adhoc

completed
2026-09-22T19:09:04.432005+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
268.4 s
total steps
295
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls in a row: green (left), blue (centre), pink (right). Plan: stack left and right bowls into the centre one by gripping rims. Moving left gripper above the left bowl's near (+y) rim.
move_to
left_x0.3300left_y-0.0600left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7956, 0.6056, -0.3794, -0.0223, -0.0296, 0.9995, -0.0181, 0.794, 0.6025, -0.3794, -0.0166, -0.02, 0.9993] state[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1804 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2947 right_y=0.0012 right_z=0.1794 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.6906, -1.5385, 9.9897, 1.7607, -0.0415, 0.1197, -0.0659, -0.5538, -1.4974, 10.3179, 1.8681, -0.1148, 0.0269, -0.0904] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.06, "left_z": 0.15, "left_gripper": 1}, "note": "Three bowls in a row: green (left), blue (centre), pink (right). Plan: stack left and right bowls into the centre one by gripping rims. Moving left gripper above the left bowl's near (+y) rim."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteLeft gripper is just behind the white bowl. Rotating the tool 90° so the jaws close along x, and moving over the bowl's near rim to pinch it.
move_to
left_x0.3450left_y-0.0750left_z0.1200left_yaw1.5700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3271, 1.0309, 0.5781, -0.2066, -0.2428, -0.1829, 0.9995, -0.0208, 0.8005, 0.6041, -0.3889, -0.0166, -0.02, 0.9992] state[eef_state]: left_x=0.3196 left_y=-0.0598 left_z=0.1374 left_yaw=-0.0389 left_pitch=-0.0682 left_roll=0.013 left_gripper=0.9995 right_x=0.294 right_y=0.0004 right_z=0.1764 right_yaw=-0.0027 right_pitch=-0.0149 right_roll=0.0003 right_gripper=0.9992 state[joint_eff]: [-0.3214, -3.3436, 7.159, 1.8388, -0.2466, -0.022, -0.0659, 0.0479, -1.7436, 6.9538, 1.8437, -0.0317, -0.0464, -0.022] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.345, "left_y": -0.075, "left_z": 0.12, "left_yaw": 1.57}, "note": "Left gripper is just behind the white bowl. Rotating the tool 90\u00b0 so the jaws close along x, and moving over the bowl's near rim to pinch it."})
tool
executing move_to over 11 steps (1.1s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteMove was delta-clamped and the arm is off target (x 0.38, y -0.03). Re-sending so it settles over the bowl's near rim.
move_to
left_x0.3450left_y-0.0750left_z0.1200left_yaw1.5700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.437, 2.1704, 1.7409, -1.4563, -0.8387, -1.9713, 0.9994, -0.0219, 0.804, 0.5999, -0.3943, -0.0166, -0.0204, 0.9992] state[eef_state]: left_x=0.3816 left_y=-0.0293 left_z=0.1038 left_yaw=1.3838 left_pitch=-0.1202 left_roll=0.0208 left_gripper=0.9994 right_x=0.293 right_y=0.0001 right_z=0.1724 right_yaw=-0.0036 right_pitch=-0.0278 right_roll=0.0002 right_gripper=0.9992 state[joint_eff]: [0.3487, -10.4547, 6.2427, -0.7643, -0.4176, -0.149, -0.022, -0.1436, -1.4154, 7.3641, 1.7802, -0.0513, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.345, "left_y": -0.075, "left_z": 0.12, "left_yaw": 1.57}, "note": "Move was delta-clamped and the arm is off target (x 0.38, y -0.03). Re-sending so it settles over the bowl's near rim."})
tool
executing move_to over 5 steps (0.5s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteIK is not tracking well with yaw 1.57 (arm drifting to y -0.015). Returning to yaw 0 and hovering behind the white bowl to re-locate it; I'll grip its side rim instead.
move_to
left_x0.3300left_y-0.0700left_z0.1600left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3981, 2.1864, 1.7706, -1.5497, -0.7929, -2.0621, 0.9994, -0.0219, 0.8043, 0.5999, -0.3954, -0.0166, -0.02, 0.9992] state[eef_state]: left_x=0.369 left_y=-0.0148 left_z=0.1046 left_yaw=1.4994 left_pitch=-0.1367 left_roll=0.04 left_gripper=0.9994 right_x=0.2928 right_y=0.0001 right_z=0.1721 right_yaw=-0.0038 right_pitch=-0.0294 right_roll=0.0005 right_gripper=0.9992 state[joint_eff]: [0.2667, -12.2462, 5.1897, -0.6325, -0.3785, -0.3932, -0.0171, -0.0889, -1.1419, 7.3641, 1.7607, -0.0611, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.07, "left_z": 0.16, "left_yaw": 0.0}, "note": "IK is not tracking well with yaw 1.57 (arm drifting to y -0.015). Returning to yaw 0 and hovering behind the white bowl to re-locate it; I'll grip its side rim instead."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteLeft arm appears stuck in an awkward wrist configuration (no joint motion last move). Trying a smaller step: raise and unwind yaw partially.
move_to
left_x0.3400left_y-0.0300left_z0.1500left_yaw1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3779, 2.1864, 1.7706, -1.5497, -0.7853, -2.0621, 0.9993, -0.0219, 0.8043, 0.5999, -0.3965, -0.0166, -0.0204, 0.9992] state[eef_state]: left_x=0.3685 left_y=-0.0081 left_z=0.1037 left_yaw=1.5229 left_pitch=-0.1434 left_roll=0.0423 left_gripper=0.9993 right_x=0.2927 right_y=0.0001 right_z=0.1718 right_yaw=-0.0036 right_pitch=-0.0305 right_roll=0.0002 right_gripper=0.9992 state[joint_eff]: [0.2393, -12.2598, 4.9573, -0.5739, -0.3932, -0.359, -0.0171, -0.1299, -1.306, 7.0769, 1.7167, -0.0513, -0.0464, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.03, "left_z": 0.15, "left_yaw": 1.0}, "note": "Left arm appears stuck in an awkward wrist configuration (no joint motion last move). Trying a smaller step: raise and unwind yaw partially."})
tool
executing move_to over 4 steps (0.4s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
It's moving now. Continuing to unwind yaw to 0.
agent noteArm is moving again; the white bowl sits below/right of the gripper (bottom-right of wrist view). Continuing to unwind yaw toward 0 while backing up slightly.
move_to
left_x0.3000left_y-0.0500left_z0.1600left_yaw0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4999, 1.7359, 1.3392, -1.2533, -0.8089, -1.7084, 0.9993, -0.0219, 0.8089, 0.5983, -0.4057, -0.0162, -0.0204, 0.9992] state[eef_state]: left_x=0.3237 left_y=-0.0271 left_z=0.1419 left_yaw=1.1468 left_pitch=-0.19 left_roll=-0.0108 left_gripper=0.9993 right_x=0.2914 right_y=0.0001 right_z=0.168 right_yaw=-0.0039 right_pitch=-0.0458 right_roll=0.0003 right_gripper=0.9992 state[joint_eff]: [1.4017, -4.9026, 5.1077, 0.5739, -0.6325, 0.1441, -0.0122, -0.2256, -1.7026, 7.1453, 1.7998, -0.022, -0.0659, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
It's moving now. Continuing to unwind yaw to 0.
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.16, "left_yaw": 0.3}, "note": "Arm is moving again; the white bowl sits below/right of the gripper (bottom-right of wrist view). Continuing to unwind yaw toward 0 while backing up slightly."})
tool
executing move_to over 6 steps (0.6s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteWhite bowl is ahead-right of the left gripper. Squaring yaw to 0 and moving forward to hover at the bowl's left (+y) rim so the jaws can straddle the rim wall.
move_to
left_x0.3600left_y-0.0350left_z0.1500left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4915, 1.1553, 0.8463, -0.7399, -0.6174, -0.8444, 0.9993, -0.0219, 0.8158, 0.5953, -0.4149, -0.0166, -0.0204, 0.9992] state[eef_state]: left_x=0.2896 left_y=-0.035 left_z=0.1507 left_yaw=0.4828 left_pitch=-0.2163 left_roll=-0.0307 left_gripper=0.9993 right_x=0.29 right_y=0.0002 right_z=0.163 right_yaw=-0.0036 right_pitch=-0.0648 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [0.2803, -3.0427, 7.2, 1.5849, -0.3297, 0.2564, -0.0122, -0.212, -1.388, 7.2821, 1.8046, -0.0806, -0.0269, -0.0171] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.035, "left_z": 0.15, "left_yaw": 0.0}, "note": "White bowl is ahead-right of the left gripper. Squaring yaw to 0 and moving forward to hover at the bowl's left (+y) rim so the jaws can straddle the rim wall."})
tool
executing move_to over 6 steps (0.6s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteBowl's left rim lines up near the jaw column but is still ahead of the fingertips. Moving forward ~5 cm and levelling pitch to 0 so the tool points straight down.
move_to
left_x0.4000left_y-0.0350left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1734, 1.2465, 0.828, -0.4633, -0.205, -0.2863, 0.9993, -0.0216, 0.8173, 0.5945, -0.4156, -0.0166, -0.0204, 0.9992] state[eef_state]: left_x=0.3404 left_y=-0.0195 left_z=0.13 left_yaw=0.1521 left_pitch=-0.2879 left_roll=-0.0215 left_gripper=0.9993 right_x=0.2899 right_y=0.0003 right_z=0.1621 right_yaw=-0.0032 right_pitch=-0.0679 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [0.2667, -4.7248, 9.8803, 1.5897, -0.0317, 0.188, -0.0122, -0.0205, -1.4564, 7.2684, 1.6581, -0.0269, -0.0317, -0.0122] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.035, "left_z": 0.12, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Bowl's left rim lines up near the jaw column but is still ahead of the fingertips. Moving forward ~5 cm and levelling pitch to 0 so the tool points straight down."})
tool
executing move_to over 10 steps (1.0s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe bowl's left rim now lies between the jaws near the fingertips (one jaw outside, one over the interior). Descending so the jaws straddle the rim wall.
move_to
left_x0.3900left_y-0.0350left_z0.0350left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1616, 1.3804, 0.664, 0.0483, -0.1547, -0.141, 0.9993, -0.0219, 0.8227, 0.5941, -0.4236, -0.0162, -0.0204, 0.9992] state[eef_state]: left_x=0.3863 left_y=-0.0317 left_z=0.1042 left_yaw=0.0306 left_pitch=-0.0899 left_roll=-0.0043 left_gripper=0.9993 right_x=0.2889 right_y=0.0001 right_z=0.1589 right_yaw=-0.0039 right_pitch=-0.0816 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [0.3761, -5.1077, 6.653, 2.0781, 0.0024, 0.2173, -0.0122, -0.1846, -1.6615, 7.0222, 1.6679, -0.0415, -0.022, -0.0171] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.035, "left_z": 0.035, "left_pitch": 0.0}, "note": "The bowl's left rim now lies between the jaws near the fingertips (one jaw outside, one over the interior). Descending so the jaws straddle the rim wall."})
tool
executing move_to over 5 steps (0.5s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteRim wall sits between the jaws near the jaw column. 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]: [-0.1761, 1.6279, 0.461, 0.4652, -0.1631, -0.1371, 0.9993, -0.0219, 0.8242, 0.5938, -0.4225, -0.0162, -0.0231, 0.9992] state[eef_state]: left_x=0.3732 left_y=-0.0336 left_z=0.0163 left_yaw=0.0218 left_pitch=-0.1219 left_roll=0.0105 left_gripper=0.9993 right_x=0.2891 right_y=0.0001 right_z=0.1585 right_yaw=-0.0024 right_pitch=-0.0824 right_roll=-0.0012 right_gripper=0.9992 state[joint_eff]: [-0.4308, -6.4752, 4.9709, 1.8584, -0.2515, 0.0611, -0.0122, -0.335, -1.1966, 6.9949, 1.6337, -0.022, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Rim wall sits between the jaws near the jaw column. Closing to pinch the rim."})
tool
executing move_to over 10 steps (1.0s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteJaws closed on the rim (reading 0.03, rim is thin). Lifting to verify the bowl comes with the gripper.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.178, 1.615, 0.466, 0.5278, -0.1486, -0.1677, 0.0303, -0.0219, 0.8242, 0.5938, -0.4225, -0.0166, -0.0231, 0.9992] state[eef_state]: left_x=0.3851 left_y=-0.039 left_z=0.0345 left_yaw=0.0228 left_pitch=-0.0448 left_roll=-0.0386 left_gripper=0.0303 right_x=0.2891 right_y=0.0002 right_z=0.1585 right_yaw=-0.0021 right_pitch=-0.0824 right_roll=-0.0009 right_gripper=0.9992 state[joint_eff]: [-0.0615, -4.4923, 4.9026, 0.6325, -0.2564, 0.2173, 0.7399, -0.1709, -1.265, 7.1179, 1.6825, -0.0708, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Jaws closed on the rim (reading 0.03, rim is thin). Lifting to verify the bowl comes with the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteWhite bowl is lifted with the gripper (rim stays fixed in the wrist view). Carrying it right, over the lavender centre bowl (~19 cm to the right).
move_to
left_x0.3750left_y-0.2250left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1787, 1.3636, 0.6125, 0.1219, -0.1539, -0.173, 0.0398, -0.0216, 0.8249, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992] state[eef_state]: left_x=0.383 left_y=-0.038 left_z=0.1032 left_yaw=0.0295 left_pitch=-0.0521 left_roll=-0.0383 left_gripper=0.0398 right_x=0.2891 right_y=0.0003 right_z=0.1583 right_yaw=-0.0015 right_pitch=-0.0831 right_roll=-0.0012 right_gripper=0.9992 state[joint_eff]: [-0.1573, -6.3111, 8.9915, 1.8144, -0.0317, 0.0415, 1.0183, -0.0752, -1.4291, 6.9675, 1.6777, -0.0708, -0.0171, -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": 0.375, "left_y": -0.225, "left_z": 0.16}, "note": "White bowl is lifted with the gripper (rim stays fixed in the wrist view). Carrying it right, over the lavender centre bowl (~19 cm to the right)."})
tool
executing move_to over 17 steps (1.7s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteHeld white bowl appears to be over the lavender bowl in the overhead view. Lowering it close to nesting height before release.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7753, 1.6035, 1.0733, -0.2871, -0.5861, -0.5781, 0.0413, -0.0219, 0.8249, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992] state[eef_state]: left_x=0.3702 left_y=-0.221 left_z=0.1454 left_yaw=0.0048 left_pitch=-0.0842 left_roll=-0.0245 left_gripper=0.0413 right_x=0.2891 right_y=0.0002 right_z=0.1583 right_yaw=-0.0019 right_pitch=-0.0831 right_roll=-0.0012 right_gripper=0.9992 state[joint_eff]: [-0.3214, -7.6376, 8.9778, 1.3309, -0.5836, -0.0562, 1.033, -0.1983, -1.3744, 7.1863, 1.6386, -0.0366, -0.0708, -0.0171] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.08}, "note": "Held white bowl appears to be over the lavender bowl in the overhead view. Lowering it close to nesting height before release."})
tool
executing move_to over 5 steps (0.5s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteWrist view shows the lavender bowl slightly ahead of the held white bowl. Shifting forward ~3 cm and lowering to nest it.
move_to
left_x0.3900left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7818, 1.7039, 0.9176, -0.0963, -0.5819, -0.5896, 0.0413, -0.0219, 0.8249, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992] state[eef_state]: left_x=0.3611 left_y=-0.2166 left_z=0.0747 left_yaw=0.0066 left_pitch=-0.1326 left_roll=0.0106 left_gripper=0.0413 right_x=0.2891 right_y=0.0002 right_z=0.1583 right_yaw=-0.0019 right_pitch=-0.0831 right_roll=-0.0012 right_gripper=0.9992 state[joint_eff]: [0.6085, -7.665, 6.2154, 1.663, -0.3639, 0.0757, 1.0232, -0.1026, -1.388, 6.9675, 1.6386, -0.0806, -0.0708, -0.0171] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_z": 0.065}, "note": "Wrist view shows the lavender bowl slightly ahead of the held white bowl. Shifting forward ~3 cm and lowering to nest it."})
tool
executing move_to over 3 steps (0.3s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteWhite bowl is sitting just above/inside the lavender bowl. Lowering a bit more until it rests, before opening.
move_to
left_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7341, 1.779, 0.9451, -0.0456, -0.5537, -0.5682, 0.0441, -0.0219, 0.8257, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992] state[eef_state]: left_x=0.3795 left_y=-0.2125 left_z=0.0596 left_yaw=0.0222 left_pitch=-0.1459 left_roll=0.0091 left_gripper=0.0441 right_x=0.2892 right_y=0.0002 right_z=0.1581 right_yaw=-0.0019 right_pitch=-0.0839 right_roll=-0.0012 right_gripper=0.9992 state[joint_eff]: [0.3214, -7.9248, 8.5812, 1.4921, -0.2808, 0.1197, 0.8669, -0.0889, -0.8957, 6.9538, 1.663, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.045}, "note": "White bowl is sitting just above/inside the lavender bowl. Lowering a bit more until it rests, before opening."})
tool
executing move_to over 1 steps (0.1s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
Stopped at 0.055 — likely resting. Opening and lifting.
agent noteDescent stopped at z≈0.055: the white bowl is resting in the lavender bowl. Releasing the rim.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7197, 1.7943, 0.9504, -0.0471, -0.5472, -0.5472, 0.0439, -0.0219, 0.8295, 0.5938, -0.4225, -0.0166, -0.0238, 0.9992] state[eef_state]: left_x=0.3826 left_y=-0.2084 left_z=0.0546 left_yaw=0.0218 left_pitch=-0.158 left_roll=0.0292 left_gripper=0.0439 right_x=0.2893 right_y=0.0002 right_z=0.1571 right_yaw=-0.0017 right_pitch=-0.0877 right_roll=-0.0014 right_gripper=0.9992 state[joint_eff]: [-0.2393, -8.2803, 8.0889, 1.4286, -0.2711, 0.0757, 0.8864, -0.1436, -1.5795, 6.9538, 1.6386, -0.0415, -0.0757, -0.0122] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
Stopped at 0.055 — likely resting. Opening and lifting.
move_to({"targets": {"left_gripper": 1.0}, "note": "Descent stopped at z\u22480.055: the white bowl is resting in the lavender bowl. Releasing the rim."})
tool
executing move_to over 10 steps (1.0s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteReleased. Lifting the left arm and returning toward home to see whether the white bowl nested cleanly in the lavender one.
move_to
left_z0.1800left_x0.3000left_y0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7311, 1.8069, 0.9272, 0.0055, -0.5507, -0.5732, 0.9948, -0.0216, 0.8295, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992] state[eef_state]: left_x=0.381 left_y=-0.2128 left_z=0.0491 left_yaw=0.0252 left_pitch=-0.1436 left_roll=-0.0001 left_gripper=0.9948 right_x=0.2893 right_y=0.0003 right_z=0.1571 right_yaw=-0.0015 right_pitch=-0.0877 right_roll=-0.0011 right_gripper=0.9992 state[joint_eff]: [-0.1846, -7.7607, 5.053, 1.4969, -0.3248, 0.0562, 0.0317, -0.0479, -1.4291, 6.9949, 1.7021, -0.0659, -0.0317, -0.0122] 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": {"left_z": 0.18, "left_x": 0.3, "left_y": 0.0}, "note": "Released. Lifting the left arm and returning toward home to see whether the white bowl nested cleanly in the lavender one."})
tool
executing move_to over 19 steps (1.9s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe white bowl slipped off and now sits in front of the lavender bowl. New plan: use lavender as base; first bring the right gripper over the pink bowl's right-side rim.
move_to
left_x0.3000left_y0.0000left_z0.1800left_pitch0.0000left_yaw0.0000right_x0.3600right_y0.0600right_z0.1500right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0711, 0.947, 0.7143, -0.506, -0.1177, -0.1257, 0.9956, -0.0219, 0.8307, 0.5938, -0.4225, -0.0166, -0.0238, 0.9992] state[eef_state]: left_x=0.3006 left_y=0.003 left_z=0.163 left_yaw=0.083 left_pitch=-0.1636 left_roll=-0.004 left_gripper=0.9956 right_x=0.2894 right_y=0.0002 right_z=0.1568 right_yaw=-0.0017 right_pitch=-0.0889 right_roll=-0.0014 right_gripper=0.9992 state[joint_eff]: [0.1436, -2.7145, 10.4274, 1.536, 0.0855, 0.1734, 0.0708, -0.253, -1.5111, 6.9949, 1.663, -0.0611, -0.0708, -0.0122] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.18, "left_pitch": 0.0, "left_yaw": 0.0, "right_x": 0.36, "right_y": 0.06, "right_z": 0.15, "right_pitch": 0.0}, "note": "The white bowl slipped off and now sits in front of the lavender bowl. New plan: use lavender as base; first bring the right gripper over the pink bowl's right-side rim."})
tool
executing move_to over 6 steps (0.6s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent notePink bowl is ahead in the right wrist view with its right rim just right of the jaw column. Advancing ~4 cm and nudging right to bring the rim between the jaws.
move_to
right_x0.3850right_y0.0450right_z0.1200right_pitch0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.033, 0.8341, 0.6186, -0.4129, -0.0505, -0.0669, 0.9957, 0.2501, 1.1667, 0.6098, -0.152, 0.1669, 0.0963, 0.9992] state[eef_state]: left_x=0.2946 left_y=0.0028 left_z=0.169 left_yaw=0.0311 left_pitch=-0.0587 left_roll=-0.0125 left_gripper=0.9957 right_x=0.3372 right_y=0.0595 right_z=0.1173 right_yaw=0.0495 right_pitch=-0.1269 right_roll=-0.0279 right_gripper=0.9992 state[joint_eff]: [0.3897, -1.7026, 7.0906, 1.9414, 0.0855, 0.2027, -0.0024, 0.1299, -4.7795, 10.0581, 1.8046, 0.1685, 0.1929, -0.0171] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": 0.045, "right_z": 0.12, "right_pitch": 0.0, "right_yaw": 0.0}, "note": "Pink bowl is ahead in the right wrist view with its right rim just right of the jaw column. Advancing ~4 cm and nudging right to bring the rim between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent notePink bowl's right rim is now on the jaw column close to the fingertips. Descending so the jaws straddle the rim wall.
move_to
right_x0.3850right_y0.0450right_z0.0350right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0319, 0.8379, 0.6144, -0.4145, -0.0456, -0.0681, 0.9957, 0.1917, 1.3228, 0.6075, 0.041, 0.1669, 0.0677, 0.9992] state[eef_state]: left_x=0.294 left_y=0.0023 left_z=0.1657 left_yaw=0.0287 left_pitch=-0.0684 left_roll=-0.0158 left_gripper=0.9957 right_x=0.3685 right_y=0.0453 right_z=0.1002 right_yaw=0.0075 right_pitch=-0.0934 right_roll=-0.0436 right_gripper=0.9992 state[joint_eff]: [-0.294, -1.7709, 7.3094, 1.6972, -0.1294, -0.0269, -0.0122, -0.4855, -4.7248, 7.665, 1.8828, 0.0611, 0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": 0.045, "right_z": 0.035, "right_pitch": 0.0}, "note": "Pink bowl's right rim is now on the jaw column close to the fingertips. Descending so the jaws straddle the rim wall."})
tool
executing move_to over 5 steps (0.5s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent notePink rim wall is between the jaws (left jaw inside the bowl, right jaw outside). Closing to pinch it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0319, 0.8406, 0.6144, -0.4145, -0.0456, -0.0708, 0.9957, 0.1875, 1.6154, 0.4427, 0.4587, 0.1673, 0.0517, 0.9992] state[eef_state]: left_x=0.2941 left_y=0.0023 left_z=0.165 left_yaw=0.0301 left_pitch=-0.0711 left_roll=-0.0178 left_gripper=0.9957 right_x=0.3652 right_y=0.043 right_z=0.0134 right_yaw=0.0108 right_pitch=-0.1328 right_roll=-0.0635 right_gripper=0.9992 state[joint_eff]: [-0.2256, -1.1419, 7.0085, 1.6728, -0.0757, -0.0024, -0.0122, -0.3761, -6.5846, 4.6017, 2.127, 0.0415, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pink rim wall is between the jaws (left jaw inside the bowl, right jaw outside). Closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteRight gripper has pinched the pink bowl's rim (reading 0.039). Lifting to check it comes along.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0319, 0.8436, 0.6144, -0.4145, -0.0452, -0.0711, 0.9957, 0.1936, 1.5982, 0.4526, 0.5358, 0.1268, 0.0731, 0.0392] state[eef_state]: left_x=0.2943 left_y=0.0022 left_z=0.1642 left_yaw=0.03 left_pitch=-0.0742 left_roll=-0.0181 left_gripper=0.9957 right_x=0.3806 right_y=0.0555 right_z=0.0371 right_yaw=0.0408 right_pitch=-0.0338 right_roll=-0.0048 right_gripper=0.0392 state[joint_eff]: [-0.0752, -1.3197, 6.9812, 1.6923, -0.0904, -0.0024, -0.0122, -0.4034, -3.9863, 4.5197, 0.7839, 0.5836, -0.3101, 1.0379] approver: 2 step(s) modified (delta_clamped ×2). 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": 0.16}, "note": "Right gripper has pinched the pink bowl's rim (reading 0.039). Lifting to check it comes along."})
tool
executing move_to over 8 steps (0.8s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent notePink bowl is lifted with the gripper; the lavender bowl is visible ahead-left in the wrist view. Carrying pink over the lavender bowl.
move_to
right_x0.4600right_y0.2350right_z0.1700right_pitch0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0319, 0.8444, 0.6144, -0.4145, -0.0452, -0.0711, 0.9957, 0.194, 1.285, 0.7113, -0.0616, 0.1184, 0.0593, 0.0403] state[eef_state]: left_x=0.2943 left_y=0.0022 left_z=0.1639 left_yaw=0.03 left_pitch=-0.0749 left_roll=-0.0181 left_gripper=0.9957 right_x=0.3778 right_y=0.0566 right_z=0.1372 right_yaw=0.0554 right_pitch=-0.0598 right_roll=-0.0148 right_gripper=0.0403 state[joint_eff]: [-0.1846, -1.6068, 7.3231, 1.6874, -0.0513, -0.0562, -0.0122, -0.3897, -6.1197, 9.7436, 1.8926, 0.1245, 0.1148, 0.8132] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.235, "right_z": 0.17, "right_pitch": 0.0, "right_yaw": 0.0}, "note": "Pink bowl is lifted with the gripper; the lavender bowl is visible ahead-left in the wrist view. Carrying pink over the lavender bowl."})
tool
executing move_to over 15 steps (1.5s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent notePink bowl now covers the lavender bowl in the overhead view, and the lavender rim peeks out just past pink's rim in the wrist view. Lowering to nest.
move_to
right_z0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0319, 0.8474, 0.6144, -0.4149, -0.0452, -0.0711, 0.9957, 0.6353, 1.829, 1.3136, -0.2241, 0.4866, 0.3206, 0.0436] state[eef_state]: left_x=0.2944 left_y=0.0022 left_z=0.163 left_yaw=0.03 left_pitch=-0.0783 left_roll=-0.0178 left_gripper=0.9957 right_x=0.4472 right_y=0.2316 right_z=0.1464 right_yaw=0.0519 right_pitch=-0.0688 right_roll=-0.059 right_gripper=0.0436 state[joint_eff]: [-0.1026, -1.7983, 7.1179, 1.6532, -0.0513, -0.0366, -0.0122, 0.0615, -9.9214, 9.7709, 1.7363, 0.486, 0.2759, 0.7448] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.075}, "note": "Pink bowl now covers the lavender bowl in the overhead view, and the lavender rim peeks out just past pink's rim in the wrist view. Lowering to nest."})
tool
executing move_to over 5 steps (0.5s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
assistant
agent noteWrist view shows the lavender bowl sitting further forward than the held pink bowl (lateral alignment is fine). Shifting pink forward ~4 cm before lowering.
move_to
right_x0.4800right_z0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0319, 0.8494, 0.6144, -0.4145, -0.0452, -0.0711, 0.9957, 0.6388, 1.9263, 1.1584, -0.0387, 0.4816, 0.3183, 0.0454] state[eef_state]: left_x=0.2946 left_y=0.0022 left_z=0.1626 left_yaw=0.03 left_pitch=-0.0799 left_roll=-0.0177 left_gripper=0.9957 right_x=0.4374 right_y=0.2274 right_z=0.069 right_yaw=0.0568 right_pitch=-0.1269 right_roll=-0.095 right_gripper=0.0454 state[joint_eff]: [-0.1436, -1.7709, 6.9812, 1.6972, -0.0317, -0.0317, -0.0073, -0.4581, -9.5248, 6.2974, 1.7949, 0.2076, -0.0171, 0.696] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_z": 0.075}, "note": "Wrist view shows the lavender bowl sitting further forward than the held pink bowl (lateral alignment is fine). Shifting pink forward ~4 cm before lowering."})
tool
executing move_to over 4 steps (0.4s)
step 192
assistant
agent notePink now fully covers the lavender bowl in both views. Lowering until it rests inside.
move_to
right_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0319, 0.8509, 0.6144, -0.4149, -0.0456, -0.0715, 0.9957, 0.5903, 2.0144, 1.2823, -0.0879, 0.4362, 0.271, 0.0476] state[eef_state]: left_x=0.2946 left_y=0.0023 left_z=0.1621 left_yaw=0.0306 left_pitch=-0.0818 left_roll=-0.0177 left_gripper=0.9957 right_x=0.4655 right_y=0.2264 right_z=0.0632 right_yaw=0.0683 right_pitch=-0.1581 right_roll=-0.1099 right_gripper=0.0476 state[joint_eff]: [-0.1983, -1.7026, 6.9812, 1.6728, -0.0708, -0.0464, -0.0122, -0.6632, -10.1538, 8.9504, 1.4969, 0.2857, 0.1783, 0.4908] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.045}, "note": "Pink now fully covers the lavender bowl in both views. Lowering until it rests inside."})
tool
executing move_to over 2 steps (0.2s)
step 194
assistant
Stopped at 0.059 — resting. Releasing.
agent noteDescent stopped at z≈0.059, so the pink bowl is resting in the lavender bowl. Opening to release.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0319, 0.8509, 0.6144, -0.4149, -0.0452, -0.0711, 0.9957, 0.588, 2.0258, 1.2743, -0.0593, 0.432, 0.2684, 0.0503] state[eef_state]: left_x=0.2946 left_y=0.0022 left_z=0.1621 left_yaw=0.0301 left_pitch=-0.0818 left_roll=-0.0176 left_gripper=0.9957 right_x=0.4674 right_y=0.2271 right_z=0.0588 right_yaw=0.0714 right_pitch=-0.1518 right_roll=-0.1046 right_gripper=0.0503 state[joint_eff]: [-0.1983, -1.2513, 6.9812, 1.6777, -0.0464, -0.0611, -0.0122, 0.253, -8.9094, 5.5043, 1.3993, 0.1441, -0.0708, 0.2613] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
Stopped at 0.059 — resting. Releasing.
move_to({"targets": {"right_gripper": 1.0}, "note": "Descent stopped at z\u22480.059, so the pink bowl is resting in the lavender bowl. Opening to release."})
tool
executing move_to over 10 steps (1.0s)
step 204
assistant
agent notePink released into the lavender bowl. Lifting the right arm away and home to check the stack and clear room for the left arm to fetch the white bowl.
