.6758, -0.3107, -0.3931, 0.9957, 0.5434, 2.1574, 1.969, -0.968, 0.2264, 0.2916, 0.0481]\nstate[eef_state]: left_x=0.2973 left_y=-0.0524 left_z=0.2267 left_yaw=0.0866 left_pitch=-0.0927 left_roll=-0.0894 left_gripper=0.9957 right_x=0.4599 right_y=0.2357 right_z=0.1233 right_yaw=0.1263 right_pitch=-0.5317 right_roll=-0.0799 right_gripper=0.0481\nstate[joint_eff]: [-0.1709, -2.3316, 7.0632, 1.663, -0.149, -0.0366, -0.0122, 0.1162, -11.1658, 7.706, 0.8864, 0.1636, 0.1197, 0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9085f4d9fa642328eda0e73d1557ae95bcb7ab6a5362555af415050730221aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccfb2e0c321a6340bb54c2976d5641f1e4fa826c79805558f869f1cd75d68db2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98b0977a4a88b2ff33d75ee5dc9ddcb1cc6bed4220a26a62bd79e0eb2550a8ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISmAgKjgEIEhgCKkBhx/jCMOzllwxLxxGO5kGkPs1vR+q7AEVBxIkrhYgngEGHAF+IgwxC3cC/7Z5CX237X63jIFLABoEyyk8A1mT9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc2szNUGEgxSr35lWrAhC34FtZwaDHRQeeQ7yNXms8NewSIwGQqYQmdtoanyaNbUXqlkSHWX7Yg5Qz90jeT456WO4cQ3Iq7jZYVt6y7DP2j23epRKrYGvxszufR4Njt69fCAHaNEcAKkm8WCQGmukDIhxyha43wygAShoeqDIeFWqa9acqt4bvJOktIsYwyk3BaQ0cONn4Yxh7JpHFl4cSPt4gwo0kBt5ubCny1RspXBFQVGKKW1AA2FyrsrFuVQWtL33gWOq+viQLeQVCB8M6FJJTHh+1mmHAA8kd6xgfki+M8FnSbCh3OgOiqJdWVbZYzOMdtXXwQRj9MePrOnxia8RtNx51upkPjNu5fH0jpyC7ESJYpWbFFZUzxlMncijpl3CxITEKbCAfUGh8HMKJ84jIPG00psknsQ+2iBaeLxpiBBZTMhcEVkvVw3yae5DhvmojQVIWG3qlAmidd2wcBfVDw67HBlZmdpV1ej4WRU4Ciffn+ya9MkvHz0gosIaL6xxTlJlXr6bH/arf5m+PZZ++3T/FwMzGZMtkwvO/uHDBd5CcXp8cpbIrxZ3e6BkCjfMvzMozT9lEMzdM5tRzEXlfPXfR4um3yTiIiODBXd9CEm0AmBId8EzpvZahDv3xcCCA7cSAjSb/tTq5VkveyM8sf1WYtAk4DwybNAKRqfArwDP1lOro5bPluUyuSc69SQ3Mrr+Wv6QSEqUau6+Nb5GH9oQ/yfqADuaMSmyWpQKNqytPNN7Mios0AFNQiBF8LOG6gGjwnUw6o7A4IxEpPGcCinJtyqogXx1VhZ1llIGawV65yFN8Fk4L04F7PU8KCsM+oqcTEeEWgChQrQFn1j//3X3MA/pkTSwnZ6eoqFBXpNhhK/R9X9sfD2bAAhlUVnnggcC/3H4T4gfnWzY3V1hmXqsuSLWQoN4T+tMeqiG9Gxr1+maiSDMhVT62SEh0SXZxEvRhEdochXKXcVXzKuMfBi0jAT0nLa4Oy2VrXNVMhXx9ADdkYsl1EstLnKUH8sbHYNawNKKdYz9wIvIRjam2WYOptNuZZl9GbUB8jap1RIpG+BYsRV4YQZogvoKxRAmk7ub9pNU2OadlS4Z1cAoRT9uCemOvjjWL9alMDFldDCIi7wd6sADCuZCSPbJsu3yGhrxN98vIRAZlJ/GXX1cM/aN1B9tIgjnhvsv0DNIfTs3NJRCKEyEGspGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FpCaGkjxGDVs7Eb5e5atqe",
      "input": {
        "note": "Purple bowl is now hidden directly beneath the held pink bowl, so I descend again to 7 cm to drop the pink bowl into it.",
        "targets": {
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01FpCaGkjxGDVs7Eb5e5atqe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9596, 0.9287, -0.6758, -0.3107, -0.3931, 0.9957, 0.5449, 2.1704, 1.7828, -0.8528, 0.2226, 0.2909, 0.0474]\nstate[eef_state]: left_x=0.2975 left_y=-0.0525 left_z=0.226 left_yaw=0.0867 left_pitch=-0.0947 left_roll=-0.0884 left_gripper=0.9957 right_x=0.4434 right_y=0.2274 right_z=0.0638 right_yaw=0.1095 right_pitch=-0.6097 right_roll=-0.1177 right_gripper=0.0474\nstate[joint_eff]: [-0.1709, -2.3043, 6.7624, 1.5995, -0.1929, -0.0464, -0.0122, -0.294, -12.1915, 6.7624, 1.4579, 0.1587, -0.0415, 0.6422]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:233336af190ce92252a5684fd65a8b5455687b30a9e00dc4dcb3452f8341fce9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eda532e78f52caad058918dc5ca34948e1a86702483245fdf51176def5e9a8fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e88cb54046bceb6619ff8a78636688f6acc0b827bad6b8596d376f9e102fd17f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 5.82 s

model: claude-opus-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]: [-0.3664, 0.955, 0.9291, -0.6693, -0.3107, -0.3931, 0.9957, 0.5301, 2.0289, 1.5532, -0.693, 0.2302, 0.2935, 0.0484]\nstate[eef_state]: left_x=0.298 left_y=-0.0527 left_z=0.2287 left_yaw=0.0863 left_pitch=-0.0845 left_roll=-0.0934 left_gripper=0.9957 right_x=0.4299 right_y=0.2093 right_z=0.0673 right_yaw=0.1054 right_pitch=-0.5413 right_roll=-0.0885 right_gripper=0.0484\nstate[joint_eff]: [-0.2256, -2.0308, 6.8718, 1.619, -0.1636, -0.0611, -0.0122, 0.1846, -10.5915, 6.9675, 1.5018, 0.3101, -0.0317, 0.6276]\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]: [-0.3664, 0.9577, 0.9291, -0.6758, -0.3107, -0.3931, 0.9957, 0.5434, 2.1574, 1.969, -0.968, 0.2264, 0.2916, 0.0481]\nstate[eef_state]: left_x=0.2973 left_y=-0.0524 left_z=0.2267 left_yaw=0.0866 left_pitch=-0.0927 left_roll=-0.0894 left_gripper=0.9957 right_x=0.4599 right_y=0.2357 right_z=0.1233 right_yaw=0.1263 right_pitch=-0.5317 right_roll=-0.0799 right_gripper=0.0481\nstate[joint_eff]: [-0.1709, -2.3316, 7.0632, 1.663, -0.149, -0.0366, -0.0122, 0.1162, -11.1658, 7.706, 0.8864, 0.1636, 0.1197, 0.2906]\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]: [-0.3664, 0.9596, 0.9287, -0.6758, -0.3107, -0.3931, 0.9957, 0.5449, 2.1704, 1.7828, -0.8528, 0.2226, 0.2909, 0.0474]\nstate[eef_state]: left_x=0.2975 left_y=-0.0525 left_z=0.226 left_yaw=0.0867 left_pitch=-0.0947 left_roll=-0.0884 left_gripper=0.9957 right_x=0.4434 right_y=0.2274 right_z=0.0638 right_yaw=0.1095 right_pitch=-0.6097 right_roll=-0.1177 right_gripper=0.0474\nstate[joint_eff]: [-0.1709, -2.3043, 6.7624, 1.5995, -0.1929, -0.0464, -0.0122, -0.294, -12.1915, 6.7624, 1.4579, 0.1587, -0.0415, 0.6422]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:233336af190ce92252a5684fd65a8b5455687b30a9e00dc4dcb3452f8341fce9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eda532e78f52caad058918dc5ca34948e1a86702483245fdf51176def5e9a8fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e88cb54046bceb6619ff8a78636688f6acc0b827bad6b8596d376f9e102fd17f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISmAoKjgEIEhgCKkDqxoHU6IZbvWdovhvb6dy9N2+eGdx2DizI553fVSYWx08C8QcfiiDF/EFU/P0UzwXpZgZ1AwgM0dBkxQLFyu2PMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdeszNUGEgy/TiCZaArF7+IAihAaDMT8YYwWUjanK8rJmSIwnJiahJ9/bIaMfjpM+y+bUlYi7q2bAXdHERevNc+B+GObBvKCcZtJOIVjN3C514H3KrYIONi9oLxBqEFObzqyrKNsiU8RIrnEMqSPIQC5kqecMt6XmXYC0kb6izZKbEmIQORTdNTNMx2VcSO744xgze/F/OulgKOhtuwo27PJtwZ7OeqEW5c2pmMvWhHvdXva1QmC+wfYTYpcXkXapTV6x1TU73R8dph1sc1drI1AVJSJ2ZWPe7x3JcIvRp4NIzGlT06KenrzAhDVA/5aXZhloya/+yMCUMjZhO+5M5quFRr7LLzp78CsYeol0N0gbPRhHXH8LC037Ai/5S1fMWTSHVziNgzUn1F42gA/GwOMR63YuLj/v71lm9egh3OV+it25YcJLIW+34rI87MxR5T7En5QxFufVvDEKo25wYcFf8n6Dqv6PlNoTbJQkdO6Gm8yO5KWduqRhZgdZpzTw0x8cqHyzOS0SOTXFDlyFaTzRSJOBibcUUYcJRwjI41Q3KJNYpdrprtUupG3BmiiCwveyWWJ0CWDWrF2q1KAxVkX2aMxMgITDYlk0Kuznc52tYEqs87E0Z1JdrpJjrwezPH9AJERgA9y9AKx9b1WKI91ATqb7exjbrlG6Efuv2S9701N8qzfIkyQuzydCZlPpvMGldj8CraGgqCnq3nMNwQZLU5ZziWniAYZc3xu52Z5Snj3YTwtnIES8oEVctASydw2DZVvu9j/0y3hvpgbM2fZ6SLq957O4Bu7+nv4IwLFAZ/uEF1FbmbsSBcQTfRnbQbI6jmRKj+m6JYTMmRAHSFOwzBN5xpoznrEFBCUDPCX5NUYrgtjgEwgD8HuqjmrqEEBEdJCgT2awJg8iLqq0xsvPTf/3NvNQFoTEjuK5s6PZ67BpSc8dikuIPRx6EsQIcPEUE/n+zD083OY7jKZY95dmeuRRGBFNxf0YQ8xk7EqDoCgJ7AbqsrwRRpRR82J3+rmH7X8A6qM9Za4cMUuZ5pCoQWHcrB3+VA+i2ukgjxAF6rzj3eCJjcO2aXFk19wM4Fo7/mHWNl2fey7MED2TPEQhxd28QT+HA5OwDVj28J1NA5whadPMwxLtJNt1oIU3NfHox/ghy/wrlh6ORl0QYh1XGFaguRZjag/yvrlP0+rGbAB3vlPf1O9768LYBlHtAVbcEDVYwUi5voayAUYT5pcUCBP4QgtvoR08E6Rv76AtpYRU2YpZt+hoNJ/CYq4u8nrruu2CrUQRo6asSGtaMgBBfavYoMgzeUkIf1nd6nJsjLlzjazluF7oFfoAybk2JPW3A/03YpgCXB3JDhtC1yPQnOEfaAlGO08Er0b8nVh8LIRLd6a9qo80zuqhGG6kqvceLoazZc4jx/Phz78/ycfqtF8hj8GG6KK0iJ0lfPwAM/nDEMffDhmTSHO5zFkYVa0peFv4ZUsUc8FTYWSy4zl2wqVPp9ADy3jCjfw8aBCwmG1rU/x82sYRnVYs4HO+QeQzwWALONpm6MC3BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017admnMw3sVHXkKCr2XRAEx",
      "input": {
        "note": "Releasing the pink bowl at the middle bowl's location, then I will retract to inspect whether it nested.",
        "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_017admnMw3sVHXkKCr2XRAEx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9615, 0.9291, -0.6758, -0.3107, -0.3931, 0.9957, 0.5453, 2.1731, 1.7523, -0.8333, 0.223, 0.2871, 0.9953]\nstate[eef_state]: left_x=0.2977 left_y=-0.0526 left_z=0.2257 left_yaw=0.0868 left_pitch=-0.0961 left_roll=-0.0877 left_gripper=0.9957 right_x=0.44 right_y=0.2254 right_z=0.0541 right_yaw=0.108 right_pitch=-0.6222 right_roll=-0.127 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -2.3179, 6.8308, 1.5946, -0.188, -0.0708, -0.0171, 0.0752, -13.5179, 6.2838, 0.9304, 0.1685, -0.0464, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eacabf65ad8e9ea7b334b049614dcc7baf32e54bc4f4ec6d1de12d341ef15462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df968688a6ffd4a90f16323c8486ec461e9a9006d364f97d3d456a0a6aedf96a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:921a145645f0c7811d0da66a4df1196af0f50cb21bddcd4a1989bd91689f540c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 20.04 s

