adhoc

completed
2026-09-22T18:46:01.313047+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
223.1 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 in a row (blue left, teal middle, pink right). Plan: stack blue and pink into teal. Moving left arm above the blue bowl to check alignment.
move_to
left_x0.4000left_y-0.0600left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7944, 0.6037, -0.3813, -0.0227, -0.033, 0.9993, -0.0212, 0.7925, 0.6003, -0.3832, -0.017, -0.0204, 0.9991] state[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2938 right_y=0.0004 right_z=0.178 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.4308, -1.5385, 10.1128, 1.7753, -0.0415, 0.1929, -0.0806, -0.4991, -1.3197, 10.3453, 1.9756, -0.0806, 0.0269, -0.105] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.06, "left_z": 0.15}, "note": "Three bowls in a row (blue left, teal middle, pink right). Plan: stack blue and pink into teal. Moving left arm above the blue bowl to check alignment."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteBlue bowl is slightly right of and just ahead of the left gripper; it looks ~12 cm wide, too wide to grasp across, so I'll straddle its left wall. Lowering over the estimated left rim.
move_to
left_x0.4000left_y-0.0300left_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2447, 1.3361, 0.728, -0.0666, -0.1978, -0.1547, 0.9993, -0.0216, 0.7975, 0.5972, -0.3927, -0.0166, -0.0204, 0.999] state[eef_state]: left_x=0.3819 left_y=-0.0559 left_z=0.1262 left_yaw=-0.0111 left_pitch=-0.0875 left_roll=0.0149 left_gripper=0.9993 right_x=0.2924 right_y=0.0002 right_z=0.1733 right_yaw=-0.0007 right_pitch=-0.0175 right_roll=0.0002 right_gripper=0.999 state[joint_eff]: [-0.4308, -5.5043, 9.265, 1.8339, -0.2564, -0.0757, -0.0171, -0.1162, -1.5658, 7.3504, 1.7753, -0.0464, -0.022, -0.022] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.03, "left_z": 0.07}, "note": "Blue bowl is slightly right of and just ahead of the left gripper; it looks ~12 cm wide, too wide to grasp across, so I'll straddle its left wall. Lowering over the estimated left rim."})
tool
executing move_to over 4 steps (0.4s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteBowl's left wall is between the jaws, with its widest point a bit ahead of the fingertips. Advancing 3 cm and descending to straddle the wall.
move_to
left_x0.4200left_y-0.0250left_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1402, 1.5124, 0.63, 0.1341, -0.1417, -0.1146, 0.9993, -0.0216, 0.7982, 0.5957, -0.3935, -0.0166, -0.02, 0.999] state[eef_state]: left_x=0.3864 left_y=-0.0257 left_z=0.058 left_yaw=0.0263 left_pitch=-0.1676 left_roll=0.0244 left_gripper=0.9993 right_x=0.2922 right_y=0.0002 right_z=0.1722 right_yaw=-0.0009 right_pitch=-0.0206 right_roll=0.0005 right_gripper=0.999 state[joint_eff]: [0.0342, -6.9675, 6.2564, 2.0928, 0.0659, 0.1734, -0.0122, -0.1026, -1.3197, 7.1453, 1.7314, -0.0513, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.025, "left_z": 0.02}, "note": "Bowl's left wall is between the jaws, with its widest point a bit ahead of the fingertips. Advancing 3 cm and descending to straddle the wall."})
tool
executing move_to over 3 steps (0.3s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteArm stopped at z≈3.8 cm, short of the target; the wall still looks between the jaws. Nudging slightly left and continuing the descent.
move_to
left_x0.4150left_y-0.0200left_z0.0100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.131, 1.5974, 0.6186, 0.2207, -0.1318, -0.1051, 0.9993, -0.0219, 0.7986, 0.5953, -0.3935, -0.0166, -0.02, 0.999] state[eef_state]: left_x=0.3918 left_y=-0.0246 left_z=0.0376 left_yaw=0.0221 left_pitch=-0.1786 left_roll=0.0263 left_gripper=0.9993 right_x=0.2921 right_y=0.0001 right_z=0.1719 right_yaw=-0.0013 right_pitch=-0.0214 right_roll=0.0006 right_gripper=0.999 state[joint_eff]: [-0.6906, -6.612, 6.1333, 1.7411, -0.1978, -0.0855, -0.0122, -0.335, -1.2786, 7.0632, 1.6728, -0.0269, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.415, "left_y": -0.02, "left_z": 0.01}, "note": "Arm stopped at z\u22483.8 cm, short of the target; the wall still looks between the jaws. Nudging slightly left and continuing the descent."})
tool
executing move_to over 2 steps (0.2s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteArm won't descend further (likely a finger resting on the bowl's inner slope) but the wall is between the jaws. 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]: [-0.1307, 1.597, 0.6186, 0.2226, -0.1322, -0.1055, 0.9993, -0.0219, 0.7986, 0.5953, -0.3931, -0.0166, -0.02, 0.999] state[eef_state]: left_x=0.3921 left_y=-0.0244 left_z=0.0381 left_yaw=0.0229 left_pitch=-0.1763 left_roll=0.026 left_gripper=0.9993 right_x=0.2922 right_y=0.0001 right_z=0.172 right_yaw=-0.0013 right_pitch=-0.021 right_roll=0.0005 right_gripper=0.999 state[joint_eff]: [-0.4444, -6.7761, 6.1333, 1.7314, -0.1538, -0.105, -0.0122, -0.2256, -1.2786, 7.2137, 1.7118, -0.0562, -0.0317, -0.0122] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Arm won't descend further (likely a finger resting on the bowl's inner slope) but the wall is between the jaws. Closing to pinch the wall."})
tool
executing move_to over 10 steps (1.0s)
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 noteEmpty close: the jaws met just left of the bowl wall. Opening and lifting to re-approach 1 cm further right and slightly forward.
move_to
left_gripper1.0000left_z0.0900left_y-0.0350left_x0.4100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1307, 1.5932, 0.6201, 0.2398, -0.1276, -0.1223, 0.0214, -0.0219, 0.7986, 0.5953, -0.3931, -0.0166, -0.0204, 0.999] state[eef_state]: left_x=0.3957 left_y=-0.0257 left_z=0.0431 left_yaw=0.0277 left_pitch=-0.1543 left_roll=0.0067 left_gripper=0.0214 right_x=0.2922 right_y=0.0001 right_z=0.172 right_yaw=-0.0011 right_pitch=-0.021 right_roll=0.0002 right_gripper=0.999 state[joint_eff]: [-0.212, -5.8598, 5.9556, 1.1941, -0.0952, 0.1392, 0.906, -0.0615, -1.2376, 7.241, 1.6825, -0.0611, -0.0611, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.09, "left_y": -0.035, "left_x": 0.41}, "note": "Empty close: the jaws met just left of the bowl wall. Opening and lifting to re-approach 1 cm further right and slightly forward."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteBowl's left wall now sits centred between the jaws (left finger outside, right finger inside). Descending to straddle the wall low.
move_to
left_z0.0100left_x0.4100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1509, 1.5536, 0.7452, 0.0189, -0.1402, -0.1486, 0.9943, -0.0216, 0.7986, 0.5953, -0.3931, -0.0166, -0.0204, 0.999] state[eef_state]: left_x=0.4004 left_y=-0.0323 left_z=0.0664 left_yaw=0.0344 left_pitch=-0.2078 left_roll=0.0056 left_gripper=0.9943 right_x=0.2922 right_y=0.0002 right_z=0.172 right_yaw=-0.0007 right_pitch=-0.021 right_roll=0.0002 right_gripper=0.999 state[joint_eff]: [-0.841, -8.9094, 8.7179, 1.6484, -0.1538, 0.1343, -0.0073, -0.1026, -1.2376, 7.0359, 1.7314, -0.0513, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.01, "left_x": 0.41}, "note": "Bowl's left wall now sits centred between the jaws (left finger outside, right finger inside). Descending to straddle the wall low."})
tool
executing move_to over 4 steps (0.4s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
Now at z≈0.01 with the wall between the jaws. Closing.
agent noteGripper is low with the bowl's left wall between the jaws. 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]: [-0.1486, 1.7313, 0.6857, 0.2073, -0.1314, -0.1555, 0.9949, -0.0216, 0.8024, 0.5953, -0.3927, -0.0166, -0.02, 0.999] state[eef_state]: left_x=0.4005 left_y=-0.0329 left_z=0.0085 left_yaw=0.0351 left_pitch=-0.2569 left_roll=0.0035 left_gripper=0.9949 right_x=0.2925 right_y=0.0002 right_z=0.171 right_yaw=-0.0009 right_pitch=-0.0244 right_roll=0.0006 right_gripper=0.999 state[joint_eff]: [0.2393, -5.1077, 4.6701, 1.3358, -0.1294, -0.0171, 0.0415, -0.0342, -1.5932, 7.0496, 1.7216, -0.0415, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
Now at z≈0.01 with the wall between the jaws. Closing.
move_to({"targets": {"left_gripper": 0.0}, "note": "Gripper is low with the bowl's left wall between the jaws. Closing to pinch the wall."})
tool
executing move_to over 10 steps (1.0s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteGripper settled at ~0.11 (about 1 cm, the bowl wall), so it looks like a grasp. Lifting the blue bowl to check it comes with the jaws.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1505, 1.7203, 0.6888, 0.2501, -0.1127, -0.181, 0.1058, -0.0219, 0.8024, 0.5953, -0.3962, -0.0166, -0.0208, 0.999] state[eef_state]: left_x=0.4099 left_y=-0.0384 left_z=0.0208 left_yaw=0.029 left_pitch=-0.2036 left_roll=-0.039 left_gripper=0.1058 right_x=0.292 right_y=0.0001 right_z=0.1704 right_yaw=-0.0009 right_pitch=-0.0278 right_roll=0.0001 right_gripper=0.999 state[joint_eff]: [-0.0068, -6.2974, 5.0667, 1.1502, -0.2906, 0.2027, 0.6325, -0.0205, -1.265, 7.0769, 1.7607, -0.0513, -0.0562, -0.0122] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.16}, "note": "Gripper settled at ~0.11 (about 1 cm, the bowl wall), so it looks like a grasp. Lifting the blue bowl to check it comes with the jaws."})
tool
executing move_to over 9 steps (0.9s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteBlue bowl lifted with the gripper holding its left wall. Carrying it right so its centre lines up over the teal bowl (grasp point offset ~6.5 cm left of the bowl centre).
move_to
left_x0.3900left_y-0.1550left_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1505, 1.4815, 0.9977, -0.3248, -0.1131, -0.1844, 0.1051, -0.0219, 0.8036, 0.5949, -0.3969, -0.0166, -0.0208, 0.999] state[eef_state]: left_x=0.4098 left_y=-0.0383 left_z=0.1366 left_yaw=0.0323 left_pitch=-0.2302 left_roll=-0.0362 left_gripper=0.1051 right_x=0.2919 right_y=0.0001 right_z=0.1697 right_yaw=-0.0009 right_pitch=-0.0301 right_roll=0.0001 right_gripper=0.999 state[joint_eff]: [-0.2256, -8.7863, 9.2513, 1.4921, -0.0904, -0.0366, -0.0855, -0.0752, -1.3744, 7.0496, 1.7314, -0.0464, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.155, "left_z": 0.17}, "note": "Blue bowl lifted with the gripper holding its left wall. Carrying it right so its centre lines up over the teal bowl (grasp point offset ~6.5 cm left of the bowl centre)."})
tool
executing move_to over 11 steps (1.1s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteBlue bowl is partly over the teal bowl but still ~4 cm left of centre. Shifting right and lowering toward the teal bowl.
move_to
left_y-0.1950left_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5285, 1.5429, 1.1645, -0.5335, -0.3397, -0.4587, 0.105, -0.0216, 0.8036, 0.5945, -0.4118, -0.0166, -0.0204, 0.999] state[eef_state]: left_x=0.3833 left_y=-0.1515 left_z=0.1542 left_yaw=0.0068 left_pitch=-0.2695 left_roll=-0.0254 left_gripper=0.105 right_x=0.2897 right_y=0.0003 right_z=0.1665 right_yaw=-0.0007 right_pitch=-0.0454 right_roll=0.0007 right_gripper=0.999 state[joint_eff]: [-0.2256, -6.7214, 9.7436, 1.4823, -0.3639, 0.0024, -0.022, -0.0752, -1.2103, 7.2, 1.8144, -0.0513, -0.0366, -0.0122] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.195, "left_z": 0.11}, "note": "Blue bowl is partly over the teal bowl but still ~4 cm left of centre. Shifting right and lowering toward the teal bowl."})
tool
executing move_to over 4 steps (0.4s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteBlue bowl now sits roughly centred over the teal bowl. Lowering it into the teal bowl before releasing.
move_to
left_z0.0500left_x0.3850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6334, 1.6661, 1.1305, -0.4538, -0.382, -0.5293, 0.105, -0.0219, 0.8036, 0.5945, -0.4152, -0.0166, -0.0208, 0.999] state[eef_state]: left_x=0.3756 left_y=-0.1896 left_z=0.106 left_yaw=-0.0121 left_pitch=-0.3155 left_roll=0.0011 left_gripper=0.105 right_x=0.2892 right_y=0.0002 right_z=0.1658 right_yaw=-0.0009 right_pitch=-0.0488 right_roll=0.0005 right_gripper=0.999 state[joint_eff]: [-0.0342, -8.5128, 6.735, 1.536, -0.3248, -0.105, -0.0171, -0.0889, -1.2239, 6.9949, 1.7021, -0.0708, -0.0708, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.05, "left_x": 0.385}, "note": "Blue bowl now sits roughly centred over the teal bowl. Lowering it into the teal bowl before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteDescent stopped at ~10 cm: the blue bowl is resting on/in the teal bowl. Releasing it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6453, 1.6886, 1.1244, -0.4217, -0.3946, -0.551, 0.105, -0.0219, 0.8043, 0.5945, -0.4152, -0.0166, -0.0204, 0.999] state[eef_state]: left_x=0.3776 left_y=-0.1948 left_z=0.0996 left_yaw=-0.0025 left_pitch=-0.3065 left_roll=-0.0066 left_gripper=0.105 right_x=0.2893 right_y=0.0002 right_z=0.1656 right_yaw=-0.0011 right_pitch=-0.0496 right_roll=0.0008 right_gripper=0.999 state[joint_eff]: [0.1846, -9.0462, 6.7624, 1.453, -0.359, -0.105, -0.0171, -0.0752, -1.347, 6.9949, 1.6679, -0.0806, -0.0513, -0.0122] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Descent stopped at ~10 cm: the blue bowl is resting on/in the teal bowl. Releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteBlue bowl released into the teal bowl. Parking the left arm at home so I can see the stack and clear the way for the right arm.
move_to
left_x0.3000left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6456, 1.6886, 1.1244, -0.4168, -0.3939, -0.5655, 0.9947, -0.0219, 0.8051, 0.5945, -0.4187, -0.0166, -0.0204, 0.999] state[eef_state]: left_x=0.3783 left_y=-0.1956 left_z=0.1002 left_yaw=0.0038 left_pitch=-0.3029 left_roll=-0.02 left_gripper=0.9947 right_x=0.2888 right_y=0.0002 right_z=0.1647 right_yaw=-0.0011 right_pitch=-0.0538 right_roll=0.0009 right_gripper=0.999 state[joint_eff]: [-0.0342, -8.212, 6.3658, 1.2186, -0.2564, 0.1197, -0.0269, -0.212, -1.3333, 7.0222, 1.7021, -0.0317, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.2}, "note": "Blue bowl released into the teal bowl. Parking the left arm at home so I can see the stack and clear the way for the right arm."})
tool
executing move_to over 18 steps (1.8s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteBlue bowl is nested in the teal bowl. Now moving the right arm over the pink bowl's right wall so I can pinch it the same way.
move_to
right_x0.3700right_y0.0550right_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0383, 1.0916, 0.9768, -0.7853, -0.0509, -0.1154, 0.9954, -0.0216, 0.8097, 0.5945, -0.4225, -0.0166, -0.0204, 0.999] state[eef_state]: left_x=0.302 left_y=0.001 left_z=0.1848 left_yaw=0.055 left_pitch=-0.3266 left_roll=-0.024 left_gripper=0.9954 right_x=0.2885 right_y=0.0003 right_z=0.1628 right_yaw=-0.0007 right_pitch=-0.0622 right_roll=0.0011 right_gripper=0.999 state[joint_eff]: [0.212, -3.8632, 9.6615, 1.3309, 0.0513, 0.1636, 0.0659, 0.0068, -1.6752, 7.0359, 1.6923, -0.0415, -0.0171, -0.0122] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.055, "right_z": 0.08}, "note": "Blue bowl is nested in the teal bowl. Now moving the right arm over the pink bowl's right wall so I can pinch it the same way."})
tool
executing move_to over 7 steps (0.7s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent notePink bowl's right wall is on the jaw column, its widest point a few cm ahead. Advancing and descending to straddle the wall.
move_to
right_x0.3950right_y0.0600right_z0.0100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0383, 1.0977, 0.9775, -0.804, -0.0456, -0.1169, 0.9956, 0.2153, 1.3621, 0.5179, 0.0822, 0.1394, 0.0956, 0.999] state[eef_state]: left_x=0.2989 left_y=0.0002 left_z=0.1806 left_yaw=0.0519 left_pitch=-0.351 left_roll=-0.0271 left_gripper=0.9956 right_x=0.3466 right_y=0.0544 right_z=0.058 right_yaw=0.0396 right_pitch=-0.1776 right_roll=-0.0198 right_gripper=0.999 state[joint_eff]: [-0.0615, -3.5214, 6.5709, 1.5311, -0.0855, -0.0269, -0.0024, 0.1436, -6.0513, 8.2393, 1.7411, 0.149, 0.0952, -0.0122] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.395, "right_y": 0.06, "right_z": 0.01}, "note": "Pink bowl's right wall is on the jaw column, its widest point a few cm ahead. Advancing and descending to straddle the wall."})
tool
executing move_to over 4 steps (0.4s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteRight gripper is at table level with the pink bowl's wall between the jaws. Closing to pinch it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0387, 1.1015, 0.9768, -0.8082, -0.049, -0.12, 0.9955, 0.2001, 1.689, 0.5709, 0.2947, 0.1219, 0.0895, 0.999] state[eef_state]: left_x=0.2982 left_y=0.0007 left_z=0.1786 left_yaw=0.0566 left_pitch=-0.3595 left_roll=-0.0253 left_gripper=0.9955 right_x=0.3751 right_y=0.0578 right_z=0.0002 right_yaw=0.0405 right_pitch=-0.2403 right_roll=-0.0221 right_gripper=0.999 state[joint_eff]: [-0.3487, -3.3026, 6.6803, 1.3602, -0.0366, 0.0024, -0.0171, -0.4444, -5.8188, 6.5846, 1.3748, 0.0952, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Right gripper is at table level with the pink bowl's wall between the jaws. Closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteEmpty close: jaws met just right of the pink wall. Opening and shifting ~1.2 cm left before retrying.
move_to
right_gripper1.0000right_y0.0830right_x0.4000right_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0387, 1.1027, 0.9768, -0.8078, -0.049, -0.12, 0.9956, 0.2024, 1.7058, 0.6098, 0.4061, 0.0875, 0.0948, 0.028] state[eef_state]: left_x=0.2984 left_y=0.0007 left_z=0.1783 left_yaw=0.0566 left_pitch=-0.3602 left_roll=-0.0252 left_gripper=0.9956 right_x=0.4048 right_y=0.0709 right_z=0.0267 right_yaw=0.0724 right_pitch=-0.1116 right_roll=0.0251 right_gripper=0.028 state[joint_eff]: [-0.1299, -3.0838, 6.653, 1.3651, -0.0757, -0.0562, -0.0073, -0.6906, -5.6957, 5.2171, 0.9988, 0.5836, -0.1148, 1.0769] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_y": 0.083, "right_x": 0.4, "right_z": 0.05}, "note": "Empty close: jaws met just right of the pink wall. Opening and shifting ~1.2 cm left before retrying."})
tool
executing move_to over 10 steps (1.0s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent notePink wall now sits centred between the open jaws. Descending to table level before closing.
move_to
right_z-0.0050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0383, 1.1027, 0.9768, -0.8078, -0.0494, -0.1204, 0.9956, 0.2466, 1.6382, 0.6121, 0.2871, 0.1017, 0.1139, 0.9955] state[eef_state]: left_x=0.2984 left_y=0.0009 left_z=0.1783 left_yaw=0.0576 left_pitch=-0.3602 left_roll=-0.0251 left_gripper=0.9956 right_x=0.3893 right_y=0.0832 right_z=0.0315 right_yaw=0.0933 right_pitch=-0.1592 right_roll=0.0235 right_gripper=0.9955 state[joint_eff]: [-0.1846, -2.988, 6.7077, 1.3651, -0.0904, -0.0562, -0.0171, 0.2393, -8.3487, 8.212, 1.5214, 0.1392, 0.0806, -0.1929] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": -0.005}, "note": "Pink wall now sits centred between the open jaws. Descending to table level before closing."})
tool
executing move_to over 3 steps (0.3s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteGripper is at table level with the pink wall between the jaws. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0383, 1.1061, 0.9768, -0.8082, -0.049, -0.12, 0.9955, 0.2466, 1.7573, 0.5789, 0.4103, 0.0952, 0.1165, 0.9964] state[eef_state]: left_x=0.2985 left_y=0.0008 left_z=0.1773 left_yaw=0.0572 left_pitch=-0.364 left_roll=-0.0248 left_gripper=0.9955 right_x=0.3863 right_y=0.0836 right_z=-0.0027 right_yaw=0.0966 right_pitch=-0.1886 right_roll=0.0255 right_gripper=0.9964 state[joint_eff]: [-0.1162, -3.3573, 6.6256, 1.3211, -0.0513, -0.0611, -0.0171, -0.2393, -7.0359, 4.2188, 1.619, 0.1978, -0.1197, 0.0562] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Gripper is at table level with the pink wall between the jaws. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteSecond empty close: the arm rode up ~3 cm while closing, so the jaws seem to slip up the sloped lower wall. Opening and repositioning to pinch higher on the wall near the rim.
move_to
right_gripper1.0000right_x0.3900right_y0.0850right_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0383, 1.1065, 0.9768, -0.8082, -0.0494, -0.1204, 0.9955, 0.2531, 1.7313, 0.5938, 0.5026, 0.0563, 0.1368, 0.0215] state[eef_state]: left_x=0.2986 left_y=0.0009 left_z=0.1772 left_yaw=0.0577 left_pitch=-0.3644 left_roll=-0.0247 left_gripper=0.9955 right_x=0.4063 right_y=0.0985 right_z=0.0294 right_yaw=0.1272 right_pitch=-0.0608 right_roll=0.0846 right_gripper=0.0215 state[joint_eff]: [-0.0889, -3.2205, 6.735, 1.3162, -0.0855, -0.0708, -0.0122, -0.6222, -4.8615, 4.0137, 0.8718, 0.3297, -0.1538, 1.0379] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.39, "right_y": 0.085, "right_z": 0.04}, "note": "Second empty close: the arm rode up ~3 cm while closing, so the jaws seem to slip up the sloped lower wall. Opening and repositioning to pinch higher on the wall near the rim."})
tool
executing move_to over 10 steps (1.0s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteJaws now straddle the pink bowl's right wall higher up (left finger inside, right finger outside, z≈3 cm). Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0383, 1.1065, 0.9768, -0.8082, -0.0494, -0.1204, 0.9956, 0.2222, 1.6451, 0.535, 0.4599, 0.0353, 0.112, 0.9948] state[eef_state]: left_x=0.2986 left_y=0.0009 left_z=0.1772 left_yaw=0.0577 left_pitch=-0.3644 left_roll=-0.0247 left_gripper=0.9956 right_x=0.3895 right_y=0.0853 right_z=0.0334 right_yaw=0.1273 right_pitch=-0.0763 right_roll=0.0755 right_gripper=0.9948 state[joint_eff]: [-0.0068, -3.1658, 6.5983, 1.3553, -0.1001, -0.0708, -0.0073, -0.4718, -7.8427, 5.2444, 1.6288, -0.0806, 0.105, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Jaws now straddle the pink bowl's right wall higher up (left finger inside, right finger outside, z\u22483 cm). Closing."})
tool
executing move_to over 10 steps (1.0s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThird empty close: the jaws met just outside (right of) the pink wall. Opening and shifting 2 cm left so the wall is centred between the fingers.