move_to
right_z0.1800right_x0.3000right_y0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0319, 0.8509, 0.6144, -0.4145, -0.0452, -0.0715, 0.9957, 0.588, 2.0274, 1.2644, -0.0715, 0.429, 0.2611, 0.9954] state[eef_state]: left_x=0.2946 left_y=0.0022 left_z=0.1622 left_yaw=0.0303 left_pitch=-0.0814 left_roll=-0.018 left_gripper=0.9957 right_x=0.4631 right_y=0.2247 right_z=0.0522 right_yaw=0.0758 right_pitch=-0.1739 right_roll=-0.1199 right_gripper=0.9954 state[joint_eff]: [-0.1983, -1.4427, 7.0085, 1.6874, -0.0708, -0.0513, -0.0122, -0.1299, -11.0564, 6.9402, 1.5751, 0.1636, -0.0122, -0.2027] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18, "right_x": 0.3, "right_y": 0.0}, "note": "Pink released into the lavender bowl. Lifting the right arm away and home to check the stack and clear room for the left arm to fetch the white bowl."})
tool
executing move_to over 19 steps (1.9s)
step 223
assistant
agent notePink slid off: now pink sits in the middle and lavender is far forward. New plan: nest white into pink first. Moving left gripper over the white bowl's left (+y) rim.
move_to
left_x0.3100left_y-0.2250left_z0.1200left_pitch0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0319, 0.8558, 0.6144, -0.4145, -0.0452, -0.0715, 0.9957, 0.0097, 0.9703, 0.7662, -0.5274, 0.0525, -0.1261, 0.9964] state[eef_state]: left_x=0.2949 left_y=0.0022 left_z=0.1608 left_yaw=0.0303 left_pitch=-0.0863 left_roll=-0.0176 left_gripper=0.9957 right_x=0.3065 right_y=-0.0027 right_z=0.1744 right_yaw=0.027 right_pitch=-0.1651 right_roll=-0.1237 right_gripper=0.9964 state[joint_eff]: [-0.0752, -1.853, 7.0496, 1.6777, -0.0904, -0.0659, -0.0122, -0.0068, -2.4547, 8.4991, 1.6923, -0.1392, 0.0366, 0.0952] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.225, "left_z": 0.12, "left_pitch": 0.0, "left_yaw": 0.0}, "note": "Pink slid off: now pink sits in the middle and lavender is far forward. New plan: nest white into pink first. Moving left gripper over the white bowl's left (+y) rim."})
tool
executing move_to over 21 steps (2.1s)
step 244
assistant
agent noteWhite bowl is right under the gripper, centred on the jaw column; its left rim is ~4.5 cm to the left. Shifting left and slightly forward so the jaws straddle that rim.
move_to
left_x0.3300left_y-0.1700left_z0.1200left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9508, 1.4891, 0.7792, -0.1741, -0.7246, -0.672, 0.9957, 0.0113, 0.9745, 0.7589, -0.5461, 0.0437, -0.1459, 0.9966] state[eef_state]: left_x=0.3026 left_y=-0.2161 left_z=0.1046 left_yaw=-0.0205 left_pitch=-0.049 left_roll=0.0186 left_gripper=0.9957 right_x=0.3025 right_y=-0.0007 right_z=0.1666 right_yaw=0.047 right_pitch=-0.1964 right_roll=-0.1316 right_gripper=0.9966 state[joint_eff]: [-0.3897, -6.2291, 8.7316, 1.5165, -0.5153, -0.0464, -0.0073, -0.3077, -2.5504, 7.4598, 1.7167, 0.0562, 0.2125, -0.0024] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.17, "left_z": 0.12, "left_pitch": 0.0}, "note": "White bowl is right under the gripper, centred on the jaw column; its left rim is ~4.5 cm to the left. Shifting left and slightly forward so the jaws straddle that rim."})
tool
executing move_to over 5 steps (0.5s)
step 249
assistant
agent noteWhite bowl's left rim is now on the jaw column near the fingertips. Descending to straddle the rim.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7834, 1.4014, 0.6945, -0.0841, -0.6495, -0.5323, 0.9957, 0.0113, 0.9745, 0.7586, -0.5499, 0.0433, -0.1509, 0.9966] state[eef_state]: left_x=0.3252 left_y=-0.1681 left_z=0.109 left_yaw=0.0168 left_pitch=-0.0336 left_roll=0.026 left_gripper=0.9957 right_x=0.3017 right_y=-0.0007 right_z=0.1658 right_yaw=0.0501 right_pitch=-0.2009 right_roll=-0.1348 right_gripper=0.9966 state[joint_eff]: [0.2803, -6.5983, 6.0786, 1.7363, -0.2222, 0.2076, -0.0073, -0.0615, -2.2085, 6.9538, 1.58, -0.0171, -0.022, -0.0171] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.035}, "note": "White bowl's left rim is now on the jaw column near the fingertips. Descending to straddle the rim."})
tool
executing move_to over 5 steps (0.5s)
step 254
assistant
Rim wall at x~115 between jaws. Closing.
agent noteWhite bowl's rim wall is between the jaws. Closing to pinch it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7837, 1.6127, 0.5449, 0.1993, -0.6388, -0.524, 0.9957, 0.0113, 0.9745, 0.757, -0.5507, 0.0433, -0.1539, 0.9966] state[eef_state]: left_x=0.3168 left_y=-0.1619 left_z=0.0284 left_yaw=0.0079 left_pitch=-0.0937 left_roll=0.0827 left_gripper=0.9957 right_x=0.3014 right_y=-0.0007 right_z=0.165 right_yaw=0.0518 right_pitch=-0.2034 right_roll=-0.1369 right_gripper=0.9966 state[joint_eff]: [-0.0889, -6.3111, 4.6291, 1.5067, -0.3492, -0.1197, -0.0122, -0.1709, -2.3453, 7.1726, 1.5409, -0.0073, 0.0024, -0.0122] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
Rim wall at x~115 between jaws. Closing.
move_to({"targets": {"left_gripper": 0.0}, "note": "White bowl's rim wall is between the jaws. Closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 264
assistant
agent noteJaws are pinching the white bowl's rim (reading 0.10). Lifting it clear before carrying it over the pink bowl.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7837, 1.6043, 0.5426, 0.2379, -0.6434, -0.5468, 0.1045, 0.0113, 0.9745, 0.757, -0.5503, 0.0433, -0.1543, 0.9966] state[eef_state]: left_x=0.3212 left_y=-0.1655 left_z=0.0362 left_yaw=0.021 left_pitch=-0.0592 left_roll=0.0347 left_gripper=0.1045 right_x=0.3014 right_y=-0.0007 right_z=0.1651 right_yaw=0.052 right_pitch=-0.2031 right_roll=-0.1372 right_gripper=0.9966 state[joint_eff]: [-0.0615, -5.4359, 5.6547, 1.0427, -0.2564, 0.1832, 0.4762, -0.1299, -2.3316, 7.0496, 1.6044, -0.0269, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17}, "note": "Jaws are pinching the white bowl's rim (reading 0.10). Lifting it clear before carrying it over the pink bowl."})
tool
executing move_to over 9 steps (0.9s)
step 273
assistant
agent noteWhite bowl is lifted; pink bowl is to the right and slightly ahead in the wrist view. Carrying white over the pink bowl.
move_to
left_x0.3800left_y-0.2850left_z0.1700left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7837, 1.3354, 0.8562, -0.3428, -0.6403, -0.5503, 0.1042, 0.0113, 0.9752, 0.757, -0.5507, 0.0429, -0.1543, 0.9966] state[eef_state]: left_x=0.3233 left_y=-0.1682 left_z=0.1541 left_yaw=0.0206 left_pitch=-0.0594 left_roll=0.029 left_gripper=0.1042 right_x=0.3014 right_y=-0.0006 right_z=0.1648 right_yaw=0.0523 right_pitch=-0.2042 right_roll=-0.1369 right_gripper=0.9966 state[joint_eff]: [-0.0342, -6.5846, 8.9641, 1.3016, -0.359, 0.0024, -0.0366, -0.1846, -2.2496, 6.8991, 1.5263, -0.0611, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.285, "left_z": 0.17, "left_pitch": 0.0}, "note": "White bowl is lifted; pink bowl is to the right and slightly ahead in the wrist view. Carrying white over the pink bowl."})
tool
executing move_to over 11 steps (1.1s)
step 284
assistant
agent noteWrist view shows the held white bowl hanging to the left of the jaws while the pink bowl is under/right of them. Shifting ~11 cm right to line the white bowl up over the pink one.
move_to
left_x0.3900left_y-0.3850left_z0.1500left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9043, 1.7821, 1.2991, -0.3866, -0.7353, -0.6342, 0.1042, 0.0113, 0.9771, 0.7567, -0.5507, 0.0433, -0.1543, 0.9966] state[eef_state]: left_x=0.3742 left_y=-0.2782 left_z=0.156 left_yaw=0.0122 left_pitch=-0.0345 left_roll=0.043 left_gripper=0.1042 right_x=0.3014 right_y=-0.0007 right_z=0.1641 right_yaw=0.052 right_pitch=-0.2065 right_roll=-0.1371 right_gripper=0.9966 state[joint_eff]: [-0.5402, -9.1966, 8.8137, 1.2821, -0.569, -0.0415, -0.0171, -0.1162, -2.5504, 6.8718, 1.5263, -0.0171, -0.0317, -0.0122] camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.385, "left_z": 0.15, "left_pitch": 0.0}, "note": "Wrist view shows the held white bowl hanging to the left of the jaws while the pink bowl is under/right of them. Shifting ~11 cm right to line the white bowl up over the pink one."})
tool
executing move_to over 10 steps (1.0s)
step 294
assistant
agent noteI didn't manage to stack the bowls, and I'm stopping because I'm almost out of calls. None of the bowls are stacked. Twice I lowered a bowl onto the lavender bowl and let go, and both times it slid back off onto the table. That happened because the lavender bowl is farther forward (about x ≈ 0.5 m) than I estimated from the overhead camera. On my last try, grabbing the white bowl's rim failed: the gripper settled at 0.10, which looked like a grip, but the bowl stayed on the table. Right now the lavender bowl is at the far front, the pink one is in the middle, and the white one is left of it. All three are right side up.
give_up
hindsight- These bowls are about 12 cm across, too wide to grip across. Gripping the rim works: tool yaw 0, then hover so the side rim wall (±y side) lines up with the jaw column (x≈110) near the bottom of the wrist image. Command z=0.035; sag takes it to about 0.015–0.03. Then close fully. A real rim grip settles at about 0.03–0.045. A reading of 0.10 was a false grasp: the bowl stayed on the table. Before carrying, check in the overhead view that the bowl moved. - Always command pitch=0 explicitly. The pitch axis is free and sags to about -0.1 to -0.3 otherwise. - Don't command left-arm yaw of ±1.57 at low reach. The arm ended up in a stuck wrist configuration, and backing out of it cost 3 calls. - Overhead camera: bowls near the top of the image (image-y around 57–80) are much farther out than the image suggests. The lavender bowl at image y≈57–76 was about x≈0.5 m, near the edge of reach. Before letting go over a base bowl, look at the wrist camera from a low height (z≈0.07). If any of the lower bowl's rim shows beyond the held bowl, keep adjusting. A stopped descent at z≈0.055–0.06 while the bowl is only resting on the lower bowl's rim looks the same as a real nest. - Pick the nearest reachable bowl as the base (x ≤ 0.42), not the farthest one. - Budget: each pick-and-place takes about 7–8 calls (hover, align, descend, close, lift, carry, lower, release). Plan for no more than 2 transfers plus one retry.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0191, 2.146, 1.7557, -0.5499, -0.8116, -0.7467, 0.1042, 0.0113, 0.9802, 0.757, -0.5507, 0.0433, -0.1547, 0.9966] state[eef_state]: left_x=0.3879 left_y=-0.379 left_z=0.1411 left_yaw=0.0078 left_pitch=-0.0215 left_roll=0.042 left_gripper=0.1042 right_x=0.3017 right_y=-0.0007 right_z=0.1634 right_yaw=0.0523 right_pitch=-0.2092 right_roll=-0.1372 right_gripper=0.9966 state[joint_eff]: [-0.5675, -12.0821, 8.8547, 1.0037, -0.6178, 0.0269, -0.0171, -0.0752, -2.6598, 6.8718, 1.5067, 0.0122, -0.0757, -0.0122] camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I didn't manage to stack the bowls, and I'm stopping because I'm almost out of calls. None of the bowls are stacked. Twice I lowered a bowl onto the lavender bowl and let go, and both times it slid back off onto the table. That happened because the lavender bowl is farther forward (about x \u2248 0.5 m) than I estimated from the overhead camera. On my last try, grabbing the white bowl's rim failed: the gripper settled at 0.10, which looked like a grip, but the bowl stayed on the table. Right now the lavender bowl is at the far front, the pink one is in the middle, and the white one is left of it. All three are right side up.", "hindsight": "- These bowls are about 12 cm across, too wide to grip across. Gripping the rim works: tool yaw 0, then hover so the side rim wall (\u00b1y side) lines up with the jaw column (x\u2248110) near the bottom of the wrist image. Command z=0.035; sag takes it to about 0.015\u20130.03. Then close fully. A real rim grip settles at about 0.03\u20130.045. A reading of 0.10 was a false grasp: the bowl stayed on the table. Before carrying, check in the overhead view that the bowl moved.\n- Always command pitch=0 explicitly. The pitch axis is free and sags to about -0.1 to -0.3 otherwise.\n- Don't command left-arm yaw of \u00b11.57 at low reach. The arm ended up in a stuck wrist configuration, and backing out of it cost 3 calls.\n- Overhead camera: bowls near the top of the image (image-y around 57\u201380) are much farther out than the image suggests. The lavender bowl at image y\u224857\u201376 was about x\u22480.5 m, near the edge of reach. Before letting go over a base bowl, look at the wrist camera from a low height (z\u22480.07). If any of the lower bowl's rim shows beyond the held bowl, keep adjusting. A stopped descent at z\u22480.055\u20130.06 while the bowl is only resting on the lower bowl's rim looks the same as a real nest.\n- Pick the nearest reachable bowl as the base (x \u2264 0.42), not the farthest one.\n- Budget: each pick-and-place takes about 7\u20138 calls (hover, align, descend, close, lift, carry, lower, release). Plan for no more than 2 transfers plus one retry."})
tool
give_up: I didn't manage to stack the bowls, and I'm stopping because I'm almost out of calls. None of the bowls are stacked. Twice I lowered a bowl onto the lavender bowl and let go, and both times it slid back off onto the table. That happened because the lavender bowl is farther forward (about x ≈ 0.5 m) than I estimated from the overhead camera. On my last try, grabbing the white bowl's rim failed: the gripper settled at 0.10, which looked like a grip, but the bowl stayed on the table. Right now the lavender bowl is at the far front, the pink one is in the middle, and the white one is left of it. All three are right side up.
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 · 16.2 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7956, 0.6056, -0.3794, -0.0223, -0.0296, 0.9995, -0.0181, 0.794, 0.6025, -0.3794, -0.0166, -0.02, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1804 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2947 right_y=0.0012 right_z=0.1794 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6906, -1.5385, 9.9897, 1.7607, -0.0415, 0.1197, -0.0659, -0.5538, -1.4974, 10.3179, 1.8681, -0.1148, 0.0269, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4df3963ee7b43cd79f07990851c8caddcaa1e7bb49c6365b1624aa80c8f35d8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e6d89dd8218ac2c9c5f0edb657f954694671ae2396222761014f23f90b20029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a37ddefc1755c81bf7c764b5b39176beeea57600d476fba6d8d302f2c39d829",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 8.874 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7956, 0.6056, -0.3794, -0.0223, -0.0296, 0.9995, -0.0181, 0.794, 0.6025, -0.3794, -0.0166, -0.02, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1804 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2947 right_y=0.0012 right_z=0.1794 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6906, -1.5385, 9.9897, 1.7607, -0.0415, 0.1197, -0.0659, -0.5538, -1.4974, 10.3179, 1.8681, -0.1148, 0.0269, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4df3963ee7b43cd79f07990851c8caddcaa1e7bb49c6365b1624aa80c8f35d8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e6d89dd8218ac2c9c5f0edb657f954694671ae2396222761014f23f90b20029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a37ddefc1755c81bf7c764b5b39176beeea57600d476fba6d8d302f2c39d829",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AXKsS8WT9MuQhyxt9xzUaC",
      "input": {
        "note": "Three bowls in a row: green (left), blue (centre), pink (right). Plan: stack left and right bowls into the centre one by gripping rims. Moving left gripper above the left bowl's near (+y) rim.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.33,
          "left_y": -0.06,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01AXKsS8WT9MuQhyxt9xzUaC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3271, 1.0309, 0.5781, -0.2066, -0.2428, -0.1829, 0.9995, -0.0208, 0.8005, 0.6041, -0.3889, -0.0166, -0.02, 0.9992]\nstate[eef_state]: left_x=0.3196 left_y=-0.0598 left_z=0.1374 left_yaw=-0.0389 left_pitch=-0.0682 left_roll=0.013 left_gripper=0.9995 right_x=0.294 right_y=0.0004 right_z=0.1764 right_yaw=-0.0027 right_pitch=-0.0149 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -3.3436, 7.159, 1.8388, -0.2466, -0.022, -0.0659, 0.0479, -1.7436, 6.9538, 1.8437, -0.0317, -0.0464, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07dd56ba504fb79fb67bb2ae504b3d1818eab4e9c0c15dac7a37572bbbc0bd50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbd029e03f829e5974db782f24456a27c2591edea5361980af10c623e3fd60d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6153b8c37f49de24f9c6cd262fc64ef6dead1f4e07016ac758e18bf62e1272b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 5.466 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7956, 0.6056, -0.3794, -0.0223, -0.0296, 0.9995, -0.0181, 0.794, 0.6025, -0.3794, -0.0166, -0.02, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1804 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2947 right_y=0.0012 right_z=0.1794 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6906, -1.5385, 9.9897, 1.7607, -0.0415, 0.1197, -0.0659, -0.5538, -1.4974, 10.3179, 1.8681, -0.1148, 0.0269, -0.0904]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3271, 1.0309, 0.5781, -0.2066, -0.2428, -0.1829, 0.9995, -0.0208, 0.8005, 0.6041, -0.3889, -0.0166, -0.02, 0.9992]\nstate[eef_state]: left_x=0.3196 left_y=-0.0598 left_z=0.1374 left_yaw=-0.0389 left_pitch=-0.0682 left_roll=0.013 left_gripper=0.9995 right_x=0.294 right_y=0.0004 right_z=0.1764 right_yaw=-0.0027 right_pitch=-0.0149 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -3.3436, 7.159, 1.8388, -0.2466, -0.022, -0.0659, 0.0479, -1.7436, 6.9538, 1.8437, -0.0317, -0.0464, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07dd56ba504fb79fb67bb2ae504b3d1818eab4e9c0c15dac7a37572bbbc0bd50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbd029e03f829e5974db782f24456a27c2591edea5361980af10c623e3fd60d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6153b8c37f49de24f9c6cd262fc64ef6dead1f4e07016ac758e18bf62e1272b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3w8KEAgSGAI4AUIIdGhpbmtpbmcSDOx8G+UbEk+5Q3SplRoMcy6s+etqTO/1/JxvIjDDZzOLiviS0G1MWXm0qbGPMdl+aoUUH/AzGWEAfV3WedZHsaXeMlI03sS2fCGApQcq/A6OuFMMhdv4iAZ3vaq6/ZMqUUHf9U5vdfM4zzQ97IW5Y4+RdB2JiT92V31OqS8Niw8SXjukg0bwq6Bn5H+NtH/K6ySES0b4IYxsUj0VtApAWTNHi/0SSBAsiwKWR8ywaqq2wG3dTwo5DK4+Oh9Gs0hYlTyxZI/G6ZFrNMyvaWmMFpkaB4Y3zmWXfVa4g1bYABipW8UEwvabnZGShZ1UiTBCBHcwOowLhwFZDinmy6iLBdZIyh8SFnvvHUmazkG2f9Hxvxo6C+pjlSyB0swRjQnf3IDqUQTe4+s1zGcWUBbNahNVSmc/Ijy8/3zApVkn+9yoHCBlV2raG15gpJVouLqa8S5TCU4ykZLDcgJiDqbKIjbXhbq+XyzS0SjSqemZMjnr/DMlaT0etln1jS/ZBBu53f5YOJM5bB/Mt4Yd18VzNmoQ6uYbvjHSRPfuui8rBkIN51jS3B0xkeSq8Rs95xn/iesLaZhxRJETCjg69bJOdRNFqV0PMIrZG2eAyQcom9+jfmWBlXGtHAC85aFggQeolmWnIlzKtvDytSjiLRmjvmjVsIHrnR/eG6hS19K4nHQ9QaAb5s1/edjYkvk2N0q/ijWd9SwoNSXWieK4eD/jHGBcn7DE7O5iaaZeuJ0H5vQy3hF/SFSfSeM+0+c14QHwXWmO20De3CklcWTK7M52CFQ2TdxJZM16fN7uXPgBmetA5k8cr6u2Gx9AyWeG2aR0U3KqP9vKVPciiQJG9q0R+EUAwL1QsasSCR9q0g/Rcv6OhdbZzkf6w78HPtmfH+//6D3V7/abQZkR9Ohpgw8+N6EGM0DwAwuLT+kS08FpSu8yM6S61qOjxX6iD6bLU0/k50G5+bVPX1ZTpyJR/1G7kDT8Ax96NpWsbth2qTIMwLi8YRGDZZpM+UqSZLhHELmkNKO/TRtXs+mITQ6pn1sSKFjL8tIcKHu3f00k03hHWpPinucrsdvJLD3SDk89dn1XES+pwYycNEcSNO9GGisiLcKooIaRUgPPynUi8t8r17eW3LN5MbQYPiIcsUa8ARkh8scxfXERfPLfXaGCFsx1xqrUdioA2EBsp48vrMYYDIrXxWJuriJKJzRnTqe5rZI8CxXxU+ma7zt8btjd9zBbNAJNJeJwSxlLWbptnSMLBNSdgtu0tojuskGtr6blTG3kLleAplCOz4bo+yK7+Z3Eq2H7bUwmEBg4OVCiMK9yjcj4lAp0eYBQuzQomOK/pj4SMNCem8/BsnUzRwR48me2wvR55WeoH+cuMCttZ9iZdAUcDhZST2bNyZrS06QknZE9E3/TRJUqz3oi93nfWVy6c7No+HSGTnSO4whNdh64SHH0tRuRZggNrPkJuscWaZ8NhLASnO0gIOSBQtfetumRU0pK+lmtxOYd9IvVOC/D6Rv14Jwb02DnzFpEFcbG/1oMV+5affc/i7nyHkDGeGjqnf0Kn9E1H/p6YEDXNuwUd0vIa5PjzA/33aviSH4r97989SS/kDiiVJBUnt4PhfMbzxBIDUTK52zuvtSVIe9WISB6OFon5F/1NuIKtu5sivlZIpwmDZMSv2QvM5w1Fk2dGMTtTo0+1YmkScZkf4f87G5V95KayLKmdMPQZ8HATRCTrLn+/BHBxTF9NPxTOJMzpO17utCvxOLMuioNNHrb5Jt7Jq+x8O2PU6EgQ0urThGwZHAujUpzUsOSHlIbWZsWCHUPXvnUxF02P5jxpB6MjOKQjWE7+qOX1nMZtAqZy1J6rgNpZOM+rPgyV/sfiF6pBzLR+iw++R0z3G7o6CMafEZtm9gEqDo1qdufqLWUNLd9QiAEJS6FYeGgLg4Fc2UIoJaI3sFiIgudkhCqieaxl/V6cKIlflmhpG/dmlb5Ewi9IBzwJtj+4LTIk5U9H2zfNhjPWOCC4DCvWl1yZnLausFjBoId21WaMlI5rynMM0mh+2TNnPpzHUYIjJjyBeNMlfNG08lXCoVVSVcIUkbfJahKEyG3FTt4c2v/yzy+BK5eBIj3IAr/xGJEJpllY0PQMMWSswbh6caKc/IaZvwysBRBBOngaMNQSXf0VyH27KDoLznJ6IY/rNLxRANQlY2r2qSLZ/dXglHW3gBFbqa+31+v5k51azuwvyHP42BWsLZ881mhVD0+Zz+lWBn2mNfxGUBhOLeabBcm9H/oHJAD4zR6mJSWlTLP/oQTFzxfBAFWtgQ1tRjJAWZneN9NCOi/NZIqt4jdt6HeG99RPckDlczTdlNaZ8rwLn68XcXEa+bsGp107nruKaHyFpD6KDTuYc3ygYtpRJnf99FyQa8042jh22Xnb5XuNAwudkK3F84fFVPMCEttfcg5rUubudTHB4Z2RH6R1MyWz4hgNqXa/PgzFT9cFTK8MARNoZ9OQfFda7D3akrfDrJUdJzUNm4Iplr3JorwY4nk9v3jskF39Jv/aRlePFJbwszZKb8OQg7BK1cE7dtA8d81+f+1/49lBYTU9TNuyVajZHy45YaFUpcwZfpuzaFk5G2+XptPp6NQbLs9nUXu9hxNaB4jmlkMnP/j5yeZZg5xCW6rAhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J12jmf1RewDsoyHxN5WnzK",
      "input": {
        "note": "Left gripper is just behind the white bowl. Rotating the tool 90° so the jaws close along x, and moving over the bowl's near rim to pinch it.",
        "targets": {
          "left_x": 0.345,
          "left_y": -0.075,
          "left_yaw": 1.57,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01J12jmf1RewDsoyHxN5WnzK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.437, 2.1704, 1.7409, -1.4563, -0.8387, -1.9713, 0.9994, -0.0219, 0.804, 0.5999, -0.3943, -0.0166, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3816 left_y=-0.0293 left_z=0.1038 left_yaw=1.3838 left_pitch=-0.1202 left_roll=0.0208 left_gripper=0.9994 right_x=0.293 right_y=0.0001 right_z=0.1724 right_yaw=-0.0036 right_pitch=-0.0278 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.3487, -10.4547, 6.2427, -0.7643, -0.4176, -0.149, -0.022, -0.1436, -1.4154, 7.3641, 1.7802, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb41531f541f5ea8d550aeb7b1a2534c12db52e8a2edbd300ab8b7090dea62ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc2e3ceed3618278979aee3c87bbb6c3b4cdaedf5b8ef7888c3a8ce2b72bab67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8f2e80909e424129abfefbd73b71deb7f909debc6cb94128ac8a17028ef7b20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /messages · status 200 · 10.04 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7956, 0.6056, -0.3794, -0.0223, -0.0296, 0.9995, -0.0181, 0.794, 0.6025, -0.3794, -0.0166, -0.02, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1804 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2947 right_y=0.0012 right_z=0.1794 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6906, -1.5385, 9.9897, 1.7607, -0.0415, 0.1197, -0.0659, -0.5538, -1.4974, 10.3179, 1.8681, -0.1148, 0.0269, -0.0904]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3271, 1.0309, 0.5781, -0.2066, -0.2428, -0.1829, 0.9995, -0.0208, 0.8005, 0.6041, -0.3889, -0.0166, -0.02, 0.9992]\nstate[eef_state]: left_x=0.3196 left_y=-0.0598 left_z=0.1374 left_yaw=-0.0389 left_pitch=-0.0682 left_roll=0.013 left_gripper=0.9995 right_x=0.294 right_y=0.0004 right_z=0.1764 right_yaw=-0.0027 right_pitch=-0.0149 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -3.3436, 7.159, 1.8388, -0.2466, -0.022, -0.0659, 0.0479, -1.7436, 6.9538, 1.8437, -0.0317, -0.0464, -0.022]",