model: claude-opus-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]: [-0.3664, 0.9577, 0.9291, -0.6758, -0.3107, -0.3931, 0.9957, 0.5434, 2.1574, 1.969, -0.968, 0.2264, 0.2916, 0.0481]\nstate[eef_state]: left_x=0.2973 left_y=-0.0524 left_z=0.2267 left_yaw=0.0866 left_pitch=-0.0927 left_roll=-0.0894 left_gripper=0.9957 right_x=0.4599 right_y=0.2357 right_z=0.1233 right_yaw=0.1263 right_pitch=-0.5317 right_roll=-0.0799 right_gripper=0.0481\nstate[joint_eff]: [-0.1709, -2.3316, 7.0632, 1.663, -0.149, -0.0366, -0.0122, 0.1162, -11.1658, 7.706, 0.8864, 0.1636, 0.1197, 0.2906]\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]: [-0.3664, 0.9596, 0.9287, -0.6758, -0.3107, -0.3931, 0.9957, 0.5449, 2.1704, 1.7828, -0.8528, 0.2226, 0.2909, 0.0474]\nstate[eef_state]: left_x=0.2975 left_y=-0.0525 left_z=0.226 left_yaw=0.0867 left_pitch=-0.0947 left_roll=-0.0884 left_gripper=0.9957 right_x=0.4434 right_y=0.2274 right_z=0.0638 right_yaw=0.1095 right_pitch=-0.6097 right_roll=-0.1177 right_gripper=0.0474\nstate[joint_eff]: [-0.1709, -2.3043, 6.7624, 1.5995, -0.1929, -0.0464, -0.0122, -0.294, -12.1915, 6.7624, 1.4579, 0.1587, -0.0415, 0.6422]",
      "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]: [-0.3664, 0.9615, 0.9291, -0.6758, -0.3107, -0.3931, 0.9957, 0.5453, 2.1731, 1.7523, -0.8333, 0.223, 0.2871, 0.9953]\nstate[eef_state]: left_x=0.2977 left_y=-0.0526 left_z=0.2257 left_yaw=0.0868 left_pitch=-0.0961 left_roll=-0.0877 left_gripper=0.9957 right_x=0.44 right_y=0.2254 right_z=0.0541 right_yaw=0.108 right_pitch=-0.6222 right_roll=-0.127 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -2.3179, 6.8308, 1.5946, -0.188, -0.0708, -0.0171, 0.0752, -13.5179, 6.2838, 0.9304, 0.1685, -0.0464, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eacabf65ad8e9ea7b334b049614dcc7baf32e54bc4f4ec6d1de12d341ef15462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df968688a6ffd4a90f16323c8486ec461e9a9006d364f97d3d456a0a6aedf96a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:921a145645f0c7811d0da66a4df1196af0f50cb21bddcd4a1989bd91689f540c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS4wMKjgEIEhgCKkB5lyGG+PDgMQSiDMRXyiWr4TtsYPbB//SEZpLVPqT+OlF/jDAciRMgHiKMEs5ngiM2r7yhtAf3RZ6BPvw9FBoWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd2szNUGEgxI0gL3F1+lcRZgL3gaDCI6RVd8MXPUaNbBMyIw5HznRDocClQGyPsyNPLT42Eej862sW9CskkowG1TjaJhjbP8ebvHVTGuqOLZfZObKoECtsK1yNgL9jeBBBzxvcLr+gWFirm+cA+xvusU+Cm0f+4VZY8wRbIf02U48mRE8rPObB8inBPYaVLMpudxpGByjJo5B6kPHwcu8q5zDOu3OtB8V7oesgPg7wM7K5nWmWuJ7t1F/3i4HIpKPbXXGJQqT7KTBG2QFvHqaLXZ5O8l0DoAMMSVsOlTtcsv9ZvrDMyFVHe+btyFU2P2acgKswlChHeg6P9JWMBqxa1sqKUU/Yzf9CwiF5vrrbD+Y1vz2dQNNVFo20qP0YcDoA/unJ0ZPfAS9V1wI6KSUGwhBFK90h4KNWMQlbK57EdpWBIdnivQjP5J3J1HMzPGezccYQ1SuZgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012GUtWQ1GZFkJUJ5V3eoGG4",
      "input": {
        "note": "Bowl released; retracting the right arm to home so the top camera can show whether the pink bowl is nested and where the remaining bowls are.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.28,
          "right_y": 0.0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_012GUtWQ1GZFkJUJ5V3eoGG4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9672, 0.9287, -0.6758, -0.3107, -0.3931, 0.9957, -0.0216, 0.8104, 0.8871, -0.6571, 0.0113, -0.1719, 0.9964]\nstate[eef_state]: left_x=0.2983 left_y=-0.0528 left_z=0.2239 left_yaw=0.0871 left_pitch=-0.1016 left_roll=-0.085 left_gripper=0.9957 right_x=0.2842 right_y=-0.0045 right_z=0.2468 right_yaw=0.0529 right_pitch=-0.0125 right_roll=-0.1301 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -2.6325, 6.9538, 1.5702, -0.1685, -0.0708, -0.0122, -0.1436, -0.9504, 6.5436, 1.7216, -0.1685, 0.0415, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3dbc236e326647361720cc718178aa0817a8f33cae6c24d2171b9f0d8d2dc85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:918c210cc3112b90af51713e581f18ecb439211823b0f62d732e8e7323149944",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8366e2a6ec3c7d89a1a6d3fe76b41928fe88635bfbd56507b58bda00f6097c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 6.691 s

model: claude-opus-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]: [-0.3664, 0.9596, 0.9287, -0.6758, -0.3107, -0.3931, 0.9957, 0.5449, 2.1704, 1.7828, -0.8528, 0.2226, 0.2909, 0.0474]\nstate[eef_state]: left_x=0.2975 left_y=-0.0525 left_z=0.226 left_yaw=0.0867 left_pitch=-0.0947 left_roll=-0.0884 left_gripper=0.9957 right_x=0.4434 right_y=0.2274 right_z=0.0638 right_yaw=0.1095 right_pitch=-0.6097 right_roll=-0.1177 right_gripper=0.0474\nstate[joint_eff]: [-0.1709, -2.3043, 6.7624, 1.5995, -0.1929, -0.0464, -0.0122, -0.294, -12.1915, 6.7624, 1.4579, 0.1587, -0.0415, 0.6422]",
      "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]: [-0.3664, 0.9615, 0.9291, -0.6758, -0.3107, -0.3931, 0.9957, 0.5453, 2.1731, 1.7523, -0.8333, 0.223, 0.2871, 0.9953]\nstate[eef_state]: left_x=0.2977 left_y=-0.0526 left_z=0.2257 left_yaw=0.0868 left_pitch=-0.0961 left_roll=-0.0877 left_gripper=0.9957 right_x=0.44 right_y=0.2254 right_z=0.0541 right_yaw=0.108 right_pitch=-0.6222 right_roll=-0.127 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -2.3179, 6.8308, 1.5946, -0.188, -0.0708, -0.0171, 0.0752, -13.5179, 6.2838, 0.9304, 0.1685, -0.0464, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9672, 0.9287, -0.6758, -0.3107, -0.3931, 0.9957, -0.0216, 0.8104, 0.8871, -0.6571, 0.0113, -0.1719, 0.9964]\nstate[eef_state]: left_x=0.2983 left_y=-0.0528 left_z=0.2239 left_yaw=0.0871 left_pitch=-0.1016 left_roll=-0.085 left_gripper=0.9957 right_x=0.2842 right_y=-0.0045 right_z=0.2468 right_yaw=0.0529 right_pitch=-0.0125 right_roll=-0.1301 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -2.6325, 6.9538, 1.5702, -0.1685, -0.0708, -0.0122, -0.1436, -0.9504, 6.5436, 1.7216, -0.1685, 0.0415, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3dbc236e326647361720cc718178aa0817a8f33cae6c24d2171b9f0d8d2dc85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:918c210cc3112b90af51713e581f18ecb439211823b0f62d732e8e7323149944",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8366e2a6ec3c7d89a1a6d3fe76b41928fe88635bfbd56507b58bda00f6097c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018nBPC6dtzDL2nsqkmsp2ux",
      "input": {
        "note": "Only two bowls remain in view: the white one near the left arm and the pink one now in the middle. Reaching the left arm to the white bowl's near-right rim (commanding x 0.47 to allow for sag) at 4 cm height for a rim pinch like the one that worked on the right.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.47,
          "left_y": -0.02,
          "left_yaw": 0.0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_018nBPC6dtzDL2nsqkmsp2ux",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.8271, 0.8196, 0.2234, -0.025, -0.1677, 0.9988, -0.0216, 0.8162, 0.8867, -0.6769, -0.001, -0.1905, 0.9964]\nstate[eef_state]: left_x=0.4429 left_y=-0.0169 left_z=0.0182 left_yaw=0.0364 left_pitch=-0.2121 left_roll=-0.0856 left_gripper=0.9988 right_x=0.2822 right_y=-0.0023 right_z=0.241 right_yaw=0.0733 right_pitch=-0.0392 right_roll=-0.1366 right_gripper=0.9964\nstate[joint_eff]: [0.4855, -9.0872, 7.8017, 1.79, 0.0611, 0.1929, -0.1441, -0.1026, -1.4427, 6.6803, 1.8828, 0.0855, 0.1587, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff94070c5c2efe2faab6119093c27e6780506de9e026cea9b27f38dd5fb59188",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b73a3d19c662ee3cc08579fe9ef50b8f8efcab4594409f9270f6a0ab9d3149de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69145e99f9b82846e653f625729beabcb00975618970d999098209f86f0fed28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 7.438 s