move_to
right_gripper1.0000right_y0.1050right_x0.3950right_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0383, 1.1118, 0.976, -0.8124, -0.049, -0.1204, 0.9956, 0.2214, 1.6402, 0.5301, 0.4622, 0.0315, 0.1127, 0.0256] state[eef_state]: left_x=0.2979 left_y=0.0008 left_z=0.1748 left_yaw=0.0578 left_pitch=-0.3747 left_roll=-0.024 left_gripper=0.9956 right_x=0.3885 right_y=0.0854 right_z=0.0339 right_yaw=0.1293 right_pitch=-0.0742 right_roll=0.0786 right_gripper=0.0256 state[joint_eff]: [-0.1573, -3.6855, 6.694, 1.3602, -0.0611, -0.0366, -0.0171, -0.1299, -6.065, 6.0239, 1.4676, 0.0904, -0.0708, 1.0867] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_y": 0.105, "right_x": 0.395, "right_z": 0.035}, "note": "Third empty close: the jaws met just outside (right of) the pink wall. Opening and shifting 2 cm left so the wall is centred between the fingers."})
tool
executing move_to over 10 steps (1.0s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent notePink wall is now clearly between the jaws (left finger inside the bowl, right outside). Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0383, 1.1118, 0.976, -0.8124, -0.049, -0.1204, 0.9956, 0.2817, 1.6646, 0.5499, 0.4438, 0.0628, 0.1387, 0.9949] state[eef_state]: left_x=0.2979 left_y=0.0008 left_z=0.1748 left_yaw=0.0578 left_pitch=-0.3747 left_roll=-0.024 left_gripper=0.9956 right_x=0.3859 right_y=0.1039 right_z=0.0283 right_yaw=0.1489 right_pitch=-0.0959 right_roll=0.0775 right_gripper=0.9949 state[joint_eff]: [-0.0752, -3.1932, 6.612, 1.3748, -0.0611, -0.0611, -0.0171, 0.5128, -5.5453, 7.5282, 1.6679, 0.1148, 0.1148, -0.0366] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pink wall is now clearly between the jaws (left finger inside the bowl, right outside). Closing."})
tool
executing move_to over 10 steps (1.0s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
assistant
agent noteGripper settled at 0.039 and the pink wall appears pinched between the fingertips (thin wall). Lifting to test whether the bowl comes with it.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0387, 1.1122, 0.976, -0.8127, -0.0494, -0.1204, 0.9956, 0.2813, 1.6623, 0.5491, 0.4599, 0.0517, 0.1398, 0.039] state[eef_state]: left_x=0.2979 left_y=0.0008 left_z=0.1747 left_yaw=0.0578 left_pitch=-0.3754 left_roll=-0.0236 left_gripper=0.9956 right_x=0.3878 right_y=0.1063 right_z=0.032 right_yaw=0.1574 right_pitch=-0.0794 right_roll=0.0875 right_gripper=0.039 state[joint_eff]: [-0.1983, -3.2615, 6.694, 1.326, -0.0952, -0.0611, -0.0171, -0.0205, -6.1333, 5.5863, 1.3797, 0.2418, 0.0171, 0.9158] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.09}, "note": "Gripper settled at 0.039 and the pink wall appears pinched between the fingertips (thin wall). Lifting to test whether the bowl comes with it."})
tool
executing move_to over 4 steps (0.4s)
step 195
assistant
agent notePink bowl stays fixed in the wrist view while lifting, so it's held. Carrying it ~11 cm left to sit over the blue/teal stack.
move_to
right_z0.1700right_y0.2150right_x0.4050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0383, 1.113, 0.976, -0.8154, -0.049, -0.1204, 0.9955, 0.2813, 1.4979, 0.6209, 0.2188, 0.0437, 0.1345, 0.0395] state[eef_state]: left_x=0.2974 left_y=0.0008 left_z=0.1741 left_yaw=0.0579 left_pitch=-0.3788 left_roll=-0.0235 left_gripper=0.9955 right_x=0.3842 right_y=0.1067 right_z=0.0746 right_yaw=0.167 right_pitch=-0.0847 right_roll=0.0875 right_gripper=0.0395 state[joint_eff]: [-0.2256, -3.3026, 6.6393, 1.3162, -0.0513, -0.0513, -0.0171, -0.1026, -6.694, 8.4581, 1.8095, 0.0611, 0.022, 1.033] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17, "right_y": 0.215, "right_x": 0.405}, "note": "Pink bowl stays fixed in the wrist view while lifting, so it's held. Carrying it ~11 cm left to sit over the blue/teal stack."})
tool
executing move_to over 10 steps (1.0s)
step 205
assistant
agent notePink bowl is held and partly over the stack but still a bit right of its centre. Shifting ~3 cm left and lowering.
move_to
right_y0.2450right_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0383, 1.113, 0.976, -0.8204, -0.049, -0.1204, 0.9955, 0.5808, 1.5845, 1.0805, -0.2142, 0.244, 0.2893, 0.0395] state[eef_state]: left_x=0.2964 left_y=0.0009 left_z=0.1734 left_yaw=0.0581 left_pitch=-0.3838 left_roll=-0.023 left_gripper=0.9955 right_x=0.3969 right_y=0.2137 right_z=0.1515 right_yaw=0.2128 right_pitch=-0.1188 right_roll=0.0704 right_gripper=0.0395 state[joint_eff]: [0.0342, -3.0154, 6.7214, 1.326, -0.022, -0.0562, -0.0073, 0.1299, -7.3231, 9.6205, 1.6728, 0.2027, 0.2418, 1.0281] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.245, "right_z": 0.11}, "note": "Pink bowl is held and partly over the stack but still a bit right of its centre. Shifting ~3 cm left and lowering."})
tool
executing move_to over 3 steps (0.3s)
step 208
assistant
agent notePink bowl now covers the blue/teal stack in the overhead view, so it looks aligned. Lowering it onto the stack.
move_to
right_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0383, 1.113, 0.976, -0.8215, -0.0494, -0.12, 0.9956, 0.6434, 1.6882, 1.0557, -0.136, 0.281, 0.3225, 0.0395] state[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1732 left_yaw=0.0583 left_pitch=-0.3849 left_roll=-0.0223 left_gripper=0.9956 right_x=0.3925 right_y=0.2375 right_z=0.1112 right_yaw=0.224 right_pitch=-0.1568 right_roll=0.0529 right_gripper=0.0395 state[joint_eff]: [-0.1299, -3.2068, 6.612, 1.3211, -0.0952, -0.0366, -0.0073, 0.2393, -9.0325, 6.694, 1.6777, 0.3053, 0.1148, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.06}, "note": "Pink bowl now covers the blue/teal stack in the overhead view, so it looks aligned. Lowering it onto the stack."})
tool
executing move_to over 4 steps (0.4s)
step 212
assistant
agent noteDescent stopped at ~9 cm: the pink bowl is resting on the stack. Releasing it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0383, 1.113, 0.976, -0.8268, -0.0494, -0.1204, 0.9955, 0.6609, 1.7283, 1.0355, -0.1028, 0.281, 0.3256, 0.0395] state[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1725 left_yaw=0.0587 left_pitch=-0.3902 left_roll=-0.022 left_gripper=0.9955 right_x=0.388 right_y=0.2442 right_z=0.0913 right_yaw=0.238 right_pitch=-0.1816 right_roll=0.044 right_gripper=0.0395 state[joint_eff]: [-0.1846, -3.2342, 6.5846, 1.3846, -0.0855, -0.0708, -0.0171, -0.5812, -10.0444, 7.1043, 1.9023, 0.2759, 0.1343, 1.033] 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": {"right_gripper": 1.0}, "note": "Descent stopped at ~9 cm: the pink bowl is resting on the stack. Releasing it."})
tool
executing move_to over 10 steps (1.0s)
step 222
assistant
Released. Parking the right arm so I can check the stack.
agent notePink bowl released onto the stack. Moving the right arm home to get a clear overhead view of the stack.
move_to
right_x0.3000right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0387, 1.113, 0.976, -0.8272, -0.049, -0.12, 0.9956, 0.6609, 1.7283, 1.0355, -0.1078, 0.2764, 0.3187, 0.9951] state[eef_state]: left_x=0.295 left_y=0.0008 left_z=0.1724 left_yaw=0.0578 left_pitch=-0.3906 left_roll=-0.0221 left_gripper=0.9956 right_x=0.3869 right_y=0.2443 right_z=0.0903 right_yaw=0.2452 right_pitch=-0.1873 right_roll=0.0399 right_gripper=0.9951 state[joint_eff]: [-0.3214, -3.2205, 6.5983, 1.3114, -0.0708, -0.0562, -0.0073, -0.1709, -8.4034, 6.4205, 1.5165, 0.1148, 0.0122, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
Released. Parking the right arm so I can check the stack.
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.2}, "note": "Pink bowl released onto the stack. Moving the right arm home to get a clear overhead view of the stack."})
tool
executing move_to over 21 steps (2.1s)
step 243
assistant
agent noteI stacked all three bowls in the middle of the table. The left arm picked up the blue bowl by pinching its wall and set it in the teal bowl. The right arm then set the pink bowl on top. From the overhead camera it looks right: only one bowl shows now, the pink one on top at the teal bowl's original spot, which means the other two are underneath it. From that angle I couldn't see how deeply each bowl nests. Both arms are parked at home.
done
hindsight- The bowls are about 12 cm across, too wide to grasp across. Pinching one side wall works: grasp point on the wall, jaws straddling it with one finger inside the bowl and one outside, then close fully. The settled gripper reading is the wall thickness: about 0.10 for the blue bowl, but only about 0.039 for the thin pink bowl. For thin walls a reading near 0.04 can still be a real grasp, so check with a small lift and see whether the bowl stays fixed in the wrist view. - In the wrist view, the wall must sit clearly between the fingers, not on the jaw column at x≈110. Three empty closes happened because the wall was about 1 cm off to one side. Aim to put the wall about 1–2 cm toward the finger on the inside of the bowl. - Grasping low (z≈0) on a flared wall can make the jaws ride up. z≈0.03 worked for the pink bowl, and z≈0.01–0.02 for the blue one. - Horizontal moves toward targets were clamped for speed and fell 1–3 cm short in x. The arm sometimes stopped around z 0.04 when pressing on a bowl. - When a held bowl comes down on a stack, the descent stops at about 9–10 cm. Release there and it settles in. - Overhead camera scale near the table centre is about 3.3 px/cm. The left arm's home position (y=0) shows at about image x 35, the right arm's at about x 205. The bowls started in a row: left at around left-arm (x 0.41, y -0.10), middle at around left-arm (0.39, -0.26), right at around right-arm (0.39, 0.16).
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0383, 1.1133, 0.976, -0.8272, -0.049, -0.1204, 0.9956, -0.1886, 1.0378, 0.8833, -0.6861, -0.2829, -0.2523, 0.9963] state[eef_state]: left_x=0.295 left_y=0.0009 left_z=0.1723 left_yaw=0.0584 left_pitch=-0.391 left_roll=-0.0223 left_gripper=0.9956 right_x=0.3018 right_y=-0.0038 right_z=0.1825 right_yaw=0.1902 right_pitch=-0.2225 right_roll=0.0426 right_gripper=0.9963 state[joint_eff]: [-0.1573, -3.1795, 6.6667, 1.3455, -0.0757, -0.0806, -0.0171, -0.253, -3.7402, 10.0581, 1.3944, -0.359, -0.0171, 0.1099] 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 stacked all three bowls in the middle of the table. The left arm picked up the blue bowl by pinching its wall and set it in the teal bowl. The right arm then set the pink bowl on top. From the overhead camera it looks right: only one bowl shows now, the pink one on top at the teal bowl's original spot, which means the other two are underneath it. From that angle I couldn't see how deeply each bowl nests. Both arms are parked at home.", "hindsight": "- The bowls are about 12 cm across, too wide to grasp across. Pinching one side wall works: grasp point on the wall, jaws straddling it with one finger inside the bowl and one outside, then close fully. The settled gripper reading is the wall thickness: about 0.10 for the blue bowl, but only about 0.039 for the thin pink bowl. For thin walls a reading near 0.04 can still be a real grasp, so check with a small lift and see whether the bowl stays fixed in the wrist view.\n- In the wrist view, the wall must sit clearly between the fingers, not on the jaw column at x\u2248110. Three empty closes happened because the wall was about 1 cm off to one side. Aim to put the wall about 1\u20132 cm toward the finger on the inside of the bowl.\n- Grasping low (z\u22480) on a flared wall can make the jaws ride up. z\u22480.03 worked for the pink bowl, and z\u22480.01\u20130.02 for the blue one.\n- Horizontal moves toward targets were clamped for speed and fell 1\u20133 cm short in x. The arm sometimes stopped around z 0.04 when pressing on a bowl.\n- When a held bowl comes down on a stack, the descent stops at about 9\u201310 cm. Release there and it settles in.\n- Overhead camera scale near the table centre is about 3.3 px/cm. The left arm's home position (y=0) shows at about image x 35, the right arm's at about x 205. The bowls started in a row: left at around left-arm (x 0.41, y -0.10), middle at around left-arm (0.39, -0.26), right at around right-arm (0.39, 0.16)."})
tool
done: I stacked all three bowls in the middle of the table. The left arm picked up the blue bowl by pinching its wall and set it in the teal bowl. The right arm then set the pink bowl on top. From the overhead camera it looks right: only one bowl shows now, the pink one on top at the teal bowl's original spot, which means the other two are underneath it. From that angle I couldn't see how deeply each bowl nests. Both arms are parked at home.
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 · 15.82 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7944, 0.6037, -0.3813, -0.0227, -0.033, 0.9993, -0.0212, 0.7925, 0.6003, -0.3832, -0.017, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2938 right_y=0.0004 right_z=0.178 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -1.5385, 10.1128, 1.7753, -0.0415, 0.1929, -0.0806, -0.4991, -1.3197, 10.3453, 1.9756, -0.0806, 0.0269, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c37ea59d20a3274c54ded287a49c0bb93ad7fad181b782af41dcdc3312d67320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2500b4629274a54794d755fd57319606bda117283028c715aede48aef9a44cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7a3046955619bd4ef4b5a264b0cf05918d773f6ed076ab465ba7121cf6dbf6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 9.875 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7944, 0.6037, -0.3813, -0.0227, -0.033, 0.9993, -0.0212, 0.7925, 0.6003, -0.3832, -0.017, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2938 right_y=0.0004 right_z=0.178 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -1.5385, 10.1128, 1.7753, -0.0415, 0.1929, -0.0806, -0.4991, -1.3197, 10.3453, 1.9756, -0.0806, 0.0269, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c37ea59d20a3274c54ded287a49c0bb93ad7fad181b782af41dcdc3312d67320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2500b4629274a54794d755fd57319606bda117283028c715aede48aef9a44cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7a3046955619bd4ef4b5a264b0cf05918d773f6ed076ab465ba7121cf6dbf6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UWPF7LMmpzTzguqbvhgoXR",
      "input": {
        "note": "Three bowls in a row (blue left, teal middle, pink right). Plan: stack blue and pink into teal. Moving left arm above the blue bowl to check alignment.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.06,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01UWPF7LMmpzTzguqbvhgoXR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2447, 1.3361, 0.728, -0.0666, -0.1978, -0.1547, 0.9993, -0.0216, 0.7975, 0.5972, -0.3927, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3819 left_y=-0.0559 left_z=0.1262 left_yaw=-0.0111 left_pitch=-0.0875 left_roll=0.0149 left_gripper=0.9993 right_x=0.2924 right_y=0.0002 right_z=0.1733 right_yaw=-0.0007 right_pitch=-0.0175 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -5.5043, 9.265, 1.8339, -0.2564, -0.0757, -0.0171, -0.1162, -1.5658, 7.3504, 1.7753, -0.0464, -0.022, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2852b7bdb21c84d5d53f8aca87dc496120e81bf1306c2a0dbdf15d74204e3ced",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1ae74ddd641ea406172dc77d14d5dbe97a3e569276a164a43fa7f77c58afeba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:67ef8de2254963d5a7ac885ceeb286c474333b9f12a132ce4e1ba4a276afb939",
        "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 · 6.479 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7944, 0.6037, -0.3813, -0.0227, -0.033, 0.9993, -0.0212, 0.7925, 0.6003, -0.3832, -0.017, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2938 right_y=0.0004 right_z=0.178 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -1.5385, 10.1128, 1.7753, -0.0415, 0.1929, -0.0806, -0.4991, -1.3197, 10.3453, 1.9756, -0.0806, 0.0269, -0.105]",
      "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]: [-0.2447, 1.3361, 0.728, -0.0666, -0.1978, -0.1547, 0.9993, -0.0216, 0.7975, 0.5972, -0.3927, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3819 left_y=-0.0559 left_z=0.1262 left_yaw=-0.0111 left_pitch=-0.0875 left_roll=0.0149 left_gripper=0.9993 right_x=0.2924 right_y=0.0002 right_z=0.1733 right_yaw=-0.0007 right_pitch=-0.0175 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -5.5043, 9.265, 1.8339, -0.2564, -0.0757, -0.0171, -0.1162, -1.5658, 7.3504, 1.7753, -0.0464, -0.022, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2852b7bdb21c84d5d53f8aca87dc496120e81bf1306c2a0dbdf15d74204e3ced",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1ae74ddd641ea406172dc77d14d5dbe97a3e569276a164a43fa7f77c58afeba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67ef8de2254963d5a7ac885ceeb286c474333b9f12a132ce4e1ba4a276afb939",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GbjfWLzwZcSNQt94WpMSpx",
      "input": {
        "note": "Blue bowl is slightly right of and just ahead of the left gripper; it looks ~12 cm wide, too wide to grasp across, so I'll straddle its left wall. Lowering over the estimated left rim.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.03,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GbjfWLzwZcSNQt94WpMSpx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1402, 1.5124, 0.63, 0.1341, -0.1417, -0.1146, 0.9993, -0.0216, 0.7982, 0.5957, -0.3935, -0.0166, -0.02, 0.999]\nstate[eef_state]: left_x=0.3864 left_y=-0.0257 left_z=0.058 left_yaw=0.0263 left_pitch=-0.1676 left_roll=0.0244 left_gripper=0.9993 right_x=0.2922 right_y=0.0002 right_z=0.1722 right_yaw=-0.0009 right_pitch=-0.0206 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.0342, -6.9675, 6.2564, 2.0928, 0.0659, 0.1734, -0.0122, -0.1026, -1.3197, 7.1453, 1.7314, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f1f5882adcd07e713dcebda70d90e6919ec2f3419a481f01bba8eaf7edc8992",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c64f0ed8a846de814441cb91bc6cfbe14f1b8273437d29f08541b4809ce9930",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3bd9f66cf5a478aa9fde654de3e2d4256c81afbcfe264c3cdbc378736c0b2d15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 6.203 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7944, 0.6037, -0.3813, -0.0227, -0.033, 0.9993, -0.0212, 0.7925, 0.6003, -0.3832, -0.017, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2938 right_y=0.0004 right_z=0.178 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -1.5385, 10.1128, 1.7753, -0.0415, 0.1929, -0.0806, -0.4991, -1.3197, 10.3453, 1.9756, -0.0806, 0.0269, -0.105]",