      "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]: [-0.437, 2.1704, 1.7409, -1.4563, -0.8387, -1.9713, 0.9994, -0.0219, 0.804, 0.5999, -0.3943, -0.0166, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3816 left_y=-0.0293 left_z=0.1038 left_yaw=1.3838 left_pitch=-0.1202 left_roll=0.0208 left_gripper=0.9994 right_x=0.293 right_y=0.0001 right_z=0.1724 right_yaw=-0.0036 right_pitch=-0.0278 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.3487, -10.4547, 6.2427, -0.7643, -0.4176, -0.149, -0.022, -0.1436, -1.4154, 7.3641, 1.7802, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb41531f541f5ea8d550aeb7b1a2534c12db52e8a2edbd300ab8b7090dea62ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc2e3ceed3618278979aee3c87bbb6c3b4cdaedf5b8ef7888c3a8ce2b72bab67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8f2e80909e424129abfefbd73b71deb7f909debc6cb94128ac8a17028ef7b20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrQkKEAgSGAI4AUIIdGhpbmtpbmcSDOqlngu+gnpGCNOZ8RoMcjn2ZrBnYV1+suf7IjD1CooGnCzB/ljdgfj5K9tI49mAz8wP41Yn6cYOcQ9feReKdiSccdQ4J5WnqKXHbGwqyghHYto8wbRiAAl6oLyxycF18uJqOGwcUHX+cHqROfzWfpsGx5G3YLZDIAmvmE5fdAHvNoqWCQXe1AzNGDgq8rD5x8nqxikc6QNVrxBC38frAvKwEEb8BOgfKnnGcUH+gCTPBkLX+RuF6YyL2eNPrwSbPMjFv5GRLZSS0elAT9keK/aYt/d1dac+OJWCiYv9Wix6uiTk53ORx4UwMB+0ROVQCnFTI/2GhbBYCn3nhTnjWHA2mRCTBfnob+MJvW27endlmhY+vLUs1AXepODPWnmkg7yXS2mjc8fXTsp/C45owloq1i8lnLyPU/NApgnTHuuiizTKytdoY3lpNYywIVEFsUrSoH0LkiqgQQOMgqjZduJogUMCGMi9pVcBpc/lo9s94oZ7Ttp5ndqsBeknpTZ67LWC6nS5lgVyfZcej1kIeuDz9IHPmShEvuDhmUIAHo+I03loHJj4NGeyIz16i+mxhzZi5+UfmuMsZJaqG70f53l53KObG3wmvTgkO/A25rJdotpeJ9zalQIKWXksfh4H+xYrvCz4gguQ2Mfe9AigA1IuVu1bPqsfQzK7rQmleIRvsG/FByGHpaX4tcl8k+yH8Y7dY25aR8GOc7SbLvJYIXEs5jvdu7c1wPCzvW1UZRyQ4jQLtpg9I8aMemjmGUi25Yj+h9tZK4ujQBRlB47Tzw70jtxix7hJ5CvJUEUfN3Fa8uLZsEXuAMihdBW3by2ZoSn5MuVttjmUgOHAtXN9pR2Xb/e4hjaqePWoZGhifyPu8VFWkUS/0r4TrnJc/Ng9owx42R0mvxynXajw5YH8kxYT5MpttZVkVx3ozXg5OLsg6dIiBNB3moEVQGEWiMdVXTqXGyuXmCxfT7ND3GfJOHns2vsGqwCT9NjxpVCglnl39uaY1ZRW7DIHqoYWe/uHx0fLJM5DP2grjb5VxL+1EUA1cSy+ufTm7DrOx4phrWxq00eddGbbzM8CF5AkIAWMPO4XgL4s/LtlamGTfWtJtmQv1gQaa1Pxx68ik6WUi+5+FoaDfJ0IDru+q/Nbbn2ZCdhuXHfpumoO+vKiLd+JJY9Zgq72EgkL7Ku4cWqAZWn8eSYW6j9N6kD7QSSV1/Q4lHO8jjvzXvoBKNdMxJPdPNepPpnroxqttRJhSUqZfRuOesj9HqY2xLNDLlffuyPVIglfAMMIwjw+sZUcvaSOrNm7ScEYnTBaax9I+Vge6TlRqM5R56uqgItNrxeOsWQvRtV2zM/48Fb7Jgt48eCelAFtq0y76O+kFHplR3xs0ZPof5WFKfdShYXnYMdC9d5GvBMFQFv9kHMsyLcoX4Fk2R987oLv6lbU84YzIFeT1edJO1xbNmOMGSGRGbBFSg3udV9mhCA2K9JJNTy6nTGGiUosi07DJqJwc2dBbxhpQ3In7Xq2bvTwm+tAHfS4jgAXS0YqUueEAn7b+hvl7zUqVahxE1D3HuvIOEIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FjZkG1RBZBTT3WwiH3Ahxq",
      "input": {
        "note": "Move was delta-clamped and the arm is off target (x 0.38, y -0.03). Re-sending so it settles over the bowl's near rim.",
        "targets": {
          "left_x": 0.345,
          "left_y": -0.075,
          "left_yaw": 1.57,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FjZkG1RBZBTT3WwiH3Ahxq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3981, 2.1864, 1.7706, -1.5497, -0.7929, -2.0621, 0.9994, -0.0219, 0.8043, 0.5999, -0.3954, -0.0166, -0.02, 0.9992]\nstate[eef_state]: left_x=0.369 left_y=-0.0148 left_z=0.1046 left_yaw=1.4994 left_pitch=-0.1367 left_roll=0.04 left_gripper=0.9994 right_x=0.2928 right_y=0.0001 right_z=0.1721 right_yaw=-0.0038 right_pitch=-0.0294 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -12.2462, 5.1897, -0.6325, -0.3785, -0.3932, -0.0171, -0.0889, -1.1419, 7.3641, 1.7607, -0.0611, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba0d5c5c667ce0f82d42067b66b52c942bc8b24692646954abb72220b965de8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8606d4b5107395bd2b38a6ebc638183dc834c6c430151b3db57e2a39c71b93d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49b4ad3dc5a1d8c69e5c9cd96c439e7ac376251b7533c7f28c5627ee93ba6f93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 4.313 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3271, 1.0309, 0.5781, -0.2066, -0.2428, -0.1829, 0.9995, -0.0208, 0.8005, 0.6041, -0.3889, -0.0166, -0.02, 0.9992]\nstate[eef_state]: left_x=0.3196 left_y=-0.0598 left_z=0.1374 left_yaw=-0.0389 left_pitch=-0.0682 left_roll=0.013 left_gripper=0.9995 right_x=0.294 right_y=0.0004 right_z=0.1764 right_yaw=-0.0027 right_pitch=-0.0149 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -3.3436, 7.159, 1.8388, -0.2466, -0.022, -0.0659, 0.0479, -1.7436, 6.9538, 1.8437, -0.0317, -0.0464, -0.022]",
      "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]: [-0.437, 2.1704, 1.7409, -1.4563, -0.8387, -1.9713, 0.9994, -0.0219, 0.804, 0.5999, -0.3943, -0.0166, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3816 left_y=-0.0293 left_z=0.1038 left_yaw=1.3838 left_pitch=-0.1202 left_roll=0.0208 left_gripper=0.9994 right_x=0.293 right_y=0.0001 right_z=0.1724 right_yaw=-0.0036 right_pitch=-0.0278 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.3487, -10.4547, 6.2427, -0.7643, -0.4176, -0.149, -0.022, -0.1436, -1.4154, 7.3641, 1.7802, -0.0513, -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 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3981, 2.1864, 1.7706, -1.5497, -0.7929, -2.0621, 0.9994, -0.0219, 0.8043, 0.5999, -0.3954, -0.0166, -0.02, 0.9992]\nstate[eef_state]: left_x=0.369 left_y=-0.0148 left_z=0.1046 left_yaw=1.4994 left_pitch=-0.1367 left_roll=0.04 left_gripper=0.9994 right_x=0.2928 right_y=0.0001 right_z=0.1721 right_yaw=-0.0038 right_pitch=-0.0294 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -12.2462, 5.1897, -0.6325, -0.3785, -0.3932, -0.0171, -0.0889, -1.1419, 7.3641, 1.7607, -0.0611, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba0d5c5c667ce0f82d42067b66b52c942bc8b24692646954abb72220b965de8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8606d4b5107395bd2b38a6ebc638183dc834c6c430151b3db57e2a39c71b93d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49b4ad3dc5a1d8c69e5c9cd96c439e7ac376251b7533c7f28c5627ee93ba6f93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AXjM1tx4V2yy7PHsPQAKQK",
      "input": {
        "note": "IK is not tracking well with yaw 1.57 (arm drifting to y -0.015). Returning to yaw 0 and hovering behind the white bowl to re-locate it; I'll grip its side rim instead.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.07,
          "left_yaw": 0.0,
          "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_01AXjM1tx4V2yy7PHsPQAKQK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3779, 2.1864, 1.7706, -1.5497, -0.7853, -2.0621, 0.9993, -0.0219, 0.8043, 0.5999, -0.3965, -0.0166, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3685 left_y=-0.0081 left_z=0.1037 left_yaw=1.5229 left_pitch=-0.1434 left_roll=0.0423 left_gripper=0.9993 right_x=0.2927 right_y=0.0001 right_z=0.1718 right_yaw=-0.0036 right_pitch=-0.0305 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -12.2598, 4.9573, -0.5739, -0.3932, -0.359, -0.0171, -0.1299, -1.306, 7.0769, 1.7167, -0.0513, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:184c95b8f25f3060a0cb0c94f3d490f43916b72c99573d32d82212d5df0287fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:511fba6e557508d459492be216afec2066316afd3934c0d64e04ce5c179314c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:391773f352a029e0738f9df1c92c3e9069b5b98cf3052273de82fcd8d2a1fd1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /messages · status 200 · 3.662 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.437, 2.1704, 1.7409, -1.4563, -0.8387, -1.9713, 0.9994, -0.0219, 0.804, 0.5999, -0.3943, -0.0166, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3816 left_y=-0.0293 left_z=0.1038 left_yaw=1.3838 left_pitch=-0.1202 left_roll=0.0208 left_gripper=0.9994 right_x=0.293 right_y=0.0001 right_z=0.1724 right_yaw=-0.0036 right_pitch=-0.0278 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.3487, -10.4547, 6.2427, -0.7643, -0.4176, -0.149, -0.022, -0.1436, -1.4154, 7.3641, 1.7802, -0.0513, -0.0317, -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]: [-0.3981, 2.1864, 1.7706, -1.5497, -0.7929, -2.0621, 0.9994, -0.0219, 0.8043, 0.5999, -0.3954, -0.0166, -0.02, 0.9992]\nstate[eef_state]: left_x=0.369 left_y=-0.0148 left_z=0.1046 left_yaw=1.4994 left_pitch=-0.1367 left_roll=0.04 left_gripper=0.9994 right_x=0.2928 right_y=0.0001 right_z=0.1721 right_yaw=-0.0038 right_pitch=-0.0294 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -12.2462, 5.1897, -0.6325, -0.3785, -0.3932, -0.0171, -0.0889, -1.1419, 7.3641, 1.7607, -0.0611, -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 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3779, 2.1864, 1.7706, -1.5497, -0.7853, -2.0621, 0.9993, -0.0219, 0.8043, 0.5999, -0.3965, -0.0166, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3685 left_y=-0.0081 left_z=0.1037 left_yaw=1.5229 left_pitch=-0.1434 left_roll=0.0423 left_gripper=0.9993 right_x=0.2927 right_y=0.0001 right_z=0.1718 right_yaw=-0.0036 right_pitch=-0.0305 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -12.2598, 4.9573, -0.5739, -0.3932, -0.359, -0.0171, -0.1299, -1.306, 7.0769, 1.7167, -0.0513, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:184c95b8f25f3060a0cb0c94f3d490f43916b72c99573d32d82212d5df0287fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:511fba6e557508d459492be216afec2066316afd3934c0d64e04ce5c179314c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:391773f352a029e0738f9df1c92c3e9069b5b98cf3052273de82fcd8d2a1fd1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4AcKEAgSGAI4AUIIdGhpbmtpbmcSDDkB8zJS3gjZDYJ5QhoM4yDiVzQvHkMixxAQIjBI4zhlB3fe/pxLv/MKq3w8NxKTokzAEV0/l+9Vs+QDGwB9tvfo8rPCb5X9y1dmMp8q/QbB6laNyeZkSnD42eUWHeNZ0QbNI/FHf8NrL5a7hqw6HbN2OhH7ShUa9RrZlPe5sIQcrJEs9sGE5PNnchAX0jpz4CpbHZ36aCFoVkkzpKb5NMVuwC0LrVC99IeMmNQfuZA0sLRSmhB7UopEaZkffCTJwVsvfTCvD6rFQGjmiu/6pEEoep4zx0rqmcYj99ThkSsDBv237m5UnKuTLzJyqQHJGjQopG5IlhC9LwdBx7rnT6zoTx/LKvCn0M4FNG6RRhK/xMFsRIYn5RDeKRNhUHbjKrA8Q6g5jYIUYB8h2z5/KwhQNtQNqRF+DJ5wWlbVsL3Wc7b9HtYzpdrC6tlbu3q+MJLokmo8ez7BB6piKlpSNqK7pja8CvixypJVk9xUexEw1nILuvBN6R6ex11oTCzWT/Z2unte/8LZztwDurIyJSQMFAlXj5kaf7x6f1eJEZNp1Y30/KuRswyekTrn86WwNUq/gwB6r/1WAEK7XdgvI/h/GkvKt0PNmP7WcNOiLyiYNRl5kAuJ3do+DL/2qW7G6pQoOtV95JOn4f2FQ+2pm2T+alPp+iryH/R/KFawERBS13QbS6MydZ7epVvOkUInFqkobyNQ/laxPsb2wHe+7N9pX3DKug0FVQh59Wyj9iTiEi2Urqvj92cu71YGKKyeQXl0CPlScV+hiAED9l2IQ7ruAhsJ1ghLyLlIvCwkQM+qVllEK5Vh3XTblUVYQhq+oxIZqb/LyQDFI5JyQEgFHwEa2LfgG4X2eM3qGocRBtELCSPNpwQCYVXYf25rUsqMKrf5Af+yrOC6HQ3jTNujK5uLUxzgek69u0fetBpMysN0Sk4uCY0x4jyWelEc1PM9mUnlShAwKBIX5MWLhKFNnAqIhIuhxhbEAWaVXGI3AqiIfP2BJraaa6ssHWbWNWlh5j4xYEZwhSR/KTfZ4mmrOuprtcPkGnrkPNiRyK6bbRScUbQTT6gNaFLgzLIT3BMKSbtSfRtgQe2o48qKPvb4LsnePteO/uFnM9G9jAz3ptwwnWLqHZfYh4eVvPVHSUjxFOclbF0qr+n5jwEv3us5nNGGdv9L6VU0GKeswkGYKZUOc0DfGLm6CjEvtxCWLgEf3nxwM02gPa0U8m3e+Xe7miM4T73WidExGJdVcwfUINWhFy2UNO7NS5irBV42dmlwqIMoRUFXZuzPgZpNthgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CLDEFrwsepD3Lv2yXoLE8S",
      "input": {
        "note": "Left arm appears stuck in an awkward wrist configuration (no joint motion last move). Trying a smaller step: raise and unwind yaw partially.",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.03,
          "left_yaw": 1.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01CLDEFrwsepD3Lv2yXoLE8S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4999, 1.7359, 1.3392, -1.2533, -0.8089, -1.7084, 0.9993, -0.0219, 0.8089, 0.5983, -0.4057, -0.0162, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3237 left_y=-0.0271 left_z=0.1419 left_yaw=1.1468 left_pitch=-0.19 left_roll=-0.0108 left_gripper=0.9993 right_x=0.2914 right_y=0.0001 right_z=0.168 right_yaw=-0.0039 right_pitch=-0.0458 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [1.4017, -4.9026, 5.1077, 0.5739, -0.6325, 0.1441, -0.0122, -0.2256, -1.7026, 7.1453, 1.7998, -0.022, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32b7ddb78bfeae9674518dbeb17815234c47f5e3e08d069ee6e001462bd25f81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:547b63c8e87b0e55945c192e6caa593cc3ba65c8f499a71e17b2dfd8c2b4253d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1fbd0ea459c6f81e082525014f6516c265e0d3faefc798bd0ff42f72fe1f4eaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 6.43 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3981, 2.1864, 1.7706, -1.5497, -0.7929, -2.0621, 0.9994, -0.0219, 0.8043, 0.5999, -0.3954, -0.0166, -0.02, 0.9992]\nstate[eef_state]: left_x=0.369 left_y=-0.0148 left_z=0.1046 left_yaw=1.4994 left_pitch=-0.1367 left_roll=0.04 left_gripper=0.9994 right_x=0.2928 right_y=0.0001 right_z=0.1721 right_yaw=-0.0038 right_pitch=-0.0294 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -12.2462, 5.1897, -0.6325, -0.3785, -0.3932, -0.0171, -0.0889, -1.1419, 7.3641, 1.7607, -0.0611, -0.0171, -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]: [-0.3779, 2.1864, 1.7706, -1.5497, -0.7853, -2.0621, 0.9993, -0.0219, 0.8043, 0.5999, -0.3965, -0.0166, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3685 left_y=-0.0081 left_z=0.1037 left_yaw=1.5229 left_pitch=-0.1434 left_roll=0.0423 left_gripper=0.9993 right_x=0.2927 right_y=0.0001 right_z=0.1718 right_yaw=-0.0036 right_pitch=-0.0305 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -12.2598, 4.9573, -0.5739, -0.3932, -0.359, -0.0171, -0.1299, -1.306, 7.0769, 1.7167, -0.0513, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4999, 1.7359, 1.3392, -1.2533, -0.8089, -1.7084, 0.9993, -0.0219, 0.8089, 0.5983, -0.4057, -0.0162, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3237 left_y=-0.0271 left_z=0.1419 left_yaw=1.1468 left_pitch=-0.19 left_roll=-0.0108 left_gripper=0.9993 right_x=0.2914 right_y=0.0001 right_z=0.168 right_yaw=-0.0039 right_pitch=-0.0458 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [1.4017, -4.9026, 5.1077, 0.5739, -0.6325, 0.1441, -0.0122, -0.2256, -1.7026, 7.1453, 1.7998, -0.022, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32b7ddb78bfeae9674518dbeb17815234c47f5e3e08d069ee6e001462bd25f81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:547b63c8e87b0e55945c192e6caa593cc3ba65c8f499a71e17b2dfd8c2b4253d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fbd0ea459c6f81e082525014f6516c265e0d3faefc798bd0ff42f72fe1f4eaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "It's moving now. Continuing to unwind yaw to 0.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016J3ucSwiMmP8qWdXsCSpL3",
      "input": {
        "note": "Arm is moving again; the white bowl sits below/right of the gripper (bottom-right of wrist view). Continuing to unwind yaw toward 0 while backing up slightly.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_yaw": 0.3,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_016J3ucSwiMmP8qWdXsCSpL3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4915, 1.1553, 0.8463, -0.7399, -0.6174, -0.8444, 0.9993, -0.0219, 0.8158, 0.5953, -0.4149, -0.0166, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.2896 left_y=-0.035 left_z=0.1507 left_yaw=0.4828 left_pitch=-0.2163 left_roll=-0.0307 left_gripper=0.9993 right_x=0.29 right_y=0.0002 right_z=0.163 right_yaw=-0.0036 right_pitch=-0.0648 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -3.0427, 7.2, 1.5849, -0.3297, 0.2564, -0.0122, -0.212, -1.388, 7.2821, 1.8046, -0.0806, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d260b60feb43bed614952a716f49450a8d5055127bc14db9f1faf8fadb4fe7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8378ffa6a4d4c3f0be04eed4fca67d82c87cb364852951fb64baca02d3aee15c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6999806042a439c0de51a30715313014385130de18cd9b76dd4afe42ca3ae305",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 8.189 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3779, 2.1864, 1.7706, -1.5497, -0.7853, -2.0621, 0.9993, -0.0219, 0.8043, 0.5999, -0.3965, -0.0166, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3685 left_y=-0.0081 left_z=0.1037 left_yaw=1.5229 left_pitch=-0.1434 left_roll=0.0423 left_gripper=0.9993 right_x=0.2927 right_y=0.0001 right_z=0.1718 right_yaw=-0.0036 right_pitch=-0.0305 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -12.2598, 4.9573, -0.5739, -0.3932, -0.359, -0.0171, -0.1299, -1.306, 7.0769, 1.7167, -0.0513, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4999, 1.7359, 1.3392, -1.2533, -0.8089, -1.7084, 0.9993, -0.0219, 0.8089, 0.5983, -0.4057, -0.0162, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3237 left_y=-0.0271 left_z=0.1419 left_yaw=1.1468 left_pitch=-0.19 left_roll=-0.0108 left_gripper=0.9993 right_x=0.2914 right_y=0.0001 right_z=0.168 right_yaw=-0.0039 right_pitch=-0.0458 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [1.4017, -4.9026, 5.1077, 0.5739, -0.6325, 0.1441, -0.0122, -0.2256, -1.7026, 7.1453, 1.7998, -0.022, -0.0659, -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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4915, 1.1553, 0.8463, -0.7399, -0.6174, -0.8444, 0.9993, -0.0219, 0.8158, 0.5953, -0.4149, -0.0166, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.2896 left_y=-0.035 left_z=0.1507 left_yaw=0.4828 left_pitch=-0.2163 left_roll=-0.0307 left_gripper=0.9993 right_x=0.29 right_y=0.0002 right_z=0.163 right_yaw=-0.0036 right_pitch=-0.0648 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -3.0427, 7.2, 1.5849, -0.3297, 0.2564, -0.0122, -0.212, -1.388, 7.2821, 1.8046, -0.0806, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d260b60feb43bed614952a716f49450a8d5055127bc14db9f1faf8fadb4fe7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8378ffa6a4d4c3f0be04eed4fca67d82c87cb364852951fb64baca02d3aee15c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6999806042a439c0de51a30715313014385130de18cd9b76dd4afe42ca3ae305",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSnQsKEAgSGAI4AUIIdGhpbmtpbmcSDEYfEhg/k3Y+h+IcmBoMltB4eRE/mFV911rxIjBbNe4ZaIZAFWdV77vOiIOJHzNrLGwSls2ve8gFcBKEnwTH95M74AdZ826snuoRqrEqugoPd7pZm2z9lOjtcmEi+be+N5SP6xv6/wgtfEc7mDLrvfjgfKB+BBw1RrIbRM4cB2+pxZcYLoecx+6MxtELxhH9BhTYqwsb2c6vDD+zhv6DFkT6A+Xma6o2TbZ8wU5ld7gCcwWNCtdBZcJuQZ+31674fh55D/ul/M5X6qXozNBVajKpbZabD+Jmk6YstCI/sjv+V0Iz2TyT4WvwTdQekHVLu5KhemHP3FF/3UEZJg/x+6+clhRToW25nml+uCpTCfaG3D6GjKOHEXHfeNGKrrTCXSRfnA7umTFp8JXb36XrW/wzw8XutXV+HHLGe95ZZJkRNKGOqhBmGZFHFOE+DeeyLwsXce2zNpspZKyrWuxdDua0LeBRiSiRawOneaP1tZb1MCRCyHWg7dndfORa/oURjudWj8W9E/LaC9gHhkLEM6QWi7oreB9ZR7jKKaiBSLQZVPX8OKMiSZJDE8Dbj0Iza2z269qigMxQkY21G1J4WWWqdmUKIaXjFTX2DN4qEIEkJEo5p26iP0DoZPq5FSfOpZIAtnhnDCLd+7Jz8S/dQ//2UPop83ppUkaoCO4etjb8FUZ1yp742bIoXCgaGY2xap3xYbxhT+ipyCfsd4+FhLuPGO78FpmD9eks0kHdGVdqHa72Il6q8SMi6syoCKjGBCknTOuPEb+LMlqBsNTEz/jS9fN3BODWciqStVXDZ3lAmxNRek9Cp5OJ5xbInT0WMa99Y3bFQPcgZP5jGjH+Qs1zEOxZ/8kOdVLK3Mhm7jVaMcesEeJkadRIBtwiEzwRs59a2KIWHlszZMxLobl+OrSyMl2SGqvUQElBEu1Jk8YyFJprulVt1Vk6swVPEszRopDYTVJts237oCjiiOTdrkbaqU+Yk73slYjFjQSX5nOhrmE0ItVSatlhdpYoNHIQRSAseGXYhkRc014Ta5R2PfDeTdC51+E/DQGnxdhXM4v2RBTx/Fz8m9bP084XQ1EzdoKFLmWMAMNoM5cIcjsHwIyZdQBsh0sWGoWK6v7p0k61K/Zk/2lSzNtG3cf/9VwGJWU4CBMLajzMlmyd3oSQWCPRpwY3TKn5awqW/+ThEKLurN8Y0jaG4QY5k+Ka9KcZkhMstSPkHyzPJ6APgX32s+YKk0utpN+2sAqXDTHys6BTGS/YY5nYidY65WlRCNxWGGy1pzOzWMiDYE8Q7U+UjxVMdUXFdUTQlaGzwszPy8+RuFr9ddk+CI/2S5wjgZK7dbURbwxPiZTg83TLGOC+NwPZV1emenMmVT/AECh9h3vHb1NLkWkrbzR8J4gCbDd9Is9CHJimERJW3elKnmPFlmBIVIF9HsWT1YALFgRZ5fDXKT99lNeDwzxJ3DqG913T6+xaGFFdCCQEkB69u3NIHdPK8gODxi/5Itdzm6GidunLnTV9jEsbWPiYy5lrZ3bVQr9ptIavZdJ4X3y1eT4VcIggy6TEeoIHem6GioBv8M047cBxJ5zhHh6qeIlgMxYNdwlU+RAiQ1c1NIs2IG/xSm511u3spPpzLapoUAPRZuIJItwnulurlFaP0CttPBl7peIBXiYea3FxJ39t1izgZ5KKwnAIl5uIyAfTKOrmkH6DX0AJllsi9JzjE0tmBBqPUz8SsO+WUWpY5hdiMJ1XfB2B2w/xlGOZql6VB1hg0IRaV0AI5UlQkSewtcpukFgpyLlk0HT3QPzLMafgcRROuHETOOMA6oVMzrhqv5WB07VmnD2NSJMxKmTgF+xRatTh2bk9xhxf9+XX6qtb2TYODrHMjfOtnzOx6BgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Ti31oSB3YoFeJeF7JgoE3",
      "input": {
        "note": "White bowl is ahead-right of the left gripper. Squaring yaw to 0 and moving forward to hover at the bowl's left (+y) rim so the jaws can straddle the rim wall.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.035,
          "left_yaw": 0.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_011Ti31oSB3YoFeJeF7JgoE3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1734, 1.2465, 0.828, -0.4633, -0.205, -0.2863, 0.9993, -0.0216, 0.8173, 0.5945, -0.4156, -0.0166, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3404 left_y=-0.0195 left_z=0.13 left_yaw=0.1521 left_pitch=-0.2879 left_roll=-0.0215 left_gripper=0.9993 right_x=0.2899 right_y=0.0003 right_z=0.1621 right_yaw=-0.0032 right_pitch=-0.0679 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -4.7248, 9.8803, 1.5897, -0.0317, 0.188, -0.0122, -0.0205, -1.4564, 7.2684, 1.6581, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3026768372615e6df2ffe8c1d59208e827c8d5eca1ca16fa2cf7cef50819e2a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cbe716fe8a92513645e4a9a4e6fe631b0da66c17b2f75ca712256addda58bae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cebe4712a155dffc7462959c8b7683e3809a72c8cba0fae42d4ec373173ed416",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 6.609 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4999, 1.7359, 1.3392, -1.2533, -0.8089, -1.7084, 0.9993, -0.0219, 0.8089, 0.5983, -0.4057, -0.0162, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3237 left_y=-0.0271 left_z=0.1419 left_yaw=1.1468 left_pitch=-0.19 left_roll=-0.0108 left_gripper=0.9993 right_x=0.2914 right_y=0.0001 right_z=0.168 right_yaw=-0.0039 right_pitch=-0.0458 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [1.4017, -4.9026, 5.1077, 0.5739, -0.6325, 0.1441, -0.0122, -0.2256, -1.7026, 7.1453, 1.7998, -0.022, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.4915, 1.1553, 0.8463, -0.7399, -0.6174, -0.8444, 0.9993, -0.0219, 0.8158, 0.5953, -0.4149, -0.0166, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.2896 left_y=-0.035 left_z=0.1507 left_yaw=0.4828 left_pitch=-0.2163 left_roll=-0.0307 left_gripper=0.9993 right_x=0.29 right_y=0.0002 right_z=0.163 right_yaw=-0.0036 right_pitch=-0.0648 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -3.0427, 7.2, 1.5849, -0.3297, 0.2564, -0.0122, -0.212, -1.388, 7.2821, 1.8046, -0.0806, -0.0269, -0.0171]",
      "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]: [-0.1734, 1.2465, 0.828, -0.4633, -0.205, -0.2863, 0.9993, -0.0216, 0.8173, 0.5945, -0.4156, -0.0166, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3404 left_y=-0.0195 left_z=0.13 left_yaw=0.1521 left_pitch=-0.2879 left_roll=-0.0215 left_gripper=0.9993 right_x=0.2899 right_y=0.0003 right_z=0.1621 right_yaw=-0.0032 right_pitch=-0.0679 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -4.7248, 9.8803, 1.5897, -0.0317, 0.188, -0.0122, -0.0205, -1.4564, 7.2684, 1.6581, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3026768372615e6df2ffe8c1d59208e827c8d5eca1ca16fa2cf7cef50819e2a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cbe716fe8a92513645e4a9a4e6fe631b0da66c17b2f75ca712256addda58bae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cebe4712a155dffc7462959c8b7683e3809a72c8cba0fae42d4ec373173ed416",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017qEK8TRjY4y7ZVG8SZF6Hj",
      "input": {
        "note": "Bowl's left rim lines up near the jaw column but is still ahead of the fingertips. Moving forward ~5 cm and levelling pitch to 0 so the tool points straight down.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.4,
