adhoc

completed
2026-09-22T20:09:31.767674+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
279.9 s
total steps
244
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls sit in a row across the table (white-ish left, blue middle, pink right). Moving the left arm over my estimate of the left bowl to check alignment in the wrist camera.
move_to
left_x0.3300left_y-0.1500left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7952, 0.6044, -0.3798, -0.0223, -0.041, 0.9993, -0.0219, 0.7933, 0.6022, -0.3794, -0.0132, -0.0265, 0.9993] state[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2946 right_y=-0.0005 right_z=0.1794 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.6769, -1.5932, 10.1812, 1.8046, -0.0464, 0.2466, -0.0806, -0.4034, -1.388, 10.2222, 1.9072, -0.0952, 0.149, -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": -0.15, "left_z": 0.15}, "note": "Three bowls sit in a row across the table (white-ish left, blue middle, pink right). Moving the left arm over my estimate of the left bowl to check alignment in the wrist camera."})
tool
executing move_to over 14 steps (1.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteWrist view shows the white bowl just ahead of the jaws. Moving over its left (+y) rim so the jaws can straddle the bowl wall.
move_to
left_x0.4000left_y-0.0900left_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6971, 1.2575, 0.6987, -0.2012, -0.5499, -0.4427, 0.9993, -0.0219, 0.8005, 0.6003, -0.3897, -0.0162, -0.0273, 0.9992] state[eef_state]: left_x=0.3209 left_y=-0.1436 left_z=0.1322 left_yaw=-0.0264 left_pitch=-0.0582 left_roll=0.0361 left_gripper=0.9993 right_x=0.2934 right_y=0.0 right_z=0.1745 right_yaw=0.003 right_pitch=-0.0194 right_roll=0.0015 right_gripper=0.9992 state[joint_eff]: [-0.3487, -4.7932, 9.0735, 1.5751, -0.3394, -0.0269, -0.0171, -0.1846, -1.812, 7.2, 1.7949, -0.0024, -0.0611, -0.022] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.09, "left_z": 0.13}, "note": "Wrist view shows the white bowl just ahead of the jaws. Moving over its left (+y) rim so the jaws can straddle the bowl wall."})
tool
executing move_to over 7 steps (0.7s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe bowl's left rim sits slightly left of the jaw column in the wrist view; shifting 2 cm left and descending so the jaws straddle the wall.
move_to
left_y-0.0650left_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3679, 1.4284, 0.7631, -0.0761, -0.3313, -0.2489, 0.9992, -0.0216, 0.8036, 0.5999, -0.3931, -0.0162, -0.0269, 0.9992] state[eef_state]: left_x=0.3833 left_y=-0.0823 left_z=0.1093 left_yaw=0.025 left_pitch=-0.1236 left_roll=0.0513 left_gripper=0.9992 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0032 right_pitch=-0.0263 right_roll=0.002 right_gripper=0.9992 state[joint_eff]: [0.3487, -5.9419, 8.9504, 1.8095, -0.0171, 0.3053, -0.0122, -0.0889, -1.4974, 7.0359, 1.746, -0.0024, -0.0366, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.065, "left_z": 0.06}, "note": "The bowl's left rim sits slightly left of the jaw column in the wrist view; shifting 2 cm left and descending so the jaws straddle the wall."})
tool
executing move_to over 4 steps (0.4s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe bowl's left wall now runs through the jaw column; descending so the jaws straddle the wall before closing.
move_to
left_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3138, 1.5162, 0.6285, 0.0914, -0.2985, -0.2237, 0.9993, -0.0216, 0.8036, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.3728 left_y=-0.0626 left_z=0.0528 left_yaw=0.0417 left_pitch=-0.1841 left_roll=0.0692 left_gripper=0.9993 right_x=0.2931 right_y=0.0002 right_z=0.1728 right_yaw=0.0035 right_pitch=-0.0259 right_roll=0.0022 right_gripper=0.9992 state[joint_eff]: [0.3214, -5.9556, 6.1607, 2.0342, -0.0513, 0.1538, -0.0073, -0.1026, -1.2923, 7.2, 1.7265, -0.0366, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02}, "note": "The bowl's left wall now runs through the jaw column; descending so the jaws straddle the wall before closing."})
tool
executing move_to over 3 steps (0.3s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteDescent stalled at 5 cm, probably a fingertip on the rim. Shifting 1.5 cm further out (+y) and trying the descent again.
move_to
left_y-0.0500left_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.305, 1.5318, 0.6136, 0.1627, -0.2867, -0.2241, 0.9993, -0.0219, 0.8082, 0.5961, -0.3935, -0.0162, -0.0273, 0.9992] state[eef_state]: left_x=0.3791 left_y=-0.0632 left_z=0.0535 left_yaw=0.0386 left_pitch=-0.1485 left_roll=0.0469 left_gripper=0.9993 right_x=0.2928 right_y=0.0 right_z=0.1697 right_yaw=0.003 right_pitch=-0.0351 right_roll=0.0019 right_gripper=0.9992 state[joint_eff]: [-0.3761, -6.4479, 6.0376, 1.7314, -0.0952, 0.1636, -0.0171, -0.0342, -1.5111, 7.3778, 1.7411, -0.0415, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.05, "left_z": 0.02}, "note": "Descent stalled at 5 cm, probably a fingertip on the rim. Shifting 1.5 cm further out (+y) and trying the descent again."})
tool
executing move_to over 3 steps (0.3s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe arm is not responding to lateral/down moves, likely stuck in contact on the rim. Lifting to free it.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.305, 1.5318, 0.6136, 0.1627, -0.2871, -0.2241, 0.9993, -0.0216, 0.8082, 0.5957, -0.3931, -0.0166, -0.0273, 0.9992] state[eef_state]: left_x=0.3791 left_y=-0.0632 left_z=0.0535 left_yaw=0.0389 left_pitch=-0.1484 left_roll=0.0471 left_gripper=0.9993 right_x=0.2928 right_y=0.0002 right_z=0.1696 right_yaw=0.0037 right_pitch=-0.035 right_roll=0.0021 right_gripper=0.9992 state[joint_eff]: [-0.2393, -6.3385, 6.0239, 1.7656, -0.1441, 0.1245, -0.0122, -0.1573, -1.1419, 7.0769, 1.7265, -0.0366, -0.0562, -0.0171] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.1}, "note": "The arm is not responding to lateral/down moves, likely stuck in contact on the rim. Lifting to free it."})
tool
executing move_to over 3 steps (0.3s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteLeft arm has frozen at z≈0.054 for three moves. Trying a move back and up toward a comfortable pose to free the IK.
move_to
left_x0.3200left_y-0.0600left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.305, 1.5318, 0.6136, 0.1627, -0.2871, -0.2241, 0.9993, -0.0219, 0.8101, 0.5953, -0.3931, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.3791 left_y=-0.0632 left_z=0.0535 left_yaw=0.0389 left_pitch=-0.1484 left_roll=0.0471 left_gripper=0.9993 right_x=0.2929 right_y=0.0001 right_z=0.1689 right_yaw=0.0031 right_pitch=-0.0373 right_roll=0.0025 right_gripper=0.9992 state[joint_eff]: [-0.3761, -6.5026, 6.1607, 1.7558, -0.1343, 0.149, -0.0122, -0.0615, -1.4838, 7.0632, 1.746, -0.0464, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.06, "left_z": 0.15}, "note": "Left arm has frozen at z\u22480.054 for three moves. Trying a move back and up toward a comfortable pose to free the IK."})
tool
executing move_to over 7 steps (0.7s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteArm is free again; wrist view shows the white bowl right of and ahead of the jaws. Returning over the bowl's left wall at a moderate height before a stepwise descent.
move_to
left_x0.4000left_y-0.0800left_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3721, 1.1309, 0.6872, -0.3035, -0.3191, -0.2665, 0.9993, -0.0216, 0.8146, 0.5953, -0.3962, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.3281 left_y=-0.0647 left_z=0.1384 left_yaw=0.0207 left_pitch=-0.1316 left_roll=0.0322 left_gripper=0.9993 right_x=0.2927 right_y=0.0002 right_z=0.167 right_yaw=0.0035 right_pitch=-0.045 right_roll=0.0027 right_gripper=0.9992 state[joint_eff]: [-0.2256, -4.3556, 9.9214, 1.6093, -0.2808, 0.0024, -0.0122, -0.0205, -1.5111, 7.0359, 1.7949, -0.0513, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.08, "left_z": 0.08}, "note": "Arm is free again; wrist view shows the white bowl right of and ahead of the jaws. Returning over the bowl's left wall at a moderate height before a stepwise descent."})
tool
executing move_to over 6 steps (0.6s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteJaws now straddle the bowl's left wall (outer jaw on the table side, inner jaw over the bowl). The arm seems to hit a shoulder limit when far out, so descending while pulling back slightly.
move_to
left_x0.3600left_y-0.0750left_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3382, 1.5249, 0.7055, -0.0288, -0.3019, -0.2577, 0.9993, -0.0219, 0.8173, 0.5953, -0.403, -0.0166, -0.0273, 0.9992] state[eef_state]: left_x=0.3742 left_y=-0.0721 left_z=0.0587 left_yaw=0.0427 left_pitch=-0.2301 left_roll=0.0659 left_gripper=0.9993 right_x=0.2918 right_y=0.0001 right_z=0.1649 right_yaw=0.0033 right_pitch=-0.0545 right_roll=0.0026 right_gripper=0.9992 state[joint_eff]: [0.5949, -6.8718, 8.9504, 1.8535, 0.0269, 0.1685, -0.0122, -0.1846, -1.5795, 7.0085, 1.7949, -0.0806, -0.0757, -0.0122] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.075, "left_z": 0.02}, "note": "Jaws now straddle the bowl's left wall (outer jaw on the table side, inner jaw over the bowl). The arm seems to hit a shoulder limit when far out, so descending while pulling back slightly."})
tool
executing move_to over 3 steps (0.3s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteJaws are at 2.5 cm height straddling the white bowl's left wall. Closing to pinch the wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3626, 1.5784, 0.6014, 0.1116, -0.3111, -0.2714, 0.9993, -0.0216, 0.8173, 0.5945, -0.4126, -0.0166, -0.0273, 0.9992] state[eef_state]: left_x=0.3602 left_y=-0.075 left_z=0.0253 left_yaw=0.035 left_pitch=-0.2428 left_roll=0.0695 left_gripper=0.9993 right_x=0.2903 right_y=0.0003 right_z=0.1627 right_yaw=0.0037 right_pitch=-0.0648 right_roll=0.0029 right_gripper=0.9992 state[joint_eff]: [-0.253, -5.6, 5.9829, 1.7265, -0.2955, -0.0757, -0.0122, -0.0479, -1.3607, 7.0359, 1.7753, -0.0611, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are at 2.5 cm height straddling the white bowl's left wall. Closing to pinch the wall."})
tool
executing move_to over 10 steps (1.0s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteGripper settled at 0.10 (~1 cm), so it is holding the white bowl's wall. Lifting to carry height.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3695, 1.5856, 0.5835, 0.1902, -0.3077, -0.3, 0.1013, -0.0216, 0.8173, 0.5945, -0.4152, -0.0166, -0.0273, 0.9992] state[eef_state]: left_x=0.3661 left_y=-0.0806 left_z=0.029 left_yaw=0.0365 left_pitch=-0.1938 left_roll=0.025 left_gripper=0.1013 right_x=0.2899 right_y=0.0003 right_z=0.1621 right_yaw=0.0037 right_pitch=-0.0675 right_roll=0.0029 right_gripper=0.9992 state[joint_eff]: [-0.0342, -5.0256, 5.2034, 1.2283, -0.3199, 0.1587, 0.4469, -0.0615, -1.3744, 6.9812, 1.6777, -0.0611, -0.0757, -0.0122] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17}, "note": "Gripper settled at 0.10 (~1 cm), so it is holding the white bowl's wall. Lifting to carry height."})
tool
executing move_to over 10 steps (1.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe overhead view shows the white bowl still on the table, so the pinch slipped. Re-opening and repositioning over the bowl's left wall for a lower grasp.
move_to
left_gripper1.0000left_x0.3700left_y-0.0750left_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3695, 1.3499, 0.9379, -0.4129, -0.3073, -0.3073, 0.1002, -0.0219, 0.8181, 0.5945, -0.4152, -0.0166, -0.0273, 0.9992] state[eef_state]: left_x=0.368 left_y=-0.0814 left_z=0.1514 left_yaw=0.0412 left_pitch=-0.2056 left_roll=0.0247 left_gripper=0.1002 right_x=0.29 right_y=0.0002 right_z=0.1619 right_yaw=0.0034 right_pitch=-0.0682 right_roll=0.0029 right_gripper=0.9992 state[joint_eff]: [-0.212, -7.3504, 9.1419, 1.3846, -0.2222, 0.0415, -0.1245, -0.0479, -1.4154, 6.9812, 1.6484, -0.0659, -0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.37, "left_y": -0.075, "left_z": 0.08}, "note": "The overhead view shows the white bowl still on the table, so the pinch slipped. Re-opening and repositioning over the bowl's left wall for a lower grasp."})
tool
executing move_to over 9 steps (0.9s)
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 noteJaws straddle the white bowl's left wall (inner jaw over the bowl interior). Descending near table level for a deeper pinch.
move_to
left_z0.0050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3485, 1.441, 0.7265, -0.144, -0.2985, -0.2962, 0.9949, -0.0219, 0.8185, 0.5945, -0.4156, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.3634 left_y=-0.0729 left_z=0.0779 left_yaw=0.0518 left_pitch=-0.2393 left_roll=0.0401 left_gripper=0.9949 right_x=0.2899 right_y=0.0002 right_z=0.1618 right_yaw=0.0032 right_pitch=-0.069 right_roll=0.0033 right_gripper=0.9992 state[joint_eff]: [0.5812, -5.1761, 6.2427, 1.7314, -0.0757, 0.0708, -0.0855, -0.0068, -1.3744, 7.0222, 1.6874, -0.0757, -0.0317, -0.0122] 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_z": 0.005}, "note": "Jaws straddle the white bowl's left wall (inner jaw over the bowl interior). Descending near table level for a deeper pinch."})
tool
executing move_to over 5 steps (0.5s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteJaws are at table level with the bowl wall between them. Closing to pinch it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3489, 1.6295, 0.5877, 0.1452, -0.2955, -0.3073, 0.9955, -0.0219, 0.8185, 0.5945, -0.416, -0.0166, -0.0273, 0.9992] state[eef_state]: left_x=0.3573 left_y=-0.0714 left_z=0.0077 left_yaw=0.0591 left_pitch=-0.275 left_roll=0.0456 left_gripper=0.9955 right_x=0.2899 right_y=0.0002 right_z=0.1617 right_yaw=0.0034 right_pitch=-0.0694 right_roll=0.003 right_gripper=0.9992 state[joint_eff]: [-0.0479, -4.5607, 3.9316, 1.1795, -0.1685, 0.0855, 0.0464, -0.2393, -1.2923, 7.0085, 1.6679, -0.0855, -0.0464, -0.0171] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are at table level with the bowl wall between them. Closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteGripper settled at 0.10 again; lifting 6 cm to check in the overhead view whether the bowl comes with it.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3508, 1.6154, 0.5945, 0.1989, -0.2848, -0.3302, 0.1044, -0.0219, 0.8185, 0.5945, -0.4164, -0.0166, -0.0273, 0.9992] state[eef_state]: left_x=0.3697 left_y=-0.0786 left_z=0.0229 left_yaw=0.0538 left_pitch=-0.2091 left_roll=-0.0087 left_gripper=0.1044 right_x=0.2898 right_y=0.0002 right_z=0.1616 right_yaw=0.0034 right_pitch=-0.0697 right_roll=0.003 right_gripper=0.9992 state[joint_eff]: [-0.0752, -5.3265, 4.8752, 0.9792, -0.2808, 0.188, 0.5055, -0.2256, -1.3744, 6.9812, 1.6777, -0.0464, -0.0611, -0.0122] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.08}, "note": "Gripper settled at 0.10 again; lifting 6 cm to check in the overhead view whether the bowl comes with it."})
tool
executing move_to over 4 steps (0.4s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe white bowl rose with the jaws (it looks tilted in the overhead view and stays fixed in the wrist view), so the grasp holds. Lifting to carry height.
move_to
left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3508, 1.4822, 0.6796, -0.0219, -0.2844, -0.3382, 0.1038, -0.0219, 0.823, 0.5945, -0.4221, -0.0166, -0.0273, 0.9992] state[eef_state]: left_x=0.3683 left_y=-0.0782 left_z=0.0646 left_yaw=0.0581 left_pitch=-0.2117 left_roll=-0.0137 left_gripper=0.1038 right_x=0.2892 right_y=0.0002 right_z=0.1592 right_yaw=0.0034 right_pitch=-0.08 right_roll=0.0032 right_gripper=0.9992 state[joint_eff]: [-0.212, -7.2274, 8.3897, 1.6288, -0.1636, 0.0122, -0.0708, -0.1026, -1.7573, 6.9949, 1.7509, -0.0513, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.18}, "note": "The white bowl rose with the jaws (it looks tilted in the overhead view and stays fixed in the wrist view), so the grasp holds. Lifting to carry height."})
tool
executing move_to over 8 steps (0.8s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
Bowl held. Moving over the middle bowl.
agent noteCarrying the white bowl at ~16 cm; moving right so its centre lands over the middle (lavender) bowl, which sits about 16 cm to the right.
move_to
left_x0.3700left_y-0.2350left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3508, 1.359, 0.9928, -0.4839, -0.284, -0.3412, 0.1037, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992] state[eef_state]: left_x=0.3685 left_y=-0.0783 left_z=0.1585 left_yaw=0.0618 left_pitch=-0.2353 left_roll=-0.0057 left_gripper=0.1037 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992 state[joint_eff]: [-0.1983, -7.3094, 9.5248, 1.6337, -0.1685, -0.0171, -0.0171, -0.0479, -1.4017, 7.1453, 1.663, -0.0806, -0.0757, -0.0122] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
Bowl held. Moving over the middle bowl.
move_to({"targets": {"left_x": 0.37, "left_y": -0.235, "left_z": 0.18}, "note": "Carrying the white bowl at ~16 cm; moving right so its centre lands over the middle (lavender) bowl, which sits about 16 cm to the right."})
tool
executing move_to over 14 steps (1.4s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe wrist view shows the white bowl still sitting on the table behind me, so the grasp was empty (this gripper seems to read ~0.10 when closed on nothing). The fingertips were probably behind the bowl's widest point, so I'll try the lavender bowl's left wall ~4 cm further forward.
move_to
left_gripper1.0000left_x0.4100left_y-0.2700left_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7753, 1.7, 1.4006, -0.7219, -0.5167, -0.7044, 0.1037, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992] state[eef_state]: left_x=0.3654 left_y=-0.2309 left_z=0.1682 left_yaw=0.0444 left_pitch=-0.265 left_roll=-0.001 left_gripper=0.1037 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992 state[joint_eff]: [-0.4034, -7.9248, 9.2103, 1.1013, -0.4664, 0.0269, -0.0171, -0.0205, -1.388, 6.9675, 1.6825, -0.0317, -0.0855, -0.0122] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.41, "left_y": -0.27, "left_z": 0.08}, "note": "The wrist view shows the white bowl still sitting on the table behind me, so the grasp was empty (this gripper seems to read ~0.10 when closed on nothing). The fingertips were probably behind the bowl's widest point, so I'll try the lavender bowl's left wall ~4 cm further forward."})
tool
executing move_to over 9 steps (0.9s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe lavender bowl's left wall runs between the jaws in the wrist view, with its widest point a little ahead. Nudging forward/right and descending to table level to pinch the wall.
move_to
left_x0.4200left_y-0.2750left_z0.0100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7742, 1.9701, 1.3865, -0.4885, -0.5102, -0.712, 0.9949, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992] state[eef_state]: left_x=0.397 left_y=-0.2625 left_z=0.0735 left_yaw=0.0564 left_pitch=-0.3034 left_roll=0.0286 left_gripper=0.9949 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992 state[joint_eff]: [0.4718, -10.0855, 8.1983, 1.37, -0.2515, 0.0952, -0.1587, -0.1026, -1.2239, 6.9949, 1.7363, -0.0757, -0.0806, -0.0171] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.275, "left_z": 0.01}, "note": "The lavender bowl's left wall runs between the jaws in the wrist view, with its widest point a little ahead. Nudging forward/right and descending to table level to pinch the wall."})
tool
executing move_to over 5 steps (0.5s)
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 noteAt table level with the lavender bowl's wall between the jaws. Closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7628, 2.1376, 1.3865, -0.3492, -0.503, -0.7189, 0.9954, -0.0219, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992] state[eef_state]: left_x=0.411 left_y=-0.27 left_z=0.0111 left_yaw=0.0738 left_pitch=-0.327 left_roll=0.0415 left_gripper=0.9954 right_x=0.2891 right_y=0.0002 right_z=0.1592 right_yaw=0.0034 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992 state[joint_eff]: [0.5812, -9.9214, 6.7077, 0.8425, -0.1929, 0.3541, 0.0464, -0.0068, -1.388, 6.9675, 1.6532, -0.0855, -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_gripper": 0.0}, "note": "At table level with the lavender bowl's wall between the jaws. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe jaws closed just outside the lavender bowl's wall (empty, reading 0.10). Opening and shifting ~2 cm right so the wall is between the jaws.
move_to
left_gripper1.0000left_y-0.2950left_x0.4200left_z0.0100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7589, 2.1357, 1.4017, -0.2729, -0.4965, -0.7227, 0.1041, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992] state[eef_state]: left_x=0.426 left_y=-0.2831 left_z=0.0251 left_yaw=0.0543 left_pitch=-0.2676 left_roll=-0.0369 left_gripper=0.1041 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992 state[joint_eff]: [0.1162, -9.7846, 5.641, 0.9548, -0.359, 0.2466, 0.4811, -0.0068, -1.3744, 6.9675, 1.6825, -0.0611, -0.0757, -0.0122] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_y": -0.295, "left_x": 0.42, "left_z": 0.01}, "note": "The jaws closed just outside the lavender bowl's wall (empty, reading 0.10). Opening and shifting ~2 cm right so the wall is between the jaws."})
tool
executing move_to over 9 steps (0.9s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteLavender bowl wall now clearly between the open jaws at table level. Closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7822, 2.1536, 1.4014, -0.2714, -0.4965, -0.7532, 0.8946, -0.0216, 0.8234, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992] state[eef_state]: left_x=0.4182 left_y=-0.2919 left_z=0.0165 left_yaw=0.0516 left_pitch=-0.2795 left_roll=-0.0451 left_gripper=0.8946 right_x=0.2892 right_y=0.0003 right_z=0.1591 right_yaw=0.0038 right_pitch=-0.0808 right_roll=0.0033 right_gripper=0.9992 state[joint_eff]: [-0.8, -9.1556, 6.5299, 1.4042, -0.4127, -0.0415, -0.0708, -0.1709, -1.3744, 7.0359, 1.6728, -0.0122, -0.0611, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Lavender bowl wall now clearly between the open jaws at table level. Closing."})
tool
executing move_to over 9 steps (0.9s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteEmpty close again (0.03): the wall under the fingertips is further right than it looks, since the wrist camera looks ahead of the jaws. Opening and shifting 3 cm right.
move_to
left_gripper1.0000left_y-0.3250left_x0.4150left_z0.0150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7856, 2.1448, 1.4017, -0.2428, -0.4957, -0.7738, 0.0305, -0.0219, 0.823, 0.5945, -0.4225, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.4217 left_y=-0.298 left_z=0.0242 left_yaw=0.0515 left_pitch=-0.2553 left_roll=-0.0889 left_gripper=0.0305 right_x=0.2891 right_y=0.0002 right_z=0.1592 right_yaw=0.0032 right_pitch=-0.0804 right_roll=0.0036 right_gripper=0.9992 state[joint_eff]: [-0.0615, -10.865, 5.9556, 0.9744, -0.2466, 0.2759, 0.5739, -0.0889, -1.2923, 6.9675, 1.707, -0.0757, -0.0171, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_y": -0.325, "left_x": 0.415, "left_z": 0.015}, "note": "Empty close again (0.03): the wall under the fingertips is further right than it looks, since the wrist camera looks ahead of the jaws. Opening and shifting 3 cm right."})
tool
executing move_to over 10 steps (1.0s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe lavender wall now sits well inside the jaw span, with the inner jaw over the bowl's interior. Closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8333, 2.199, 1.4517, -0.2802, -0.5125, -0.8303, 0.9944, -0.0216, 0.8234, 0.5945, -0.4225, -0.0162, -0.0273, 0.9992] state[eef_state]: left_x=0.4107 left_y=-0.3179 left_z=0.0115 left_yaw=0.0553 left_pitch=-0.2739 left_roll=-0.0859 left_gripper=0.9944 right_x=0.2892 right_y=0.0002 right_z=0.1591 right_yaw=0.0034 right_pitch=-0.0808 right_roll=0.003 right_gripper=0.9992 state[joint_eff]: [-0.6359, -10.6735, 8.4855, 1.2283, -0.3736, 0.1001, -0.0415, -0.0479, -1.4154, 6.9812, 1.7021, -0.0611, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The lavender wall now sits well inside the jaw span, with the inner jaw over the bowl's interior. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
assistant
agent noteGripper reads 0.039, which could be a thin plastic wall rather than empty. Lifting 5 cm to test whether the lavender bowl comes along.
move_to
left_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8364, 2.1929, 1.4563, -0.252, -0.5137, -0.8528, 0.0388, -0.0216, 0.8242, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992] state[eef_state]: left_x=0.4147 left_y=-0.3245 left_z=0.0195 left_yaw=0.0575 left_pitch=-0.2499 left_roll=-0.1323 left_gripper=0.0388 right_x=0.2892 right_y=0.0003 right_z=0.1589 right_yaw=0.0038 right_pitch=-0.0816 right_roll=0.0033 right_gripper=0.9992 state[joint_eff]: [-0.1436, -11.1385, 5.6684, 0.9988, -0.2662, 0.1929, 0.7057, -0.0479, -1.1966, 6.9949, 1.6728, -0.0806, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.07}, "note": "Gripper reads 0.039, which could be a thin plastic wall rather than empty. Lifting 5 cm to test whether the lavender bowl comes along."})
tool
executing move_to over 4 steps (0.4s)
step 186
assistant
agent noteThe lift stalled at 3 cm with high shoulder effort, since the arm is in an awkward far-reach pose. Lifting while pulling back toward the base so the arm can move freely.