model: claude-opus-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]: [-0.3664, 0.9615, 0.9291, -0.6758, -0.3107, -0.3931, 0.9957, 0.5453, 2.1731, 1.7523, -0.8333, 0.223, 0.2871, 0.9953]\nstate[eef_state]: left_x=0.2977 left_y=-0.0526 left_z=0.2257 left_yaw=0.0868 left_pitch=-0.0961 left_roll=-0.0877 left_gripper=0.9957 right_x=0.44 right_y=0.2254 right_z=0.0541 right_yaw=0.108 right_pitch=-0.6222 right_roll=-0.127 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -2.3179, 6.8308, 1.5946, -0.188, -0.0708, -0.0171, 0.0752, -13.5179, 6.2838, 0.9304, 0.1685, -0.0464, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 0.9672, 0.9287, -0.6758, -0.3107, -0.3931, 0.9957, -0.0216, 0.8104, 0.8871, -0.6571, 0.0113, -0.1719, 0.9964]\nstate[eef_state]: left_x=0.2983 left_y=-0.0528 left_z=0.2239 left_yaw=0.0871 left_pitch=-0.1016 left_roll=-0.085 left_gripper=0.9957 right_x=0.2842 right_y=-0.0045 right_z=0.2468 right_yaw=0.0529 right_pitch=-0.0125 right_roll=-0.1301 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -2.6325, 6.9538, 1.5702, -0.1685, -0.0708, -0.0122, -0.1436, -0.9504, 6.5436, 1.7216, -0.1685, 0.0415, 0.0952]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.8271, 0.8196, 0.2234, -0.025, -0.1677, 0.9988, -0.0216, 0.8162, 0.8867, -0.6769, -0.001, -0.1905, 0.9964]\nstate[eef_state]: left_x=0.4429 left_y=-0.0169 left_z=0.0182 left_yaw=0.0364 left_pitch=-0.2121 left_roll=-0.0856 left_gripper=0.9988 right_x=0.2822 right_y=-0.0023 right_z=0.241 right_yaw=0.0733 right_pitch=-0.0392 right_roll=-0.1366 right_gripper=0.9964\nstate[joint_eff]: [0.4855, -9.0872, 7.8017, 1.79, 0.0611, 0.1929, -0.1441, -0.1026, -1.4427, 6.6803, 1.8828, 0.0855, 0.1587, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff94070c5c2efe2faab6119093c27e6780506de9e026cea9b27f38dd5fb59188",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b73a3d19c662ee3cc08579fe9ef50b8f8efcab4594409f9270f6a0ab9d3149de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69145e99f9b82846e653f625729beabcb00975618970d999098209f86f0fed28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISsQYKjgEIEhgCKkDGGXoMsbT+JFhbSHiqgBcXmqWzPIFmp+q3Aa2znuGsi9vY9BG371+6UAfbFle6jUXFfv0Q0FkIfic2FdmgQIpyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfyszNUGEgyNUhrvTMPPocTgr/QaDNHX2G55L+5X67nVySIwNpgOA4D81OVwwb3wbvQqjkz521KwHJJNzDDNWqVH8wihEidwxq49IoHaTypguPYnKs8EgoWsQfrAHL5T4Sf3pO2CpnUMDGKhC5/zOBkmvY8U6uTgUsh3VS06wdj7J4vpJ58lq6h/50e1B8dfCySc4bQ3h0HFe9xNGvlK09mzYmQBhByJP2qZe2o4pjO9ssCanGBhjXw/Q3NTZogaeyXfM1SJ5n00UlfEmMQMQZwQa96K3b0Kl6BsgU7MgDGCk8QNTHNBPNbNyc3X/n7XcM90VuK5Aff6ES6/ro9dIWw1AgcEgZuCAV1ymN+pwrBDQXfH8qAF8rno5+AsQ+NW2QhvRfZMdG6jUM5xvt4snN6Nc81QpeJmNc/uqehOIb6yzdajDjhXU6qi330iPu10LaugttgmE/lt79i8y+4DyxRRB0sAvllrQ3HJlDCgI4JAGU12OTe9V6XjNH0O8Ge8kki3aAFnrZJdSeJFR3KkunTweIDPrZgMesHFs7YzGPGMJkfjSSblWNIfp9FZfO0q7mfZcnX8q8pznazGMH/FDtWzAKNxHq+AxqdzNc1GHwGIq2WAmMHgiH/nh+tUJJo2FTH1mKHNCgLvw2Ybi4Q6H1b9cm9tIebRikbVxaIID9y9zqv1Rd2dP7abVHfey9wUuAdz2l7bVIinL5E6dzdDJFxYN74sRH+9JFVBLbaJkhVnpBS+G5vVDGE6CZXguUHJvbU8EW3OV82TKV2KKzF1xv2j0aPirRsyBNx1Acd9o8kqLfDrIFl/TiacVKqGJOdNtt+BQus9HAd73YEyf/u4Ju5A1QKKnZsqTK1uqchi3+o1VKrxfFmsScCBjyozC+dzcbGplPFLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TGZuqzKG7jbZZTs9vvuvay",
      "input": {
        "note": "The white bowl's rim edge runs between the open jaws in the left wrist view (right jaw over the bowl, left jaw on the table); closing to pinch the rim.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TGZuqzKG7jbZZTs9vvuvay",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0525, 1.8378, 0.8215, 0.2295, -0.0223, -0.1799, 0.5145, -0.0216, 0.8173, 0.8867, -0.6807, -0.0013, -0.1921, 0.9965]\nstate[eef_state]: left_x=0.4437 left_y=-0.0158 left_z=0.0154 left_yaw=0.0447 left_pitch=-0.2155 left_roll=-0.096 left_gripper=0.5145 right_x=0.2818 right_y=-0.0023 right_z=0.2399 right_yaw=0.0744 right_pitch=-0.0442 right_roll=-0.1371 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, -9.4017, 5.2034, 1.4579, -0.105, 0.105, 1.0281, -0.0342, -1.1556, 6.653, 1.7363, -0.0171, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a012947e4ea9b8183feb8ac08c6b9c5837b18e525726e6357dca5a12fbaf63cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3797455537f616e38ab392e7d0ea2b8846c54d97eb3d3aaae603cf87b413449d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:034a327c32d0e6793fe2ecc4d5684f737afa48f5388519a99f37f66924385fdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 13.46 s

model: claude-opus-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]: [-0.3664, 0.9672, 0.9287, -0.6758, -0.3107, -0.3931, 0.9957, -0.0216, 0.8104, 0.8871, -0.6571, 0.0113, -0.1719, 0.9964]\nstate[eef_state]: left_x=0.2983 left_y=-0.0528 left_z=0.2239 left_yaw=0.0871 left_pitch=-0.1016 left_roll=-0.085 left_gripper=0.9957 right_x=0.2842 right_y=-0.0045 right_z=0.2468 right_yaw=0.0529 right_pitch=-0.0125 right_roll=-0.1301 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -2.6325, 6.9538, 1.5702, -0.1685, -0.0708, -0.0122, -0.1436, -0.9504, 6.5436, 1.7216, -0.1685, 0.0415, 0.0952]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.8271, 0.8196, 0.2234, -0.025, -0.1677, 0.9988, -0.0216, 0.8162, 0.8867, -0.6769, -0.001, -0.1905, 0.9964]\nstate[eef_state]: left_x=0.4429 left_y=-0.0169 left_z=0.0182 left_yaw=0.0364 left_pitch=-0.2121 left_roll=-0.0856 left_gripper=0.9988 right_x=0.2822 right_y=-0.0023 right_z=0.241 right_yaw=0.0733 right_pitch=-0.0392 right_roll=-0.1366 right_gripper=0.9964\nstate[joint_eff]: [0.4855, -9.0872, 7.8017, 1.79, 0.0611, 0.1929, -0.1441, -0.1026, -1.4427, 6.6803, 1.8828, 0.0855, 0.1587, -0.0024]",
      "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, 1.8378, 0.8215, 0.2295, -0.0223, -0.1799, 0.5145, -0.0216, 0.8173, 0.8867, -0.6807, -0.0013, -0.1921, 0.9965]\nstate[eef_state]: left_x=0.4437 left_y=-0.0158 left_z=0.0154 left_yaw=0.0447 left_pitch=-0.2155 left_roll=-0.096 left_gripper=0.5145 right_x=0.2818 right_y=-0.0023 right_z=0.2399 right_yaw=0.0744 right_pitch=-0.0442 right_roll=-0.1371 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, -9.4017, 5.2034, 1.4579, -0.105, 0.105, 1.0281, -0.0342, -1.1556, 6.653, 1.7363, -0.0171, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a012947e4ea9b8183feb8ac08c6b9c5837b18e525726e6357dca5a12fbaf63cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3797455537f616e38ab392e7d0ea2b8846c54d97eb3d3aaae603cf87b413449d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:034a327c32d0e6793fe2ecc4d5684f737afa48f5388519a99f37f66924385fdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISvwUKjgEIEhgCKkBlvdOakSKUazN0TmNqZH17rmpy0K+nOETnfSaXVWV8j1GHO7RCdBieXTuVtXG1nBnxVzrDfDBX2SMO1pfVJLUjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYStzNUGEgyG2SgSGXvjxTVbRsAaDHgfsERDu7CpqMfm7iIwFULFy88IIV1Vq6h3mkjJfisRwYdCx/yU1c3cucsHrdIfDR3OPC7b3O8UOGONKnLpKt0DAlGiIIxjUfJhSgmxxf1KpGEvgj3obNhCzCll3HP9N6qCOviKU7RkCAWkYpIpw83UHzVmhHobA+Vui526j1zrG/y+Tmiy/HenmNNdQZNIib/OZ9qZZ+BkqloONQyHlcdEn37KWQ96Me6FWTi6MssCJFbOfFiqc7fBA/uE+ixIIxP79hJYcgY/hPHu7+/pLarSPK3O7L0gGUwwiUOd4wFjmX0fgNxEmNyhy6yq3v49X31iQSNeF0qPYVKUAt4DqdHSdXmLYxWx0v7s0F13rWoI0bkFtXLTDRGvO7GleFCH827vioK0pOlAXhB4B2Xe94+z0hngvq75gPDP4RKrRwVUpkdguoTMU0iaN0ThhWhSv5mfqUBxWlFgW9bZn09SxjSrWLZhY4i701ZwTp9nexnrJeRFrgvxH0dxxJphYF7wXL+XG4wNsMyL/ZZaXCOptc+R1rGc6faSuceosd18jrtqqqqhgEWvzRW/2ueHUn/t3ke61C1etNELiIlLkaLYilNBlpQGHd2qiDQEWakDhIwXyQPzdv8sRUBBR0wwj2StXJuaDQe59Te/B/EOst8XXGj6IOLxrVVDeknuKj4Kqxs/1yZ2c1kzPUKlaKgJmkxj+X526tcDSppOChQTBOK3GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ajrg6zzBkqEjuZxkCnQ4z5",
      "input": {
        "note": "The close stalled at 0.51 (≈4.9 cm between jaws), suggesting the jaws are clamped around the bowl's lower body; lifting to 16 cm to check the bowl comes along.",
        "targets": {
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ajrg6zzBkqEjuZxkCnQ4z5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0521, 1.6089, 1.1187, -0.3355, -0.0227, -0.1837, 0.5146, -0.0216, 0.8223, 0.8867, -0.6842, -0.0017, -0.1951, 0.9965]\nstate[eef_state]: left_x=0.4416 left_y=-0.0154 left_z=0.1322 left_yaw=0.0484 left_pitch=-0.2543 left_roll=-0.0945 left_gripper=0.5146 right_x=0.282 right_y=-0.0022 right_z=0.238 right_yaw=0.0764 right_pitch=-0.0528 right_roll=-0.1386 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -9.812, 9.4154, 1.6679, -0.0366, -0.0073, 0.6471, -0.0479, -1.4427, 6.6667, 1.7021, -0.0513, -0.0024, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b785829997addee7560ca66961d00d928d2b8b9b9c85e66b10977d14e02dbb90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1428550b0062dc692c83dcaf5c2b175d7c6232048d6c35c3510fc28120767715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:55052ac0791f52851cc45bbbece1f97e0defbc9cf72ad8f844789a10f8ad70b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 15.06 s

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

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.8271, 0.8196, 0.2234, -0.025, -0.1677, 0.9988, -0.0216, 0.8162, 0.8867, -0.6769, -0.001, -0.1905, 0.9964]\nstate[eef_state]: left_x=0.4429 left_y=-0.0169 left_z=0.0182 left_yaw=0.0364 left_pitch=-0.2121 left_roll=-0.0856 left_gripper=0.9988 right_x=0.2822 right_y=-0.0023 right_z=0.241 right_yaw=0.0733 right_pitch=-0.0392 right_roll=-0.1366 right_gripper=0.9964\nstate[joint_eff]: [0.4855, -9.0872, 7.8017, 1.79, 0.0611, 0.1929, -0.1441, -0.1026, -1.4427, 6.6803, 1.8828, 0.0855, 0.1587, -0.0024]",
      "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, 1.8378, 0.8215, 0.2295, -0.0223, -0.1799, 0.5145, -0.0216, 0.8173, 0.8867, -0.6807, -0.0013, -0.1921, 0.9965]\nstate[eef_state]: left_x=0.4437 left_y=-0.0158 left_z=0.0154 left_yaw=0.0447 left_pitch=-0.2155 left_roll=-0.096 left_gripper=0.5145 right_x=0.2818 right_y=-0.0023 right_z=0.2399 right_yaw=0.0744 right_pitch=-0.0442 right_roll=-0.1371 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, -9.4017, 5.2034, 1.4579, -0.105, 0.105, 1.0281, -0.0342, -1.1556, 6.653, 1.7363, -0.0171, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0521, 1.6089, 1.1187, -0.3355, -0.0227, -0.1837, 0.5146, -0.0216, 0.8223, 0.8867, -0.6842, -0.0017, -0.1951, 0.9965]\nstate[eef_state]: left_x=0.4416 left_y=-0.0154 left_z=0.1322 left_yaw=0.0484 left_pitch=-0.2543 left_roll=-0.0945 left_gripper=0.5146 right_x=0.282 right_y=-0.0022 right_z=0.238 right_yaw=0.0764 right_pitch=-0.0528 right_roll=-0.1386 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -9.812, 9.4154, 1.6679, -0.0366, -0.0073, 0.6471, -0.0479, -1.4427, 6.6667, 1.7021, -0.0513, -0.0024, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b785829997addee7560ca66961d00d928d2b8b9b9c85e66b10977d14e02dbb90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1428550b0062dc692c83dcaf5c2b175d7c6232048d6c35c3510fc28120767715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55052ac0791f52851cc45bbbece1f97e0defbc9cf72ad8f844789a10f8ad70b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WSzWKZBxiZFMtvY5jUQx2r",
      "input": {
        "note": "The white bowl is lifted and clamped in the jaws. Carrying it across at 22 cm to hover over the pink bowl, which sits at about left_y -0.375, x 0.44.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.375,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 32 steps (3.2s)",
      "tool_use_id": "toolu_01WSzWKZBxiZFMtvY5jUQx2r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8593, 2.5832, 2.8723, -1.3323, -0.5114, -0.8433, 0.5144, -0.0216, 0.8268, 0.8864, -0.6849, -0.0017, -0.1997, 0.9965]\nstate[eef_state]: left_x=0.4433 left_y=-0.3763 left_z=0.1857 left_yaw=0.0397 left_pitch=-0.2816 left_roll=-0.0828 left_gripper=0.5144 right_x=0.2824 right_y=-0.0022 right_z=0.2364 right_yaw=0.0789 right_pitch=-0.0588 right_roll=-0.1417 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -15.7607, 7.5966, 0.6569, -0.5104, -0.0122, 0.3785, -0.1026, -1.347, 6.7897, 1.6923, -0.0611, 0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01ea8d93abdfda0f97e1e7f3352b8f06dccae8cf363f9192a272eace5a37c2bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38f35e0737495611d5bdb94efb7deec8e082a1d994030d899985f62b6dea61f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf49c0b5fb5da6c14d9a3fbf3bbf4c8f8e0379f2f60e61e0a976e34162f0e358",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 7.729 s