          "left_y": -0.035,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017qEK8TRjY4y7ZVG8SZF6Hj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1616, 1.3804, 0.664, 0.0483, -0.1547, -0.141, 0.9993, -0.0219, 0.8227, 0.5941, -0.4236, -0.0162, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3863 left_y=-0.0317 left_z=0.1042 left_yaw=0.0306 left_pitch=-0.0899 left_roll=-0.0043 left_gripper=0.9993 right_x=0.2889 right_y=0.0001 right_z=0.1589 right_yaw=-0.0039 right_pitch=-0.0816 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.3761, -5.1077, 6.653, 2.0781, 0.0024, 0.2173, -0.0122, -0.1846, -1.6615, 7.0222, 1.6679, -0.0415, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09e4a88de37f3e0b7471028e0a97aa69dd6e0b14b05f0fa4e45ab93c26867773",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c36ea3ba85319494028b296cf62a7f5e26e99df36341d335965006b764802db6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:df6ac0555330ad703286e4408a21ba8f52936d208f6f721eacade3c8d68018d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 3.655 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4915, 1.1553, 0.8463, -0.7399, -0.6174, -0.8444, 0.9993, -0.0219, 0.8158, 0.5953, -0.4149, -0.0166, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.2896 left_y=-0.035 left_z=0.1507 left_yaw=0.4828 left_pitch=-0.2163 left_roll=-0.0307 left_gripper=0.9993 right_x=0.29 right_y=0.0002 right_z=0.163 right_yaw=-0.0036 right_pitch=-0.0648 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -3.0427, 7.2, 1.5849, -0.3297, 0.2564, -0.0122, -0.212, -1.388, 7.2821, 1.8046, -0.0806, -0.0269, -0.0171]",
      "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]: [-0.1734, 1.2465, 0.828, -0.4633, -0.205, -0.2863, 0.9993, -0.0216, 0.8173, 0.5945, -0.4156, -0.0166, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3404 left_y=-0.0195 left_z=0.13 left_yaw=0.1521 left_pitch=-0.2879 left_roll=-0.0215 left_gripper=0.9993 right_x=0.2899 right_y=0.0003 right_z=0.1621 right_yaw=-0.0032 right_pitch=-0.0679 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -4.7248, 9.8803, 1.5897, -0.0317, 0.188, -0.0122, -0.0205, -1.4564, 7.2684, 1.6581, -0.0269, -0.0317, -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]: [-0.1616, 1.3804, 0.664, 0.0483, -0.1547, -0.141, 0.9993, -0.0219, 0.8227, 0.5941, -0.4236, -0.0162, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3863 left_y=-0.0317 left_z=0.1042 left_yaw=0.0306 left_pitch=-0.0899 left_roll=-0.0043 left_gripper=0.9993 right_x=0.2889 right_y=0.0001 right_z=0.1589 right_yaw=-0.0039 right_pitch=-0.0816 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.3761, -5.1077, 6.653, 2.0781, 0.0024, 0.2173, -0.0122, -0.1846, -1.6615, 7.0222, 1.6679, -0.0415, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09e4a88de37f3e0b7471028e0a97aa69dd6e0b14b05f0fa4e45ab93c26867773",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c36ea3ba85319494028b296cf62a7f5e26e99df36341d335965006b764802db6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df6ac0555330ad703286e4408a21ba8f52936d208f6f721eacade3c8d68018d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSogsKEAgSGAI4AUIIdGhpbmtpbmcSDM5ABFO/tRTzm74WJhoMYPofyQNPk+FW9Z5SIjCUxvHWYoR2QJ4JkHJqosuOmaFMkunVFEf5RPonTByHCNMr0+d1d9qath0dNe8zaj8qvwoDok6kV4rlwYRfZ6hGf2SkiqhlW57auRV1TYWAnNitbQqHyt1drG/9y0j2QyEZnD2rkfrtlUjReM+9wspfo8Z1l5pgeQcCsmNO5ELl1OFhjKNVUKcNEjQCqIubE0yebhCmMR6RLpYl9yv0X7JBUNikjvrznRjFWcsnkVIZ1MzL8IbjV6jxLG6d5LxBqUtgjYsWcnWe31584/DHa0czx5uCLXky+A02I63dXPuuBpokOlD2XlXN0gLdBRnI9jQWWnxNLZ6sAakGxKOD8jtcPY9C1swrRbgS7ClWvheMBCMy+tZhBe5BWoSonbc0DT5z7kiKUpJ4mRxap1mKKEkGBXWUCZ0d79y8uT63vC4I8BdquWSpWPVL91YdZ91DRHl7tyK1eEkyOEh1rEir12cdgH9zfzyctoStEyi3Vv54oIjmdWtb1nAnMaZJWMCaWs0aqZ2pwq4UXBnk5cH4oIcnC7xcmE3S4xRjBQjhM1/rz1R1mBq+ZS6nfiiQSmIOCm4IcIyXtUc9MAfjEwrKFOcQRUxV7GxdNPqfN65h39xmbHPa5v/kFEcEy6iPaNcu/kiZe1nc/4/8C8VZwjjFJF3igdvo29FvZQKDU+u1hy1KIA5s7b5Ytt0BleV0l5bzZd+LESUZiTshXj2i7yJM/YBUCy7k/Ek08TGuASY8e0FiXnSnta/S/XcpWK3yqOnqrQd+dLgGbSRrRHFoj1UQbQUYXGl8VOcFOJLZ4249pIcuwd/j0uXN0OeYAVXBP81zMmHRiB31lcvxT8/l23X4DGhzElug8u3lzSfBqVTgTpFrFyT6SZjouYocq2BadYDrxOq9cAxh9N/SZATZwh74uUpP7S2mn8lLROGAc6yqhj+lBuNfeUaTFJiarQfSAd3241dchp8aH9BKD9Eagal+j75EjKKqbT6D7kxS9wWnvYEhZN81fKumZ7sWKVy2u8S7FpfDcoZWbtxfYic3kngRnIe2zCHZjch4Y+T3InOP8TURG4xN9z0Trch973q9kpz+TNr9EB1SLZ0ijmVCCSAroiOgD3RHZFSGuHg6acUu6ErPYrViNI1oVHEWIq6Fm4zStDoYIsM+WWLca3LTY9d9YuHVDsDIGVtYh9WAO+1rooPYW5x2HVvwhyUmhxAcSg4kelfVar3gGkZT3EbU35k7ZTslWDcbhKhlID4kSQYI8CFYYrrau69tqtY6lbIhup0kRNoU8m7mpdZEMclzjb7kqhn6uCrjifYVdJ2P9elLV8x08OIqh6FWQuDLoLzfgv7qbv/QAncYopnqkyplxTbXYf27R9UTDsUYE/rOrJN/8Fn0gZY196H9XhyULAza9JPbLcYDbp13aDTPFx7qX8FecRarkvoEgs6yStvzE1yCkc3hC46S0zdYSk/rVQzxcE1xi/QDcpzx/PSUXoP1H1LMJO/JZijHsZDys/iPUvArRMKL4FF+QU/UGCMk7QkOjERgonxQMSDSVuMqGAyDiNzEBLQa3vERt5RMt/ylzH2rL8uIOEd8qiY5XSn10JTXeGqSYWVOcXv39USWkC7GsuwVG+tS9+RN40NLq3KvuiPJtp+HZ7ToEnFMoEDoHAf1SNRYE57O6OZKJKuwKK6NBQfMe85vLnEmih4aLydn5U5rEMxCYEMRBv3V60ZAgng9BX5oJFZxHnbtotV1KE1+k0qIpOkjLgEpPiN5CKGk78mxF6guPjocN1TMandfs97FAbz7XImNCYECDF0qa76TJcLIYFReWdmvyqcwEFsX7JIoM6DZiFVEoEpfMGQ9W15IYUmeLuOEAhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cd2WgBjc9mJH1ZM36YvZ3j",
      "input": {
        "note": "The bowl's left rim now lies between the jaws near the fingertips (one jaw outside, one over the interior). Descending so the jaws straddle the rim wall.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.39,
          "left_y": -0.035,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Cd2WgBjc9mJH1ZM36YvZ3j",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1761, 1.6279, 0.461, 0.4652, -0.1631, -0.1371, 0.9993, -0.0219, 0.8242, 0.5938, -0.4225, -0.0162, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.3732 left_y=-0.0336 left_z=0.0163 left_yaw=0.0218 left_pitch=-0.1219 left_roll=0.0105 left_gripper=0.9993 right_x=0.2891 right_y=0.0001 right_z=0.1585 right_yaw=-0.0024 right_pitch=-0.0824 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -6.4752, 4.9709, 1.8584, -0.2515, 0.0611, -0.0122, -0.335, -1.1966, 6.9949, 1.6337, -0.022, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fccdbc887ede9f0d50ce7c8fc52ddf9d81f9926005346de70fc0c0ef1710cfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84042f496cce5a3b24384a06be0e697288207d9e476773fdd2dab9c011c1ff19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:17cc5546b4b54b55e0784ffb279bd9c3fff751514dcd4bb93d0c0bc9ffc17b9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 4.082 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1734, 1.2465, 0.828, -0.4633, -0.205, -0.2863, 0.9993, -0.0216, 0.8173, 0.5945, -0.4156, -0.0166, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3404 left_y=-0.0195 left_z=0.13 left_yaw=0.1521 left_pitch=-0.2879 left_roll=-0.0215 left_gripper=0.9993 right_x=0.2899 right_y=0.0003 right_z=0.1621 right_yaw=-0.0032 right_pitch=-0.0679 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -4.7248, 9.8803, 1.5897, -0.0317, 0.188, -0.0122, -0.0205, -1.4564, 7.2684, 1.6581, -0.0269, -0.0317, -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]: [-0.1616, 1.3804, 0.664, 0.0483, -0.1547, -0.141, 0.9993, -0.0219, 0.8227, 0.5941, -0.4236, -0.0162, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3863 left_y=-0.0317 left_z=0.1042 left_yaw=0.0306 left_pitch=-0.0899 left_roll=-0.0043 left_gripper=0.9993 right_x=0.2889 right_y=0.0001 right_z=0.1589 right_yaw=-0.0039 right_pitch=-0.0816 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.3761, -5.1077, 6.653, 2.0781, 0.0024, 0.2173, -0.0122, -0.1846, -1.6615, 7.0222, 1.6679, -0.0415, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1761, 1.6279, 0.461, 0.4652, -0.1631, -0.1371, 0.9993, -0.0219, 0.8242, 0.5938, -0.4225, -0.0162, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.3732 left_y=-0.0336 left_z=0.0163 left_yaw=0.0218 left_pitch=-0.1219 left_roll=0.0105 left_gripper=0.9993 right_x=0.2891 right_y=0.0001 right_z=0.1585 right_yaw=-0.0024 right_pitch=-0.0824 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -6.4752, 4.9709, 1.8584, -0.2515, 0.0611, -0.0122, -0.335, -1.1966, 6.9949, 1.6337, -0.022, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fccdbc887ede9f0d50ce7c8fc52ddf9d81f9926005346de70fc0c0ef1710cfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84042f496cce5a3b24384a06be0e697288207d9e476773fdd2dab9c011c1ff19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17cc5546b4b54b55e0784ffb279bd9c3fff751514dcd4bb93d0c0bc9ffc17b9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgcKEAgSGAI4AUIIdGhpbmtpbmcSDNTCoqKvui8E+7BjshoMhIDqIzY1u4PJ/HowIjD6jk3wQ0pOssSP7Ht4ru54ziaBJcjnU8bXCLYLFgSCIEK5949m06obZsrCoIO6j4EqswZBH9sFl44vCw9NEu/Dcmy8mBX+FihHxo03ZRu8WvvTq4QHdZgjyijqVQGa/GGMg6BZHVNClrbRq+Mniy7WV7CqPExx9O6qTLsZ/+Rc3mwa4DvaTucFmGF66HdeOkrMmND71STIQT/X5Tac235H9P/JB4D5ZTDcuz+pf0zt0WOFT4IXzyDjmgI2jRGFoCVgyfZ5Emjv0l1DdSQ6Cm4SILANH0dENdNH/V7ZXzwrZsBVeBJsq2karII4tJqltMUqz8ywTLDoX8b/40hyq5P/vilifKUNFMnwHl+lPEPAFUHZS8ER3xmbFxzglo5IMhEjj7xTM7xi//GNlqJkZqYwNt6dZ1xvDWw1rJsYP5sAwysppjZ/nOOtqhY8nAoyRrDA5nZRy51eGk2mjgKLprDMXjxgg/WfIryA6M3/4iz/v0hfwCtgbtSWQpsBIHO+sYmr5ykivbNx1SUxuMntAD8FFtz7eYDE4GC9iM0HggJIfgfV6OKDP5Lm2MB3OaMiDbB9qiUB1yX39fyrGghKD27LTYBgOeL1xFeQxqQ3iKBNTlFoDHn2EawkQ+C/ljxHw6H0ZwAmxf/xxxi/2VQ4fTgAZymLf845lxYR3TLFRJjMMB0HK9Sf/B5rZ6rR6dmzitX9acHtV1cyJW2+7PTy8GuM3bIY8Vo2eQpBuk4aOLlaSi2d+yxAh0ZNwwWBfeQaFFviZ/bGtMUkPEAMXBsRZ5WNIWiHLLNjdf8iv09n4bmU/6T1mSDZo21MwhwLeovaIXh+crZJITo1uWMyNnPVh3zlK5q4cKDJE4rQ+CXKnpVrGSbAPwlH1fq37Bxx7ubeHx32ryo7AMqL5W65W9a70HiEJ6wO9BRIfW7ydIuOrp0uXG4xL3Ht/UWbjoHjcce/zyEI+ABhQC868+z32muhvGwFkuaNW1sXFVGABG5ImjF/EU49eIIzmqkqK1w9ddfq4nZqff5DMVSxP57Ignyy8W9RkompupxfyjnPfDZX7LPj0iZKSXDdmVzZROg8uZu+KGo4ljoY37wYluS23HnYPJcLW63JWdqp38b4C5cdVd7J96DOBpKKonGF6t1NHvmiK2ftOSvGFIkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CkLAHACtygJjygpkrmbGLJ",
      "input": {
        "note": "Rim wall sits between the jaws near the jaw column. 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_01CkLAHACtygJjygpkrmbGLJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.178, 1.615, 0.466, 0.5278, -0.1486, -0.1677, 0.0303, -0.0219, 0.8242, 0.5938, -0.4225, -0.0166, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.3851 left_y=-0.039 left_z=0.0345 left_yaw=0.0228 left_pitch=-0.0448 left_roll=-0.0386 left_gripper=0.0303 right_x=0.2891 right_y=0.0002 right_z=0.1585 right_yaw=-0.0021 right_pitch=-0.0824 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -4.4923, 4.9026, 0.6325, -0.2564, 0.2173, 0.7399, -0.1709, -1.265, 7.1179, 1.6825, -0.0708, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0380fe1db898a0617733eaba3d2b4e5a225f1b90eeed60568265a1775ace9ee3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:514f601625fb5d901a60eaca0b225e8feb434cda45a8f5c93bab407a917e5a37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c2b5ae7a4514f19816a801bd89e992b94c3ea186c2c03a2b0143cb504902317",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 7.217 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1616, 1.3804, 0.664, 0.0483, -0.1547, -0.141, 0.9993, -0.0219, 0.8227, 0.5941, -0.4236, -0.0162, -0.0204, 0.9992]\nstate[eef_state]: left_x=0.3863 left_y=-0.0317 left_z=0.1042 left_yaw=0.0306 left_pitch=-0.0899 left_roll=-0.0043 left_gripper=0.9993 right_x=0.2889 right_y=0.0001 right_z=0.1589 right_yaw=-0.0039 right_pitch=-0.0816 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.3761, -5.1077, 6.653, 2.0781, 0.0024, 0.2173, -0.0122, -0.1846, -1.6615, 7.0222, 1.6679, -0.0415, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1761, 1.6279, 0.461, 0.4652, -0.1631, -0.1371, 0.9993, -0.0219, 0.8242, 0.5938, -0.4225, -0.0162, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.3732 left_y=-0.0336 left_z=0.0163 left_yaw=0.0218 left_pitch=-0.1219 left_roll=0.0105 left_gripper=0.9993 right_x=0.2891 right_y=0.0001 right_z=0.1585 right_yaw=-0.0024 right_pitch=-0.0824 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -6.4752, 4.9709, 1.8584, -0.2515, 0.0611, -0.0122, -0.335, -1.1966, 6.9949, 1.6337, -0.022, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.178, 1.615, 0.466, 0.5278, -0.1486, -0.1677, 0.0303, -0.0219, 0.8242, 0.5938, -0.4225, -0.0166, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.3851 left_y=-0.039 left_z=0.0345 left_yaw=0.0228 left_pitch=-0.0448 left_roll=-0.0386 left_gripper=0.0303 right_x=0.2891 right_y=0.0002 right_z=0.1585 right_yaw=-0.0021 right_pitch=-0.0824 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -4.4923, 4.9026, 0.6325, -0.2564, 0.2173, 0.7399, -0.1709, -1.265, 7.1179, 1.6825, -0.0708, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0380fe1db898a0617733eaba3d2b4e5a225f1b90eeed60568265a1775ace9ee3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:514f601625fb5d901a60eaca0b225e8feb434cda45a8f5c93bab407a917e5a37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c2b5ae7a4514f19816a801bd89e992b94c3ea186c2c03a2b0143cb504902317",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAcKEAgSGAI4AUIIdGhpbmtpbmcSDGsZolLuKshJ4MknaxoMQtUnuOTVkPaQYU+SIjAH+dw3a4lUcoRur0fEQo5OQV8v/HSCF+sHCcQo07UBubeNnJYjcOttEY8riktncjUq2QZAi3tlTicXd+XmiJKLcuDuFFKXQB014xN2vIaW9gsCpcGTAJOzAJDhCAK1Mtunsu3v/AgDTFtBbayCQAuJSvhy3Ps+8fg2nXtGzuHKvBZBLx60XYWinJbgKKxfa8tTR7eHVYiYOwXO2uQQacpVNDKF8cDfN5KNkMlcFjaudnwlrJc+Z/CvGDQkhtLr6RPUZqdTYnr86JVgOWK/j8qikts0T4fpCMP16lU30QOgh/4C4y6i+pIlBCJgs6KbWOhQEO6ptqDcDhNPA3ahGcbw+r+7Ols7SJyHfNN4w+WxyPScwQZKtPKT6+SS3b9m8PO4QtL++GVr+AOV81xs6SWuoYzO8k+9yISuYFzMFr54upIYLPLI2R+f3e9aWSWIRcA2ASWfD+SjlOW2LKOnOQXGed7ueC8tkApl8G6ocKhdLkMeRdXWh9rqns9Ty/XKhewsBRsOh0Lo48HctIxmf5DGCbVR04xPwADR5qZNveSAI27pVNrqrxkpmp0A96usZwpxxBoemXAusnKyvT5ydRNMfAMvMpRDNWvWh5G4jCPQOG9tRW+JbIEUbcEZJud9VmiNJw3RR1B8mX1ZTsaSoJ6DuwSp2ikpuxndlh8jx6zEA34yesTOaUbpVus25nEubr3U6NZL0+MH9sWozszcjGQUHXIfqu+b/7pVPjXi3lfFhk2FLLZ4QUu1/v7EBmzPm5TfC7YJDLS+C52znLopUay6rdh1lZzce/QPSdjlVbniQeAAVYBCipFnIW5TQdIxA0mFEwoqUapkhUhGvfUKtmCXWDWhJHWUdzushAPnFTOONsl9i2/VgzImBkxZht2m+yVd94Jak6XUNg+CFQDuowF8wfK0+B/PlAhFZEZO6bkFvKIAYJlwkjShqICcDxaJGZ9zurygnVkCziNoiUi818S/VeguROcv7knSNvNNsQ9ZM4tQ962sXGLVkjiRjYK/CVpSylNrE1lunPL4YCBT+O1TJUlRTKtPVR84xC+Nfi1oUZ9YltreW2sFC3jafck6KaQj9QRCxIo63Ffb0a798UzyRyX20+nlbnOvyhEflTxznS+Q6vcNYByKo41SDncNGsiXiSV359uQyKQaUxuW5kLqz71yw6cEAAR5tkIV1XTbziAp+lrTz+KaoN72dRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LDB42UJ8gbhtHzZVFE1w5f",
      "input": {
        "note": "Jaws closed on the rim (reading 0.03, rim is thin). Lifting to verify the bowl comes with the gripper.",
        "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_01LDB42UJ8gbhtHzZVFE1w5f",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1787, 1.3636, 0.6125, 0.1219, -0.1539, -0.173, 0.0398, -0.0216, 0.8249, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.383 left_y=-0.038 left_z=0.1032 left_yaw=0.0295 left_pitch=-0.0521 left_roll=-0.0383 left_gripper=0.0398 right_x=0.2891 right_y=0.0003 right_z=0.1583 right_yaw=-0.0015 right_pitch=-0.0831 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -6.3111, 8.9915, 1.8144, -0.0317, 0.0415, 1.0183, -0.0752, -1.4291, 6.9675, 1.6777, -0.0708, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e41eae7ccd6d40805ba814814389ae20057da5bc15b65f974c100cb2374f1a5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30aa7bfe59e90a826986815a73c4f3f03f03ead36685fff0845f627a33a38159",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c90a7f9f0b059343b93435b3c90b6f5599f4bb2f0a88842660e271e2736abd0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.887 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1761, 1.6279, 0.461, 0.4652, -0.1631, -0.1371, 0.9993, -0.0219, 0.8242, 0.5938, -0.4225, -0.0162, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.3732 left_y=-0.0336 left_z=0.0163 left_yaw=0.0218 left_pitch=-0.1219 left_roll=0.0105 left_gripper=0.9993 right_x=0.2891 right_y=0.0001 right_z=0.1585 right_yaw=-0.0024 right_pitch=-0.0824 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -6.4752, 4.9709, 1.8584, -0.2515, 0.0611, -0.0122, -0.335, -1.1966, 6.9949, 1.6337, -0.022, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.178, 1.615, 0.466, 0.5278, -0.1486, -0.1677, 0.0303, -0.0219, 0.8242, 0.5938, -0.4225, -0.0166, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.3851 left_y=-0.039 left_z=0.0345 left_yaw=0.0228 left_pitch=-0.0448 left_roll=-0.0386 left_gripper=0.0303 right_x=0.2891 right_y=0.0002 right_z=0.1585 right_yaw=-0.0021 right_pitch=-0.0824 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -4.4923, 4.9026, 0.6325, -0.2564, 0.2173, 0.7399, -0.1709, -1.265, 7.1179, 1.6825, -0.0708, -0.0366, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1787, 1.3636, 0.6125, 0.1219, -0.1539, -0.173, 0.0398, -0.0216, 0.8249, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.383 left_y=-0.038 left_z=0.1032 left_yaw=0.0295 left_pitch=-0.0521 left_roll=-0.0383 left_gripper=0.0398 right_x=0.2891 right_y=0.0003 right_z=0.1583 right_yaw=-0.0015 right_pitch=-0.0831 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -6.3111, 8.9915, 1.8144, -0.0317, 0.0415, 1.0183, -0.0752, -1.4291, 6.9675, 1.6777, -0.0708, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e41eae7ccd6d40805ba814814389ae20057da5bc15b65f974c100cb2374f1a5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30aa7bfe59e90a826986815a73c4f3f03f03ead36685fff0845f627a33a38159",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c90a7f9f0b059343b93435b3c90b6f5599f4bb2f0a88842660e271e2736abd0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016jmHZzFd5M9WC3nEYHxCkG",
      "input": {
        "note": "White bowl is lifted with the gripper (rim stays fixed in the wrist view). Carrying it right, over the lavender centre bowl (~19 cm to the right).",
        "targets": {
          "left_x": 0.375,
          "left_y": -0.225,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_016jmHZzFd5M9WC3nEYHxCkG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7753, 1.6035, 1.0733, -0.2871, -0.5861, -0.5781, 0.0413, -0.0219, 0.8249, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3702 left_y=-0.221 left_z=0.1454 left_yaw=0.0048 left_pitch=-0.0842 left_roll=-0.0245 left_gripper=0.0413 right_x=0.2891 right_y=0.0002 right_z=0.1583 right_yaw=-0.0019 right_pitch=-0.0831 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -7.6376, 8.9778, 1.3309, -0.5836, -0.0562, 1.033, -0.1983, -1.3744, 7.1863, 1.6386, -0.0366, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c62326c35e60995c3921cfff3fd97c1fe748cafe11856de94cc15eb45216ee4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8beae0b14bc9dd06937ca5de88e8298884459a03839ebb3931a9035fe820e8e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3dd21ef11e04637c74ff6ab705da6b1a734dfeadca4d4952508f52979e456830",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 5.433 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.178, 1.615, 0.466, 0.5278, -0.1486, -0.1677, 0.0303, -0.0219, 0.8242, 0.5938, -0.4225, -0.0166, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.3851 left_y=-0.039 left_z=0.0345 left_yaw=0.0228 left_pitch=-0.0448 left_roll=-0.0386 left_gripper=0.0303 right_x=0.2891 right_y=0.0002 right_z=0.1585 right_yaw=-0.0021 right_pitch=-0.0824 right_roll=-0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -4.4923, 4.9026, 0.6325, -0.2564, 0.2173, 0.7399, -0.1709, -1.265, 7.1179, 1.6825, -0.0708, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1787, 1.3636, 0.6125, 0.1219, -0.1539, -0.173, 0.0398, -0.0216, 0.8249, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.383 left_y=-0.038 left_z=0.1032 left_yaw=0.0295 left_pitch=-0.0521 left_roll=-0.0383 left_gripper=0.0398 right_x=0.2891 right_y=0.0003 right_z=0.1583 right_yaw=-0.0015 right_pitch=-0.0831 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -6.3111, 8.9915, 1.8144, -0.0317, 0.0415, 1.0183, -0.0752, -1.4291, 6.9675, 1.6777, -0.0708, -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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7753, 1.6035, 1.0733, -0.2871, -0.5861, -0.5781, 0.0413, -0.0219, 0.8249, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3702 left_y=-0.221 left_z=0.1454 left_yaw=0.0048 left_pitch=-0.0842 left_roll=-0.0245 left_gripper=0.0413 right_x=0.2891 right_y=0.0002 right_z=0.1583 right_yaw=-0.0019 right_pitch=-0.0831 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -7.6376, 8.9778, 1.3309, -0.5836, -0.0562, 1.033, -0.1983, -1.3744, 7.1863, 1.6386, -0.0366, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c62326c35e60995c3921cfff3fd97c1fe748cafe11856de94cc15eb45216ee4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8beae0b14bc9dd06937ca5de88e8298884459a03839ebb3931a9035fe820e8e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dd21ef11e04637c74ff6ab705da6b1a734dfeadca4d4952508f52979e456830",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQkKEAgSGAI4AUIIdGhpbmtpbmcSDC/A6wrvZ/kXy1rqeBoM0Tu/nFae1ez85jZMIjBsvlMZkz4l5J51vG9Otsl3aCS5jTtP+ZzAiEsaPLRN5OTf3SaQeQ+vacLyqnIqQC0q4ggf53iOjeB7UrKcj7mBGiKswRalGSGo3W4Nidia5t7ILpFSBWTXQ8vYlGqDdXjj1c0K3PQbnuhFS73Oh1c/EWhS8QSAqxCGL4q4pKbRUQ/AErs4GJ6MPf2HCUDVJPsircPQCheTHEXFkOUPAg/XLSZEm6KJmhENWlT0IzDi05zXx7AdTnNaX+nRnnW+F4ZuQ/HKzwygP22SJRlqBifpki4OyXV/jBGfXFq1TumV6AlwAFt00VTjWySSXIuOIoue8IU/sbZkxDKT6A3cWotTs2/phKkfrxgmdWmS2pVaSW65uCiK423sHkbQJaZQv/FVPE6cngzXafgxmT390L6Oxfb4HQ5+ZolmPncZofDrltwOCX8doThzJEwTUh2+H3OiwomxTzhqMLZu5v/gBPNdBpp9dwTGhbg6wTTABf8FBzKs8jFSVOQhx0yc7iRnJJYc+QXbKatYaOvv/AoBVLg2Fc2yLLIzFgf3efuTch+OCGUbybpnATVyLbC9J+yfL1ViuPTt58av39qwypBo+LRWeHZfWdTXRBWVyVM2LPgVC3NdImDRgDD4v8+8lIvwEsBgodG//IopDLUvRPnew6Gus5V2jn0yw9H+1fMnMTSA0VbQ6EWFPUomwjGyQb8ef7mXb5Q8xHKH4nF7H6prcc9trmQaGC6df3BW7B6Gw+yHVqd+r9XqDWFg7ko1IgTKrIg+Lc3LZI8ykXP8UaEGMOrcdJIqUeB2u6PxEFvHEL66pt78+Nd23/SyggIi2qi8KHjdBFeDjGmsLeTc2sZyEKqfDkQSjKLYdQQcRl4Vi/rBBz1P1Oni2PZ5WC8V1pCEq/Rvcz4XdHld6F0bk45Vw63t5+XZyoSNN23V30T+KQiHTrnWcOBXSgVdt5MQKdg4EZEM9BPk9iA5C+ulDa3WzRw/rHM1bUUNn/SOH2aE4a16DZzpSB+ndIdVs+Ia5oRbK64FsyTvjMD3eiT3SQ1iBQzym/k9E5k9alBAoqpWzgHQgT4SZdqiIXdZzCLVi7lFNZ7BnXQ3bBSP/oP25tJa4FA04hiJou4bWRzEXPacHsTOlgc05dgNopQG4agFDJfpmyDeVPvS6tJjRTMO4St6DRHy489kOZ/O9xE4kvBcnPCSprUeiJCfB1wZ46RHgcUaAX40EYzbTRUsMxDOe1weyNLeFrxr/gQv8T9rdDidXo38T3R/aTZAp9KhUewnYk4gG5R3HM4iurrrpQpN4kwnGo5ylIBWwynHEedHYCxw1IlD+iBg4zvPdlk6ZXoGPHYvQhoYtDzQcpPv0lbh3NLLbAegnFmSd5/3cODIbMIhq+AdeU0KHWhSDmiSZH0xY8AyzJfUjT7GJ4I+3kg5A1+U6G//hJ4pyWVLW7KsR13U1IHNywNQMQaWHw1lDsvip0OcoE1zS7x4EcLcI6OqRQ9wBnJ08xjuwyuIgye+O864Ctz1nW4v+hK0sI6Ku1Zps4mgtJLANJQIxYtd1Tyj8bza6SW5I13Oj5oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TxBFG7zckBHe49EvtqdY96",
      "input": {
        "note": "Held white bowl appears to be over the lavender bowl in the overhead view. Lowering it close to nesting height before release.",
        "targets": {