move_to
left_x0.3400left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.836, 2.1735, 1.5093, -0.3767, -0.5106, -0.8616, 0.053, -0.0216, 0.8249, 0.5945, -0.4229, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.4106 left_y=-0.3202 left_z=0.0324 left_yaw=0.0719 left_pitch=-0.2849 left_roll=-0.0976 left_gripper=0.053 right_x=0.2892 right_y=0.0003 right_z=0.1586 right_yaw=0.0036 right_pitch=-0.0827 right_roll=0.0036 right_gripper=0.9992 state[joint_eff]: [-0.1573, -16.1846, 8.9641, 1.326, -0.3394, 0.0317, 1.033, -0.0068, -1.4701, 7.1316, 1.6825, -0.0708, -0.0513, -0.0122] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_z": 0.15}, "note": "The lift stalled at 3 cm with high shoulder effort, since the arm is in an awkward far-reach pose. Lifting while pulling back toward the base so the arm can move freely."})
tool
executing move_to over 8 steps (0.8s)
step 194
assistant
agent noteThe lavender bowl is now held (it vanished from its table spot in the right wrist view). Carrying it left over the white bowl to nest it there, since the pink bowl is out of the left arm's reach.
move_to
left_x0.4000left_y-0.1300left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9585, 1.9556, 1.5719, -0.7391, -0.5472, -0.9745, 0.0532, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992] state[eef_state]: left_x=0.3451 left_y=-0.3251 left_z=0.1216 left_yaw=0.0566 left_pitch=-0.3102 left_roll=-0.0843 left_gripper=0.0532 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0038 right_pitch=-0.0823 right_roll=0.0033 right_gripper=0.9992 state[joint_eff]: [-0.6769, -13.2444, 8.8137, 0.9548, -0.4664, -0.0904, 0.8962, -0.0068, -1.4017, 6.9675, 1.6728, -0.0464, -0.0806, -0.0122] 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
move_to({"targets": {"left_x": 0.4, "left_y": -0.13, "left_z": 0.18}, "note": "The lavender bowl is now held (it vanished from its table spot in the right wrist view). Carrying it left over the white bowl to nest it there, since the pink bowl is out of the left arm's reach."})
tool
executing move_to over 18 steps (1.8s)
step 212
assistant
agent noteThe white bowl shows up behind and left of the jaws in the wrist view, and the carried lavender bowl hangs to the right of the grasp. Shifting back and left so the lavender bowl sits centred over the white one.
move_to
left_x0.3600left_y-0.0750left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4488, 1.6058, 1.3197, -0.6758, -0.2905, -0.5388, 0.0543, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992] state[eef_state]: left_x=0.4002 left_y=-0.1326 left_z=0.1681 left_yaw=0.0954 left_pitch=-0.3359 left_roll=-0.0824 left_gripper=0.0543 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=0.0034 right_pitch=-0.0823 right_roll=0.0033 right_gripper=0.9992 state[joint_eff]: [0.2667, -9.7162, 6.3795, 1.3358, -0.1734, 0.1832, 0.9695, -0.0479, -1.3744, 7.0085, 1.6337, -0.0513, -0.0659, -0.0122] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.075, "left_z": 0.16}, "note": "The white bowl shows up behind and left of the jaws in the wrist view, and the carried lavender bowl hangs to the right of the grasp. Shifting back and left so the lavender bowl sits centred over the white one."})
tool
executing move_to over 6 steps (0.6s)
step 218
assistant
agent noteOverhead view shows the carried lavender bowl lined up side-to-side with the white bowl, and the white rim sits just under the jaws in the wrist view. Lowering the lavender bowl into the white one.
move_to
left_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3271, 1.4105, 1.0836, -0.6506, -0.2314, -0.4599, 0.0543, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.3593 left_y=-0.0754 left_z=0.1502 left_yaw=0.1253 left_pitch=-0.3702 left_roll=-0.0693 left_gripper=0.0543 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0036 right_pitch=-0.0823 right_roll=0.0036 right_gripper=0.9992 state[joint_eff]: [0.2803, -6.8171, 7.1179, 1.5214, 0.0122, 0.0611, 0.4322, -0.1709, -1.3744, 7.159, 1.6435, -0.0659, -0.022, -0.0122] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.06}, "note": "Overhead view shows the carried lavender bowl lined up side-to-side with the white bowl, and the white rim sits just under the jaws in the wrist view. Lowering the lavender bowl into the white one."})
tool
executing move_to over 6 steps (0.6s)
step 224
assistant
agent noteThe lavender bowl has come down right where the white bowl was, and the white bowl is no longer visible, so they look nested. Releasing.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3267, 1.4975, 0.8135, -0.3622, -0.2253, -0.4606, 0.057, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.3451 left_y=-0.0715 left_z=0.0574 left_yaw=0.1338 left_pitch=-0.4341 left_roll=-0.042 left_gripper=0.057 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0036 right_pitch=-0.0823 right_roll=0.0036 right_gripper=0.9992 state[joint_eff]: [-0.0479, -5.4496, 6.3111, 1.3455, -0.1929, -0.0415, 0.696, -0.0615, -1.3744, 6.9949, 1.6337, -0.0562, -0.0269, -0.0122] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The lavender bowl has come down right where the white bowl was, and the white bowl is no longer visible, so they look nested. Releasing."})
tool
executing move_to over 10 steps (1.0s)
step 234
assistant
agent noteThe lavender bowl is released and sits nested in the white bowl. Lifting the left arm clear so the overhead camera can confirm the stack.
move_to
left_z0.1800left_x0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3264, 1.5166, 0.7982, -0.3622, -0.2241, -0.4686, 0.9952, -0.0216, 0.8249, 0.5945, -0.4229, -0.0166, -0.0273, 0.9992] state[eef_state]: left_x=0.3393 left_y=-0.0696 left_z=0.0459 left_yaw=0.1454 left_pitch=-0.4654 left_roll=-0.0305 left_gripper=0.9952 right_x=0.2892 right_y=0.0003 right_z=0.1586 right_yaw=0.0038 right_pitch=-0.0827 right_roll=0.0033 right_gripper=0.9992 state[joint_eff]: [-0.2393, -7.5282, 7.1726, 1.1453, -0.1832, 0.0269, -0.1538, -0.212, -1.388, 6.9949, 1.6337, -0.0562, -0.0855, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.18, "left_x": 0.3}, "note": "The lavender bowl is released and sits nested in the white bowl. Lifting the left arm clear so the overhead camera can confirm the stack."})
tool
executing move_to over 9 steps (0.9s)
step 243
assistant
agent noteI only partly finished: two of the three bowls are stacked. The left arm picked up the lavender bowl by pinching its wall and nested it inside the white bowl, and the overhead camera confirms the stack. The pink bowl is still on the right side of the table. The right arm can't reach the stack's current spot, and the left arm can't reach the pink bowl. Finishing would have meant moving the stack toward the middle of the table first, and I had too few calls left to do that and then add the pink bowl.
done
hindsight- Don't trust the overhead camera for bowl positions. The bowls were about 4–5 cm further toward the arm's right (−y) than I estimated. The lavender bowl's left wall turned out to be at left_y≈−0.32 and the white bowl's centre at about (0.35, −0.12) in the left frame. Each arm's reach box only crosses the table's centre line by about 7 cm (left_y≥−0.4, right_y≤0.4, spacing 0.65). So bowls sitting near the two outer thirds can't all be reached by one arm. Plan the stacking spot near the centre line (left_y≈−0.32, right_y≈+0.33) from the start, and bring every bowl there. - Bowl grasp that worked: gripper fully open, jaws straddling the bowl's side wall at its widest point on the arm's-left side, descend to z≈0.01, close. The wall is thin: a successful pinch reads only ≈0.04–0.05, so a low reading does not mean an empty close. Confirm by lifting instead. Closes that read 0.10 were grabs that slipped. - In the wrist camera the wall looks right between the jaws, but under the fingertips it is actually further right, because the camera looks ahead of the jaws. Put the wall visibly left of centre (image x≈80) before you close. - At x≈0.41 and low z the left arm is awkward: shoulder joint above 2 rad, lifts stall, and moves get held. At x≈0.38, z≈0.05 it froze completely until I commanded a bigger move back and up. To recover, raise z and reduce x together. - The target positions sag 1–3 cm, and the approver slows the gripper and small moves (delta clamp).
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3782, 1.2934, 1.1084, -0.897, -0.2363, -0.5171, 0.9955, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992] state[eef_state]: left_x=0.3075 left_y=-0.0738 left_z=0.1664 left_yaw=0.1336 left_pitch=-0.4624 left_roll=-0.0468 left_gripper=0.9955 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=0.0034 right_pitch=-0.0823 right_roll=0.0033 right_gripper=0.9992 state[joint_eff]: [-0.4855, -5.6, 8.4034, 1.0379, -0.3443, 0.0024, 0.022, -0.1983, -1.4154, 6.9675, 1.6435, -0.0611, -0.0513, -0.0122] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
done({"summary": "I only partly finished: two of the three bowls are stacked. The left arm picked up the lavender bowl by pinching its wall and nested it inside the white bowl, and the overhead camera confirms the stack. The pink bowl is still on the right side of the table. The right arm can't reach the stack's current spot, and the left arm can't reach the pink bowl. Finishing would have meant moving the stack toward the middle of the table first, and I had too few calls left to do that and then add the pink bowl.", "hindsight": "- Don't trust the overhead camera for bowl positions. The bowls were about 4\u20135 cm further toward the arm's right (\u2212y) than I estimated. The lavender bowl's left wall turned out to be at left_y\u2248\u22120.32 and the white bowl's centre at about (0.35, \u22120.12) in the left frame. Each arm's reach box only crosses the table's centre line by about 7 cm (left_y\u2265\u22120.4, right_y\u22640.4, spacing 0.65). So bowls sitting near the two outer thirds can't all be reached by one arm. Plan the stacking spot near the centre line (left_y\u2248\u22120.32, right_y\u2248+0.33) from the start, and bring every bowl there.\n- Bowl grasp that worked: gripper fully open, jaws straddling the bowl's side wall at its widest point on the arm's-left side, descend to z\u22480.01, close. The wall is thin: a successful pinch reads only \u22480.04\u20130.05, so a low reading does not mean an empty close. Confirm by lifting instead. Closes that read 0.10 were grabs that slipped.\n- In the wrist camera the wall looks right between the jaws, but under the fingertips it is actually further right, because the camera looks ahead of the jaws. Put the wall visibly left of centre (image x\u224880) before you close.\n- At x\u22480.41 and low z the left arm is awkward: shoulder joint above 2 rad, lifts stall, and moves get held. At x\u22480.38, z\u22480.05 it froze completely until I commanded a bigger move back and up. To recover, raise z and reduce x together.\n- The target positions sag 1\u20133 cm, and the approver slows the gripper and small moves (delta clamp)."})
tool
done: I only partly finished: two of the three bowls are stacked. The left arm picked up the lavender bowl by pinching its wall and nested it inside the white bowl, and the overhead camera confirms the stack. The pink bowl is still on the right side of the table. The right arm can't reach the stack's current spot, and the left arm can't reach the pink bowl. Finishing would have meant moving the stack toward the middle of the table first, and I had too few calls left to do that and then add the pink bowl.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 14.9 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6044, -0.3798, -0.0223, -0.041, 0.9993, -0.0219, 0.7933, 0.6022, -0.3794, -0.0132, -0.0265, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2946 right_y=-0.0005 right_z=0.1794 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6769, -1.5932, 10.1812, 1.8046, -0.0464, 0.2466, -0.0806, -0.4034, -1.388, 10.2222, 1.9072, -0.0952, 0.149, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6feb3d84e20b7a94f640db9a97a65dac32023cef0e4e5de1bfb6bacb46ac9e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:339e25f2ef7342c0fe2b026f2cb9f766ae064d23207aa6499430c5adfe2ac9b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0439bfc7f7b27cfa6e5e80e65cce4fbf6ee425c268ecbae5d2d8a75fffa04b0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 7.252 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6044, -0.3798, -0.0223, -0.041, 0.9993, -0.0219, 0.7933, 0.6022, -0.3794, -0.0132, -0.0265, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2946 right_y=-0.0005 right_z=0.1794 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6769, -1.5932, 10.1812, 1.8046, -0.0464, 0.2466, -0.0806, -0.4034, -1.388, 10.2222, 1.9072, -0.0952, 0.149, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6feb3d84e20b7a94f640db9a97a65dac32023cef0e4e5de1bfb6bacb46ac9e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:339e25f2ef7342c0fe2b026f2cb9f766ae064d23207aa6499430c5adfe2ac9b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0439bfc7f7b27cfa6e5e80e65cce4fbf6ee425c268ecbae5d2d8a75fffa04b0e",
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  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mhxx5cCJkDTTAsvQWxrgsf",
      "input": {
        "note": "Three bowls sit in a row across the table (white-ish left, blue middle, pink right). Moving the left arm over my estimate of the left bowl to check alignment in the wrist camera.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.15,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01Mhxx5cCJkDTTAsvQWxrgsf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6971, 1.2575, 0.6987, -0.2012, -0.5499, -0.4427, 0.9993, -0.0219, 0.8005, 0.6003, -0.3897, -0.0162, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3209 left_y=-0.1436 left_z=0.1322 left_yaw=-0.0264 left_pitch=-0.0582 left_roll=0.0361 left_gripper=0.9993 right_x=0.2934 right_y=0.0 right_z=0.1745 right_yaw=0.003 right_pitch=-0.0194 right_roll=0.0015 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -4.7932, 9.0735, 1.5751, -0.3394, -0.0269, -0.0171, -0.1846, -1.812, 7.2, 1.7949, -0.0024, -0.0611, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76d4a2f4701562de985447cd7071909e5ae0bae645dde68740221994dc8775d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:565386d6e947c7b1c17d8fd27506d7413a618ee3e1236930fc712bab284bb58a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:81d3d91661437b4cc617921564e22f3f843b68d07affc276d1cafdfde1a89051",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 6.069 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6044, -0.3798, -0.0223, -0.041, 0.9993, -0.0219, 0.7933, 0.6022, -0.3794, -0.0132, -0.0265, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2946 right_y=-0.0005 right_z=0.1794 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6769, -1.5932, 10.1812, 1.8046, -0.0464, 0.2466, -0.0806, -0.4034, -1.388, 10.2222, 1.9072, -0.0952, 0.149, -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]: [-0.6971, 1.2575, 0.6987, -0.2012, -0.5499, -0.4427, 0.9993, -0.0219, 0.8005, 0.6003, -0.3897, -0.0162, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3209 left_y=-0.1436 left_z=0.1322 left_yaw=-0.0264 left_pitch=-0.0582 left_roll=0.0361 left_gripper=0.9993 right_x=0.2934 right_y=0.0 right_z=0.1745 right_yaw=0.003 right_pitch=-0.0194 right_roll=0.0015 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -4.7932, 9.0735, 1.5751, -0.3394, -0.0269, -0.0171, -0.1846, -1.812, 7.2, 1.7949, -0.0024, -0.0611, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76d4a2f4701562de985447cd7071909e5ae0bae645dde68740221994dc8775d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:565386d6e947c7b1c17d8fd27506d7413a618ee3e1236930fc712bab284bb58a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81d3d91661437b4cc617921564e22f3f843b68d07affc276d1cafdfde1a89051",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Mm3wLjumWhSJonGWW4sMP",
      "input": {
        "note": "Wrist view shows the white bowl just ahead of the jaws. Moving over its left (+y) rim so the jaws can straddle the bowl wall.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.09,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_011Mm3wLjumWhSJonGWW4sMP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3679, 1.4284, 0.7631, -0.0761, -0.3313, -0.2489, 0.9992, -0.0216, 0.8036, 0.5999, -0.3931, -0.0162, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3833 left_y=-0.0823 left_z=0.1093 left_yaw=0.025 left_pitch=-0.1236 left_roll=0.0513 left_gripper=0.9992 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0032 right_pitch=-0.0263 right_roll=0.002 right_gripper=0.9992\nstate[joint_eff]: [0.3487, -5.9419, 8.9504, 1.8095, -0.0171, 0.3053, -0.0122, -0.0889, -1.4974, 7.0359, 1.746, -0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa79bdd20bb049f006dc7631a4a41ce8b2e6a387f48459be729fe6b67061fac4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f59b37d6f6682ae9c758c562d704eb3ca864ac74bde087a913b3a0d6149c615a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e38e721fbebe5589866eb738eb5e9ac8dd26c8d31151fa16a3e1cf730f58bfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 5.097 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6044, -0.3798, -0.0223, -0.041, 0.9993, -0.0219, 0.7933, 0.6022, -0.3794, -0.0132, -0.0265, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2946 right_y=-0.0005 right_z=0.1794 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6769, -1.5932, 10.1812, 1.8046, -0.0464, 0.2466, -0.0806, -0.4034, -1.388, 10.2222, 1.9072, -0.0952, 0.149, -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]: [-0.6971, 1.2575, 0.6987, -0.2012, -0.5499, -0.4427, 0.9993, -0.0219, 0.8005, 0.6003, -0.3897, -0.0162, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3209 left_y=-0.1436 left_z=0.1322 left_yaw=-0.0264 left_pitch=-0.0582 left_roll=0.0361 left_gripper=0.9993 right_x=0.2934 right_y=0.0 right_z=0.1745 right_yaw=0.003 right_pitch=-0.0194 right_roll=0.0015 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -4.7932, 9.0735, 1.5751, -0.3394, -0.0269, -0.0171, -0.1846, -1.812, 7.2, 1.7949, -0.0024, -0.0611, -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]: [-0.3679, 1.4284, 0.7631, -0.0761, -0.3313, -0.2489, 0.9992, -0.0216, 0.8036, 0.5999, -0.3931, -0.0162, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3833 left_y=-0.0823 left_z=0.1093 left_yaw=0.025 left_pitch=-0.1236 left_roll=0.0513 left_gripper=0.9992 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0032 right_pitch=-0.0263 right_roll=0.002 right_gripper=0.9992\nstate[joint_eff]: [0.3487, -5.9419, 8.9504, 1.8095, -0.0171, 0.3053, -0.0122, -0.0889, -1.4974, 7.0359, 1.746, -0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa79bdd20bb049f006dc7631a4a41ce8b2e6a387f48459be729fe6b67061fac4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f59b37d6f6682ae9c758c562d704eb3ca864ac74bde087a913b3a0d6149c615a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e38e721fbebe5589866eb738eb5e9ac8dd26c8d31151fa16a3e1cf730f58bfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7goKEAgSGAI4AUIIdGhpbmtpbmcSDOcFzF+M3e2QVJ3NARoM/IgWE1lgGriIWpUpIjA8ifw2WtnXrDFKWO+R6hhmnG8oryLam5DJ9VSw2nt42OvQoVDxkHqhHqY7KqOvwp4qiwpp6rwurtpSpOlODJ8fEX3e3fX1zm5qp9knP7PglxbOVOmp71ztwaaSKBm2ViAl/RKSQhanXAwTm3JemIYM9wzjObl2dYa0EKrNbl8v1eqPzcCLdNiOXMwoCx5TFS6L5PUGvJuQd9YuRukQLak6cU5t8GnsiHngUQ+cq62zq2b+RAzM1j7Lm74gHLxMbfUzJv9l3jU4NKBWD2Z3wvnp+4wvO5R02lrsJXXvzLtv9Ktg6ZIXAgICEBQG2jsW9jf7JBbTHLYjZFjwUE0OpLsYiq5Bsq0iKF3O2IWJIjARdDWrI7w0I6KDoEOQ9GzVnE9N+g2fYHxStD8qyijshvq/6Fz9PBmeosF46E6/jB16HvIlmQOhFfyKUAh1oQ+o9RbMq3449rv1ZeGyQVSF/mh578n4joOij0g1ap+2zB29ca4090ufEVdCJUxxPjz4YGBJs88nYkEdqEMeAH2LDJGGmbiRTehI5NtgGNfh7hNiG8zpCDygUC3NgMGJ0RFYGV1sVGU4ixmUafRXWV7R1Ux2chrhWxuDJqS/q6lcrM2QlxzBMdUJDdDWzaQY5TsC2xzRiT1+HyoFctnmQMoioJiwawCPdYfjsptvxL/ZYc77hA7HEVGUnl05Grxb+LwrK0DJTMRJaOKLpR6uM/imKc8bnY0Cly30g+pQauJJFbM8izisYIAkX6CveSc0eu9mk7/UIQGU3CqvGmDuPdL7/wh0iRvm0dbeeHrFihRpFy/vI3fwiGlKA+nbb9Dagsw+lZawnYE4mw+wAnd36o1p7yWvF6L48jFhZWEAOPUm5H9TAyIjL9a3LykO8dDXcvbc0fZB14f7bE7OyNbScN2Za168uF9yocLwn2VJvyOhi15euejQJhFfSAXjfHujZDOfDL0KiXMvCAcadrVoqglGNXqZXg2R97xrmyiK6UKE04gImEmPm1PQy8DeBeNzgCTsvTJzXXLYcX8N0VntBwJlgSCrunxRfDMmHnwF0zA5vkhDQiof4tgW3otg2HgC9Rh14yRC/7cBMDN/ng2mkdBw1mxGmPGP8bZN4XxIHmJdxgOvzmU/yqyHXgtnTv1kmTQ5+JrALjwCeeOQaGAO11ZMlp3pOFZ9L9wvzktXD1oDBBd7e8SgHc8/jb5xZk9qSotr/B+RbST7qGrqKduQwMrzhY5DdlOEnCLBP4UKY0Pph+L15T6nOqdEAFREOgrSFhXqVpPR6/fUTQfcSjKgVTBJCLRUwprtOa9vhBrX0clkPVxTn06Ki3PQt3MMF1oFsDBRyIxb84sEf/OyVkllcKTmbw9uRQd8/5TrWJK2PNF2v2CDy8OSHnvh22ZiZoQDaiUkBYL7CqTCL9eRJze9oCseQM6jtxT+3eBZEndje4LnLtBlSjqQ5qEkR1lzWsU8skSCRn9a+oHVrwh0j5aiy0gH+q6aPRmtIti1OYJUJYftRWPZ8dyurPdEMI9NrkkSmPNa34t+cLFCEqzMVM2UluN/1Hi/gedHqENvfp3oJWCGQL786xN+HOfoi3IH7i2dVADL25/TsuTrnm5VqMGZmHYdWIxH8dCHTwpTEWHTGzG4IlAqr3y9QwWc2RR0rPbV0ld0Y54to1egKLFobLnbNilgSovd7Wl4RM+JxCZ78W0/gL/jzqSPj25NXcRsDoCgaGVK0voZKjjYD6ihQcOFGLpOlvBG2P6RYu3KNNB1GyHWjqe16JEcgHryqtkEqpy8VnrYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RGxBGYhiHeMdntgkbcZKJk",