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

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0525, 1.8378, 0.8215, 0.2295, -0.0223, -0.1799, 0.5145, -0.0216, 0.8173, 0.8867, -0.6807, -0.0013, -0.1921, 0.9965]\nstate[eef_state]: left_x=0.4437 left_y=-0.0158 left_z=0.0154 left_yaw=0.0447 left_pitch=-0.2155 left_roll=-0.096 left_gripper=0.5145 right_x=0.2818 right_y=-0.0023 right_z=0.2399 right_yaw=0.0744 right_pitch=-0.0442 right_roll=-0.1371 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, -9.4017, 5.2034, 1.4579, -0.105, 0.105, 1.0281, -0.0342, -1.1556, 6.653, 1.7363, -0.0171, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0521, 1.6089, 1.1187, -0.3355, -0.0227, -0.1837, 0.5146, -0.0216, 0.8223, 0.8867, -0.6842, -0.0017, -0.1951, 0.9965]\nstate[eef_state]: left_x=0.4416 left_y=-0.0154 left_z=0.1322 left_yaw=0.0484 left_pitch=-0.2543 left_roll=-0.0945 left_gripper=0.5146 right_x=0.282 right_y=-0.0022 right_z=0.238 right_yaw=0.0764 right_pitch=-0.0528 right_roll=-0.1386 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -9.812, 9.4154, 1.6679, -0.0366, -0.0073, 0.6471, -0.0479, -1.4427, 6.6667, 1.7021, -0.0513, -0.0024, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8593, 2.5832, 2.8723, -1.3323, -0.5114, -0.8433, 0.5144, -0.0216, 0.8268, 0.8864, -0.6849, -0.0017, -0.1997, 0.9965]\nstate[eef_state]: left_x=0.4433 left_y=-0.3763 left_z=0.1857 left_yaw=0.0397 left_pitch=-0.2816 left_roll=-0.0828 left_gripper=0.5144 right_x=0.2824 right_y=-0.0022 right_z=0.2364 right_yaw=0.0789 right_pitch=-0.0588 right_roll=-0.1417 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -15.7607, 7.5966, 0.6569, -0.5104, -0.0122, 0.3785, -0.1026, -1.347, 6.7897, 1.6923, -0.0611, 0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01ea8d93abdfda0f97e1e7f3352b8f06dccae8cf363f9192a272eace5a37c2bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38f35e0737495611d5bdb94efb7deec8e082a1d994030d899985f62b6dea61f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf49c0b5fb5da6c14d9a3fbf3bbf4c8f8e0379f2f60e61e0a976e34162f0e358",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EnuiaMDCJTjJPKBP6h2P8q",
      "input": {
        "note": "The wrist view shows the pink bowl just to the +y side of the jaws while the held white bowl hangs ~4 cm to the -y side, so I shift y to -0.313 and lower to 13 cm to bring the white bowl directly over the pink one.",
        "targets": {
          "left_y": -0.313,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01EnuiaMDCJTjJPKBP6h2P8q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7769, 2.7548, 3.1126, -1.4391, -0.4721, -0.8066, 0.5169, -0.0216, 0.8303, 0.8864, -0.6842, -0.0013, -0.2024, 0.9965]\nstate[eef_state]: left_x=0.4723 left_y=-0.3467 left_z=0.153 left_yaw=0.0845 left_pitch=-0.3312 left_roll=-0.0504 left_gripper=0.5169 right_x=0.2829 right_y=-0.0023 right_z=0.2357 right_yaw=0.0801 right_pitch=-0.0617 right_roll=-0.1438 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -13.3675, 7.747, 1.409, -0.3199, 0.3248, 0.2418, -0.0889, -1.4154, 6.8718, 1.6874, -0.022, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eeb82b8d3b2be361f20b0c7b02bfddfdf5b0fe86f6e7958d8db05ea9fd391793",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:444f9330433fd77f258a71b30fb738494e5071eb50543e24b3ef1d8120cedc41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb61b7f8920ee20ac737d2b67100d35af1ec9cdb0cb12610afa4efbf4d278e2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 10.22 s