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01TxBFG7zckBHe49EvtqdY96",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7818, 1.7039, 0.9176, -0.0963, -0.5819, -0.5896, 0.0413, -0.0219, 0.8249, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3611 left_y=-0.2166 left_z=0.0747 left_yaw=0.0066 left_pitch=-0.1326 left_roll=0.0106 left_gripper=0.0413 right_x=0.2891 right_y=0.0002 right_z=0.1583 right_yaw=-0.0019 right_pitch=-0.0831 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [0.6085, -7.665, 6.2154, 1.663, -0.3639, 0.0757, 1.0232, -0.1026, -1.388, 6.9675, 1.6386, -0.0806, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba6013b066ceaa7fbd06346c2c6b2e94d838121f91114da9d06cddee04e28a18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59f1263ef6a1858ca8ee8d00dee15c81714e97eab9d0237cf0d0656aebb5b3f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:44431f7873dd5c44e0570ccd2076a783ebce891b21b9573d7872c511341beaf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 3.496 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1787, 1.3636, 0.6125, 0.1219, -0.1539, -0.173, 0.0398, -0.0216, 0.8249, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.383 left_y=-0.038 left_z=0.1032 left_yaw=0.0295 left_pitch=-0.0521 left_roll=-0.0383 left_gripper=0.0398 right_x=0.2891 right_y=0.0003 right_z=0.1583 right_yaw=-0.0015 right_pitch=-0.0831 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -6.3111, 8.9915, 1.8144, -0.0317, 0.0415, 1.0183, -0.0752, -1.4291, 6.9675, 1.6777, -0.0708, -0.0171, -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]: [-0.7753, 1.6035, 1.0733, -0.2871, -0.5861, -0.5781, 0.0413, -0.0219, 0.8249, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3702 left_y=-0.221 left_z=0.1454 left_yaw=0.0048 left_pitch=-0.0842 left_roll=-0.0245 left_gripper=0.0413 right_x=0.2891 right_y=0.0002 right_z=0.1583 right_yaw=-0.0019 right_pitch=-0.0831 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -7.6376, 8.9778, 1.3309, -0.5836, -0.0562, 1.033, -0.1983, -1.3744, 7.1863, 1.6386, -0.0366, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7818, 1.7039, 0.9176, -0.0963, -0.5819, -0.5896, 0.0413, -0.0219, 0.8249, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3611 left_y=-0.2166 left_z=0.0747 left_yaw=0.0066 left_pitch=-0.1326 left_roll=0.0106 left_gripper=0.0413 right_x=0.2891 right_y=0.0002 right_z=0.1583 right_yaw=-0.0019 right_pitch=-0.0831 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [0.6085, -7.665, 6.2154, 1.663, -0.3639, 0.0757, 1.0232, -0.1026, -1.388, 6.9675, 1.6386, -0.0806, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba6013b066ceaa7fbd06346c2c6b2e94d838121f91114da9d06cddee04e28a18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59f1263ef6a1858ca8ee8d00dee15c81714e97eab9d0237cf0d0656aebb5b3f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44431f7873dd5c44e0570ccd2076a783ebce891b21b9573d7872c511341beaf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wkKEAgSGAI4AUIIdGhpbmtpbmcSDGBcJBe/96yM/rbvKBoM4qxTCN4t40JL786/IjAM5zFmSE8Ooa00btmIScH+xuX5rIFvUPDiTcuy+ZnURDbFj8XVtqW3/iLESfj6vcgq+Aj/5MCzHRqdQRMzqdwjilSLp5wpQIRw2Fzp70ltnXan0rz3ejN7dfowxVdyhtcOQlJl2H042RR2y8k14J2kQb6KHR+XtdeHOZcPl2/4wgolHc43lsMVLPGoI131w8akZxtB1O4pEisan7XD2P4HmbPgfzcMKlnxPaD2wG5LyT/NOdcyNT4p5U8DXVPKUNnLfitc53aDBrISCyFD2tTvMdrTR1WiHg6cxlxHWhzJ5O5DiLRofM4cISnGXoTv1d9dvWQaTGzOLVHghZzFFLuMHDF+MKbOd9VdDJuBPJcp+S8oKw2jPORRlOVWjxiC5Y0Lf32ZwCAeTXxhRAS014DAN06wVBNPyWCEb6cuC7PhKngDDsLizyxHDzp55K9U5mOuYe37wHvbtJd8xQyvrVAd0KcKddPCVPdE+khLAN+XT69W28ClSZQqV8sn2y/VsxcdVMvVrpT031gjuDwBjKdOSmJnc+r+sCvkf5u6AT05q61d3fxeDePwwx0bqN7RlfYLdb22GjRvJBJsolUsn0nOr6RQmRjbFodi6EBlV6X4rq/fRTcqQ2ldM6bj+uoHWf+I0X5JZ2IEjM92dODnOi7nRKtPPVIBYWcG61M4vvWyK5fVEdDdbCTmYKLJmUAM8UM/a6KuHRU+cYhmFfiwsSNHsotHAWRmxqbWppbPv1RsyQ3aFxBr9nmmh5SIW89Ik3xAMEovd3IVVOAo45kdWHBxizFFAcK8o9+PG+r2lM1yPNbYhep6vvW/qW93JdX6cOvsDR0b46Py6JO9oDqXRpGhKa472NJZtt6xAsVumF9JMUVG/kd0FruOvlqMMbZC0Ag8iXRyPVNWgX4ok1XD/mjdRsiDgflKEBK8TCUBklQ+TCaT98pPkQ+Wp7FXEfEC0IFUTUp5CBUddKJlbI7/2wVNXX6DRV9uUA4fxNlvBHXulT3C3rnXeqkdsMhJUclF41PBRiPZga1XsgjYkD9ktfqrEr+pvezh1ljWEl9EKMqH9RzlCB3Htazdp3zu4Ii4LwW8gjwGWlNA12J7dCngX8nDSR5ACSN56bJjeoWstIzifh3SkypqgT1wOARmF6tlDdi/yoHLVOTiC7NOOB/W0s/r8wVuPk/xKMWriVaa1QK4z56CvA/haX3DQawK29Skl6klkc/x9Q4TeiE94WJmabJoLS7UUkrsCVkh1MztxSBG3XLt33ontQ59/Z1xh1bbfn7vr6ldgiOkL3h38bTjxxDiBPR03tkvXKKrRphHuNIKY0JITGO90tSOCRxWkWiCb3GXFeo/pmLt8CjZOro1W2QaFPoc1eNWCLan7PiAhOV5Gm9Cebo1gQ7x82TRIgLh2npDCKneiT2S3Qm0K0OP0Wn6E5WjxqADULzVNTaWtywRVqVzmsvCK5o8RkpNALLtDhUmq93vaX4f7VDXtIl87wkzid4Br37gIfmu4kBkd4/e10aMgDbvf9CWiTPBCRGkfxZei/AGivdw6gGWysGBDld11w+VoeNmTbjCA/FAuWiR6b3q639LB3CXaJXMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017g2FnhuRi1r4bAdM6atz7i",
      "input": {
        "note": "Wrist view shows the lavender bowl slightly ahead of the held white bowl. Shifting forward ~3 cm and lowering to nest it.",
        "targets": {
          "left_x": 0.39,
          "left_z": 0.065
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017g2FnhuRi1r4bAdM6atz7i",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7341, 1.779, 0.9451, -0.0456, -0.5537, -0.5682, 0.0441, -0.0219, 0.8257, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3795 left_y=-0.2125 left_z=0.0596 left_yaw=0.0222 left_pitch=-0.1459 left_roll=0.0091 left_gripper=0.0441 right_x=0.2892 right_y=0.0002 right_z=0.1581 right_yaw=-0.0019 right_pitch=-0.0839 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -7.9248, 8.5812, 1.4921, -0.2808, 0.1197, 0.8669, -0.0889, -0.8957, 6.9538, 1.663, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0dbfc5835dc2169654c70ce7177ecfe57ea6a668e58ff2b1c41a1f395db38c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2394e7a28579866b1a2ede8fdcd52539d1e037abc689d7a4c2d8ed4f674ba86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9dff76ce769c40f64d1cbc15ce4da3e1621504b09bb299020447666794dff13e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 3.337 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7753, 1.6035, 1.0733, -0.2871, -0.5861, -0.5781, 0.0413, -0.0219, 0.8249, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3702 left_y=-0.221 left_z=0.1454 left_yaw=0.0048 left_pitch=-0.0842 left_roll=-0.0245 left_gripper=0.0413 right_x=0.2891 right_y=0.0002 right_z=0.1583 right_yaw=-0.0019 right_pitch=-0.0831 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -7.6376, 8.9778, 1.3309, -0.5836, -0.0562, 1.033, -0.1983, -1.3744, 7.1863, 1.6386, -0.0366, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7818, 1.7039, 0.9176, -0.0963, -0.5819, -0.5896, 0.0413, -0.0219, 0.8249, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3611 left_y=-0.2166 left_z=0.0747 left_yaw=0.0066 left_pitch=-0.1326 left_roll=0.0106 left_gripper=0.0413 right_x=0.2891 right_y=0.0002 right_z=0.1583 right_yaw=-0.0019 right_pitch=-0.0831 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [0.6085, -7.665, 6.2154, 1.663, -0.3639, 0.0757, 1.0232, -0.1026, -1.388, 6.9675, 1.6386, -0.0806, -0.0708, -0.0171]",
      "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]: [-0.7341, 1.779, 0.9451, -0.0456, -0.5537, -0.5682, 0.0441, -0.0219, 0.8257, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3795 left_y=-0.2125 left_z=0.0596 left_yaw=0.0222 left_pitch=-0.1459 left_roll=0.0091 left_gripper=0.0441 right_x=0.2892 right_y=0.0002 right_z=0.1581 right_yaw=-0.0019 right_pitch=-0.0839 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -7.9248, 8.5812, 1.4921, -0.2808, 0.1197, 0.8669, -0.0889, -0.8957, 6.9538, 1.663, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0dbfc5835dc2169654c70ce7177ecfe57ea6a668e58ff2b1c41a1f395db38c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2394e7a28579866b1a2ede8fdcd52539d1e037abc689d7a4c2d8ed4f674ba86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dff76ce769c40f64d1cbc15ce4da3e1621504b09bb299020447666794dff13e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgQcKEAgSGAI4AUIIdGhpbmtpbmcSDBrkwWhCNdEAI6UOYxoMTlXH2nfDV/1520mCIjBlR6vWIsjjJ0Dq6psMC+7QIq4YsFZ+HgWG81i8zIXl+cjUf/kqC+V9hxYRTa3CyCYqngZLvIu+ZKp8+qXqanyrR+jfF5QFxtK+e73UgUbeyYd2V0y6DLc8xSs/qAsDZbjv34og9mVdOs7DTctYFH2zQyG58bbhslghBiCUe4hqcU4VbIp7PrYiLdz1Kw0tFDy0tizestwZpwhsMvmyWDm0rUO3vHYOhFcBTP/0di6JEzhORSAVMezlBQf7A5b3vQTrxGEYPWFypyC4PjeHGI5qJlkYRymYs7aMblrbsWNucVZ2zxT62x6thuavGUm0+EBP/2OzyRfQIsBouKl7MkIoeqAufJijEQ5sTzIjH7cpR/a9JZdG1GBvpkn89ZKvfIepDLb0WUiQ3lwQe5+Do+9TYslOtFeT4XeWBWqxz+v20h8DAQFlOMWh5BaRJ1vI65zgMFc2I1C9SWSAWD5QChdcgmlwYWa5+jmdwIrN8fpQvjrtpEtGO6XUrITd/wU05zm0RIPAOVV4I1BZvsZ2YYdfaYUCS8hAuqrfJDe6K7RnTeVRikSVN9PKLXtvK2x6lCAY12rhs9hRqA9y77tXJKNBYTO67eT32aFBuoePxFyyf5qx3qCEz6WD9IbUFHtgGlk4ijKtzTObzJdw5iFk+EJ2Ueg0OlLGHvRWlyQ71kKNPmfkooyLhzyNwYgVF1lk/jWaMgL6qSIC2mJvVmEgPKkR3yOm7Z0KdZM/lcGihQff2Q//z61hr6s0dkINWJZ6+JCo/1/RKlBqqi05HfSWqio9VXeS4F1RSa/XJRQsANKkYu6rklm7YJLe/y+lCbdtkWmr5Xey7+qDfFmLPmXdLW4Cee/jwLqABFjqXTqh5egJh70tM7C0qkgCsrFxroDRtILRFm/XYtv3d9sOlAL7dQjA74WsDOyzGMqnh1ligO4Ynt5BaTsrfaAm4Pp9Nlbju+fIlODsJqgYi4V/odBytSlDGZ0/V8oHOUREHJA2T6+4vSgt2Bn5XuGZ8NEbYQ7DYHg8wcVQtfiFwD8JaseOIyH17Fo2/qxkBRdqCBH2+PMmatOvDxHKvGmwIhYfQoQPw4xVlAIlmXyl5MJ48o8lSjRnZqVYEdp0xPuduz2BkO0oyasYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019duGYH7g3WjZGnPYQAvcuH",
      "input": {
        "note": "White bowl is sitting just above/inside the lavender bowl. Lowering a bit more until it rests, before opening.",
        "targets": {
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_019duGYH7g3WjZGnPYQAvcuH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7197, 1.7943, 0.9504, -0.0471, -0.5472, -0.5472, 0.0439, -0.0219, 0.8295, 0.5938, -0.4225, -0.0166, -0.0238, 0.9992]\nstate[eef_state]: left_x=0.3826 left_y=-0.2084 left_z=0.0546 left_yaw=0.0218 left_pitch=-0.158 left_roll=0.0292 left_gripper=0.0439 right_x=0.2893 right_y=0.0002 right_z=0.1571 right_yaw=-0.0017 right_pitch=-0.0877 right_roll=-0.0014 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -8.2803, 8.0889, 1.4286, -0.2711, 0.0757, 0.8864, -0.1436, -1.5795, 6.9538, 1.6386, -0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1c521df60cd02648510535eea541f5af8d35379c86bab1c988a1bf3a0bbab3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fb1f0a1709408639e630913a668793e5b644b28273686d588e3e083edda14bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c05a03d746aeb062e190838432ce5b448b5242757633b015498f6fdef990c33c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 5.343 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7818, 1.7039, 0.9176, -0.0963, -0.5819, -0.5896, 0.0413, -0.0219, 0.8249, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3611 left_y=-0.2166 left_z=0.0747 left_yaw=0.0066 left_pitch=-0.1326 left_roll=0.0106 left_gripper=0.0413 right_x=0.2891 right_y=0.0002 right_z=0.1583 right_yaw=-0.0019 right_pitch=-0.0831 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [0.6085, -7.665, 6.2154, 1.663, -0.3639, 0.0757, 1.0232, -0.1026, -1.388, 6.9675, 1.6386, -0.0806, -0.0708, -0.0171]",
      "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]: [-0.7341, 1.779, 0.9451, -0.0456, -0.5537, -0.5682, 0.0441, -0.0219, 0.8257, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3795 left_y=-0.2125 left_z=0.0596 left_yaw=0.0222 left_pitch=-0.1459 left_roll=0.0091 left_gripper=0.0441 right_x=0.2892 right_y=0.0002 right_z=0.1581 right_yaw=-0.0019 right_pitch=-0.0839 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -7.9248, 8.5812, 1.4921, -0.2808, 0.1197, 0.8669, -0.0889, -0.8957, 6.9538, 1.663, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7197, 1.7943, 0.9504, -0.0471, -0.5472, -0.5472, 0.0439, -0.0219, 0.8295, 0.5938, -0.4225, -0.0166, -0.0238, 0.9992]\nstate[eef_state]: left_x=0.3826 left_y=-0.2084 left_z=0.0546 left_yaw=0.0218 left_pitch=-0.158 left_roll=0.0292 left_gripper=0.0439 right_x=0.2893 right_y=0.0002 right_z=0.1571 right_yaw=-0.0017 right_pitch=-0.0877 right_roll=-0.0014 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -8.2803, 8.0889, 1.4286, -0.2711, 0.0757, 0.8864, -0.1436, -1.5795, 6.9538, 1.6386, -0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1c521df60cd02648510535eea541f5af8d35379c86bab1c988a1bf3a0bbab3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fb1f0a1709408639e630913a668793e5b644b28273686d588e3e083edda14bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c05a03d746aeb062e190838432ce5b448b5242757633b015498f6fdef990c33c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Stopped at 0.055 — likely resting. Opening and lifting.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GjzgFXayNsM6sqBGjVy2Wg",
      "input": {
        "note": "Descent stopped at z≈0.055: the white bowl is resting in the lavender bowl. Releasing the rim.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GjzgFXayNsM6sqBGjVy2Wg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7311, 1.8069, 0.9272, 0.0055, -0.5507, -0.5732, 0.9948, -0.0216, 0.8295, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.381 left_y=-0.2128 left_z=0.0491 left_yaw=0.0252 left_pitch=-0.1436 left_roll=-0.0001 left_gripper=0.9948 right_x=0.2893 right_y=0.0003 right_z=0.1571 right_yaw=-0.0015 right_pitch=-0.0877 right_roll=-0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -7.7607, 5.053, 1.4969, -0.3248, 0.0562, 0.0317, -0.0479, -1.4291, 6.9949, 1.7021, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dabc01eaef726b43cf39a6c3aa045ece2dcb413fac3d3831310342258bd3acc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91134dd2269673151c8855b025358ef210eac1e3556f6b3621393511e8907cf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4166a402c90ab69ac709ea6663ca4a2e0a9bd1cfb2f89cbd461e70b373412944",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 16.53 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7341, 1.779, 0.9451, -0.0456, -0.5537, -0.5682, 0.0441, -0.0219, 0.8257, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3795 left_y=-0.2125 left_z=0.0596 left_yaw=0.0222 left_pitch=-0.1459 left_roll=0.0091 left_gripper=0.0441 right_x=0.2892 right_y=0.0002 right_z=0.1581 right_yaw=-0.0019 right_pitch=-0.0839 right_roll=-0.0012 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -7.9248, 8.5812, 1.4921, -0.2808, 0.1197, 0.8669, -0.0889, -0.8957, 6.9538, 1.663, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7197, 1.7943, 0.9504, -0.0471, -0.5472, -0.5472, 0.0439, -0.0219, 0.8295, 0.5938, -0.4225, -0.0166, -0.0238, 0.9992]\nstate[eef_state]: left_x=0.3826 left_y=-0.2084 left_z=0.0546 left_yaw=0.0218 left_pitch=-0.158 left_roll=0.0292 left_gripper=0.0439 right_x=0.2893 right_y=0.0002 right_z=0.1571 right_yaw=-0.0017 right_pitch=-0.0877 right_roll=-0.0014 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -8.2803, 8.0889, 1.4286, -0.2711, 0.0757, 0.8864, -0.1436, -1.5795, 6.9538, 1.6386, -0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7311, 1.8069, 0.9272, 0.0055, -0.5507, -0.5732, 0.9948, -0.0216, 0.8295, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.381 left_y=-0.2128 left_z=0.0491 left_yaw=0.0252 left_pitch=-0.1436 left_roll=-0.0001 left_gripper=0.9948 right_x=0.2893 right_y=0.0003 right_z=0.1571 right_yaw=-0.0015 right_pitch=-0.0877 right_roll=-0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -7.7607, 5.053, 1.4969, -0.3248, 0.0562, 0.0317, -0.0479, -1.4291, 6.9949, 1.7021, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dabc01eaef726b43cf39a6c3aa045ece2dcb413fac3d3831310342258bd3acc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91134dd2269673151c8855b025358ef210eac1e3556f6b3621393511e8907cf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4166a402c90ab69ac709ea6663ca4a2e0a9bd1cfb2f89cbd461e70b373412944",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0QgKEAgSGAI4AUIIdGhpbmtpbmcSDEnEPfW1/HSJAVJ05hoMEpQTP/XDsyT0ulw2IjCrECm9svUuGPLv9WCa2jFR3hOTjU3upYkuebj62H9L3naTBGYRE1LnelROJJa9PGoq7gce9Njhm/KXMD1PkdIQ3KIkDGMDBKp/faAC7ylMZV5sH//wfoKQvU7susPQZ2aSmLb3G8svAZlzSARfqST9Yn92oZvaz4RWLYYrdv34cZT4J7N0TcBRGu5IgA0RMsol9PkgbIiLUmfh6/GqwsxX6yTCnmgdvBbo8pbwVZr6+aqH0TrnSSvtmi5E9dkdv5J2D2UIQXUe5FTgW2IHX+4Mg5aG0KD3gPDxqNpKv+wjz2Qc+64r9Tlh0u0HMpa0tTVpDzoA7KnKGa3lABwEwFFpkpghFhLZMZTj2M4Jqr79ZYGwVNKDHBB39recm9d2DbE5pjOWzJ2jtjNM1Mh3th11gSUZdCRJ+h+MoLjrFCqD+X3GThqBsZZ2ZUO3MPUmMgurQ/mcIgCnyPFmXPCR4eZIm6+1lo0JOu7pn3fSJBEsaLezCFwPJzkMaHYaMZPOgYjizVT8Opb+RjjVCGrKKoiLPhnxePsKEXcZU4BgOAl4NfIG+lW2rVO3qan7klSP+yV/ftd0xvTHXUbejS9u8++0Cg8IhEjM1UYttdb0ZvCaFWGAY5zFzW8iSFLAsck10S3DrqoTAcyFYJF7ap+7uyQ4HTPp+WCISmsBd2AqBpO4Kbr3BtlH3M4iC6k1SmIdmPH/NISosrdK6x7khvGJ7Pm/Fy+y0dxwmu7ErXh2AKXgwSiM1UUcDPVlp9Q0IBkGL+gHsNkwzFlrnQntxgpk94bvYZJosN6YUDGX2IKNXHlWkYV63lEZmQ6t7rOcBQioRHPVPjADp/WM0SG9RooGUQPxegXQYyhdzJohAGHc5d6FhwJubnugd0h3Ai3dlAKIM8LBO8BtZ3d4T13c6aXKY7txeS0F66Kk+k8IuHH+Q9hcc7YfL9GAEr4FiqTndEv46AQbMbkyuh6jQIBG+41j5N9VjtRnwMxfUeGq6RvDiJ5tFkvIyyVbCR+3T+kjGbRdt9hN3GA3LkFFK+iJJxyoRMoILcDjFKKJArVOp6NpKLye5Jfg1ojaY7d3ONkkDLENg/vt1nVDAcAig1mkVYx908Bwt7jTl3dQmoFHvpd66XXmQIn4FnqAKRAmnsidqbbbaCPyLmjBWon7zY/0rxeo1RWEYLymmuqUhKO5JsHMqpVSsOwhKYMen3nVOYfBikGhRn7Z2UGddylw5N7fGUShWcpttC1PjGwz/0rfE5mnXJ2vXDwk6DIi8EujvyPD18pI3IErTIj4tFiQadDqE4ouvJlLmqfeB+RVUFELqUpObv7r6IfZIeGVBd5H3WdjIg1POObVB5ZFJrCsdDMuPm2XCz6njaewFNhpTN4EiIqalDAV15mTcSRRwcl+33j91EKNkG6iGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lhcfnc2RKNXNi2XjKsKpye",
      "input": {
        "note": "Released. Lifting the left arm and returning toward home to see whether the white bowl nested cleanly in the lavender one.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01Lhcfnc2RKNXNi2XjKsKpye",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0711, 0.947, 0.7143, -0.506, -0.1177, -0.1257, 0.9956, -0.0219, 0.8307, 0.5938, -0.4225, -0.0166, -0.0238, 0.9992]\nstate[eef_state]: left_x=0.3006 left_y=0.003 left_z=0.163 left_yaw=0.083 left_pitch=-0.1636 left_roll=-0.004 left_gripper=0.9956 right_x=0.2894 right_y=0.0002 right_z=0.1568 right_yaw=-0.0017 right_pitch=-0.0889 right_roll=-0.0014 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -2.7145, 10.4274, 1.536, 0.0855, 0.1734, 0.0708, -0.253, -1.5111, 6.9949, 1.663, -0.0611, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e16398ac552d8fa8f00c182bf230bffedd66c988ac25e25a0b86c9e3fe87b5db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1ed51f4d722b8ad3c2f1d2d57dffddb98167553b8e7d6247e0e0c082213d1b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aaff92e5a88543c4aa242dcd3d7b7bde5873594c2b37797e1bf48b812c4745b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 5.796 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7197, 1.7943, 0.9504, -0.0471, -0.5472, -0.5472, 0.0439, -0.0219, 0.8295, 0.5938, -0.4225, -0.0166, -0.0238, 0.9992]\nstate[eef_state]: left_x=0.3826 left_y=-0.2084 left_z=0.0546 left_yaw=0.0218 left_pitch=-0.158 left_roll=0.0292 left_gripper=0.0439 right_x=0.2893 right_y=0.0002 right_z=0.1571 right_yaw=-0.0017 right_pitch=-0.0877 right_roll=-0.0014 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -8.2803, 8.0889, 1.4286, -0.2711, 0.0757, 0.8864, -0.1436, -1.5795, 6.9538, 1.6386, -0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7311, 1.8069, 0.9272, 0.0055, -0.5507, -0.5732, 0.9948, -0.0216, 0.8295, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.381 left_y=-0.2128 left_z=0.0491 left_yaw=0.0252 left_pitch=-0.1436 left_roll=-0.0001 left_gripper=0.9948 right_x=0.2893 right_y=0.0003 right_z=0.1571 right_yaw=-0.0015 right_pitch=-0.0877 right_roll=-0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -7.7607, 5.053, 1.4969, -0.3248, 0.0562, 0.0317, -0.0479, -1.4291, 6.9949, 1.7021, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0711, 0.947, 0.7143, -0.506, -0.1177, -0.1257, 0.9956, -0.0219, 0.8307, 0.5938, -0.4225, -0.0166, -0.0238, 0.9992]\nstate[eef_state]: left_x=0.3006 left_y=0.003 left_z=0.163 left_yaw=0.083 left_pitch=-0.1636 left_roll=-0.004 left_gripper=0.9956 right_x=0.2894 right_y=0.0002 right_z=0.1568 right_yaw=-0.0017 right_pitch=-0.0889 right_roll=-0.0014 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -2.7145, 10.4274, 1.536, 0.0855, 0.1734, 0.0708, -0.253, -1.5111, 6.9949, 1.663, -0.0611, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e16398ac552d8fa8f00c182bf230bffedd66c988ac25e25a0b86c9e3fe87b5db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1ed51f4d722b8ad3c2f1d2d57dffddb98167553b8e7d6247e0e0c082213d1b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aaff92e5a88543c4aa242dcd3d7b7bde5873594c2b37797e1bf48b812c4745b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VR6WvVPqanCdCQurwhHVLv",
      "input": {
        "note": "The white bowl slipped off and now sits in front of the lavender bowl. New plan: use lavender as base; first bring the right gripper over the pink bowl's right-side rim.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": 0.0,
          "left_yaw": 0.0,
          "left_z": 0.18,
          "right_pitch": 0.0,
          "right_x": 0.36,
          "right_y": 0.06,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VR6WvVPqanCdCQurwhHVLv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.033, 0.8341, 0.6186, -0.4129, -0.0505, -0.0669, 0.9957, 0.2501, 1.1667, 0.6098, -0.152, 0.1669, 0.0963, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0028 left_z=0.169 left_yaw=0.0311 left_pitch=-0.0587 left_roll=-0.0125 left_gripper=0.9957 right_x=0.3372 right_y=0.0595 right_z=0.1173 right_yaw=0.0495 right_pitch=-0.1269 right_roll=-0.0279 right_gripper=0.9992\nstate[joint_eff]: [0.3897, -1.7026, 7.0906, 1.9414, 0.0855, 0.2027, -0.0024, 0.1299, -4.7795, 10.0581, 1.8046, 0.1685, 0.1929, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4ce444b9ef60d746899f477ba6b17172a3f9f81852ccd0bd735fce5db8c45b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c34fdd8af8baa093143ffb9afb024be0763ce4396ecba25190f86ddd5675ca46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ca9e2c274c324d47e6ca46975b64414bac39c449e0c3f13dbcc8304a2fa9ea7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 4.47 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7311, 1.8069, 0.9272, 0.0055, -0.5507, -0.5732, 0.9948, -0.0216, 0.8295, 0.5938, -0.4225, -0.0166, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.381 left_y=-0.2128 left_z=0.0491 left_yaw=0.0252 left_pitch=-0.1436 left_roll=-0.0001 left_gripper=0.9948 right_x=0.2893 right_y=0.0003 right_z=0.1571 right_yaw=-0.0015 right_pitch=-0.0877 right_roll=-0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -7.7607, 5.053, 1.4969, -0.3248, 0.0562, 0.0317, -0.0479, -1.4291, 6.9949, 1.7021, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0711, 0.947, 0.7143, -0.506, -0.1177, -0.1257, 0.9956, -0.0219, 0.8307, 0.5938, -0.4225, -0.0166, -0.0238, 0.9992]\nstate[eef_state]: left_x=0.3006 left_y=0.003 left_z=0.163 left_yaw=0.083 left_pitch=-0.1636 left_roll=-0.004 left_gripper=0.9956 right_x=0.2894 right_y=0.0002 right_z=0.1568 right_yaw=-0.0017 right_pitch=-0.0889 right_roll=-0.0014 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -2.7145, 10.4274, 1.536, 0.0855, 0.1734, 0.0708, -0.253, -1.5111, 6.9949, 1.663, -0.0611, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.033, 0.8341, 0.6186, -0.4129, -0.0505, -0.0669, 0.9957, 0.2501, 1.1667, 0.6098, -0.152, 0.1669, 0.0963, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0028 left_z=0.169 left_yaw=0.0311 left_pitch=-0.0587 left_roll=-0.0125 left_gripper=0.9957 right_x=0.3372 right_y=0.0595 right_z=0.1173 right_yaw=0.0495 right_pitch=-0.1269 right_roll=-0.0279 right_gripper=0.9992\nstate[joint_eff]: [0.3897, -1.7026, 7.0906, 1.9414, 0.0855, 0.2027, -0.0024, 0.1299, -4.7795, 10.0581, 1.8046, 0.1685, 0.1929, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4ce444b9ef60d746899f477ba6b17172a3f9f81852ccd0bd735fce5db8c45b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c34fdd8af8baa093143ffb9afb024be0763ce4396ecba25190f86ddd5675ca46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ca9e2c274c324d47e6ca46975b64414bac39c449e0c3f13dbcc8304a2fa9ea7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3wkKEAgSGAI4AUIIdGhpbmtpbmcSDEE0IUuSyHYZ6xI1exoMK4GTAa24o7wAOq/dIjBg0/uq0Hwuh3N/Ne5sr7qoiBYiaX5KoyBgPLPfmLH956h9isV3V3gQLCbFUGPt4M8q/Ajz8SoTeQa7js6h/ule73tN2e/jiUsh5GTGweI/cbJMyMeS8VLddmjuWSJTtw5aeevlLZQYrVFlQnj0QeFnEg+r1SlD1jQ3u3OgbUTQYYUW/BbcjOXx7qnFVvmaNnsGKi79W/qZ3c/WFO2wDm43V9AFS0eVad7zX+C0KsYoHOEmt1f/m9cJAJR0KPi90rCFImls2pE2WAGbuDy7H672NV0Hr8/09ZKYplU90Q6ShNcMB2jTuPAxK6N8yZeMqpKHcsKNPJxoE16FUs2DTsXyoNEPNlEarTMuXB6YcWGw+ZpoLUD+GRXSv/iaFiIpqlZruUYf39c4ZIr2RBr2gA2uge5pWGDe5J29ZVKGYv1/knD0kMypWJX6tltRXQYch+JIWaOrh/zTa5jZx/3/uGocCirokQ5P4w1xYMsbizQfkX+HtLkLg5LGjuATxDAIwSV7NbBu1iQNQujrSIchFdsNGYMWSWeO/KK6mH/nojl18dVqTDSG8bY/bvGFlqeenLFsl8t9rSSMhrgiMKnpRdPklXgFFBuwCDDlkvlIpMsLu7GJu0rDwuQ5SrAEwyxhw4+hMMgcSddMCiudawTjRsKEt/7Nr5vxha9S1ULd/Dx32tRbYI87b6Bz4v07CCaShkADw/TZHfPxm50/zA0P1/NZ9hKyGcRfV04UTPoKoEgnTmASHzFny/JgIJVKETQVrGgOYixSk+OLr33Yr5T7+eoeoZUha6SvX2NIJ4EX8Dcy7xw5+yUulB7ooNGdyb3Ymw1C/Mf5zYchijRsYGCtqTCnKOH0OKqD1N3AOqZOg1kG1s7e1tGBXKFoLy2cls8rVetsVJLUQ6ziaD5bf4Rjy6weV2IzqVyrUbCpySj4jcl51vu/IskZN9FKSYfhKW1FBfP8mJwYmTvS7HZt51IQLhYvLBMOo/bIrCEKXaC4DNIVA8xrbg+MoheZTQzfJSMSeIhy5QIMviHsIf12kMzcSZEhc4HiZ05zjv8zh/+s9vIkh9ELCHkYk07HADDyc6Enw3Dpuh7dSwQAJbK2SgLW36HCgfpP9PQhurwySAFVlXHQypsZwfCneKehM+R1vzFqC15woCcu6HDFqpm8XQ+RW+gjj9IWTM7tuR1z3ObX78PfyuVNNZgd6u8iJ05nNtXRC5wy8F3fgTkHb0jGL4s0BV0nROuri3afLdcFoP9LD4OzKIkNBK5hj4UV1rU4vvIKZh7R9lnDMD2mJgR9cBazsissHekRh4N9Sn34Q8+9ZswNlyaT2DqubxrANrKgmfrv3xIRP9Vum0cHMut0u50MPvFU7MIwIEDasRf2ClcQ5H6f06gRHUaHxImMrrH06ukcZJTjZW8neSIVcUUhmbsA2anX+7odJmMdxTVeiDhll7H5hCLlt8IvLxIAktNpsRj2dULgiZWQRfzTE3fiSu79gkg3DDIOI5tHClo6vXLR5BNn/a1VCAi3wP7jeEwbrk1FqNj1cbJdz7OngjBZ9poSNIP9ZfhbvRPH0jGClhI5VCU3616mulwmcfpVPGPDuqPr2BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017HMAfCaEHYNYePfkBo7ez2",