      "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]: [-0.2447, 1.3361, 0.728, -0.0666, -0.1978, -0.1547, 0.9993, -0.0216, 0.7975, 0.5972, -0.3927, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3819 left_y=-0.0559 left_z=0.1262 left_yaw=-0.0111 left_pitch=-0.0875 left_roll=0.0149 left_gripper=0.9993 right_x=0.2924 right_y=0.0002 right_z=0.1733 right_yaw=-0.0007 right_pitch=-0.0175 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -5.5043, 9.265, 1.8339, -0.2564, -0.0757, -0.0171, -0.1162, -1.5658, 7.3504, 1.7753, -0.0464, -0.022, -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]: [-0.1402, 1.5124, 0.63, 0.1341, -0.1417, -0.1146, 0.9993, -0.0216, 0.7982, 0.5957, -0.3935, -0.0166, -0.02, 0.999]\nstate[eef_state]: left_x=0.3864 left_y=-0.0257 left_z=0.058 left_yaw=0.0263 left_pitch=-0.1676 left_roll=0.0244 left_gripper=0.9993 right_x=0.2922 right_y=0.0002 right_z=0.1722 right_yaw=-0.0009 right_pitch=-0.0206 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.0342, -6.9675, 6.2564, 2.0928, 0.0659, 0.1734, -0.0122, -0.1026, -1.3197, 7.1453, 1.7314, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f1f5882adcd07e713dcebda70d90e6919ec2f3419a481f01bba8eaf7edc8992",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c64f0ed8a846de814441cb91bc6cfbe14f1b8273437d29f08541b4809ce9930",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bd9f66cf5a478aa9fde654de3e2d4256c81afbcfe264c3cdbc378736c0b2d15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3wkKEAgSGAI4AUIIdGhpbmtpbmcSDP7KKJZe3pRIlezQGBoMCYr8iuSzN2cUWEbyIjBPIxKib1CYQjeUXMdccnZ0JhrKb1GlZjvQjMYg5kIXyUkpiTNS+w3ljR2P/pqPpt4q/AiegVeHPx8favZ9ENr3a+QWKT0Hy5T3FT8Y2qdEqN2O7fLIOrKhlUrXzudTGE/t/v38wFJafyAXA9GqZMzCcVal21z0vh9pPHn0pKRr0USvUUIOl5nQSFNHbaP3h16Oa2B8ChufHEDw4vAvLMyl9VHb6mViOL7whcpThVv3YzJ/svr/Ca7jMP9HHMDHk5MeiUUHRlWj9+oSvD6yBpmg2PPdFcvfw2xBnXud2ZVuCZmhHKrguVLoYg59247oFJnycjVTltgg18JODmbr882+JaRla0bNyCZVDl90LhR1HSbDJePA8abfBayKBXGM9310EoWpYKFY2F7VXN+8xjok290aWuXMUIt/G6iRWXGvucBWX74vBQRabz0laWQLY5qXyCmf0zl/0FZpZL1eTpkZEAAqiFJ2nT6L93UHdxfu/kM9i2gJwabLKF6CELIUoMwZirVNJGleMP493rw0/mKUGJVGHndqV7NRiKwFoj2bDdQ6XAnZ6Vq9Vsml1BwNSejP0xpX4+cyloizk/6zzdn1aaBG6Uv8Ol7hiVuYiCDFSGpPELhwF/KdGkVOYeM9r2/6NAtNPSfAcNW9Oj0zwwCys/2U4Ou9vm9XFDGM5u4JLF7eFK9MkksqLPGMb3tDxwGq4xHNdO/EX79PmQIB9XKUWqWfjoYG1MqKITCfCFUsptOyENc6XEEVaH5bb2vwdwGMRiPUNK6dQtAUqHSi4zo5BvwWaWaQ1zRMTl+yIajrTtOoN4v0wGoTqaspMOt7NNVnPD5PseELbIsQZ3vnE4TQDzgl1P8jM5C/1++zA/HQmVXvSXrzN3PNkKXBOdsFcHS49nCUvqozdMM98rYGkDmpRqhQN/3i3FAQ18FRqencNVGK7C03Ba23Jhlt8g/Io8J9vSogH9pGGMgb6tmxleDmP2g+svCA0qGaTJyTqX8LS6PgHhPeVjTUNJy9SBrlPyW0WYEEgPYMrJyQ+o1E0XXgYvJgiI9e+iOAFB7cCb33crN6kR0d3U2B4GWPU6txIBs+gBh/J7AAaGo+aWYcgB9BHdYyYyXuTtO+VG2+ImPBP9OY0afoF8Tum+uDDhgBo17pDNsceJgg01NpGw6sRBR8hlYVzOB+xXmxzTlyv8+tVOwykVbp9JHyMJlKMydPWr5KwYvk8e43SgnPyU6SFWRDg578/tF0UQmMmKknvkNV+k+3jf5m5CcnGuJEc25DKKFANi0pogFLQdkdR0QLR31RmbV/Gux2p8PMoVLauv+ASWZ558KChwGpgPQ5dFGH06XjXjkwYrv5f8hsiIOx2WjscFYFseTR/wCKQsU7Yq5gONgQqYfgZjcE2UsVc9Q8J+F0KZPyyY3G/2+cTc2EokJ4+nZxgS0TE7hkydlmXSpUgLs5DgRt9tUQLh99yhSIpGYIkUmg0IOSEqVGZsocAq9Lfb8B5cEBZkGUeB5b7GNSCjqvqivA3KFxSUYQ2mxThPgHXp1einKha1gWsIMpeq1BRi3KuyliMbKMNcv0GYALAVuh6Yb18lcBCTe8/pPiLhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PSjHPqpQfxkJEs3gYQEtz4",
      "input": {
        "note": "Bowl's left wall is between the jaws, with its widest point a bit ahead of the fingertips. Advancing 3 cm and descending to straddle the wall.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.025,
          "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_01PSjHPqpQfxkJEs3gYQEtz4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.5974, 0.6186, 0.2207, -0.1318, -0.1051, 0.9993, -0.0219, 0.7986, 0.5953, -0.3935, -0.0166, -0.02, 0.999]\nstate[eef_state]: left_x=0.3918 left_y=-0.0246 left_z=0.0376 left_yaw=0.0221 left_pitch=-0.1786 left_roll=0.0263 left_gripper=0.9993 right_x=0.2921 right_y=0.0001 right_z=0.1719 right_yaw=-0.0013 right_pitch=-0.0214 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.6906, -6.612, 6.1333, 1.7411, -0.1978, -0.0855, -0.0122, -0.335, -1.2786, 7.0632, 1.6728, -0.0269, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb7637020b0df6c0152903b0f06a4e92e20ba407c2224a850af718bc8f58efd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fccb29be0083ec1f8a13c5f5e81acbadcf37f1f3d2572ab99f7349dbf2f2774",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e588ba1dc0b1924758bef70d7002aa0a6a39a5838a3525748fb4c50a7b8cbba7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 7.085 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]: [-0.2447, 1.3361, 0.728, -0.0666, -0.1978, -0.1547, 0.9993, -0.0216, 0.7975, 0.5972, -0.3927, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3819 left_y=-0.0559 left_z=0.1262 left_yaw=-0.0111 left_pitch=-0.0875 left_roll=0.0149 left_gripper=0.9993 right_x=0.2924 right_y=0.0002 right_z=0.1733 right_yaw=-0.0007 right_pitch=-0.0175 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -5.5043, 9.265, 1.8339, -0.2564, -0.0757, -0.0171, -0.1162, -1.5658, 7.3504, 1.7753, -0.0464, -0.022, -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]: [-0.1402, 1.5124, 0.63, 0.1341, -0.1417, -0.1146, 0.9993, -0.0216, 0.7982, 0.5957, -0.3935, -0.0166, -0.02, 0.999]\nstate[eef_state]: left_x=0.3864 left_y=-0.0257 left_z=0.058 left_yaw=0.0263 left_pitch=-0.1676 left_roll=0.0244 left_gripper=0.9993 right_x=0.2922 right_y=0.0002 right_z=0.1722 right_yaw=-0.0009 right_pitch=-0.0206 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.0342, -6.9675, 6.2564, 2.0928, 0.0659, 0.1734, -0.0122, -0.1026, -1.3197, 7.1453, 1.7314, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.5974, 0.6186, 0.2207, -0.1318, -0.1051, 0.9993, -0.0219, 0.7986, 0.5953, -0.3935, -0.0166, -0.02, 0.999]\nstate[eef_state]: left_x=0.3918 left_y=-0.0246 left_z=0.0376 left_yaw=0.0221 left_pitch=-0.1786 left_roll=0.0263 left_gripper=0.9993 right_x=0.2921 right_y=0.0001 right_z=0.1719 right_yaw=-0.0013 right_pitch=-0.0214 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.6906, -6.612, 6.1333, 1.7411, -0.1978, -0.0855, -0.0122, -0.335, -1.2786, 7.0632, 1.6728, -0.0269, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb7637020b0df6c0152903b0f06a4e92e20ba407c2224a850af718bc8f58efd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fccb29be0083ec1f8a13c5f5e81acbadcf37f1f3d2572ab99f7349dbf2f2774",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e588ba1dc0b1924758bef70d7002aa0a6a39a5838a3525748fb4c50a7b8cbba7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwoKEAgSGAI4AUIIdGhpbmtpbmcSDBzEgAtrTsrebTAyJxoMdRCj4Tiv4GE5NOUiIjAf+tvh37CjkriMWXYyU/bsJZPCfM3oYgvhaI4tDIHZLIEbLb6pniXMV7eXWWkuM7Uq3Ak64tcA2QllrFzGOWP8Ws1xJAjXOR29bOlSkKNgRbWyvcNEkNIGMkvza1wgumuBIfY+WF4Qb5J5lqGqLRLVDjGvBU4rBxQR8fmvcr9oO8PYwCexyVhgOsptiQJ3hQ3SJ+91lpYff635tdrTSBEiWPrHFqlDkYTbTr2y0hU8uC4gobWyp+Ho6R7Px45fbC7jQlq1oxthStlkfWzKHWOh7Ybff+xpuLFxFjX3bJZUNtjkVpQKRTqO9PgK8vWPK0JVF0KIt6NK+cKb/d9+1RVfZ/cz5buUUIlmUaeBBpWDDRei8pX92EKigHoGajkHeq6Sym0d5B79+/XSV0GRqcgFBl4RJQIA3usRnXiu8swcB9UUesDBeumFC80RSOIHMGx8qSF5tYYpYbRS7kt67Iut281EWpjYE0m1aF4bLblJZ+n3LpVYsly2ahdCupxI8CkrDBE8aGVMdu7zpdDREIpp0GabAE1WOfFqmQ5wJPm0Yvrx+O37LO167XZKVt2Z1Zxe9sHxz2RFJ59S6P03cJdHbL7ca74MWELu1cg6HPbMdykGRM2Q4OQDXmFvd5Gl0kv8Olhpg4kOQ+MGomY1F/UBHjAmJ7xH7Gh/QS3MikZlvSj1RYDAcG9q7iT0wjNCxfmMGDbWrvG0TWHBAcyGQacDYsc3bObmyU7imdPmK6k46mDHMHXBMqDtBAM3jNYokD2scjxrQfNkEJDz33mnKyr83KNRMp6x+nH1cOFRH7Jl6rengInIkPT3DccOgMmvOuI9ptX8csX6E0xUJdI053R4IjbyaVoFGVa7wxjv9IRs5YEM2LMWrbFT9GSV+UIpInrbdqN4/6kFapWNfIog9jw9kedhKPEANoRE1dBcgM9AEyVMsyHJRDjjgmb2oCPVsOX8RDOyfVkQMA6CHnbMz6I58c3ojwzElgQGWL4X2CHpDD8ZZDlEVPdK7kT/UumrsWObzRKYMmMP0x0WAe+0kiHlNxHEcA+22Pf66VwcIbpcxDd/MsoohEBbaeuCk3aRmR1dTdfQ1Oc7CznR2CbEt7pzfJpkFBEeNXsKt3bG4QQDO2RmWUclYXR4Bp3zGZAcNzR4Mjw9ETh0zmAYvLNRXGcBI1pPV0c9WS2XUjpgCBdfv0yCGnesiQ+S949fQorR7gsXdExsN/1L9Upv5HwWBDbcHXp38nHLkeK5v7UVW/v5eWRTvXp93OOMyTLMgp0Px4MLFXNtVyuJkVx0317DXHY4lLMtZmhsroa7fwxpU//1GPZpuqq/mV1CAJTDUUhtVywHTkqmCMkhui/iaUqIj7WCnwneDYUJvx8KOjDfL3GUr54EFoVJBrxZDxej473kq8SNgMBDF0shiSFrzOunYHdKnC0NWaErzbMxbuqTUAmByJzXS6WY23Vde09jL0fLIYv6vxTHG7QwHSi2mtf2kMDFAO15FKHDXzHajgJca++AJLmTWA7wfPuAhRWDEf4GZbgJc9nlo339pN2YVL1FLEX/9BCBWPEkfGBUt3qgpDxEOJiMvvSO/tpJRb1VTx1io3uHQJSxJ/8jlbawlgEA+x9vyc+iaLm7rwaZMA3AAgBYDmpvcpm4TS8N0qIlf546Sl+ZfqFcNMjVbdd0DQhA1k1wyVvg9JcONzqwtS2mUV3ZdijPBTOFs2bDlOVOkpG+/BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012wwMgbfaicaPCT4b9ehpPu",
      "input": {
        "note": "Arm stopped at z≈3.8 cm, short of the target; the wall still looks between the jaws. Nudging slightly left and continuing the descent.",
        "targets": {
          "left_x": 0.415,
          "left_y": -0.02,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_012wwMgbfaicaPCT4b9ehpPu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1307, 1.597, 0.6186, 0.2226, -0.1322, -0.1055, 0.9993, -0.0219, 0.7986, 0.5953, -0.3931, -0.0166, -0.02, 0.999]\nstate[eef_state]: left_x=0.3921 left_y=-0.0244 left_z=0.0381 left_yaw=0.0229 left_pitch=-0.1763 left_roll=0.026 left_gripper=0.9993 right_x=0.2922 right_y=0.0001 right_z=0.172 right_yaw=-0.0013 right_pitch=-0.021 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -6.7761, 6.1333, 1.7314, -0.1538, -0.105, -0.0122, -0.2256, -1.2786, 7.2137, 1.7118, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52fc257ec9fe7fc3a235148e25a721e0f086746860aa0fed4b07452b09f77aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f97abf82648385ef022feba859281ad83e1af066448d7df60a4239e14c7b5cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c3464cef07d6ebd478783b888f4f6185bf1181a1ebdaea3bf122cd44d52ea6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 8.162 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]: [-0.1402, 1.5124, 0.63, 0.1341, -0.1417, -0.1146, 0.9993, -0.0216, 0.7982, 0.5957, -0.3935, -0.0166, -0.02, 0.999]\nstate[eef_state]: left_x=0.3864 left_y=-0.0257 left_z=0.058 left_yaw=0.0263 left_pitch=-0.1676 left_roll=0.0244 left_gripper=0.9993 right_x=0.2922 right_y=0.0002 right_z=0.1722 right_yaw=-0.0009 right_pitch=-0.0206 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [0.0342, -6.9675, 6.2564, 2.0928, 0.0659, 0.1734, -0.0122, -0.1026, -1.3197, 7.1453, 1.7314, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.5974, 0.6186, 0.2207, -0.1318, -0.1051, 0.9993, -0.0219, 0.7986, 0.5953, -0.3935, -0.0166, -0.02, 0.999]\nstate[eef_state]: left_x=0.3918 left_y=-0.0246 left_z=0.0376 left_yaw=0.0221 left_pitch=-0.1786 left_roll=0.0263 left_gripper=0.9993 right_x=0.2921 right_y=0.0001 right_z=0.1719 right_yaw=-0.0013 right_pitch=-0.0214 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.6906, -6.612, 6.1333, 1.7411, -0.1978, -0.0855, -0.0122, -0.335, -1.2786, 7.0632, 1.6728, -0.0269, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1307, 1.597, 0.6186, 0.2226, -0.1322, -0.1055, 0.9993, -0.0219, 0.7986, 0.5953, -0.3931, -0.0166, -0.02, 0.999]\nstate[eef_state]: left_x=0.3921 left_y=-0.0244 left_z=0.0381 left_yaw=0.0229 left_pitch=-0.1763 left_roll=0.026 left_gripper=0.9993 right_x=0.2922 right_y=0.0001 right_z=0.172 right_yaw=-0.0013 right_pitch=-0.021 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -6.7761, 6.1333, 1.7314, -0.1538, -0.105, -0.0122, -0.2256, -1.2786, 7.2137, 1.7118, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52fc257ec9fe7fc3a235148e25a721e0f086746860aa0fed4b07452b09f77aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f97abf82648385ef022feba859281ad83e1af066448d7df60a4239e14c7b5cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c3464cef07d6ebd478783b888f4f6185bf1181a1ebdaea3bf122cd44d52ea6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U1KCsAacL3jXFFN1MsBFwy",
      "input": {
        "note": "Arm won't descend further (likely a finger resting on the bowl's inner slope) but the wall is between the jaws. Closing to pinch the wall.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01U1KCsAacL3jXFFN1MsBFwy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1307, 1.5932, 0.6201, 0.2398, -0.1276, -0.1223, 0.0214, -0.0219, 0.7986, 0.5953, -0.3931, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3957 left_y=-0.0257 left_z=0.0431 left_yaw=0.0277 left_pitch=-0.1543 left_roll=0.0067 left_gripper=0.0214 right_x=0.2922 right_y=0.0001 right_z=0.172 right_yaw=-0.0011 right_pitch=-0.021 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.212, -5.8598, 5.9556, 1.1941, -0.0952, 0.1392, 0.906, -0.0615, -1.2376, 7.241, 1.6825, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:867416dbe3c032e4f971d92ffbddb47ba7b4fec408f4dc3433d1f112759e22b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24ba30817707a1b16ffa1f40c3a57f2f5468983f6e8897f99dfff894b18f75b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2eab85bcd1f536ddfc5acbeb5a65f367ba7035b48ae7d99b2afa7a69059cc215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 4.881 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]: [-0.131, 1.5974, 0.6186, 0.2207, -0.1318, -0.1051, 0.9993, -0.0219, 0.7986, 0.5953, -0.3935, -0.0166, -0.02, 0.999]\nstate[eef_state]: left_x=0.3918 left_y=-0.0246 left_z=0.0376 left_yaw=0.0221 left_pitch=-0.1786 left_roll=0.0263 left_gripper=0.9993 right_x=0.2921 right_y=0.0001 right_z=0.1719 right_yaw=-0.0013 right_pitch=-0.0214 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.6906, -6.612, 6.1333, 1.7411, -0.1978, -0.0855, -0.0122, -0.335, -1.2786, 7.0632, 1.6728, -0.0269, -0.0073, -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]: [-0.1307, 1.597, 0.6186, 0.2226, -0.1322, -0.1055, 0.9993, -0.0219, 0.7986, 0.5953, -0.3931, -0.0166, -0.02, 0.999]\nstate[eef_state]: left_x=0.3921 left_y=-0.0244 left_z=0.0381 left_yaw=0.0229 left_pitch=-0.1763 left_roll=0.026 left_gripper=0.9993 right_x=0.2922 right_y=0.0001 right_z=0.172 right_yaw=-0.0013 right_pitch=-0.021 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -6.7761, 6.1333, 1.7314, -0.1538, -0.105, -0.0122, -0.2256, -1.2786, 7.2137, 1.7118, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1307, 1.5932, 0.6201, 0.2398, -0.1276, -0.1223, 0.0214, -0.0219, 0.7986, 0.5953, -0.3931, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3957 left_y=-0.0257 left_z=0.0431 left_yaw=0.0277 left_pitch=-0.1543 left_roll=0.0067 left_gripper=0.0214 right_x=0.2922 right_y=0.0001 right_z=0.172 right_yaw=-0.0011 right_pitch=-0.021 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.212, -5.8598, 5.9556, 1.1941, -0.0952, 0.1392, 0.906, -0.0615, -1.2376, 7.241, 1.6825, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:867416dbe3c032e4f971d92ffbddb47ba7b4fec408f4dc3433d1f112759e22b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24ba30817707a1b16ffa1f40c3a57f2f5468983f6e8897f99dfff894b18f75b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2eab85bcd1f536ddfc5acbeb5a65f367ba7035b48ae7d99b2afa7a69059cc215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WSgU9RruRRQcUScLJW9dvn",
      "input": {
        "note": "Empty close: the jaws met just left of the bowl wall. Opening and lifting to re-approach 1 cm further right and slightly forward.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.41,
          "left_y": -0.035,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WSgU9RruRRQcUScLJW9dvn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1509, 1.5536, 0.7452, 0.0189, -0.1402, -0.1486, 0.9943, -0.0216, 0.7986, 0.5953, -0.3931, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.4004 left_y=-0.0323 left_z=0.0664 left_yaw=0.0344 left_pitch=-0.2078 left_roll=0.0056 left_gripper=0.9943 right_x=0.2922 right_y=0.0002 right_z=0.172 right_yaw=-0.0007 right_pitch=-0.021 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.841, -8.9094, 8.7179, 1.6484, -0.1538, 0.1343, -0.0073, -0.1026, -1.2376, 7.0359, 1.7314, -0.0513, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16c803d7c04eef7735efd6ff88a243cffac10ecfb74e5589afb43a1402ca4dcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8609e99f36d5b34e72e5676bca57027d7630d107e36e9a3f54f4dfd76188b9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6baacc7cfa69505eb59945b5e0853c4fadd645426e756b05563eba58b14f6263",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 3.355 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]: [-0.1307, 1.597, 0.6186, 0.2226, -0.1322, -0.1055, 0.9993, -0.0219, 0.7986, 0.5953, -0.3931, -0.0166, -0.02, 0.999]\nstate[eef_state]: left_x=0.3921 left_y=-0.0244 left_z=0.0381 left_yaw=0.0229 left_pitch=-0.1763 left_roll=0.026 left_gripper=0.9993 right_x=0.2922 right_y=0.0001 right_z=0.172 right_yaw=-0.0013 right_pitch=-0.021 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -6.7761, 6.1333, 1.7314, -0.1538, -0.105, -0.0122, -0.2256, -1.2786, 7.2137, 1.7118, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1307, 1.5932, 0.6201, 0.2398, -0.1276, -0.1223, 0.0214, -0.0219, 0.7986, 0.5953, -0.3931, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3957 left_y=-0.0257 left_z=0.0431 left_yaw=0.0277 left_pitch=-0.1543 left_roll=0.0067 left_gripper=0.0214 right_x=0.2922 right_y=0.0001 right_z=0.172 right_yaw=-0.0011 right_pitch=-0.021 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.212, -5.8598, 5.9556, 1.1941, -0.0952, 0.1392, 0.906, -0.0615, -1.2376, 7.241, 1.6825, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1509, 1.5536, 0.7452, 0.0189, -0.1402, -0.1486, 0.9943, -0.0216, 0.7986, 0.5953, -0.3931, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.4004 left_y=-0.0323 left_z=0.0664 left_yaw=0.0344 left_pitch=-0.2078 left_roll=0.0056 left_gripper=0.9943 right_x=0.2922 right_y=0.0002 right_z=0.172 right_yaw=-0.0007 right_pitch=-0.021 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.841, -8.9094, 8.7179, 1.6484, -0.1538, 0.1343, -0.0073, -0.1026, -1.2376, 7.0359, 1.7314, -0.0513, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16c803d7c04eef7735efd6ff88a243cffac10ecfb74e5589afb43a1402ca4dcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8609e99f36d5b34e72e5676bca57027d7630d107e36e9a3f54f4dfd76188b9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6baacc7cfa69505eb59945b5e0853c4fadd645426e756b05563eba58b14f6263",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxwkKEAgSGAI4AUIIdGhpbmtpbmcSDIKztCfE04Cq69jPUBoMCLOvBw52yAyzee2DIjD+3tsq7BvORX5jPOcbHu6rd0CGZFq0cXuEA5OKUefTUf0eo6+c4LZfzdE7BWVHPyUq5Ajk6MJIYdbOhXHcyJAvD+KkJRNSNd9mMX/fiv2ValpEETeawL5z5AtHB6IjhScvYeVwnAUn+bHqb2ZF5n6F7R+QgQhRHQ+slZFHKoXYjeycJh6u2Dhk9aGnv/avYzhZJlrULIu16mVBJaPMlEAi2zA9mm8Y/8yjhJ4HHzhWzrFn5tCz9UDcA+1Rlc0GQ8Rfbuwg2Kjpkjk06kfJSG2XWAfXrgwmOyWkTYN4qn/KnS7liHrdTd4rFP7CnbSv8daFeAhVKfhHIM7TDLEgbaYUqa/nM7Fgh6Wy9ekrtlB12HO9BhedZ/Bvrz2/f7NoEy8BWrWvAWIrSijCMp1v4sWJ/w8/R+xif3W1FS1RABNgdBqwEtgAYg28x4iphdm3siTr2RUDRvIMeQ4vsMe8i1P7xyQOqHJoNkStw5SuRLED0sIx7e4f7tnh7C6xOU0mAFl/KcsTW9ED5V0n0Xq16KheqU8iQS6+H6UbZZ7SRh45JYmJPgZrduJGSoJqNtiFIxNZF1yHD40syMOWAz/7Wb9Jnl7biT706DlroMNn7Vtv32PHX/Ze3fy6ydbZnE3Dyt0+rL0J2/CzfIjkQPvdVf8uVZrIP4VwQwBekc9slc1oHkDeR4n57nxfbQ5EjMXuHB6sHufv1yvIY71wyDfvxyq+U692KrsMbDL45+qKf7vu68x3pU35/bPI4cxDaHYa8u5eF+fJmvpJr+OBnP2BxHZVINCqRdAus7QNecYPacSvQ66NzsQhtE4xeBWUrlpurdI1AYSLdwwJUV1Ob0eqVj4Zj5nd9R+p8mf+Qu+AVEOUqG0U8KP3b/dIu//bUSVNtXUtw5bi06v9tmiLmDCfNx4KAGi0wMXSaDMliRnveyLBo9hIe97OW3daDqqUMV/thXqSvsN3u83hNf2FazXBYBeOCv7bpkvtZowpN/uQTotpjt0zvRQSZLYLEOTkHwARlUmmtOuS1nmgCfNZLHkHCNlTwtMl1yUf4Wm5udErCnfTaFCdpQbb8S5UjrY5OhisZA3+PAZMxsExZicH0Ev45EairMqjZZ60FhcezK1RpIAyPJnVgF2Z9EkM5ovjseC4LmbcXHl80mPSObm2XUOo4DZoKW/HwiBAl/MS75EyRv9RgUfDDkidszBk0errfjJJaawqQlkvHFooVgwScf9nOfF4tP63mmx7ldeGZWhJYKN2tmo4KtSSnDHbATdOJ9Pz90dadAcu+nfCha+yFwFds+FI7rCDflM41zj3x9y/smdkzVA7DLtsyOTzhX2srrrcgYKVVro8D+vO2RfpDuNqsqxZgDiT2Xwx1+4l3RyoVum2WQlVnQsgnuTIkyAvBmmOTerCQr3y6DhYohUvawtyEeELrsatkQmZpbvf1Nj8G+pG3Uwy1x9CeWtKLlDrdyeU3bfcEi7YzEbhNbWNpQuYuwZv1AjpJRwPT0oCnxl1KD2QTREBImAAfB7wbJYxW5Z8ic3qEXgKuxRADKr0vcco5T9KhC6EfN1NQhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gjn3HurBjaFKZ17uCWgSdg",