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

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0521, 1.6089, 1.1187, -0.3355, -0.0227, -0.1837, 0.5146, -0.0216, 0.8223, 0.8867, -0.6842, -0.0017, -0.1951, 0.9965]\nstate[eef_state]: left_x=0.4416 left_y=-0.0154 left_z=0.1322 left_yaw=0.0484 left_pitch=-0.2543 left_roll=-0.0945 left_gripper=0.5146 right_x=0.282 right_y=-0.0022 right_z=0.238 right_yaw=0.0764 right_pitch=-0.0528 right_roll=-0.1386 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -9.812, 9.4154, 1.6679, -0.0366, -0.0073, 0.6471, -0.0479, -1.4427, 6.6667, 1.7021, -0.0513, -0.0024, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8593, 2.5832, 2.8723, -1.3323, -0.5114, -0.8433, 0.5144, -0.0216, 0.8268, 0.8864, -0.6849, -0.0017, -0.1997, 0.9965]\nstate[eef_state]: left_x=0.4433 left_y=-0.3763 left_z=0.1857 left_yaw=0.0397 left_pitch=-0.2816 left_roll=-0.0828 left_gripper=0.5144 right_x=0.2824 right_y=-0.0022 right_z=0.2364 right_yaw=0.0789 right_pitch=-0.0588 right_roll=-0.1417 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -15.7607, 7.5966, 0.6569, -0.5104, -0.0122, 0.3785, -0.1026, -1.347, 6.7897, 1.6923, -0.0611, 0.022, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7769, 2.7548, 3.1126, -1.4391, -0.4721, -0.8066, 0.5169, -0.0216, 0.8303, 0.8864, -0.6842, -0.0013, -0.2024, 0.9965]\nstate[eef_state]: left_x=0.4723 left_y=-0.3467 left_z=0.153 left_yaw=0.0845 left_pitch=-0.3312 left_roll=-0.0504 left_gripper=0.5169 right_x=0.2829 right_y=-0.0023 right_z=0.2357 right_yaw=0.0801 right_pitch=-0.0617 right_roll=-0.1438 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -13.3675, 7.747, 1.409, -0.3199, 0.3248, 0.2418, -0.0889, -1.4154, 6.8718, 1.6874, -0.022, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eeb82b8d3b2be361f20b0c7b02bfddfdf5b0fe86f6e7958d8db05ea9fd391793",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:444f9330433fd77f258a71b30fb738494e5071eb50543e24b3ef1d8120cedc41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb61b7f8920ee20ac737d2b67100d35af1ec9cdb0cb12610afa4efbf4d278e2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISuAcKjgEIEhgCKkBG9cMEwLH4aA7GNr/sPw1pI/hKydhPPShdu1afCz2ZNECDDinvYcmcON9leORJDweZQCWUyAVpqgcnxK3d6tnaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa2tzNUGEgzIFDlstbL/XfisG5MaDJ4tqXcOs1cc6YpVpCIwU89sOmZ8Db8fWtYZ52vMGunlrrwXf8O1MBzEtLsEGicEaPHKmY5ONL4tlHuXTWk4KtYFtmA+h2OcKcI0k9zGBbrIKAqmSBwVnnY1uDNg2WML3TZMc8fmnItlEg471B2FAKsmF7/HIQa8LC+Bp1ibjcAV8TiNCEsYUSKmku+rgaGzzPWoToIFaegQYgA6ShBVDQAYmM4CSungDiFkaowbX3UZ0xSO43NJV5ZHR/j3lUJCm7SlpR7OIleIV5SpbBf7q7s/7u/rOFX8NTj2asihfbkwM9oW58TmzcA1zvPzhat0fc/5BDIeO3ZUDaQs/7zFrVYKL7J50zjk4vK3iOke0gLuVfvKXJPK6BVVDdGo9Ry3Hfn6Qc8OtYipX9BVoWPG7N2t0TOnplLDS2mgZ0EVJIHl3o9lk7GomctFullGLLbTABvRoWi5T4NUO2Us0495+uCaj+mEasGGW7lSbjZYtnL2Q32xpHDbZhTLsA/IoiC9qRzlk8jbfIdk3cEwM8SSeOVAoYxl9OvWOGH9bcZViHErqo6p9TIj4JYNKT9vgM14RJGryzCGdLs7e3rv0+j/PWW36Qey6n4Rp0h1LR9UpWgPq1M1YRpdaH2AnoaEecmVdh2J2v2aZSFxNIxLdEO5FBQMQpX9X4mW7YS2BVg350Vq6Ijn/gkvshD5AfQKaZA7BkGOkHYQTR4NlEdEFzhnJrmQk4X3tWKr9Lq+yo+71IQMgN/OvLI/zMFy8gij2W8OZ3EVneR2uSqCjy1DgqWWHkS6j1Zm2LFGo5GlR67MD39dSOF2D+6evYtpgzevNj3KtiN7UW3rfEHzm2bXXpGzth/ijYBvKJeHLqbTSHXQn1Sxoev3SRzuKAX/UPSDBtlTbiR9RhkiwwKKSluVgl3fEB34gRxXROFhxoFvJYgu06vKJ4K6YO9hRMorfsOV+6OOCQLS4axJQXDzTa+svf9e+hLfn1Pq4HOOdOCO/sUTrv5rEcWvwwlxHwXKnRv6Oil0H+kYTVVWfsAU6QFEFVVrteVMe5FUNfzWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DsHjWaHHeZ5SbpEmUYgQEg",
      "input": {
        "note": "Pink bowl is now just under the held white bowl's edge; lowering to 8 cm with a small +y nudge to seat the white bowl into the pink one.",
        "targets": {
          "left_y": -0.33,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01DsHjWaHHeZ5SbpEmUYgQEg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7643, 2.8872, 3.1245, -1.3724, -0.4644, -0.8043, 0.519, -0.0216, 0.8307, 0.886, -0.6846, -0.0017, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.4873 left_y=-0.3525 left_z=0.0878 left_yaw=0.1058 left_pitch=-0.3713 left_roll=-0.01 left_gripper=0.519 right_x=0.2829 right_y=-0.0022 right_z=0.2353 right_yaw=0.0806 right_pitch=-0.0629 right_roll=-0.1438 right_gripper=0.9965\nstate[joint_eff]: [0.7863, -15.5282, 6.9812, 1.243, -0.2027, 0.0855, 0.2076, -0.0068, -1.1966, 6.7077, 1.663, -0.0073, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e1728a835d6dc535f9cfe881a705c85955f3d1252bcc8c7db8c0853930d5be4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:118bbc4b8b82cc7d4ddaf017d1152fe082ea34c296413557716098b4c6c00f84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bce5b039fb0d0e8c5dae430cb2630149857496ef6147f52054a3b7e18764f47a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 6.779 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8593, 2.5832, 2.8723, -1.3323, -0.5114, -0.8433, 0.5144, -0.0216, 0.8268, 0.8864, -0.6849, -0.0017, -0.1997, 0.9965]\nstate[eef_state]: left_x=0.4433 left_y=-0.3763 left_z=0.1857 left_yaw=0.0397 left_pitch=-0.2816 left_roll=-0.0828 left_gripper=0.5144 right_x=0.2824 right_y=-0.0022 right_z=0.2364 right_yaw=0.0789 right_pitch=-0.0588 right_roll=-0.1417 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -15.7607, 7.5966, 0.6569, -0.5104, -0.0122, 0.3785, -0.1026, -1.347, 6.7897, 1.6923, -0.0611, 0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7769, 2.7548, 3.1126, -1.4391, -0.4721, -0.8066, 0.5169, -0.0216, 0.8303, 0.8864, -0.6842, -0.0013, -0.2024, 0.9965]\nstate[eef_state]: left_x=0.4723 left_y=-0.3467 left_z=0.153 left_yaw=0.0845 left_pitch=-0.3312 left_roll=-0.0504 left_gripper=0.5169 right_x=0.2829 right_y=-0.0023 right_z=0.2357 right_yaw=0.0801 right_pitch=-0.0617 right_roll=-0.1438 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -13.3675, 7.747, 1.409, -0.3199, 0.3248, 0.2418, -0.0889, -1.4154, 6.8718, 1.6874, -0.022, -0.0073, -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 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7643, 2.8872, 3.1245, -1.3724, -0.4644, -0.8043, 0.519, -0.0216, 0.8307, 0.886, -0.6846, -0.0017, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.4873 left_y=-0.3525 left_z=0.0878 left_yaw=0.1058 left_pitch=-0.3713 left_roll=-0.01 left_gripper=0.519 right_x=0.2829 right_y=-0.0022 right_z=0.2353 right_yaw=0.0806 right_pitch=-0.0629 right_roll=-0.1438 right_gripper=0.9965\nstate[joint_eff]: [0.7863, -15.5282, 6.9812, 1.243, -0.2027, 0.0855, 0.2076, -0.0068, -1.1966, 6.7077, 1.663, -0.0073, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e1728a835d6dc535f9cfe881a705c85955f3d1252bcc8c7db8c0853930d5be4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:118bbc4b8b82cc7d4ddaf017d1152fe082ea34c296413557716098b4c6c00f84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bce5b039fb0d0e8c5dae430cb2630149857496ef6147f52054a3b7e18764f47a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISqAsKjgEIEhgCKkCnLvbBIlV5eA0P0E4yaCRJETmKmKo43pR5nQbYLiEeK3kk2CwaEOXisi92PfeWn3EBVh7W13cAAZz9WnqMGbB5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbitzNUGEgyl4LgGyJlFKY/QMtkaDBNhy0u+iJo/e84HlyIwtSVFt+RHxshiTOYCYmdlQJuJHXINDVPLJeXyVTjm6CgQ0p3xWPdDB1/ZD7q/egm0KsYJoEIUiu2VPE/KyCMiIZwNbC1sr8r923UhbfECgufgyWQHMSdM4BGgt+WEBhMVskrZ9jqEEvAfaIWIrtC1itsliGDIOcPeW3+LvkElg0Q9Qur2S5t3GiOkHgkZPIAp32PF5G4DDJzvBsBKerrPzpxxgetz7OsLwQU31Lsc1OcahPDn6uytRMA3VUa0VFi4tOvDe2f9hW7ORxpn5rrXtD37UpcpQ4kQ89whS/M6q65oXbZ9O/t2qMubmUI++GpOOjY6QJSnISkdPqKHLAFNa10YrfYfc63U6k9hxo0ajvitOCUSqU9MbyrIN5xRP0vzSw1nNFOgMOeIgVpA6ls0LKKFqANGo9HEp3ncytCfKiC0xVSUIKvbiGSshLEmkvBbpFpDQUnC+x3HbJjr9oPufhoGuvwVrE3WIfD/QyENt3ckXN+6HMTiiPCT7+ihG+CpVADNj2Ew8jcHWb5wb+T23HGFvL29M9Yk2pKYw0wpJjSRBh369EoZcB3xQ9byhtO8fD810izzm0CweAwobayeqk9eT9gsxJsUecBrwqL9Iznvorg/WOKxnRT2N//jGl/jjR3knyoejP0+u0U3Ozpeb04Jj/vgkGwqb2dB3mAjQSTs/jwf66UEhP3/gg5y8SaiDF13BiKV+rDw9wZ3sjzTLz3LxWYakqk6rQKeGgt48hv0F6laSLCoca3KoPMjLP+NjOLcdPZnUFXqelIp/qIx2IquKLmMCX+PRQ1ytSFkAgrAl0LEn1gmZF/eLQs8aXw1RsPl+cq9CmyfqI4kdQO3rXX9kAG/vKPtIBhO9Sy1IlDZ2/Bpv6fyXgp8rA65JBvcFKesrT6A9iHONhuhN9WQLDlKYu6brfc4UcJk1AkpT6/FhmAg/HxMv/KYyAyLmVfI4Gv/EsFm7yXkZueUIRCpwDzFS6vF2XGgDIdrpiNYGx1DSbfyr4/s0LCtB5Wsuuuc7fGIcAMkhaDGZtPGASWmT4tm1758Qy91Y3PxU6uIxTS3Mjb5CZV4Q/LRGnTL8F/W/jkpN6huMsAqb2fJT2yb+5Vn3Fvz5+LX6fBTFaheaEul6CeejUZsyis8Q6KKjY825L06fpqyx0uF9aPeq9jjWJbKLLY47+ABfJ3XAU/fMVldIBHuaZfnzNsxxc5m50AQ3HQTjl0We5hNbvUhjW0n+vUawYEAcqPhh3S72C+tIV/V+Wo4l7+hPMWa4AZEWJEaVUPKGT8ujUNV1UkXLEZWSc/5ynnrfoXWOVNyIJ0NVPeAxuopLYR7mPWMkJwARZPPnwxL87GyilM6BafWgVIXdmxbzXKmr7KD6iZ34StDCLgjU1fAOp5ZYcXwrfcfH/Rt/FT9YGMdyF3iIs4O1VYbwIuxk6EhKAzmgCJ5lY0FvQHX0yK+CUZbZuX5u4oDaaxH1w6kWGUSrHKPhHgz2w2OLduwkYF6OVPE/dgdRH0+2+ZTenT6D69tLFVjdef696e5V1+E4If14hoBd1ied2+5aCgd3CnwZIlg38VYA833O6KjMUm8YWQvakgVF5T+DHylLYPBEr51a8zNQTfamZGJcyii0/V7aD60BXdjjxhIyHG4amEjWAypUBI33ep34Dto3Trtyd/uxFl5DpsPv5x1g0wLQuaq70Z8+xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HHV6Fq2uz65a8v3U6AmgsD",
      "input": {
        "note": "The white bowl is hanging just over the pink bowl; releasing it now so it drops into/onto the pink bowl, then I will retract and inspect.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01HHV6Fq2uz65a8v3U6AmgsD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7628, 2.9017, 3.1249, -1.346, -0.4583, -0.8047, 0.9955, -0.0216, 0.836, 0.886, -0.7006, -0.0017, -0.2062, 0.9965]\nstate[eef_state]: left_x=0.491 left_y=-0.3561 left_z=0.0816 left_yaw=0.0999 left_pitch=-0.3676 left_roll=-0.0241 left_gripper=0.9955 right_x=0.2812 right_y=-0.0022 right_z=0.2308 right_yaw=0.0826 right_pitch=-0.0844 right_roll=-0.1443 right_gripper=0.9965\nstate[joint_eff]: [0.4581, -15.9658, 7.0359, 1.2576, -0.2955, 0.0952, -0.1587, -0.1846, -1.3744, 6.6803, 1.7949, -0.0708, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b504908c7601fc15cc0a1c1ebc20713ac80ccf5f4fbf07e44f8fd535503cf845",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6af9f76507da5f56fcbbd0cd5a335e806707d15b8bc589260e7776f79afce663",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:961634fdbccf760d4c64ad93a207cf092ff4687b28bb0d8e58bc6a07861b4ad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 20.11 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7769, 2.7548, 3.1126, -1.4391, -0.4721, -0.8066, 0.5169, -0.0216, 0.8303, 0.8864, -0.6842, -0.0013, -0.2024, 0.9965]\nstate[eef_state]: left_x=0.4723 left_y=-0.3467 left_z=0.153 left_yaw=0.0845 left_pitch=-0.3312 left_roll=-0.0504 left_gripper=0.5169 right_x=0.2829 right_y=-0.0023 right_z=0.2357 right_yaw=0.0801 right_pitch=-0.0617 right_roll=-0.1438 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -13.3675, 7.747, 1.409, -0.3199, 0.3248, 0.2418, -0.0889, -1.4154, 6.8718, 1.6874, -0.022, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7643, 2.8872, 3.1245, -1.3724, -0.4644, -0.8043, 0.519, -0.0216, 0.8307, 0.886, -0.6846, -0.0017, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.4873 left_y=-0.3525 left_z=0.0878 left_yaw=0.1058 left_pitch=-0.3713 left_roll=-0.01 left_gripper=0.519 right_x=0.2829 right_y=-0.0022 right_z=0.2353 right_yaw=0.0806 right_pitch=-0.0629 right_roll=-0.1438 right_gripper=0.9965\nstate[joint_eff]: [0.7863, -15.5282, 6.9812, 1.243, -0.2027, 0.0855, 0.2076, -0.0068, -1.1966, 6.7077, 1.663, -0.0073, -0.0171, -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 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7628, 2.9017, 3.1249, -1.346, -0.4583, -0.8047, 0.9955, -0.0216, 0.836, 0.886, -0.7006, -0.0017, -0.2062, 0.9965]\nstate[eef_state]: left_x=0.491 left_y=-0.3561 left_z=0.0816 left_yaw=0.0999 left_pitch=-0.3676 left_roll=-0.0241 left_gripper=0.9955 right_x=0.2812 right_y=-0.0022 right_z=0.2308 right_yaw=0.0826 right_pitch=-0.0844 right_roll=-0.1443 right_gripper=0.9965\nstate[joint_eff]: [0.4581, -15.9658, 7.0359, 1.2576, -0.2955, 0.0952, -0.1587, -0.1846, -1.3744, 6.6803, 1.7949, -0.0708, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b504908c7601fc15cc0a1c1ebc20713ac80ccf5f4fbf07e44f8fd535503cf845",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6af9f76507da5f56fcbbd0cd5a335e806707d15b8bc589260e7776f79afce663",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:961634fdbccf760d4c64ad93a207cf092ff4687b28bb0d8e58bc6a07861b4ad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS9gQKjgEIEhgCKkCTZPEdpGHvy+dUMy9KQ5t5S11s0+7SimIYAlhC5NJGFxFvyKaR5gBpMU8EeEhrQDYSr0bWxkMpVXRMFtBml1AgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb+tzNUGEgw4sC7fOh1V8CoTnwMaDEZrIJK6Z2GKXOMauyIwwBuZyxdKs02MSe6SavN1TRE06KrFEKIVcz8GfzduYaUPeDX0kV+FYhxYZszAMfHxKpQDgn77RrHrrgOu8Oaxkvs0Noj2K/hZhFPp4KScQ0lFKOVE3jwiixAq4wgypRkjnfXdZikzo4CV83u+JnLQD7TiBKkt4JHdHSKyLbATfzgsV4MkzGPvJkOrpxKj+I95/+RGsEOjBvQ4wZHyhxOTXxwnCFS0ey//O8rWVj7nMcD38EjGVJ2Po/Wl2roYHEgMVOnaEXFyhYfyRmyC8PzWiBZjYKVDRtGPhRG8N4kA6lKOU6Uoxmaqt9dmNPdflkNtml17fX8I8MOojcp5mGufG6yQNAx89GxpQ7pauUjNlW9dqY6GdniyKyLpKIKXHAaOko9vWZQGQG7oiBsP807PASl482YYorWJSHS2XvkvvOZej+v2RgCxeJ0fdF8Nq3ZII/zZH0GxvBLBvjKEXVwBQjQta2yl7dR16nlqZAwGrniQ4Cv38FEq9YcaOkzpmOBKRZRlCMcZ0oTvIJIvXxKfbzjkUiiFOtOjT+57WxxhUfaJ7LCaW4PxhalZQPLGCKhX7bCSgRUw/x+B3FuT+U6D7Ae73dkfqLIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mm8fupLXTWoHxJrRjU39vZ",