      "input": {
        "note": "Pink bowl is ahead in the right wrist view with its right rim just right of the jaw column. Advancing ~4 cm and nudging right to bring the rim between the jaws.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.385,
          "right_y": 0.045,
          "right_yaw": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017HMAfCaEHYNYePfkBo7ez2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8379, 0.6144, -0.4145, -0.0456, -0.0681, 0.9957, 0.1917, 1.3228, 0.6075, 0.041, 0.1669, 0.0677, 0.9992]\nstate[eef_state]: left_x=0.294 left_y=0.0023 left_z=0.1657 left_yaw=0.0287 left_pitch=-0.0684 left_roll=-0.0158 left_gripper=0.9957 right_x=0.3685 right_y=0.0453 right_z=0.1002 right_yaw=0.0075 right_pitch=-0.0934 right_roll=-0.0436 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -1.7709, 7.3094, 1.6972, -0.1294, -0.0269, -0.0122, -0.4855, -4.7248, 7.665, 1.8828, 0.0611, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:435c52089e4b52116f8c0dcd8d0015712edc9d036b810b1fa508ae7ebd7c85e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5a9c6acd2a664722037cc8ecaa356e2c53c6e0f3a0d0b909c34471fef7d351f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a70d70e06fa2ce5aaf0fb582878c5725032b8b5be18dd49d6040203392ce119a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 3.649 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0711, 0.947, 0.7143, -0.506, -0.1177, -0.1257, 0.9956, -0.0219, 0.8307, 0.5938, -0.4225, -0.0166, -0.0238, 0.9992]\nstate[eef_state]: left_x=0.3006 left_y=0.003 left_z=0.163 left_yaw=0.083 left_pitch=-0.1636 left_roll=-0.004 left_gripper=0.9956 right_x=0.2894 right_y=0.0002 right_z=0.1568 right_yaw=-0.0017 right_pitch=-0.0889 right_roll=-0.0014 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -2.7145, 10.4274, 1.536, 0.0855, 0.1734, 0.0708, -0.253, -1.5111, 6.9949, 1.663, -0.0611, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.033, 0.8341, 0.6186, -0.4129, -0.0505, -0.0669, 0.9957, 0.2501, 1.1667, 0.6098, -0.152, 0.1669, 0.0963, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0028 left_z=0.169 left_yaw=0.0311 left_pitch=-0.0587 left_roll=-0.0125 left_gripper=0.9957 right_x=0.3372 right_y=0.0595 right_z=0.1173 right_yaw=0.0495 right_pitch=-0.1269 right_roll=-0.0279 right_gripper=0.9992\nstate[joint_eff]: [0.3897, -1.7026, 7.0906, 1.9414, 0.0855, 0.2027, -0.0024, 0.1299, -4.7795, 10.0581, 1.8046, 0.1685, 0.1929, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8379, 0.6144, -0.4145, -0.0456, -0.0681, 0.9957, 0.1917, 1.3228, 0.6075, 0.041, 0.1669, 0.0677, 0.9992]\nstate[eef_state]: left_x=0.294 left_y=0.0023 left_z=0.1657 left_yaw=0.0287 left_pitch=-0.0684 left_roll=-0.0158 left_gripper=0.9957 right_x=0.3685 right_y=0.0453 right_z=0.1002 right_yaw=0.0075 right_pitch=-0.0934 right_roll=-0.0436 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -1.7709, 7.3094, 1.6972, -0.1294, -0.0269, -0.0122, -0.4855, -4.7248, 7.665, 1.8828, 0.0611, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:435c52089e4b52116f8c0dcd8d0015712edc9d036b810b1fa508ae7ebd7c85e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5a9c6acd2a664722037cc8ecaa356e2c53c6e0f3a0d0b909c34471fef7d351f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a70d70e06fa2ce5aaf0fb582878c5725032b8b5be18dd49d6040203392ce119a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzAcKEAgSGAI4AUIIdGhpbmtpbmcSDK/F5aDL8J8W/LwZnxoMdG74nGVdEFEx/4YkIjDrAVjipHM35xOk+AMgRjl7Hf2s1csulSavP+8Gj+sFMvhHSk3lhNqP9R8TUnSHkyEq6QbEIpVQUQ7L6vVze+7lIFg9Curlq9oPLJO+As7Sh7va8raw2QlVTOu87ChwxsxgOch58jKmAOQ7GkAQd5lGTTievoYDkx14nt3LJJu4IrITn0KeIr26BGpz4XbVBRePSN1NASCagAMshYODpJjLReGI1MQ71mNQep8recPUMWAon9TAZXH/BJGPTO/bp7020Q8nH6Iu4mAMHYnntUBEwManuDwnMq/+gFnNQCQftEeg10obNDuMu5xeKx8atuNg8vPooW6whz7rDUmwSxCZVBtL1C8kN4xgaE3J0uDO0hVzUX21S8tmK+qZr9jfXDARZZsPQQy61tDnh0qq7surj0HyYqoT4asSJpStRjpr6LbUyYSydPNGoDxWk2Wdz+M3wlcDGuKDyipqQlEu5rGcZ6vcyq+NGpKrCHu777xWT0w3/Qk7MlMDEShhmdmP9S7c9MAghPF9ZMsTXkXCIFqXqTXbWJ20w8zc30ktBKfNCctzA9Xv68DReoxJ+3gb4U8n62mN2TzTF24le9BHjHZUnDHIm3pK/ukX0/J1i7vJrOHXl19KVzpTIl7/3UvHX8JauXmowkpCNc6FRJZ1zJyZPkr/ZuBGiLaPfYgTciO0PwWcn5xO3V1FSJ6KZKkRsUqEY8CDUEZe3OjwoeJ+Mu6e9z5mVvcTav73lmFY/+S/2+CLIBCuq1OE7TBgsNBlyXy08xcgis0o3J5zIm93lF4HrEPR6eXkAROEInHaatAlHR6XfKlA0Mu8N3yAE5HEQAe8+tnksuqADMc4dU5753GolP5ldSrIWdMCI3GwVE/UaywgHrcDCMFbheti3dWvzSnifVT3PZq23bNFTvCVBT+B0WW17XoWkqgAPRmQztuAPMR1j98AufwLfhP8DokROO2m4lSgbqG5kF3mo6ypPyZT6RWrhcdfxskuiD28c4NzR4Ss95v1kzAxEKjLTNaVaFZl43L3J81LRdeyF7J7pgEGty4Z/6urM+pOVZSzVF+A7O/sk6r/A/sJMTkfySRZX6tswAisOVdtaRMeMZgT+ajW2tvHNbniuTQq9m9Nr7jL+ifTGdCT2H8oaTVHs7xFdBuP8FBFbQcMcIbekf7BRyfW+kJCuEiaNFU5nBwNmHvGcWL+t+fIqaGb9uGRgUk6CfP7VyiXtx7cih6QsasYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QHi2mzBDUt22qZqNZR8uaQ",
      "input": {
        "note": "Pink bowl's right rim is now on the jaw column close to the fingertips. Descending so the jaws straddle the rim wall.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.385,
          "right_y": 0.045,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QHi2mzBDUt22qZqNZR8uaQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8406, 0.6144, -0.4145, -0.0456, -0.0708, 0.9957, 0.1875, 1.6154, 0.4427, 0.4587, 0.1673, 0.0517, 0.9992]\nstate[eef_state]: left_x=0.2941 left_y=0.0023 left_z=0.165 left_yaw=0.0301 left_pitch=-0.0711 left_roll=-0.0178 left_gripper=0.9957 right_x=0.3652 right_y=0.043 right_z=0.0134 right_yaw=0.0108 right_pitch=-0.1328 right_roll=-0.0635 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -1.1419, 7.0085, 1.6728, -0.0757, -0.0024, -0.0122, -0.3761, -6.5846, 4.6017, 2.127, 0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cff005726c3b7d5da2415617d74d0882da5ba59dcd3d1b641c787b5c1aff0cf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fa593bab652fd43dacec4771ebf9c1a6a5187687d4e53b9019fd74d384f2d16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cdb6c07e4f3804d0b4c161d6dc6e36fe11d098631af64dabbc7d04d413c71245",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 8.2 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.033, 0.8341, 0.6186, -0.4129, -0.0505, -0.0669, 0.9957, 0.2501, 1.1667, 0.6098, -0.152, 0.1669, 0.0963, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0028 left_z=0.169 left_yaw=0.0311 left_pitch=-0.0587 left_roll=-0.0125 left_gripper=0.9957 right_x=0.3372 right_y=0.0595 right_z=0.1173 right_yaw=0.0495 right_pitch=-0.1269 right_roll=-0.0279 right_gripper=0.9992\nstate[joint_eff]: [0.3897, -1.7026, 7.0906, 1.9414, 0.0855, 0.2027, -0.0024, 0.1299, -4.7795, 10.0581, 1.8046, 0.1685, 0.1929, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8379, 0.6144, -0.4145, -0.0456, -0.0681, 0.9957, 0.1917, 1.3228, 0.6075, 0.041, 0.1669, 0.0677, 0.9992]\nstate[eef_state]: left_x=0.294 left_y=0.0023 left_z=0.1657 left_yaw=0.0287 left_pitch=-0.0684 left_roll=-0.0158 left_gripper=0.9957 right_x=0.3685 right_y=0.0453 right_z=0.1002 right_yaw=0.0075 right_pitch=-0.0934 right_roll=-0.0436 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -1.7709, 7.3094, 1.6972, -0.1294, -0.0269, -0.0122, -0.4855, -4.7248, 7.665, 1.8828, 0.0611, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8406, 0.6144, -0.4145, -0.0456, -0.0708, 0.9957, 0.1875, 1.6154, 0.4427, 0.4587, 0.1673, 0.0517, 0.9992]\nstate[eef_state]: left_x=0.2941 left_y=0.0023 left_z=0.165 left_yaw=0.0301 left_pitch=-0.0711 left_roll=-0.0178 left_gripper=0.9957 right_x=0.3652 right_y=0.043 right_z=0.0134 right_yaw=0.0108 right_pitch=-0.1328 right_roll=-0.0635 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -1.1419, 7.0085, 1.6728, -0.0757, -0.0024, -0.0122, -0.3761, -6.5846, 4.6017, 2.127, 0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cff005726c3b7d5da2415617d74d0882da5ba59dcd3d1b641c787b5c1aff0cf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fa593bab652fd43dacec4771ebf9c1a6a5187687d4e53b9019fd74d384f2d16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdb6c07e4f3804d0b4c161d6dc6e36fe11d098631af64dabbc7d04d413c71245",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjAcKEAgSGAI4AUIIdGhpbmtpbmcSDLYFo+vgncxQi34cxxoMtHJWgt+RmTGC/7A0IjCFS+ur/oFBTItA/wVhQNOz9H2gk+5W+SoKRUoRqMsV+5xc59uorHw//mMuyBIVZhgqqQZVh79VCQQSy0tj8YGuSlOUVq+dKKd1o5nj22qR5PXnLv7FVhBtaF3MapuZTw5VElTcAk/Yp9y49MsM8vtPW7sEUqlPv88XAn3+/6sfNXQMTadsTzEfP/o2L6wIcmAfIRGFRtVBE+iiDAw/ZthbGAQylVoNzm1QHVuGVEpqTtQ3zjrZCIGP886ydxvf0VockawMNe+B69eHEdGrVa/V4wBiSe6rNOFSpG2PPUNsb+HCm9aZFaiD2dSmDdvrC1+xAJmfc/2g5Uf4TsvGuxnbe/8Upv/GANxPmvwVBZ6ZVzVuWdbTrn39BOC2IoUNC8wWj21nWi8n3uIhgn6NFePn0oKgecDp5ybsP2XRYKOOOGnVTg9l1u37Xk6INzRuBM0FFjq0wzd1wO8khfa7Ip41Y39uhZSh9Xqbp1Lgk5VCAHVgo/dWzuy8mJCCrOkArmiCfkXC6LaI12VnolFgiLMEq+v1PYZpyz/Hfc4MVMP3ReHzM1U1Xty1fzKPnNYfyRnaq2YveIK5BPwGH/+1xuGZqAPkdSdjNJ0i2j8n6vV0kz0ISlrw/tbdYO0LsBT/5i3AWFi0rNZh5v3PmjnNlhIV2QOal1YRjrx0guFjZiGqgV0Z0wWfUQRKB4tXGPux5R98FXmk8cb8ULkivx5YfLDeNYEjZmrMG1u99xJxoRuzyINNtt6kqUbRSHnlws3hUIaotLgU6TrQC4GQWapJ1Z1vN1XDCWUvM2RP0XFGcjH8M5XaLR5yHhBVosfXK+wa9uUTNsI+2+1yLbjSjFQLhyLLFwS5fe69XnYGupxuz2hC4Ou/AMrD8RPoA9oW6iqYuKIKu+KAQa7OpmOYrdkoLBIujOeko4JSYarv/x7V3+H5M2MtzbuNLvXnA42b1LFmvuvMquGGAcehGIwjmAF+sw02hQos/oGzfg0x2q0L3DI910abKqZj4Ub+v+i2XA1iBWL9Qe7w3Iucasbm2F2FkA7c3EyEimni98LAj/O44DxpCJAScPYQ9OB+JzRKlaFPH5QqjS9+JhoSp/046HpqJzNmrad98+N/HBxk5yM4+t0lDIAplV5kElhKNjExNhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018Ueem9sgswQAaU4gJGKCNL",
      "input": {
        "note": "Pink rim wall is between the jaws (left jaw inside the bowl, right jaw outside). Closing to pinch it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018Ueem9sgswQAaU4gJGKCNL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8436, 0.6144, -0.4145, -0.0452, -0.0711, 0.9957, 0.1936, 1.5982, 0.4526, 0.5358, 0.1268, 0.0731, 0.0392]\nstate[eef_state]: left_x=0.2943 left_y=0.0022 left_z=0.1642 left_yaw=0.03 left_pitch=-0.0742 left_roll=-0.0181 left_gripper=0.9957 right_x=0.3806 right_y=0.0555 right_z=0.0371 right_yaw=0.0408 right_pitch=-0.0338 right_roll=-0.0048 right_gripper=0.0392\nstate[joint_eff]: [-0.0752, -1.3197, 6.9812, 1.6923, -0.0904, -0.0024, -0.0122, -0.4034, -3.9863, 4.5197, 0.7839, 0.5836, -0.3101, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a6da13d7c0e77717ba82aaddcb9aaceb5279d808d7f5384d901d32fbffb4827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33aeb1dc5772a891e68e4564965344354788a16e3da6eafa0db88127c0a6be43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d53e1b446f321fd30e93e5235b678f063cef0b47983cab55c69842507b67573",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 4.258 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8379, 0.6144, -0.4145, -0.0456, -0.0681, 0.9957, 0.1917, 1.3228, 0.6075, 0.041, 0.1669, 0.0677, 0.9992]\nstate[eef_state]: left_x=0.294 left_y=0.0023 left_z=0.1657 left_yaw=0.0287 left_pitch=-0.0684 left_roll=-0.0158 left_gripper=0.9957 right_x=0.3685 right_y=0.0453 right_z=0.1002 right_yaw=0.0075 right_pitch=-0.0934 right_roll=-0.0436 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -1.7709, 7.3094, 1.6972, -0.1294, -0.0269, -0.0122, -0.4855, -4.7248, 7.665, 1.8828, 0.0611, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0319, 0.8406, 0.6144, -0.4145, -0.0456, -0.0708, 0.9957, 0.1875, 1.6154, 0.4427, 0.4587, 0.1673, 0.0517, 0.9992]\nstate[eef_state]: left_x=0.2941 left_y=0.0023 left_z=0.165 left_yaw=0.0301 left_pitch=-0.0711 left_roll=-0.0178 left_gripper=0.9957 right_x=0.3652 right_y=0.043 right_z=0.0134 right_yaw=0.0108 right_pitch=-0.1328 right_roll=-0.0635 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -1.1419, 7.0085, 1.6728, -0.0757, -0.0024, -0.0122, -0.3761, -6.5846, 4.6017, 2.127, 0.0415, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8436, 0.6144, -0.4145, -0.0452, -0.0711, 0.9957, 0.1936, 1.5982, 0.4526, 0.5358, 0.1268, 0.0731, 0.0392]\nstate[eef_state]: left_x=0.2943 left_y=0.0022 left_z=0.1642 left_yaw=0.03 left_pitch=-0.0742 left_roll=-0.0181 left_gripper=0.9957 right_x=0.3806 right_y=0.0555 right_z=0.0371 right_yaw=0.0408 right_pitch=-0.0338 right_roll=-0.0048 right_gripper=0.0392\nstate[joint_eff]: [-0.0752, -1.3197, 6.9812, 1.6923, -0.0904, -0.0024, -0.0122, -0.4034, -3.9863, 4.5197, 0.7839, 0.5836, -0.3101, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a6da13d7c0e77717ba82aaddcb9aaceb5279d808d7f5384d901d32fbffb4827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33aeb1dc5772a891e68e4564965344354788a16e3da6eafa0db88127c0a6be43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d53e1b446f321fd30e93e5235b678f063cef0b47983cab55c69842507b67573",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013DT48rP2VXkZcR2aL9LesQ",
      "input": {
        "note": "Right gripper has pinched the pink bowl's rim (reading 0.039). Lifting to check it comes along.",
        "targets": {
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_013DT48rP2VXkZcR2aL9LesQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8444, 0.6144, -0.4145, -0.0452, -0.0711, 0.9957, 0.194, 1.285, 0.7113, -0.0616, 0.1184, 0.0593, 0.0403]\nstate[eef_state]: left_x=0.2943 left_y=0.0022 left_z=0.1639 left_yaw=0.03 left_pitch=-0.0749 left_roll=-0.0181 left_gripper=0.9957 right_x=0.3778 right_y=0.0566 right_z=0.1372 right_yaw=0.0554 right_pitch=-0.0598 right_roll=-0.0148 right_gripper=0.0403\nstate[joint_eff]: [-0.1846, -1.6068, 7.3231, 1.6874, -0.0513, -0.0562, -0.0122, -0.3897, -6.1197, 9.7436, 1.8926, 0.1245, 0.1148, 0.8132]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c681b7b046e98115509f9398206175b31968fd4027bade2883dd593e55c9e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98709e1083a5bf60fde309de82a2f8c189d6f2d74ab8e28e3b9fb8b6a8d0584d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1eae26492c39ed93b7889a2b22492acd10bc2da3863e7966abd469510ce6fddc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 4.091 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8406, 0.6144, -0.4145, -0.0456, -0.0708, 0.9957, 0.1875, 1.6154, 0.4427, 0.4587, 0.1673, 0.0517, 0.9992]\nstate[eef_state]: left_x=0.2941 left_y=0.0023 left_z=0.165 left_yaw=0.0301 left_pitch=-0.0711 left_roll=-0.0178 left_gripper=0.9957 right_x=0.3652 right_y=0.043 right_z=0.0134 right_yaw=0.0108 right_pitch=-0.1328 right_roll=-0.0635 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -1.1419, 7.0085, 1.6728, -0.0757, -0.0024, -0.0122, -0.3761, -6.5846, 4.6017, 2.127, 0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8436, 0.6144, -0.4145, -0.0452, -0.0711, 0.9957, 0.1936, 1.5982, 0.4526, 0.5358, 0.1268, 0.0731, 0.0392]\nstate[eef_state]: left_x=0.2943 left_y=0.0022 left_z=0.1642 left_yaw=0.03 left_pitch=-0.0742 left_roll=-0.0181 left_gripper=0.9957 right_x=0.3806 right_y=0.0555 right_z=0.0371 right_yaw=0.0408 right_pitch=-0.0338 right_roll=-0.0048 right_gripper=0.0392\nstate[joint_eff]: [-0.0752, -1.3197, 6.9812, 1.6923, -0.0904, -0.0024, -0.0122, -0.4034, -3.9863, 4.5197, 0.7839, 0.5836, -0.3101, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8444, 0.6144, -0.4145, -0.0452, -0.0711, 0.9957, 0.194, 1.285, 0.7113, -0.0616, 0.1184, 0.0593, 0.0403]\nstate[eef_state]: left_x=0.2943 left_y=0.0022 left_z=0.1639 left_yaw=0.03 left_pitch=-0.0749 left_roll=-0.0181 left_gripper=0.9957 right_x=0.3778 right_y=0.0566 right_z=0.1372 right_yaw=0.0554 right_pitch=-0.0598 right_roll=-0.0148 right_gripper=0.0403\nstate[joint_eff]: [-0.1846, -1.6068, 7.3231, 1.6874, -0.0513, -0.0562, -0.0122, -0.3897, -6.1197, 9.7436, 1.8926, 0.1245, 0.1148, 0.8132]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c681b7b046e98115509f9398206175b31968fd4027bade2883dd593e55c9e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98709e1083a5bf60fde309de82a2f8c189d6f2d74ab8e28e3b9fb8b6a8d0584d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1eae26492c39ed93b7889a2b22492acd10bc2da3863e7966abd469510ce6fddc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwgcKEAgSGAI4AUIIdGhpbmtpbmcSDIN8YPymH6/6sbun1BoMtOfS+hgvmU1sbl8uIjBVuZ9S8oQgWo0gW0E3508AH7dauyyA47Tm0BcSbx0DCp/LFmU5dhG8+YxJ2cs8dbMq3wa7msC2TlKbc3mkBUmeLWYVw097EHMPR1ZqA/NsyrQJSIG6lHYzr09BlbM9J+6uCuk/ZBlhpQ2EzcqImOKMVQ4yLbN9/mlX6dcw9ZLzR6HKO5o6P8Ig1zXrpzed+8lmLMA8/1vTaaIowXaH0A6VGUIZqjrrCDd8B2Bh1vXXOj7jEA9ztHJn6Eb/KKXF/ZKl1gIZKsjDi2fB+W6boWHf35lKdEALzsS2RC8K+TvrvzjGftuLyipIoW5EO3gGo8UlWB4gitg1wCBlVyhUMHaG140gTsUuF2WsvCYtnX5MvtZXu+psIzva2IZUfVvMxc2jgo/GvGTUOpNiGQMk4k6TaI98dOK2s6XcJG1hCHsfs69WZXDtrXaRprYKIMeV7rjzHmiFEbBbKPgGTlGuaZoH5+mXgtKaJZmiZ5SUndJU/JTNmCx8UkUxx2JM0SjTmcJRU1IrQe2HrJv/yk4tpqUrmo0e+QOBdCojPW8H/ZHhupxmych3Cqv28LY2BXvLjkfMcJsY0d4LHYi4FK2c5MKtv4836e0MTnK/fSai5rODIMGL2khCdOoYaPtUW8rtvcQHVZwtV02rvV51O+QiaO2duSkPkthwy+Uq/nxYsorzkmGPjk6RuEoxfweabmlzK2pettUL/DllmfV706DHhEO0lKEzoNGluqRXNU3gChE8k1tZoyXokE5eMS9YIUFQoG68jr7Ekr8LG0iHSJKx+EPCk0FbLDer8tdYeXjEQeBe5bf+cfSwRG5quAPRBI3aUTUgN3SeGDHEP4dtB2nXHaaZRsAuesJOuxqtdBS25/z6fflNv8p0YNSc6ydX6Uin9/HQpvyFyjUBst48wEn2ZtqkUgQ5ch0S91NiJWqkJIoh1y3S5Nmf8H5l6S+Zvm8UUhbgqM9wWKz4awVs6c9LrSr/fVZUScO+ipwdnyPosBDdUPT7UxEukxuaASEqwm3NJCvLmoB3/aE/5kJAPiuLE9kyQNKGNfkqxynOklGqIdGdQ74KNw2wRPYedwgasZh1VSi0Pe/xMjzS2JBn8f2iGhJBIsxUGJ9TuBR73/cefCTm1/76hZNLjI5NYXuOg8Bro4creHep64h8xosLnl6DcCrwvApRyVfdaTe+ZSkvf3mA7l9lGw4SIE57H8wGyH5tpz7WvBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018hs14aveoY6GgUsdR3DGqZ",
      "input": {
        "note": "Pink bowl is lifted with the gripper; the lavender bowl is visible ahead-left in the wrist view. Carrying pink over the lavender bowl.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.46,
          "right_y": 0.235,
          "right_yaw": 0.0,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_018hs14aveoY6GgUsdR3DGqZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8474, 0.6144, -0.4149, -0.0452, -0.0711, 0.9957, 0.6353, 1.829, 1.3136, -0.2241, 0.4866, 0.3206, 0.0436]\nstate[eef_state]: left_x=0.2944 left_y=0.0022 left_z=0.163 left_yaw=0.03 left_pitch=-0.0783 left_roll=-0.0178 left_gripper=0.9957 right_x=0.4472 right_y=0.2316 right_z=0.1464 right_yaw=0.0519 right_pitch=-0.0688 right_roll=-0.059 right_gripper=0.0436\nstate[joint_eff]: [-0.1026, -1.7983, 7.1179, 1.6532, -0.0513, -0.0366, -0.0122, 0.0615, -9.9214, 9.7709, 1.7363, 0.486, 0.2759, 0.7448]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12a0e7e05bb2ea5f913cd653b1854b4f8e41f9ed1a0e6368d1a89f70bc7d43d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf59c47638e3adf71b51d1e2f3a94aa46766b7d2301cdc0dce283aa423911cfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc81b7c4c3c7d8cd838fb73cda88fe6df0efb864b484cd5bef11913123973266",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 5.478 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8436, 0.6144, -0.4145, -0.0452, -0.0711, 0.9957, 0.1936, 1.5982, 0.4526, 0.5358, 0.1268, 0.0731, 0.0392]\nstate[eef_state]: left_x=0.2943 left_y=0.0022 left_z=0.1642 left_yaw=0.03 left_pitch=-0.0742 left_roll=-0.0181 left_gripper=0.9957 right_x=0.3806 right_y=0.0555 right_z=0.0371 right_yaw=0.0408 right_pitch=-0.0338 right_roll=-0.0048 right_gripper=0.0392\nstate[joint_eff]: [-0.0752, -1.3197, 6.9812, 1.6923, -0.0904, -0.0024, -0.0122, -0.4034, -3.9863, 4.5197, 0.7839, 0.5836, -0.3101, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8444, 0.6144, -0.4145, -0.0452, -0.0711, 0.9957, 0.194, 1.285, 0.7113, -0.0616, 0.1184, 0.0593, 0.0403]\nstate[eef_state]: left_x=0.2943 left_y=0.0022 left_z=0.1639 left_yaw=0.03 left_pitch=-0.0749 left_roll=-0.0181 left_gripper=0.9957 right_x=0.3778 right_y=0.0566 right_z=0.1372 right_yaw=0.0554 right_pitch=-0.0598 right_roll=-0.0148 right_gripper=0.0403\nstate[joint_eff]: [-0.1846, -1.6068, 7.3231, 1.6874, -0.0513, -0.0562, -0.0122, -0.3897, -6.1197, 9.7436, 1.8926, 0.1245, 0.1148, 0.8132]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8474, 0.6144, -0.4149, -0.0452, -0.0711, 0.9957, 0.6353, 1.829, 1.3136, -0.2241, 0.4866, 0.3206, 0.0436]\nstate[eef_state]: left_x=0.2944 left_y=0.0022 left_z=0.163 left_yaw=0.03 left_pitch=-0.0783 left_roll=-0.0178 left_gripper=0.9957 right_x=0.4472 right_y=0.2316 right_z=0.1464 right_yaw=0.0519 right_pitch=-0.0688 right_roll=-0.059 right_gripper=0.0436\nstate[joint_eff]: [-0.1026, -1.7983, 7.1179, 1.6532, -0.0513, -0.0366, -0.0122, 0.0615, -9.9214, 9.7709, 1.7363, 0.486, 0.2759, 0.7448]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12a0e7e05bb2ea5f913cd653b1854b4f8e41f9ed1a0e6368d1a89f70bc7d43d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf59c47638e3adf71b51d1e2f3a94aa46766b7d2301cdc0dce283aa423911cfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc81b7c4c3c7d8cd838fb73cda88fe6df0efb864b484cd5bef11913123973266",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AcKEAgSGAI4AUIIdGhpbmtpbmcSDK+7GA+9V2ReYASxmRoMury4w5a0j/6fot7lIjD4dCeKgXIW1bGXApmBHnoDGp5O9huBow7u85OjTtBsnLcDdB/BPGfFLWkSEt8J0gUq8Qb+/Jktpl8oveNOvOPSgsiq2sQxFbqbvtTAo1hQHhniZs+EijIMxhcrAImWYZwNuEi/oksgwxROvQRNrtKzhjc8NL6EacrBNtDpPHdQEyJYYkJbEGLDU5Jta1a/hxDlxjqARII52J4U23wNjf62lScemp/190NLs829p8gADU6R1qXAYWmjwjxwEXc2nxvKLin9d9NnX6fKZ/ifkFjNSXjpKKfTbxYFld7L7xJevnQq6+r+RVPZMaPZxqS0/L2F0H1JaoGM0bF0NoXDsMjiuoXn+W9FCHysOVGhhan4GN2TXGQn92isPOTHA4OMFzWaIsFFMRkJuXUuJis9gpIaZY2Rsdm22uj8mlBYrlyeL7bktu7qVVQIhwl+LfdUSl6LE29cbjjRMWGNtG73H+sJUUCRNqKh4Cwgv8OsHXhF9SMQyEfn/Mg2p+VHietIM3JbN5t016f2lMC65xwOYRj8r+MaSVy/Il05NLBLkMrOr/MGtGHmtbvFiONhayaMabQQt5SrC+QQ9DiXrabR3Lx723d9zE6d0RCahWDfr0KLE8QKJ8GHLSGYIVCaQZyvscnQNIHmqRJ1MbHyFLtPk58/DXNnahsIypEBv2VTst21YdXVQWglY4o+pQZKfa29lOJOwsVjjc6iPVcbXFUnc/TDO2VcFPU9KQl5L4yW/JNI/7LcEdKuLFzwfrjSrk0QACGf3++k4SYCfZ54BI1GeT7BvnHBsZQqa4RxEzjtiRTsxEcWh207Lt2y8FCv/shevolzzGtiaMFtdECOv3ULGiti5MDld4rD1cQdC7pL5LurWqVzrrr3d9rCW5KypkPAzWEjhbGy/dwEoFo2dj7xt8PDa9j9h65ndqSSZMPHMI0NeEgoBFsR1RQgGPEUp3W+YjoveSpSh4rwwbHOtiW1O52JcsNCRuCNqHil4IjzyM849j3b2MPbO/V8XDgu9yRtaGlj4Jw9XCSNqAsi9vCRpM0tipKTtdXDjMZNlpP3CGWkPS6MWRSyRLXU50aXml4ItZQlZbz7gYNQ6Igutu7PsxxX4BDRADFssbHwgqgcliu2zTQTy64EWXZTdA+Ue+uCu1yLkVBlFggjkW6jjvEMLrXYA7csfyZP47TCnhMr/FNsR5JwFwiioogeiTdcmTqCCEKbpg+fGsffvXgefO8/Ftb1tSn6BRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014ux1k6uwisr5rQGsRAmzJB",
      "input": {
        "note": "Pink bowl now covers the lavender bowl in the overhead view, and the lavender rim peeks out just past pink's rim in the wrist view. Lowering to nest.",
        "targets": {
          "right_z": 0.075