      "input": {
        "note": "The bowl's left rim sits slightly left of the jaw column in the wrist view; shifting 2 cm left and descending so the jaws straddle the wall.",
        "targets": {
          "left_y": -0.065,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RGxBGYhiHeMdntgkbcZKJk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3138, 1.5162, 0.6285, 0.0914, -0.2985, -0.2237, 0.9993, -0.0216, 0.8036, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3728 left_y=-0.0626 left_z=0.0528 left_yaw=0.0417 left_pitch=-0.1841 left_roll=0.0692 left_gripper=0.9993 right_x=0.2931 right_y=0.0002 right_z=0.1728 right_yaw=0.0035 right_pitch=-0.0259 right_roll=0.0022 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -5.9556, 6.1607, 2.0342, -0.0513, 0.1538, -0.0073, -0.1026, -1.2923, 7.2, 1.7265, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96fd69b82a20808049568e780802354a535ba980b9ad827ceb8e7a11079fea2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ae5202a5ad0882e614acc0432eb1ae07315c383eb490fd286dd311c1966daad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2bb93e280e8f65a90a3ab9bc523654b292baecd5f07304dc4fcf47a908dde63f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 6.629 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]: [-0.6971, 1.2575, 0.6987, -0.2012, -0.5499, -0.4427, 0.9993, -0.0219, 0.8005, 0.6003, -0.3897, -0.0162, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3209 left_y=-0.1436 left_z=0.1322 left_yaw=-0.0264 left_pitch=-0.0582 left_roll=0.0361 left_gripper=0.9993 right_x=0.2934 right_y=0.0 right_z=0.1745 right_yaw=0.003 right_pitch=-0.0194 right_roll=0.0015 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -4.7932, 9.0735, 1.5751, -0.3394, -0.0269, -0.0171, -0.1846, -1.812, 7.2, 1.7949, -0.0024, -0.0611, -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]: [-0.3679, 1.4284, 0.7631, -0.0761, -0.3313, -0.2489, 0.9992, -0.0216, 0.8036, 0.5999, -0.3931, -0.0162, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3833 left_y=-0.0823 left_z=0.1093 left_yaw=0.025 left_pitch=-0.1236 left_roll=0.0513 left_gripper=0.9992 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0032 right_pitch=-0.0263 right_roll=0.002 right_gripper=0.9992\nstate[joint_eff]: [0.3487, -5.9419, 8.9504, 1.8095, -0.0171, 0.3053, -0.0122, -0.0889, -1.4974, 7.0359, 1.746, -0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3138, 1.5162, 0.6285, 0.0914, -0.2985, -0.2237, 0.9993, -0.0216, 0.8036, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3728 left_y=-0.0626 left_z=0.0528 left_yaw=0.0417 left_pitch=-0.1841 left_roll=0.0692 left_gripper=0.9993 right_x=0.2931 right_y=0.0002 right_z=0.1728 right_yaw=0.0035 right_pitch=-0.0259 right_roll=0.0022 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -5.9556, 6.1607, 2.0342, -0.0513, 0.1538, -0.0073, -0.1026, -1.2923, 7.2, 1.7265, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96fd69b82a20808049568e780802354a535ba980b9ad827ceb8e7a11079fea2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ae5202a5ad0882e614acc0432eb1ae07315c383eb490fd286dd311c1966daad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bb93e280e8f65a90a3ab9bc523654b292baecd5f07304dc4fcf47a908dde63f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQgKEAgSGAI4AUIIdGhpbmtpbmcSDCYWRDyVLoRF9tkMrxoMSIFOQd9ybpuJyysEIjAdHWJk6Z+EtwbjaPzPFMXSYQth8gpugUlTzue1kNK+3F7ogbWDHgiIWV0mgOqEwpoqvgfBXjpFTiawSQQxyN7nEVhPTK5QNuSSJ4Sbt7M0vYj4C8QMcGDaNx6UROEui2PCTBdmfkkEEqKMFOyAfNK/ABIhjLDch1Mnjg88ZcTpON7EXe/igz6OZC7kAlbft5b4CLTFLe0XVOUzTg1ltj42jNirRJk8xz6+9jCgjPUsNlkyySmTRfVRNgULKp9EzlXl+RjfkZgYc2jUbXXKL8ma22YF2PjI/lK1Cz7C9EvNDccQ1rRWrIschmjiACLCj3nFF0BwMNfQBHm+innnxS6im+GD4qgz1WKZuRwoQsqPH28C76SY0z9HAWm1awXxI8YteXty6SdzkpgOood5fzt4zTZ/0835fY/MePg1vgpw0GwfDcn8FLWbMtBSBuLwJXAX3amdf8aWDyI0gnXYp53KRRNpnG+j6/2qVsnWBwxX7yN15AgWEUaqOGV/HgUhYTS1z/IGV8Ah/J8VNpZ+NzuX0tnG/ORJRx8emWq2t+fZ1KqYSAy+Egr71qCAayMtDO948kXAlI6gn357gUYsfIyrFjaSLz0MeOKdA909y6vfFtbvq01a97KO433q05/pHYVaXP/aWtQVJwWTkd/2Db/WOBmTDVXZzoEm9QvRQJDQy+oiJoSyelsfF0mR3itaG+6DFAU9YiTLXU0E7VZWXHC2lmFsnazxC1JbrZtJrEvyb6D370nurcldmRlCegiQ8K2Q6X2iSALzH+9h4/0qEjrVYOVlst1Q6+JQOpHAgKV357rdJEBpZDxutS6/e3+PvaOjhCofdZkWCFpwZLkhZ9RHCvmlw+r8UHSHB6P/j/IZgamEgbg7zUYxxlNKBJ6jFsNidxa64zsWR5nG/v1lNiPRdSuirHpgSaoJ0Rgp8ofnRJFtUEEsMiZvcJB5o09BOM7l2+CkLCsl4jdqBFNX4NDdYgUfOk9nbyTISkf2BsEWv05VHH2AU6vkCkuLJaIBKuoODTD0j7aURJ1RldWwu7wvGhpqVp1BTdQbUD9JMQWFHBvmyWo+oone+czKv4L9X8mxMPyICC69UjU5o6seYxxd8CiO3dd6ezb/Zb6oJpb0uB8RCae/l8ND8dbM0WrGqm6Wjt+qWI7Cy8QrHV7gH7kfJCP5pd4i9xmPLHCTKv5zdRm/AYNdXPHxp/n8JV83PRNAjs4ejlMxhJ2HuzWYpKw+bl4Ff33ha4uAt/YIw1PGme/hoN9UZUMTxS/kahwUrVM+4V/YLMpnzn/OGxaidLu0ILGUz3Hp2dWsDG28x65Y9LBbSLDWDJPLhrdN6eUeZdIZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N2E7jXBheNt6ni4KVPxbYS",
      "input": {
        "note": "The bowl's left wall now runs through the jaw column; descending so the jaws straddle the wall before closing.",
        "targets": {
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01N2E7jXBheNt6ni4KVPxbYS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.305, 1.5318, 0.6136, 0.1627, -0.2867, -0.2241, 0.9993, -0.0219, 0.8082, 0.5961, -0.3935, -0.0162, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3791 left_y=-0.0632 left_z=0.0535 left_yaw=0.0386 left_pitch=-0.1485 left_roll=0.0469 left_gripper=0.9993 right_x=0.2928 right_y=0.0 right_z=0.1697 right_yaw=0.003 right_pitch=-0.0351 right_roll=0.0019 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -6.4479, 6.0376, 1.7314, -0.0952, 0.1636, -0.0171, -0.0342, -1.5111, 7.3778, 1.7411, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ac6f53b4b31506777a464c41f1f061371c97d56d9a3cdd4be025e0db5045adb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:371b2d52440c2fc931399134d81f1fc4d2310be23d6a7a2b2796329c74a9a427",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:708834c120aac4f012f1c16b50c08b9684d004630904d2d5f354ba264125f1af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 3.637 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]: [-0.3679, 1.4284, 0.7631, -0.0761, -0.3313, -0.2489, 0.9992, -0.0216, 0.8036, 0.5999, -0.3931, -0.0162, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3833 left_y=-0.0823 left_z=0.1093 left_yaw=0.025 left_pitch=-0.1236 left_roll=0.0513 left_gripper=0.9992 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0032 right_pitch=-0.0263 right_roll=0.002 right_gripper=0.9992\nstate[joint_eff]: [0.3487, -5.9419, 8.9504, 1.8095, -0.0171, 0.3053, -0.0122, -0.0889, -1.4974, 7.0359, 1.746, -0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3138, 1.5162, 0.6285, 0.0914, -0.2985, -0.2237, 0.9993, -0.0216, 0.8036, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3728 left_y=-0.0626 left_z=0.0528 left_yaw=0.0417 left_pitch=-0.1841 left_roll=0.0692 left_gripper=0.9993 right_x=0.2931 right_y=0.0002 right_z=0.1728 right_yaw=0.0035 right_pitch=-0.0259 right_roll=0.0022 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -5.9556, 6.1607, 2.0342, -0.0513, 0.1538, -0.0073, -0.1026, -1.2923, 7.2, 1.7265, -0.0366, -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 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.305, 1.5318, 0.6136, 0.1627, -0.2867, -0.2241, 0.9993, -0.0219, 0.8082, 0.5961, -0.3935, -0.0162, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3791 left_y=-0.0632 left_z=0.0535 left_yaw=0.0386 left_pitch=-0.1485 left_roll=0.0469 left_gripper=0.9993 right_x=0.2928 right_y=0.0 right_z=0.1697 right_yaw=0.003 right_pitch=-0.0351 right_roll=0.0019 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -6.4479, 6.0376, 1.7314, -0.0952, 0.1636, -0.0171, -0.0342, -1.5111, 7.3778, 1.7411, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ac6f53b4b31506777a464c41f1f061371c97d56d9a3cdd4be025e0db5045adb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:371b2d52440c2fc931399134d81f1fc4d2310be23d6a7a2b2796329c74a9a427",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:708834c120aac4f012f1c16b50c08b9684d004630904d2d5f354ba264125f1af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiAwKEAgSGAI4AUIIdGhpbmtpbmcSDK7PfkhBTZJVYwhbkhoMu3Qz1VfcO+o50iRJIjBylN4kJX+GOLL5lDo4TMyXnNabQdyuLsPJ/rQQ5N3lss1CvJe5fUwyTpBniJEOqOQqpQu657k8sMt5CP8wRwWWIeBYk97eJoK80tfMw6a3Fk/z1nHaHS423UyeYatwVlQqPJocb8HizRVmcipO0l9XD8CGmAJyHX45jGSwkMaeC48HgQBGOcJukQyRHPxA5IUPsB26m9lGlts4Ompm8A0i1NSbIbqSFPf2aiAtYdYHrdi+dVqP62CiCTMw4N6ZSmrWLReoW8P9QASKHFKC3vmL2Ug0tMYm2TQVQuCaBm3oWD9+Cyz++jx5o/bflqQM2WD/S556aDm9BOrpC3r6T1e07VZd9EfT1w1DVWV1AwPoir6TGCM6A93IAWt9bIYrEkiRUHp9ptepGieYj1zFVyMKLtZxSBVK3Bbyf2X3Orgdvyuh/apvyeZc4x5YN5w3AXJiaNpM8P+gKXffam09O29F/2BZY4zsAJSK4NDI1rDFcXOXO5nsJLi7Qln7zNJBmMRPLRI2tLI9FJXTD44ww9NZ/o8fNXqlS4irIyWUcOuLTdCWDFR4FQ4/jpJZPOOSvnGMZMw2B5pY8gTtoiuEjdzSpI46bXxvGEeTT1AU9eCrnINRxsjHb3pJWCT+KdcBRtoc6pliM9cPEqRaNZ82J9tMzA6ntpkNZ4mLS0E+cbafLWwQYzxqdDXjXqxWsTgURp/kT22wvM10GsqFM+D0TK5ifq0XcfTBGQcT3dlMuMkfo0cM331+AZ98JJ/02WnhpIFATtEt87IcTy2q1wk1tf4cBkOxb7y39E5KydWAkav1sFEDKMYQ0yHAzFgbDq2sxiSByw4wlGw5wc4029NH5r5kB6oznxFjwWtP/Gkn6BNXa8kEhj+KqqbKWTaBXZiIz32ahxDqrbHVzoHI512p0rcP2bRlsHruHwqb1JTAbQeNplJG9/ZUMgqCI7+kyHclHddRC/s6l1JT/KIuUWDYgZAh1ofZ2TzSYb9+B6ubhHkSFo5rXx0POX28R0xGhMh7w2SCmE1nSIebh/+d1D4d5ZYzig2oAg68fc68JLMGpTnhkbZ2qHJWqOzMy0oFtqhWXSOE64HyKbu03EBjUw+PKaVf79gi2bniEmgODc9PPRCcD18em915ahPzIOv2G6IdNGIPBZVAftvvtsdrY43sJ69Uwnay5XK22Qvtgh6A4If5O8Y4f0+IYBreY+0bDSxBMgMbZiBxrNQbZSAJKxlSM3Rtdh20vNPPA8ceu1k7W15SjQaJr/98VF+t+oTUt7dc2tKQgZdErWca9HxKHMu10L8/EorC33cdJJ4i81ztdnRpLxk/Y75NbtbHQqtDQM/CN8ou2jhzhp6qGS0e1PhbQdY9XRkl6A6UbJE7W81jhDWkh2D5OfMvNyW64Mktx5rw1Zm6SLbsZmINyQuZpg4grTJ5deNjttbKlrl9dImUJtzEEBxiX4D7igZ89eUoqENcVZLM23IOjhHTwJi9HJhfP4xy1AHjZXysw7tDWOL3PYG3xDvczp1ADtQtorT6hzgJU1u4RDm5mXCxEUgRbikmJ/Ix9Qzth1DR6IbUyeMJYpJ2g03s4vjOcbGQSI6Lq/vreRJmrSsAQvR57ODRLxqM0Nbo1dCQtHq+dgS/68W0ESvmByNf4Sc7mr6o9aQR9i0f0B1TPoiCrB/hVh7zeCO1ADnBFTik6svLaz6d88PxfcJvTg2k8fsK89xfN5AlaEDbRLwgbR6zk/AHWdd9XCO29qwlWqQ8Hqh2kUyDpOksDWt2pVs6Chxpe2wWztM+nfr6sWQe2+azTErnj1QTGF29/pNvLuyPsko/529zrisb9gy9ras7x6PnQZsF3UzUZVqb//KEVZS1167dL3I5dN2PyofbUjffnS1yT6KHpJOlqjnUTqfmRvhosO3jzYTLe+iEli+dEafAcRNaM7+849f7tPIttEyKbB1QBpAF47ZXEYDH+9zWEUr9hB98FOs+OzEMQ7JjFsiOQgWlsxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AzZDjCnCJzRUUEBCU7rJJq",
      "input": {
        "note": "Descent stalled at 5 cm, probably a fingertip on the rim. Shifting 1.5 cm further out (+y) and trying the descent again.",
        "targets": {
          "left_y": -0.05,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01AzZDjCnCJzRUUEBCU7rJJq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.305, 1.5318, 0.6136, 0.1627, -0.2871, -0.2241, 0.9993, -0.0216, 0.8082, 0.5957, -0.3931, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3791 left_y=-0.0632 left_z=0.0535 left_yaw=0.0389 left_pitch=-0.1484 left_roll=0.0471 left_gripper=0.9993 right_x=0.2928 right_y=0.0002 right_z=0.1696 right_yaw=0.0037 right_pitch=-0.035 right_roll=0.0021 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -6.3385, 6.0239, 1.7656, -0.1441, 0.1245, -0.0122, -0.1573, -1.1419, 7.0769, 1.7265, -0.0366, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f8999f73d114abadd0071373394d02746af2cf82115ecd74946eb14013666ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7d9ac1dbef09f32a1feb46ebd7e024e07da7c4b7aa9d43bec12af5bce537431",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da5f1f247085ecf74eb7fb2b80d6a74965fb2a73952b41b6700a194e797427b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 4.574 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]: [-0.3138, 1.5162, 0.6285, 0.0914, -0.2985, -0.2237, 0.9993, -0.0216, 0.8036, 0.5999, -0.3927, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3728 left_y=-0.0626 left_z=0.0528 left_yaw=0.0417 left_pitch=-0.1841 left_roll=0.0692 left_gripper=0.9993 right_x=0.2931 right_y=0.0002 right_z=0.1728 right_yaw=0.0035 right_pitch=-0.0259 right_roll=0.0022 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -5.9556, 6.1607, 2.0342, -0.0513, 0.1538, -0.0073, -0.1026, -1.2923, 7.2, 1.7265, -0.0366, -0.0317, -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]: [-0.305, 1.5318, 0.6136, 0.1627, -0.2867, -0.2241, 0.9993, -0.0219, 0.8082, 0.5961, -0.3935, -0.0162, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3791 left_y=-0.0632 left_z=0.0535 left_yaw=0.0386 left_pitch=-0.1485 left_roll=0.0469 left_gripper=0.9993 right_x=0.2928 right_y=0.0 right_z=0.1697 right_yaw=0.003 right_pitch=-0.0351 right_roll=0.0019 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -6.4479, 6.0376, 1.7314, -0.0952, 0.1636, -0.0171, -0.0342, -1.5111, 7.3778, 1.7411, -0.0415, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.305, 1.5318, 0.6136, 0.1627, -0.2871, -0.2241, 0.9993, -0.0216, 0.8082, 0.5957, -0.3931, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3791 left_y=-0.0632 left_z=0.0535 left_yaw=0.0389 left_pitch=-0.1484 left_roll=0.0471 left_gripper=0.9993 right_x=0.2928 right_y=0.0002 right_z=0.1696 right_yaw=0.0037 right_pitch=-0.035 right_roll=0.0021 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -6.3385, 6.0239, 1.7656, -0.1441, 0.1245, -0.0122, -0.1573, -1.1419, 7.0769, 1.7265, -0.0366, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f8999f73d114abadd0071373394d02746af2cf82115ecd74946eb14013666ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7d9ac1dbef09f32a1feb46ebd7e024e07da7c4b7aa9d43bec12af5bce537431",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da5f1f247085ecf74eb7fb2b80d6a74965fb2a73952b41b6700a194e797427b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjwcKEAgSGAI4AUIIdGhpbmtpbmcSDBcLoAcUwkITs52ywBoM9wJu1rjgq2gNuMMTIjAiK/8XMn6wpNF2Pl68oGllADpMGpe5jKuDJHndvr2ojaItOxlHzC6YyNKtH4mOtB8qrAbqfnV+8rVLSiI9cb6UyOjLRbZ636nzpOb3G+xouGvaJ4J+dUsmToynGLojggyhSV5+EZoltoqeQFps3cp/YixYn10kT8MkZcBYpxYJU8EeziIB5HLNRE9rs9iX5fyMd2QieZT51RipLzYKW+1/+kYskwCbfIq6/BvZX/Ms12mNH9vSjgut/F7vqIsqSBA8ilNFE6P4GmJOIFKe+gBzh52EnFQd96g2nXcJ6EatcII0sWqvp8KoYos1gPg6AEO893RDLmyxmGSweep7bS+KSf1sWW4lawRUZlvNpRr8vJsQko8nsP9yHukTvPGGOrkigkFrgDgQY3WsGhqHL1yrIxiW2HAeq6Ym8/x0MbLMQ+Z5ayWqDOlOmL7GBhJTrW3PINWkwC9DN1zCVFB7ifvBC8aUwIrWDpS2qfnH5gA9oevS1tKw/nowhiGVAlC3tTTfvEOCHb2KSfvdyEBFWj79S/I5vVzDdeKjUgPnTwLKUBAou0t4gZU7Y6T70x10KEwf1EIVhHDYpEE7pSs+6EukmZNcQHQFg5wxLbsXCxhxghv1K/YCLqiKu8U6rYbgM9NdrnBcgGFRR7/8Shye8x8gjwjsh6pC0RhdJUYXlWnRg2eNwRX010qF5j3ciemxVGPE8jLZYKwXwjOg0ZQXY0nHQGt3or/q9hHyCIJg1LWCWx2sKmaOkoB2btTgvKwGysuXmhXj2XWbZO9tW6I0j1Sfc8igGim3XBgBqUp38UpabIo3K8AcrJ2DMCCTCF+lZ8xqXhSH7GMFnpV52ByNpblbGurQ+mAyTbCY4avZOFFN1JNHVCGiDqJ6KyuLe0Qk8yeZv2O+aGmus2CFX0M0aWtNh+nrTrw3sbhz2sVjWOU90oY8+dA+3o+adNUd+sPGe34dbMOTkQKrO72m9NwwUkCZQOzTIGUkUd1dDvXiXRlJpqjdYsIouN9jKhLIEtWptEXVYatKIAmKcWqlQiT8MjCGjaNstU7vOJesWccJsn55Dez+UTen5cxoHxNp6BR9EmNde/Ldkg4/it2wdrCZ/3FjTIiWSMyUpiHg6WXo8+SWYgfW6qMP1RzADCFk5vRgLBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EBbtS7UvuBFJTVR4Gahxeg",
      "input": {
        "note": "The arm is not responding to lateral/down moves, likely stuck in contact on the rim. Lifting to free it.",
        "targets": {
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01EBbtS7UvuBFJTVR4Gahxeg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.305, 1.5318, 0.6136, 0.1627, -0.2871, -0.2241, 0.9993, -0.0219, 0.8101, 0.5953, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3791 left_y=-0.0632 left_z=0.0535 left_yaw=0.0389 left_pitch=-0.1484 left_roll=0.0471 left_gripper=0.9993 right_x=0.2929 right_y=0.0001 right_z=0.1689 right_yaw=0.0031 right_pitch=-0.0373 right_roll=0.0025 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -6.5026, 6.1607, 1.7558, -0.1343, 0.149, -0.0122, -0.0615, -1.4838, 7.0632, 1.746, -0.0464, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e09737d4322948bc7d4465a118bbb9f1a29b7aa12c4cee5b5293fa6246136400",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2d8f99a37d3a0179d9239e7d4bbb8393f4f6a9fbcfc46fd0e73e4c1219cbfc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:90e125b5d6c220637db1d0d018605c0c9f9d06b3ec52a3abf82aa885ef7a0d20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 14.13 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]: [-0.305, 1.5318, 0.6136, 0.1627, -0.2867, -0.2241, 0.9993, -0.0219, 0.8082, 0.5961, -0.3935, -0.0162, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3791 left_y=-0.0632 left_z=0.0535 left_yaw=0.0386 left_pitch=-0.1485 left_roll=0.0469 left_gripper=0.9993 right_x=0.2928 right_y=0.0 right_z=0.1697 right_yaw=0.003 right_pitch=-0.0351 right_roll=0.0019 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -6.4479, 6.0376, 1.7314, -0.0952, 0.1636, -0.0171, -0.0342, -1.5111, 7.3778, 1.7411, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.305, 1.5318, 0.6136, 0.1627, -0.2871, -0.2241, 0.9993, -0.0216, 0.8082, 0.5957, -0.3931, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3791 left_y=-0.0632 left_z=0.0535 left_yaw=0.0389 left_pitch=-0.1484 left_roll=0.0471 left_gripper=0.9993 right_x=0.2928 right_y=0.0002 right_z=0.1696 right_yaw=0.0037 right_pitch=-0.035 right_roll=0.0021 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -6.3385, 6.0239, 1.7656, -0.1441, 0.1245, -0.0122, -0.1573, -1.1419, 7.0769, 1.7265, -0.0366, -0.0562, -0.0171]",
      "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]: [-0.305, 1.5318, 0.6136, 0.1627, -0.2871, -0.2241, 0.9993, -0.0219, 0.8101, 0.5953, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3791 left_y=-0.0632 left_z=0.0535 left_yaw=0.0389 left_pitch=-0.1484 left_roll=0.0471 left_gripper=0.9993 right_x=0.2929 right_y=0.0001 right_z=0.1689 right_yaw=0.0031 right_pitch=-0.0373 right_roll=0.0025 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -6.5026, 6.1607, 1.7558, -0.1343, 0.149, -0.0122, -0.0615, -1.4838, 7.0632, 1.746, -0.0464, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e09737d4322948bc7d4465a118bbb9f1a29b7aa12c4cee5b5293fa6246136400",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2d8f99a37d3a0179d9239e7d4bbb8393f4f6a9fbcfc46fd0e73e4c1219cbfc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90e125b5d6c220637db1d0d018605c0c9f9d06b3ec52a3abf82aa885ef7a0d20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSxQcKEAgSGAI4AUIIdGhpbmtpbmcSDHe5tjs7GSSc4JLPahoMzWAB19nGacaFsSeQIjDMH2z/sJq86L9/k//CvuU7CQfNMIO9hpqJ4OrQENPilckzOq0ydSfiDNtIxUsvH+Iq4gZCjGddy3x6eQcZBlJuxPLVlkQkRYKumLy9l2sAEz2KkfY7yqjninvFse3RX3rBJflwz9MF/TTRdHBNgbhHFDKjuCAtDSIptj4YpDvlYA+OqsuwEfyEaO+BpM+UAfoGsbCBLdbHt4bv6XXO8fiLJVTe7c/CvOXwAV1z5A00+BzIkAtFmxwXc47n15/IX9s2WeV8fWLYxDv/ai2F8o98XnKvlZTObXPSjE0Wui+PcGvyosiO210LWbCYO+iNDwTbG8tpnPXUGirksS0S8ixTrSdohfr277awAsU821UzhqEqddHbz8YNgehVtgRJEAohR8b4eCyRIF4IPP7iz1rYWHAWCq2HRJRoNYDx31Mrvqh40nXDObMoiTnvsmJdldAmD5LFITtlqJELOBQtIYP2y5xjgUJXs9c8O4e3KKS4Zt4EcFCY5UwkP4ijcbRI2WhparEuAobuA4KOD51T1ilzPSB1TPebg4Q5ZeOKVhG2MehuaZ1wZl91/ZtDlJASSloVauRzZJk+nWpNs41DiG/UrgR//fH6Z+dd+HiqX1okts99oxqyxwsHD8GLrpwRlBaEg6qQp9UB8H6JTpThaQA2yOO57Aar6XPhDAcn0WXgybs0AOhvRru5w5RyCd/iqC54g5hMkRYGiMv+RuPqPW21UxXyW3gaeUp8g64cbSAM4WchcoryNfWoaEQBSwhIghx7DTaENqRAwI4iO2KtGeeIitKFghhADy4EY80YWzinHLtOiRYjSOZukZBkXTZz4F+ZvEk+bxjLMIvy63TP9FxdxvRQN51InxEeMCs67/NZf/zaF3LscpVR4e2LPz4zJE15O8KkO4zc2r9YcR8ImuY+OdcuI8Lxn+7t1JP+ui2BiRRfuOEIgh6m08cKs4xs6JkyctzXUFJSmyWEsmsycBLL759WoEt4AEWwXYLlN3IRTzH0QZ4Ozb1m1cGH79AvgWFX0PwHN1L/NNlkjFZa8FrYn35td1uBxHJranE5ZMmm6IN6IdTAvKTD13eby1k35v6TEtS9yJoQs2zdxBvHjd4WzaBoNG97TW2BWcQAONWvxA/YC6Uc/aTOFOCrP01rE0kIsCNfpKC8Md+yi8025NlOPrkhDuno9bSjQnkW4KPJpWS4JWrhG1BE0AcBmfYIVm2CO7dsYRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QzJdyqGxo5oYeub1PKq3gJ",
      "input": {
        "note": "Left arm has frozen at z≈0.054 for three moves. Trying a move back and up toward a comfortable pose to free the IK.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.06,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01QzJdyqGxo5oYeub1PKq3gJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.1309, 0.6872, -0.3035, -0.3191, -0.2665, 0.9993, -0.0216, 0.8146, 0.5953, -0.3962, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3281 left_y=-0.0647 left_z=0.1384 left_yaw=0.0207 left_pitch=-0.1316 left_roll=0.0322 left_gripper=0.9993 right_x=0.2927 right_y=0.0002 right_z=0.167 right_yaw=0.0035 right_pitch=-0.045 right_roll=0.0027 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -4.3556, 9.9214, 1.6093, -0.2808, 0.0024, -0.0122, -0.0205, -1.5111, 7.0359, 1.7949, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:088e68dbe455a18c45d0074d14bcfcaa72897f958aa72b9877444e4d4608b236",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:584627888f1b9496ec93092846dfc03615e0068b42b9f895b059c61f19f903ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9acee3cd24bac97c0798768f51b5c1e4e79ba498266ad5300104b286d01fb73d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 8.409 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]: [-0.305, 1.5318, 0.6136, 0.1627, -0.2871, -0.2241, 0.9993, -0.0216, 0.8082, 0.5957, -0.3931, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3791 left_y=-0.0632 left_z=0.0535 left_yaw=0.0389 left_pitch=-0.1484 left_roll=0.0471 left_gripper=0.9993 right_x=0.2928 right_y=0.0002 right_z=0.1696 right_yaw=0.0037 right_pitch=-0.035 right_roll=0.0021 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -6.3385, 6.0239, 1.7656, -0.1441, 0.1245, -0.0122, -0.1573, -1.1419, 7.0769, 1.7265, -0.0366, -0.0562, -0.0171]",