      "input": {
        "note": "Bowl's left wall now sits centred between the jaws (left finger outside, right finger inside). Descending to straddle the wall low.",
        "targets": {
          "left_x": 0.41,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Gjn3HurBjaFKZ17uCWgSdg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 1.7313, 0.6857, 0.2073, -0.1314, -0.1555, 0.9949, -0.0216, 0.8024, 0.5953, -0.3927, -0.0166, -0.02, 0.999]\nstate[eef_state]: left_x=0.4005 left_y=-0.0329 left_z=0.0085 left_yaw=0.0351 left_pitch=-0.2569 left_roll=0.0035 left_gripper=0.9949 right_x=0.2925 right_y=0.0002 right_z=0.171 right_yaw=-0.0009 right_pitch=-0.0244 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.2393, -5.1077, 4.6701, 1.3358, -0.1294, -0.0171, 0.0415, -0.0342, -1.5932, 7.0496, 1.7216, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82f6cfce365021353160d0dc09b64b638aaec2311ff62be4b33317b171d13c93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8572d1f319c2c88859f0ffc5c9e76b45113441bdff17fae8c59e7e8fc1235b2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c35e2be8791bc2bb5b6ac5e6222f5b87925e217350bd4cea10ec99a287861970",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 5.969 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]: [-0.1307, 1.5932, 0.6201, 0.2398, -0.1276, -0.1223, 0.0214, -0.0219, 0.7986, 0.5953, -0.3931, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3957 left_y=-0.0257 left_z=0.0431 left_yaw=0.0277 left_pitch=-0.1543 left_roll=0.0067 left_gripper=0.0214 right_x=0.2922 right_y=0.0001 right_z=0.172 right_yaw=-0.0011 right_pitch=-0.021 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.212, -5.8598, 5.9556, 1.1941, -0.0952, 0.1392, 0.906, -0.0615, -1.2376, 7.241, 1.6825, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1509, 1.5536, 0.7452, 0.0189, -0.1402, -0.1486, 0.9943, -0.0216, 0.7986, 0.5953, -0.3931, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.4004 left_y=-0.0323 left_z=0.0664 left_yaw=0.0344 left_pitch=-0.2078 left_roll=0.0056 left_gripper=0.9943 right_x=0.2922 right_y=0.0002 right_z=0.172 right_yaw=-0.0007 right_pitch=-0.021 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.841, -8.9094, 8.7179, 1.6484, -0.1538, 0.1343, -0.0073, -0.1026, -1.2376, 7.0359, 1.7314, -0.0513, -0.0269, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 1.7313, 0.6857, 0.2073, -0.1314, -0.1555, 0.9949, -0.0216, 0.8024, 0.5953, -0.3927, -0.0166, -0.02, 0.999]\nstate[eef_state]: left_x=0.4005 left_y=-0.0329 left_z=0.0085 left_yaw=0.0351 left_pitch=-0.2569 left_roll=0.0035 left_gripper=0.9949 right_x=0.2925 right_y=0.0002 right_z=0.171 right_yaw=-0.0009 right_pitch=-0.0244 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.2393, -5.1077, 4.6701, 1.3358, -0.1294, -0.0171, 0.0415, -0.0342, -1.5932, 7.0496, 1.7216, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82f6cfce365021353160d0dc09b64b638aaec2311ff62be4b33317b171d13c93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8572d1f319c2c88859f0ffc5c9e76b45113441bdff17fae8c59e7e8fc1235b2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c35e2be8791bc2bb5b6ac5e6222f5b87925e217350bd4cea10ec99a287861970",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Now at z≈0.01 with the wall between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dg1MKuecJGUfcCcZHa3CjX",
      "input": {
        "note": "Gripper is low with the bowl's left wall between the jaws. Closing to pinch the wall.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Dg1MKuecJGUfcCcZHa3CjX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1505, 1.7203, 0.6888, 0.2501, -0.1127, -0.181, 0.1058, -0.0219, 0.8024, 0.5953, -0.3962, -0.0166, -0.0208, 0.999]\nstate[eef_state]: left_x=0.4099 left_y=-0.0384 left_z=0.0208 left_yaw=0.029 left_pitch=-0.2036 left_roll=-0.039 left_gripper=0.1058 right_x=0.292 right_y=0.0001 right_z=0.1704 right_yaw=-0.0009 right_pitch=-0.0278 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.2974, 5.0667, 1.1502, -0.2906, 0.2027, 0.6325, -0.0205, -1.265, 7.0769, 1.7607, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:016f7dd7646ed3f78d7ef176dd260c5fbaab76cf98d6b631ab3fa5ef720c138d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffd06c3a81f1a52026cb245b3906551a6c23532a091f440cc1f1032e5df39635",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bad575cff5e67b23d4886c81bf0622f16001c4145695a312f8a80ff03a288909",
        "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 · 9.297 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]: [-0.1509, 1.5536, 0.7452, 0.0189, -0.1402, -0.1486, 0.9943, -0.0216, 0.7986, 0.5953, -0.3931, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.4004 left_y=-0.0323 left_z=0.0664 left_yaw=0.0344 left_pitch=-0.2078 left_roll=0.0056 left_gripper=0.9943 right_x=0.2922 right_y=0.0002 right_z=0.172 right_yaw=-0.0007 right_pitch=-0.021 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.841, -8.9094, 8.7179, 1.6484, -0.1538, 0.1343, -0.0073, -0.1026, -1.2376, 7.0359, 1.7314, -0.0513, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1486, 1.7313, 0.6857, 0.2073, -0.1314, -0.1555, 0.9949, -0.0216, 0.8024, 0.5953, -0.3927, -0.0166, -0.02, 0.999]\nstate[eef_state]: left_x=0.4005 left_y=-0.0329 left_z=0.0085 left_yaw=0.0351 left_pitch=-0.2569 left_roll=0.0035 left_gripper=0.9949 right_x=0.2925 right_y=0.0002 right_z=0.171 right_yaw=-0.0009 right_pitch=-0.0244 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.2393, -5.1077, 4.6701, 1.3358, -0.1294, -0.0171, 0.0415, -0.0342, -1.5932, 7.0496, 1.7216, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1505, 1.7203, 0.6888, 0.2501, -0.1127, -0.181, 0.1058, -0.0219, 0.8024, 0.5953, -0.3962, -0.0166, -0.0208, 0.999]\nstate[eef_state]: left_x=0.4099 left_y=-0.0384 left_z=0.0208 left_yaw=0.029 left_pitch=-0.2036 left_roll=-0.039 left_gripper=0.1058 right_x=0.292 right_y=0.0001 right_z=0.1704 right_yaw=-0.0009 right_pitch=-0.0278 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.2974, 5.0667, 1.1502, -0.2906, 0.2027, 0.6325, -0.0205, -1.265, 7.0769, 1.7607, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:016f7dd7646ed3f78d7ef176dd260c5fbaab76cf98d6b631ab3fa5ef720c138d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffd06c3a81f1a52026cb245b3906551a6c23532a091f440cc1f1032e5df39635",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bad575cff5e67b23d4886c81bf0622f16001c4145695a312f8a80ff03a288909",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wkKEAgSGAI4AUIIdGhpbmtpbmcSDC/PI1DqhtWgiu/wQxoM3CFJVa6gLMMe8E2/IjCXns3qfz9ilX6vUpKS7pMmoQNu0qhz+5N9Rhqxu4f6YrZmmZRfegiM3KwUlTDvgHkqiAk5w+d7LIobMAcf1voah1ydIHEbdsma5Lw+RbTbe8SdlN4PvfCdn8TfgbM9qoAV8Deq7QyndXjtLJ0h9PisiboJ2jBXMOn1wn8esHLBxo1E0+30Souil4X3UA7L56cP2U+a1kPvaRwjXFG6+Zu29FDm7N8OjsA1P0PO63ZoBexlaDhZPPfzRIL+MiU+uQ0OI/nSMM+4+gfjbv9+t224ifTT6xTjXJ09pcO79WbCQ/UGfBXFbGU7dEBLv7c3mYLZCZrMqUyj9b8mn2wqQ5JhqWAl2+cclcUge4/9Cm3sDqyVSMGyGynt9Y9AHugtTs0mok92GLBzPFTZCM7bkPJjgOgcbI/RfG15yg815SiV3pSxQjTmh40is2C8CkwDVDfsrFM5TmOBHEPD5PRhfl5WC4CS9avHwDdRCTvkGbrsgR1/L95Hp4aJvecqbkHMdJG3tZ3k9MdZrK5S2MhZYQIo0TtHxmo3C+gmpKDxDBIYgBKpWcYU7uV8xjgEbEQZ2+mQwxd8BEnNtV7HBFbF7gQMWg8suZLXdUtIQbIdax9RnwTBzC23K9Zyqt18kwBrDwDxKHdquAqKEiaPsmGyqjzaBeyHwA+r7C1spjyjcGlwuzUrLX3INknB6RzwNV2ln0k30IXdKFbSHobsgJymOkeL3iwCTQ5nbeJPwXn6Pq6XzLpaVQ+ULcMNDRlc5GR8c8oslFr28aA1c4zrDSr9Slm57YAd7HQvBRYHY7i1NABFFVDwzmSk7Sb9j4U/AhhyGKzplN1Bkr1H+9dH59GSefZCzZmJ+0/wxZiFvJ/OxHKNG61mTK/5uB980FUQ7PIQGP877nEIubQttr1+gECB0yr90YsVXl/qfrTvbRuUPKwqGma4Gpm2JTrQp+iRWdYhnWPK0NmBOnUX/OC1fzA5S+FUrKJwKA8v6apydPDP181agNo3TSdihK41rOLF8ap33bJkg35SNYeFF5qTIHK7PHJDOLZcOxiCzJFNF7noLXRoFQzIT3h00zw5g+AufjDugny3A86HRNr7YSFY6T7N8rWl0gq55lOiXkRa1szt0AdAgdoLrV1DZQ753p940rlGLa/RomUkWo8b+C/J8/0ALw1cSjhgexOM+FiwEwvJsx1/kcIx8zkYgVdp84W4cpYvDu7GZ4qSFpO/ed9Gclsci+Z10LC/Gm9v0tJHg+klLCILrY/24lh22lOyeSqpWOMcqUY6PibV7XFdzk66GFeuViPtu5nglHHGfShTH7QF3SlNoQgb3ueZuBxpwxC1EGL/wQxMydBs81Ak4u/663hnAJDIJh/YUwamG5ICWb8gbniBdjtF+gcFs/xoMMfzDuBBVVjufc6+Zrr0J28JHH6/JAr5rvmFJObyLkFPPt09UcFFGrQ+c6wk9iiNESEhfz4E0Qh+zxodYzRE12hZOK6R5CIuQANoNnIBkBiD6qoGj5I1ZH3eQxJ13JNhlpC/eKEsLpt0klVpCKsHk5eTn1SupkgUdcVKGoWu4S9LytxFShxz+gwvwdnyfcm1FBAsdAmip/EoNC10fMVYkjV7hRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GP9sJkoX9G3vs5XVtouKCh",
      "input": {
        "note": "Gripper settled at ~0.11 (about 1 cm, the bowl wall), so it looks like a grasp. Lifting the blue bowl to check it comes with the jaws.",
        "targets": {
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01GP9sJkoX9G3vs5XVtouKCh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1505, 1.4815, 0.9977, -0.3248, -0.1131, -0.1844, 0.1051, -0.0219, 0.8036, 0.5949, -0.3969, -0.0166, -0.0208, 0.999]\nstate[eef_state]: left_x=0.4098 left_y=-0.0383 left_z=0.1366 left_yaw=0.0323 left_pitch=-0.2302 left_roll=-0.0362 left_gripper=0.1051 right_x=0.2919 right_y=0.0001 right_z=0.1697 right_yaw=-0.0009 right_pitch=-0.0301 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -8.7863, 9.2513, 1.4921, -0.0904, -0.0366, -0.0855, -0.0752, -1.3744, 7.0496, 1.7314, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43699cb744235dfd8d01a04b4b8eb0ef3c9cf17b399c712f0ba6026f24f54480",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a08cc6a79149bd047b30f7725b9d7c43aed567c8110db8866b8fca72b5079f9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0eb627245bbc449bd40389df7bf438b9d9d438d79595ac51d5e928f04598fe84",
        "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 · 4.876 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]: [-0.1486, 1.7313, 0.6857, 0.2073, -0.1314, -0.1555, 0.9949, -0.0216, 0.8024, 0.5953, -0.3927, -0.0166, -0.02, 0.999]\nstate[eef_state]: left_x=0.4005 left_y=-0.0329 left_z=0.0085 left_yaw=0.0351 left_pitch=-0.2569 left_roll=0.0035 left_gripper=0.9949 right_x=0.2925 right_y=0.0002 right_z=0.171 right_yaw=-0.0009 right_pitch=-0.0244 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [0.2393, -5.1077, 4.6701, 1.3358, -0.1294, -0.0171, 0.0415, -0.0342, -1.5932, 7.0496, 1.7216, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1505, 1.7203, 0.6888, 0.2501, -0.1127, -0.181, 0.1058, -0.0219, 0.8024, 0.5953, -0.3962, -0.0166, -0.0208, 0.999]\nstate[eef_state]: left_x=0.4099 left_y=-0.0384 left_z=0.0208 left_yaw=0.029 left_pitch=-0.2036 left_roll=-0.039 left_gripper=0.1058 right_x=0.292 right_y=0.0001 right_z=0.1704 right_yaw=-0.0009 right_pitch=-0.0278 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.2974, 5.0667, 1.1502, -0.2906, 0.2027, 0.6325, -0.0205, -1.265, 7.0769, 1.7607, -0.0513, -0.0562, -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]: [-0.1505, 1.4815, 0.9977, -0.3248, -0.1131, -0.1844, 0.1051, -0.0219, 0.8036, 0.5949, -0.3969, -0.0166, -0.0208, 0.999]\nstate[eef_state]: left_x=0.4098 left_y=-0.0383 left_z=0.1366 left_yaw=0.0323 left_pitch=-0.2302 left_roll=-0.0362 left_gripper=0.1051 right_x=0.2919 right_y=0.0001 right_z=0.1697 right_yaw=-0.0009 right_pitch=-0.0301 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -8.7863, 9.2513, 1.4921, -0.0904, -0.0366, -0.0855, -0.0752, -1.3744, 7.0496, 1.7314, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43699cb744235dfd8d01a04b4b8eb0ef3c9cf17b399c712f0ba6026f24f54480",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a08cc6a79149bd047b30f7725b9d7c43aed567c8110db8866b8fca72b5079f9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eb627245bbc449bd40389df7bf438b9d9d438d79595ac51d5e928f04598fe84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ab8U3UH9cZTDP6mxsh6A8B",
      "input": {
        "note": "Blue bowl lifted with the gripper holding its left wall. Carrying it right so its centre lines up over the teal bowl (grasp point offset ~6.5 cm left of the bowl centre).",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.155,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Ab8U3UH9cZTDP6mxsh6A8B",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5285, 1.5429, 1.1645, -0.5335, -0.3397, -0.4587, 0.105, -0.0216, 0.8036, 0.5945, -0.4118, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3833 left_y=-0.1515 left_z=0.1542 left_yaw=0.0068 left_pitch=-0.2695 left_roll=-0.0254 left_gripper=0.105 right_x=0.2897 right_y=0.0003 right_z=0.1665 right_yaw=-0.0007 right_pitch=-0.0454 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -6.7214, 9.7436, 1.4823, -0.3639, 0.0024, -0.022, -0.0752, -1.2103, 7.2, 1.8144, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01630d0e701cf5ef801d1842e3a85c4c53b587db78a73414237d8db6c5f6d172",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0361cb4f18526317f3f3694aaeec2ead140a5d6ef411a329ef1362140f923a2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19d76676e57c17ba0c6af233d2c17ca9a1e24543d0b22c90f382712e45276128",
        "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 · 4.659 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]: [-0.1505, 1.7203, 0.6888, 0.2501, -0.1127, -0.181, 0.1058, -0.0219, 0.8024, 0.5953, -0.3962, -0.0166, -0.0208, 0.999]\nstate[eef_state]: left_x=0.4099 left_y=-0.0384 left_z=0.0208 left_yaw=0.029 left_pitch=-0.2036 left_roll=-0.039 left_gripper=0.1058 right_x=0.292 right_y=0.0001 right_z=0.1704 right_yaw=-0.0009 right_pitch=-0.0278 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -6.2974, 5.0667, 1.1502, -0.2906, 0.2027, 0.6325, -0.0205, -1.265, 7.0769, 1.7607, -0.0513, -0.0562, -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]: [-0.1505, 1.4815, 0.9977, -0.3248, -0.1131, -0.1844, 0.1051, -0.0219, 0.8036, 0.5949, -0.3969, -0.0166, -0.0208, 0.999]\nstate[eef_state]: left_x=0.4098 left_y=-0.0383 left_z=0.1366 left_yaw=0.0323 left_pitch=-0.2302 left_roll=-0.0362 left_gripper=0.1051 right_x=0.2919 right_y=0.0001 right_z=0.1697 right_yaw=-0.0009 right_pitch=-0.0301 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -8.7863, 9.2513, 1.4921, -0.0904, -0.0366, -0.0855, -0.0752, -1.3744, 7.0496, 1.7314, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5285, 1.5429, 1.1645, -0.5335, -0.3397, -0.4587, 0.105, -0.0216, 0.8036, 0.5945, -0.4118, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3833 left_y=-0.1515 left_z=0.1542 left_yaw=0.0068 left_pitch=-0.2695 left_roll=-0.0254 left_gripper=0.105 right_x=0.2897 right_y=0.0003 right_z=0.1665 right_yaw=-0.0007 right_pitch=-0.0454 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -6.7214, 9.7436, 1.4823, -0.3639, 0.0024, -0.022, -0.0752, -1.2103, 7.2, 1.8144, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01630d0e701cf5ef801d1842e3a85c4c53b587db78a73414237d8db6c5f6d172",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0361cb4f18526317f3f3694aaeec2ead140a5d6ef411a329ef1362140f923a2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19d76676e57c17ba0c6af233d2c17ca9a1e24543d0b22c90f382712e45276128",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQkKEAgSGAI4AUIIdGhpbmtpbmcSDNvwOoT4G0QdfSSE6RoMw0tw6sVD+gLGhi46IjAJsNWs8JkpCQPQo5PU6wtMk9AZniAtw/BRZE3J8USRA7gfNQdgb3cPpL8019304bgq5giVAC+cQNs2OvkDLSjAdoOmuzhJTbpGZiFcpKGoZX3oLmg2M5IepxNkXb5/r3gTh+RqUlKZyQuWbn0M0thytjybca88iI05kKGlnVHlE4o+fw0KaD2omd3bUy7v0bOH/L3r8oP12tIbRt7M74Q9KUn+QJjM+LEULfBjJLm5PccrMggQ6W/B8I747nKp7t0UpYI2P5mv4KEGAJsCXdWA9goR9kJ9mQ2YHJJWvIvzgeCo2l4hgMyHbaCB8VXRRSGhqxlEOuymwgnCf4c2QaPKRGlLF2ebDPGDdG4MfKx1ZzmH2ZOrpBetGt/iW5qcTj8Jzyd63Qz/zn3BORjKtgmiZpz83ukIAXsgNDstncTCpOHNW0QOgEky7L4TH9GAxT1zu9/kxKQ7IhU3DH8eZFd6r2zhMLeedxwdakLOp2sE/GYLMbqKPFbFNZALlq1kE0r9iLg+QJOPZEp4jtaNnQh88AHE0y++EW2bvasLMeoRkThrdMls1Z9KxTJ+sKpNdQIhoJYoXXt4R6YovDkSHsLa61llWkGEz+E2zOolgvNgsBSOQ7IRro7L/CnYFhDQMMRE1sIGJetCL7jupfg0bb+ZhFh2eAFPdqQIXr6YvwquW0BzgFMzyPO5TlKi8B2VoZTGhh8XuF+4ARn1tILiNPMlZjdaKOyU0TOaXQW3KWkp9xpE8AvRat59moqhoRLNLX9/lLK/LyQY6vDmuZGlfDPHu3p4MbhkykGjlhX5S1f+3GWRxwscaVlTslwXeeWzkthb/oKhqx6IYTBnS6rvsadEtfNOMo85T4Mgmm+Riwgm+D9lHFzrvrugVXVqMhUaHaDN6l93AM/islgJ4PIScf78HGJOsuULCTxA49ySJl6GzdlEq/NRIEQsvAgtAAr48y93P8mfN49w3YSkYBb3//mvhRSLaoZtODfdBOTyToelYUWQxhGfqq7FAzXwM8vU+jQdTpVn6ZZFF8W+T+QH/nNAiYtLdJNJHiwXHQIgoR7RMG5xPOhTD+w5oLUwXHHCmozIGNNEh4UCfApMX0yUs4wEUJN1tFeOUwkWtHTxP2orE4xxdDcxmPEoqSrMi6yi8frqivIvEmu3wUpY8gAazTmPc+s4sMBOs514TvnUwPAB8vB9dQjgAc6IRsdYpbpn0OqqNAE3IWbl4EaEZ2L7vCR0O4sw2Ubt5EKWN4cU8b9p2SW0mWv+1SPG27TNieDwzzEIIu0lkNTmxOmb6mMapDGnUfU9RdiLb2j3d3dfMZqi7qZDlnHSWMnmRqHrQm9CZR36RgHuVtJKwrhXwlI+YbCgX3ALkowKAhjoL6t2ng+eMYZ3qonZUyhSRfn23ELj7pjzBugXPocEhzT3bJ09b1VSZOjU3sgD6MsDOUwCRcoQwnFRfEuJxEfo/vSm3QdqFplocSbsn7gzPc5NzPcH9KWN7ICIB+ipJA3dA740mLXLsX9QJxd5sIlZ33FC0+D4rWWbBwXiMNCCPF3cp5C24VkHjiflgDUp8QAdGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EBEc55VPz2q73FMQGtuXNN",
      "input": {
        "note": "Blue bowl is partly over the teal bowl but still ~4 cm left of centre. Shifting right and lowering toward the teal bowl.",
        "targets": {
          "left_y": -0.195,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EBEc55VPz2q73FMQGtuXNN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6334, 1.6661, 1.1305, -0.4538, -0.382, -0.5293, 0.105, -0.0219, 0.8036, 0.5945, -0.4152, -0.0166, -0.0208, 0.999]\nstate[eef_state]: left_x=0.3756 left_y=-0.1896 left_z=0.106 left_yaw=-0.0121 left_pitch=-0.3155 left_roll=0.0011 left_gripper=0.105 right_x=0.2892 right_y=0.0002 right_z=0.1658 right_yaw=-0.0009 right_pitch=-0.0488 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -8.5128, 6.735, 1.536, -0.3248, -0.105, -0.0171, -0.0889, -1.2239, 6.9949, 1.7021, -0.0708, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a8147cd6de7ba656495778cc634cd37a1a7a07ab122f0bcece34a358e22ac9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:349f393948ac64a2e99577a624fd08959ba3a522f726ca8f08761a6c36fa461e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:019b568b44317429115281f276e2deb0cca5c2b0f6327455b5ddff4f9e088778",