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014ux1k6uwisr5rQGsRAmzJB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8494, 0.6144, -0.4145, -0.0452, -0.0711, 0.9957, 0.6388, 1.9263, 1.1584, -0.0387, 0.4816, 0.3183, 0.0454]\nstate[eef_state]: left_x=0.2946 left_y=0.0022 left_z=0.1626 left_yaw=0.03 left_pitch=-0.0799 left_roll=-0.0177 left_gripper=0.9957 right_x=0.4374 right_y=0.2274 right_z=0.069 right_yaw=0.0568 right_pitch=-0.1269 right_roll=-0.095 right_gripper=0.0454\nstate[joint_eff]: [-0.1436, -1.7709, 6.9812, 1.6972, -0.0317, -0.0317, -0.0073, -0.4581, -9.5248, 6.2974, 1.7949, 0.2076, -0.0171, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9b2056cbb3a930c71587258a8ac358708f42ecb81261e591cf39958f7a5e3cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c0100c293fb031f9e7c72d50ce42e3dd182dabd87aaeb9a39887d5f0cb33f29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7dfc57fe95145201a8ae7e6035f5f947bda5c3dcb65fa5fae6d4c87d7a9f9ea9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 3.709 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8444, 0.6144, -0.4145, -0.0452, -0.0711, 0.9957, 0.194, 1.285, 0.7113, -0.0616, 0.1184, 0.0593, 0.0403]\nstate[eef_state]: left_x=0.2943 left_y=0.0022 left_z=0.1639 left_yaw=0.03 left_pitch=-0.0749 left_roll=-0.0181 left_gripper=0.9957 right_x=0.3778 right_y=0.0566 right_z=0.1372 right_yaw=0.0554 right_pitch=-0.0598 right_roll=-0.0148 right_gripper=0.0403\nstate[joint_eff]: [-0.1846, -1.6068, 7.3231, 1.6874, -0.0513, -0.0562, -0.0122, -0.3897, -6.1197, 9.7436, 1.8926, 0.1245, 0.1148, 0.8132]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8474, 0.6144, -0.4149, -0.0452, -0.0711, 0.9957, 0.6353, 1.829, 1.3136, -0.2241, 0.4866, 0.3206, 0.0436]\nstate[eef_state]: left_x=0.2944 left_y=0.0022 left_z=0.163 left_yaw=0.03 left_pitch=-0.0783 left_roll=-0.0178 left_gripper=0.9957 right_x=0.4472 right_y=0.2316 right_z=0.1464 right_yaw=0.0519 right_pitch=-0.0688 right_roll=-0.059 right_gripper=0.0436\nstate[joint_eff]: [-0.1026, -1.7983, 7.1179, 1.6532, -0.0513, -0.0366, -0.0122, 0.0615, -9.9214, 9.7709, 1.7363, 0.486, 0.2759, 0.7448]",
      "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]: [-0.0319, 0.8494, 0.6144, -0.4145, -0.0452, -0.0711, 0.9957, 0.6388, 1.9263, 1.1584, -0.0387, 0.4816, 0.3183, 0.0454]\nstate[eef_state]: left_x=0.2946 left_y=0.0022 left_z=0.1626 left_yaw=0.03 left_pitch=-0.0799 left_roll=-0.0177 left_gripper=0.9957 right_x=0.4374 right_y=0.2274 right_z=0.069 right_yaw=0.0568 right_pitch=-0.1269 right_roll=-0.095 right_gripper=0.0454\nstate[joint_eff]: [-0.1436, -1.7709, 6.9812, 1.6972, -0.0317, -0.0317, -0.0073, -0.4581, -9.5248, 6.2974, 1.7949, 0.2076, -0.0171, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9b2056cbb3a930c71587258a8ac358708f42ecb81261e591cf39958f7a5e3cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c0100c293fb031f9e7c72d50ce42e3dd182dabd87aaeb9a39887d5f0cb33f29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dfc57fe95145201a8ae7e6035f5f947bda5c3dcb65fa5fae6d4c87d7a9f9ea9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmgkKEAgSGAI4AUIIdGhpbmtpbmcSDIXK7zE7OmUB5qgX4RoM9W22cfxdOzzdXQRFIjBvlkEDXtKWF7geRsLY9JtbRPpN7L95FJP26gq4wAeQxFGtw1gch0HBBGrDUX7bK8QqtwjcUcnAqp3LJXM/l10Jr1WXAlluWmqIVXjKbnXJQ/DnKyJ4bEiE3tNvQk+tLGOnHPdIn0vwxBxrlvG5mhwOGyiBHfHiJdO5c2Bj4Opm4hWIgqg5D06qsowpwjlcdGrWLiyLDDB23QmVUga2Xdv1GkjN7DKjrZr2yUQVtvuiCimU2516uvZ8vbTRZf8nXNXUNOG3BR66PENZfye+Y+0dM99IO4WDOzN+2Bl4HAOSZKRvPGwpqjz3e30QnlWJIBmnbIo4YppMBhzfWyC0Y5bmc3QlqE8jp+GnT5gbwzHmNL5e9XIPgMS3xvIU4WW36m2Io2SU4QbulWUWR2q6pzBsozdjqfWGhUDlwJG+VGuGqJaeHfBsgzJ5DA5AVAAQX6ZgEGZd/tmsB/AJBvU6fndq3yIlc8vGEaHwrCtfswKEfnxag9NtBZH9npHj44IbdTwgHDbjChJmlMtw0Y/EmgnXPBDHZoapI5gsmg8LJkRCw1+Dl52roQd9bHAnnieAoPkKl32z07FDkvP3FoZ0sTtvteE0HeTEXstvaKRRqZ6osx7I3V7i5tT7hZvoUidDM/sUx/TKlP0RUIGn+0cHJU8iGN6ySPfed/9jQijleyZkZecmtLk7TKNvp39geA2KIEFD3dPVwBsoH1AM8SKk92ayw29G1E8uRV1Cw6PpGuO0WOO/HyBtRJHzCVPgUOVWIM77RL/iv2qDOPaQkXEkEyGyvPBJIDH6YmpI+HfIj62Wqww/qVE4Ed5De+OL+rm0l7hO0bC/TWVlQOuACckFhDnnJiOMe3uhwrvH0o6Xr13XlIzbbpQ5skDr7A1y3ELlK1APahakp0DUGYhQonWMz5siU3UXeEj0bgIs/y/GOvfr8n1x/xQfyjgavkJf4H3HpiCjQHsF/0unOuUf7zHlqQM5GaSWKuXnAdh1FH9QCAcQOYPaJvLKvPqK1fNhxi8ldUVUCHJMjakAXs2OpcgNdCFMfY3XL+TVkWG2hMkod1XNg8cdFC0vl65DHdiyfPVj77XMx2+CuNjn9nOqH+nlc3M7Q8dgne6KTSTFXJ+4ntozmaKf72Mz1LnEiXgtuV84YQMdJJSPH/IuzYdAmDm6ktGuc1jVI5U9lB+8W69vkuUhJ4qJPwOAw2phIk/17Xcx0dAdAhKP3NHulOJNS4GsQk4StSzwHfa9R3YxDXv8OGTcCgFLEmJW7tAXQ6PLsFBwc7RA6ae/NL5pGkAG9sR6V4PdRQtKrByLdLDFqEJTL6dfJ9Ke122+i7U4cDaqmOj8sOgc4cEpYkO52bDg+RUpi7a1laf4XTf+niZRUuKgwfPIEfy4OfVKzNBa+QipM/ALgdkZ7IWBk8YvvhkRwSF8LnNGM0VXU9GkqTbThf8fB02t9jEtb2VO2bICxh9VsUjH1wxg09KFcdWGFc/gV047nMMXWgICDqqa7/yxaxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R3ibDS45Bjaw5sFZ83tTPP",
      "input": {
        "note": "Wrist view shows the lavender bowl sitting further forward than the held pink bowl (lateral alignment is fine). Shifting pink forward ~4 cm before lowering.",
        "targets": {
          "right_x": 0.48,
          "right_z": 0.075
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01R3ibDS45Bjaw5sFZ83tTPP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8509, 0.6144, -0.4149, -0.0456, -0.0715, 0.9957, 0.5903, 2.0144, 1.2823, -0.0879, 0.4362, 0.271, 0.0476]\nstate[eef_state]: left_x=0.2946 left_y=0.0023 left_z=0.1621 left_yaw=0.0306 left_pitch=-0.0818 left_roll=-0.0177 left_gripper=0.9957 right_x=0.4655 right_y=0.2264 right_z=0.0632 right_yaw=0.0683 right_pitch=-0.1581 right_roll=-0.1099 right_gripper=0.0476\nstate[joint_eff]: [-0.1983, -1.7026, 6.9812, 1.6728, -0.0708, -0.0464, -0.0122, -0.6632, -10.1538, 8.9504, 1.4969, 0.2857, 0.1783, 0.4908]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6752660b95c1e802b4e68f0dd4495ca18ac554a67d5d86aa3ec90fff925a073",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19cae7e1815a466b5e63f5890c79bbe9eca72db46b6168ab60e26039950d756e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f149a14b52e502ca1ead3dd87972f8e799a69b0f80224e515bf3371c958be23d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 3.468 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8474, 0.6144, -0.4149, -0.0452, -0.0711, 0.9957, 0.6353, 1.829, 1.3136, -0.2241, 0.4866, 0.3206, 0.0436]\nstate[eef_state]: left_x=0.2944 left_y=0.0022 left_z=0.163 left_yaw=0.03 left_pitch=-0.0783 left_roll=-0.0178 left_gripper=0.9957 right_x=0.4472 right_y=0.2316 right_z=0.1464 right_yaw=0.0519 right_pitch=-0.0688 right_roll=-0.059 right_gripper=0.0436\nstate[joint_eff]: [-0.1026, -1.7983, 7.1179, 1.6532, -0.0513, -0.0366, -0.0122, 0.0615, -9.9214, 9.7709, 1.7363, 0.486, 0.2759, 0.7448]",
      "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]: [-0.0319, 0.8494, 0.6144, -0.4145, -0.0452, -0.0711, 0.9957, 0.6388, 1.9263, 1.1584, -0.0387, 0.4816, 0.3183, 0.0454]\nstate[eef_state]: left_x=0.2946 left_y=0.0022 left_z=0.1626 left_yaw=0.03 left_pitch=-0.0799 left_roll=-0.0177 left_gripper=0.9957 right_x=0.4374 right_y=0.2274 right_z=0.069 right_yaw=0.0568 right_pitch=-0.1269 right_roll=-0.095 right_gripper=0.0454\nstate[joint_eff]: [-0.1436, -1.7709, 6.9812, 1.6972, -0.0317, -0.0317, -0.0073, -0.4581, -9.5248, 6.2974, 1.7949, 0.2076, -0.0171, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8509, 0.6144, -0.4149, -0.0456, -0.0715, 0.9957, 0.5903, 2.0144, 1.2823, -0.0879, 0.4362, 0.271, 0.0476]\nstate[eef_state]: left_x=0.2946 left_y=0.0023 left_z=0.1621 left_yaw=0.0306 left_pitch=-0.0818 left_roll=-0.0177 left_gripper=0.9957 right_x=0.4655 right_y=0.2264 right_z=0.0632 right_yaw=0.0683 right_pitch=-0.1581 right_roll=-0.1099 right_gripper=0.0476\nstate[joint_eff]: [-0.1983, -1.7026, 6.9812, 1.6728, -0.0708, -0.0464, -0.0122, -0.6632, -10.1538, 8.9504, 1.4969, 0.2857, 0.1783, 0.4908]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6752660b95c1e802b4e68f0dd4495ca18ac554a67d5d86aa3ec90fff925a073",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19cae7e1815a466b5e63f5890c79bbe9eca72db46b6168ab60e26039950d756e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f149a14b52e502ca1ead3dd87972f8e799a69b0f80224e515bf3371c958be23d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpgcKEAgSGAI4AUIIdGhpbmtpbmcSDIyc7MyigKFC3Ux96hoMP5hvfND09ZjU443lIjAjfMCty++1jFgK4MYtU60uh9JFN6g2j4UHhqFD7jZ/QbOWytsIQVg2oHvKhtw7lP0qwwZQfY7rHhP9Vg1zmyK7AnudXpjuEVgcCCmriRYgLAyfOH9RyTpZjLQuANFnZEI3RMwIJsinrr6aU6nHptAiLb4znm+81GQUJnsyoAZqHQsXUNpgDalys+UE6frHFMkD8AsN1EB0AdDaJyRy3B38OQUk8MHVcMXNP0kLYGV8uF36ozA6+VmQf8YlEVCclvPSCrlxqLjVn8ILkDYjfuLJiaFB60+93kuCDLmuErg2NYVbCe8iZr0t24TBFbq9JIR40YgrZXtW2j8G3xiZus5NfiZBZuqR67gVNDpouHsDoukPN5VMhTdFYFAbfOXaaGH5X+uoS0DPQpEWYONIYVYBOa69TCwupDiFNNDGbefiAdjfrcETFqX6f2p04SHxM2lgfpHmyqCTFNpm7znXToEawKxMu6UuNC8TpKz1h5QSQNpKsdCl6V1UffY4vJV8PNUWL2NmK6yXMzCLu8LJQMG4jTPZwQc/BoktsnODmcfrPmUjvFhjbayVEIaIS7ejY5EA8LpRn7cliszkvzp2j/Y03cRZudFlN4BZs0KvgRwVyiKD7TNLgsornlY8sRu1y+aSbIevEBFNT1ExPpv6i4EiP7rhWlWP3fTXbbreIxs3FxUorVe4PAKUgvSbrYnbgcD9yH6DGoX8peCe31Azi2nqCaQdLy6lvxbXaS/ku0XB8OJHC45qps0py7cX0sjE2XyNBZ6Rh3wyycITIaMLTQWNZEltjwIa+YRz1AJGlJ1bojJOZc2M7Bl05iS7XqU1v/y7WaPwsUvrZDWcD1AMwK4au57AzzdLrQtfHT/4qP9csAgBHJybsnHI692Yug8j0Xts+9AMIqeOoj6Q8aT4KML7AYtVB1VIie0Kit4GWTYDKUnm0FL6VOBiWDZL9ojWdV7oTDMzJMp663+8vAntr1tUu2CmE6ztDlYyeJTp2UzS96CzZILsjrcJym2tyZ6XjEkDn4G/4+hSuZqbnCmHiFWFn1H3HbINxT2kdcZ9h6tLuojVPuGpavoTY1PoFS4rW76dr8iKtP6BTNIrv+X47vEVcEnYYvrsGfvei6289CzbtfEYJc32pKWz0kb7eshmWpKUmmz+IHtTin09W7yX1VVv2apNXZNLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HgZ6SNKbHH8QDB1n1fduMF",
      "input": {
        "note": "Pink now fully covers the lavender bowl in both views. Lowering until it rests inside.",
        "targets": {
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01HgZ6SNKbHH8QDB1n1fduMF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8509, 0.6144, -0.4149, -0.0452, -0.0711, 0.9957, 0.588, 2.0258, 1.2743, -0.0593, 0.432, 0.2684, 0.0503]\nstate[eef_state]: left_x=0.2946 left_y=0.0022 left_z=0.1621 left_yaw=0.0301 left_pitch=-0.0818 left_roll=-0.0176 left_gripper=0.9957 right_x=0.4674 right_y=0.2271 right_z=0.0588 right_yaw=0.0714 right_pitch=-0.1518 right_roll=-0.1046 right_gripper=0.0503\nstate[joint_eff]: [-0.1983, -1.2513, 6.9812, 1.6777, -0.0464, -0.0611, -0.0122, 0.253, -8.9094, 5.5043, 1.3993, 0.1441, -0.0708, 0.2613]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c7cef808dafbd3c225ca6b75335d71f3392504d72d1bfdd0208aac1b45bb730",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b53d324197c19a662bbdb97b8198bf4ebd9ec5cc8bb8e8a5cbcad5401b65cd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41fc21fccfbaca21f3c2a19351a9d50cf7e79aae893da89740eb864eda2cc741",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 4.296 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8494, 0.6144, -0.4145, -0.0452, -0.0711, 0.9957, 0.6388, 1.9263, 1.1584, -0.0387, 0.4816, 0.3183, 0.0454]\nstate[eef_state]: left_x=0.2946 left_y=0.0022 left_z=0.1626 left_yaw=0.03 left_pitch=-0.0799 left_roll=-0.0177 left_gripper=0.9957 right_x=0.4374 right_y=0.2274 right_z=0.069 right_yaw=0.0568 right_pitch=-0.1269 right_roll=-0.095 right_gripper=0.0454\nstate[joint_eff]: [-0.1436, -1.7709, 6.9812, 1.6972, -0.0317, -0.0317, -0.0073, -0.4581, -9.5248, 6.2974, 1.7949, 0.2076, -0.0171, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8509, 0.6144, -0.4149, -0.0456, -0.0715, 0.9957, 0.5903, 2.0144, 1.2823, -0.0879, 0.4362, 0.271, 0.0476]\nstate[eef_state]: left_x=0.2946 left_y=0.0023 left_z=0.1621 left_yaw=0.0306 left_pitch=-0.0818 left_roll=-0.0177 left_gripper=0.9957 right_x=0.4655 right_y=0.2264 right_z=0.0632 right_yaw=0.0683 right_pitch=-0.1581 right_roll=-0.1099 right_gripper=0.0476\nstate[joint_eff]: [-0.1983, -1.7026, 6.9812, 1.6728, -0.0708, -0.0464, -0.0122, -0.6632, -10.1538, 8.9504, 1.4969, 0.2857, 0.1783, 0.4908]",
      "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]: [-0.0319, 0.8509, 0.6144, -0.4149, -0.0452, -0.0711, 0.9957, 0.588, 2.0258, 1.2743, -0.0593, 0.432, 0.2684, 0.0503]\nstate[eef_state]: left_x=0.2946 left_y=0.0022 left_z=0.1621 left_yaw=0.0301 left_pitch=-0.0818 left_roll=-0.0176 left_gripper=0.9957 right_x=0.4674 right_y=0.2271 right_z=0.0588 right_yaw=0.0714 right_pitch=-0.1518 right_roll=-0.1046 right_gripper=0.0503\nstate[joint_eff]: [-0.1983, -1.2513, 6.9812, 1.6777, -0.0464, -0.0611, -0.0122, 0.253, -8.9094, 5.5043, 1.3993, 0.1441, -0.0708, 0.2613]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c7cef808dafbd3c225ca6b75335d71f3392504d72d1bfdd0208aac1b45bb730",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b53d324197c19a662bbdb97b8198bf4ebd9ec5cc8bb8e8a5cbcad5401b65cd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41fc21fccfbaca21f3c2a19351a9d50cf7e79aae893da89740eb864eda2cc741",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Stopped at 0.059 — resting. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0136wxfH7u6zZJmRZu1Wgmr2",
      "input": {
        "note": "Descent stopped at z≈0.059, so the pink bowl is resting in the lavender bowl. Opening to release.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0136wxfH7u6zZJmRZu1Wgmr2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8509, 0.6144, -0.4145, -0.0452, -0.0715, 0.9957, 0.588, 2.0274, 1.2644, -0.0715, 0.429, 0.2611, 0.9954]\nstate[eef_state]: left_x=0.2946 left_y=0.0022 left_z=0.1622 left_yaw=0.0303 left_pitch=-0.0814 left_roll=-0.018 left_gripper=0.9957 right_x=0.4631 right_y=0.2247 right_z=0.0522 right_yaw=0.0758 right_pitch=-0.1739 right_roll=-0.1199 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -1.4427, 7.0085, 1.6874, -0.0708, -0.0513, -0.0122, -0.1299, -11.0564, 6.9402, 1.5751, 0.1636, -0.0122, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:201f2a86db21793109e43f1f8b694cd8b51ba46011af47ccd7fd1eed22bf47a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdde8bb07b08d1500d108b8d415e9754f56761367775a65d4cab4e5963c91ec9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:841a5d414973d0544f5c7eeff06f706372efdf4929257b5031fbf1bc168198f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 13.35 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8509, 0.6144, -0.4149, -0.0456, -0.0715, 0.9957, 0.5903, 2.0144, 1.2823, -0.0879, 0.4362, 0.271, 0.0476]\nstate[eef_state]: left_x=0.2946 left_y=0.0023 left_z=0.1621 left_yaw=0.0306 left_pitch=-0.0818 left_roll=-0.0177 left_gripper=0.9957 right_x=0.4655 right_y=0.2264 right_z=0.0632 right_yaw=0.0683 right_pitch=-0.1581 right_roll=-0.1099 right_gripper=0.0476\nstate[joint_eff]: [-0.1983, -1.7026, 6.9812, 1.6728, -0.0708, -0.0464, -0.0122, -0.6632, -10.1538, 8.9504, 1.4969, 0.2857, 0.1783, 0.4908]",
      "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]: [-0.0319, 0.8509, 0.6144, -0.4149, -0.0452, -0.0711, 0.9957, 0.588, 2.0258, 1.2743, -0.0593, 0.432, 0.2684, 0.0503]\nstate[eef_state]: left_x=0.2946 left_y=0.0022 left_z=0.1621 left_yaw=0.0301 left_pitch=-0.0818 left_roll=-0.0176 left_gripper=0.9957 right_x=0.4674 right_y=0.2271 right_z=0.0588 right_yaw=0.0714 right_pitch=-0.1518 right_roll=-0.1046 right_gripper=0.0503\nstate[joint_eff]: [-0.1983, -1.2513, 6.9812, 1.6777, -0.0464, -0.0611, -0.0122, 0.253, -8.9094, 5.5043, 1.3993, 0.1441, -0.0708, 0.2613]",
      "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]: [-0.0319, 0.8509, 0.6144, -0.4145, -0.0452, -0.0715, 0.9957, 0.588, 2.0274, 1.2644, -0.0715, 0.429, 0.2611, 0.9954]\nstate[eef_state]: left_x=0.2946 left_y=0.0022 left_z=0.1622 left_yaw=0.0303 left_pitch=-0.0814 left_roll=-0.018 left_gripper=0.9957 right_x=0.4631 right_y=0.2247 right_z=0.0522 right_yaw=0.0758 right_pitch=-0.1739 right_roll=-0.1199 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -1.4427, 7.0085, 1.6874, -0.0708, -0.0513, -0.0122, -0.1299, -11.0564, 6.9402, 1.5751, 0.1636, -0.0122, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:201f2a86db21793109e43f1f8b694cd8b51ba46011af47ccd7fd1eed22bf47a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdde8bb07b08d1500d108b8d415e9754f56761367775a65d4cab4e5963c91ec9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:841a5d414973d0544f5c7eeff06f706372efdf4929257b5031fbf1bc168198f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6QcKEAgSGAI4AUIIdGhpbmtpbmcSDCJ+OdGeDAeNwd6oGxoMZZvp7zz1D4vy+COyIjD03kSaYQS4nT19l6Ss6o4mpmAlLJ8blYYneg9rfe223VCxxP35y9wpEh4VUKEfyG8qhgffq8jffGJRlu7N5MlXZwm4NtIws5nNz7GnDZbFKnXD7KOFTMvjBpE00j8eRLPlJRA/8i/nUiMKC6bDf0Q/u+7VArGrYNnXoioZpSdDPB1wYmWbm90zltI7Mg3EOtD/CeriTZRaj4KfvdwPpc2lvF9ZMj80uq7SIA/Tc7xHScMz8IUjiwnEVrFKT4q6Eq0TfGoxQQq+juqcY8h2wajZVWszmEFzQTbCXErdC2h/O7gwzeLC8dnCaz96/O4VuJNbfHOipeT/8vQhhr1P3Ta2BpBgTgQ/xIKfH986TtPjVPlijgzo3/wt3yf05BGDwvGxIKlub/uUmYDaUL7VDu1GppT5Sk3xCq8ArYusQHTQLisuSxvVxJwLPnHDgrMyl8Hh96kg9ybSrCkAz60CB7akPCL/oAumeuLll9twUP1Xzpmg9ior8zx364GBOJnRp6TBQ6H0PI4j/0AYkn9eDq1ratolXRLR5TbYah3MHHKJIMj0fJ3d+dLKQg1qarWMiXr85RiwEPaiq+w41D9rNrQJHzQ20/f6BLdVmtXbSFiqOvaNvlW5cdHV/qXJbCogeMJ9+JLJzWWQlxHnFI54tpVyPexC2A1zZgFIpZCZquUGdEM//ux+NQ27mMKELD9MI7xRi+juqUZvXxM8ONaG4kwtstvLo8J6QRD+p/9vKa6ELm3h+M62qkBXSVOtUO7/85k+rIS/hoH9F5GzD5Ur9UoXITbMraHiHokcg7Z8ajb2FAtlEnb7uG80gHuvN5xdfbyEsjgLGgtTaqH3M7RZ89xvlAQcu1O+8Xxswf/yZjA9iJpdaoWugJs5vjIrxQEDPo2TBHgNjUhDkCQTikGEdZdxcj5/+ubEafngS7kL3Mv+Ts/gqqzGjOZdXZnrwpoygFQn+mDpoj7mdPhOe4BtKHUDKgxzdEbrgmgIgYVVadjwYJ8C44cMeHx/nOF+Dl2DWYDb8DyEodSow/MgUWknBnXwS9GGQ0yQ6F9pKMuSLTytVI8lAF9952kJReD1ng5a3ZiAlmxSqPU/jyOdE/B4bQ8wCXwhxviHokoiF88IHbM0//gHcsBxzzUuihC7PiqiBHHaF1kW27GDFGeNIz1a8nP2mXefTh+Co25t3eJIGkAf1qJliK2OLTsAOpj0luQuxmuJhIb19Fen7iVB+aD6ntMYf7ytxw1DQouEbjn1yIzm6Msf5bX2/mPvphgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MTEeZPsJBYFDGcRSrZnGVg",
      "input": {
        "note": "Pink released into the lavender bowl. Lifting the right arm away and home to check the stack and clear room for the left arm to fetch the white bowl.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01MTEeZPsJBYFDGcRSrZnGVg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8558, 0.6144, -0.4145, -0.0452, -0.0715, 0.9957, 0.0097, 0.9703, 0.7662, -0.5274, 0.0525, -0.1261, 0.9964]\nstate[eef_state]: left_x=0.2949 left_y=0.0022 left_z=0.1608 left_yaw=0.0303 left_pitch=-0.0863 left_roll=-0.0176 left_gripper=0.9957 right_x=0.3065 right_y=-0.0027 right_z=0.1744 right_yaw=0.027 right_pitch=-0.1651 right_roll=-0.1237 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.853, 7.0496, 1.6777, -0.0904, -0.0659, -0.0122, -0.0068, -2.4547, 8.4991, 1.6923, -0.1392, 0.0366, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96a9166359794a3dd293a36765370394d1c6f973959b0c64936f313f09806792",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7885b2ad0af49c62c9ec1e505ba0ae1a28988e345d98a57c700fa75d9321657",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:108d3ad8c8dfb1d44bbf77d28af6a4eeef82695bccb1dee7da1b1d298cf21d2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 6.207 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8509, 0.6144, -0.4149, -0.0452, -0.0711, 0.9957, 0.588, 2.0258, 1.2743, -0.0593, 0.432, 0.2684, 0.0503]\nstate[eef_state]: left_x=0.2946 left_y=0.0022 left_z=0.1621 left_yaw=0.0301 left_pitch=-0.0818 left_roll=-0.0176 left_gripper=0.9957 right_x=0.4674 right_y=0.2271 right_z=0.0588 right_yaw=0.0714 right_pitch=-0.1518 right_roll=-0.1046 right_gripper=0.0503\nstate[joint_eff]: [-0.1983, -1.2513, 6.9812, 1.6777, -0.0464, -0.0611, -0.0122, 0.253, -8.9094, 5.5043, 1.3993, 0.1441, -0.0708, 0.2613]",
      "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]: [-0.0319, 0.8509, 0.6144, -0.4145, -0.0452, -0.0715, 0.9957, 0.588, 2.0274, 1.2644, -0.0715, 0.429, 0.2611, 0.9954]\nstate[eef_state]: left_x=0.2946 left_y=0.0022 left_z=0.1622 left_yaw=0.0303 left_pitch=-0.0814 left_roll=-0.018 left_gripper=0.9957 right_x=0.4631 right_y=0.2247 right_z=0.0522 right_yaw=0.0758 right_pitch=-0.1739 right_roll=-0.1199 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -1.4427, 7.0085, 1.6874, -0.0708, -0.0513, -0.0122, -0.1299, -11.0564, 6.9402, 1.5751, 0.1636, -0.0122, -0.2027]",
      "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]: [-0.0319, 0.8558, 0.6144, -0.4145, -0.0452, -0.0715, 0.9957, 0.0097, 0.9703, 0.7662, -0.5274, 0.0525, -0.1261, 0.9964]\nstate[eef_state]: left_x=0.2949 left_y=0.0022 left_z=0.1608 left_yaw=0.0303 left_pitch=-0.0863 left_roll=-0.0176 left_gripper=0.9957 right_x=0.3065 right_y=-0.0027 right_z=0.1744 right_yaw=0.027 right_pitch=-0.1651 right_roll=-0.1237 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.853, 7.0496, 1.6777, -0.0904, -0.0659, -0.0122, -0.0068, -2.4547, 8.4991, 1.6923, -0.1392, 0.0366, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96a9166359794a3dd293a36765370394d1c6f973959b0c64936f313f09806792",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7885b2ad0af49c62c9ec1e505ba0ae1a28988e345d98a57c700fa75d9321657",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:108d3ad8c8dfb1d44bbf77d28af6a4eeef82695bccb1dee7da1b1d298cf21d2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Du9tEAan8gAnY888S9BatB",
      "input": {
        "note": "Pink slid off: now pink sits in the middle and lavender is far forward. New plan: nest white into pink first. Moving left gripper over the white bowl's left (+y) rim.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.31,
          "left_y": -0.225,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01Du9tEAan8gAnY888S9BatB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9508, 1.4891, 0.7792, -0.1741, -0.7246, -0.672, 0.9957, 0.0113, 0.9745, 0.7589, -0.5461, 0.0437, -0.1459, 0.9966]\nstate[eef_state]: left_x=0.3026 left_y=-0.2161 left_z=0.1046 left_yaw=-0.0205 left_pitch=-0.049 left_roll=0.0186 left_gripper=0.9957 right_x=0.3025 right_y=-0.0007 right_z=0.1666 right_yaw=0.047 right_pitch=-0.1964 right_roll=-0.1316 right_gripper=0.9966\nstate[joint_eff]: [-0.3897, -6.2291, 8.7316, 1.5165, -0.5153, -0.0464, -0.0073, -0.3077, -2.5504, 7.4598, 1.7167, 0.0562, 0.2125, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2af1da337054d77ee00e0a8c94245c8a12414df188dc34d929a1fc7082d4688",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad85d037478e7cbf403aabed78be63697f96e5895d66437915ce20592e9b4d33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2c748da44f99e9bb39595f8e7b58af194a4059de5372eb6f035448509c02c539",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 3.589 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8509, 0.6144, -0.4145, -0.0452, -0.0715, 0.9957, 0.588, 2.0274, 1.2644, -0.0715, 0.429, 0.2611, 0.9954]\nstate[eef_state]: left_x=0.2946 left_y=0.0022 left_z=0.1622 left_yaw=0.0303 left_pitch=-0.0814 left_roll=-0.018 left_gripper=0.9957 right_x=0.4631 right_y=0.2247 right_z=0.0522 right_yaw=0.0758 right_pitch=-0.1739 right_roll=-0.1199 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -1.4427, 7.0085, 1.6874, -0.0708, -0.0513, -0.0122, -0.1299, -11.0564, 6.9402, 1.5751, 0.1636, -0.0122, -0.2027]",
      "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]: [-0.0319, 0.8558, 0.6144, -0.4145, -0.0452, -0.0715, 0.9957, 0.0097, 0.9703, 0.7662, -0.5274, 0.0525, -0.1261, 0.9964]\nstate[eef_state]: left_x=0.2949 left_y=0.0022 left_z=0.1608 left_yaw=0.0303 left_pitch=-0.0863 left_roll=-0.0176 left_gripper=0.9957 right_x=0.3065 right_y=-0.0027 right_z=0.1744 right_yaw=0.027 right_pitch=-0.1651 right_roll=-0.1237 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.853, 7.0496, 1.6777, -0.0904, -0.0659, -0.0122, -0.0068, -2.4547, 8.4991, 1.6923, -0.1392, 0.0366, 0.0952]",