      "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]: [-0.305, 1.5318, 0.6136, 0.1627, -0.2871, -0.2241, 0.9993, -0.0219, 0.8101, 0.5953, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3791 left_y=-0.0632 left_z=0.0535 left_yaw=0.0389 left_pitch=-0.1484 left_roll=0.0471 left_gripper=0.9993 right_x=0.2929 right_y=0.0001 right_z=0.1689 right_yaw=0.0031 right_pitch=-0.0373 right_roll=0.0025 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -6.5026, 6.1607, 1.7558, -0.1343, 0.149, -0.0122, -0.0615, -1.4838, 7.0632, 1.746, -0.0464, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.1309, 0.6872, -0.3035, -0.3191, -0.2665, 0.9993, -0.0216, 0.8146, 0.5953, -0.3962, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3281 left_y=-0.0647 left_z=0.1384 left_yaw=0.0207 left_pitch=-0.1316 left_roll=0.0322 left_gripper=0.9993 right_x=0.2927 right_y=0.0002 right_z=0.167 right_yaw=0.0035 right_pitch=-0.045 right_roll=0.0027 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -4.3556, 9.9214, 1.6093, -0.2808, 0.0024, -0.0122, -0.0205, -1.5111, 7.0359, 1.7949, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:088e68dbe455a18c45d0074d14bcfcaa72897f958aa72b9877444e4d4608b236",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:584627888f1b9496ec93092846dfc03615e0068b42b9f895b059c61f19f903ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9acee3cd24bac97c0798768f51b5c1e4e79ba498266ad5300104b286d01fb73d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS0xcKEAgSGAI4AUIIdGhpbmtpbmcSDBcSg5JGPWA0PKCYkRoMnBDXZ0C1On8345jUIjDDRRLt2fZR1Zbk+l4fYqJPUoNKjQzRH1RD7oGAXHybuShb8qAYQ8w/rljKbsJ8NrMq8BbNi6sprH0ufivfQ7FdCulGWCprMctUQqVr59IcTuXTAfNlBpoP8sdKXtl5FGtnoDZn0jnEVNT+c9LMnHkNqPOaMLsT06pkPt8QIdpvkoUcltgpxGz80lUWR9+NalPfn/BADSe7ui8B1DfUuYjS6JgFb31xsbuQ5ZlflwLSPVd61IV0ajz26kNnUK7RMldDsbj+Lb+5QbLI0cp8CPG1Ti6F6g3rwXgDRWDy2lawQKarbQ3hCjBL7cOtkc7tRGpjHuMGe+h+dh1E2YyoiPmm4Bl6v15Wa6/b7vQ4L5xo/bswzE3XPkWI+UiC+NJUz5nrdC0Vu8eRbYbVa3IUIApmgYnTbdPpbp1fJ8CZDbC1cZxnOymYnKAvCkot0fT6b3DlCTUVL5qAJU70pt13Buus1u2olxvOGtIdgXSFBxDnitqZwYkY04cK5EdrmGitn5+eCahif0847c83M1CCRGVFOilllF33o+0497w2LCnPlY51fS41/jKDSftTi6w0ZH1rG4c9JHQzX9LT7AMBabpGEiTgmHcQR8ethQvq8o676muA49VcwfRiqPC1gsCYgZMlPVRDsowSYiqq8oECs7PjGDSEr94mECwjqLvKdepIuflfzYPQS0glkaVrJDVUeyNQ5tGin9MadD6QwANdGhK50ofc0euY541Xbrtrn90L4jFH+0G2wv0YhrKrPBBfe3WYmo9CHk3XkXdYzgv/qdReIGfPJd+ZhSxv+1FOs2srO59bZ7OX77clXWclEdyIiDZNEXkp8fFC3Vz1pUccG6wCZxmyIJbgi37jQ2g1YR+jSJFwqUKni/1T/evJ5MhHuSW3j1fN+/FfaDQ7knJlBCA+YeZhm+kImL6JF5yqV3uyICbOsNMbsRaGRaqnwoQJAQCoJfNmwH07lFQ3rdRkRZQcZ5LHG0llHxvPPud6msn04K/xcUxKF3mJZU4G7hh/iC5DOZw/9qn/6R7l+ccl9d66dFgeHQqOV+4C2v2S6AxKaYhLdBM7x+dfiROoxaWN/R0vuF9kFhUO0RFK9Zk2DgecCxjQhNVluhh7B4LUibqk5d6RuRwOATOFvZZWjrD8QFrfpdebP5e1qh10QEdDT5cTw6aCqJTWVJ2n6q+5tdRZMadQUqUx+UEdoZJCzG7KS6JuD6mjJrcQg4y/DRJBclh7oQF38aeNBd8wuhLtcWsQqLkfsxZkhqPhSsyG+wzw/AW7Zp4vwe1igr8XUQZQMpLiKNL1oPxmtM4FnXvQslT0uIDF/zuaYoyLoCrdIOPQ6BSUu33KUp9ozFGA99d2+Rg7S1A26m/u30CYsM4ezPcGmyygPVmGk7cW33NaByBsmrRjyEjvvkAs8OGR1mA0Zxa5ov7gEkVXGp1kr8rTgjHahD3xUYrpvlSBqSB8/0zb2hvh1n3mGo3yndOhcGKTWnKL9QNUgAkw5Vmkf6HYgXuiZt1/2S/KrCzBLpxrTr7P+m0Sb3IPIFjhMX3zED0PSzsO28p+E+t7hvDhR1qnt/OaHVeXiQxtbPaBzpWCJGdw5N13ueMlHu2wyunPOdXqH8xCwSo3JyNNI7Uj3ZPa03rM1g37/K33aXfQRh9nDcbbWzj/b94C9ASqhxRuyCzT1xsnG0bknPlLB1Tc1qC/ijSFJUSVSmxlgwwXnTw4OavGBl//tBvFp7aPWTSWf6SbF9dPOLAA5ONDUVPbWffmyA4wkEx8/VwiFoAZgoyJMGHEmzbR7Q50U4NGlZJcWSuHwAJ9hOLY/Sq6hgoE1KZrMufeHQq4SkT/OcHhSFOgjgsJqf2lmSr5mQI6sG7Y176Ci6vC293jlsRBEtODWrQ+kkFAFgaUXrqxv91ygekd9DMrYnqcJXh3sBwSz1XHPYLlnD+k+12ky0Q7sKUgOVyO6kyCBmtpwKGXH5Xu5BQ+LjJkUD0B+CX9A0g9Z5fMvI2mVa0he39tiv4s7wUqAn+3JsSyv/E48ztgeD3aG2x0v+vbTJJ0NezltvUdEFgA5/u/0B2Qn55SNH03gn2PNYL3f3TZHP9zBhCM+5u8gOI3EmidAe7YKcZNAhuNp3p4jVmjm/hJ/F/MIAEd9jzKqrnSDgazrWLJcUbAw/of1OgqsxbJf1eFBe2prYTAW9cjO7dA3Lxc8pGrgD0DkrHffP7eVbQXXVhXYO5g4q5Xc92xMZ9y3JSnqfpc7rPQ1ABYG3BnLuKiyBElCb/E1xjnjpc+sdRZMNwsV6zFpPRa2oI20zMz037HKGsQYbl4Q/WEX+WJ30zLBfWe5O0Ig9kB+JSyaOz8U0T3AKY1Ta3FNt/WFeQsg6IVjNogkbG3hKAaJrjBItXhBYukpzUKCpUYpIKAkBT4Fs1+O56YptwUsgqipICM5Lo+aDY/rOIDf3Lcn5Fsvxxd84J7+2HlRStIO5ZOCHe6IOD/pWua9ZDB8b6iRKLX1F4kmIU+tQfnA91EUPjHJHkcQb8J5aja3s0nHPh5h4EzoH2EDHFODrfACV0euUqsHmcq+GfBG0zMTz9Htd9s/17NEOz8i707VEyxDlNcFaAJab8WGY7hg3h+VX6V7u2ydld/pOYNBfJTvwJCsDliteUBoLcChNogClwL5ABTARas4Rkva1ce00ENqIBh4vMvc8/+S+Lk2rAbxWqOhJu8LUEB3BFWbNCnGb9atuYDDXAI1Q/3TEd+B0altf8ePRXjUNc5LrI2iB3DIR3Qm2aHLntyYOym99anhepAXQsTG+eJWRv0Twj9Os0NJfBvmNIN4N4/MiLHwAIK+mIHQ0GidTfvhyI83WJqAR8hWfuxJZQ1ND9E7pjCnTVbqnp0QwgHqCu2wHOR7qdh77jSkZHY/0tiSBy2mFl2WxJF3ZdZlUQq4l08Ngtgcivmeo40bZTG/8F7o2EqmBV7ud+KgjIRmurCJs+39YNpTDntb30VEVSTD08wgaqIeGW8AVPS8qkce5/ESntg5pRuoHHXALnZzSY9MEI43QfISRaPH/Bl3T2HHXmX9Aq8uuu4MTvZeB8TLaQDanaD+uuis+uguJbcOQbJjo2btekV2btA+EiM85OPjpERG03qUB3uhIIB9YxiC11ZjCiNs9YMUviU4E1XEswpacJ43Dbf64mgfG3pdvoCN4r2cfhTMypjA0PQSTjIlIsq/jBF/+7NCaGsO6sO1vfN/9HZEFlA7PCmt/TWyLeNx3vqIU12pia5Eaj7W0U+r45J60SvkZoPbfH5/SmAp3URWNA2o68yieAY9yIwPaoQ+K1Bi7KuNZ3P8ZHcHvyF/EHg7I3/eddp3HVzDQd4Qqr4UtA420ANDB/NQHOBxjB85nurmqNEy4s+FBbSBzZ/4MgMlMa4agJJg6AmNmpMwnVHXuInmfWNXR3hviF6hPRTa+6N+u++CtvgeaUGPY9wD0XDr3RaOxKm0HWThp5wCKzuUzSj9ebKhRY7bOi2pbmD4ruHuFvmFmv3dU3Xj1EFvxiHbkmdHrcW+xATbq+TLvwwnbYalzvcf977mGQyXBFINnMHnoSlM5NFQUf6NytgJbdJn7I3c5Mgwfd7tFpj6o6cK+iuAHSRxIYUMvTHL4NWQofezGh1oKm4bLfrT9/bTnFp3Jm+i13/YXs+BYdW7wfn0U2vPlqXv0KeqI281ythd9t5p0gdJsHSO8qYNPyZIJ+/x1jfXNVYtAgudyEs1xVC3fEtfUY02+NG9Yddj665jXyWjUuiv7Kx7rVOjw3rnWGj+0jXllK7ioUTPtlVZ4EykXZn7lNCUjZiKr6xAC6pXfXaqPkYEKY/b5xDtapdU9FiRWLmnQm1Sd4sakaibEAcQtRTWs9SiVsTH/sOK3d5kiJHewo1h050voLaRBKLJto86SGv2XWXzr2zjRreoQ/f7uFxUuE//XTPcGLdtxb1RE35oWTDJDiXb/uO9HGvfYEoTAcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MesVtho5evyYv7tjE6zpXC",
      "input": {
        "note": "Arm is free again; wrist view shows the white bowl right of and ahead of the jaws. Returning over the bowl's left wall at a moderate height before a stepwise descent.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.08,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01MesVtho5evyYv7tjE6zpXC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3382, 1.5249, 0.7055, -0.0288, -0.3019, -0.2577, 0.9993, -0.0219, 0.8173, 0.5953, -0.403, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3742 left_y=-0.0721 left_z=0.0587 left_yaw=0.0427 left_pitch=-0.2301 left_roll=0.0659 left_gripper=0.9993 right_x=0.2918 right_y=0.0001 right_z=0.1649 right_yaw=0.0033 right_pitch=-0.0545 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.5949, -6.8718, 8.9504, 1.8535, 0.0269, 0.1685, -0.0122, -0.1846, -1.5795, 7.0085, 1.7949, -0.0806, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6e51e35613d173abca99fab0598987bd9b7848ebd0c5986183a2489c86b28f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d30dc8303423d8eba86efa70149fc4c533186aefe091e7709ba9b51c006387c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb64ca56ebbe53fce1b40d52d01a63595847720c4a0e2caa6f5214e7fc7be469",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 3.499 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]: [-0.305, 1.5318, 0.6136, 0.1627, -0.2871, -0.2241, 0.9993, -0.0219, 0.8101, 0.5953, -0.3931, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3791 left_y=-0.0632 left_z=0.0535 left_yaw=0.0389 left_pitch=-0.1484 left_roll=0.0471 left_gripper=0.9993 right_x=0.2929 right_y=0.0001 right_z=0.1689 right_yaw=0.0031 right_pitch=-0.0373 right_roll=0.0025 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -6.5026, 6.1607, 1.7558, -0.1343, 0.149, -0.0122, -0.0615, -1.4838, 7.0632, 1.746, -0.0464, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.1309, 0.6872, -0.3035, -0.3191, -0.2665, 0.9993, -0.0216, 0.8146, 0.5953, -0.3962, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3281 left_y=-0.0647 left_z=0.1384 left_yaw=0.0207 left_pitch=-0.1316 left_roll=0.0322 left_gripper=0.9993 right_x=0.2927 right_y=0.0002 right_z=0.167 right_yaw=0.0035 right_pitch=-0.045 right_roll=0.0027 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -4.3556, 9.9214, 1.6093, -0.2808, 0.0024, -0.0122, -0.0205, -1.5111, 7.0359, 1.7949, -0.0513, -0.0611, -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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3382, 1.5249, 0.7055, -0.0288, -0.3019, -0.2577, 0.9993, -0.0219, 0.8173, 0.5953, -0.403, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3742 left_y=-0.0721 left_z=0.0587 left_yaw=0.0427 left_pitch=-0.2301 left_roll=0.0659 left_gripper=0.9993 right_x=0.2918 right_y=0.0001 right_z=0.1649 right_yaw=0.0033 right_pitch=-0.0545 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.5949, -6.8718, 8.9504, 1.8535, 0.0269, 0.1685, -0.0122, -0.1846, -1.5795, 7.0085, 1.7949, -0.0806, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6e51e35613d173abca99fab0598987bd9b7848ebd0c5986183a2489c86b28f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d30dc8303423d8eba86efa70149fc4c533186aefe091e7709ba9b51c006387c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb64ca56ebbe53fce1b40d52d01a63595847720c4a0e2caa6f5214e7fc7be469",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016sh7tAJiftuFHHtuKmeCt2",
      "input": {
        "note": "Jaws now straddle the bowl's left wall (outer jaw on the table side, inner jaw over the bowl). The arm seems to hit a shoulder limit when far out, so descending while pulling back slightly.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.075,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_016sh7tAJiftuFHHtuKmeCt2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3626, 1.5784, 0.6014, 0.1116, -0.3111, -0.2714, 0.9993, -0.0216, 0.8173, 0.5945, -0.4126, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3602 left_y=-0.075 left_z=0.0253 left_yaw=0.035 left_pitch=-0.2428 left_roll=0.0695 left_gripper=0.9993 right_x=0.2903 right_y=0.0003 right_z=0.1627 right_yaw=0.0037 right_pitch=-0.0648 right_roll=0.0029 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -5.6, 5.9829, 1.7265, -0.2955, -0.0757, -0.0122, -0.0479, -1.3607, 7.0359, 1.7753, -0.0611, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa16b25548f5116000291455e27e9929fc339f6f974ad7b30204529a62928b52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38ac406a119886a0b8e4fb271b4d8911be42ef9201415231f460dae7d108941e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5505338c325b211aa6443c1a33d1f38c14e17b0cb0842409345b4fd56d1415f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 7.135 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]: [-0.3721, 1.1309, 0.6872, -0.3035, -0.3191, -0.2665, 0.9993, -0.0216, 0.8146, 0.5953, -0.3962, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3281 left_y=-0.0647 left_z=0.1384 left_yaw=0.0207 left_pitch=-0.1316 left_roll=0.0322 left_gripper=0.9993 right_x=0.2927 right_y=0.0002 right_z=0.167 right_yaw=0.0035 right_pitch=-0.045 right_roll=0.0027 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -4.3556, 9.9214, 1.6093, -0.2808, 0.0024, -0.0122, -0.0205, -1.5111, 7.0359, 1.7949, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3382, 1.5249, 0.7055, -0.0288, -0.3019, -0.2577, 0.9993, -0.0219, 0.8173, 0.5953, -0.403, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3742 left_y=-0.0721 left_z=0.0587 left_yaw=0.0427 left_pitch=-0.2301 left_roll=0.0659 left_gripper=0.9993 right_x=0.2918 right_y=0.0001 right_z=0.1649 right_yaw=0.0033 right_pitch=-0.0545 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.5949, -6.8718, 8.9504, 1.8535, 0.0269, 0.1685, -0.0122, -0.1846, -1.5795, 7.0085, 1.7949, -0.0806, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3626, 1.5784, 0.6014, 0.1116, -0.3111, -0.2714, 0.9993, -0.0216, 0.8173, 0.5945, -0.4126, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3602 left_y=-0.075 left_z=0.0253 left_yaw=0.035 left_pitch=-0.2428 left_roll=0.0695 left_gripper=0.9993 right_x=0.2903 right_y=0.0003 right_z=0.1627 right_yaw=0.0037 right_pitch=-0.0648 right_roll=0.0029 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -5.6, 5.9829, 1.7265, -0.2955, -0.0757, -0.0122, -0.0479, -1.3607, 7.0359, 1.7753, -0.0611, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa16b25548f5116000291455e27e9929fc339f6f974ad7b30204529a62928b52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38ac406a119886a0b8e4fb271b4d8911be42ef9201415231f460dae7d108941e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5505338c325b211aa6443c1a33d1f38c14e17b0cb0842409345b4fd56d1415f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8AYKEAgSGAI4AUIIdGhpbmtpbmcSDOF1rMbmAPIRxMqk3xoMyo6ucESJ9vVqDr7/IjAE7op6wCrHbCNfP9u2QBeKhvwwdgzzVrYHjaijzk/bn+YF8AAxylo2nj0B5EJLW28qjQYMU6LAWCISHYKRjfoHJEqxjmcBQfjlw3eoMVuzttjB7dq7Bdn4piC7HlDzfJ5kguXDKCTF8762BBYL3NulRd+1ES3nM/GBu/zCvXGcGuM1XSmrjDJ+JFWydesn/BvRcqClhCXdnX5BoFube2Va37Sb3ehvvIlawNPp4hZ9vz22JWPCiA4y8O4qUxHR9jb1XyOtwFSxO5XJQIHbBPjikEZTB1ceTzz0X4n1aJqdrR9zdusBUVNbefLNhX+sm+04GrL28VkdmRolmWVrLccokSDs6d5Wrxz6PKTTncNq+Ud5oaHgtPxbSp2AO2EWBu1hBEJpoQUfTHt0QjawdbwYVp4Np2/RtfEOiHJXfJp3Ptqk1wdP4VrjZKQeeJjBQRBY1wRJIoTpVMsRLMADhpl1nROL0mN2NmfpA+a2F2b7uB6IRSLP0nlbmxgnJpvmLU5FRCgN/eSYPTH4ZADjUDTHTzXuhZJ7rPLdUPDPAX+9yG+Qj3EnfWMLI6S+lKa6OkZR2xw6noWRIOp0KEPdrI5fB5xOfSy4hmARuQBuDJbJSSmsSN8N4xnEE587W4otnO3uWCMMyHycWft3pJwvCi1vR8dSXNOY1t9Wypq/SbJXV3vJ3z8EGN0Dsx5tS3Q9PAmq5Azg+mjrznr1mHrH2UIcBMFS9mxrlBAg+R/FDOGlxa348iQGcui7RfNMmO2QtX7kFkczsmGjlHagcAeM8UA9RiXHvhulAlYtZDzmGJJOTlVCptDXb/enlm9O9RocfgcwR9pZEe1VexKQcreMzUGmqFQwOgyYUFtREMvWt9fzvWLpryVDYscnIZccB+XQDsRR3imI3UmKoqlPEbrbSw9xwn00ZsUxE4VpqP9+Q9GHXx8MULuRhoEDQpzYUao0KdivF8fwB9BsWvY6sVA/kVJZUVt1sW859f+2buuiFVP3oCJ+OIHfcI5naK056NY92qrcGrE3W5dvVhHsiWS03eEpNUCk6LDWiS36qLIHHGfOs/z669nJlXV7N9Ig5/spB3DfC1mSyJtHIZnHkr9SNWbgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CxoHfBxiRsgL8KKnN5f996",
      "input": {
        "note": "Jaws are at 2.5 cm height straddling the white bowl's left wall. Closing to pinch the wall.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CxoHfBxiRsgL8KKnN5f996",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3695, 1.5856, 0.5835, 0.1902, -0.3077, -0.3, 0.1013, -0.0216, 0.8173, 0.5945, -0.4152, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3661 left_y=-0.0806 left_z=0.029 left_yaw=0.0365 left_pitch=-0.1938 left_roll=0.025 left_gripper=0.1013 right_x=0.2899 right_y=0.0003 right_z=0.1621 right_yaw=0.0037 right_pitch=-0.0675 right_roll=0.0029 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -5.0256, 5.2034, 1.2283, -0.3199, 0.1587, 0.4469, -0.0615, -1.3744, 6.9812, 1.6777, -0.0611, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aede5b08928202be8313201eac8c3a792764e16e690c7ecb98087bfae471c4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe4f88f661605c18261123b4d30124809168948196b0491ecf4b1f4668198dcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9e5e50e085abaf6cfa2d8ff68a8ba4312d96f11bfe7ae5f2362a89f5f0dd957",
        "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 · 17.07 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]: [-0.3382, 1.5249, 0.7055, -0.0288, -0.3019, -0.2577, 0.9993, -0.0219, 0.8173, 0.5953, -0.403, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3742 left_y=-0.0721 left_z=0.0587 left_yaw=0.0427 left_pitch=-0.2301 left_roll=0.0659 left_gripper=0.9993 right_x=0.2918 right_y=0.0001 right_z=0.1649 right_yaw=0.0033 right_pitch=-0.0545 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.5949, -6.8718, 8.9504, 1.8535, 0.0269, 0.1685, -0.0122, -0.1846, -1.5795, 7.0085, 1.7949, -0.0806, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3626, 1.5784, 0.6014, 0.1116, -0.3111, -0.2714, 0.9993, -0.0216, 0.8173, 0.5945, -0.4126, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3602 left_y=-0.075 left_z=0.0253 left_yaw=0.035 left_pitch=-0.2428 left_roll=0.0695 left_gripper=0.9993 right_x=0.2903 right_y=0.0003 right_z=0.1627 right_yaw=0.0037 right_pitch=-0.0648 right_roll=0.0029 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -5.6, 5.9829, 1.7265, -0.2955, -0.0757, -0.0122, -0.0479, -1.3607, 7.0359, 1.7753, -0.0611, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3695, 1.5856, 0.5835, 0.1902, -0.3077, -0.3, 0.1013, -0.0216, 0.8173, 0.5945, -0.4152, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3661 left_y=-0.0806 left_z=0.029 left_yaw=0.0365 left_pitch=-0.1938 left_roll=0.025 left_gripper=0.1013 right_x=0.2899 right_y=0.0003 right_z=0.1621 right_yaw=0.0037 right_pitch=-0.0675 right_roll=0.0029 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -5.0256, 5.2034, 1.2283, -0.3199, 0.1587, 0.4469, -0.0615, -1.3744, 6.9812, 1.6777, -0.0611, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aede5b08928202be8313201eac8c3a792764e16e690c7ecb98087bfae471c4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe4f88f661605c18261123b4d30124809168948196b0491ecf4b1f4668198dcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9e5e50e085abaf6cfa2d8ff68a8ba4312d96f11bfe7ae5f2362a89f5f0dd957",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013CkW7gRw3M73Mx6bDv7G5z",
      "input": {
        "note": "Gripper settled at 0.10 (~1 cm), so it is holding the white bowl's wall. Lifting to carry height.",
        "targets": {
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013CkW7gRw3M73Mx6bDv7G5z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3695, 1.3499, 0.9379, -0.4129, -0.3073, -0.3073, 0.1002, -0.0219, 0.8181, 0.5945, -0.4152, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.368 left_y=-0.0814 left_z=0.1514 left_yaw=0.0412 left_pitch=-0.2056 left_roll=0.0247 left_gripper=0.1002 right_x=0.29 right_y=0.0002 right_z=0.1619 right_yaw=0.0034 right_pitch=-0.0682 right_roll=0.0029 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -7.3504, 9.1419, 1.3846, -0.2222, 0.0415, -0.1245, -0.0479, -1.4154, 6.9812, 1.6484, -0.0659, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7b1c5cf76fb859f353e8b812c64afe76a9666cc2e6bbe39f95f8807ae430e76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8aa381ec8cdd752aa003b8b08b6df7e75586dc9e2756f91a6ef031a0b0362bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ec415c4cc98750bf1a17c6ec5870ddc1807441159a7e00f557e4501a83ff1f7",
        "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 · 3.722 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]: [-0.3626, 1.5784, 0.6014, 0.1116, -0.3111, -0.2714, 0.9993, -0.0216, 0.8173, 0.5945, -0.4126, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3602 left_y=-0.075 left_z=0.0253 left_yaw=0.035 left_pitch=-0.2428 left_roll=0.0695 left_gripper=0.9993 right_x=0.2903 right_y=0.0003 right_z=0.1627 right_yaw=0.0037 right_pitch=-0.0648 right_roll=0.0029 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -5.6, 5.9829, 1.7265, -0.2955, -0.0757, -0.0122, -0.0479, -1.3607, 7.0359, 1.7753, -0.0611, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3695, 1.5856, 0.5835, 0.1902, -0.3077, -0.3, 0.1013, -0.0216, 0.8173, 0.5945, -0.4152, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3661 left_y=-0.0806 left_z=0.029 left_yaw=0.0365 left_pitch=-0.1938 left_roll=0.025 left_gripper=0.1013 right_x=0.2899 right_y=0.0003 right_z=0.1621 right_yaw=0.0037 right_pitch=-0.0675 right_roll=0.0029 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -5.0256, 5.2034, 1.2283, -0.3199, 0.1587, 0.4469, -0.0615, -1.3744, 6.9812, 1.6777, -0.0611, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3695, 1.3499, 0.9379, -0.4129, -0.3073, -0.3073, 0.1002, -0.0219, 0.8181, 0.5945, -0.4152, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.368 left_y=-0.0814 left_z=0.1514 left_yaw=0.0412 left_pitch=-0.2056 left_roll=0.0247 left_gripper=0.1002 right_x=0.29 right_y=0.0002 right_z=0.1619 right_yaw=0.0034 right_pitch=-0.0682 right_roll=0.0029 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -7.3504, 9.1419, 1.3846, -0.2222, 0.0415, -0.1245, -0.0479, -1.4154, 6.9812, 1.6484, -0.0659, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7b1c5cf76fb859f353e8b812c64afe76a9666cc2e6bbe39f95f8807ae430e76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8aa381ec8cdd752aa003b8b08b6df7e75586dc9e2756f91a6ef031a0b0362bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ec415c4cc98750bf1a17c6ec5870ddc1807441159a7e00f557e4501a83ff1f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018JTGXvc13gF8Vk7hdTCZxk",