        "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 · 5.019 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]: [-0.1505, 1.4815, 0.9977, -0.3248, -0.1131, -0.1844, 0.1051, -0.0219, 0.8036, 0.5949, -0.3969, -0.0166, -0.0208, 0.999]\nstate[eef_state]: left_x=0.4098 left_y=-0.0383 left_z=0.1366 left_yaw=0.0323 left_pitch=-0.2302 left_roll=-0.0362 left_gripper=0.1051 right_x=0.2919 right_y=0.0001 right_z=0.1697 right_yaw=-0.0009 right_pitch=-0.0301 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -8.7863, 9.2513, 1.4921, -0.0904, -0.0366, -0.0855, -0.0752, -1.3744, 7.0496, 1.7314, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5285, 1.5429, 1.1645, -0.5335, -0.3397, -0.4587, 0.105, -0.0216, 0.8036, 0.5945, -0.4118, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3833 left_y=-0.1515 left_z=0.1542 left_yaw=0.0068 left_pitch=-0.2695 left_roll=-0.0254 left_gripper=0.105 right_x=0.2897 right_y=0.0003 right_z=0.1665 right_yaw=-0.0007 right_pitch=-0.0454 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -6.7214, 9.7436, 1.4823, -0.3639, 0.0024, -0.022, -0.0752, -1.2103, 7.2, 1.8144, -0.0513, -0.0366, -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]: [-0.6334, 1.6661, 1.1305, -0.4538, -0.382, -0.5293, 0.105, -0.0219, 0.8036, 0.5945, -0.4152, -0.0166, -0.0208, 0.999]\nstate[eef_state]: left_x=0.3756 left_y=-0.1896 left_z=0.106 left_yaw=-0.0121 left_pitch=-0.3155 left_roll=0.0011 left_gripper=0.105 right_x=0.2892 right_y=0.0002 right_z=0.1658 right_yaw=-0.0009 right_pitch=-0.0488 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -8.5128, 6.735, 1.536, -0.3248, -0.105, -0.0171, -0.0889, -1.2239, 6.9949, 1.7021, -0.0708, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a8147cd6de7ba656495778cc634cd37a1a7a07ab122f0bcece34a358e22ac9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:349f393948ac64a2e99577a624fd08959ba3a522f726ca8f08761a6c36fa461e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:019b568b44317429115281f276e2deb0cca5c2b0f6327455b5ddff4f9e088778",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoAkKEAgSGAI4AUIIdGhpbmtpbmcSDKHQNNpR6jYgTXcDgRoMSaaVV8Rjalw0XwMtIjBwziBerMH7Dcu+WdCrs/vUP2WXoBOWimgVIaa9H7Lg1U9cASs+9N9RD7k7QA3iyzkqvQjAb+uR3C6XEyvFYORhnOokXmh+qNCJ90ODgk1Zub7GZKhoSm2XMN2Im6tYGuR2So63anA13xHLg6iAOG2uoNqLrYAFbUR9dom25WMZAweqq/Q/9SsbbZtJWq6QNmIXYzclkw7fvtwcYhm8KpFRp/08L+jYYC5C1IdcgI4nvrVUzMtcst8gSVIO/z02CtZNKeueZxbWcf6lGgcG4Opdgj7aVbaf9QroWEQIioyX7i1ThP708IdGCDyZQ1wvRYguAMhEp/K09EzqIODXnnM5cvvFdNeGiyAEqFbXpPBfOIIMH8/I82DhE58596qtP05IlptHSNzSDraHWMdcEz8IZyuRJLgd+74ik1AMY5WP+ibFRxBBuIpOHNmI3vBOztuk9lbAEClN7etDGBQBh3s/IptnK3CYl8RoyybDpdmLNqEIpaUFo323J7w6Od6nNePGKqVCy3yXGA9QKax5MjmzDsAyCswYUg5QJCQUHiU8GVa5BWBWgHDk0TDaFHj21sdboMWTaCKmllboMWtWqvDb2y3iPN+KTQSok1anWKf489Iep6GKOTEJPQgcyqTgn+JmtC2lBckgJyA5vKTJQroX2dqK25pKk/p4hWkvgICangjRq7Ho60mCRTaWMSgg4RAPR52EdCwP1uO1lzPjCa1m/IQEhzKv1Kdw86fT0OhRwpFzQb0RQk8aSoXnpQtryxgblUBKwMd4HV6Wg8iMw05vyB06EzL8CUUh+8yAVDrLGeijQJbBRraZ9cuwIAuHfluEF9XQSVDrr2ntFawBHFfa9cSwMXnVGdI/GlP6PvbCpTqHhtJjFsAWPbVMLzqUZoL668XLG9kkLWmJsXhhZWd1zB4Y45jr+OxViC+5FvJJvjb/7ivP8bo3rW3jCCoVogdXy7oeB4xVgdFydhmOJRHdkyEbj/I5CXMJwDJr0E/jrC7UZO8ccZSruaymu+qfNWnL6kzdcPSgZS6gBWdNmJZtZ2FdliQ2S1DcX0q+Of38C+08h5s2rJorhK6QpTLwxP21E2c+gPnGVKSQ90ETrTLptNZkV9wcJMj/24jqy3t9mr4QJy7DL1GGRobYK4RYEgAMjmesmRq+BYfhf6DKigInp40ghHGR8nSHcAMv0AwQn5eazCd4XDJJHQftUKNYbLxYMpTRBs9wJH6EB//O97cHvnkjJ2GdkPgpvwfhN3UT6eucLaNORiQigHX6j1Dck/TSI3xQqePDFpu94q85NyAn/xCiKzzcJlSa2aS/+Dt7H3obUL0407PJxwDTLIh/2w7gwG+GFXoQizQTa0yqYEWatyPQ3i814WmqASa91w6gT78WBfJS/tSOOwLQCBHMFM6KyyrfgLgksp8szLeOUE2lwlM2NSbo7tWdAzIzOXJ8UMuT6V6AIaUGNaFFcCAhmkrt5TZC4FnnYdr2bhBNHFixmg3SXQ3Q31DE3gN4WuqSZhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YbYLQwZ4JX2ahMoJsH3uQG",
      "input": {
        "note": "Blue bowl now sits roughly centred over the teal bowl. Lowering it into the teal bowl before releasing.",
        "targets": {
          "left_x": 0.385,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01YbYLQwZ4JX2ahMoJsH3uQG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6453, 1.6886, 1.1244, -0.4217, -0.3946, -0.551, 0.105, -0.0219, 0.8043, 0.5945, -0.4152, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3776 left_y=-0.1948 left_z=0.0996 left_yaw=-0.0025 left_pitch=-0.3065 left_roll=-0.0066 left_gripper=0.105 right_x=0.2893 right_y=0.0002 right_z=0.1656 right_yaw=-0.0011 right_pitch=-0.0496 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.1846, -9.0462, 6.7624, 1.453, -0.359, -0.105, -0.0171, -0.0752, -1.347, 6.9949, 1.6679, -0.0806, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54aeaaffda6ca4c6c4933f65bf7dfdcc39525034d0245839f7c591aff534d9cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a9b93c37d55479f849432350a46002c16307a69a26325a23c8f2dca6ab5b1ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb7c59db6afcd0d29867769a69871ab67130022be416b469ed1c5b89bcd8d0a6",
        "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 · 4.27 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]: [-0.5285, 1.5429, 1.1645, -0.5335, -0.3397, -0.4587, 0.105, -0.0216, 0.8036, 0.5945, -0.4118, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3833 left_y=-0.1515 left_z=0.1542 left_yaw=0.0068 left_pitch=-0.2695 left_roll=-0.0254 left_gripper=0.105 right_x=0.2897 right_y=0.0003 right_z=0.1665 right_yaw=-0.0007 right_pitch=-0.0454 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -6.7214, 9.7436, 1.4823, -0.3639, 0.0024, -0.022, -0.0752, -1.2103, 7.2, 1.8144, -0.0513, -0.0366, -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]: [-0.6334, 1.6661, 1.1305, -0.4538, -0.382, -0.5293, 0.105, -0.0219, 0.8036, 0.5945, -0.4152, -0.0166, -0.0208, 0.999]\nstate[eef_state]: left_x=0.3756 left_y=-0.1896 left_z=0.106 left_yaw=-0.0121 left_pitch=-0.3155 left_roll=0.0011 left_gripper=0.105 right_x=0.2892 right_y=0.0002 right_z=0.1658 right_yaw=-0.0009 right_pitch=-0.0488 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -8.5128, 6.735, 1.536, -0.3248, -0.105, -0.0171, -0.0889, -1.2239, 6.9949, 1.7021, -0.0708, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6453, 1.6886, 1.1244, -0.4217, -0.3946, -0.551, 0.105, -0.0219, 0.8043, 0.5945, -0.4152, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3776 left_y=-0.1948 left_z=0.0996 left_yaw=-0.0025 left_pitch=-0.3065 left_roll=-0.0066 left_gripper=0.105 right_x=0.2893 right_y=0.0002 right_z=0.1656 right_yaw=-0.0011 right_pitch=-0.0496 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.1846, -9.0462, 6.7624, 1.453, -0.359, -0.105, -0.0171, -0.0752, -1.347, 6.9949, 1.6679, -0.0806, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54aeaaffda6ca4c6c4933f65bf7dfdcc39525034d0245839f7c591aff534d9cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a9b93c37d55479f849432350a46002c16307a69a26325a23c8f2dca6ab5b1ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb7c59db6afcd0d29867769a69871ab67130022be416b469ed1c5b89bcd8d0a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiwoKEAgSGAI4AUIIdGhpbmtpbmcSDN6cmRDdq0JOhaWhLhoMUu9226S7K7WZoJNrIjCtGpwFfthwVnVCtAFZIC7Gi8b9QXSICph0FU6MgqPFtrh+MgAJM/RXPUkgTc5DUhUqqAmng/fglOKYDMJDpPYBqP58xdiDVsDtDIWBLqHo4NxI1bSVBoJw1bTerNppH8ZhIudKbVqVrOE9pRfhaDetG0GidR08LlmE0OTNSNXewLL93Hx1QJk9xcjXKQuexcBJcVmpc6cbXCicSMyBd4cP0C7EDwoJuMOzkTY94Ip8pDaG51Tjbwd/66abZOSnZr/BnvxQ4fB6NzZOPMXO1jZ56D1rx6zOoNL3mmXLHRmlpl7cA9T+t9ioVYYpWd1D0XOkIWT/bxPbGohZf+7fj9A3b+UT+WP3czBZtc6z/Kmq5NQJ2pJYdQrFfGvrI2t5W6CL1U3HuueEHQGP5QOovOkD9kGCqWlXa5s4onFY0j4j8PgDpXd55MJc3T/V5/u7OpaJGSq+QumMPWReqxt5f9X+npBQBc1UP6SO/gXAxHgNZp+LVJ4AydzzPm6+SxrZTzb9q8ws5W/nWj3s9vcnCz4ZclLReZTmxA4zPxD2cME2Tme1LxkS+FWceIjlICYLU4THAVRmP2mIdR+CEhJfFKnHFkgD/OSzOXQq4vsJuwFOuJ7EGxj7t+e9EXKFsCiiTpIIqT+I4JQOU539wdDqXduw2Hdk0Yc9kY2M5nKYAh8PFufs9/nqVrMYWGUt+F4oLH5yL2+mIswNUEg57yyzB5hyngK0nZ7iotlPTjeNcs+B8qHF2ZbIzhsBkFbABwBwBrVw//J17ZjXcK/DwgUzTQgMK8Z+OgnoAWeQLG6ZNKZhArFi308ogF/9Nu1S4n8/rvGzN7WpfX849RjDGFGjXyPdnmDgI+6kRdH6oZc+1LCPQA+6rjjsuQE3WnhXq/d2RMl8PGDroTlIW8ecXFVBtXqkN2a9rF11eStsyI5P5Sphh8Bc/gxEh5QTUb1c2otDs/O6yeJj25Lfc+M+6iHsgQOe0l8o17ekSOvKIV2ShGg7JR/at+vxmO14HRoosXCkfZJgJorRmb5a7lO5HPZSYY+qIswwu2MPceN3+0D7Quf8cv97au6OyxIgSUi77xtSZCXPjSW9cukUJFzwbzEEgpjV9zvi2RwM7nNiRnqB9Ke/nQhKZmKU5bCp6cWDaaa6WXETCfezlgjGIZHTGyadRg2biSEpG0j045gWjNka86KEujhDjBC1oSyVM7jZ4Z+uT/Img3mXFR3W0TXUs8pI0NadJuPwgm2URJhWl0qTuEiSpQi2Mop+YRTIowkQA/Kwv44WAXebMpuFJMHqcA12MNUsonU+xgulZdL4kaDTNyo01Ih3cxMqbaKwtm/3hP3CzXnpMbJAKuHsCeoG5urURzr+I0TEEJYvwvxb84FRt5cKqa27Y9Z5yELdVpuz/ZNr6MzULuv5MIfL3gZsYonqCBor8yfLhBj5McgTQFHz2toUR8mkmfLj1c14R9V5gTEoZAFcJ3NR3zaHm3peBZ18ee99CoCNVc13SWSf92ArO+mzq6s4NjvKEbMNbN3L8dLvM9+7Ombr2efSMSPXvHoUNguJP6a/tvvh0k9tvJyFKF0HYNWiPJUb0JjQ2D1J2FAO4U6pVydZn/4RcpCfbeWNFzywHO5EVqC6yCXvMX132UGH0eZJYP4bCh2do5Y4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CFumfF8Mq2WoxzobNADz4U",
      "input": {
        "note": "Descent stopped at ~10 cm: the blue bowl is resting on/in the teal bowl. Releasing it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01CFumfF8Mq2WoxzobNADz4U",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6456, 1.6886, 1.1244, -0.4168, -0.3939, -0.5655, 0.9947, -0.0219, 0.8051, 0.5945, -0.4187, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3783 left_y=-0.1956 left_z=0.1002 left_yaw=0.0038 left_pitch=-0.3029 left_roll=-0.02 left_gripper=0.9947 right_x=0.2888 right_y=0.0002 right_z=0.1647 right_yaw=-0.0011 right_pitch=-0.0538 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -8.212, 6.3658, 1.2186, -0.2564, 0.1197, -0.0269, -0.212, -1.3333, 7.0222, 1.7021, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e299cdc6331fec24a797ba002222fcf176dadadaae6bf4a93f5b982c454a1235",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47deab770ff3c8ad1ec4496fe36090642c863834548f7e6f90c3787319fd2b18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa0247313d21efd47846f5cfd58d69556f271d9b63c71a3a12ae8e1008b7ed54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 13.04 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]: [-0.6334, 1.6661, 1.1305, -0.4538, -0.382, -0.5293, 0.105, -0.0219, 0.8036, 0.5945, -0.4152, -0.0166, -0.0208, 0.999]\nstate[eef_state]: left_x=0.3756 left_y=-0.1896 left_z=0.106 left_yaw=-0.0121 left_pitch=-0.3155 left_roll=0.0011 left_gripper=0.105 right_x=0.2892 right_y=0.0002 right_z=0.1658 right_yaw=-0.0009 right_pitch=-0.0488 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -8.5128, 6.735, 1.536, -0.3248, -0.105, -0.0171, -0.0889, -1.2239, 6.9949, 1.7021, -0.0708, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6453, 1.6886, 1.1244, -0.4217, -0.3946, -0.551, 0.105, -0.0219, 0.8043, 0.5945, -0.4152, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3776 left_y=-0.1948 left_z=0.0996 left_yaw=-0.0025 left_pitch=-0.3065 left_roll=-0.0066 left_gripper=0.105 right_x=0.2893 right_y=0.0002 right_z=0.1656 right_yaw=-0.0011 right_pitch=-0.0496 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.1846, -9.0462, 6.7624, 1.453, -0.359, -0.105, -0.0171, -0.0752, -1.347, 6.9949, 1.6679, -0.0806, -0.0513, -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]: [-0.6456, 1.6886, 1.1244, -0.4168, -0.3939, -0.5655, 0.9947, -0.0219, 0.8051, 0.5945, -0.4187, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3783 left_y=-0.1956 left_z=0.1002 left_yaw=0.0038 left_pitch=-0.3029 left_roll=-0.02 left_gripper=0.9947 right_x=0.2888 right_y=0.0002 right_z=0.1647 right_yaw=-0.0011 right_pitch=-0.0538 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -8.212, 6.3658, 1.2186, -0.2564, 0.1197, -0.0269, -0.212, -1.3333, 7.0222, 1.7021, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e299cdc6331fec24a797ba002222fcf176dadadaae6bf4a93f5b982c454a1235",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47deab770ff3c8ad1ec4496fe36090642c863834548f7e6f90c3787319fd2b18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa0247313d21efd47846f5cfd58d69556f271d9b63c71a3a12ae8e1008b7ed54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wcKEAgSGAI4AUIIdGhpbmtpbmcSDP3jowVQ2RqxhqGlyBoM17r5ralojHclLs9ZIjDJqZOwrFs/W1rGewt9Ssdw7endaUlLyFJ3droVnbpJkygUfaqgNbBNRqmnruhpLwoqiAfNh9XUAR/zjBYn/LFN7R3x9KfcGrT9PM7F5a+hi16K4bWnV2Hppa75eqSniuQ1/VQVDM8VEHR4MoRKuHSnKPHyN6iW5DaVflC6lssfZHWV14nBl4a8Xp8RoAjOoJrDoxvCfNOaBIcpFdd2iRHnHPNm4g/Uug0IqbQ4a0qQkUvFkOWXG4QmhjJ2uWWU/lPAyYnIGujGH9WMpgaGNc/30iMJnXS6383nGooewHfqYZA+K03239FHT6MBXcmMsA1HGg3+2LcItQmGwbp8+/lAbbKk/c5s3LoAxlkzqYTnE/zgeTyZVawWLPoiwOPZ23ZvNRdwxb2SYYHDMBWDSod1bj/ow6jxlGnOB7qnuR/CCFcS3iu8F1u+RBllxjxLMCFd9+3fZlmuwrJLOWs/h1xXwAQsnwRecEZiPufsjfYZLa2WijD7lLHeCrqoBURphJIkfSKmFjgIzXn+w23UuygjOyJrcKm2bHXGnGaSBptqWqHpUSHOX9+zSRoPWw84v9xTm7JRz1gEh/J/eBCs7qCEJu93U8N3G1TxZZQw2u7ZHxpJL5Csnb20tbUhL/pR2HeuRnCQwnyF5fuEDS+KJOT+5CRxMCdtTszhemzQrdrBIZCzZPgE2ySkFbY0h3We7LC+bSayhhw0F1Jhb/vJz6rWEkTgCbghaPvKplIKeM2pCD0R4ElvL4I8bNjFmIxWkSqdrZDhZLsDAhjiqQREWr81juG8wCIOjANR4k66J3NZSXgDJ8TffqiRcydHN/XB4nhAPl3i3NbV/fw19ssxIxtRfkYlaYeE7X7PqHHg2TUSpDhMgDEb6QRVaFkk3KK51zNM1hxeYjsuUfHbXauswBh/3QqceaBPd1IfiuGL9lijdrBHi2pFydILe8t87NNCQp6yQ3Vm/2sZfJvam0dzaB5IvYCH1ORxBTPXx+CcALMNJKgEIo6Mubbeu4NbVtknCNnMSThgq4uIzkahO2rgy/qKCz9akkUki+UXZcbWSpv6GJB+wXtNHUZYukMvPi636Yqtq3KAkm+S2cCrK5iGBOR4mAQch2hVrPDsEzIkufEjPwIiYbeu4SBo1+LEcnn4Uqkcg2oTll+8szr27vyJCqMq0E6phHNDnySSeCXSCTz2EqKIMJryGubNtky4lMHAj3Iwk1D5L4Ui2rvNyflUh4JbGzYuLtqGmQ/c+w7tGlqEDZIAVLrOGRoTBKTRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FXawAPdGLjstfW5A3vqJQh",
      "input": {
        "note": "Blue bowl released into the teal bowl. Parking the left arm at home so I can see the stack and clear the way for the right arm.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01FXawAPdGLjstfW5A3vqJQh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0383, 1.0916, 0.9768, -0.7853, -0.0509, -0.1154, 0.9954, -0.0216, 0.8097, 0.5945, -0.4225, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.302 left_y=0.001 left_z=0.1848 left_yaw=0.055 left_pitch=-0.3266 left_roll=-0.024 left_gripper=0.9954 right_x=0.2885 right_y=0.0003 right_z=0.1628 right_yaw=-0.0007 right_pitch=-0.0622 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [0.212, -3.8632, 9.6615, 1.3309, 0.0513, 0.1636, 0.0659, 0.0068, -1.6752, 7.0359, 1.6923, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e394c64848029a41a251b185f7389f4a1d27c7f274fefbd16e756a5c5d4c3d34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea91d52d1b260e92641e7555dd4f2721657bfe8dde05e5b5522017f79b48b110",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab9b6afd4e1206267026c892f64ec076d51b80926d0e68d3295c03aac7356814",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 5.015 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]: [-0.6453, 1.6886, 1.1244, -0.4217, -0.3946, -0.551, 0.105, -0.0219, 0.8043, 0.5945, -0.4152, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3776 left_y=-0.1948 left_z=0.0996 left_yaw=-0.0025 left_pitch=-0.3065 left_roll=-0.0066 left_gripper=0.105 right_x=0.2893 right_y=0.0002 right_z=0.1656 right_yaw=-0.0011 right_pitch=-0.0496 right_roll=0.0008 right_gripper=0.999\nstate[joint_eff]: [0.1846, -9.0462, 6.7624, 1.453, -0.359, -0.105, -0.0171, -0.0752, -1.347, 6.9949, 1.6679, -0.0806, -0.0513, -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]: [-0.6456, 1.6886, 1.1244, -0.4168, -0.3939, -0.5655, 0.9947, -0.0219, 0.8051, 0.5945, -0.4187, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3783 left_y=-0.1956 left_z=0.1002 left_yaw=0.0038 left_pitch=-0.3029 left_roll=-0.02 left_gripper=0.9947 right_x=0.2888 right_y=0.0002 right_z=0.1647 right_yaw=-0.0011 right_pitch=-0.0538 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -8.212, 6.3658, 1.2186, -0.2564, 0.1197, -0.0269, -0.212, -1.3333, 7.0222, 1.7021, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0383, 1.0916, 0.9768, -0.7853, -0.0509, -0.1154, 0.9954, -0.0216, 0.8097, 0.5945, -0.4225, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.302 left_y=0.001 left_z=0.1848 left_yaw=0.055 left_pitch=-0.3266 left_roll=-0.024 left_gripper=0.9954 right_x=0.2885 right_y=0.0003 right_z=0.1628 right_yaw=-0.0007 right_pitch=-0.0622 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [0.212, -3.8632, 9.6615, 1.3309, 0.0513, 0.1636, 0.0659, 0.0068, -1.6752, 7.0359, 1.6923, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e394c64848029a41a251b185f7389f4a1d27c7f274fefbd16e756a5c5d4c3d34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea91d52d1b260e92641e7555dd4f2721657bfe8dde05e5b5522017f79b48b110",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab9b6afd4e1206267026c892f64ec076d51b80926d0e68d3295c03aac7356814",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016AVRAjH3dARBy72b6wxrx7",
      "input": {
        "note": "Blue bowl is nested in the teal bowl. Now moving the right arm over the pink bowl's right wall so I can pinch it the same way.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.055,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_016AVRAjH3dARBy72b6wxrx7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0383, 1.0977, 0.9775, -0.804, -0.0456, -0.1169, 0.9956, 0.2153, 1.3621, 0.5179, 0.0822, 0.1394, 0.0956, 0.999]\nstate[eef_state]: left_x=0.2989 left_y=0.0002 left_z=0.1806 left_yaw=0.0519 left_pitch=-0.351 left_roll=-0.0271 left_gripper=0.9956 right_x=0.3466 right_y=0.0544 right_z=0.058 right_yaw=0.0396 right_pitch=-0.1776 right_roll=-0.0198 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -3.5214, 6.5709, 1.5311, -0.0855, -0.0269, -0.0024, 0.1436, -6.0513, 8.2393, 1.7411, 0.149, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1555b3c4e80e3b267f65dd0918345cf85adad44e39ba9a133911268426eb9114",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4eb88e458f8332f052ad9260a1ea2f51280ac5a5779b7d8f5ecf8b993bc1f858",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b5d675263054995734ef744f80c930818bbe38efdb01d170ba940a0aef3c04da",
        "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 · 4.313 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]: [-0.6456, 1.6886, 1.1244, -0.4168, -0.3939, -0.5655, 0.9947, -0.0219, 0.8051, 0.5945, -0.4187, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.3783 left_y=-0.1956 left_z=0.1002 left_yaw=0.0038 left_pitch=-0.3029 left_roll=-0.02 left_gripper=0.9947 right_x=0.2888 right_y=0.0002 right_z=0.1647 right_yaw=-0.0011 right_pitch=-0.0538 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -8.212, 6.3658, 1.2186, -0.2564, 0.1197, -0.0269, -0.212, -1.3333, 7.0222, 1.7021, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0383, 1.0916, 0.9768, -0.7853, -0.0509, -0.1154, 0.9954, -0.0216, 0.8097, 0.5945, -0.4225, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.302 left_y=0.001 left_z=0.1848 left_yaw=0.055 left_pitch=-0.3266 left_roll=-0.024 left_gripper=0.9954 right_x=0.2885 right_y=0.0003 right_z=0.1628 right_yaw=-0.0007 right_pitch=-0.0622 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [0.212, -3.8632, 9.6615, 1.3309, 0.0513, 0.1636, 0.0659, 0.0068, -1.6752, 7.0359, 1.6923, -0.0415, -0.0171, -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]: [-0.0383, 1.0977, 0.9775, -0.804, -0.0456, -0.1169, 0.9956, 0.2153, 1.3621, 0.5179, 0.0822, 0.1394, 0.0956, 0.999]\nstate[eef_state]: left_x=0.2989 left_y=0.0002 left_z=0.1806 left_yaw=0.0519 left_pitch=-0.351 left_roll=-0.0271 left_gripper=0.9956 right_x=0.3466 right_y=0.0544 right_z=0.058 right_yaw=0.0396 right_pitch=-0.1776 right_roll=-0.0198 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -3.5214, 6.5709, 1.5311, -0.0855, -0.0269, -0.0024, 0.1436, -6.0513, 8.2393, 1.7411, 0.149, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1555b3c4e80e3b267f65dd0918345cf85adad44e39ba9a133911268426eb9114",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4eb88e458f8332f052ad9260a1ea2f51280ac5a5779b7d8f5ecf8b993bc1f858",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5d675263054995734ef744f80c930818bbe38efdb01d170ba940a0aef3c04da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzQgKEAgSGAI4AUIIdGhpbmtpbmcSDH0TQ4ruXcu5zNfAIhoM0j9jOJeEs+U/nUYXIjBgQbN5bdEjq5npipfis0iiUxxS8SXehOG/VBH/eclppIPDOJBMv8GVv1LdVw3mNagq6gf/UxBQtTOGumsDE/70GOaHUUP65uI93uayHieGkE8KxnzRa/MZP41HdJAtLB7fNyVgA/GMDTkehjenHiF7TFOocD161G9Kna0w9Hjo/WCE69d/8ajFFatdtdvAbgLmu8KUfU3zKsRGdAV6CjvGoezDKEcP3Kl3Zk6BF0V8LvZ+WqBa3sBqynqvoDfZWtNLcGP/HSfSaj2O29KL4GDnODIGuyQymCrUSEUKjfNN/J5StqapUY5/eanDOGOYfnJpT7mhatpMKYdKtDXQ81L7NZgmXVyDNBKH6SPg5zIJmLuV8d5orqr2+OJCznBWYqGrB2wux1L9ugTlivHTg3djxNj/KdCOFemlYg55/gb1iJ0hFe8BhkAogtAwAuHXurf0h+CJfKFj+04RKh1SSJ+hajIIwbi7ojtLYUgahgEEM9fp1Jn3iy0U1NUKKqR65Xu2i5NLwmIsnqNaCgTTs+vsHK73rXt5aIwdEWojCg5p8beL3A9nrTVMHAhwMWj/2OlSgkSzTjvUdBwZEoo8CXt3aOIacG6oWQ66RCnQRaGUJKf7ri+C9XBmzlRK1ua2YD5UBiIISJzyPE9+5QPWdfe6XR+rJeanr2bCy1R4biN6RBo/kPKldYVg8LFGPF9YgBPAfu29JO4JSj4nl+sAme/XKwYdgnO1mwTcuPCs9LSBF7lW3wdPHgnQlOca8gSt4ENoO2iOqTCyyYQD2HtB44zIW5eO29/7X12GWLkzkIq348Ot5X6MZ43PFGLvNsMOfAzWdbcS9L3jZdj8neGiHOWa5H7hHO+DOuFAt878JcHakqcef9PZIihaqAFKNGtBV/NeBztOehQ07lF34uXA+2Fv2HvQ104SaP0cqCMhPuBQVbc7/JhZamG9AF3Lw2Xq0GHunJjo82O5ucQt0+0RePCD0UiWFNJII8hMkcG2tDAT9ohEbrYWE9Y9TKBpQd8hAp2BzpJQs9BXEfhkCLs2o18EwIEff+PqLAZLALftOaoXksrX0X0MWKF8tLOTc7N4i0FX+8vHtfFs9iV+CyUuAzyRpRQcxPuVGX468lsQ1IuzonYsjxDedFN2OlnN2GsG05iB3g6O7tL79wW/OZxFzXUW3Sc8SnFPxvwRVSaq6CROllcYxFQoyFdxCTjG7/ZIuQtJ+7jYYaTNoHqIX18QvHDgJkJ3tBHfICEqhI3ilq9Bdh3ptI8D3S1VG4qTvPxfiB5//prXZeBVmFMFgs9UqbISgqoQloVRaAh9s5AJjL8YqQls5mZbQaGddAgWx/rENPa8+4OOXVkHYY6YF8iSvk1AK78msoETUw1/vGC2Ljm/P+5kddFyce9Fpj19LIYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018i5PMVqHttyvjkjgDyPzxx",