      "input": {
        "note": "White bowl released; pulling the left arm back and up to get an unobstructed top view of both bowls to see whether they nested.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.2,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01Mm8fupLXTWoHxJrRjU39vZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8234, 1.5944, 1.6733, -1.1786, -0.4774, -0.8627, 0.9957, -0.0216, 0.8402, 0.886, -0.7071, -0.0017, -0.2066, 0.9965]\nstate[eef_state]: left_x=0.3128 left_y=-0.2128 left_z=0.253 left_yaw=0.0786 left_pitch=-0.3407 left_roll=-0.0687 left_gripper=0.9957 right_x=0.2807 right_y=-0.0022 right_z=0.2284 right_yaw=0.0829 right_pitch=-0.095 right_roll=-0.1435 right_gripper=0.9965\nstate[joint_eff]: [-0.7453, -10.4684, 9.6615, 1.3309, -0.4567, -0.1001, 0.0122, -0.0342, -1.388, 6.8444, 1.7118, -0.0757, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bc098237466c2cf9c1dd4d2386bd8fbfa3238fad30eaf402af47c5baf208705",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39de316193d9bbde3fec729620b0dd7d2be8bb26d861613aee84d2f7a41bcbf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:570038f6f50ca031f311e3ef5c4e01a511aa540b8943c8910c06fbbc665097df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 11.48 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7643, 2.8872, 3.1245, -1.3724, -0.4644, -0.8043, 0.519, -0.0216, 0.8307, 0.886, -0.6846, -0.0017, -0.2028, 0.9965]\nstate[eef_state]: left_x=0.4873 left_y=-0.3525 left_z=0.0878 left_yaw=0.1058 left_pitch=-0.3713 left_roll=-0.01 left_gripper=0.519 right_x=0.2829 right_y=-0.0022 right_z=0.2353 right_yaw=0.0806 right_pitch=-0.0629 right_roll=-0.1438 right_gripper=0.9965\nstate[joint_eff]: [0.7863, -15.5282, 6.9812, 1.243, -0.2027, 0.0855, 0.2076, -0.0068, -1.1966, 6.7077, 1.663, -0.0073, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7628, 2.9017, 3.1249, -1.346, -0.4583, -0.8047, 0.9955, -0.0216, 0.836, 0.886, -0.7006, -0.0017, -0.2062, 0.9965]\nstate[eef_state]: left_x=0.491 left_y=-0.3561 left_z=0.0816 left_yaw=0.0999 left_pitch=-0.3676 left_roll=-0.0241 left_gripper=0.9955 right_x=0.2812 right_y=-0.0022 right_z=0.2308 right_yaw=0.0826 right_pitch=-0.0844 right_roll=-0.1443 right_gripper=0.9965\nstate[joint_eff]: [0.4581, -15.9658, 7.0359, 1.2576, -0.2955, 0.0952, -0.1587, -0.1846, -1.3744, 6.6803, 1.7949, -0.0708, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8234, 1.5944, 1.6733, -1.1786, -0.4774, -0.8627, 0.9957, -0.0216, 0.8402, 0.886, -0.7071, -0.0017, -0.2066, 0.9965]\nstate[eef_state]: left_x=0.3128 left_y=-0.2128 left_z=0.253 left_yaw=0.0786 left_pitch=-0.3407 left_roll=-0.0687 left_gripper=0.9957 right_x=0.2807 right_y=-0.0022 right_z=0.2284 right_yaw=0.0829 right_pitch=-0.095 right_roll=-0.1435 right_gripper=0.9965\nstate[joint_eff]: [-0.7453, -10.4684, 9.6615, 1.3309, -0.4567, -0.1001, 0.0122, -0.0342, -1.388, 6.8444, 1.7118, -0.0757, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bc098237466c2cf9c1dd4d2386bd8fbfa3238fad30eaf402af47c5baf208705",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39de316193d9bbde3fec729620b0dd7d2be8bb26d861613aee84d2f7a41bcbf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:570038f6f50ca031f311e3ef5c4e01a511aa540b8943c8910c06fbbc665097df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0162bPbeoa8zanNn8CaPFfo4",
      "input": {
        "note": "The two bowls ended up side by side, not nested. Hovering the left arm over the nearer pink bowl to re-grasp its rim and place it into the white bowl.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.35,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_0162bPbeoa8zanNn8CaPFfo4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8505, 2.2433, 2.0884, -1.0004, -0.4725, -0.9066, 0.9957, -0.0216, 0.8429, 0.886, -0.7074, -0.0017, -0.2066, 0.9965]\nstate[eef_state]: left_x=0.4111 left_y=-0.3411 left_z=0.1321 left_yaw=0.0905 left_pitch=-0.3791 left_roll=-0.0521 left_gripper=0.9957 right_x=0.2809 right_y=-0.0022 right_z=0.2276 right_yaw=0.0829 right_pitch=-0.0981 right_roll=-0.1432 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -12.7795, 8.6359, 0.9206, -0.4127, 0.0904, -0.0122, -0.0615, -1.4154, 6.8444, 1.6239, -0.0757, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a96b5030925f6f2bb61fc6dc774610d775bc555fbf49b5a8332e318d5101df8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7af4364b91ddf788596820e5691eb39f2feab3a2d5b2116ab44ae4b58f7abf26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e742a698e7fb54e0cebabcee55f493f2cb785be822275c6f021b0ba14470ce80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 11.09 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7628, 2.9017, 3.1249, -1.346, -0.4583, -0.8047, 0.9955, -0.0216, 0.836, 0.886, -0.7006, -0.0017, -0.2062, 0.9965]\nstate[eef_state]: left_x=0.491 left_y=-0.3561 left_z=0.0816 left_yaw=0.0999 left_pitch=-0.3676 left_roll=-0.0241 left_gripper=0.9955 right_x=0.2812 right_y=-0.0022 right_z=0.2308 right_yaw=0.0826 right_pitch=-0.0844 right_roll=-0.1443 right_gripper=0.9965\nstate[joint_eff]: [0.4581, -15.9658, 7.0359, 1.2576, -0.2955, 0.0952, -0.1587, -0.1846, -1.3744, 6.6803, 1.7949, -0.0708, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8234, 1.5944, 1.6733, -1.1786, -0.4774, -0.8627, 0.9957, -0.0216, 0.8402, 0.886, -0.7071, -0.0017, -0.2066, 0.9965]\nstate[eef_state]: left_x=0.3128 left_y=-0.2128 left_z=0.253 left_yaw=0.0786 left_pitch=-0.3407 left_roll=-0.0687 left_gripper=0.9957 right_x=0.2807 right_y=-0.0022 right_z=0.2284 right_yaw=0.0829 right_pitch=-0.095 right_roll=-0.1435 right_gripper=0.9965\nstate[joint_eff]: [-0.7453, -10.4684, 9.6615, 1.3309, -0.4567, -0.1001, 0.0122, -0.0342, -1.388, 6.8444, 1.7118, -0.0757, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8505, 2.2433, 2.0884, -1.0004, -0.4725, -0.9066, 0.9957, -0.0216, 0.8429, 0.886, -0.7074, -0.0017, -0.2066, 0.9965]\nstate[eef_state]: left_x=0.4111 left_y=-0.3411 left_z=0.1321 left_yaw=0.0905 left_pitch=-0.3791 left_roll=-0.0521 left_gripper=0.9957 right_x=0.2809 right_y=-0.0022 right_z=0.2276 right_yaw=0.0829 right_pitch=-0.0981 right_roll=-0.1432 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -12.7795, 8.6359, 0.9206, -0.4127, 0.0904, -0.0122, -0.0615, -1.4154, 6.8444, 1.6239, -0.0757, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a96b5030925f6f2bb61fc6dc774610d775bc555fbf49b5a8332e318d5101df8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7af4364b91ddf788596820e5691eb39f2feab3a2d5b2116ab44ae4b58f7abf26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e742a698e7fb54e0cebabcee55f493f2cb785be822275c6f021b0ba14470ce80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS7gkKjgEIEhgCKkAHBzZyCRlrSDibj2PPvWdQS47RZ6k/dqEUSOKFMZu8qCCMPKWFYzZ/JC5IIYtZsHcMhZ0eKO5rHIdtUjgPoYDTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeGtzNUGEgwMSc/T9qwrbj5BeP4aDFJZRwNQsW08E5I6uiIwxp4er8ZiuYXXy16qTgZh+Umshx7RN8cfCIpbdxwzkrO5SMhHHBL53fggCyxf55U1KowIdIPcBqwTzQxv/OjgHpeBPx8cVBThjeP+DePN1aAYd05UWK7p79cn9Ui3X9wwM3L17UgRy58UO55LQIkN3tXIy1e+5pfSUfif7C3GFP3Q0+C9maYlEtEFUIX1jCjsfreUZVEmrvQ78PZqz6aHuUcDtOlLtfQN1f6YguOEXtq3oX8lLE71tseIdc9dlCEuKSoXaq6qmjkghNI/Udw39Nsp1Xkru9auMYnEMG0uqj8zwlAEzc8NeWlN4gQDC2rAgfLjC/4JDAT8CCSr5MPXgYdweUEbcdNxHMRbK9KSRt+T22KB+iyhb8e0m6mdRSzN2eVwVrIAnoS03LPN+oKBE5JvKnFwwXbAb9o5Av/yFmcAaugufFtqgRLGv2AEd5YXIeXLM19b+N1tETa9hYZAYewtczxBuOKYUas1/MYWWUh7+I/vhb/+FqrBqUHT+QBshNBD2gjKPC6e2lpNxmQsUdrPpxh2A/4ceM5kXLEiGUhZQATTqPj/MJr/LdjerG16kKd0Lk0bp965VvzgzI28V9xFVwFG+/twaBSx6tkBwxq1WSlS29Ct5hutJQTzKzxvN1qsqh9fw2jpNEUQEyKsF0jGfRc2f/cu6W0Ac+2PJ6R+LGy28IvMPK+AzmR2Vx8JJhOvFa+CCnv55DwaPX6+pS6XdImQXWhHiZvXLjdkhl9jDC+nqNy2OGK+uNmIcEU+HUgHP2T9e8cyRdIv8/RO/UoQEaM8riakyg/0RzPnpWb1tRgEfAXp1K6gs8q/x6v619+PsgHT7fIfBV6gTBK3g/VfLyhHrACHHCm8Hi6clpvdVUPpKHUu59gbDeWYPlJy41PMfsim3/8mjyIsX/3DtxmXJAby5qM434BqtUyPOw5922CX4hB92WuzUx55X9VadRt/qm50+qV6xftxgOTKL/J/bvtCIWQzFzO9AosZMPthxxJ36KHxcc5s9Awh0lV9cZECnnh3Y1Do3GuR5uUJfbvVGDPpFrWvrj+kwVUPgvVGGhq+qbz6WC0EkYxbPbA7W+re+fOt763FylEqcXPr+dbecDT98zd4PL9Me+FY+PrKu/1cscmLEEK+m4EbBn+Bq3HIiqEyK8651IriHmxT+TSn7oboku6/37EA3z7LZD7S1HBySe2wUTex2ache9nkJJliYc8EwEEs8uMYh9GhKcePCsltHcp9LBMuLjVryHPjw4dqres+ibO1oWmFmUXHwwVACH72ZK4fPo+N2Ew2bs0hgji0dgGdWcboRY3077Ed1iPiB8WrHgFnlQh4moMeHVtrqZJBKL8AOS/UcEIk/Bl+QIZNenehVFoNMC3URBd7HVLFBxOiuvwo3rmF52Mwmp05/AyDxHjVHQ2Wi3PyZ+2QePkIo4qyXZTk1NslEBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AkUS4wqbP9XytW9EEDx1hv",
      "input": {
        "note": "Pink bowl centre is about (0.44, -0.33) from the wrist view; moving to its near rim at y=-0.287 and descending to 3 cm, the same geometry that gave a firm grasp on the white bowl.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.287,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01AkUS4wqbP9XytW9EEDx1hv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.688, 2.2688, 1.7775, -0.6296, -0.4133, -0.7811, 0.9957, -0.0216, 0.8436, 0.886, -0.7074, -0.0013, -0.2066, 0.9965]\nstate[eef_state]: left_x=0.4604 left_y=-0.282 left_z=0.0429 left_yaw=0.1299 left_pitch=-0.3962 left_roll=-0.04 left_gripper=0.9957 right_x=0.281 right_y=-0.0022 right_z=0.2274 right_yaw=0.0826 right_pitch=-0.0989 right_roll=-0.1434 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -10.988, 5.8051, 1.1551, -0.1245, 0.2613, -0.0122, -0.1026, -1.1282, 6.8444, 1.6484, -0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1082cc324b1ad684979e6d7ba4f70207a1cfd410b94f466c741c0ed85f15c989",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e21d39f0ff637b99fba360f26a66db366d6715748869648920c35fc95c2c7967",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43cfaec2c7ce04be4ffa4655969af4d735aa7848209743c2a3c94c4e45b57c5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 13.52 s