      "input": {
        "note": "The overhead view shows the white bowl still on the table, so the pinch slipped. Re-opening and repositioning over the bowl's left wall for a lower grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.37,
          "left_y": -0.075,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_018JTGXvc13gF8Vk7hdTCZxk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3485, 1.441, 0.7265, -0.144, -0.2985, -0.2962, 0.9949, -0.0219, 0.8185, 0.5945, -0.4156, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3634 left_y=-0.0729 left_z=0.0779 left_yaw=0.0518 left_pitch=-0.2393 left_roll=0.0401 left_gripper=0.9949 right_x=0.2899 right_y=0.0002 right_z=0.1618 right_yaw=0.0032 right_pitch=-0.069 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -5.1761, 6.2427, 1.7314, -0.0757, 0.0708, -0.0855, -0.0068, -1.3744, 7.0222, 1.6874, -0.0757, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d98274e57c8a8972feb3be2ff6e5bc59e048d3b32aa7ad26c2ff403194db6e6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:594be1ecc6807657cac96366fbeea3db03280e19a689762e65c4dd9ef9ea8250",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50adc8b1a09fb80273db7e710c2d0a62449044a884995caf7b58465016d996f3",
        "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 · 3.059 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]: [-0.3695, 1.5856, 0.5835, 0.1902, -0.3077, -0.3, 0.1013, -0.0216, 0.8173, 0.5945, -0.4152, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3661 left_y=-0.0806 left_z=0.029 left_yaw=0.0365 left_pitch=-0.1938 left_roll=0.025 left_gripper=0.1013 right_x=0.2899 right_y=0.0003 right_z=0.1621 right_yaw=0.0037 right_pitch=-0.0675 right_roll=0.0029 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -5.0256, 5.2034, 1.2283, -0.3199, 0.1587, 0.4469, -0.0615, -1.3744, 6.9812, 1.6777, -0.0611, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3695, 1.3499, 0.9379, -0.4129, -0.3073, -0.3073, 0.1002, -0.0219, 0.8181, 0.5945, -0.4152, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.368 left_y=-0.0814 left_z=0.1514 left_yaw=0.0412 left_pitch=-0.2056 left_roll=0.0247 left_gripper=0.1002 right_x=0.29 right_y=0.0002 right_z=0.1619 right_yaw=0.0034 right_pitch=-0.0682 right_roll=0.0029 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -7.3504, 9.1419, 1.3846, -0.2222, 0.0415, -0.1245, -0.0479, -1.4154, 6.9812, 1.6484, -0.0659, -0.0855, -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]: [-0.3485, 1.441, 0.7265, -0.144, -0.2985, -0.2962, 0.9949, -0.0219, 0.8185, 0.5945, -0.4156, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3634 left_y=-0.0729 left_z=0.0779 left_yaw=0.0518 left_pitch=-0.2393 left_roll=0.0401 left_gripper=0.9949 right_x=0.2899 right_y=0.0002 right_z=0.1618 right_yaw=0.0032 right_pitch=-0.069 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -5.1761, 6.2427, 1.7314, -0.0757, 0.0708, -0.0855, -0.0068, -1.3744, 7.0222, 1.6874, -0.0757, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d98274e57c8a8972feb3be2ff6e5bc59e048d3b32aa7ad26c2ff403194db6e6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:594be1ecc6807657cac96366fbeea3db03280e19a689762e65c4dd9ef9ea8250",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50adc8b1a09fb80273db7e710c2d0a62449044a884995caf7b58465016d996f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyAcKEAgSGAI4AUIIdGhpbmtpbmcSDM3R4FcBOKlAZ3CFWxoM8nozX2TIkdR1Yzp4IjD5WWZWZ2R4xRUV+TsKRcThm5FtX9IMXsfJYiSNuJ9i0f1j2Pj6F79Ps38pjmwtHacq5QbQsCPZ1FQ4ixPqbAmoJ92ky3pGlxFl6/zCymDnhwDRS3GZ1wA8CGt66vOOHz+enAFPZqIL4pgzwrzfoVG6B8m3PHXQLW/F1oZrB8Q5qqCsyK3duR3Gltf3kpotItGPN5/VNQXK5tlYZOx5AGM8CNAhYy56M5Podp3UK//s+hqURX22hkz3wQqwK8wif4aNCvZhl50WXHf2GEKinBCHbYaiDB8RJ3FOUrzgM72BElKMdgQuDhKlj3MRWmrlwcp1Me+QJDeS3CQvub4BQfs8spLwNNQH/e/9p2TuQtmk5O5keSJx0o19a4iIfIw2P832PtvK/EsvD/YtCTlqzEMypToEe6D5SQGcxhmB7L6WyvRV2ec2L9eY3TSOSbu6EHg1RPTDMMXOZGsKyHUA1nZ3EUYJIZD1/0hkX8z0UcRWsPQLt+L1CBsAKWMmbV8RuYaBkOyca3CRdX5d1sOT3jInVDTJWoSLM/G6peqEDH3xfjTLUiD2YVMP+o6MAsZV1gnFxXWMX62UQpIq4Du/6zHWLVd+izUcINCMOZQ83fy+9gfyJhVhs+YOhZ1k42xgwDXb4URErMPuCXOpgMN0UX8Msm6h+10+3bgybaD/SO1FVlV8JpGBqMd7qKc2C978/8ZA1V15CRNDUxCliEtavmlHfW6Ql9rG+CeZV6xfsSl62mNFVKYd5byIDDGbY+MP8PdIOktcOo5TbwyltRKRm+Pja39X2UEy/Ds5qs5dCSqmiErkTfi1edziNPwfTGfS+cCgaBM9rKcBmCbzAhfv2IAUv2ZfDBXie/ZfM7Vq7McBzDpfen3gxr2hNqEOht5Fxq0d3IpwtB+7mSPP1Q4+1wirKCEnIrNIE9gcGtECfp0H/jVUwELzTmjCObT5SfgKrYbtIPDjJrXcu8x8tSm/duGLHpTIo/oMyEC056Hazym2iPE8WbFumGd6uI/docgSDgb6g2gyRB6aqvYyWnkK9uVPEjIsb4dN/roOoh7bGXxKD0kDs1S+1EYxLUcVpzdkD4gm1QrwhzqBVgchyBEJ9mCktk7XVWM3vbtMDNhvoUJYemxzSQZV+JejVhSOlj0+jNF5oBiPKemXa3/IMTTUkpjX4NWWNgvcFzF9+cx/bk4/DkphuT27kdDIaX3cy+oMdGHMovvoxilgqRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012yhzE423SKBRb5hMsm2Cep",
      "input": {
        "note": "Jaws straddle the white bowl's left wall (inner jaw over the bowl interior). Descending near table level for a deeper pinch.",
        "targets": {
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_012yhzE423SKBRb5hMsm2Cep",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3489, 1.6295, 0.5877, 0.1452, -0.2955, -0.3073, 0.9955, -0.0219, 0.8185, 0.5945, -0.416, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3573 left_y=-0.0714 left_z=0.0077 left_yaw=0.0591 left_pitch=-0.275 left_roll=0.0456 left_gripper=0.9955 right_x=0.2899 right_y=0.0002 right_z=0.1617 right_yaw=0.0034 right_pitch=-0.0694 right_roll=0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -4.5607, 3.9316, 1.1795, -0.1685, 0.0855, 0.0464, -0.2393, -1.2923, 7.0085, 1.6679, -0.0855, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8691dd263400c24ebea9e9db53177d52155cdf59b7fb506a0aba6cede408d1fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b73ac00abab60e026654b3868ec5e68ec3bcc189f419f1ab7e45fef17f84445b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c3611c0a206e163f68e4330a5b164e0a7bff0929434865184fc66036160b5c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 5.768 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]: [-0.3695, 1.3499, 0.9379, -0.4129, -0.3073, -0.3073, 0.1002, -0.0219, 0.8181, 0.5945, -0.4152, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.368 left_y=-0.0814 left_z=0.1514 left_yaw=0.0412 left_pitch=-0.2056 left_roll=0.0247 left_gripper=0.1002 right_x=0.29 right_y=0.0002 right_z=0.1619 right_yaw=0.0034 right_pitch=-0.0682 right_roll=0.0029 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -7.3504, 9.1419, 1.3846, -0.2222, 0.0415, -0.1245, -0.0479, -1.4154, 6.9812, 1.6484, -0.0659, -0.0855, -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]: [-0.3485, 1.441, 0.7265, -0.144, -0.2985, -0.2962, 0.9949, -0.0219, 0.8185, 0.5945, -0.4156, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3634 left_y=-0.0729 left_z=0.0779 left_yaw=0.0518 left_pitch=-0.2393 left_roll=0.0401 left_gripper=0.9949 right_x=0.2899 right_y=0.0002 right_z=0.1618 right_yaw=0.0032 right_pitch=-0.069 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -5.1761, 6.2427, 1.7314, -0.0757, 0.0708, -0.0855, -0.0068, -1.3744, 7.0222, 1.6874, -0.0757, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3489, 1.6295, 0.5877, 0.1452, -0.2955, -0.3073, 0.9955, -0.0219, 0.8185, 0.5945, -0.416, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3573 left_y=-0.0714 left_z=0.0077 left_yaw=0.0591 left_pitch=-0.275 left_roll=0.0456 left_gripper=0.9955 right_x=0.2899 right_y=0.0002 right_z=0.1617 right_yaw=0.0034 right_pitch=-0.0694 right_roll=0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -4.5607, 3.9316, 1.1795, -0.1685, 0.0855, 0.0464, -0.2393, -1.2923, 7.0085, 1.6679, -0.0855, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8691dd263400c24ebea9e9db53177d52155cdf59b7fb506a0aba6cede408d1fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b73ac00abab60e026654b3868ec5e68ec3bcc189f419f1ab7e45fef17f84445b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c3611c0a206e163f68e4330a5b164e0a7bff0929434865184fc66036160b5c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018Uop5Udxn2WAhgLVa39a2q",
      "input": {
        "note": "Jaws are at table level with the bowl wall between them. Closing to pinch it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018Uop5Udxn2WAhgLVa39a2q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3508, 1.6154, 0.5945, 0.1989, -0.2848, -0.3302, 0.1044, -0.0219, 0.8185, 0.5945, -0.4164, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3697 left_y=-0.0786 left_z=0.0229 left_yaw=0.0538 left_pitch=-0.2091 left_roll=-0.0087 left_gripper=0.1044 right_x=0.2898 right_y=0.0002 right_z=0.1616 right_yaw=0.0034 right_pitch=-0.0697 right_roll=0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -5.3265, 4.8752, 0.9792, -0.2808, 0.188, 0.5055, -0.2256, -1.3744, 6.9812, 1.6777, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:589f87c304eaa567f4177b16a13d49b3e2980783c35dec83f600ea9ba7a1dd2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46782500d645180fd4cfa30c4b510c5bf15953d751d7c25f225b670976d6277b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea5b66e69df81f4d46fef76f591ad863a63081060b6dc8b5e0c5527edd6794be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 10.94 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]: [-0.3485, 1.441, 0.7265, -0.144, -0.2985, -0.2962, 0.9949, -0.0219, 0.8185, 0.5945, -0.4156, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3634 left_y=-0.0729 left_z=0.0779 left_yaw=0.0518 left_pitch=-0.2393 left_roll=0.0401 left_gripper=0.9949 right_x=0.2899 right_y=0.0002 right_z=0.1618 right_yaw=0.0032 right_pitch=-0.069 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -5.1761, 6.2427, 1.7314, -0.0757, 0.0708, -0.0855, -0.0068, -1.3744, 7.0222, 1.6874, -0.0757, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3489, 1.6295, 0.5877, 0.1452, -0.2955, -0.3073, 0.9955, -0.0219, 0.8185, 0.5945, -0.416, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3573 left_y=-0.0714 left_z=0.0077 left_yaw=0.0591 left_pitch=-0.275 left_roll=0.0456 left_gripper=0.9955 right_x=0.2899 right_y=0.0002 right_z=0.1617 right_yaw=0.0034 right_pitch=-0.0694 right_roll=0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -4.5607, 3.9316, 1.1795, -0.1685, 0.0855, 0.0464, -0.2393, -1.2923, 7.0085, 1.6679, -0.0855, -0.0464, -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]: [-0.3508, 1.6154, 0.5945, 0.1989, -0.2848, -0.3302, 0.1044, -0.0219, 0.8185, 0.5945, -0.4164, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3697 left_y=-0.0786 left_z=0.0229 left_yaw=0.0538 left_pitch=-0.2091 left_roll=-0.0087 left_gripper=0.1044 right_x=0.2898 right_y=0.0002 right_z=0.1616 right_yaw=0.0034 right_pitch=-0.0697 right_roll=0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -5.3265, 4.8752, 0.9792, -0.2808, 0.188, 0.5055, -0.2256, -1.3744, 6.9812, 1.6777, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:589f87c304eaa567f4177b16a13d49b3e2980783c35dec83f600ea9ba7a1dd2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46782500d645180fd4cfa30c4b510c5bf15953d751d7c25f225b670976d6277b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea5b66e69df81f4d46fef76f591ad863a63081060b6dc8b5e0c5527edd6794be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSowsKEAgSGAI4AUIIdGhpbmtpbmcSDD0j37cpIc/VtJtHuxoMbotfksoBumz9DZd6IjDUfChU1zEOw3He9Zon3xqCEQMds9BVKF8UEXApfJvEEtvSsVnoveVbWJ2iCek+r+IqwAoCL0rOTFS2EDJiTxIqOneRMrzRSavBlsw9b4RZTLVLAeAAA8LbejRjPuZASNg2DntKGqu2hs7gPcE/w7X5thQipg7spwearkTLJukNAI1zAX3xE2diIAp2dfLaellF8+hPt25lRUccAa76PNOwe3UnlrCDhG1VUa7Hk6WO9go71AhG1276t/qXoSKcYDVaA1STCfveopHNci+6VXui5Ic7ArJ/czHePsGUuyZeh/ZJByZIc83TQXh5OB4AqqcG8dJe1tIvCfCIvQ0GvKQG4PitH+p6K9iWy5w/8atRlxfnH5K16RIvNmG6NqWGTVzHaZnKDI7D5BpgI1rGESTJDX0B6H+ITda3cRo9fDQ2Zo75JW90YE9tlpj2p+zE8Twn/M3hq6bLHkfs5CGy8L9JjZ4nNMXHUbePpmQ4GBroS2xBL7IASst2n/vjCBK9iYH3acMu2KVR7WMb1aJNiJ5eE1gDXQ5UMB0z73FOE3cTey+2MFUv2uBkgE5edAMX8QIAp8tNMsn0KQT7Nmq7tMnqNSu7NnWfd6Rt7N4bFz1hpwMOoVoIR/uP7xy7aJu4ajpfFTG/roOMw3wJMHj/CKNsWD7PvKqMhZnuR7bCVAdJPRwb6RBknZjiC1/O9wW8116Ig4FnG6dIflQo+XSs1TzqTy1TbaCsp690iXeBotaN8nJigu9yh4hw/UYm8+VuECKRf2DL7y8gXXgWpycMVif0o13NrD6Q46bNdcQE15JmXPnXRWZfG6kMLOTF+i6EkVuT08xc/EPE6DUg4JVeithInnRuLj/Z3obBec8jXE5pIdLkc09inm84fmynoNWx4rz7SGT4C1b5qqRnk1E5C/rTQKag6E9WOQd33BvDQg8HbP8AJfXXTpf/p0FzyoRVIHx3So8CJFclhcD3q/7F9xjnnEXHDcnH5grnE7bwHPkWVIfeiVluJrFBLU2BQWY2bt/+mws6OWBUilPFIOJVBDyhruEN/mDarI4RmCTg7fT3FL1AuvhvRBUsIWvQBRZZpY74N37+ECPozYi8wl/THr7gMMQpGVZ+FkmX95C6/Ym5V5vTGYsDHJCLzQkxFXwoAJxPvTJWY2YgODRi+EmWe+ysT+l92iA+Vw3qzGC4Ac4FSai5Ghpp8uGGGuYx8K67zDmJg+qCXn/A+lSK2Pu8MYHd4fRQ8ZQ1TdvNFQh5BP6ml+Ox9eAU7E6rDPTXDw2L/sAUPRltG9t2WkIUTuDmYEkdFCcuWw3zncE7WT2hONh0T1dRrElgXA9YcUMXQPWhA2IuRG2LGW+gjd4+GgkXb3Y8hKq+3m5hynSUbV4Ir2M3uwbj+Wd8zxa3q4DBWVa9VxfTZW1ADS1XrAhipIDPrx+y4HvF70C+dXLUbRrjBSmJotA+XtGDhs/6U6p+Rw629uIgTER8fz0CrehkSGrCG8iJNGONyOJ0QDLV7UuvT3/ITshYM6Jcc8eiQFtnJm3mF7n5loLx+0Sw2FXFPc5FHO7CaMAai/QSGxVGGAUSTHEuFZbrOQOQ8NHcnP+4Nr6IX+gpUU6bhITyWRVJsQXJHLyrTZF5G49SK6PCyzwFbHB6uMgAZFahLsafZG14FUGzTPYd+ufYeYWjgKQcpGAFsJYlqDDHCbukCnzcXw4ygFkSkxsWoPANLgGvmzkOMyBDy4abW+rHpi/C5KJqjr8g+xEGorbbeLHnryRGcfyR1SyWJbo4dMTud8PgqOIwIS4As3yXCUKQSCfFm+xjI/CEsOTy6XZcyscxiHHEobsp99Ip4QthgcdVaAi4md3V1uU6RZs+3P4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HzLof3Chp4DXR8PB9ZXaA4",
      "input": {
        "note": "Gripper settled at 0.10 again; lifting 6 cm to check in the overhead view whether the bowl comes with it.",
        "targets": {
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HzLof3Chp4DXR8PB9ZXaA4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3508, 1.4822, 0.6796, -0.0219, -0.2844, -0.3382, 0.1038, -0.0219, 0.823, 0.5945, -0.4221, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3683 left_y=-0.0782 left_z=0.0646 left_yaw=0.0581 left_pitch=-0.2117 left_roll=-0.0137 left_gripper=0.1038 right_x=0.2892 right_y=0.0002 right_z=0.1592 right_yaw=0.0034 right_pitch=-0.08 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -7.2274, 8.3897, 1.6288, -0.1636, 0.0122, -0.0708, -0.1026, -1.7573, 6.9949, 1.7509, -0.0513, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b750a391d950b27b938a6bb55e26eb8cd3bc651b22fcab920e9d7a387aad16b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78b9dd1b83d62b93597cf4f217f67df1b0a5aaa2acb2df5e7ec22388785f2c00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04a9414301f31bd363ff80e71805d5068b36c92ea113d6047a78619bb65c632c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 3.677 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]: [-0.3489, 1.6295, 0.5877, 0.1452, -0.2955, -0.3073, 0.9955, -0.0219, 0.8185, 0.5945, -0.416, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3573 left_y=-0.0714 left_z=0.0077 left_yaw=0.0591 left_pitch=-0.275 left_roll=0.0456 left_gripper=0.9955 right_x=0.2899 right_y=0.0002 right_z=0.1617 right_yaw=0.0034 right_pitch=-0.0694 right_roll=0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -4.5607, 3.9316, 1.1795, -0.1685, 0.0855, 0.0464, -0.2393, -1.2923, 7.0085, 1.6679, -0.0855, -0.0464, -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]: [-0.3508, 1.6154, 0.5945, 0.1989, -0.2848, -0.3302, 0.1044, -0.0219, 0.8185, 0.5945, -0.4164, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3697 left_y=-0.0786 left_z=0.0229 left_yaw=0.0538 left_pitch=-0.2091 left_roll=-0.0087 left_gripper=0.1044 right_x=0.2898 right_y=0.0002 right_z=0.1616 right_yaw=0.0034 right_pitch=-0.0697 right_roll=0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -5.3265, 4.8752, 0.9792, -0.2808, 0.188, 0.5055, -0.2256, -1.3744, 6.9812, 1.6777, -0.0464, -0.0611, -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]: [-0.3508, 1.4822, 0.6796, -0.0219, -0.2844, -0.3382, 0.1038, -0.0219, 0.823, 0.5945, -0.4221, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3683 left_y=-0.0782 left_z=0.0646 left_yaw=0.0581 left_pitch=-0.2117 left_roll=-0.0137 left_gripper=0.1038 right_x=0.2892 right_y=0.0002 right_z=0.1592 right_yaw=0.0034 right_pitch=-0.08 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -7.2274, 8.3897, 1.6288, -0.1636, 0.0122, -0.0708, -0.1026, -1.7573, 6.9949, 1.7509, -0.0513, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b750a391d950b27b938a6bb55e26eb8cd3bc651b22fcab920e9d7a387aad16b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78b9dd1b83d62b93597cf4f217f67df1b0a5aaa2acb2df5e7ec22388785f2c00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04a9414301f31bd363ff80e71805d5068b36c92ea113d6047a78619bb65c632c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TDhDfkdJ6RQrY1ZVQPtzKy",
      "input": {
        "note": "The white bowl rose with the jaws (it looks tilted in the overhead view and stays fixed in the wrist view), so the grasp holds. Lifting to carry height.",
        "targets": {
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01TDhDfkdJ6RQrY1ZVQPtzKy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3508, 1.359, 0.9928, -0.4839, -0.284, -0.3412, 0.1037, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3685 left_y=-0.0783 left_z=0.1585 left_yaw=0.0618 left_pitch=-0.2353 left_roll=-0.0057 left_gripper=0.1037 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -7.3094, 9.5248, 1.6337, -0.1685, -0.0171, -0.0171, -0.0479, -1.4017, 7.1453, 1.663, -0.0806, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ce0ef0fb7a1243de664da130d95995b38fac4b3f32f45e31a94acf71aacfb36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c938a31b312174e5781095620aedbdda472d283c56eeb6b1cc16433cc9d7e801",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b283a7ae908ce2d1d8e2eb3b27c4415923ee29099459b1f97e103909b4fa508b",
        "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 · 20.13 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]: [-0.3508, 1.6154, 0.5945, 0.1989, -0.2848, -0.3302, 0.1044, -0.0219, 0.8185, 0.5945, -0.4164, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3697 left_y=-0.0786 left_z=0.0229 left_yaw=0.0538 left_pitch=-0.2091 left_roll=-0.0087 left_gripper=0.1044 right_x=0.2898 right_y=0.0002 right_z=0.1616 right_yaw=0.0034 right_pitch=-0.0697 right_roll=0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -5.3265, 4.8752, 0.9792, -0.2808, 0.188, 0.5055, -0.2256, -1.3744, 6.9812, 1.6777, -0.0464, -0.0611, -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]: [-0.3508, 1.4822, 0.6796, -0.0219, -0.2844, -0.3382, 0.1038, -0.0219, 0.823, 0.5945, -0.4221, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3683 left_y=-0.0782 left_z=0.0646 left_yaw=0.0581 left_pitch=-0.2117 left_roll=-0.0137 left_gripper=0.1038 right_x=0.2892 right_y=0.0002 right_z=0.1592 right_yaw=0.0034 right_pitch=-0.08 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -7.2274, 8.3897, 1.6288, -0.1636, 0.0122, -0.0708, -0.1026, -1.7573, 6.9949, 1.7509, -0.0513, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3508, 1.359, 0.9928, -0.4839, -0.284, -0.3412, 0.1037, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3685 left_y=-0.0783 left_z=0.1585 left_yaw=0.0618 left_pitch=-0.2353 left_roll=-0.0057 left_gripper=0.1037 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -7.3094, 9.5248, 1.6337, -0.1685, -0.0171, -0.0171, -0.0479, -1.4017, 7.1453, 1.663, -0.0806, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ce0ef0fb7a1243de664da130d95995b38fac4b3f32f45e31a94acf71aacfb36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c938a31b312174e5781095620aedbdda472d283c56eeb6b1cc16433cc9d7e801",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b283a7ae908ce2d1d8e2eb3b27c4415923ee29099459b1f97e103909b4fa508b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Bowl held. Moving over the middle bowl.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DszHt6YtxqEGRRNkLKjCV2",
      "input": {