      "input": {
        "note": "Pink bowl's right wall is on the jaw column, its widest point a few cm ahead. Advancing and descending to straddle the wall.",
        "targets": {
          "right_x": 0.395,
          "right_y": 0.06,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018i5PMVqHttyvjkjgDyPzxx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0387, 1.1015, 0.9768, -0.8082, -0.049, -0.12, 0.9955, 0.2001, 1.689, 0.5709, 0.2947, 0.1219, 0.0895, 0.999]\nstate[eef_state]: left_x=0.2982 left_y=0.0007 left_z=0.1786 left_yaw=0.0566 left_pitch=-0.3595 left_roll=-0.0253 left_gripper=0.9955 right_x=0.3751 right_y=0.0578 right_z=0.0002 right_yaw=0.0405 right_pitch=-0.2403 right_roll=-0.0221 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -3.3026, 6.6803, 1.3602, -0.0366, 0.0024, -0.0171, -0.4444, -5.8188, 6.5846, 1.3748, 0.0952, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2ba0027247b7e484470486bbc50c85fd9e974ceaec46acde760b41bbab9af55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6959adb4091efa3c91b321ec80705ac98729a77414451e908efa92eb812c7354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61d36316bd433a73ec286e24c6d1e0875dfd72bb34e7394952b0c46dda9e44b6",
        "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 · 4.818 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]: [-0.0383, 1.0916, 0.9768, -0.7853, -0.0509, -0.1154, 0.9954, -0.0216, 0.8097, 0.5945, -0.4225, -0.0166, -0.0204, 0.999]\nstate[eef_state]: left_x=0.302 left_y=0.001 left_z=0.1848 left_yaw=0.055 left_pitch=-0.3266 left_roll=-0.024 left_gripper=0.9954 right_x=0.2885 right_y=0.0003 right_z=0.1628 right_yaw=-0.0007 right_pitch=-0.0622 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [0.212, -3.8632, 9.6615, 1.3309, 0.0513, 0.1636, 0.0659, 0.0068, -1.6752, 7.0359, 1.6923, -0.0415, -0.0171, -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]: [-0.0383, 1.0977, 0.9775, -0.804, -0.0456, -0.1169, 0.9956, 0.2153, 1.3621, 0.5179, 0.0822, 0.1394, 0.0956, 0.999]\nstate[eef_state]: left_x=0.2989 left_y=0.0002 left_z=0.1806 left_yaw=0.0519 left_pitch=-0.351 left_roll=-0.0271 left_gripper=0.9956 right_x=0.3466 right_y=0.0544 right_z=0.058 right_yaw=0.0396 right_pitch=-0.1776 right_roll=-0.0198 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -3.5214, 6.5709, 1.5311, -0.0855, -0.0269, -0.0024, 0.1436, -6.0513, 8.2393, 1.7411, 0.149, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0387, 1.1015, 0.9768, -0.8082, -0.049, -0.12, 0.9955, 0.2001, 1.689, 0.5709, 0.2947, 0.1219, 0.0895, 0.999]\nstate[eef_state]: left_x=0.2982 left_y=0.0007 left_z=0.1786 left_yaw=0.0566 left_pitch=-0.3595 left_roll=-0.0253 left_gripper=0.9955 right_x=0.3751 right_y=0.0578 right_z=0.0002 right_yaw=0.0405 right_pitch=-0.2403 right_roll=-0.0221 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -3.3026, 6.6803, 1.3602, -0.0366, 0.0024, -0.0171, -0.4444, -5.8188, 6.5846, 1.3748, 0.0952, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2ba0027247b7e484470486bbc50c85fd9e974ceaec46acde760b41bbab9af55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6959adb4091efa3c91b321ec80705ac98729a77414451e908efa92eb812c7354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61d36316bd433a73ec286e24c6d1e0875dfd72bb34e7394952b0c46dda9e44b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1wYKEAgSGAI4AUIIdGhpbmtpbmcSDOLBrWs0ZWj2X7msShoM+k/CXijGuwOtTxfWIjAANvQGVtAx1b9b3X6FpWr+6/v1FVPwP9E9prVVELTm8HAKFHQtS6HptNtId4+oP5Qq9AW88UKxCVk4efQ2G1ptbUsS6bxpNGflAs+eh+icJgZa21HJdzQzu+ORnW9K+7KxPtlK7UlWm+n70NBuBZ1JBXKlQYihaBYtlOJbZaVpAbbupW6H0/tXb/zK/qPFOVy/yVZ4w74wF4oLvSblQTbO5KW3zoMi8gDBSD4KDR9E2Kl6e4kJ/U8UCBm4OpN+bCEnHz4mEQKkGTMtXT/Mwhr3JZu348AnZqAAFTa+RvpYg8u67PbW4jFqpsQ8oAODsqsb6ui7uRQeHwCijXXC2PNUgS+Cqx48MGtSAZUAICFHr7eVI/LZxen9/wDvzRZhdVRY/ZS2fBvrxAXp78AcWBzqf2Yg08hXIPghPWfcsil5iAzetcxLjd9uP22kEto3TT8gzB/FigRq9AJQwGkqZ8y+pjKhHYp8rQd4pEZkqe726TD9incghviIehbJJoIMe+8r6wKAMHwbO1gIxJUZSplCZRD+kIYCAwhQXqZD3R7BQkexQQSspcGQBRCG+TvuJajfQUCgWS4z7imOUyJjQ+5jXdQ0Qrb6+X15PKuyaBOrUkAWZ4INxUwOrAwUjGC1EUZfh+TfVzZkPcC6U4and5Bb9q0JlVOYvgAYRhXBv6ku1l78kXZ6liyKSk26hRHNi8mCcYh9UV/fZfeJv+OybN4Hsh7EYkEAVqenEf7pr4yZR2tCFMRwdLGjSMbteqd8GlWyvrTY5pDo6HaGpLhVyNARSrr0Kk7cms/mzU50Bt4cKhc/3LI1r5eNpERUkayw2tyHVdZIZAhIJimy5fYct+dpuf0C1G66pL26OEXpAt1pNQBFWbh+ppkcjwla48yZrX7eNdRcJi6DnQrjYDm1gPXlFHzxt6ZnJi4k0bM4ICLvYIVvlkySSGIGTpmTwkvDVXMDCCQzC8dFO2HIkCuGYz0dP4cFxl60Ag7JBYCqA010iKqBHr20uvvEQFxUhzSja1qrVndUtCH3heCpYKCzN9XtYSTekDHgX21/H9qCOvK+Qyp1IcoDV6sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S4xtzGFuDksv68TXQTpyqp",
      "input": {
        "note": "Right gripper is at table level with the pink bowl's wall between the jaws. Closing to pinch it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01S4xtzGFuDksv68TXQTpyqp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0387, 1.1027, 0.9768, -0.8078, -0.049, -0.12, 0.9956, 0.2024, 1.7058, 0.6098, 0.4061, 0.0875, 0.0948, 0.028]\nstate[eef_state]: left_x=0.2984 left_y=0.0007 left_z=0.1783 left_yaw=0.0566 left_pitch=-0.3602 left_roll=-0.0252 left_gripper=0.9956 right_x=0.4048 right_y=0.0709 right_z=0.0267 right_yaw=0.0724 right_pitch=-0.1116 right_roll=0.0251 right_gripper=0.028\nstate[joint_eff]: [-0.1299, -3.0838, 6.653, 1.3651, -0.0757, -0.0562, -0.0073, -0.6906, -5.6957, 5.2171, 0.9988, 0.5836, -0.1148, 1.0769]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44f6861d66948e039ef3e566bfbb3eccdba1bbd4be91d9ffb5cae2ad8da0845e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5338fdf1c95c2cb857fd89e2e7c5020b98b14b5c29ec461f38c9a2256637b27c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13204bbe435fe0f3ef0f36cbe33b65523771ace2265c335d604a40be11db5a81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 3.601 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]: [-0.0383, 1.0977, 0.9775, -0.804, -0.0456, -0.1169, 0.9956, 0.2153, 1.3621, 0.5179, 0.0822, 0.1394, 0.0956, 0.999]\nstate[eef_state]: left_x=0.2989 left_y=0.0002 left_z=0.1806 left_yaw=0.0519 left_pitch=-0.351 left_roll=-0.0271 left_gripper=0.9956 right_x=0.3466 right_y=0.0544 right_z=0.058 right_yaw=0.0396 right_pitch=-0.1776 right_roll=-0.0198 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -3.5214, 6.5709, 1.5311, -0.0855, -0.0269, -0.0024, 0.1436, -6.0513, 8.2393, 1.7411, 0.149, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0387, 1.1015, 0.9768, -0.8082, -0.049, -0.12, 0.9955, 0.2001, 1.689, 0.5709, 0.2947, 0.1219, 0.0895, 0.999]\nstate[eef_state]: left_x=0.2982 left_y=0.0007 left_z=0.1786 left_yaw=0.0566 left_pitch=-0.3595 left_roll=-0.0253 left_gripper=0.9955 right_x=0.3751 right_y=0.0578 right_z=0.0002 right_yaw=0.0405 right_pitch=-0.2403 right_roll=-0.0221 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -3.3026, 6.6803, 1.3602, -0.0366, 0.0024, -0.0171, -0.4444, -5.8188, 6.5846, 1.3748, 0.0952, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0387, 1.1027, 0.9768, -0.8078, -0.049, -0.12, 0.9956, 0.2024, 1.7058, 0.6098, 0.4061, 0.0875, 0.0948, 0.028]\nstate[eef_state]: left_x=0.2984 left_y=0.0007 left_z=0.1783 left_yaw=0.0566 left_pitch=-0.3602 left_roll=-0.0252 left_gripper=0.9956 right_x=0.4048 right_y=0.0709 right_z=0.0267 right_yaw=0.0724 right_pitch=-0.1116 right_roll=0.0251 right_gripper=0.028\nstate[joint_eff]: [-0.1299, -3.0838, 6.653, 1.3651, -0.0757, -0.0562, -0.0073, -0.6906, -5.6957, 5.2171, 0.9988, 0.5836, -0.1148, 1.0769]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44f6861d66948e039ef3e566bfbb3eccdba1bbd4be91d9ffb5cae2ad8da0845e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5338fdf1c95c2cb857fd89e2e7c5020b98b14b5c29ec461f38c9a2256637b27c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13204bbe435fe0f3ef0f36cbe33b65523771ace2265c335d604a40be11db5a81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqggKEAgSGAI4AUIIdGhpbmtpbmcSDFLUSvzwFXoIhv7ZchoMPrnfFCGFXHWGIa9/IjDsuQtkG+EDeIWzO0uJd1lSb2wJjhluULpcsAI3bINF2GP2T8PruLn56Ls0Y1cB/mkqxwdR2rXqQGwXfGIr87O/rz9jt3ejIcQfQ6fhYRkFQsDiQQPTqtvXnqU2gpRZAJSJUhjVkxxSbiOsPJndFKikhd1Z8wCEN1iZueH8hUYLGPUImhURizt5xx5n3HNHYI6ajualEtEHZs/gCNbX7vGJwGRJMlhoWnuXdV12oqFY9ewNFIKjgNBaBd8lAMS5wstqDQ+y4LQmZf/zeOVmiKjts/bNbq8oz92Ap7u77HVmq4jU0mWbLhitByAZH2b4Uhc5Sf5YzxY2Tn9E31+vwIU3W/fS3EodO9pVWkebz4zvnlz3KRnIudNgoXAUNC/afrRwKK52C6745Qg7eLmeyETctPpO1O4t1BQFmrvfRM4kMm1NryTFagugo3Yx52wMJLTXx1bzYxrD5TLmlg+i4gXq+YXsnjboTDmRMfdWIG8DLzU35YLZZMH8AHl0sOgzdOAcja+9xZYq57krEjSVlTnuYtp4mBey1VAbO4mRMNVXYOLgX3oAUAIOPmVl+nPYPVfoYB3Aq+60g1CV47WLvQEQQ/SY3l+12pJ/gbEjtf2SSGFNQOQ/Yp+lldIIJu0iQ81QG2VQEkzKCLAnpAsP3AVvTCy31euMNDG9d/fGhWrvHQ/VZ74AUx6DgYXnKRSKpwHyGAUOBg4R6CVGLfMkF02xf5XWPjQNnJ6zOEqHk/VYV8NEXSdAZVXIimNj1lvlF7+3hCHyPtby3h5RUWz+cHCU09t3HWyJDlOEMB+tQoJJMiOrRGh3ntEwukQTn5bRdzQdty08degbJGBmZgghbGxp9Y5h/7OZDDfJ4NZk0fyjdpfFHRnzw309h9GEkG6/ok64jxTMwtPk/zZpLoDcSYnKBgNENgDmLvvUfgFcltlTQhs2ZBt180NbmTDL/slT2FDfEX09mso1TmQJRB7vpepSzgk6BpxVK2f5g5wNxvV7FGyMwRI1gqH6mnIpRuOyOezSAaYY6VQcNbKKYYIp/6sRM3IIUQUfbjJLEwQm15rH87bK+6bS0NZgpvsj8pikY1yyKEXUpDD4v58ACZeD3qYHz+IauICox/AXGXcaG8XoIZEeuhxSzjkaYfZ8H3E4lS/aQfAG7gQTaxvqApDQI8Ev+ku7WDB+OHKw5YgPC5zoTQ4+/4pkTlHDaQWCMFGN7tXvvFsfFAZanOd0O9v+Qo5UfzD2SMPvU0hDAcjIhB/uIFJPPM02IzS8LViSTgtT1c5OqNO8s2PDEMCMfFeBC1XwjD4onfbmAFtQ2m4nHxB6lMG8NZ296b5eAdiIWNHGdwXXFzGXIAWvI23YGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016hUUnmRkCN8vZjcZCpv593",
      "input": {
        "note": "Empty close: jaws met just right of the pink wall. Opening and shifting ~1.2 cm left before retrying.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.083,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016hUUnmRkCN8vZjcZCpv593",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0383, 1.1027, 0.9768, -0.8078, -0.0494, -0.1204, 0.9956, 0.2466, 1.6382, 0.6121, 0.2871, 0.1017, 0.1139, 0.9955]\nstate[eef_state]: left_x=0.2984 left_y=0.0009 left_z=0.1783 left_yaw=0.0576 left_pitch=-0.3602 left_roll=-0.0251 left_gripper=0.9956 right_x=0.3893 right_y=0.0832 right_z=0.0315 right_yaw=0.0933 right_pitch=-0.1592 right_roll=0.0235 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -2.988, 6.7077, 1.3651, -0.0904, -0.0562, -0.0171, 0.2393, -8.3487, 8.212, 1.5214, 0.1392, 0.0806, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d837aa722ea0f9212bad215dae1e7a329ec563ea1b669402ae357c25210662f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5141cf166c2829cc62da38fc02580ae7181b631b8980dc57001d23dbb4674704",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c749de75e179d54e4bfd36117220a4a35040d4effc24e8d9fe8880f72c04e8bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 3.317 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]: [-0.0387, 1.1015, 0.9768, -0.8082, -0.049, -0.12, 0.9955, 0.2001, 1.689, 0.5709, 0.2947, 0.1219, 0.0895, 0.999]\nstate[eef_state]: left_x=0.2982 left_y=0.0007 left_z=0.1786 left_yaw=0.0566 left_pitch=-0.3595 left_roll=-0.0253 left_gripper=0.9955 right_x=0.3751 right_y=0.0578 right_z=0.0002 right_yaw=0.0405 right_pitch=-0.2403 right_roll=-0.0221 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -3.3026, 6.6803, 1.3602, -0.0366, 0.0024, -0.0171, -0.4444, -5.8188, 6.5846, 1.3748, 0.0952, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0387, 1.1027, 0.9768, -0.8078, -0.049, -0.12, 0.9956, 0.2024, 1.7058, 0.6098, 0.4061, 0.0875, 0.0948, 0.028]\nstate[eef_state]: left_x=0.2984 left_y=0.0007 left_z=0.1783 left_yaw=0.0566 left_pitch=-0.3602 left_roll=-0.0252 left_gripper=0.9956 right_x=0.4048 right_y=0.0709 right_z=0.0267 right_yaw=0.0724 right_pitch=-0.1116 right_roll=0.0251 right_gripper=0.028\nstate[joint_eff]: [-0.1299, -3.0838, 6.653, 1.3651, -0.0757, -0.0562, -0.0073, -0.6906, -5.6957, 5.2171, 0.9988, 0.5836, -0.1148, 1.0769]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0383, 1.1027, 0.9768, -0.8078, -0.0494, -0.1204, 0.9956, 0.2466, 1.6382, 0.6121, 0.2871, 0.1017, 0.1139, 0.9955]\nstate[eef_state]: left_x=0.2984 left_y=0.0009 left_z=0.1783 left_yaw=0.0576 left_pitch=-0.3602 left_roll=-0.0251 left_gripper=0.9956 right_x=0.3893 right_y=0.0832 right_z=0.0315 right_yaw=0.0933 right_pitch=-0.1592 right_roll=0.0235 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -2.988, 6.7077, 1.3651, -0.0904, -0.0562, -0.0171, 0.2393, -8.3487, 8.212, 1.5214, 0.1392, 0.0806, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d837aa722ea0f9212bad215dae1e7a329ec563ea1b669402ae357c25210662f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5141cf166c2829cc62da38fc02580ae7181b631b8980dc57001d23dbb4674704",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c749de75e179d54e4bfd36117220a4a35040d4effc24e8d9fe8880f72c04e8bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgAcKEAgSGAI4AUIIdGhpbmtpbmcSDGWii8J3iYOtR5bmtxoMaYx/4wLCsUon3eKrIjAXYVzZ0ehWQii/f0HDV4WIm8/no7nZ8N/t+/7ByJcIj1/srdjW0oc/R/DcJbLeuMgqnQb8DJ4RT7RlFLBTJFc1O1gOc3UFy+YY/DoVjpeD/eL89ytw/67K7VZUPGtK+PKkpN6WP3k49+fcZOwT8jiIKN/u76zZO1Bb29X/9l80F93iosFIxgqFxxYSslXEz1Ow9/TGFKIEG7UBotqZGX8PxnZkhY0HABoYRf6qo3HgEfh+za0nW1nn5aZO91nww1Auzo7WYnBVfx7w+oB9gXeFEoIbglje9MdUjgHijFcU5hCytQDZsa3Vq9T6bYs4t5hqirD3h2Cz65ilwBFDYhcigbWvBSNVSD4WPRc5Y3JCmjXMfUej279j7/6kTTemjEJPUILS79WW1szYBQpdZyp52/lbcoVuhs/HJewduJQrXUM7bxPCO4lVAKDzI72pcF0NSYOboASlST5cqi02suDYfQs0GCl/uWYCcFDPqPV8+cxZL+5Pc38Cq1MjoZHBVHl/wggLalQY7R2VGxon0jx3KuJJW3EPpIZpzUU1/1mbYWXOKCIPElzuYEs2ZCudlQYsn9od1WbESYgg+aTU49O8OEwFFOCGKYdWfpEifoAz7FGiEfP9viR3c+4H/b7x6hjKksp8IU1Rq1bJVZj/gPpU0uT+a+Y/A09DtVpOqCYtFbDu58qVH/Jk4GPAxBcypJ3lKNeiQM7HZ74SpHbM3h6XqQZtxn3R49pUOukFFzwqQIYIjKo+CH8f5NNEYzGPiFmbQRXuCIGtv8o4wixrALbTaEN+9JMx/1F35OezSDBMN962asjfR1NXTqKP2ePnNuxoQ3K8tO2UO8v6zHVUO+Rh+1CjrACyBcwOrQ7c6+JlEFAYZ6GMLj1uaTrJ5xhfeGjcNTvJOFtgMMOWK+ZsyYzR+Ebdntmp7P2kLrjuYXI5hKphBOKy2EB658pnZwW8pQEncGqy8R4eaSD6+tKe+5rtRmm0WX69/OMoREI2nvUMwocAUj2sPHC6gFY4/Dtj3CgB6jj1dLR/Z8sAF1xOyDECukVND0EabNR3EMIZtVfoxMTDZFny+DFfBA5DHbfT4jm5tCMyKoGY5JBAKevi90cdFp4N0a/24d0ybQDyN1sRtxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HZcHpPT5Sx47VBPsWSVVEq",
      "input": {
        "note": "Pink wall now sits centred between the open jaws. Descending to table level before closing.",
        "targets": {
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01HZcHpPT5Sx47VBPsWSVVEq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0383, 1.1061, 0.9768, -0.8082, -0.049, -0.12, 0.9955, 0.2466, 1.7573, 0.5789, 0.4103, 0.0952, 0.1165, 0.9964]\nstate[eef_state]: left_x=0.2985 left_y=0.0008 left_z=0.1773 left_yaw=0.0572 left_pitch=-0.364 left_roll=-0.0248 left_gripper=0.9955 right_x=0.3863 right_y=0.0836 right_z=-0.0027 right_yaw=0.0966 right_pitch=-0.1886 right_roll=0.0255 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -3.3573, 6.6256, 1.3211, -0.0513, -0.0611, -0.0171, -0.2393, -7.0359, 4.2188, 1.619, 0.1978, -0.1197, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8d0b7668bcc97e9ecf80b91b5f5a05052ab317f02be0e33f8749634ee340440",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5e58eab707935bc23a1735c553f9c113e197df9972ffc628939394d82b2e31c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:22d729f4781b21546fb353b55361b5854b43240690fe147820e556ab46bc34cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 20 attempt 0 · /messages · status 200 · 9 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]: [-0.0387, 1.1027, 0.9768, -0.8078, -0.049, -0.12, 0.9956, 0.2024, 1.7058, 0.6098, 0.4061, 0.0875, 0.0948, 0.028]\nstate[eef_state]: left_x=0.2984 left_y=0.0007 left_z=0.1783 left_yaw=0.0566 left_pitch=-0.3602 left_roll=-0.0252 left_gripper=0.9956 right_x=0.4048 right_y=0.0709 right_z=0.0267 right_yaw=0.0724 right_pitch=-0.1116 right_roll=0.0251 right_gripper=0.028\nstate[joint_eff]: [-0.1299, -3.0838, 6.653, 1.3651, -0.0757, -0.0562, -0.0073, -0.6906, -5.6957, 5.2171, 0.9988, 0.5836, -0.1148, 1.0769]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0383, 1.1027, 0.9768, -0.8078, -0.0494, -0.1204, 0.9956, 0.2466, 1.6382, 0.6121, 0.2871, 0.1017, 0.1139, 0.9955]\nstate[eef_state]: left_x=0.2984 left_y=0.0009 left_z=0.1783 left_yaw=0.0576 left_pitch=-0.3602 left_roll=-0.0251 left_gripper=0.9956 right_x=0.3893 right_y=0.0832 right_z=0.0315 right_yaw=0.0933 right_pitch=-0.1592 right_roll=0.0235 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -2.988, 6.7077, 1.3651, -0.0904, -0.0562, -0.0171, 0.2393, -8.3487, 8.212, 1.5214, 0.1392, 0.0806, -0.1929]\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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0383, 1.1061, 0.9768, -0.8082, -0.049, -0.12, 0.9955, 0.2466, 1.7573, 0.5789, 0.4103, 0.0952, 0.1165, 0.9964]\nstate[eef_state]: left_x=0.2985 left_y=0.0008 left_z=0.1773 left_yaw=0.0572 left_pitch=-0.364 left_roll=-0.0248 left_gripper=0.9955 right_x=0.3863 right_y=0.0836 right_z=-0.0027 right_yaw=0.0966 right_pitch=-0.1886 right_roll=0.0255 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -3.3573, 6.6256, 1.3211, -0.0513, -0.0611, -0.0171, -0.2393, -7.0359, 4.2188, 1.619, 0.1978, -0.1197, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8d0b7668bcc97e9ecf80b91b5f5a05052ab317f02be0e33f8749634ee340440",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5e58eab707935bc23a1735c553f9c113e197df9972ffc628939394d82b2e31c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22d729f4781b21546fb353b55361b5854b43240690fe147820e556ab46bc34cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AYd7vFTEfjNLAGQyNFYNkF",
      "input": {
        "note": "Gripper is at table level with the pink wall between the jaws. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AYd7vFTEfjNLAGQyNFYNkF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0383, 1.1065, 0.9768, -0.8082, -0.0494, -0.1204, 0.9955, 0.2531, 1.7313, 0.5938, 0.5026, 0.0563, 0.1368, 0.0215]\nstate[eef_state]: left_x=0.2986 left_y=0.0009 left_z=0.1772 left_yaw=0.0577 left_pitch=-0.3644 left_roll=-0.0247 left_gripper=0.9955 right_x=0.4063 right_y=0.0985 right_z=0.0294 right_yaw=0.1272 right_pitch=-0.0608 right_roll=0.0846 right_gripper=0.0215\nstate[joint_eff]: [-0.0889, -3.2205, 6.735, 1.3162, -0.0855, -0.0708, -0.0122, -0.6222, -4.8615, 4.0137, 0.8718, 0.3297, -0.1538, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:919418f274aa08d0935597db43d9bad4b10cbf67cae98876a2d5d4f3f5f6417b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:295cbe4ca54e1f053b2605d94826091f0d7cb4e2143ca0a443678f17822fdf13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47191716b9dc92b96c3d06ab317bcce110d71406ca3efaa25c5bbf864a6e3abb",