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

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8234, 1.5944, 1.6733, -1.1786, -0.4774, -0.8627, 0.9957, -0.0216, 0.8402, 0.886, -0.7071, -0.0017, -0.2066, 0.9965]\nstate[eef_state]: left_x=0.3128 left_y=-0.2128 left_z=0.253 left_yaw=0.0786 left_pitch=-0.3407 left_roll=-0.0687 left_gripper=0.9957 right_x=0.2807 right_y=-0.0022 right_z=0.2284 right_yaw=0.0829 right_pitch=-0.095 right_roll=-0.1435 right_gripper=0.9965\nstate[joint_eff]: [-0.7453, -10.4684, 9.6615, 1.3309, -0.4567, -0.1001, 0.0122, -0.0342, -1.388, 6.8444, 1.7118, -0.0757, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8505, 2.2433, 2.0884, -1.0004, -0.4725, -0.9066, 0.9957, -0.0216, 0.8429, 0.886, -0.7074, -0.0017, -0.2066, 0.9965]\nstate[eef_state]: left_x=0.4111 left_y=-0.3411 left_z=0.1321 left_yaw=0.0905 left_pitch=-0.3791 left_roll=-0.0521 left_gripper=0.9957 right_x=0.2809 right_y=-0.0022 right_z=0.2276 right_yaw=0.0829 right_pitch=-0.0981 right_roll=-0.1432 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -12.7795, 8.6359, 0.9206, -0.4127, 0.0904, -0.0122, -0.0615, -1.4154, 6.8444, 1.6239, -0.0757, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.688, 2.2688, 1.7775, -0.6296, -0.4133, -0.7811, 0.9957, -0.0216, 0.8436, 0.886, -0.7074, -0.0013, -0.2066, 0.9965]\nstate[eef_state]: left_x=0.4604 left_y=-0.282 left_z=0.0429 left_yaw=0.1299 left_pitch=-0.3962 left_roll=-0.04 left_gripper=0.9957 right_x=0.281 right_y=-0.0022 right_z=0.2274 right_yaw=0.0826 right_pitch=-0.0989 right_roll=-0.1434 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -10.988, 5.8051, 1.1551, -0.1245, 0.2613, -0.0122, -0.1026, -1.1282, 6.8444, 1.6484, -0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1082cc324b1ad684979e6d7ba4f70207a1cfd410b94f466c741c0ed85f15c989",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e21d39f0ff637b99fba360f26a66db366d6715748869648920c35fc95c2c7967",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43cfaec2c7ce04be4ffa4655969af4d735aa7848209743c2a3c94c4e45b57c5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS7AoKjgEIEhgCKkDrFEubvNeeSyxaLQj9p7Kk5F19HLXjtBGMKkpU4YnISuCzHzVN4VXzcqj8bT81qBpdAttYPJI4xRNg4PoCtBIUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe2tzNUGEgxH4CTrsEAgpOyHIBYaDOMqHXPdrIL4W0YORSIw8u7cKGmWDJJGnsK3C1obb6iqQfSdJNzVYgE4bwDa7xb0ObLRoSEwK4JRkkJtItrbKooJsSfrMmS2k2qTG3yrNmgTBR1toYCTQY0BumLezAwHiyGnYCmcHru40Vo68/hT/vEM5vo5qfCgVQXlRbFY0qBhRSK86Se+6wUK5Xuz/57B+B7Ty0XAHA62XhZdOIO3QONUhk1sxYqG36a3YMRTekPhDYfuhs3h1pcLrN+FWC3k2KAC4nCwbF+4E/tgNC7fKLrmXzYWl3mdcgjASvpoM+HaovIFdUOefm+S53JyyM0peB6iL1kjHZcfBFqoo7Izh3p2IKuG/dmiBqjwD4xNzeUZRz1NFo/Br78fS2A1DBU+QQKnT+ukzj9y6Ji6PnQla7Q3Mrs+/HjSzrJ0dEcCNEqo5gRNeZLIGfqK90Pz4bca5brDIoZA1uEKOmHwIRVPO6s1KuxTxDo+lK6Ftr9H/eQMuTu04rcED+4Fj+PTlNM9JPIJrwBcJGGn/aWSOAjMPTuBCYuKl42R5+Ma9kHrLOTuP3lwa3QK9lPmnMOiFYWXDH8ml6OiEaE2Z58LacTvl1QURD84evl9KR3Kc6MTgghQ0j4Wf+SUbUVXaMZ1hQ2PhVxOvv6/CEHnP50c0CV31wHytcMrBvxgx2uwa56pthvKVva3Urtf6stZSEWL9dXULuC3qMRhuSCPKHZKc+61gSIWf+hInpadvQStkyi+DjQyIKW246rLQsEBajVUVyJBjpm2MbeA1zA3+tdacT7/RWBmuDNLE1xNAtcTKtGIaqsxtLtZCjwym76e/zkmGeiC+OriS6EFC1mv+TFHk6iV/pYlhz/CcAwoRtllZm/vyQ1+wReCRQIlRaunrOIKieRXSluQL1QvmnIMNNTwclBcyS/fCJDfks/dSjpTwm0hVQc3VSQrDUmek7cirT3xgAbwKGC7LIRqghQBcNjRGfgdLMsAhvQw5ftINKM4DAPNs3p25VXRFwC0DwZWwzErmD+Q9qBdMj+raPgeb6LR5Bgr16lAwX1yKPPHixacisWPMi3MdByCj4iF32dagOSF8nOYGeJ3tSAu538DY5cZH7ofC1LqcALbET1cen7t4w7tVUffBKUCWEeSUX2nIaOTJP8FYx3Z9UhHETh3KRkJKG5l29SDfCq+cOJupLkh7qVxJ+8XqduIQh7xwG9tTRdo2TbgLsuVpMH4lzUjBYIYhd0CxSx76NAIXZK8XoKaB4ZsiHLSDsy/FM2Ki1oXpTxP0aIRUcLUs7fKP66hqoYTXtF1w2iPzGtaw5XqkfsMRAI279IVeBOkecnj5oBG8cGYZ/jNyXe1clr1zsgCQdI+EHVvheKK8+Y61j1na8hRpwnaMbJAj7fA467ef/FWmXvI+8vRh/X0b8/GRLpNBA0BlWJm9qavP0UCB9mKvZzB0j2wzDHWQsczN+YxSx3cCayMgloWGj0/0/fQ0Ea5AzL9pXzxjaqPbRgFbK5JW1MzuSHUwZefOywGEvzX0b1MYoDvgmlwYUxk9d3jxqpJuMSNGKUAVeTygiwpY4aTf6RK16sWgQKzErwsRiZZP5MQA/uM/6WsM7eVw0oBsRdGeTw0NDtoA/SlF/d8aKiE29rpIRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A4FzsjUZDLzYM3NTaMnAdz",
      "input": {
        "note": "The pink bowl appears entirely to the jaws' right in the wrist view, so I was 2 cm outside its rim; nudging y to -0.305 to put the rim between the jaws.",
        "targets": {
          "left_y": -0.305
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01A4FzsjUZDLzYM3NTaMnAdz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7113, 2.3093, 1.8492, -0.6601, -0.4141, -0.8024, 0.9957, -0.0216, 0.849, 0.8852, -0.7109, -0.0017, -0.207, 0.9965]\nstate[eef_state]: left_x=0.4614 left_y=-0.2991 left_z=0.0437 left_yaw=0.1195 left_pitch=-0.3956 left_roll=-0.0532 left_gripper=0.9957 right_x=0.281 right_y=-0.0022 right_z=0.225 right_yaw=0.0833 right_pitch=-0.1083 right_roll=-0.1424 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -10.8923, 8.4718, 0.9646, -0.3492, -0.0366, -0.0122, -0.2803, -1.7026, 6.7761, 1.6777, -0.0562, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a5f7be63c7c43b404ebfb797124ab459eea4b9e2715a5fccf37b8feb307a09b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95273f11a8b19292e3a65b11d5ce7c601d8dd31fa814525b4135e8d258cddf14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b9403d7abe9de965142c329407c8f98e810d95e754222b93a8cc804beb2e1a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /messages · status 200 · 11.28 s

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

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8505, 2.2433, 2.0884, -1.0004, -0.4725, -0.9066, 0.9957, -0.0216, 0.8429, 0.886, -0.7074, -0.0017, -0.2066, 0.9965]\nstate[eef_state]: left_x=0.4111 left_y=-0.3411 left_z=0.1321 left_yaw=0.0905 left_pitch=-0.3791 left_roll=-0.0521 left_gripper=0.9957 right_x=0.2809 right_y=-0.0022 right_z=0.2276 right_yaw=0.0829 right_pitch=-0.0981 right_roll=-0.1432 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -12.7795, 8.6359, 0.9206, -0.4127, 0.0904, -0.0122, -0.0615, -1.4154, 6.8444, 1.6239, -0.0757, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.688, 2.2688, 1.7775, -0.6296, -0.4133, -0.7811, 0.9957, -0.0216, 0.8436, 0.886, -0.7074, -0.0013, -0.2066, 0.9965]\nstate[eef_state]: left_x=0.4604 left_y=-0.282 left_z=0.0429 left_yaw=0.1299 left_pitch=-0.3962 left_roll=-0.04 left_gripper=0.9957 right_x=0.281 right_y=-0.0022 right_z=0.2274 right_yaw=0.0826 right_pitch=-0.0989 right_roll=-0.1434 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -10.988, 5.8051, 1.1551, -0.1245, 0.2613, -0.0122, -0.1026, -1.1282, 6.8444, 1.6484, -0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7113, 2.3093, 1.8492, -0.6601, -0.4141, -0.8024, 0.9957, -0.0216, 0.849, 0.8852, -0.7109, -0.0017, -0.207, 0.9965]\nstate[eef_state]: left_x=0.4614 left_y=-0.2991 left_z=0.0437 left_yaw=0.1195 left_pitch=-0.3956 left_roll=-0.0532 left_gripper=0.9957 right_x=0.281 right_y=-0.0022 right_z=0.225 right_yaw=0.0833 right_pitch=-0.1083 right_roll=-0.1424 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -10.8923, 8.4718, 0.9646, -0.3492, -0.0366, -0.0122, -0.2803, -1.7026, 6.7761, 1.6777, -0.0562, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a5f7be63c7c43b404ebfb797124ab459eea4b9e2715a5fccf37b8feb307a09b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95273f11a8b19292e3a65b11d5ce7c601d8dd31fa814525b4135e8d258cddf14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b9403d7abe9de965142c329407c8f98e810d95e754222b93a8cc804beb2e1a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011BxGPaGkdiSHQGftnfZb7S",
      "input": {
        "note": "The right jaw is still just outside the pink bowl's wall; shifting another 2 cm to -0.325 so the rim lies between the jaws.",
        "targets": {
          "left_y": -0.325
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_011BxGPaGkdiSHQGftnfZb7S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7258, 2.3196, 1.8721, -0.6926, -0.4168, -0.8158, 0.9957, -0.0216, 0.8494, 0.8852, -0.7109, -0.0013, -0.2066, 0.9965]\nstate[eef_state]: left_x=0.4562 left_y=-0.3044 left_z=0.0432 left_yaw=0.1209 left_pitch=-0.4074 left_roll=-0.0436 left_gripper=0.9957 right_x=0.2811 right_y=-0.0022 right_z=0.2249 right_yaw=0.0827 right_pitch=-0.1087 right_roll=-0.1423 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -12.1094, 8.1162, 1.0525, -0.3101, -0.0464, -0.0122, -0.1709, -1.306, 6.694, 1.6288, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcab25c55c2860bf4eb1bf583741ccb82e724852eb18392b93c44f2568bfd136",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f562290698fd3097bc3630fb8e8fcb5c235c7e7964d4ce7581d4fcdd337ece68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:54a95fbb47fba11400d3a2f08af6c3448afe98dae58f4689705fbc75cb70a7f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /messages · status 200 · 18.3 s

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

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.688, 2.2688, 1.7775, -0.6296, -0.4133, -0.7811, 0.9957, -0.0216, 0.8436, 0.886, -0.7074, -0.0013, -0.2066, 0.9965]\nstate[eef_state]: left_x=0.4604 left_y=-0.282 left_z=0.0429 left_yaw=0.1299 left_pitch=-0.3962 left_roll=-0.04 left_gripper=0.9957 right_x=0.281 right_y=-0.0022 right_z=0.2274 right_yaw=0.0826 right_pitch=-0.0989 right_roll=-0.1434 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -10.988, 5.8051, 1.1551, -0.1245, 0.2613, -0.0122, -0.1026, -1.1282, 6.8444, 1.6484, -0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7113, 2.3093, 1.8492, -0.6601, -0.4141, -0.8024, 0.9957, -0.0216, 0.849, 0.8852, -0.7109, -0.0017, -0.207, 0.9965]\nstate[eef_state]: left_x=0.4614 left_y=-0.2991 left_z=0.0437 left_yaw=0.1195 left_pitch=-0.3956 left_roll=-0.0532 left_gripper=0.9957 right_x=0.281 right_y=-0.0022 right_z=0.225 right_yaw=0.0833 right_pitch=-0.1083 right_roll=-0.1424 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -10.8923, 8.4718, 0.9646, -0.3492, -0.0366, -0.0122, -0.2803, -1.7026, 6.7761, 1.6777, -0.0562, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7258, 2.3196, 1.8721, -0.6926, -0.4168, -0.8158, 0.9957, -0.0216, 0.8494, 0.8852, -0.7109, -0.0013, -0.2066, 0.9965]\nstate[eef_state]: left_x=0.4562 left_y=-0.3044 left_z=0.0432 left_yaw=0.1209 left_pitch=-0.4074 left_roll=-0.0436 left_gripper=0.9957 right_x=0.2811 right_y=-0.0022 right_z=0.2249 right_yaw=0.0827 right_pitch=-0.1087 right_roll=-0.1423 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -12.1094, 8.1162, 1.0525, -0.3101, -0.0464, -0.0122, -0.1709, -1.306, 6.694, 1.6288, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcab25c55c2860bf4eb1bf583741ccb82e724852eb18392b93c44f2568bfd136",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f562290698fd3097bc3630fb8e8fcb5c235c7e7964d4ce7581d4fcdd337ece68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54a95fbb47fba11400d3a2f08af6c3448afe98dae58f4689705fbc75cb70a7f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019Pos4ecYpa3PmCaeWyqxDD",
      "input": {
        "note": "The right jaw is right at the pink bowl's rim; closing now to pinch it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019Pos4ecYpa3PmCaeWyqxDD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7258, 2.3196, 1.8717, -0.693, -0.4164, -0.8196, 0.0082, -0.0216, 0.8494, 0.8852, -0.7109, -0.0017, -0.2066, 0.9965]\nstate[eef_state]: left_x=0.456 left_y=-0.3043 left_z=0.043 left_yaw=0.1232 left_pitch=-0.4082 left_roll=-0.0455 left_gripper=0.0082 right_x=0.2811 right_y=-0.0022 right_z=0.2249 right_yaw=0.0831 right_pitch=-0.1087 right_roll=-0.1421 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -13.2855, 6.3658, 1.0085, -0.2222, 0.0073, 0.6471, -0.253, -1.2786, 6.7077, 1.619, -0.0464, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:821aff8dbe1c449a51117366a8e80cd4e8311229f74dca2e4d4c96549435ed3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c43262f6e4d0db3f1700284f4db6a26218c35b566e7fd16b4577287edf8017b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc4a0ed4f3bfbc92d340eb05fa76f27e29c65fd8618c4658b13d9ef09d612bfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /messages · status 200 · 10.56 s