        "note": "Carrying the white bowl at ~16 cm; moving right so its centre lands over the middle (lavender) bowl, which sits about 16 cm to the right.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.235,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01DszHt6YtxqEGRRNkLKjCV2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7753, 1.7, 1.4006, -0.7219, -0.5167, -0.7044, 0.1037, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3654 left_y=-0.2309 left_z=0.1682 left_yaw=0.0444 left_pitch=-0.265 left_roll=-0.001 left_gripper=0.1037 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -7.9248, 9.2103, 1.1013, -0.4664, 0.0269, -0.0171, -0.0205, -1.388, 6.9675, 1.6825, -0.0317, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8f612d225e993a226647ade8eaa4485fb88d9b1dc8112e1e50cb7420af648bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a8f3870003abbb42a117d1f298df0a3f1c66000eab5326035684768ae6e4693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5743935b645a2003e2e9b72cfea93d508a2b63834c53349668ca6a65d953a498",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 5.5 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]: [-0.3508, 1.4822, 0.6796, -0.0219, -0.2844, -0.3382, 0.1038, -0.0219, 0.823, 0.5945, -0.4221, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3683 left_y=-0.0782 left_z=0.0646 left_yaw=0.0581 left_pitch=-0.2117 left_roll=-0.0137 left_gripper=0.1038 right_x=0.2892 right_y=0.0002 right_z=0.1592 right_yaw=0.0034 right_pitch=-0.08 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -7.2274, 8.3897, 1.6288, -0.1636, 0.0122, -0.0708, -0.1026, -1.7573, 6.9949, 1.7509, -0.0513, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3508, 1.359, 0.9928, -0.4839, -0.284, -0.3412, 0.1037, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3685 left_y=-0.0783 left_z=0.1585 left_yaw=0.0618 left_pitch=-0.2353 left_roll=-0.0057 left_gripper=0.1037 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -7.3094, 9.5248, 1.6337, -0.1685, -0.0171, -0.0171, -0.0479, -1.4017, 7.1453, 1.663, -0.0806, -0.0757, -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]: [-0.7753, 1.7, 1.4006, -0.7219, -0.5167, -0.7044, 0.1037, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3654 left_y=-0.2309 left_z=0.1682 left_yaw=0.0444 left_pitch=-0.265 left_roll=-0.001 left_gripper=0.1037 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -7.9248, 9.2103, 1.1013, -0.4664, 0.0269, -0.0171, -0.0205, -1.388, 6.9675, 1.6825, -0.0317, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8f612d225e993a226647ade8eaa4485fb88d9b1dc8112e1e50cb7420af648bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a8f3870003abbb42a117d1f298df0a3f1c66000eab5326035684768ae6e4693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5743935b645a2003e2e9b72cfea93d508a2b63834c53349668ca6a65d953a498",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkSMKEAgSGAI4AUIIdGhpbmtpbmcSDHUIgyq5iJLJMwXGBRoM6CPRmX5hqrZ6bRdWIjCv8UAj0viGqasEEkvHjKlHRTCS9fbTlUe3xfE7/XltV9erC2zA+OTGTznwPyqtJe4qriL91W8VAeR/oFboFN01lGI84CAN+lmH7vZSCA11WVwsTOnVuSGPHO2csvLI/QM199SSzHirK5Fpj4j32wPEuHaMH824pxfFusvGfUTu79E5PwUXzN6qDkXY4yQaLoB9OMl8oRCbzKNTyXz2kNRA0ccx2hUatlsQeWWt3RqUgQs3epf+WLRjRBqMexMzQsMdoljWI/ehKx30Q1V8K46O3qwGwmnASQv2rcwOxS21BRVTi21LZ3RMuL6z4LF07WBKkrqdPvcj3fcdQijwpOGxhmQ60qemoOGIzH+9+0qKGwLnYlFpQD+8XssQGhzrC4RR67rmG3XRO+dRQDFZZ1ZIoNeNEr5jiaRX6NnQHwMDZa18TBU/wKJAgO5iWRoKrtEGYeqcwsADAZaQQq7ywwLVZaBJiXlFwo+IyDavwekkXetbVNKE2rfhikPB53jqEMe4dZmHrf/8Xs4e9rVG3bK4CxUKgDB4mticp0Y0yVQgyeJq41EGPY9nNbX3ahf9JqFeOaR+IgSJZEr7lXhEHoObswby0IsMwWCRhG8475hTfSTyINfYT1+Xi2PnsekQvnDwt4te9DG2Cl3YLL37MH8201yyQ4yblNAshJstZ22saQwmHapZnhl2h154tO+LE+4JBJq5DObToF45mtALEM3j1/A1PQRwaokRBbbu7KeSR2TLPWOxJ4q5JiMseuTFd73UEFcVmV8aZQEaRDgeeqMChuATNZG2haecR/M8kaQdoqE2AdkYPpCbbqFHbG3KLbmF2KlAZKhT+q7k01hY+UjVh4wlc6RfyvQkWUKPvugBIB4/VsF9dq0BuPqeshr8/Hhhi0GzlihYScKCg6dzm/d6enB3wXK4spqUOjtsNUlQWyD8vdC+x4bYWXb4E4JzmquJ1eh78k/3B8I6GS1rbSC+uhrR51YPZ7wFAT2SPi0Z73eZiMJ6bEMqlcE9Qi4R45/rVinVJCt+1U6m3iSpXUrQda+QDgBOX/P9ifEv+y6Gwr5jG73mgIQxjkAEG5NTfkVT8TmAHDJ9CPuTRJ3zWR0eOAx29G6oQBtgmn1D8ML20du0XHUOo0MlxIm1j4WmFTmoYyK1c1HdJ7pVFqFWlf5BCykOKhIp/WjroKznyZ9G2MaSafVLI5q1n5rzliWWclKOuV1Cm3xvxom+qv76+G3gmzRDKTHbzZHX5DdzR/K4MyKSOxq1xU189FjV/bC8y4IyzP5cQjfKvvlUKdZS5y0fWtFXytyGoAzxpEN04cv3yNFKuRgTKv+07ZfdOpVFKuEZte81ehcZfICgjBtC5YyyqmgrGhFIwKf7TO29UTZ8uuqniCd0gOzMRR1BdOk42GYQZerKYPvGTkozt46NPXXsAkDyInvWBd7gMbrOVbLcGgla8Fr5aT4Xw8UIxq5KqU4Jo5tDCBxr3LJcSmfkPtVEEex2RTePJuFPPnni56uII4+G9qoEG/rm4Mm2B3v/bAV9cer3pBIlGpku8Dj3CempxTW00h18NU8V2YDoTJwX1mAyXiPsCEJhD/8oPhFQXJ/3yRi26RUcnvXhJ8HkUhPNqktxdWQfqq6WSw+6dMFaaWMEQkx/GNhhS7tXDfOMfj0YFQprBiw6FiKDd89Rcc3a7Uo7qaaa8aCh1L/+9oL215gWh2aToP4tHwl5klC6AswYT+0HeRPIOEgrgNjMdNJTuxjh8Xl9oaEMIwUxpBcBSkIpVOfLfCR1pSACHZg+xOIpKLDUSd1HbfgX/EkU/7llVV8ewMNYCr6DGDL1sR41nIPnZSdnRtyhLDUpk+VA1DGASQQk9aCw6GD3oRteVB1FYu/wX6u+pGEGGuTSJG+yLXmfEvYGvRi0IwAZ5EqpWqj2bU0UHHRkGlrZuAqY3IL1k5N0UDZ8+myJ/xIYcaCFZDU5lflwt/goJWr5Dc6Ns7SKZ5EpHtD/So6ExhTM7GKSDILez8o8rup+ATvSINwjW/Pvqrm/1dO/kRFw+NTotTF0N5jNA1ZWwqwORSrMVgFhUsq5uB/uAk8nEbfFT9dfCekHHHan0RqUWmW4FucVLOi4BHQt1lAMiyl6SfN+ZHx0hpJWdQe8BoYVMFyuSNQCE9gFI+U1fB2vb8yTWxrKosxeowKJuRiTRfo+OEMJOxfk7qzuAXlEo3mbS5QMAcFzKjkvqTcozNkMvPYXG6Qwutzlvrgnq9HGdVHI0vHbbHmqbut6D2GbdwqHuF5bu7kAA/qRtL0yq8OxZWq0bt8U+gBbW5PbplWG+aMBws14K1yXUN6HgnSlhUyVWLmxzeTxSw7y0VFPl3OJM2f4MEj5+cShfalLmkAfVIURnxvQXvpnMmM1RboZ93JnavNtxdoIZ2NsC1Pwk/YEdS8nFlTTHQUwS9zla3WtW/ShTfWAUwZNgxeaiJll6SvnC0ygB3DtCv69Or2Olo5hKvLv+5iG3CgKsF8zClWo7rfULqp21WYpbDlNsRAb+0QYpLXfjoELtMMByRn0YnDLPgLMg6qI/l+H+n+nh+pSmuz+4fCyDPt7AnD4OmQ1QCRbzOeUyPMZBpG0I6j2oYZJxSmqAg338kYL2U4ChhuKD1aqo2KIUlGYcKUeRZdCD3xRQYofHoqIH+SToU4Pm0E5dKstnEzAsD1emtpilerncwQsWlEC2DoJeOEImFqlUYiLiT57XxdgV4NXL8vt2UJRaTEMgJxBQWwfnRA7VmhP6vC5Wxk169cjcP2VBqNJKRjtkm0ln9giMxxAsxyqmJvb8i4sRnRaQ3CqojUDNduwMtxKY5FRO9pRGoFBmtrsuPjmwFZbK87sn3toWkRQbUilqf+SAP2JhFVA86znnt8v3gtu/tjrWiHEQlrKzr0N8LxNY82IZIW9429pQ3IszCHguYwlWCZchxfXRkIR+nfaSkA6fNGpZQZQSSkzP1/MJxNjRFsGIQzoOWML7wjVUn+zlsuA60N422BH6ziDXfz/n4/OyLPdSXdLPAE3DRb8cJlB0PoifIzRzzlqURj8e0x2uYD2YsR654ndyiNGpqSp0TuZ9D3CSGBo1OlJS94azRkVeg9vXXptKBLdgfApPX8p7kw0YQEh0Q+8w6wLnlVmkPPphk4dG1kOUY0GuaxkLgwx7dh01re+ug6zyEACnuih6lJcsSd9NCGccozTjQlocSi1xr/SR46nz6b/G2UxnW1xP/FJVHvhDMaA/uQct/nDoP+dtX+PCazdGZrtgNJ0MuLCAOiumkf83ZiYbRSvpqeyCpEMpFqcYcoNBEpdfErbW8xWTwzZ3Tetj7g5XajlXpX01+hv+vugg2axiUCKZ2T3KK2gASd8wI/wcTMb57naNJquGUM/OGaA9WlPfgOhi9C+4GKFOu7LobtUDo+2tVwUt2dMpyGP9Brjq/JqCHINu/MSNmGC8V0m5KFMpCm+QlE/3H+hX6yt9zXPSLJf6+5roNLBE8aumIvjilZ8Ioi84Bijm2SD8qgud4oVgtt3eCk7IntUYyiGYaN0sRIGjfGbqehLbUlW6+gdUocD0gcqh7Ltr3eTeXad544g12aqcZeO4YcCgJp2yYOKx2KYiX/f3ibdFiO0mqX10Td1jbwjykI7KFPeNA4qGsCKFwQcWKx1iNAP+2BJRR5eiKVEjB8J4Qkqp1jfIF5OuXCxUQD6k2DS/oRY2AzksjNR83C5A9F9gV1qfCuZVSuW4aHR1T+dykcwCRTkUk5iQgTQvCxmNTae8+ynmkAgQPGxeYXegNsiQAHkmkElyOZf6u0wywhjSz3JtO+HDWg551/yMD4yExrO3yTgHBNxXhThn+3G1NY94tImUzKElssxiU/RUp7Z/n3AQNENPPIxPwSvn8aIRdiHHdXIsrZL9Kij7thNZHqMudAg2Kegwuc65lyRvwASOEQcMrH8Uzk3Z2j/E0KxVArZUF74byzxtqPz/FjFDLLVYhG8kPWJDp2gt+Vu3LzPVh1xiI/WYwLd3KX7pY7AlCdGzhjbIk3KLBixECxSnZjWD001brL9n2R318YEVCbGDgMAoGxJ3ItbtpG5dnlY5cxdi5U/oo7kDIjapNjLnlXE3Wtf8sMK5MVFP9qLRB9e1jO772mNVgwyfHhvxjwv17Ueu70wweOsm3JvqtRGU1v8xoCAmvkCdGPMRt8vJC0SArOZsWH5NJQL3oN2wOBFejIRNijVS4NS4h+8dwG3jZymgCHxF/HD/36OVoGkVVXeCHeV1JDDHKTCOWwn6MH2T4PvjacubxKGkUCCuTSmBWwNUNN50Hj9Qb+VvlZiEtxt102MIoOaS/R1tZUTuFIenP80SkRJZRQWsLo+M5X0N3++FEtdfieigrKxTJyLAnSPam5CMToXiBu9VhIdkkNs0h9UiZHiNSAurGdFtqUyXc1clSwj6f1xal6H6VAmgCQXZwaY+zJxh+NslypY/CtSn6n4StSSaIkFoo3SJ1UfyvzSjRC1qUt4XBvLkxMUSD/o4KuTyrmxxAUGUyCOTmxAUg3kI54dnL2z7UarD+tVBXdKVpXYuDei7b+RU+v9NKVjs2tUinpZqu0SHwJQ2T3HREbl9w2blfw7Gki59AdUDWG7OPThwlZzyHlRIgVlRnZp2JV7AIYz1l352VXkmIi4uymraR1/DDIhxjSaiPXpAyOe+z/uJp3A1pHv4akrfVRw7rqS9m0naSaSVAUgXWnjics4zZaozfbtytKLYWen/W3Fe2BYremS2Y7fZyHWUcGLzlp31Z6w0fEotFOwzxxpr0ldsVn4snOE38I89ci9vmhc/SeWAqiorGywuryKn/gClrQ+eBPwZjXNuTudGjlXT1HQZu+RcNeDPcgK6iQO40XQZdtu2/xP53UhoxaN+msm9I/B5l77fl8J4rfA/8j60ps1aqX+9NKwQ8PGxUIo4xIECgY+XeTIEP7cKYOJ2eZDinVMCX3CasbHT0TiUjHFtCCNdOEOqcvao4RP6nZoxyt0hsh9UbSCEyX3qq2nrgPq3+Ubk+xAeljJYrEBBgSL/yIh5yUQ6mCTs65Sa6Luyo47dXR3lmJXtIbpF5tCfdfSZ32FHUt6hgYyNbPwLcDInF7AY6CthQjoGyAc6dLzUVTSAptWOZSfWtjDkFKeVETTr+b/+hvTCfY+PXr+sXzTQkzHX3KSJT5a6tDafMiCI/N6e/uk8HFemABaQIP2oYw96x1OkQiFqYSTDiT2HKYVD4MlkpDAHXL95eWu690iQeULEXC+OvYfC+2WhtDgUNYMnueVvTEKcrY9FqI8pB+zxB3o0MZ1BVV9ENxEyuX5s2DsC/hfIGftl6Wh+R9pcwOCeztLBhCAuDBRkvowxJMw2//T6w4FT5Ai0cTXc5OKPP2ctfYBsPqMBXkGWtoQ0QxzKi2R1KZBcNHC4ch4p0CjJ1NLZCxa0thLXltCOzd1WBpOUNo+qtVNB5qPLukbx5QJ4hRrJGhU5dT3A/JTbCStOiedRrV/L4uDtFRC9iOgfaU6Z1XSnAjGOj+WDn/bPQ/iPcNKoXBCNqqTm7cW0vb427P1ryfmk7igvIlKtwWH7wCv5HcpyZC8NkbJnS+fhc30e/UhqRGPnPwmwcJEzfR6z6gS+nRtxI4klOpMSnFWv6LFCvgpEofWgroyypmkbWi+nf1abpd2OzaNa+dPLwUYI0K5+QjJb/12xRuOXay+rGNf25Tnf6rSI5luPF4mZFXBcHHVxeGZTtNevWsUTKxb4JvbsChyObrJtrUzEcfz1HXOtQSBJQFtD5YXCwU8xpJ2+EKgsRgD9hJfVK+KnpxV41/reMK0NZjUqlblBHOfUapekP8nuUpr0ljSrSh5H4JVM7kaNs+cgPdJgzNlWNGZVLxHXITOMZp0oP23eiPcKbulY18me0qzzLhdcZsz8N3czRpPvKmu/IoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MPwapxEidMi4vKQ52qH2CU",
      "input": {
        "note": "The wrist view shows the white bowl still sitting on the table behind me, so the grasp was empty (this gripper seems to read ~0.10 when closed on nothing). The fingertips were probably behind the bowl's widest point, so I'll try the lavender bowl's left wall ~4 cm further forward.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.41,
          "left_y": -0.27,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01MPwapxEidMi4vKQ52qH2CU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7742, 1.9701, 1.3865, -0.4885, -0.5102, -0.712, 0.9949, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.397 left_y=-0.2625 left_z=0.0735 left_yaw=0.0564 left_pitch=-0.3034 left_roll=0.0286 left_gripper=0.9949 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [0.4718, -10.0855, 8.1983, 1.37, -0.2515, 0.0952, -0.1587, -0.1026, -1.2239, 6.9949, 1.7363, -0.0757, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88d62245b156143706833d56e3fc42829c8b91ebc41b229940913f8f93a57aa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4353e29fbc6601ebec5b3a28c7992592d82349e8531f5f7847fd06914cd6ed6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2630382353abaf414ef861531fdcb80f51ae13ec66c635c1a8fa84686b854df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 3.053 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]: [-0.3508, 1.359, 0.9928, -0.4839, -0.284, -0.3412, 0.1037, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3685 left_y=-0.0783 left_z=0.1585 left_yaw=0.0618 left_pitch=-0.2353 left_roll=-0.0057 left_gripper=0.1037 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -7.3094, 9.5248, 1.6337, -0.1685, -0.0171, -0.0171, -0.0479, -1.4017, 7.1453, 1.663, -0.0806, -0.0757, -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]: [-0.7753, 1.7, 1.4006, -0.7219, -0.5167, -0.7044, 0.1037, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3654 left_y=-0.2309 left_z=0.1682 left_yaw=0.0444 left_pitch=-0.265 left_roll=-0.001 left_gripper=0.1037 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -7.9248, 9.2103, 1.1013, -0.4664, 0.0269, -0.0171, -0.0205, -1.388, 6.9675, 1.6825, -0.0317, -0.0855, -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]: [-0.7742, 1.9701, 1.3865, -0.4885, -0.5102, -0.712, 0.9949, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.397 left_y=-0.2625 left_z=0.0735 left_yaw=0.0564 left_pitch=-0.3034 left_roll=0.0286 left_gripper=0.9949 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [0.4718, -10.0855, 8.1983, 1.37, -0.2515, 0.0952, -0.1587, -0.1026, -1.2239, 6.9949, 1.7363, -0.0757, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88d62245b156143706833d56e3fc42829c8b91ebc41b229940913f8f93a57aa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4353e29fbc6601ebec5b3a28c7992592d82349e8531f5f7847fd06914cd6ed6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2630382353abaf414ef861531fdcb80f51ae13ec66c635c1a8fa84686b854df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSvAkKEAgSGAI4AUIIdGhpbmtpbmcSDDnD91FTWXa7yaGj5hoMF6pnQaJPXr/dlNB8IjAG4921ff4aXMQeAwAE6hz/kzmFb8E8ty6O+dAotv0sB5GDPcy9nKOufiz7ekjaZtkq2QgJ7HBR53mN/stLgCVbykTfs/MfQuZFM/ASCc6tgzuMJSzEcJoL5qjra57zKudfgEmSCTftupnqwVDEnLszgIp3ZFxTnnSkuA9p2oTpivaiw6VfBAd34X5/HDGPd3zHIOBleVBJfb42+4CkoyyZmpElSeKg5Nn+Hwzi59+ePQRquv1svLM/R4e84mKn3cB1UdQmBa+5MOaCNsdkiPzEfveEsiGf7nIzUO2RuAnP6KjXD5Xb++3mHyIo7RfCWYPPpse4OKHzhfNyWbrZmc+Le/uSHiBAh+wegJSBC9GtyLvV4m/fG2q9Br8iWsujaU6ZzU3qiNXys36qqGn1/f9Lzw5j1T6lGP7LD8g4GBSOBrrbHajddCxxCp8pTs1cnC3DX2wp0qdOSMsuP5c0ZEtOoHNeKfgIc8Fr3Ov35NFonww+ESWO4SQLfWQDuAnoOsmE6wcOjqqhwFfPKUbkBnwB70DfimoklmT1JnrIQAOSNArc+xGXakedtSTd6RFdTHAf5sLPqtET5VAgvGcwrd4sdX2spRurSuZKqYu30QfBqylQ5N9ITTYCoRizidE1aNpG3CTrLtxe3ekbCegRTAV5rlhG3NN0p4rl60jqQmKEb+h6OgJ6WMvhpYji8X8/E10PUmcAP1He05hMxi3ZF36gL7DC/CRkbrUAc91UD3QRVVGCxGK+j9gxWe9FR5lLXQ3DjhvSqkAN3zDt0asdWoiheNuXtpT9z3pAchn/VcS+/buUO9YGasJhoSY3Cew703iZlGjPMFybRRXrues4O0wSN6bvkq5O/QYjkEynR8JY54jDXeG0s9unlcoQjeVzyQpKkyeg1NrhecOJsbiTap8IfhLp3xF2FXI2kinRN0o7EeARVo5BgIXe6VjtlOg2XjetQm2BaYbnE2aC4wmagvanESOfbf9TESsFMg3ZulE58rZ/EWwgYA2Xa7NafUysXPyVLJV/yqlj6dmx8llRDDYLrtNARLR3OLeD0ajB4XqD8zx5hEU9bLIzdku1hPlttudCv3AfneeWW8sNsixZ5Ag/Zi+4QUSupSbcVHIT1PXpjYgfMDXBwCgm4s/z5aC4OddIHCuJ5NerYgxXBUY3VDVPAmO2u+lVhFWqLrUb4f9d4oDvl/hB4f8K87IUKKiDobibJl4fJR6JfMRCyZ76cW5qF8q7vPrb0xw0neGYw4s6I4Ispnj/nTkCkDQELm1GZkq79BnAgNj/XXy5BcuqWXAU+n6q/Y+PIYDpm38OghBn1n0vWZAEwaBByiJWtI+jfXYh4eS1VkMyEB4jf1hCmtvshhvv2vS7H9a1AnVlbjjOqysb04gjl4ENN9ZTCVYt3LNLbyu8bgwAX5tuV36lI21MPFQEF9EdpG24PjYplOM9HsoxIpV49fAMgadlUMzVk/jRVdE6QG5FvIruCn6bRAX63Bct7z82qKXzN/i4B3ETsKj6399jF5ve++wfS70X0iIwumgS7+UoAdS7YZYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GonyvjUnvD9Ddm9ojfmDA1",
      "input": {
        "note": "The lavender bowl's left wall runs between the jaws in the wrist view, with its widest point a little ahead. Nudging forward/right and descending to table level to pinch the wall.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.275,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01GonyvjUnvD9Ddm9ojfmDA1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7628, 2.1376, 1.3865, -0.3492, -0.503, -0.7189, 0.9954, -0.0219, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.411 left_y=-0.27 left_z=0.0111 left_yaw=0.0738 left_pitch=-0.327 left_roll=0.0415 left_gripper=0.9954 right_x=0.2891 right_y=0.0002 right_z=0.1592 right_yaw=0.0034 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -9.9214, 6.7077, 0.8425, -0.1929, 0.3541, 0.0464, -0.0068, -1.388, 6.9675, 1.6532, -0.0855, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9f7938ad72c03c3a113e414d06d25e1ae129d916853819fcad6e2969f314a46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64fecf47efc9dfb0fa70636ea114475049be2dfdc3470bbad89a73b9a31f792c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8bc1d94fcbe52d1f1ab8c9bcd78b0058be3766ee56b93a0f706b9d9b595998a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 6.602 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]: [-0.7753, 1.7, 1.4006, -0.7219, -0.5167, -0.7044, 0.1037, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3654 left_y=-0.2309 left_z=0.1682 left_yaw=0.0444 left_pitch=-0.265 left_roll=-0.001 left_gripper=0.1037 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -7.9248, 9.2103, 1.1013, -0.4664, 0.0269, -0.0171, -0.0205, -1.388, 6.9675, 1.6825, -0.0317, -0.0855, -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]: [-0.7742, 1.9701, 1.3865, -0.4885, -0.5102, -0.712, 0.9949, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.397 left_y=-0.2625 left_z=0.0735 left_yaw=0.0564 left_pitch=-0.3034 left_roll=0.0286 left_gripper=0.9949 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [0.4718, -10.0855, 8.1983, 1.37, -0.2515, 0.0952, -0.1587, -0.1026, -1.2239, 6.9949, 1.7363, -0.0757, -0.0806, -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]: [-0.7628, 2.1376, 1.3865, -0.3492, -0.503, -0.7189, 0.9954, -0.0219, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.411 left_y=-0.27 left_z=0.0111 left_yaw=0.0738 left_pitch=-0.327 left_roll=0.0415 left_gripper=0.9954 right_x=0.2891 right_y=0.0002 right_z=0.1592 right_yaw=0.0034 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -9.9214, 6.7077, 0.8425, -0.1929, 0.3541, 0.0464, -0.0068, -1.388, 6.9675, 1.6532, -0.0855, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9f7938ad72c03c3a113e414d06d25e1ae129d916853819fcad6e2969f314a46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64fecf47efc9dfb0fa70636ea114475049be2dfdc3470bbad89a73b9a31f792c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bc1d94fcbe52d1f1ab8c9bcd78b0058be3766ee56b93a0f706b9d9b595998a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wYKEAgSGAI4AUIIdGhpbmtpbmcSDEW+aYPPws1irUMUoRoMBGEcPD0RoZOXPzq7IjAD8D94FJcsJ6FtVSIBQpIoipUNYnXRXOci5B+WeqrSOXog3l172K7HOZ2z2g9bTDgq+AUlfOmyJLB5fevMTYkpauz/D/kAf5o36eXXGhbQ2RQwcirqyVC3zr+fhk/qdF8GwmQeq7+Yi774GuSfqmG0lX5Jzbpt8VPf+Jok8KHZk86UZdtYdPgLeobbUNWdErCTTfi1MypLUJAfW3dbLapVMMceuDtaj7JEys/Rv5Hth+t4AeNOV3Nmqlp84mT+9RAofPJY6lzcgCjaNurTRFp/9To8Fj7gn4J5zHe4J9JGAxJCOmr+dXKO9WrP0Jtm4Yl3bB29RVn2dcLIZwMGS6Bew7Ak6zMRWluP9RSrgcJrQ9tHxN2KZFWTzz6m019YXw7YxxJ2fqBfM3Ya+vbn/EEV2HxtBWwPifZvws+w9U9E40OlSsYskg8C7qscGXHVBMw13RI1hQAhfZXxqcb2gNrWtY3AfcAeHt++Idrz3msXpWNJG1dLYWnFtP9Ff+V5oDvbaSfUYYBUgbUkYsTDGkxfy3/Ykzt16Jb81oH3yJCHrUv8rWGeW8puqWO4Zv9NpQUgwUYL1mdoJi0Ci8WZGmpmQ4ppw+yNc37ZtCXDgmPVQkuIyVWO7BXk3tXo5xgo2A7zSfjWdriUQhaP8mo02+hyxWi7IBT7t737f7GbWIlFVLyKCEGlDXjCYdNWpygG9V7+HAiV5nLPM5C6t2rZtJIP2uGRGrGhLQjXLLIRPrYnxf/ACTtbve2/ZFsatXN1stNF1hmCa8+hGrwVoxJKzIwzSc95mBSsuPOZgIm3aKbRJceon5QNgGuLKIQt86WWY77esFO7g6m5OZv+mdH5/kpbe8BDvbKSlSon3LpB5/6B7fx112XTiGPK8CnfXFmD9lB9LXajiMUt4yUM8poQYaRJeM3OwMcTSMpzmFp715XjvEwzfsHRKYZuJ8yBQCKTNNWolCj2JrMUxh/C0ZVMG1dNm3m43vbyaEufppag1gZ55x1DPpmS8lOYkrlMuRPAoj8i3CmU00diF8iTxjNsboZYF6LQ2H7Cfts6dobSy4Wv8nU1JGifyrNr+qvbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KqMWSyWmJuo5KYdtm22Mgt",
      "input": {
        "note": "At table level with the lavender bowl's wall between the jaws. Closing.",
        "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_01KqMWSyWmJuo5KYdtm22Mgt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7589, 2.1357, 1.4017, -0.2729, -0.4965, -0.7227, 0.1041, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.426 left_y=-0.2831 left_z=0.0251 left_yaw=0.0543 left_pitch=-0.2676 left_roll=-0.0369 left_gripper=0.1041 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -9.7846, 5.641, 0.9548, -0.359, 0.2466, 0.4811, -0.0068, -1.3744, 6.9675, 1.6825, -0.0611, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ae3eae3529056c03ea5afab71e991be015049cefb96f3fa19dfae17732e0ede",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61a3284e102ad60835e9986c0deda5dc0dffae7ff15ddbc3774cb43065aca528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b5584d10ee832fc3bfe2e098e4bf44e93465c98459d8a66c10b01ffcf231208c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 5.25 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]: [-0.7742, 1.9701, 1.3865, -0.4885, -0.5102, -0.712, 0.9949, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.397 left_y=-0.2625 left_z=0.0735 left_yaw=0.0564 left_pitch=-0.3034 left_roll=0.0286 left_gripper=0.9949 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [0.4718, -10.0855, 8.1983, 1.37, -0.2515, 0.0952, -0.1587, -0.1026, -1.2239, 6.9949, 1.7363, -0.0757, -0.0806, -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]: [-0.7628, 2.1376, 1.3865, -0.3492, -0.503, -0.7189, 0.9954, -0.0219, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.411 left_y=-0.27 left_z=0.0111 left_yaw=0.0738 left_pitch=-0.327 left_roll=0.0415 left_gripper=0.9954 right_x=0.2891 right_y=0.0002 right_z=0.1592 right_yaw=0.0034 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -9.9214, 6.7077, 0.8425, -0.1929, 0.3541, 0.0464, -0.0068, -1.388, 6.9675, 1.6532, -0.0855, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7589, 2.1357, 1.4017, -0.2729, -0.4965, -0.7227, 0.1041, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.426 left_y=-0.2831 left_z=0.0251 left_yaw=0.0543 left_pitch=-0.2676 left_roll=-0.0369 left_gripper=0.1041 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -9.7846, 5.641, 0.9548, -0.359, 0.2466, 0.4811, -0.0068, -1.3744, 6.9675, 1.6825, -0.0611, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ae3eae3529056c03ea5afab71e991be015049cefb96f3fa19dfae17732e0ede",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61a3284e102ad60835e9986c0deda5dc0dffae7ff15ddbc3774cb43065aca528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5584d10ee832fc3bfe2e098e4bf44e93465c98459d8a66c10b01ffcf231208c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSkAsKEAgSGAI4AUIIdGhpbmtpbmcSDPgON7CKIiPoKEpKvRoM6rA8KIoMw0KrbGH4IjAGERmnZzFTkqd5hz2uCktZwgaLzy23Q3fNo8j25YsyBN1lY7vLpx8DS805TpkZolsqrQqjnmfAqdNXCQDFny7gLL+EW3f2uZnN778BG64on9TrqhDAVFPoCEVykPUx4poefW7OCOaQhc/FwDXXx+96/Q9GzW5wKi5YOuVOZ/PUf9F2lAEPCOlG+NPrEqhCiDilpI5/7moQZ7iYEEqQNqagBEx+fN5LVoNcM99Y/S+OMIOi9NXpEZI6rKJcb8hS9xNZt2ZY8VgvFLI+uon/G8NMSyh0trYqO+dqfnx5bjjF0l+3F10xIdR6z3xFPiNeDLYfYLYxwTTbo/MzOaewj8iE/SsW9Lg/HqZN7/hpIe6CGD5FVxom0uQZ84ResNcK+RvLwRbgJdz7mRH7xcPpBO7pJCoofbYSGGgA+PCVXkC7obU4LmuGI8QdHxawnukOw/Kv439ssXF/RFh/3FdeeImFqO317ZSsZX+qlyqz1xYTCLuP1uFGhl+i9pxFWoDqxGpI8TebI99rQ9IPC5gIwYsKQ4YbrXkpvu0T5/cs8DMP7crBi3gM2NGIVAnY7dlRKTf1rGpLyJQnZmj1VfECzrt17JiTn1sQb3sDNuJUmdjo6xEQyr1lUuMwS4hQ+u6mlWefbltHgdn1OasdcEDd5Uxb/oM75r8ml8NFfqHCROPUkVdZl1UESGhw0uDZ1Co/yGcyABffihmQ5V3fFm7M961U0PX4dELC7AaoVkWogGwQfH91rIs2ng9YC4W22HUVs0yWNuKXlx9n2rU6sLTQB290EUxlxq+gTa5rinGlZ+zOFA+a0YLExIN6en/V8bGxBFjZC1B9eCC2jK4ZadNbwjytCR1XiflJ0ue1eARgSXihDPv89BsVEp5pqwbAhgbgIyglXFS6IaVNAgEQUxy5GsWf3bIKhWe32OGRZmFEmM4YqyjKX2JdRJT1hjkOXZgjKK58GiAtofCR034dWly6BVEIO4R8Q5/iWjFoQriBGpp5DKQGQ06wXbDisy/lcmoqK6HlRnrdU/ZvN/6fOTHa0whQaD4MYLdvjocrodfPERVKKkvZyAN2iAo4akcNN1ZvMUNObDl3i25zXqsZJ6voaLWxJj4VAMPb8lujNlUeBq1c+j7oLrTS6NGmpk8XM0tts7iEGdUcFl+m9kIU6D1mUfoPcnKLRtcXugE7AzOn0p7HbatbHAEk94nLJNrY8fjTsjFIUd26X0VSFKSfI4NMKzvlCan5IK5OfiPAXiJShjnOZrgz2qQTIWUVjocMKvBKlTQDNwntGPY0YHqGKvglhGvueyNZpFQFUlP6F67ZKxon//cDDkjlb5lH0RB/LoyceTqZLUgbVhFuTdyosUloBASSVb1u4yPrFNX5QqGNDH84QZeljasJrQ/MeXSynELkcquzNSiNBuua3RZsb995oihE3Ht/uPFrjnjDlZqk01U0tJaberjITh9QtRKedysrZ/SCIkijB91m4Bgiw7N30Jps/2Nf6Pvi8ZpXLWcwrZvbU8UIyGQM3qX5Cy9joa4rvO1ylL5MQ5ZPNXNnXEaAKS+P6EL1DM2gAp5MBF9Nf3D8R4XY+bGBHbJkNsF8W+17DJuuh8tGzKHQoNZO2+5m6xASPPiJShEg8Qi3VLc/CZerSBjcpXI5hbaOSuKpYTc20u8j1/4ZS3XjXHkJ3aAGjpu8+OIIaFr6r6vyCs2hXiw5XsEau/ynu/ShI9It49sSDjdIOWS5TgOmHppmCjvnsZO+WcYgUS8Gl+VcT2faIi43C3rMBvObMEA215Hr0x3EDnC3P0pW2f+37JCoKJNX/g70W1h9AyZ+YEUWgYyoIOJogBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018acf4LczGQirgrvxctvj6g",