        "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 · 5.967 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]: [-0.0383, 1.1027, 0.9768, -0.8078, -0.0494, -0.1204, 0.9956, 0.2466, 1.6382, 0.6121, 0.2871, 0.1017, 0.1139, 0.9955]\nstate[eef_state]: left_x=0.2984 left_y=0.0009 left_z=0.1783 left_yaw=0.0576 left_pitch=-0.3602 left_roll=-0.0251 left_gripper=0.9956 right_x=0.3893 right_y=0.0832 right_z=0.0315 right_yaw=0.0933 right_pitch=-0.1592 right_roll=0.0235 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -2.988, 6.7077, 1.3651, -0.0904, -0.0562, -0.0171, 0.2393, -8.3487, 8.212, 1.5214, 0.1392, 0.0806, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0383, 1.1061, 0.9768, -0.8082, -0.049, -0.12, 0.9955, 0.2466, 1.7573, 0.5789, 0.4103, 0.0952, 0.1165, 0.9964]\nstate[eef_state]: left_x=0.2985 left_y=0.0008 left_z=0.1773 left_yaw=0.0572 left_pitch=-0.364 left_roll=-0.0248 left_gripper=0.9955 right_x=0.3863 right_y=0.0836 right_z=-0.0027 right_yaw=0.0966 right_pitch=-0.1886 right_roll=0.0255 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -3.3573, 6.6256, 1.3211, -0.0513, -0.0611, -0.0171, -0.2393, -7.0359, 4.2188, 1.619, 0.1978, -0.1197, 0.0562]",
      "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]: [-0.0383, 1.1065, 0.9768, -0.8082, -0.0494, -0.1204, 0.9955, 0.2531, 1.7313, 0.5938, 0.5026, 0.0563, 0.1368, 0.0215]\nstate[eef_state]: left_x=0.2986 left_y=0.0009 left_z=0.1772 left_yaw=0.0577 left_pitch=-0.3644 left_roll=-0.0247 left_gripper=0.9955 right_x=0.4063 right_y=0.0985 right_z=0.0294 right_yaw=0.1272 right_pitch=-0.0608 right_roll=0.0846 right_gripper=0.0215\nstate[joint_eff]: [-0.0889, -3.2205, 6.735, 1.3162, -0.0855, -0.0708, -0.0122, -0.6222, -4.8615, 4.0137, 0.8718, 0.3297, -0.1538, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:919418f274aa08d0935597db43d9bad4b10cbf67cae98876a2d5d4f3f5f6417b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:295cbe4ca54e1f053b2605d94826091f0d7cb4e2143ca0a443678f17822fdf13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47191716b9dc92b96c3d06ab317bcce110d71406ca3efaa25c5bbf864a6e3abb",
        "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_013yd8rMwuHXFSFkppt5oDwy",
      "input": {
        "note": "Second empty close: the arm rode up ~3 cm while closing, so the jaws seem to slip up the sloped lower wall. Opening and repositioning to pinch higher on the wall near the rim.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.39,
          "right_y": 0.085,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013yd8rMwuHXFSFkppt5oDwy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0383, 1.1065, 0.9768, -0.8082, -0.0494, -0.1204, 0.9956, 0.2222, 1.6451, 0.535, 0.4599, 0.0353, 0.112, 0.9948]\nstate[eef_state]: left_x=0.2986 left_y=0.0009 left_z=0.1772 left_yaw=0.0577 left_pitch=-0.3644 left_roll=-0.0247 left_gripper=0.9956 right_x=0.3895 right_y=0.0853 right_z=0.0334 right_yaw=0.1273 right_pitch=-0.0763 right_roll=0.0755 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -3.1658, 6.5983, 1.3553, -0.1001, -0.0708, -0.0073, -0.4718, -7.8427, 5.2444, 1.6288, -0.0806, 0.105, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aa93e846b011012fc6d33ade475822caa96345c6c3ee3ab24651b5f3ffa5e7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1d5a5c9cb0af357dca1ddf623849f74b235ccd4ddce358d3ee4a59695cdb055",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d28d61a848e9a9a7285535a54614b028989a1307a39456c0800a965deeeead43",
        "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 · 6.784 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]: [-0.0383, 1.1061, 0.9768, -0.8082, -0.049, -0.12, 0.9955, 0.2466, 1.7573, 0.5789, 0.4103, 0.0952, 0.1165, 0.9964]\nstate[eef_state]: left_x=0.2985 left_y=0.0008 left_z=0.1773 left_yaw=0.0572 left_pitch=-0.364 left_roll=-0.0248 left_gripper=0.9955 right_x=0.3863 right_y=0.0836 right_z=-0.0027 right_yaw=0.0966 right_pitch=-0.1886 right_roll=0.0255 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -3.3573, 6.6256, 1.3211, -0.0513, -0.0611, -0.0171, -0.2393, -7.0359, 4.2188, 1.619, 0.1978, -0.1197, 0.0562]",
      "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]: [-0.0383, 1.1065, 0.9768, -0.8082, -0.0494, -0.1204, 0.9955, 0.2531, 1.7313, 0.5938, 0.5026, 0.0563, 0.1368, 0.0215]\nstate[eef_state]: left_x=0.2986 left_y=0.0009 left_z=0.1772 left_yaw=0.0577 left_pitch=-0.3644 left_roll=-0.0247 left_gripper=0.9955 right_x=0.4063 right_y=0.0985 right_z=0.0294 right_yaw=0.1272 right_pitch=-0.0608 right_roll=0.0846 right_gripper=0.0215\nstate[joint_eff]: [-0.0889, -3.2205, 6.735, 1.3162, -0.0855, -0.0708, -0.0122, -0.6222, -4.8615, 4.0137, 0.8718, 0.3297, -0.1538, 1.0379]",
      "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]: [-0.0383, 1.1065, 0.9768, -0.8082, -0.0494, -0.1204, 0.9956, 0.2222, 1.6451, 0.535, 0.4599, 0.0353, 0.112, 0.9948]\nstate[eef_state]: left_x=0.2986 left_y=0.0009 left_z=0.1772 left_yaw=0.0577 left_pitch=-0.3644 left_roll=-0.0247 left_gripper=0.9956 right_x=0.3895 right_y=0.0853 right_z=0.0334 right_yaw=0.1273 right_pitch=-0.0763 right_roll=0.0755 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -3.1658, 6.5983, 1.3553, -0.1001, -0.0708, -0.0073, -0.4718, -7.8427, 5.2444, 1.6288, -0.0806, 0.105, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aa93e846b011012fc6d33ade475822caa96345c6c3ee3ab24651b5f3ffa5e7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1d5a5c9cb0af357dca1ddf623849f74b235ccd4ddce358d3ee4a59695cdb055",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d28d61a848e9a9a7285535a54614b028989a1307a39456c0800a965deeeead43",
        "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/woKEAgSGAI4AUIIdGhpbmtpbmcSDPJvjvYZAKdzPdEVahoMLVm2UUII0/OB67+IIjAMTI6zrgZBQNMFB09tmj7juJktymYAGAUHhIxgq4Zv6HdiFoh6GLJxbp4hT2dKbZ8qnArh0lpsC4uWYh1I2Z/wR/Hq0ohWU9X/LhuR6rI7nN0kPX8wmfo2m7XV6d4Gnlw772lPgUVz85uLmmnD6kdWTwqyqjSV6zAECAR+j4zjkzTEU0ahhKZNbmi8j32tb1BV7LwajrwAvZ68TOOxwYDWKezQGBqI61AS94hhIjwhWGvyyXyU8JWm0VqeLS3gqmHhQExKKJMfLGOmAjO3tzCtMJNZBrYhcqSf0wTPsSCRCxm9WLwP2sJyhIRGQ9FfYAIW8Jl1BNonp0cDSSvIemHlqyrh/2jcAqFHIzXA2ULop139uQT6ShA4E1bnjkbZ4z6z104pO51ctdOvhfFGjHUkB8THfQ2KBzwkEUYeYt4QdXjscG6b0obHeLhOyR6MpwyZFaTPRzsyutuvGLwCYZzD1JHOEc9DtkLNWl4Ji7EJDeSy2qSMzyju4YyrfpUROwjNzFdRmA+RMfHLzsSmBQeJnDjh7qzJsyU7NvJNs2mP3oy8jU9d/ySsqXKDlkrfB60B0Ll7ode3TM9Bo55zaHDvoYjon80OlWSdIevsziNG8WCK2C8OY9EQHphmHWlawlK3I5niDqgYY9U19JiEpkTlOyojVP3eUNgxUioe/IPMJVF/OrIJKL/lqzoQVVEKziO8QnzNdMu3pYBBvjh7jdxXYMF87L4/La/VzK3VKYQKq+3H6r6CwamQmftvlo9ZQVXb3I2iyHE3MSmKRwb86OdCgQ4xg8Gal+JgtLK/tzkCVPG/Y2BEKTk/S4FnuW2q/T8Pnza59BXRUH21n06kGcvVWNspTNIguR8645O2mINPdfV+pzrelFDm0hS54/fPXBmHpsdXlvQK1WoE50FhAkyaaShflQGZHdpvtzE4nVL8d+Zd5AJDE2FGcyq1yPEpAippg/eQe0Tag61J6nugLGZn6S9KucWu3U8hQngvWFBTVBnoJLBtPZlXJvJRMtmzWuLhF83ar0IL0G6amGZSD6uwNt/AH32/3EN93k0jGv4nTeAUv2X+uSlukB3Pu73cVM6taeWVKzeqxsxCR5ElI6dKRyR6WhPaWHCzOm7aynEBrZfB9cx7DO7LmrwOZ7Y/ZLVPcE8jv/rB3YGudRvIdcJb6ORPRy1pdUFYvHTEIfPVIgnBjFQMfMOOBJftAwGjgeftBfwStz/QiG9ByznFZNMnsthqUm2lwVRxuPcwXwwC4+4cSswex3NVDy6kJumEsWDXgwSh0OVm7nSj9bi8iuTgW/P2le5BBXxdN9Wxk41epShGJeZyXM9iM4aNjg1ZP+sCS9BbSqIFDZ3JfCxqo7Eym0tMfA0zMTKRFhF3fSVvfwUECj+nqSAWG1BpB51S7PY1Za6qKwcqLcv3GcUYgPB5hOXxHDDwZYO9S+yuvmCA8KTnbq2lGVI1uwYIWmumr8UIWLqh9dprfXFRf1s+pvokpBFCpyNrsoxoD0/L6lWbdU7k7LhbpQmko3kp9Zrme2g/stqIJNQqVrzQrIQjfbdk3JsYtjBSTcJlZdMK9QEtlJ+CqatUizI0DSxJ4gn74dVWjLnejfA5JZzZfKb80t3C3wNWB/KMMKQHnw1h1h329elSuAj+xZUQYxwwJWrJgzCbrkABswIJwqalUy42zqOMTnoZ2oN34+D3kd64IGwxyXTL20DOI+qkuL0CtTjv2RXu1dGamnBUPYSIBY93K3zkBNGi78oBqPf9pBYzMZV3xfdeSC81bgZB9qb553tT6/Moubx+IgBVwcZrzTTubpQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J2KjUWW5qggv35rZ2Xx9rV",
      "input": {
        "note": "Jaws now straddle the pink bowl's right wall higher up (left finger inside, right finger outside, z≈3 cm). Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01J2KjUWW5qggv35rZ2Xx9rV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0383, 1.1118, 0.976, -0.8124, -0.049, -0.1204, 0.9956, 0.2214, 1.6402, 0.5301, 0.4622, 0.0315, 0.1127, 0.0256]\nstate[eef_state]: left_x=0.2979 left_y=0.0008 left_z=0.1748 left_yaw=0.0578 left_pitch=-0.3747 left_roll=-0.024 left_gripper=0.9956 right_x=0.3885 right_y=0.0854 right_z=0.0339 right_yaw=0.1293 right_pitch=-0.0742 right_roll=0.0786 right_gripper=0.0256\nstate[joint_eff]: [-0.1573, -3.6855, 6.694, 1.3602, -0.0611, -0.0366, -0.0171, -0.1299, -6.065, 6.0239, 1.4676, 0.0904, -0.0708, 1.0867]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:005b8cde02e57ef118502eee32aa8d6cc863645d9c966857cbbf7bf141d3aa70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbdcef9d0708a2eb09cc3d0f291bd98f52fc541d2ce1b9d4d9c7a982a78d3ae8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c41e650c20cd224d436070eb6a7a2e33852dd4ee96e9dd9f3a18fb7cfb586db2",
        "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 · 3.901 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]: [-0.0383, 1.1065, 0.9768, -0.8082, -0.0494, -0.1204, 0.9955, 0.2531, 1.7313, 0.5938, 0.5026, 0.0563, 0.1368, 0.0215]\nstate[eef_state]: left_x=0.2986 left_y=0.0009 left_z=0.1772 left_yaw=0.0577 left_pitch=-0.3644 left_roll=-0.0247 left_gripper=0.9955 right_x=0.4063 right_y=0.0985 right_z=0.0294 right_yaw=0.1272 right_pitch=-0.0608 right_roll=0.0846 right_gripper=0.0215\nstate[joint_eff]: [-0.0889, -3.2205, 6.735, 1.3162, -0.0855, -0.0708, -0.0122, -0.6222, -4.8615, 4.0137, 0.8718, 0.3297, -0.1538, 1.0379]",
      "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]: [-0.0383, 1.1065, 0.9768, -0.8082, -0.0494, -0.1204, 0.9956, 0.2222, 1.6451, 0.535, 0.4599, 0.0353, 0.112, 0.9948]\nstate[eef_state]: left_x=0.2986 left_y=0.0009 left_z=0.1772 left_yaw=0.0577 left_pitch=-0.3644 left_roll=-0.0247 left_gripper=0.9956 right_x=0.3895 right_y=0.0853 right_z=0.0334 right_yaw=0.1273 right_pitch=-0.0763 right_roll=0.0755 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -3.1658, 6.5983, 1.3553, -0.1001, -0.0708, -0.0073, -0.4718, -7.8427, 5.2444, 1.6288, -0.0806, 0.105, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0383, 1.1118, 0.976, -0.8124, -0.049, -0.1204, 0.9956, 0.2214, 1.6402, 0.5301, 0.4622, 0.0315, 0.1127, 0.0256]\nstate[eef_state]: left_x=0.2979 left_y=0.0008 left_z=0.1748 left_yaw=0.0578 left_pitch=-0.3747 left_roll=-0.024 left_gripper=0.9956 right_x=0.3885 right_y=0.0854 right_z=0.0339 right_yaw=0.1293 right_pitch=-0.0742 right_roll=0.0786 right_gripper=0.0256\nstate[joint_eff]: [-0.1573, -3.6855, 6.694, 1.3602, -0.0611, -0.0366, -0.0171, -0.1299, -6.065, 6.0239, 1.4676, 0.0904, -0.0708, 1.0867]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:005b8cde02e57ef118502eee32aa8d6cc863645d9c966857cbbf7bf141d3aa70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbdcef9d0708a2eb09cc3d0f291bd98f52fc541d2ce1b9d4d9c7a982a78d3ae8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c41e650c20cd224d436070eb6a7a2e33852dd4ee96e9dd9f3a18fb7cfb586db2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JEJ9WHimXVw4a16mUPbqAq",
      "input": {
        "note": "Third empty close: the jaws met just outside (right of) the pink wall. Opening and shifting 2 cm left so the wall is centred between the fingers.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.395,
          "right_y": 0.105,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JEJ9WHimXVw4a16mUPbqAq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0383, 1.1118, 0.976, -0.8124, -0.049, -0.1204, 0.9956, 0.2817, 1.6646, 0.5499, 0.4438, 0.0628, 0.1387, 0.9949]\nstate[eef_state]: left_x=0.2979 left_y=0.0008 left_z=0.1748 left_yaw=0.0578 left_pitch=-0.3747 left_roll=-0.024 left_gripper=0.9956 right_x=0.3859 right_y=0.1039 right_z=0.0283 right_yaw=0.1489 right_pitch=-0.0959 right_roll=0.0775 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -3.1932, 6.612, 1.3748, -0.0611, -0.0611, -0.0171, 0.5128, -5.5453, 7.5282, 1.6679, 0.1148, 0.1148, -0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:309b4b81a1d6a632a52628a80039c577d56cc5323108063ad8ff2da600ceac13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdac5a28018738d5fca0d82283a38171b8647857b163270661a35b1f017e951f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f1ea39020324a878b163c9eaaa785d1009003a8da511a47e0dbb5b763070e99f",
        "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 · 4.968 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]: [-0.0383, 1.1065, 0.9768, -0.8082, -0.0494, -0.1204, 0.9956, 0.2222, 1.6451, 0.535, 0.4599, 0.0353, 0.112, 0.9948]\nstate[eef_state]: left_x=0.2986 left_y=0.0009 left_z=0.1772 left_yaw=0.0577 left_pitch=-0.3644 left_roll=-0.0247 left_gripper=0.9956 right_x=0.3895 right_y=0.0853 right_z=0.0334 right_yaw=0.1273 right_pitch=-0.0763 right_roll=0.0755 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -3.1658, 6.5983, 1.3553, -0.1001, -0.0708, -0.0073, -0.4718, -7.8427, 5.2444, 1.6288, -0.0806, 0.105, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0383, 1.1118, 0.976, -0.8124, -0.049, -0.1204, 0.9956, 0.2214, 1.6402, 0.5301, 0.4622, 0.0315, 0.1127, 0.0256]\nstate[eef_state]: left_x=0.2979 left_y=0.0008 left_z=0.1748 left_yaw=0.0578 left_pitch=-0.3747 left_roll=-0.024 left_gripper=0.9956 right_x=0.3885 right_y=0.0854 right_z=0.0339 right_yaw=0.1293 right_pitch=-0.0742 right_roll=0.0786 right_gripper=0.0256\nstate[joint_eff]: [-0.1573, -3.6855, 6.694, 1.3602, -0.0611, -0.0366, -0.0171, -0.1299, -6.065, 6.0239, 1.4676, 0.0904, -0.0708, 1.0867]\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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0383, 1.1118, 0.976, -0.8124, -0.049, -0.1204, 0.9956, 0.2817, 1.6646, 0.5499, 0.4438, 0.0628, 0.1387, 0.9949]\nstate[eef_state]: left_x=0.2979 left_y=0.0008 left_z=0.1748 left_yaw=0.0578 left_pitch=-0.3747 left_roll=-0.024 left_gripper=0.9956 right_x=0.3859 right_y=0.1039 right_z=0.0283 right_yaw=0.1489 right_pitch=-0.0959 right_roll=0.0775 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -3.1932, 6.612, 1.3748, -0.0611, -0.0611, -0.0171, 0.5128, -5.5453, 7.5282, 1.6679, 0.1148, 0.1148, -0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:309b4b81a1d6a632a52628a80039c577d56cc5323108063ad8ff2da600ceac13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdac5a28018738d5fca0d82283a38171b8647857b163270661a35b1f017e951f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1ea39020324a878b163c9eaaa785d1009003a8da511a47e0dbb5b763070e99f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8gYKEAgSGAI4AUIIdGhpbmtpbmcSDFBJvKev7cdeOxzTGRoMe6mPGm6GULuZ89mWIjDuIYsW34VPPj4t9/tezEg7P9UlseiYoudWM0CTPJHCxFNvBLwPq1ILb+bSznKtAA8qjwYnw5gsHvc240t0gizNFj8TzI5HXn147lCSadafeHZ/K3MMsHhaDPg97X+1E8qlKQWwgEi6zPyllR/s1VsG1UxgCsCKZzLgEgn/fU38l7t6WxNzhjlGn33B9GPB1TXENs8Lze6x8ZwYTf1hSywnqbywBlVarfMrQUtACeT9MTMtvV1pagZSwKjwwIse7SOI7T1ycZ0j4ryqMh4FhtpQv1GPKkRpy24RtaoNSo5D+THrPaYjefhDl2azYZf8qjNL1Lqa3RFrSCfbGlVhHoNbgx9cNctXb8I77poC5/XXKYu9LG1l7tZ8d+YcLYUuok6ojD3FUJXz9MIqScVZNrPSIz5JOEG2TVoXq2RBgUcCubwY8nPHoLm07VxZ1jXLWRzkZX0p1aR/Ij7Wok0GNd+Jv34oNWYJi0J0gel2HIhe4TUwZwl/p0kZsPuLv5WY06rjovU07hoxLCr5xFkrLOMm9HNRiDVD4iOerUyhh/74BBnhgEElWfhiGXfJ8rtnpehLnQO9FZwLA2JL2SALNKHkusShBL8hb36P88Um2qoUz/4F1PU6TuHceyN/zAs017/jjSw1u04U8/APp8AgQY9GEonhVub68eXqUwDoFu4phJRlUKpedHq0+6XCXZwrtM33vCD0QEoaSndMiyY1CPucN6fqu6aaf0fkEln2TMdDCQEhnfDltZVSQW2yAm/HwPTfQQzyfC1ov2X5ZaF2BdvT4JU7dnUtzt+/Gt3LDRkDaucLX8mgCbWWWv8NCin45mu0P56uRUUpilySwDQnTjb6JeMjorZ2zdSGbIuEpYSqL8/gokEbZk7XTTglNHVpJnOJwV5a2aVMDdHVhhWO7vLeBNcgLfYSPY1KqAC+JophnVfJOzRDBGkF/yQHRAAEOrPToaVHw6cfVLsMWZyA3RjYYlRfGbTO/fCWsCuGA42axgN26gQ8Jdg7LbVH3JUjdllHUaL+D64O0y6Z2fUnWtJ9yIklCjYcspif1LJKutiMCF0K9D5zFl58aPxGMSaTHHokDCr5DvLF++3hriceregkw2oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PqhcBzk9ynotFsNahb8iS3",
      "input": {
        "note": "Pink wall is now clearly between the jaws (left finger inside the bowl, right outside). Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PqhcBzk9ynotFsNahb8iS3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0387, 1.1122, 0.976, -0.8127, -0.0494, -0.1204, 0.9956, 0.2813, 1.6623, 0.5491, 0.4599, 0.0517, 0.1398, 0.039]\nstate[eef_state]: left_x=0.2979 left_y=0.0008 left_z=0.1747 left_yaw=0.0578 left_pitch=-0.3754 left_roll=-0.0236 left_gripper=0.9956 right_x=0.3878 right_y=0.1063 right_z=0.032 right_yaw=0.1574 right_pitch=-0.0794 right_roll=0.0875 right_gripper=0.039\nstate[joint_eff]: [-0.1983, -3.2615, 6.694, 1.326, -0.0952, -0.0611, -0.0171, -0.0205, -6.1333, 5.5863, 1.3797, 0.2418, 0.0171, 0.9158]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc48d13c56116b04db04045d0c9f5c52a3fd56651e309a269a41aaf2c966216c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c72bdd023788ca0453d3892957ea96970ec0404c1afb26a7b96073b36f150bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae5e297c059f1448ca0dcd573eb0d5f049939cde8aabf44b5f56dbc208585d85",
        "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 · 7.102 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]: [-0.0383, 1.1118, 0.976, -0.8124, -0.049, -0.1204, 0.9956, 0.2214, 1.6402, 0.5301, 0.4622, 0.0315, 0.1127, 0.0256]\nstate[eef_state]: left_x=0.2979 left_y=0.0008 left_z=0.1748 left_yaw=0.0578 left_pitch=-0.3747 left_roll=-0.024 left_gripper=0.9956 right_x=0.3885 right_y=0.0854 right_z=0.0339 right_yaw=0.1293 right_pitch=-0.0742 right_roll=0.0786 right_gripper=0.0256\nstate[joint_eff]: [-0.1573, -3.6855, 6.694, 1.3602, -0.0611, -0.0366, -0.0171, -0.1299, -6.065, 6.0239, 1.4676, 0.0904, -0.0708, 1.0867]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0383, 1.1118, 0.976, -0.8124, -0.049, -0.1204, 0.9956, 0.2817, 1.6646, 0.5499, 0.4438, 0.0628, 0.1387, 0.9949]\nstate[eef_state]: left_x=0.2979 left_y=0.0008 left_z=0.1748 left_yaw=0.0578 left_pitch=-0.3747 left_roll=-0.024 left_gripper=0.9956 right_x=0.3859 right_y=0.1039 right_z=0.0283 right_yaw=0.1489 right_pitch=-0.0959 right_roll=0.0775 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -3.1932, 6.612, 1.3748, -0.0611, -0.0611, -0.0171, 0.5128, -5.5453, 7.5282, 1.6679, 0.1148, 0.1148, -0.0366]\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]: [-0.0387, 1.1122, 0.976, -0.8127, -0.0494, -0.1204, 0.9956, 0.2813, 1.6623, 0.5491, 0.4599, 0.0517, 0.1398, 0.039]\nstate[eef_state]: left_x=0.2979 left_y=0.0008 left_z=0.1747 left_yaw=0.0578 left_pitch=-0.3754 left_roll=-0.0236 left_gripper=0.9956 right_x=0.3878 right_y=0.1063 right_z=0.032 right_yaw=0.1574 right_pitch=-0.0794 right_roll=0.0875 right_gripper=0.039\nstate[joint_eff]: [-0.1983, -3.2615, 6.694, 1.326, -0.0952, -0.0611, -0.0171, -0.0205, -6.1333, 5.5863, 1.3797, 0.2418, 0.0171, 0.9158]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc48d13c56116b04db04045d0c9f5c52a3fd56651e309a269a41aaf2c966216c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c72bdd023788ca0453d3892957ea96970ec0404c1afb26a7b96073b36f150bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae5e297c059f1448ca0dcd573eb0d5f049939cde8aabf44b5f56dbc208585d85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzwgKEAgSGAI4AUIIdGhpbmtpbmcSDHjERQVoclo/Ama1TBoM92PQdt2YkmrqNyjsIjAhBkxhibR8agPjlZAI5MBUKachY3b60IckqavwPdYv/SoMge/FQnrhTKf7TUYRaDkq7AeXIz80ZwbJza73dYrMsap5LE1otyDQJsKUoWlwjhWuMgX140iGKb364N3e9CauYEBgSo7afCAQLS3f/cWl8OKEs0HFIkEkCrgVvvGk+mj7/4jgdAKvalJsKMuak3hqeJT2tj03EOrelCqVdXkT6+TN7IsWGXNMQW2k+5GKrQA2JY+q26Jzfx15xS2mGUueiO2N8HKeiZBGe8TJFkf43TGWvbjSLo6mnH6VY/gafhBathYifQu1Q9IxH33Z1Q8L+pNyt/RHbUsDD8qtJiwuzZjF3tbYrsRkiBOzmscNsy09wes+BEBqPNVgoUyGWrJ1/USqJbVGxAg6k5Qjlv/GvteZq07mlftz3rkY1tJehyETu4BjgI1UKxC0/JjE6uULyJn2WPhRzfQgK/pKwcvYLxdzfl79sgT7RD8qigz7PQMMFslYjXTiRjADALxioS7fFMRNv1tjm241RgWgTBTUJzBGe8Tksuu/xvDfNaOZhqv5PgiLK2ejcThKYL4h34pBb1Zjcz8mWYAlqGg5UD27U+n49The0XKbRwq0YOvVkQdLx5tDPXjhybAtDZ+Nn0dmhFFlZAjWK0Tk09qeQGGjUZgQdzEstVg+Y0azauGbBChPibcJqzP/Zfp1cEknKiV3IU8V4FPvh8bFGqM48dGj8XWMpF5ubFocRUOjYR9U0oqL5Iz2UCcuNaPvM7DrcUUCc/SnYqrCnw5bap5si7f6BOnknPl24rDZ81Bu7B7FFjmAAWF+jwgCJ4T+1iDm9ymhEr9yRxffsmPqJReCmKCif8Rs4L2MZ39X9UZKHMLRKsQBKEQgxlF+WMK5g12xG3rUY3hwutn9Yt89MVXBHv9wWyYkeZL8e9X6jTjsytOl/E35FMtb3TXjYmlRrXMZZcTzz9VAU5yR1H8pA7X2dBB3pF1rCn/RzujMdxSKx7SAXa1dbxkvJzSEcA//xXAlcsy2JTA6Kxopf51Mswn6DmE7yo9hcgDZ4o28Yw9rD+eVEelSCfiGyMPCg1mbNVhH+BStGVSzgiNdmIr8CDO9GOeJS4w+YrA/ucqu+goSz+vBuJaK+sZmh9QGJcEDKc9zxFngjzicq60jDExdFarj+3gMHtmkzNP5ttabQ8RiSgWEOuIFLM9cCMKTEvTaCFo3ag9NIKKg8Vq7YpbAA7TbIxe/x0sBag259fT6XCLbvw2d4d4fRICmKChMpdHddyvE5i5wjMne9bPM/bc463J6s0pC0tutrt52qtDQ2kEb60Oh5IxxhMC1fODnZ8eunipLxar6Oi8bpZudrYso14VcMW3UEZ0GbNv0GRL1h0HM8Qbx1oFAS6PgQmXLxY4RHIcRlRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013ZithDvHVSQC46Syggcbct",