      "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]: [-0.9508, 1.4891, 0.7792, -0.1741, -0.7246, -0.672, 0.9957, 0.0113, 0.9745, 0.7589, -0.5461, 0.0437, -0.1459, 0.9966]\nstate[eef_state]: left_x=0.3026 left_y=-0.2161 left_z=0.1046 left_yaw=-0.0205 left_pitch=-0.049 left_roll=0.0186 left_gripper=0.9957 right_x=0.3025 right_y=-0.0007 right_z=0.1666 right_yaw=0.047 right_pitch=-0.1964 right_roll=-0.1316 right_gripper=0.9966\nstate[joint_eff]: [-0.3897, -6.2291, 8.7316, 1.5165, -0.5153, -0.0464, -0.0073, -0.3077, -2.5504, 7.4598, 1.7167, 0.0562, 0.2125, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2af1da337054d77ee00e0a8c94245c8a12414df188dc34d929a1fc7082d4688",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad85d037478e7cbf403aabed78be63697f96e5895d66437915ce20592e9b4d33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c748da44f99e9bb39595f8e7b58af194a4059de5372eb6f035448509c02c539",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqgoKEAgSGAI4AUIIdGhpbmtpbmcSDI8r7Pk/a15czr/TmBoMCoTrerv987hqqkWOIjCsB1QMYIQeJOBERmpuZWAA8F58McR3zhD1fR+h90+VZdjLKc/1cK/a0UEwGhzrpiYqxwnqrxYmGi6GLDtmh/3GFwiApHwuuQVNd/ZtyhLF4qGTaEwPtHa6QLHEDrvES768njLO4WwcvbSNkn4TA5VayqOsH0Kjbtsf3QZGd0x4ohxUwRK3ThRniq3ZFZHrUWcdjZQJmBCQJK/ZDRazZOgaLQfQlYPe1e2ESHfd28qeFXDvgnokjDKDMZyO0V/udFfXkhCv5z4fMZb0ICFxh9vMbpjdysx7Btp7Tu9Rha3E+BigWjnbjpAe0GrddC5WmLefMP1F5klMqKqrtsWncmOTMGfq7b7cQQAjWnbT8n1c/WZ+6jWZo1BdDg3qBz/J0pFxQV9FbgO1H2COPi7f3ra6oSuxmrFIP6QpBuhgtMvrzPZlznZgYVc/S4Uy2v5D0zsq2jhrDjekWaGzwvgE6p9Xu85Wf3NVMpN3eDxEhdtH3BDba1XhuHanIaqmy7H5wbJ0br/YtvjSE/Q8uB5CCjoeb1mhPoSNofU3qYqFfOSjBVz5IVjAHVXip8fFMegHKV6kSB075yikFB1VhmsEGJT9B8l0jkbGXdCKwl519xjZmDSS8BhcLZ2OagV8n+/7jDsnkYoh/zeCVdCeh3AWcInOm01GExmJkOTImOAMxmvOXBhC786d7SLw0ChJgpYyzeTT7387IN4yj9yrAAIzmAVeENhpv2gTeP2joU6gmjzc9qMOydNFfFNN5kwkgLf9zQy7G5p0WJ0AEsv40E10lsNCcoOGTYqOW019OzHoaCKAuqR+3ZR1pAOKs9T+PDCS11DQ27T3LLjFKjc1CyaSS1FC16hwcJ48SWuX6ZuPA0AJmWt/y6ARFy7DQB4tejkPTwqahouPvzszKXFsS5qoH6tjanigD9XeeSoPKZz0JsXXw0/g0QzDKJArsyGDgCCLrO+XZHf9vYVSS6ZtnugkQkW4hTooXs9M0Coy1iTcpmpsLNp0I9X99G4gTO2FQMX/sHZv4nPvivsmkduPLj/QQg98LuU1CyZUDPKtD5lS31AYryxX1KgteaorVapseSYeN1XB3mvoT3gW3p7iRWvt1IfmGv7hzOjvAN8zTLj3GEwqjpCORwPL6RpWKBrEKblHomhlrAuUuV4tM5BK3QJ4Gfu3YyzfTy6vNiu2HFjFCwrTeF+9DK7GKnKIXNUuHFSWPsecCMFzC0OrwusjzkWSELSXijeVdUI2YJu0ECAnkKsOAmptN+LVDq3Bbwf+b0cSH0okBJHshFcCHsBpaglm/ACp2Q8qx6LtJwxTgX/5npOO+dyIGQyMOsCA31+LNc8KL+QUegB7XbH6PJ2h5m7Fzcg2UcIt7EA/3fSHYg8HGqfms/lpVIzkM1CwXnOpN58bxfOvOF++2E7rrTua1kFx+V2/g4SUDryBu9bh/19r8ZVLfvQsEmgxlvfIBLRJCJeQHOZVQT2I5gUm57qig2vxw/yyFSePu5o4XLJYwf9O8hXxpNWDEyWM61eaLDOP5VlAEgjR7Y03Z7JsNn/v6e5smpjUGD40QPddMbTq7+RK9qTZkMJXNSTfvDkbh7OGJNSA2t+XhPMzfuHNaTSi4iLJVEyKjCW6I3ZdqX8jcAfgkF4icSCD9zsGk8aDX4/2ShFBYtt7tu0Tgp/2F1hCzljPVs3zXQFU5TZq+SQznBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CrdF2XUxnLNbk8esoHTUsf",
      "input": {
        "note": "White bowl is right under the gripper, centred on the jaw column; its left rim is ~4.5 cm to the left. Shifting left and slightly forward so the jaws straddle that rim.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.33,
          "left_y": -0.17,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01CrdF2XUxnLNbk8esoHTUsf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7834, 1.4014, 0.6945, -0.0841, -0.6495, -0.5323, 0.9957, 0.0113, 0.9745, 0.7586, -0.5499, 0.0433, -0.1509, 0.9966]\nstate[eef_state]: left_x=0.3252 left_y=-0.1681 left_z=0.109 left_yaw=0.0168 left_pitch=-0.0336 left_roll=0.026 left_gripper=0.9957 right_x=0.3017 right_y=-0.0007 right_z=0.1658 right_yaw=0.0501 right_pitch=-0.2009 right_roll=-0.1348 right_gripper=0.9966\nstate[joint_eff]: [0.2803, -6.5983, 6.0786, 1.7363, -0.2222, 0.2076, -0.0073, -0.0615, -2.2085, 6.9538, 1.58, -0.0171, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60cf00160efe8024d866d66b3499f960553001700f11f53b632fa71a0bfdf31f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90290e375d4b7ef4e727248eb5dc16391c8341ff9cd8930afa25b5aeb25e964d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8dd0a021ed03be5bd3c103f90e1021a30f58d24790087354972eb9b9495463be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 3.367 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0319, 0.8558, 0.6144, -0.4145, -0.0452, -0.0715, 0.9957, 0.0097, 0.9703, 0.7662, -0.5274, 0.0525, -0.1261, 0.9964]\nstate[eef_state]: left_x=0.2949 left_y=0.0022 left_z=0.1608 left_yaw=0.0303 left_pitch=-0.0863 left_roll=-0.0176 left_gripper=0.9957 right_x=0.3065 right_y=-0.0027 right_z=0.1744 right_yaw=0.027 right_pitch=-0.1651 right_roll=-0.1237 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.853, 7.0496, 1.6777, -0.0904, -0.0659, -0.0122, -0.0068, -2.4547, 8.4991, 1.6923, -0.1392, 0.0366, 0.0952]",
      "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]: [-0.9508, 1.4891, 0.7792, -0.1741, -0.7246, -0.672, 0.9957, 0.0113, 0.9745, 0.7589, -0.5461, 0.0437, -0.1459, 0.9966]\nstate[eef_state]: left_x=0.3026 left_y=-0.2161 left_z=0.1046 left_yaw=-0.0205 left_pitch=-0.049 left_roll=0.0186 left_gripper=0.9957 right_x=0.3025 right_y=-0.0007 right_z=0.1666 right_yaw=0.047 right_pitch=-0.1964 right_roll=-0.1316 right_gripper=0.9966\nstate[joint_eff]: [-0.3897, -6.2291, 8.7316, 1.5165, -0.5153, -0.0464, -0.0073, -0.3077, -2.5504, 7.4598, 1.7167, 0.0562, 0.2125, -0.0024]",
      "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]: [-0.7834, 1.4014, 0.6945, -0.0841, -0.6495, -0.5323, 0.9957, 0.0113, 0.9745, 0.7586, -0.5499, 0.0433, -0.1509, 0.9966]\nstate[eef_state]: left_x=0.3252 left_y=-0.1681 left_z=0.109 left_yaw=0.0168 left_pitch=-0.0336 left_roll=0.026 left_gripper=0.9957 right_x=0.3017 right_y=-0.0007 right_z=0.1658 right_yaw=0.0501 right_pitch=-0.2009 right_roll=-0.1348 right_gripper=0.9966\nstate[joint_eff]: [0.2803, -6.5983, 6.0786, 1.7363, -0.2222, 0.2076, -0.0073, -0.0615, -2.2085, 6.9538, 1.58, -0.0171, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60cf00160efe8024d866d66b3499f960553001700f11f53b632fa71a0bfdf31f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90290e375d4b7ef4e727248eb5dc16391c8341ff9cd8930afa25b5aeb25e964d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dd0a021ed03be5bd3c103f90e1021a30f58d24790087354972eb9b9495463be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwcKEAgSGAI4AUIIdGhpbmtpbmcSDBRhoCyACcWka3lJVxoMbtS3mJ3qyfi5G8ZQIjDOJAFrrXor1rziKcmZ6RLM1AWue+o7H5OlQKgNG+PfZwYK3lc3qJUHa0Ub462HvdgqtAZOHv4+yMf8K/CxMn3KexciZGZ/fsITiBM4l2XwobEJHQd8/1PLsTyizua0ErbLRd+SEJFt8ksOCyPN62Recek6IPdnAwcR9sK8u+F3KjxY+au6bP3o+4EGM3Ce36WUkQdajj8dPx7yVhldOfZgZQwIwxH3i8OusaNTBTK6MC2GqN5dGfZEyvvwvWFYpCQajhKVqbgkF2GbXb2as0G04hnBed6/eavBuuM7vv3Yj+1Xwvvzjd9Tg5dwSt8fU4JzP9cHvTgfH9OE9vQEtRJgegbP/KIH0JUstYopC7ySFPcEAG5hIVtbogFrlvtxXd9s6mD4gFaRrcKTYN4zrI/f+qGaLYfGI8mDYUVDt42pPu8LXfyyVfcOdvP2f54Rm6Id5OxZkYjsSDzBEVQd5xpPeRHXMIQK6lFJIEPgbNlEmjqz8/KJGUICxJlNROqp+0kB6FS1Z80KPNfHgLfIB81siAb7D2m5WUb+XR3XA95Kwy/lt0KvdVkuyV5grk52fXs36a9oTiylZa4GeaUh3B1rs/PNYJJoFzldWtSKpXU3hKkIkxEjirs7Mf8+kn8oZAi0xsm783r15Manslt/kNfLGpZk7wclBvz0bF+ytueyp+t1ApZeL6+8v12XaTeqxx5/9+FkOrbwPp4Q2rqudz853WGh7Om/rX5HiqJpDpVLjWshkXh5v3lFH34h9N1fckCvICYhOmdnFgQERjlaM+wjGBdEKVEH1rMtM4MFG7TmEOgJkxXrbYZmka+rl2Yq4QixlaK0hcj2DfstsTHuHz6ui3uWhY8si/h5iKxiaGP/lG/DHCFtxddg3bnaWhtFL8SYOTPOpInOMrgyaanBhs/uFppEm/7GkS8PjhCN+jzkzSWArsD8QcOt02hkLAIc4cRBZ7t7yit2isVhTlZPJb102u5txiOENjQakRR+9JslRqoRIE6ap/U9Y3JxunbicXPZa544QtqOZdy3uCuOiudecPjg7oCF1IGBlCmu0t1r08BXvHooeZEoeFrXaHLmPAkS9U6DZPh4Jaq++QQqAVOtFIH9kQ+XMhdpAj13Z9MsI+xY3/md288DglKdDPDmrq9HHjnM4/AcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013XUY7Q6r7cBghNsqqCyp2d",
      "input": {
        "note": "White bowl's left rim is now on the jaw column near the fingertips. Descending to straddle the rim.",
        "targets": {
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_013XUY7Q6r7cBghNsqqCyp2d",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.6127, 0.5449, 0.1993, -0.6388, -0.524, 0.9957, 0.0113, 0.9745, 0.757, -0.5507, 0.0433, -0.1539, 0.9966]\nstate[eef_state]: left_x=0.3168 left_y=-0.1619 left_z=0.0284 left_yaw=0.0079 left_pitch=-0.0937 left_roll=0.0827 left_gripper=0.9957 right_x=0.3014 right_y=-0.0007 right_z=0.165 right_yaw=0.0518 right_pitch=-0.2034 right_roll=-0.1369 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -6.3111, 4.6291, 1.5067, -0.3492, -0.1197, -0.0122, -0.1709, -2.3453, 7.1726, 1.5409, -0.0073, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:114d7c252f807b9fdbda35886a7b27293312ee61be57743bb78a12e0835315af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1caed547f2fd0b45ffb2e40ecfa97c32e121e965ad860c1bcc0208f700cc22fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8438c414f933c1e8e9a269f910177cc3cd108c253991d79c8c7ac958b207ff5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 6.059 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9508, 1.4891, 0.7792, -0.1741, -0.7246, -0.672, 0.9957, 0.0113, 0.9745, 0.7589, -0.5461, 0.0437, -0.1459, 0.9966]\nstate[eef_state]: left_x=0.3026 left_y=-0.2161 left_z=0.1046 left_yaw=-0.0205 left_pitch=-0.049 left_roll=0.0186 left_gripper=0.9957 right_x=0.3025 right_y=-0.0007 right_z=0.1666 right_yaw=0.047 right_pitch=-0.1964 right_roll=-0.1316 right_gripper=0.9966\nstate[joint_eff]: [-0.3897, -6.2291, 8.7316, 1.5165, -0.5153, -0.0464, -0.0073, -0.3077, -2.5504, 7.4598, 1.7167, 0.0562, 0.2125, -0.0024]",
      "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]: [-0.7834, 1.4014, 0.6945, -0.0841, -0.6495, -0.5323, 0.9957, 0.0113, 0.9745, 0.7586, -0.5499, 0.0433, -0.1509, 0.9966]\nstate[eef_state]: left_x=0.3252 left_y=-0.1681 left_z=0.109 left_yaw=0.0168 left_pitch=-0.0336 left_roll=0.026 left_gripper=0.9957 right_x=0.3017 right_y=-0.0007 right_z=0.1658 right_yaw=0.0501 right_pitch=-0.2009 right_roll=-0.1348 right_gripper=0.9966\nstate[joint_eff]: [0.2803, -6.5983, 6.0786, 1.7363, -0.2222, 0.2076, -0.0073, -0.0615, -2.2085, 6.9538, 1.58, -0.0171, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.6127, 0.5449, 0.1993, -0.6388, -0.524, 0.9957, 0.0113, 0.9745, 0.757, -0.5507, 0.0433, -0.1539, 0.9966]\nstate[eef_state]: left_x=0.3168 left_y=-0.1619 left_z=0.0284 left_yaw=0.0079 left_pitch=-0.0937 left_roll=0.0827 left_gripper=0.9957 right_x=0.3014 right_y=-0.0007 right_z=0.165 right_yaw=0.0518 right_pitch=-0.2034 right_roll=-0.1369 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -6.3111, 4.6291, 1.5067, -0.3492, -0.1197, -0.0122, -0.1709, -2.3453, 7.1726, 1.5409, -0.0073, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:114d7c252f807b9fdbda35886a7b27293312ee61be57743bb78a12e0835315af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1caed547f2fd0b45ffb2e40ecfa97c32e121e965ad860c1bcc0208f700cc22fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8438c414f933c1e8e9a269f910177cc3cd108c253991d79c8c7ac958b207ff5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Rim wall at x~115 between jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UTs9qdeNw6ZikQFBw5dZnX",
      "input": {
        "note": "White bowl's rim wall is between the jaws. Closing to pinch it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UTs9qdeNw6ZikQFBw5dZnX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.6043, 0.5426, 0.2379, -0.6434, -0.5468, 0.1045, 0.0113, 0.9745, 0.757, -0.5503, 0.0433, -0.1543, 0.9966]\nstate[eef_state]: left_x=0.3212 left_y=-0.1655 left_z=0.0362 left_yaw=0.021 left_pitch=-0.0592 left_roll=0.0347 left_gripper=0.1045 right_x=0.3014 right_y=-0.0007 right_z=0.1651 right_yaw=0.052 right_pitch=-0.2031 right_roll=-0.1372 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -5.4359, 5.6547, 1.0427, -0.2564, 0.1832, 0.4762, -0.1299, -2.3316, 7.0496, 1.6044, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2445cee0d3a275e18f5351129466cfd3d7c01be48a632ccb006552cf6088fd69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91a5ae5ac6bb55d6f3c0714155dd4c414b06ce2390137289841c1087d1dd0e4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:97e58211a41d2715a3ad184e6c5f573b52c50be63aea0083e36ccf59d5333e41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /messages · status 200 · 4.986 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7834, 1.4014, 0.6945, -0.0841, -0.6495, -0.5323, 0.9957, 0.0113, 0.9745, 0.7586, -0.5499, 0.0433, -0.1509, 0.9966]\nstate[eef_state]: left_x=0.3252 left_y=-0.1681 left_z=0.109 left_yaw=0.0168 left_pitch=-0.0336 left_roll=0.026 left_gripper=0.9957 right_x=0.3017 right_y=-0.0007 right_z=0.1658 right_yaw=0.0501 right_pitch=-0.2009 right_roll=-0.1348 right_gripper=0.9966\nstate[joint_eff]: [0.2803, -6.5983, 6.0786, 1.7363, -0.2222, 0.2076, -0.0073, -0.0615, -2.2085, 6.9538, 1.58, -0.0171, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.6127, 0.5449, 0.1993, -0.6388, -0.524, 0.9957, 0.0113, 0.9745, 0.757, -0.5507, 0.0433, -0.1539, 0.9966]\nstate[eef_state]: left_x=0.3168 left_y=-0.1619 left_z=0.0284 left_yaw=0.0079 left_pitch=-0.0937 left_roll=0.0827 left_gripper=0.9957 right_x=0.3014 right_y=-0.0007 right_z=0.165 right_yaw=0.0518 right_pitch=-0.2034 right_roll=-0.1369 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -6.3111, 4.6291, 1.5067, -0.3492, -0.1197, -0.0122, -0.1709, -2.3453, 7.1726, 1.5409, -0.0073, 0.0024, -0.0122]",
      "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]: [-0.7837, 1.6043, 0.5426, 0.2379, -0.6434, -0.5468, 0.1045, 0.0113, 0.9745, 0.757, -0.5503, 0.0433, -0.1543, 0.9966]\nstate[eef_state]: left_x=0.3212 left_y=-0.1655 left_z=0.0362 left_yaw=0.021 left_pitch=-0.0592 left_roll=0.0347 left_gripper=0.1045 right_x=0.3014 right_y=-0.0007 right_z=0.1651 right_yaw=0.052 right_pitch=-0.2031 right_roll=-0.1372 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -5.4359, 5.6547, 1.0427, -0.2564, 0.1832, 0.4762, -0.1299, -2.3316, 7.0496, 1.6044, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2445cee0d3a275e18f5351129466cfd3d7c01be48a632ccb006552cf6088fd69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91a5ae5ac6bb55d6f3c0714155dd4c414b06ce2390137289841c1087d1dd0e4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97e58211a41d2715a3ad184e6c5f573b52c50be63aea0083e36ccf59d5333e41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018MtPYUwT3ZXV2rtCcyNU5T",
      "input": {
        "note": "Jaws are pinching the white bowl's rim (reading 0.10). Lifting it clear before carrying it over the pink bowl.",
        "targets": {
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_018MtPYUwT3ZXV2rtCcyNU5T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.3354, 0.8562, -0.3428, -0.6403, -0.5503, 0.1042, 0.0113, 0.9752, 0.757, -0.5507, 0.0429, -0.1543, 0.9966]\nstate[eef_state]: left_x=0.3233 left_y=-0.1682 left_z=0.1541 left_yaw=0.0206 left_pitch=-0.0594 left_roll=0.029 left_gripper=0.1042 right_x=0.3014 right_y=-0.0006 right_z=0.1648 right_yaw=0.0523 right_pitch=-0.2042 right_roll=-0.1369 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -6.5846, 8.9641, 1.3016, -0.359, 0.0024, -0.0366, -0.1846, -2.2496, 6.8991, 1.5263, -0.0611, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:817df174c91d0fb8e36a7e6c9d23a87578cec01be9dcb067f245f5c8e5726c0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6caf8a23e54a19003e769297f95a969dcbac659cc1ff113d9f1de0ed8e0c0f5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b300fb79d07b2fb3e65280d6041357577e6b18dcf07cef786852daaea8cc1a7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 9.134 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.6127, 0.5449, 0.1993, -0.6388, -0.524, 0.9957, 0.0113, 0.9745, 0.757, -0.5507, 0.0433, -0.1539, 0.9966]\nstate[eef_state]: left_x=0.3168 left_y=-0.1619 left_z=0.0284 left_yaw=0.0079 left_pitch=-0.0937 left_roll=0.0827 left_gripper=0.9957 right_x=0.3014 right_y=-0.0007 right_z=0.165 right_yaw=0.0518 right_pitch=-0.2034 right_roll=-0.1369 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -6.3111, 4.6291, 1.5067, -0.3492, -0.1197, -0.0122, -0.1709, -2.3453, 7.1726, 1.5409, -0.0073, 0.0024, -0.0122]",
      "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]: [-0.7837, 1.6043, 0.5426, 0.2379, -0.6434, -0.5468, 0.1045, 0.0113, 0.9745, 0.757, -0.5503, 0.0433, -0.1543, 0.9966]\nstate[eef_state]: left_x=0.3212 left_y=-0.1655 left_z=0.0362 left_yaw=0.021 left_pitch=-0.0592 left_roll=0.0347 left_gripper=0.1045 right_x=0.3014 right_y=-0.0007 right_z=0.1651 right_yaw=0.052 right_pitch=-0.2031 right_roll=-0.1372 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -5.4359, 5.6547, 1.0427, -0.2564, 0.1832, 0.4762, -0.1299, -2.3316, 7.0496, 1.6044, -0.0269, -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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.3354, 0.8562, -0.3428, -0.6403, -0.5503, 0.1042, 0.0113, 0.9752, 0.757, -0.5507, 0.0429, -0.1543, 0.9966]\nstate[eef_state]: left_x=0.3233 left_y=-0.1682 left_z=0.1541 left_yaw=0.0206 left_pitch=-0.0594 left_roll=0.029 left_gripper=0.1042 right_x=0.3014 right_y=-0.0006 right_z=0.1648 right_yaw=0.0523 right_pitch=-0.2042 right_roll=-0.1369 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -6.5846, 8.9641, 1.3016, -0.359, 0.0024, -0.0366, -0.1846, -2.2496, 6.8991, 1.5263, -0.0611, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:817df174c91d0fb8e36a7e6c9d23a87578cec01be9dcb067f245f5c8e5726c0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6caf8a23e54a19003e769297f95a969dcbac659cc1ff113d9f1de0ed8e0c0f5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b300fb79d07b2fb3e65280d6041357577e6b18dcf07cef786852daaea8cc1a7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+ggKEAgSGAI4AUIIdGhpbmtpbmcSDOXLE8lu+KSbGs49rRoMV96xyz663zAVVU4OIjCTK8XFT2ixQg1DoeK/1ntoq0JFH+7ywSyTXFmT+7xdFeKuYcvCmnC3loT8b6aXjbkqlwhZrhSIg9QVvYdj0xRBdvUa+kn83jetokGNh6J0xRXchkjz2zKGeodDm8AlGkJmxGdHoOiu5EoV/MlWs7XGMw8QfAAzlFwOcvyEgXbfM107f7/0aLecb38lWRqvzERtTPtBM//y2Bj54bBnWhm4PpMJixwWL773aESOjdOJHWDliVQyqZMYHL6c632nsJKvuNtWNx/TpPwVzZxwsBp56J3eP5xXQbJ4MmGWWtAxLIi2cNSByJkIm0V3ONvdyPC4ovBwyr6ddutwZHuRdE+LfS3Dbn69EQKoMFGwRQVG8KgNTmt8obxRoCGNryPlzeHlBcLwKw9B3ETzmMySutSJHp/XDcXwkSRaOuJFkEs5nb1BzOPX/6u1pSlF2MIdWnrRLG+pEWowVR0VmkKvZtbUoItfQRSocX+A2S8WtFb13jt/ax6pNNdCcrurIDPV0vKjKLNaFfD5359LwG212sCYbKBzKMpmJiI4EGftwPQiiUbxx0+pgnFd7pLVTdgDObS1jhl4BoW2zyrEmWm/ufhfl/PGXQGiqfqdiQQcs3QmPzRVNfMinpZDdbnPWOctot+/g7k89DSpe0ov8FT0UvvTbValpTZ8si0fS1DEpjsMtQ8+9aCPs2EvKI+CT9im19HeFEi/IG3wzb7F1et2ax2Et7EIW8BEr/wqKtplTMSfRQ2yBcFhgGw5Fbu4ZplXvtzypONndqSU1+sfOm1odwrm/IEBMQRJOXnVB67xxZLktNuQRoHluE7tn5NORlRdiY3Ehmio/FSWd3j+oWpS7DYdnmOiF4cSDGP/ez7Vf834L3jxttAfz30DFWYG61j3cnVPoTb0GoxUE2x7fPzyDZnDDSjmbMLTpeBBO6jE6GJdv6y+fUxTUuI/3yOdFsi6U89mLLxa+BcO3s/ll/Mbo96hjO0a9o0dPR1Rk8uwSCTl73Ef1Bk+4gopKrUUPYTMju1EEt0pIrXoKXeUGT30ec+f3PbQ4HrZcSZUMnZD8xBJPkPFS4cYxYRhm3+nx4QQcNDMxBTnzVB3AyVmrR87uofhwoVj2FwPaTNFG33/LlUZsgfntwILBfZ+BH7xePM10XpkobfWWIXN42OCJnFB53HOfT1OCJzEyhqtDGTp7xTArC88UIGYMmqvkz3MHSSa8jprYtWajb0qwGd5RCphAl0Yy568bYLZAuehdg5FhnkoYpQ68IGtTDs3IqeYUlxZM6Q25GZUZxJCGgvsnlFpYgKN6NBXStniJO8xjt8U0lxEI1svmwgQROJbb8C5WKP39gl2a6wEKvr/zur0UQBXPuXt/Qh6H44ZbNDvcQd9eNJ9Wa1EipukCeM4fzXBPuR5AuIVW5EOJNogsw1aZKUyCzlH4JJNk9pUeBCUOhfcJ2HniBSAsT6QPgM7+ncYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013ZnGewNAmau9vrG5DcM2Py",
      "input": {
        "note": "White bowl is lifted; pink bowl is to the right and slightly ahead in the wrist view. Carrying white over the pink bowl.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.38,
          "left_y": -0.285,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_013ZnGewNAmau9vrG5DcM2Py",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9043, 1.7821, 1.2991, -0.3866, -0.7353, -0.6342, 0.1042, 0.0113, 0.9771, 0.7567, -0.5507, 0.0433, -0.1543, 0.9966]\nstate[eef_state]: left_x=0.3742 left_y=-0.2782 left_z=0.156 left_yaw=0.0122 left_pitch=-0.0345 left_roll=0.043 left_gripper=0.1042 right_x=0.3014 right_y=-0.0007 right_z=0.1641 right_yaw=0.052 right_pitch=-0.2065 right_roll=-0.1371 right_gripper=0.9966\nstate[joint_eff]: [-0.5402, -9.1966, 8.8137, 1.2821, -0.569, -0.0415, -0.0171, -0.1162, -2.5504, 6.8718, 1.5263, -0.0171, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e597084877e86951a73cbd1371dbf52b90d945861239bc9ab7c067bc3d2aca2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e3a2b272b07dafcbf1f06aa4511b34fe4c4e7e54b3f19dca8a50ddce01c5606",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c4ef8a0e268e2752648e75e638e060abe4c8b7c8bf60c6c9924495adbe162d3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 15.92 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.6043, 0.5426, 0.2379, -0.6434, -0.5468, 0.1045, 0.0113, 0.9745, 0.757, -0.5503, 0.0433, -0.1543, 0.9966]\nstate[eef_state]: left_x=0.3212 left_y=-0.1655 left_z=0.0362 left_yaw=0.021 left_pitch=-0.0592 left_roll=0.0347 left_gripper=0.1045 right_x=0.3014 right_y=-0.0007 right_z=0.1651 right_yaw=0.052 right_pitch=-0.2031 right_roll=-0.1372 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -5.4359, 5.6547, 1.0427, -0.2564, 0.1832, 0.4762, -0.1299, -2.3316, 7.0496, 1.6044, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.3354, 0.8562, -0.3428, -0.6403, -0.5503, 0.1042, 0.0113, 0.9752, 0.757, -0.5507, 0.0429, -0.1543, 0.9966]\nstate[eef_state]: left_x=0.3233 left_y=-0.1682 left_z=0.1541 left_yaw=0.0206 left_pitch=-0.0594 left_roll=0.029 left_gripper=0.1042 right_x=0.3014 right_y=-0.0006 right_z=0.1648 right_yaw=0.0523 right_pitch=-0.2042 right_roll=-0.1369 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -6.5846, 8.9641, 1.3016, -0.359, 0.0024, -0.0366, -0.1846, -2.2496, 6.8991, 1.5263, -0.0611, -0.0464, -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]: [-0.9043, 1.7821, 1.2991, -0.3866, -0.7353, -0.6342, 0.1042, 0.0113, 0.9771, 0.7567, -0.5507, 0.0433, -0.1543, 0.9966]\nstate[eef_state]: left_x=0.3742 left_y=-0.2782 left_z=0.156 left_yaw=0.0122 left_pitch=-0.0345 left_roll=0.043 left_gripper=0.1042 right_x=0.3014 right_y=-0.0007 right_z=0.1641 right_yaw=0.052 right_pitch=-0.2065 right_roll=-0.1371 right_gripper=0.9966\nstate[joint_eff]: [-0.5402, -9.1966, 8.8137, 1.2821, -0.569, -0.0415, -0.0171, -0.1162, -2.5504, 6.8718, 1.5263, -0.0171, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e597084877e86951a73cbd1371dbf52b90d945861239bc9ab7c067bc3d2aca2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e3a2b272b07dafcbf1f06aa4511b34fe4c4e7e54b3f19dca8a50ddce01c5606",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4ef8a0e268e2752648e75e638e060abe4c8b7c8bf60c6c9924495adbe162d3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E1z4jHHvc3fixZaG65WGgW",
      "input": {
        "note": "Wrist view shows the held white bowl hanging to the left of the jaws while the pink bowl is under/right of them. Shifting ~11 cm right to line the white bowl up over the pink one.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.39,
          "left_y": -0.385,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01E1z4jHHvc3fixZaG65WGgW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0191, 2.146, 1.7557, -0.5499, -0.8116, -0.7467, 0.1042, 0.0113, 0.9802, 0.757, -0.5507, 0.0433, -0.1547, 0.9966]\nstate[eef_state]: left_x=0.3879 left_y=-0.379 left_z=0.1411 left_yaw=0.0078 left_pitch=-0.0215 left_roll=0.042 left_gripper=0.1042 right_x=0.3017 right_y=-0.0007 right_z=0.1634 right_yaw=0.0523 right_pitch=-0.2092 right_roll=-0.1372 right_gripper=0.9966\nstate[joint_eff]: [-0.5675, -12.0821, 8.8547, 1.0037, -0.6178, 0.0269, -0.0171, -0.0752, -2.6598, 6.8718, 1.5067, 0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eb201f4545e98275c1c9d5411ce4652cebb2add16b61f718a00dd27b7db2cc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62ffde8fc6fa370a3901bb4ac161c8e48095d2fa0ba71828b44a7f682d45ecc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c135134306510bfbf248b18a0fb7f926e95e5a9d350dc0c027bc7d1e5a3167c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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