      "input": {
        "note": "The jaws closed just outside the lavender bowl's wall (empty, reading 0.10). Opening and shifting ~2 cm right so the wall is between the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.42,
          "left_y": -0.295,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_018acf4LczGQirgrvxctvj6g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7822, 2.1536, 1.4014, -0.2714, -0.4965, -0.7532, 0.8946, -0.0216, 0.8234, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4182 left_y=-0.2919 left_z=0.0165 left_yaw=0.0516 left_pitch=-0.2795 left_roll=-0.0451 left_gripper=0.8946 right_x=0.2892 right_y=0.0003 right_z=0.1591 right_yaw=0.0038 right_pitch=-0.0808 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [-0.8, -9.1556, 6.5299, 1.4042, -0.4127, -0.0415, -0.0708, -0.1709, -1.3744, 7.0359, 1.6728, -0.0122, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96707e74a33dcecce35d3e17b9be7c769d9f2984b7414eb54073b9c1c767649d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:923104744f932924e9767e40001824390eb47835d745eea1073a0e5702a64f59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f541f6eff50a7df5f099a3f0f2766b0480de33431a775153b4977e10f4893a6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 8.114 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]: [-0.7628, 2.1376, 1.3865, -0.3492, -0.503, -0.7189, 0.9954, -0.0219, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.411 left_y=-0.27 left_z=0.0111 left_yaw=0.0738 left_pitch=-0.327 left_roll=0.0415 left_gripper=0.9954 right_x=0.2891 right_y=0.0002 right_z=0.1592 right_yaw=0.0034 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [0.5812, -9.9214, 6.7077, 0.8425, -0.1929, 0.3541, 0.0464, -0.0068, -1.388, 6.9675, 1.6532, -0.0855, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7589, 2.1357, 1.4017, -0.2729, -0.4965, -0.7227, 0.1041, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.426 left_y=-0.2831 left_z=0.0251 left_yaw=0.0543 left_pitch=-0.2676 left_roll=-0.0369 left_gripper=0.1041 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -9.7846, 5.641, 0.9548, -0.359, 0.2466, 0.4811, -0.0068, -1.3744, 6.9675, 1.6825, -0.0611, -0.0757, -0.0122]",
      "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]: [-0.7822, 2.1536, 1.4014, -0.2714, -0.4965, -0.7532, 0.8946, -0.0216, 0.8234, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4182 left_y=-0.2919 left_z=0.0165 left_yaw=0.0516 left_pitch=-0.2795 left_roll=-0.0451 left_gripper=0.8946 right_x=0.2892 right_y=0.0003 right_z=0.1591 right_yaw=0.0038 right_pitch=-0.0808 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [-0.8, -9.1556, 6.5299, 1.4042, -0.4127, -0.0415, -0.0708, -0.1709, -1.3744, 7.0359, 1.6728, -0.0122, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96707e74a33dcecce35d3e17b9be7c769d9f2984b7414eb54073b9c1c767649d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:923104744f932924e9767e40001824390eb47835d745eea1073a0e5702a64f59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f541f6eff50a7df5f099a3f0f2766b0480de33431a775153b4977e10f4893a6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjgcKEAgSGAI4AUIIdGhpbmtpbmcSDKl4V6gMLTJDt0U0whoMiHSa7+yaOaSfVrGLIjAhaZj+AP9COoAm8x4dadJofUSqy0hcT2/ixQ7rre0f6xQpCR0Z8N5ZWwBT96bAHwwqqwaQCDVJbnvhsdyVs1AeFEawfJbCJVp2rox0lfwryWZ5zAukiGlY1FFnui2xco+mUUZbiK/EaakGHiunwyzzC74RaTe5tnoAPSE7mH3mJNjjbi+8wMWxNjO/ypJ8hrdnPjDx7OaXiy8YD2QIMTB0ndt/T744BiW/S6TEMGmmzGaNz9G+rXA4LC0fTY+MWZGFZrzqfhv1iOLuZ3sRw/5Tzd5Gv6Ht8hZKzbofMH9qJHPblOq7qubrz1xI3LjqyISbpv6JG34YUlLQxDKQuiLgqHj1pkckURrJMirWHQzfEkEvOCWah1acJYyPD6nqRWnzQCI8y8v3IulmfwxOjt8T1xnkUKnAqX234SCc2yBXb3non5LDdGHwADVOynOfKq7OP4CyJtDMfK7tQJg7cEyQYEoQkOtacNXD9iSqWjrvIessloYc3m7tVCeaUQn4DJVc+w9C21Gyrk7kd0l7rDzjwwNqEmn6fECTk8yUgyt9su0MXDmfjIk97TwGFrHRlfEr3+NbIToIGwkEUQNUR02//4sjtDyLExFvhXAHnmLIhRhR2VxIDXhfC9EdgZdPlVA3KpC2aU9SPikOq23MqL+6U938WLNr/2UY7aOA4vYFwPTf2/lgLFd5HImT1hgfS8LWAoXYBenPyTkkgmnov9AMY6oxdVP179bYmwUbPCY1mfn3qYLR0skkHqZvJSrgAGO0x9f9hg3WMJXvGQtNTcXXhKSMxBcgiEX3vDrta+QLEaKBiF13CEzdKcrnIZVe/eg/sbc9CLS03klE2Kay88EF+h8gCC7IVID/zb3W2xQwC4iDrS/5CNGAf3a8HzHRCoCMbr26anHDSCoZ8Poo8X5gBsBF6zOnBJwygeuHNg3Zbk7VNovZED1EBA+S1K8H2rqOsF/M166wfRV2ijnkJtjN7TEDlwyqzzEdFi17IQBPzBcdm3I+pYQrgBYWSX/xRvXp1i7NS3Cs7nvVx6i3dI+nLmxgvnZ5W4anOQYjLk5AnP8KsfqRlQY/9G+zQeziJBjDhK1S3re3evUoSTQuz5IsaK0Y3x6FtpJJU9DWbyGQQwyiLC2eYIbn6VFUkTEnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014RBPhKpiWYeLedTDtBiyZ9",
      "input": {
        "note": "Lavender bowl wall now clearly between the open jaws at table level. Closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_014RBPhKpiWYeLedTDtBiyZ9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7856, 2.1448, 1.4017, -0.2428, -0.4957, -0.7738, 0.0305, -0.0219, 0.823, 0.5945, -0.4225, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.4217 left_y=-0.298 left_z=0.0242 left_yaw=0.0515 left_pitch=-0.2553 left_roll=-0.0889 left_gripper=0.0305 right_x=0.2891 right_y=0.0002 right_z=0.1592 right_yaw=0.0032 right_pitch=-0.0804 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -10.865, 5.9556, 0.9744, -0.2466, 0.2759, 0.5739, -0.0889, -1.2923, 6.9675, 1.707, -0.0757, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d9c72ea093aeeaec21a61ce7443c02cf4b46b9b01c3e2e8983b120b36539522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:182421b9bf31208f6d4480665952f5a8b8f129f2be9c338a57995d442f229227",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:191467c064da8e6c8a46717f6600fc3578b2bb996ec836c8aa4a4f47625f985a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.423 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]: [-0.7589, 2.1357, 1.4017, -0.2729, -0.4965, -0.7227, 0.1041, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.426 left_y=-0.2831 left_z=0.0251 left_yaw=0.0543 left_pitch=-0.2676 left_roll=-0.0369 left_gripper=0.1041 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0038 right_pitch=-0.0804 right_roll=0.0032 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -9.7846, 5.641, 0.9548, -0.359, 0.2466, 0.4811, -0.0068, -1.3744, 6.9675, 1.6825, -0.0611, -0.0757, -0.0122]",
      "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]: [-0.7822, 2.1536, 1.4014, -0.2714, -0.4965, -0.7532, 0.8946, -0.0216, 0.8234, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4182 left_y=-0.2919 left_z=0.0165 left_yaw=0.0516 left_pitch=-0.2795 left_roll=-0.0451 left_gripper=0.8946 right_x=0.2892 right_y=0.0003 right_z=0.1591 right_yaw=0.0038 right_pitch=-0.0808 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [-0.8, -9.1556, 6.5299, 1.4042, -0.4127, -0.0415, -0.0708, -0.1709, -1.3744, 7.0359, 1.6728, -0.0122, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.7856, 2.1448, 1.4017, -0.2428, -0.4957, -0.7738, 0.0305, -0.0219, 0.823, 0.5945, -0.4225, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.4217 left_y=-0.298 left_z=0.0242 left_yaw=0.0515 left_pitch=-0.2553 left_roll=-0.0889 left_gripper=0.0305 right_x=0.2891 right_y=0.0002 right_z=0.1592 right_yaw=0.0032 right_pitch=-0.0804 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -10.865, 5.9556, 0.9744, -0.2466, 0.2759, 0.5739, -0.0889, -1.2923, 6.9675, 1.707, -0.0757, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d9c72ea093aeeaec21a61ce7443c02cf4b46b9b01c3e2e8983b120b36539522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:182421b9bf31208f6d4480665952f5a8b8f129f2be9c338a57995d442f229227",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:191467c064da8e6c8a46717f6600fc3578b2bb996ec836c8aa4a4f47625f985a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019PDjjRuGKf2D3Wc8Ghaow1",
      "input": {
        "note": "Empty close again (0.03): the wall under the fingertips is further right than it looks, since the wrist camera looks ahead of the jaws. Opening and shifting 3 cm right.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.415,
          "left_y": -0.325,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019PDjjRuGKf2D3Wc8Ghaow1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8333, 2.199, 1.4517, -0.2802, -0.5125, -0.8303, 0.9944, -0.0216, 0.8234, 0.5945, -0.4225, -0.0162, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4107 left_y=-0.3179 left_z=0.0115 left_yaw=0.0553 left_pitch=-0.2739 left_roll=-0.0859 left_gripper=0.9944 right_x=0.2892 right_y=0.0002 right_z=0.1591 right_yaw=0.0034 right_pitch=-0.0808 right_roll=0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.6359, -10.6735, 8.4855, 1.2283, -0.3736, 0.1001, -0.0415, -0.0479, -1.4154, 6.9812, 1.7021, -0.0611, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3eb3a422a40c19c65497da756324f45bab81bb124b07535643c127a773ab9612",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0c9f170be7580663a21858bb6dfed403bd36f9e23d8bcd644dd3a7437c9d528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a471ff225d83520752bb369436fe25a6c0772052cec21ea96f6aef795987a319",
        "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 · 6.42 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]: [-0.7822, 2.1536, 1.4014, -0.2714, -0.4965, -0.7532, 0.8946, -0.0216, 0.8234, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4182 left_y=-0.2919 left_z=0.0165 left_yaw=0.0516 left_pitch=-0.2795 left_roll=-0.0451 left_gripper=0.8946 right_x=0.2892 right_y=0.0003 right_z=0.1591 right_yaw=0.0038 right_pitch=-0.0808 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [-0.8, -9.1556, 6.5299, 1.4042, -0.4127, -0.0415, -0.0708, -0.1709, -1.3744, 7.0359, 1.6728, -0.0122, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.7856, 2.1448, 1.4017, -0.2428, -0.4957, -0.7738, 0.0305, -0.0219, 0.823, 0.5945, -0.4225, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.4217 left_y=-0.298 left_z=0.0242 left_yaw=0.0515 left_pitch=-0.2553 left_roll=-0.0889 left_gripper=0.0305 right_x=0.2891 right_y=0.0002 right_z=0.1592 right_yaw=0.0032 right_pitch=-0.0804 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -10.865, 5.9556, 0.9744, -0.2466, 0.2759, 0.5739, -0.0889, -1.2923, 6.9675, 1.707, -0.0757, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.8333, 2.199, 1.4517, -0.2802, -0.5125, -0.8303, 0.9944, -0.0216, 0.8234, 0.5945, -0.4225, -0.0162, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4107 left_y=-0.3179 left_z=0.0115 left_yaw=0.0553 left_pitch=-0.2739 left_roll=-0.0859 left_gripper=0.9944 right_x=0.2892 right_y=0.0002 right_z=0.1591 right_yaw=0.0034 right_pitch=-0.0808 right_roll=0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.6359, -10.6735, 8.4855, 1.2283, -0.3736, 0.1001, -0.0415, -0.0479, -1.4154, 6.9812, 1.7021, -0.0611, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3eb3a422a40c19c65497da756324f45bab81bb124b07535643c127a773ab9612",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0c9f170be7580663a21858bb6dfed403bd36f9e23d8bcd644dd3a7437c9d528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a471ff225d83520752bb369436fe25a6c0772052cec21ea96f6aef795987a319",
        "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+AYKEAgSGAI4AUIIdGhpbmtpbmcSDApZJlXewBWhuzAKOhoM2HLcB0AvwXcnuOW4IjCpQXmkgvgW5Ibr5ZvxAe0XSwcJ1SwpWrEj+MwEEwPYZSWWHrmvSvqxndcs+pq/xkYqlQZShTO+URqjYZEKll+eUQJn6VAdqw/PgEQWMhkFIHdpmOOt7v5Q+jH8MvqSdgbKKVTcn7zbhRaZ89uaj2POZobdpXtnWOxLw4LSDYRZdxLZhd8ZmkVBW1zaV06RXq/XYTorOeNf4+VColozpOoSZ7LqcOuzNhfoVrulFa3zxwdlK1siaeCBilaKtjvcgu0B/Cs7/bfL8KSDPH7nxvGW6h+q+aAY6/9AGKw+G69ouhs4vXpg30vPiQK28qOVHbzPTRAuyCCC97DaUHgWUjyi3xnpzNmjRbD//b/FKEsGyHS/5z/7XEYYLW9YCZhQ5ii9cjn1iK8sAQCmxYjvglhhln9lckZHPiVDKdwscsxo7LA1QAM1mbt/ghuo9fPzkOcIjBkLVb9xnPOmfVPirqLqcIouocixKncC7gfePznkxr00uKC6UnNXOhQt0Ub510AuC5bElD8mjLMMzOyn1yIr8kikK69+UHDAq6HvEeSL10MhgplNAVFAeMvyyHZDlAFxhbPkaIuqstWdxiK2Egs7VNjyRHXJf3YtudZ1AS04JuGRPRNGgc6qVMZk87SgZavUU8gbWBMJwP/cxi2KQzcjn5uHiwqz1Bs/zx8TfmoY2cV6vgX3semjwpU8TzG9qVCUdeSKETUSNloBxrP29KijF6Dv5coE1YtyuToH5vO9z/0sfLkzX1xO6Y7f2sXr7svHH4ku4twoqDicPnT6xTUpZ6LPKZNGqZKMzO5VlS7MwCo7xNiOEg7bvkztUt8FbJdJVf8uRHzNq2hE+QS7UR5b9SF45X9QZ7vH7xtVIPfkNJliecK4Ie41QyvYuXH7bqX12mc2C0FmW2Lnzsz+QAy6Z8uwGlL6h1DsXZrOH8tIiPE3KQDo/q03B/cR7MmMDYXp+z1UIH16Foj2aZBBqbkgrYBFiW9TRtFlFLnOcBc1FQ70zYo2ttPrIOmW+mq8bHdRfFbOW5ebgW0YMLzaQpcg9cQm9nMep2PfBABwCQ2OioY5kupYYWbGGjLWHLlphk/Ct8YIrUBSN0Gi2LElFz96OfKGJTHXVKYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HBAvVnFErLzuSPNVbN2MMf",
      "input": {
        "note": "The lavender wall now sits well inside the jaw span, with the inner jaw over the bowl's interior. Closing.",
        "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_01HBAvVnFErLzuSPNVbN2MMf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8364, 2.1929, 1.4563, -0.252, -0.5137, -0.8528, 0.0388, -0.0216, 0.8242, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4147 left_y=-0.3245 left_z=0.0195 left_yaw=0.0575 left_pitch=-0.2499 left_roll=-0.1323 left_gripper=0.0388 right_x=0.2892 right_y=0.0003 right_z=0.1589 right_yaw=0.0038 right_pitch=-0.0816 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -11.1385, 5.6684, 0.9988, -0.2662, 0.1929, 0.7057, -0.0479, -1.1966, 6.9949, 1.6728, -0.0806, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2158ece3ca7b898c51a5462b2642b00c5a9408545b7db4a0817c50ad0fdf922",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f285a2053a049a98627b111ae1ab20e6003a209f87c57cb41fa096e3a61c752",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2cb9eec7ad3c65fbbeccccd37a397b114a54dfeb6d64965536faa8011b289cd8",
        "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 · 4.961 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]: [-0.7856, 2.1448, 1.4017, -0.2428, -0.4957, -0.7738, 0.0305, -0.0219, 0.823, 0.5945, -0.4225, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.4217 left_y=-0.298 left_z=0.0242 left_yaw=0.0515 left_pitch=-0.2553 left_roll=-0.0889 left_gripper=0.0305 right_x=0.2891 right_y=0.0002 right_z=0.1592 right_yaw=0.0032 right_pitch=-0.0804 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -10.865, 5.9556, 0.9744, -0.2466, 0.2759, 0.5739, -0.0889, -1.2923, 6.9675, 1.707, -0.0757, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.8333, 2.199, 1.4517, -0.2802, -0.5125, -0.8303, 0.9944, -0.0216, 0.8234, 0.5945, -0.4225, -0.0162, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4107 left_y=-0.3179 left_z=0.0115 left_yaw=0.0553 left_pitch=-0.2739 left_roll=-0.0859 left_gripper=0.9944 right_x=0.2892 right_y=0.0002 right_z=0.1591 right_yaw=0.0034 right_pitch=-0.0808 right_roll=0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.6359, -10.6735, 8.4855, 1.2283, -0.3736, 0.1001, -0.0415, -0.0479, -1.4154, 6.9812, 1.7021, -0.0611, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8364, 2.1929, 1.4563, -0.252, -0.5137, -0.8528, 0.0388, -0.0216, 0.8242, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4147 left_y=-0.3245 left_z=0.0195 left_yaw=0.0575 left_pitch=-0.2499 left_roll=-0.1323 left_gripper=0.0388 right_x=0.2892 right_y=0.0003 right_z=0.1589 right_yaw=0.0038 right_pitch=-0.0816 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -11.1385, 5.6684, 0.9988, -0.2662, 0.1929, 0.7057, -0.0479, -1.1966, 6.9949, 1.6728, -0.0806, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2158ece3ca7b898c51a5462b2642b00c5a9408545b7db4a0817c50ad0fdf922",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f285a2053a049a98627b111ae1ab20e6003a209f87c57cb41fa096e3a61c752",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cb9eec7ad3c65fbbeccccd37a397b114a54dfeb6d64965536faa8011b289cd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwkKEAgSGAI4AUIIdGhpbmtpbmcSDLWRsRkxp8x4j6hsChoMy53yVMNzxi7tmFn9IjApQahzIZjldl/RyGCcr/1+HuRToFjAlqIzsovzpBM3f1t08HeiUP+zjnsy243gxHgquAikpYcdBVjkXoin+piokeWHYygoy8LSvtUF+Q/paXS6sjihpUWB24nt50qkrwOpkYQhp1zgj7KE9TrRt02eZmekjlrF5wk3ARTTQpV4SYXaDwku6e+5XWgfqPaPfMnG7fNDz10+0zx0ziUV5rVLeZc07+xCHlmwpO62+pXidJ4HpAda6wr7bTIGA8bvXiHupU9mFQP2f4ilrhVl/Uvm9hO0Z265M+yVXhUP5aIX4/ZFY82iMgv76WXRgS96gML7l2I91029Ikne8L2H62v8SR4kzsZDCM55scmQ4wn1pLvXpjQNv+duNP2ImPlKAz7s+35QOFJZYCy/Xgh7/jm++jHsMxRy8vbbXIGYJcYXBIV/JAHkyNrYXH9kqHtk20u5xJeMp4XpKxBGHnoeBgi8b6skRq8yOlZU+3/6uMqt4fcKwMIemCUxwwFrWgeqJaRmuWco32Xyy5kg1pfd6cQHfRrLbHM0WjVSbEhjfMTJ4Hv2Mzz7FtRJy8Ssow2JvVFK9+p6O7IbyPuWI2fWNA/giANBTOo0B6UrxPlp4ubv4i+Jo5AqwdFzC1IVsAqAMMXLL8svu9WZ38SNVw14TY0nPHKWGgcp+4Czr9Hpzxmw9VmMjJmoefyGqJl2An99KE2R6wPwLP4tsb2VrXWwA7CNB4bvUNh6+qZV02+HaEJbJMbNkctGBylkQ26WzHoldWwoYUt+t7X8p9dRI26WUKGgjQrYhKwdvNlTimxPEeHTwBcMmHDELgmCsuf0EGc/qvJtnQ/oDc5Dk95z4QGGR623IY3rQlS2MFZRscMK7hEc7HHZkTq1INl44lB/0L7GFglr3VSf5rnhlA+BhsMOSqy4+EWho17vOoFaO2P1kzHeLhEDSYCPR4PXB3OSwILD5RVOVdTTxZarjHeWUGGG3X3XDwZbq7clomiMhnMzg2c6L0/aWRyhJEOuyI32cuYKDWnHipNfbEgZ8+DGUtfWb5/mf+gSHQqTer8YfegVUQksruDkEU9bpQR6ownBC5UdUQuyyn+5MrqtnW1UCwob+ZAf4Xk95SHaTcQraIOzLTTK5+wtpd4s907NFCNdBoXoTmUYZMDcZuwl7kNzG6knfOQvm9/IldQhwY90nIUCyVgn12+XDXc5DtW6hEXMLhfcLFZQhcVJu8XdgkOfTAobUL7AHuF0qzThvqXlgxnnJYvaZ4rvIs8oKX3dboLj+LTHhae3P5mpeHqDDdjNeSlvVKtySTAfNZtdGLVAQNH9G877enXUW5mjxs6wEhjdnwWpVBFtufU47jXdWZlL53rnkFmwv91+jksgwQBXm58KHB4QGBTMGuilcOo4aM6J/jPC4JqPzLhpj9fdghEfNrx/U8XCWDvOpidD9Qkl1dfA+fej3RFtPYp6/iYdKGB/Erz6pwqHE2+Rj+1rl3uRNc7rQA6PSNVfiM06IPe5LSwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ACuoUo3hrBzhSaBYrSTarS",
      "input": {
        "note": "Gripper reads 0.039, which could be a thin plastic wall rather than empty. Lifting 5 cm to test whether the lavender bowl comes along.",
        "targets": {
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01ACuoUo3hrBzhSaBYrSTarS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.836, 2.1735, 1.5093, -0.3767, -0.5106, -0.8616, 0.053, -0.0216, 0.8249, 0.5945, -0.4229, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.4106 left_y=-0.3202 left_z=0.0324 left_yaw=0.0719 left_pitch=-0.2849 left_roll=-0.0976 left_gripper=0.053 right_x=0.2892 right_y=0.0003 right_z=0.1586 right_yaw=0.0036 right_pitch=-0.0827 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -16.1846, 8.9641, 1.326, -0.3394, 0.0317, 1.033, -0.0068, -1.4701, 7.1316, 1.6825, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0f7c5b5340fe5b6dfc521be6d9bc82daeb65bacdd4c6ad3842326e74c027dbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14f5b7b79deccece07093b131377bd1f85df16d7e7ab51859388eca93636020a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e35b153dbbcd097b26926cd4c22e9a32f4b6c3cab07bd9cfd4349937d1824477",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 9.628 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]: [-0.8333, 2.199, 1.4517, -0.2802, -0.5125, -0.8303, 0.9944, -0.0216, 0.8234, 0.5945, -0.4225, -0.0162, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4107 left_y=-0.3179 left_z=0.0115 left_yaw=0.0553 left_pitch=-0.2739 left_roll=-0.0859 left_gripper=0.9944 right_x=0.2892 right_y=0.0002 right_z=0.1591 right_yaw=0.0034 right_pitch=-0.0808 right_roll=0.003 right_gripper=0.9992\nstate[joint_eff]: [-0.6359, -10.6735, 8.4855, 1.2283, -0.3736, 0.1001, -0.0415, -0.0479, -1.4154, 6.9812, 1.7021, -0.0611, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.8364, 2.1929, 1.4563, -0.252, -0.5137, -0.8528, 0.0388, -0.0216, 0.8242, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4147 left_y=-0.3245 left_z=0.0195 left_yaw=0.0575 left_pitch=-0.2499 left_roll=-0.1323 left_gripper=0.0388 right_x=0.2892 right_y=0.0003 right_z=0.1589 right_yaw=0.0038 right_pitch=-0.0816 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -11.1385, 5.6684, 0.9988, -0.2662, 0.1929, 0.7057, -0.0479, -1.1966, 6.9949, 1.6728, -0.0806, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.836, 2.1735, 1.5093, -0.3767, -0.5106, -0.8616, 0.053, -0.0216, 0.8249, 0.5945, -0.4229, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.4106 left_y=-0.3202 left_z=0.0324 left_yaw=0.0719 left_pitch=-0.2849 left_roll=-0.0976 left_gripper=0.053 right_x=0.2892 right_y=0.0003 right_z=0.1586 right_yaw=0.0036 right_pitch=-0.0827 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -16.1846, 8.9641, 1.326, -0.3394, 0.0317, 1.033, -0.0068, -1.4701, 7.1316, 1.6825, -0.0708, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0f7c5b5340fe5b6dfc521be6d9bc82daeb65bacdd4c6ad3842326e74c027dbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14f5b7b79deccece07093b131377bd1f85df16d7e7ab51859388eca93636020a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e35b153dbbcd097b26926cd4c22e9a32f4b6c3cab07bd9cfd4349937d1824477",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSiAkKEAgSGAI4AUIIdGhpbmtpbmcSDBZirQwF8UJOZZ8skxoMYpSDyw5WZciIBIMqIjA1HN0Lb8sXRnQxiIDuD9JYF3RFTi/vPc9NrGR9HzPQto7kh/A6o6OCzl34aTiez90qpQgIME6q01Qyx696cD5QQptisvExSMd2u6j+pAVOi/uptzMcI3l1G7nKsg+cO/6QNaZmbp435kig6QGZLxINOKbssmSFtKxM9pc1VTq1MeGkNqcUZqkDJlh04Y8wLqrJXSuhMzBmiP8PB7QXLt5z5kbgmx09hSv/5v3fxgzgKJ+/nkBlCCVLJ6RzbXmkfsGNKQUrzQL8lH++ix6wbI87QY4Fc97RSpL/DH4F2VIiGGTKyHa86b/DiqQ63HxZ0V3XZmj+R15jYcMTpUC1QEN1Q1wSVY68kEKgqzSjBTRJEFFiEw+j9XpkLbcLvEFgSZfV3xQRN67TtiEHNQYJTYBYHKGpJ0qP1+tvGCaCoJffP2DmrRixtA2nPjnkQYRIQrBYI3PnkCekyuFuxj+oddsWBUF5w/eqVPlJfexBQP+TcI9ko+jqf1Xvy7CatuLj+XLb3wCl3nbH3bRO+nceQ8UhouNdZ7yVWH3O7Gg8rvneM+2O3p5ew7JH+DHkzMy89OYJ4Rbuz4hhVAX315wCphSyo5ezwpCW0Dfk6jm433afIsrGGH6ndB67YMjDCcih1mNpcIcXcbyq6J1qSW4P+sHyf1I9QanuNuTycIfCki76IUKs0MbbsFgKhoR6uDjeKJU91LoS3nk2Uer95mZtfnsDy9rAX0uy8puKOy+9X8+6MT30jR1hvQJsWYQHfV/Mfn5l+MHztmICqz1ryrUCmY7T5OJfn9RnA1Dn+GKTcLfpcJDOMCuq/5Y1EkQMFKhzucsf/S+9NU33wMHhj7IKTC42+5tpL/n9r59IjF9NR3WRMYS+2dd4S/xVGxAM8fnvHHWKGMZISyDKxjWVPzWMrClonFS9pU325vSHb2MEji9lIWmn3y6G0kEApP7O9HoOaWsiTZDUdh8Iz+WgIj2iBqEIfahUBHaDSMThKBfnEEON+DevmSGID5+NQAACW8ICwQgbXJ+SyiVzOd2TIE0qdfvZosnaZvF77PMoFc5Bz9FacLleXF7I7Rbs9/s77EbYnPK0Ge73icOYKb8J+64jt9VaRBU+PFLM4V8OmrHc4VYffjwzf9deVLhY6lDhcTsK38RWJLA7ynLFe+9F9fT77DAlM9Y0vcDG703alOkfdToYlkdJ0MBd1pW3qglrh+jOaBh2POGIi0pwUnREoGNcbehH7wByL79P0z5h2XB417gIYbEW3g0wXgSEdSIAzuhfauUVXgO+oJBc7TMqeCE8xzAwW0RAprEmoWG37oITEmjgyEguXHu2WeMfgai5U1AJ/LFzX1hNZe+M925l0ToulcSVzir3V1SNdu8cicp0bpWQ9ESc+flisBxLOCptiDVLgvQFcyj4lFA7ed4q5zGSmpssJQT0ofqKb9aJ7e4jwmjP2xT0iIOxu8Z8DybFmaqzO6V55eBvEr8VehgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V6mn8KLC57a1jzcGCsiqNh",