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

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7113, 2.3093, 1.8492, -0.6601, -0.4141, -0.8024, 0.9957, -0.0216, 0.849, 0.8852, -0.7109, -0.0017, -0.207, 0.9965]\nstate[eef_state]: left_x=0.4614 left_y=-0.2991 left_z=0.0437 left_yaw=0.1195 left_pitch=-0.3956 left_roll=-0.0532 left_gripper=0.9957 right_x=0.281 right_y=-0.0022 right_z=0.225 right_yaw=0.0833 right_pitch=-0.1083 right_roll=-0.1424 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -10.8923, 8.4718, 0.9646, -0.3492, -0.0366, -0.0122, -0.2803, -1.7026, 6.7761, 1.6777, -0.0562, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7258, 2.3196, 1.8721, -0.6926, -0.4168, -0.8158, 0.9957, -0.0216, 0.8494, 0.8852, -0.7109, -0.0013, -0.2066, 0.9965]\nstate[eef_state]: left_x=0.4562 left_y=-0.3044 left_z=0.0432 left_yaw=0.1209 left_pitch=-0.4074 left_roll=-0.0436 left_gripper=0.9957 right_x=0.2811 right_y=-0.0022 right_z=0.2249 right_yaw=0.0827 right_pitch=-0.1087 right_roll=-0.1423 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -12.1094, 8.1162, 1.0525, -0.3101, -0.0464, -0.0122, -0.1709, -1.306, 6.694, 1.6288, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7258, 2.3196, 1.8717, -0.693, -0.4164, -0.8196, 0.0082, -0.0216, 0.8494, 0.8852, -0.7109, -0.0017, -0.2066, 0.9965]\nstate[eef_state]: left_x=0.456 left_y=-0.3043 left_z=0.043 left_yaw=0.1232 left_pitch=-0.4082 left_roll=-0.0455 left_gripper=0.0082 right_x=0.2811 right_y=-0.0022 right_z=0.2249 right_yaw=0.0831 right_pitch=-0.1087 right_roll=-0.1421 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -13.2855, 6.3658, 1.0085, -0.2222, 0.0073, 0.6471, -0.253, -1.2786, 6.7077, 1.619, -0.0464, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:821aff8dbe1c449a51117366a8e80cd4e8311229f74dca2e4d4c96549435ed3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c43262f6e4d0db3f1700284f4db6a26218c35b566e7fd16b4577287edf8017b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc4a0ed4f3bfbc92d340eb05fa76f27e29c65fd8618c4658b13d9ef09d612bfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FSyAdydNTxaL8RdEYtqC4Z",
      "input": {
        "note": "That close was empty. Backing x off to 0.43 (which frees the arm to reach further in -y) and going to y=-0.35 with jaws open, straddling the pink bowl's rim.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.43,
          "left_y": -0.35,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FSyAdydNTxaL8RdEYtqC4Z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8227, 2.3798, 1.9347, -0.7498, -0.4404, -0.9203, 0.9943, -0.0216, 0.8547, 0.8799, -0.7288, -0.0013, -0.207, 0.9965]\nstate[eef_state]: left_x=0.4267 left_y=-0.3438 left_z=0.0292 left_yaw=0.1204 left_pitch=-0.4267 left_roll=-0.0445 left_gripper=0.9943 right_x=0.2784 right_y=-0.0022 right_z=0.2178 right_yaw=0.0833 right_pitch=-0.1372 right_roll=-0.1396 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -11.5897, 8.8684, 0.9548, -0.3492, 0.0611, -0.0073, -0.0342, -1.7162, 7.2957, 1.8339, -0.0171, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a4683b9fb770c668a3a94bee21bee92994c2ad0aa1a68af9c780a5599a1d3cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6464af28c031dbe073e46224b3074a9991e0eda415723dbc8b09446c4ac60ae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:65c2f123ea0bc72de027b6b127ddc6fefc06ec296b31bd31551a5f2841a9e145",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /messages · status 200 · 16.68 s

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

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7258, 2.3196, 1.8721, -0.6926, -0.4168, -0.8158, 0.9957, -0.0216, 0.8494, 0.8852, -0.7109, -0.0013, -0.2066, 0.9965]\nstate[eef_state]: left_x=0.4562 left_y=-0.3044 left_z=0.0432 left_yaw=0.1209 left_pitch=-0.4074 left_roll=-0.0436 left_gripper=0.9957 right_x=0.2811 right_y=-0.0022 right_z=0.2249 right_yaw=0.0827 right_pitch=-0.1087 right_roll=-0.1423 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -12.1094, 8.1162, 1.0525, -0.3101, -0.0464, -0.0122, -0.1709, -1.306, 6.694, 1.6288, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7258, 2.3196, 1.8717, -0.693, -0.4164, -0.8196, 0.0082, -0.0216, 0.8494, 0.8852, -0.7109, -0.0017, -0.2066, 0.9965]\nstate[eef_state]: left_x=0.456 left_y=-0.3043 left_z=0.043 left_yaw=0.1232 left_pitch=-0.4082 left_roll=-0.0455 left_gripper=0.0082 right_x=0.2811 right_y=-0.0022 right_z=0.2249 right_yaw=0.0831 right_pitch=-0.1087 right_roll=-0.1421 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -13.2855, 6.3658, 1.0085, -0.2222, 0.0073, 0.6471, -0.253, -1.2786, 6.7077, 1.619, -0.0464, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8227, 2.3798, 1.9347, -0.7498, -0.4404, -0.9203, 0.9943, -0.0216, 0.8547, 0.8799, -0.7288, -0.0013, -0.207, 0.9965]\nstate[eef_state]: left_x=0.4267 left_y=-0.3438 left_z=0.0292 left_yaw=0.1204 left_pitch=-0.4267 left_roll=-0.0445 left_gripper=0.9943 right_x=0.2784 right_y=-0.0022 right_z=0.2178 right_yaw=0.0833 right_pitch=-0.1372 right_roll=-0.1396 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -11.5897, 8.8684, 0.9548, -0.3492, 0.0611, -0.0073, -0.0342, -1.7162, 7.2957, 1.8339, -0.0171, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a4683b9fb770c668a3a94bee21bee92994c2ad0aa1a68af9c780a5599a1d3cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6464af28c031dbe073e46224b3074a9991e0eda415723dbc8b09446c4ac60ae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65c2f123ea0bc72de027b6b127ddc6fefc06ec296b31bd31551a5f2841a9e145",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISrwkKjgEIEhgCKkCGd49o5qLZCWUO9UdZ/Uv6UYeQ+/6DFxHaOwwPh6v6K7A9Qu/bNJhj4/govVJfJxwRs7i1tS2o+onYvoXRr031Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaWuzNUGEgxVdZa/QB/lok6Ziv8aDKCUiDAcaH47Aap2jiIwu5MbMuYNSRELdAq4RrNU39lI50Jw6RVejQ6IaLNrIs3QG1yexTJ4pEo48YQOL6t4Ks0HufAo/8xabuIRtiKk/KPp9Up0oWxNeQGGdN7l077r5K0eWfBkQm9MCGtHVlvzPPg/L76l3C/R57pk0upCBdsndKcST6IqE5ROui9JoJBGylDhVDmcflpNsYKGIgNoD3wnaWOibV/Hj6SWLAceZ5PeEkR1KZoQAw6epv7FV70+pKz60eTip5hp8xQ2bugC0O0zdghIhANopMVhMOuN9uAq+bxx1L+ssJHmmK7lMvFFu7NB6HY6HPbEAFD1KoEZXllnXNYfaJ7Bn0xLfrNyQbOCQ5B8miYDgFm6V2fIcAKrY+aK6B+O5mpWa6OVPgVbnkLkGTNE6XA9kBJJY126/4pHXNjb4kCMiCnVZKaY18F15XehZCnjIO/tmlchAg6RwB3U+/TVxYrCyb9X3h2vgkjyNPBBLG5iwpDx7orok2oZ4XJttviK7m+BI9QivqSFP5AdnB9ttGtwAGTkVUhBTGrG+F+tcTP2+T4nmSf1aqsMJgp3x9T6hYUmjIDuiQ/SbZvjIUsTMEzmZ/t0Lsfl7UxQehedWhCc+oFw1es3AMpvtKpDt220OXn+3OPcFQLbYlYiSfmyn9+ft2+GnHGN+7k9asraBn5a2WqT+kmzbZeQtDATUVlJvosSYMe+X8TpdRhqzqSrG1SqLSb8ZP/evfC1/WNkNVR+bPU9jds6ehRA06+aJpek9Ww+M3JdFRjhoP5CHIjZloa6BMIQfKwIdsewoBVQ3Uz2+samYtnNwGHr4R0/kcgN3LsozsBgbF4V95fh/v/1qt7AITM0O81yyXHoH6wB169fTeWc8xhxj039RHPVoI8MQI+ID6oNihHm2rS6zNFurhALXmVsDAwU694DsajqRoxpHY/I2JCAPowOMJ11kukmA7t6DPe6DoMRYQ+o+G+u1nJWuMLZAMxTevLgOXE9RXF6MSCLGADI0pPSUOf2gP1YudunPIVPn28mUL2iXHqVmSULmdTxhqZ04AOCoO840zAAa0N78G83WXbjzOmo7u3Oat9iLLod2S5d4bDSn7d4jK3JLxZc8skdcd6ATMi7OVtRgavX2mFYEUOyXltd0YmPJpMMwIeTvbhqsB6egcEHgKrwjYwX1yvL5iVVr7LB+zZ5zADcLU4C2rpo+/lOEn11SMRTx3j93H+2wiuQP5qAZGdExKYcF/mL777sGI0kH4AMb26vf7MhRC5UCs3qgBLULbvHPE0HqqKW3ylvvWJFD5vqeRl557hmSh3kbH2YjQ3VuCkvYRoDe4AQbwoDtwXfHP5iXs4YzsU/FgMVDj08wWhsqnWMCx1CFxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HFtcehYezZsDYRmsD2CKKm",
      "input": {
        "note": "The jaws are now down at the pink bowl (it sits just under the fingertips, hidden from the wrist view); closing to clamp its 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_01HFtcehYezZsDYRmsD2CKKm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8268, 2.3825, 1.9388, -0.7551, -0.4423, -0.9253, 0.0093, -0.0216, 0.8551, 0.8795, -0.73, -0.0013, -0.207, 0.9965]\nstate[eef_state]: left_x=0.4253 left_y=-0.3452 left_z=0.0289 left_yaw=0.1217 left_pitch=-0.4275 left_roll=-0.0429 left_gripper=0.0093 right_x=0.2782 right_y=-0.0022 right_z=0.2173 right_yaw=0.0833 right_pitch=-0.1391 right_roll=-0.1394 right_gripper=0.9965\nstate[joint_eff]: [0.212, -13.8735, 5.9145, 0.9353, -0.2027, 0.0122, 0.5006, -0.0615, -1.3333, 6.7487, 1.619, -0.0122, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0d00e6d80898876eacfd538f38ffe38229ff3e48dbf16dfd912d72d43c7fb4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e5ee0bdc53f61596c511e2e1b7a4093bcaa02709dee7b4f9fe43507d24d5921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d0cda5e7aa8691bb3d3311fcc63386a52565a3f3c33226d824d304084a3e55d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]