      "input": {
        "note": "The lift stalled at 3 cm with high shoulder effort, since the arm is in an awkward far-reach pose. Lifting while pulling back toward the base so the arm can move freely.",
        "targets": {
          "left_x": 0.34,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01V6mn8KLC57a1jzcGCsiqNh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9585, 1.9556, 1.5719, -0.7391, -0.5472, -0.9745, 0.0532, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3451 left_y=-0.3251 left_z=0.1216 left_yaw=0.0566 left_pitch=-0.3102 left_roll=-0.0843 left_gripper=0.0532 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0038 right_pitch=-0.0823 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [-0.6769, -13.2444, 8.8137, 0.9548, -0.4664, -0.0904, 0.8962, -0.0068, -1.4017, 6.9675, 1.6728, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f80661da1d4eb259f6f9e2b68bcd47d55cef30f0f695e698b7a1e5dc3f72d185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b51c1b307b184e74c2d8b0ba3665fc1354f00fe0bc8ce6e68e9f1966273ddc1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:36d0868a1b5baa091d297df014b8bf21b27185034595e0b4dcf49eb1ec8fed5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 12.69 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]: [-0.8364, 2.1929, 1.4563, -0.252, -0.5137, -0.8528, 0.0388, -0.0216, 0.8242, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4147 left_y=-0.3245 left_z=0.0195 left_yaw=0.0575 left_pitch=-0.2499 left_roll=-0.1323 left_gripper=0.0388 right_x=0.2892 right_y=0.0003 right_z=0.1589 right_yaw=0.0038 right_pitch=-0.0816 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -11.1385, 5.6684, 0.9988, -0.2662, 0.1929, 0.7057, -0.0479, -1.1966, 6.9949, 1.6728, -0.0806, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.836, 2.1735, 1.5093, -0.3767, -0.5106, -0.8616, 0.053, -0.0216, 0.8249, 0.5945, -0.4229, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.4106 left_y=-0.3202 left_z=0.0324 left_yaw=0.0719 left_pitch=-0.2849 left_roll=-0.0976 left_gripper=0.053 right_x=0.2892 right_y=0.0003 right_z=0.1586 right_yaw=0.0036 right_pitch=-0.0827 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -16.1846, 8.9641, 1.326, -0.3394, 0.0317, 1.033, -0.0068, -1.4701, 7.1316, 1.6825, -0.0708, -0.0513, -0.0122]",
      "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]: [-0.9585, 1.9556, 1.5719, -0.7391, -0.5472, -0.9745, 0.0532, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3451 left_y=-0.3251 left_z=0.1216 left_yaw=0.0566 left_pitch=-0.3102 left_roll=-0.0843 left_gripper=0.0532 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0038 right_pitch=-0.0823 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [-0.6769, -13.2444, 8.8137, 0.9548, -0.4664, -0.0904, 0.8962, -0.0068, -1.4017, 6.9675, 1.6728, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f80661da1d4eb259f6f9e2b68bcd47d55cef30f0f695e698b7a1e5dc3f72d185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b51c1b307b184e74c2d8b0ba3665fc1354f00fe0bc8ce6e68e9f1966273ddc1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36d0868a1b5baa091d297df014b8bf21b27185034595e0b4dcf49eb1ec8fed5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NXELbW9RSdaCZjevYo8pxy",
      "input": {
        "note": "The lavender bowl is now held (it vanished from its table spot in the right wrist view). Carrying it left over the white bowl to nest it there, since the pink bowl is out of the left arm's reach.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.13,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01NXELbW9RSdaCZjevYo8pxy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4488, 1.6058, 1.3197, -0.6758, -0.2905, -0.5388, 0.0543, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4002 left_y=-0.1326 left_z=0.1681 left_yaw=0.0954 left_pitch=-0.3359 left_roll=-0.0824 left_gripper=0.0543 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=0.0034 right_pitch=-0.0823 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -9.7162, 6.3795, 1.3358, -0.1734, 0.1832, 0.9695, -0.0479, -1.3744, 7.0085, 1.6337, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce8d8dc81ec9f39d3bba06ae955e1cd9cb005d64907a3ac28a14a63a8bd1d944",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e59e8f2d26cfa2295437bb83da198f89e3bce728509341b78d3ad8d732b1d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f87f349a754a4323f8e8d0e5c46ec97b5155957e9a478cbe889870f0ee1080cf",
        "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 · 7.085 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]: [-0.836, 2.1735, 1.5093, -0.3767, -0.5106, -0.8616, 0.053, -0.0216, 0.8249, 0.5945, -0.4229, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.4106 left_y=-0.3202 left_z=0.0324 left_yaw=0.0719 left_pitch=-0.2849 left_roll=-0.0976 left_gripper=0.053 right_x=0.2892 right_y=0.0003 right_z=0.1586 right_yaw=0.0036 right_pitch=-0.0827 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -16.1846, 8.9641, 1.326, -0.3394, 0.0317, 1.033, -0.0068, -1.4701, 7.1316, 1.6825, -0.0708, -0.0513, -0.0122]",
      "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]: [-0.9585, 1.9556, 1.5719, -0.7391, -0.5472, -0.9745, 0.0532, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3451 left_y=-0.3251 left_z=0.1216 left_yaw=0.0566 left_pitch=-0.3102 left_roll=-0.0843 left_gripper=0.0532 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0038 right_pitch=-0.0823 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [-0.6769, -13.2444, 8.8137, 0.9548, -0.4664, -0.0904, 0.8962, -0.0068, -1.4017, 6.9675, 1.6728, -0.0464, -0.0806, -0.0122]",
      "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]: [-0.4488, 1.6058, 1.3197, -0.6758, -0.2905, -0.5388, 0.0543, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4002 left_y=-0.1326 left_z=0.1681 left_yaw=0.0954 left_pitch=-0.3359 left_roll=-0.0824 left_gripper=0.0543 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=0.0034 right_pitch=-0.0823 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -9.7162, 6.3795, 1.3358, -0.1734, 0.1832, 0.9695, -0.0479, -1.3744, 7.0085, 1.6337, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce8d8dc81ec9f39d3bba06ae955e1cd9cb005d64907a3ac28a14a63a8bd1d944",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e59e8f2d26cfa2295437bb83da198f89e3bce728509341b78d3ad8d732b1d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f87f349a754a4323f8e8d0e5c46ec97b5155957e9a478cbe889870f0ee1080cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UXSDV5YrthXkvvxXGvYnXQ",
      "input": {
        "note": "The white bowl shows up behind and left of the jaws in the wrist view, and the carried lavender bowl hangs to the right of the grasp. Shifting back and left so the lavender bowl sits centred over the white one.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.075,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01UXSDV5YrthXkvvxXGvYnXQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3271, 1.4105, 1.0836, -0.6506, -0.2314, -0.4599, 0.0543, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3593 left_y=-0.0754 left_z=0.1502 left_yaw=0.1253 left_pitch=-0.3702 left_roll=-0.0693 left_gripper=0.0543 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0036 right_pitch=-0.0823 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -6.8171, 7.1179, 1.5214, 0.0122, 0.0611, 0.4322, -0.1709, -1.3744, 7.159, 1.6435, -0.0659, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0c395b121eb2568a0f93aca4435a2b778724512b33008f52c85353c5702f833",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b967b91ae62e62d7c601c0472a972a43baaf747615c8e50c2ebbb9b3dbe4513",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:956d3f4e61211104ee3b12098a4a7e8b264575b305710d03502cef2283a3a7da",
        "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 · 5.715 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]: [-0.9585, 1.9556, 1.5719, -0.7391, -0.5472, -0.9745, 0.0532, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3451 left_y=-0.3251 left_z=0.1216 left_yaw=0.0566 left_pitch=-0.3102 left_roll=-0.0843 left_gripper=0.0532 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0038 right_pitch=-0.0823 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [-0.6769, -13.2444, 8.8137, 0.9548, -0.4664, -0.0904, 0.8962, -0.0068, -1.4017, 6.9675, 1.6728, -0.0464, -0.0806, -0.0122]",
      "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]: [-0.4488, 1.6058, 1.3197, -0.6758, -0.2905, -0.5388, 0.0543, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4002 left_y=-0.1326 left_z=0.1681 left_yaw=0.0954 left_pitch=-0.3359 left_roll=-0.0824 left_gripper=0.0543 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=0.0034 right_pitch=-0.0823 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -9.7162, 6.3795, 1.3358, -0.1734, 0.1832, 0.9695, -0.0479, -1.3744, 7.0085, 1.6337, -0.0513, -0.0659, -0.0122]",
      "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]: [-0.3271, 1.4105, 1.0836, -0.6506, -0.2314, -0.4599, 0.0543, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3593 left_y=-0.0754 left_z=0.1502 left_yaw=0.1253 left_pitch=-0.3702 left_roll=-0.0693 left_gripper=0.0543 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0036 right_pitch=-0.0823 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -6.8171, 7.1179, 1.5214, 0.0122, 0.0611, 0.4322, -0.1709, -1.3744, 7.159, 1.6435, -0.0659, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0c395b121eb2568a0f93aca4435a2b778724512b33008f52c85353c5702f833",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b967b91ae62e62d7c601c0472a972a43baaf747615c8e50c2ebbb9b3dbe4513",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:956d3f4e61211104ee3b12098a4a7e8b264575b305710d03502cef2283a3a7da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B2qwFvXEkvBSF51hb4wYnP",
      "input": {
        "note": "Overhead view shows the carried lavender bowl lined up side-to-side with the white bowl, and the white rim sits just under the jaws in the wrist view. Lowering the lavender bowl into the white one.",
        "targets": {
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01B2qwFvXEkvBSF51hb4wYnP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3267, 1.4975, 0.8135, -0.3622, -0.2253, -0.4606, 0.057, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3451 left_y=-0.0715 left_z=0.0574 left_yaw=0.1338 left_pitch=-0.4341 left_roll=-0.042 left_gripper=0.057 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0036 right_pitch=-0.0823 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -5.4496, 6.3111, 1.3455, -0.1929, -0.0415, 0.696, -0.0615, -1.3744, 6.9949, 1.6337, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcfcb64bebfa580553c1b6fd0d8fccf107ce28d826a7419a930d2724ff208ad2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c417253bfe826310cdd9e7432cf86691c71af8465bbc6a5c3ff2c58b15a1a3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3749057da73a26fa7850446777672b3515ab3b708baf1685fcbf218ad335195f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 13.7 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]: [-0.4488, 1.6058, 1.3197, -0.6758, -0.2905, -0.5388, 0.0543, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.4002 left_y=-0.1326 left_z=0.1681 left_yaw=0.0954 left_pitch=-0.3359 left_roll=-0.0824 left_gripper=0.0543 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=0.0034 right_pitch=-0.0823 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -9.7162, 6.3795, 1.3358, -0.1734, 0.1832, 0.9695, -0.0479, -1.3744, 7.0085, 1.6337, -0.0513, -0.0659, -0.0122]",
      "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]: [-0.3271, 1.4105, 1.0836, -0.6506, -0.2314, -0.4599, 0.0543, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3593 left_y=-0.0754 left_z=0.1502 left_yaw=0.1253 left_pitch=-0.3702 left_roll=-0.0693 left_gripper=0.0543 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0036 right_pitch=-0.0823 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -6.8171, 7.1179, 1.5214, 0.0122, 0.0611, 0.4322, -0.1709, -1.3744, 7.159, 1.6435, -0.0659, -0.022, -0.0122]",
      "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]: [-0.3267, 1.4975, 0.8135, -0.3622, -0.2253, -0.4606, 0.057, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3451 left_y=-0.0715 left_z=0.0574 left_yaw=0.1338 left_pitch=-0.4341 left_roll=-0.042 left_gripper=0.057 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0036 right_pitch=-0.0823 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -5.4496, 6.3111, 1.3455, -0.1929, -0.0415, 0.696, -0.0615, -1.3744, 6.9949, 1.6337, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcfcb64bebfa580553c1b6fd0d8fccf107ce28d826a7419a930d2724ff208ad2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c417253bfe826310cdd9e7432cf86691c71af8465bbc6a5c3ff2c58b15a1a3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3749057da73a26fa7850446777672b3515ab3b708baf1685fcbf218ad335195f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSigcKEAgSGAI4AUIIdGhpbmtpbmcSDJcAmO8Pv92ovjzmBBoMLO0ARSuSpcDBI21YIjAXfx6bb1H+xt0FABIFtWKY77TM2bkKs8eVo3lRQdSmHbXu73XdKXDc2a0OuflpE00qpwbYMKnoZcHNOQ3sW9A9Q0rapPyOmgTQ45cis8uB33AmU1jec6ThV4f5EfRpvyfDKiE0X8yRTdfg1TEWt+iOTUMh8RAL2e3GqSsdxzuCe+JE5tGpz4DY54kbqQYeAqYN1Y3lRwfB24I1nlX2+F2U1x49CowwFodGU4VARwzLQW/AvxpQLP/rV4EYzcjJpMZ3/ADguiPFo71/0Xm7XeVxtrKaq4jWVAWWgd24ZKr7HQYesJhaa+6gsZ/U0oQFxv0nvu4SyFw9zG2fj5sYxYlH9KIlPZ7TzQ1KJApfoRhx1LyDyUv1j6pMmkZbmxeCi6YqqaYNe1EQ5M7mAFzRdDHWq8R07BmlkaLlEadKH2FK1F4vOMdG+h7er+rIwSVByYprlK//exLgRqffH+8TR7LVizkyXLl7icmGXOBaHQQsDDz1WyAdDtvG5GrWqAb5QdwrwYhu1+N1V9UpDxAVZb0N5bgV4B0e5tOctaUSNsFUN2SJt32OQU74CVW+Ag0cIouQtMMit68e2KR1f1wUE/nNhqLHS8/22nlhT/lFtK9j92U3MePWN94yODtQyGt/uFIOl5mWVIlfu9DdD2Hl7hAab8+j53mwlnnFxUbpbhfcOwPuwcQZAGGwBKHNZNW9FLpZKZTbeBsbGbnK4zlecVs8t25QZSo7WeIleLiiEs2hJ/Wa24owb7DcvMusYp5lfEHW6cPYdSiQsTiAeOESyzXxBz77DitBOnAjFOWFKRPMyRi6tMErzXKKdb3Vv6mAdw/4MyBXnLL+xTo+EnziDkzN82pBmHYGy5hZqvKLl9axoF6uLBeaQ+i4XBdMYXcJFqQqX9qiH0DHrCCS1PFe+0U3hf4t/PzGZyYBjrP1IwuIAsjha3qJkC2TRvPjSRYLa3GUZvqydGRlXp0QRUESQLSiwaQ5p2hUxd3pD7DnssVR34WfGVBmCpzJ2KGh2sDtxCEvRRZ/QZb+XT7P853/0uxr79p7gaVZq6qabUwXzIu3YCOhyd7kMmtyhFx0T1q4Dlkf66y9UsYKkW+bzqYfZaPWG8SIabvlJJnDVSzFA/4NKcjl/uNoMb40OksYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YTE2DxBGEfvnMBzt4Gyp2V",
      "input": {
        "note": "The lavender bowl has come down right where the white bowl was, and the white bowl is no longer visible, so they look nested. Releasing.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YTE2DxBGEfvnMBzt4Gyp2V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3264, 1.5166, 0.7982, -0.3622, -0.2241, -0.4686, 0.9952, -0.0216, 0.8249, 0.5945, -0.4229, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3393 left_y=-0.0696 left_z=0.0459 left_yaw=0.1454 left_pitch=-0.4654 left_roll=-0.0305 left_gripper=0.9952 right_x=0.2892 right_y=0.0003 right_z=0.1586 right_yaw=0.0038 right_pitch=-0.0827 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -7.5282, 7.1726, 1.1453, -0.1832, 0.0269, -0.1538, -0.212, -1.388, 6.9949, 1.6337, -0.0562, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0686718fa4ccc9fa0ede81cf65cc94c4c0008d4386ee1d9c52da72e4f2bdde42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9374a137db5849442ead0c0a0fd7534c7f40d382dcdf74d9f1d2effdec64d1e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61b756ca1ff92d27b3dc423a2c2f0ac7b0112900deba8399e5a8531138a40fb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 11.39 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]: [-0.3271, 1.4105, 1.0836, -0.6506, -0.2314, -0.4599, 0.0543, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3593 left_y=-0.0754 left_z=0.1502 left_yaw=0.1253 left_pitch=-0.3702 left_roll=-0.0693 left_gripper=0.0543 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0036 right_pitch=-0.0823 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -6.8171, 7.1179, 1.5214, 0.0122, 0.0611, 0.4322, -0.1709, -1.3744, 7.159, 1.6435, -0.0659, -0.022, -0.0122]",
      "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]: [-0.3267, 1.4975, 0.8135, -0.3622, -0.2253, -0.4606, 0.057, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.3451 left_y=-0.0715 left_z=0.0574 left_yaw=0.1338 left_pitch=-0.4341 left_roll=-0.042 left_gripper=0.057 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0036 right_pitch=-0.0823 right_roll=0.0036 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -5.4496, 6.3111, 1.3455, -0.1929, -0.0415, 0.696, -0.0615, -1.3744, 6.9949, 1.6337, -0.0562, -0.0269, -0.0122]",
      "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]: [-0.3264, 1.5166, 0.7982, -0.3622, -0.2241, -0.4686, 0.9952, -0.0216, 0.8249, 0.5945, -0.4229, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3393 left_y=-0.0696 left_z=0.0459 left_yaw=0.1454 left_pitch=-0.4654 left_roll=-0.0305 left_gripper=0.9952 right_x=0.2892 right_y=0.0003 right_z=0.1586 right_yaw=0.0038 right_pitch=-0.0827 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -7.5282, 7.1726, 1.1453, -0.1832, 0.0269, -0.1538, -0.212, -1.388, 6.9949, 1.6337, -0.0562, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0686718fa4ccc9fa0ede81cf65cc94c4c0008d4386ee1d9c52da72e4f2bdde42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9374a137db5849442ead0c0a0fd7534c7f40d382dcdf74d9f1d2effdec64d1e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61b756ca1ff92d27b3dc423a2c2f0ac7b0112900deba8399e5a8531138a40fb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CngeaLNQ2ACtiDPattMk4d",
      "input": {
        "note": "The lavender bowl is released and sits nested in the white bowl. Lifting the left arm clear so the overhead camera can confirm the stack.",
        "targets": {
          "left_x": 0.3,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01CngeaLNQ2ACtiDPattMk4d",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3782, 1.2934, 1.1084, -0.897, -0.2363, -0.5171, 0.9955, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.0273, 0.9992]\nstate[eef_state]: left_x=0.3075 left_y=-0.0738 left_z=0.1664 left_yaw=0.1336 left_pitch=-0.4624 left_roll=-0.0468 left_gripper=0.9955 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=0.0034 right_pitch=-0.0823 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -5.6, 8.4034, 1.0379, -0.3443, 0.0024, 0.022, -0.1983, -1.4154, 6.9675, 1.6435, -0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70a014c4b9c31ca2301973175e76b0e142e7f66afdc501a2fdbd9917d4b46fa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12ae7b44c11a491add2708a3757e9bf18588bd9b84b19b0a0de46774a07e1b8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5a1694c56fea9e82f3d4ef0ff172b736220108dfcdb55679cc170643f217cc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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