      "input": {
        "note": "Gripper settled at 0.039 and the pink wall appears pinched between the fingertips (thin wall). Lifting to test whether the bowl comes with it.",
        "targets": {
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013ZithDvHVSQC46Syggcbct",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0383, 1.113, 0.976, -0.8154, -0.049, -0.1204, 0.9955, 0.2813, 1.4979, 0.6209, 0.2188, 0.0437, 0.1345, 0.0395]\nstate[eef_state]: left_x=0.2974 left_y=0.0008 left_z=0.1741 left_yaw=0.0579 left_pitch=-0.3788 left_roll=-0.0235 left_gripper=0.9955 right_x=0.3842 right_y=0.1067 right_z=0.0746 right_yaw=0.167 right_pitch=-0.0847 right_roll=0.0875 right_gripper=0.0395\nstate[joint_eff]: [-0.2256, -3.3026, 6.6393, 1.3162, -0.0513, -0.0513, -0.0171, -0.1026, -6.694, 8.4581, 1.8095, 0.0611, 0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbc0fbd8ba5d7d86fded1f3f8863759aa6220129696efbd58f6c85c959c0f6f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4adb0693f4be059280369b92373a90f447edf44c203c2d305a6438c5ed1f6cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aff05838e31444da66e164e3fb9308114c13262fca74026870bfee535979a8b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 4.126 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]: [-0.0383, 1.1118, 0.976, -0.8124, -0.049, -0.1204, 0.9956, 0.2817, 1.6646, 0.5499, 0.4438, 0.0628, 0.1387, 0.9949]\nstate[eef_state]: left_x=0.2979 left_y=0.0008 left_z=0.1748 left_yaw=0.0578 left_pitch=-0.3747 left_roll=-0.024 left_gripper=0.9956 right_x=0.3859 right_y=0.1039 right_z=0.0283 right_yaw=0.1489 right_pitch=-0.0959 right_roll=0.0775 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -3.1932, 6.612, 1.3748, -0.0611, -0.0611, -0.0171, 0.5128, -5.5453, 7.5282, 1.6679, 0.1148, 0.1148, -0.0366]\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]: [-0.0387, 1.1122, 0.976, -0.8127, -0.0494, -0.1204, 0.9956, 0.2813, 1.6623, 0.5491, 0.4599, 0.0517, 0.1398, 0.039]\nstate[eef_state]: left_x=0.2979 left_y=0.0008 left_z=0.1747 left_yaw=0.0578 left_pitch=-0.3754 left_roll=-0.0236 left_gripper=0.9956 right_x=0.3878 right_y=0.1063 right_z=0.032 right_yaw=0.1574 right_pitch=-0.0794 right_roll=0.0875 right_gripper=0.039\nstate[joint_eff]: [-0.1983, -3.2615, 6.694, 1.326, -0.0952, -0.0611, -0.0171, -0.0205, -6.1333, 5.5863, 1.3797, 0.2418, 0.0171, 0.9158]\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]: [-0.0383, 1.113, 0.976, -0.8154, -0.049, -0.1204, 0.9955, 0.2813, 1.4979, 0.6209, 0.2188, 0.0437, 0.1345, 0.0395]\nstate[eef_state]: left_x=0.2974 left_y=0.0008 left_z=0.1741 left_yaw=0.0579 left_pitch=-0.3788 left_roll=-0.0235 left_gripper=0.9955 right_x=0.3842 right_y=0.1067 right_z=0.0746 right_yaw=0.167 right_pitch=-0.0847 right_roll=0.0875 right_gripper=0.0395\nstate[joint_eff]: [-0.2256, -3.3026, 6.6393, 1.3162, -0.0513, -0.0513, -0.0171, -0.1026, -6.694, 8.4581, 1.8095, 0.0611, 0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbc0fbd8ba5d7d86fded1f3f8863759aa6220129696efbd58f6c85c959c0f6f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4adb0693f4be059280369b92373a90f447edf44c203c2d305a6438c5ed1f6cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aff05838e31444da66e164e3fb9308114c13262fca74026870bfee535979a8b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQsKEAgSGAI4AUIIdGhpbmtpbmcSDM0lKqcS4Oqe/MNKRRoM8bMQbYqiBzlNETKQIjAgT1dBJqoriqj9OVZ+NRjYX2akj92s/i09H+09JJzEdenmv9j52WXU1c5cDhdlFMAq4gqSli6DORy9BUQrlfZPfjRQHq/LR9K7vPI7zD3yKshJu6xjqicypg/p/Kul2kdE1MUaW2oTts6k/SYTpph1TtQ65jJtKaLVMH3a70W7r8iSO8J2nJRrIjqH5G2QcpeMtqui7ltRqlKusH+TobSr4n3zkc1V8JGC+YRrS8HAljjhhLA2SPpEDGQJQ54T3EnOZcFkwSDztUn3X92Hq30pUsDOZ22R/x2wI1GDgr7/xP9yII4rAZBlqPlC4TMdRtlBOZcTktgSu67P6q8Cs2WJTQpSY/ddqfGH3Et+qBQ/z9vXzf5p/Wv3/6bjC+RyfeIOnM2szfJ0avfuJJ+pYX4NujVGb5h7mf1RqzgsMpZQ5ozuR3fqJMDZzw6rYQ7Ue69xp0CMkY8mzcHPBICN/NXbm9cG1m8ihVFxNZxM5Ik/Sk6EXRME1TJ92HcamVXYXTB3FTixZlKgWmE8EDkwM/Q53h4UrjpPflcapSysAd6m6RsK6SUG1Q5jfA1ujgb44ItppLIl2vJScmXVUtRwZ6QE5dXtyZ+LZHjke9Ojmz3M47uoWxUOYYloIjbEJbPL4TTXqT6I5rxTcQaWIowX/Yr5Mv9gYp6agJc8RbC/sVs7pQRISxnw8CupB5bGkB+bvn0qP2N+qa+n99DRRQxsZW0naO/t13jlBx0PRQNqmgAT+0TTtZome4UfZy3FCGviJzC3ZIn8hiJoztWejRZYculuOx5gQKFbgGGlshitBRWeFwuV+BOnb4HbDbVUCJDuFcPI/VHmTjW9PjBbJBi7FPG9B6jxd0dDg6YsOX10OPdz0z1e/z/L+YL4JP7UQYxbLfRCcgbj96eHVi+FPbJbeZZFiIM9jYmrMG6ub1wIM9d6WpvDr6IK/0wzPczEV+8etyQh29TygRSK3nhcM2UATKAdopyi2AnM0MfgVvdAszOnjjQ3TstfT/zU3Q9W53Sod2HnpS9RDqmEHQQN3ioarZvEpXl9MXW+BebDZ/F41BDMxNX2sHmtWX04IXE8DsiE8J/ticeDH0v24gHtCoHqCZCwIZUMhsFqTZfwY9cAxasO3Bzr5MgTDrtY4rNav5UYnS9Bu2s8sD3y5dZA0CffxBsfDS3bif8BYyZnpVWbOejTcwz7ggHYXfr6yOD5scem8hzvxzRHIlClYZ6GwuslOtE1XrBpGCzOS5SweJ9KtLCsj3srW6FgB4NvfP4WDgq9Zor0AjGwvAjToltiDbOEHbs/Tjz6m9MmkiJMgTPLIfsbENsXubWHiVKAH4YRenxmqQUPDaVfWLPLDfdn6Jm4SvzLJCLlVxg18KOcMjq/yQr5zRGRCP6S4D4zP2aYaUGtLFrTJLdeHzyWGVLm7j56t58wBZ4Esk3N5BZVLC+HuGfHmdltbTv9AP12n2fqGQvFwF/7k+raiEixalFBQxxtLkol9FTo0BUKNNXp/BdJfNVqXo8413BTWGgrS4/qL6bbhswgnUGAITxBuWKwhmN1YcXxxJxP9QUfu22dHdaP/jCmm9x0I+9ZIsqDg70xg3nOZi7iAuEzNf720JUQ8K0qSI/f4VTvlWGPvQzxIV17jOm4SAQ2SJRmZUnK/4dItkCg2bMcNmfQfe7ulC4MpYNiJoO/33JKkPCVrDxfFeo9WlSqA3HacOOdBEG64X3RY92G+1ev7HEmNMUJZuVTaDgsVcjmSCu7K+8/lxE56lk/08k9J1X5pdZMp2z5zXD+y5crH1/+sYow0mvlrewBZaWU/8l/iBVgljso91MjAiJWCAF/IH+VXlw0g7gjrW2AC1GIV+Fr/U9Ogj87yL+I3cXMb6DY1Q5eXgBc7SguItQP58m2hRrr+8WyGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VCuSaoVy2FSPyTahYBtmw1",
      "input": {
        "note": "Pink bowl stays fixed in the wrist view while lifting, so it's held. Carrying it ~11 cm left to sit over the blue/teal stack.",
        "targets": {
          "right_x": 0.405,
          "right_y": 0.215,
          "right_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_01VCuSaoVy2FSPyTahYBtmw1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0383, 1.113, 0.976, -0.8204, -0.049, -0.1204, 0.9955, 0.5808, 1.5845, 1.0805, -0.2142, 0.244, 0.2893, 0.0395]\nstate[eef_state]: left_x=0.2964 left_y=0.0009 left_z=0.1734 left_yaw=0.0581 left_pitch=-0.3838 left_roll=-0.023 left_gripper=0.9955 right_x=0.3969 right_y=0.2137 right_z=0.1515 right_yaw=0.2128 right_pitch=-0.1188 right_roll=0.0704 right_gripper=0.0395\nstate[joint_eff]: [0.0342, -3.0154, 6.7214, 1.326, -0.022, -0.0562, -0.0073, 0.1299, -7.3231, 9.6205, 1.6728, 0.2027, 0.2418, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:816ac6fbd3b189cf8f8dd922b5247323c56d2ec28feb24ca749efeeb16afadcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68bc402c02321b31a008485ffedc4461f2cfda01fba674b57ecbe6ffdb24b4a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b0b0ceada3abcef6ee0accd56f54a52cf36acf99c837470474c0840763c778d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 3.893 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]: [-0.0387, 1.1122, 0.976, -0.8127, -0.0494, -0.1204, 0.9956, 0.2813, 1.6623, 0.5491, 0.4599, 0.0517, 0.1398, 0.039]\nstate[eef_state]: left_x=0.2979 left_y=0.0008 left_z=0.1747 left_yaw=0.0578 left_pitch=-0.3754 left_roll=-0.0236 left_gripper=0.9956 right_x=0.3878 right_y=0.1063 right_z=0.032 right_yaw=0.1574 right_pitch=-0.0794 right_roll=0.0875 right_gripper=0.039\nstate[joint_eff]: [-0.1983, -3.2615, 6.694, 1.326, -0.0952, -0.0611, -0.0171, -0.0205, -6.1333, 5.5863, 1.3797, 0.2418, 0.0171, 0.9158]\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]: [-0.0383, 1.113, 0.976, -0.8154, -0.049, -0.1204, 0.9955, 0.2813, 1.4979, 0.6209, 0.2188, 0.0437, 0.1345, 0.0395]\nstate[eef_state]: left_x=0.2974 left_y=0.0008 left_z=0.1741 left_yaw=0.0579 left_pitch=-0.3788 left_roll=-0.0235 left_gripper=0.9955 right_x=0.3842 right_y=0.1067 right_z=0.0746 right_yaw=0.167 right_pitch=-0.0847 right_roll=0.0875 right_gripper=0.0395\nstate[joint_eff]: [-0.2256, -3.3026, 6.6393, 1.3162, -0.0513, -0.0513, -0.0171, -0.1026, -6.694, 8.4581, 1.8095, 0.0611, 0.022, 1.033]",
      "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]: [-0.0383, 1.113, 0.976, -0.8204, -0.049, -0.1204, 0.9955, 0.5808, 1.5845, 1.0805, -0.2142, 0.244, 0.2893, 0.0395]\nstate[eef_state]: left_x=0.2964 left_y=0.0009 left_z=0.1734 left_yaw=0.0581 left_pitch=-0.3838 left_roll=-0.023 left_gripper=0.9955 right_x=0.3969 right_y=0.2137 right_z=0.1515 right_yaw=0.2128 right_pitch=-0.1188 right_roll=0.0704 right_gripper=0.0395\nstate[joint_eff]: [0.0342, -3.0154, 6.7214, 1.326, -0.022, -0.0562, -0.0073, 0.1299, -7.3231, 9.6205, 1.6728, 0.2027, 0.2418, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:816ac6fbd3b189cf8f8dd922b5247323c56d2ec28feb24ca749efeeb16afadcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68bc402c02321b31a008485ffedc4461f2cfda01fba674b57ecbe6ffdb24b4a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b0b0ceada3abcef6ee0accd56f54a52cf36acf99c837470474c0840763c778d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AcKEAgSGAI4AUIIdGhpbmtpbmcSDD0wQYaSzohFS2J9WxoMkU9T4sznvKnbESBiIjBjbFMwozkWi2wR2kAgaUmiXRfkW0koNlgTAd5oUAmPCGSDujJcqu0hMDazHH99micqhQc1uAxQ0viy2ZOfd5/6Qk4A78d5jNbuzNu+KlCV1jhUgIbqGWzRoabupbSfnabQdO+dYJ2jE3teeXs+yHJtsrX6VQ7S73lWgYIMwzWC0T7ZfIQ7UV9mXy/CE4TEg9UYg3oZxY5K6z5BzZNcTyKzOK+1sf1anJMU3+UF+RnbZ0cs/juMerga3bjFoB8375w+kTxleccHOEtFwTU6EE0pWAcXA1GsAdF9WZy5KAQyc001mzLOIbpUsSNZuUzgEacpdglHOEiIb3Ex4PUIl38CJDwpMIukIumMNMHPp+KxgXLvb6rIS+dE7oerbxtj/vZVGuzrndSFyCnp1UlJpIpsrVzt4QalavzGZnpmRnyDc2dJAac9FHtPwvgatEW3RS7RZBz/yN8Av3ypaIjCk8FxVq6NT9XDhaucJ12C8wHmYagnCmLyyrm//iMXQ7JeoOaeVPdtyk9qdtLJ1Ef/opadscpTDmTLJ5VAiwBgU3aAz4Izy9b/ymBzhZLGuTfhC8mEoyEFOXiKow7KSja0q6etmhA5yHKxL4sFApkt+vYVRW/SImV+OAn5Nhp63i1ewmVbYBczRm9o4i7ejdiapPr2amZx39lC3sN+LGnrHf9fikEzbCLhVtD5eUc93RMwBhthTlcoWSWy0jmcU2uBBPKtGiXgv4eQF7nC2ksLIPrpzmGnGmzjLaxpXrttzSkTvb9RNPvzEwOqaYC16BxgBLFwyjEkbHaTi/I51yb0H8LfLCmWq3VYzOmgit98GfIzPIH1kWPM+lcO1+KYIQtZ5n0E7kWU9B/NPlc/qYeUz5DfscXeNaF+cXh5OHs5iA6axUrT6wcci+0KwYz6f6iHTcFgS06CpozcYUTDKVu5NgMu3N6KwMtL+RqiyHGwHxgz0fSOKdHZiAyEleT89fAx+oQRd8XwCmyU6zMiOkt0nfBHOFXIb5ZRlw52feO+en7ImqBBq2T7PPQ0SDRFKCtEr9PciiwkfH/h6gabSc+OvLUtuqC+TVosFFdoiQuRSeaBxTgEByzz05OMyIWEoBr43ebr9Lgdwz+hd+BMrVQdbWpQfC0bIxW5YVt8Q4e25kO5AG9b41B5HuKzdM9MZRYQ9o/WcTWfkVsjb6fS0oNXfzfghVIEScRcgHK/42XEWhfk0WjvzTL0NV5kQa1pysgaR9zkqqitS8zCTTYShHk9oPrZHM3uql2lOy4sGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AsScW6uXc9Qb5JrJuH1hw5",
      "input": {
        "note": "Pink bowl is held and partly over the stack but still a bit right of its centre. Shifting ~3 cm left and lowering.",
        "targets": {
          "right_y": 0.245,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01AsScW6uXc9Qb5JrJuH1hw5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0383, 1.113, 0.976, -0.8215, -0.0494, -0.12, 0.9956, 0.6434, 1.6882, 1.0557, -0.136, 0.281, 0.3225, 0.0395]\nstate[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1732 left_yaw=0.0583 left_pitch=-0.3849 left_roll=-0.0223 left_gripper=0.9956 right_x=0.3925 right_y=0.2375 right_z=0.1112 right_yaw=0.224 right_pitch=-0.1568 right_roll=0.0529 right_gripper=0.0395\nstate[joint_eff]: [-0.1299, -3.2068, 6.612, 1.3211, -0.0952, -0.0366, -0.0073, 0.2393, -9.0325, 6.694, 1.6777, 0.3053, 0.1148, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2909c67b75146f69a323a5807902c4b4aeb5f28f4df668f46dd838f043ba86c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e816c13d825d8271af940ec351b97573e0bed7471fea053a848b7fb445b051b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b697edfd048d960d3bab111497a3beaabeb510033338f25eeaf04ee815502f44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 3.57 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]: [-0.0383, 1.113, 0.976, -0.8154, -0.049, -0.1204, 0.9955, 0.2813, 1.4979, 0.6209, 0.2188, 0.0437, 0.1345, 0.0395]\nstate[eef_state]: left_x=0.2974 left_y=0.0008 left_z=0.1741 left_yaw=0.0579 left_pitch=-0.3788 left_roll=-0.0235 left_gripper=0.9955 right_x=0.3842 right_y=0.1067 right_z=0.0746 right_yaw=0.167 right_pitch=-0.0847 right_roll=0.0875 right_gripper=0.0395\nstate[joint_eff]: [-0.2256, -3.3026, 6.6393, 1.3162, -0.0513, -0.0513, -0.0171, -0.1026, -6.694, 8.4581, 1.8095, 0.0611, 0.022, 1.033]",
      "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]: [-0.0383, 1.113, 0.976, -0.8204, -0.049, -0.1204, 0.9955, 0.5808, 1.5845, 1.0805, -0.2142, 0.244, 0.2893, 0.0395]\nstate[eef_state]: left_x=0.2964 left_y=0.0009 left_z=0.1734 left_yaw=0.0581 left_pitch=-0.3838 left_roll=-0.023 left_gripper=0.9955 right_x=0.3969 right_y=0.2137 right_z=0.1515 right_yaw=0.2128 right_pitch=-0.1188 right_roll=0.0704 right_gripper=0.0395\nstate[joint_eff]: [0.0342, -3.0154, 6.7214, 1.326, -0.022, -0.0562, -0.0073, 0.1299, -7.3231, 9.6205, 1.6728, 0.2027, 0.2418, 1.0281]",
      "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]: [-0.0383, 1.113, 0.976, -0.8215, -0.0494, -0.12, 0.9956, 0.6434, 1.6882, 1.0557, -0.136, 0.281, 0.3225, 0.0395]\nstate[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1732 left_yaw=0.0583 left_pitch=-0.3849 left_roll=-0.0223 left_gripper=0.9956 right_x=0.3925 right_y=0.2375 right_z=0.1112 right_yaw=0.224 right_pitch=-0.1568 right_roll=0.0529 right_gripper=0.0395\nstate[joint_eff]: [-0.1299, -3.2068, 6.612, 1.3211, -0.0952, -0.0366, -0.0073, 0.2393, -9.0325, 6.694, 1.6777, 0.3053, 0.1148, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2909c67b75146f69a323a5807902c4b4aeb5f28f4df668f46dd838f043ba86c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e816c13d825d8271af940ec351b97573e0bed7471fea053a848b7fb445b051b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b697edfd048d960d3bab111497a3beaabeb510033338f25eeaf04ee815502f44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpgcKEAgSGAI4AUIIdGhpbmtpbmcSDFsy7hWvhmsqHfxLQRoMrniJus3hrNBMBvaPIjAKxxK9G1SY1oUw7hk7E2lQcl58aHjrJBY21+Q/TgGKdd/v6f02HdDLsIqj4qApreIqwwa7gX/saHLxX3J7i8S1SkTGf38CHr9P06YGbAWnVeGlQa/FCIE6tGKs+2Kz8yqa0ea4WJ3v9vqRMRDAEBqLjq3BjQrFr9CJfVqNoO/H03HQSrnFtPVKRncACAMq3386XYCPE0QsOdJI1H8W0mypdqqM983FhpSi4pC1C+KKfbCYJChoxXwS/kxlubNpWUbbbFWDBUjMUGaGg6dOKFZw30lpih4f3d2UqLQgQtDCCimGhoNuMcjNlTZnbe6ENUudoszcMYaolUt86rcO4cW0WvTKDkMQlCnpDqYPmmaSAunr3Z3CzrvibRqi37hi13BQiaxjiFhFo23ChRk9Uo6qcZ5DSrLS+AzJ7leeAyaClqjz9X2S2Kl6yPOQStyQBQeYKSmUU4elqYGcN7o20uGAR56rZa200SqK+hlPLihpPFq8DnCYS4Md3Jm3H6hafbFCusrwS4RrFXHT1cbhy5QwL+JoPeKGzrHcDkkl6hduKa4dJi6hf9+D7Byph5O7bpEhC15vKN9qNkG8rTINN9ecsvKeBToYod+zcstn7QsBhVP1730wtjt/t3Ah1hBFLVu8audxlu2mYl5m/V+wl1vhNG7fMZGVHwOehvE/QDbNy/pVMXuxa1Y+7QZAD9QA/XoV09m+cWWHDGNEl0JICbjFywnCtn0+lQ3SsXSP3tglmjuuiHIjS4iT7iyKXxhbbQZimULtZthH3xjT2RDjEzVhFqZblx3NAFUcEHHQqRBO4GKkxX8SlEWQutGKlNl9H8xdP3SS5e1eg5+g5IwlrvgXv9PMNqGqfIBbfeKiCmcbAKPso+GpzDNn1+2ejHZevkT/84d++huvaeIHnBHUtSMqQ2EydFNCSPlrgaBtW+QyFngdu9QlL9SIFv/cwYlEyfXC7BLH8puUdr1Wv5d+Pl3b0eSnuHXvuROIUSR1Jv+S2dk7i45zDPnCSCEizUxmaPYVOWijHHeGPchkt9IGYxgSzOohmonjH7+RbBKrMbrdivmXgsfc6O7hP3WKA3oLn2KUyOL3zHgFM/a84SDm2i0mJeSyiHvfERU0KjXKt14IWOa7XvH1B3OEG6hq4p9fDMWCrhOKhrdiy7OTT9XGUxalbR0dS9NfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jujam9jfESMwLrWbfHLoFD",
      "input": {
        "note": "Pink bowl now covers the blue/teal stack in the overhead view, so it looks aligned. Lowering it onto the stack.",
        "targets": {
          "right_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_01Jujam9jfESMwLrWbfHLoFD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0383, 1.113, 0.976, -0.8268, -0.0494, -0.1204, 0.9955, 0.6609, 1.7283, 1.0355, -0.1028, 0.281, 0.3256, 0.0395]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1725 left_yaw=0.0587 left_pitch=-0.3902 left_roll=-0.022 left_gripper=0.9955 right_x=0.388 right_y=0.2442 right_z=0.0913 right_yaw=0.238 right_pitch=-0.1816 right_roll=0.044 right_gripper=0.0395\nstate[joint_eff]: [-0.1846, -3.2342, 6.5846, 1.3846, -0.0855, -0.0708, -0.0171, -0.5812, -10.0444, 7.1043, 1.9023, 0.2759, 0.1343, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad993db67ba35b33bb947b93cab3e992690bf591177c4caedbb58ad06d3b0b1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76742ec4b35ee374ad8566eaae8152601e008f7ec7570fa56e5c3b79f3a1cf3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:12f84842415e0c479dd74ebde27168b6647e53e7a1cfc527b119e633cc908b25",
        "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 · 3.718 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]: [-0.0383, 1.113, 0.976, -0.8204, -0.049, -0.1204, 0.9955, 0.5808, 1.5845, 1.0805, -0.2142, 0.244, 0.2893, 0.0395]\nstate[eef_state]: left_x=0.2964 left_y=0.0009 left_z=0.1734 left_yaw=0.0581 left_pitch=-0.3838 left_roll=-0.023 left_gripper=0.9955 right_x=0.3969 right_y=0.2137 right_z=0.1515 right_yaw=0.2128 right_pitch=-0.1188 right_roll=0.0704 right_gripper=0.0395\nstate[joint_eff]: [0.0342, -3.0154, 6.7214, 1.326, -0.022, -0.0562, -0.0073, 0.1299, -7.3231, 9.6205, 1.6728, 0.2027, 0.2418, 1.0281]",
      "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]: [-0.0383, 1.113, 0.976, -0.8215, -0.0494, -0.12, 0.9956, 0.6434, 1.6882, 1.0557, -0.136, 0.281, 0.3225, 0.0395]\nstate[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1732 left_yaw=0.0583 left_pitch=-0.3849 left_roll=-0.0223 left_gripper=0.9956 right_x=0.3925 right_y=0.2375 right_z=0.1112 right_yaw=0.224 right_pitch=-0.1568 right_roll=0.0529 right_gripper=0.0395\nstate[joint_eff]: [-0.1299, -3.2068, 6.612, 1.3211, -0.0952, -0.0366, -0.0073, 0.2393, -9.0325, 6.694, 1.6777, 0.3053, 0.1148, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0383, 1.113, 0.976, -0.8268, -0.0494, -0.1204, 0.9955, 0.6609, 1.7283, 1.0355, -0.1028, 0.281, 0.3256, 0.0395]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1725 left_yaw=0.0587 left_pitch=-0.3902 left_roll=-0.022 left_gripper=0.9955 right_x=0.388 right_y=0.2442 right_z=0.0913 right_yaw=0.238 right_pitch=-0.1816 right_roll=0.044 right_gripper=0.0395\nstate[joint_eff]: [-0.1846, -3.2342, 6.5846, 1.3846, -0.0855, -0.0708, -0.0171, -0.5812, -10.0444, 7.1043, 1.9023, 0.2759, 0.1343, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad993db67ba35b33bb947b93cab3e992690bf591177c4caedbb58ad06d3b0b1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76742ec4b35ee374ad8566eaae8152601e008f7ec7570fa56e5c3b79f3a1cf3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12f84842415e0c479dd74ebde27168b6647e53e7a1cfc527b119e633cc908b25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3AYKEAgSGAI4AUIIdGhpbmtpbmcSDOGP6nE/YsJCakNruBoMSydfBB57j+GcZlo3IjCcMhv4HWWf0T1u99iIOsBDqejRD94FknO8hAwtgm6WZpyRlrMf6WC6T1Gc6xT4e4oq+QUJeFhwZIquk+zB7Pc9huMm2r2KSG0ROmooKzMWMwtbIlawnG3UoFSFo+lpjbmAH8ORYmo15ap3E4FmtOFI49nXxvSxX9MBTYaP3vLpQLrL4XT35vYCqjLUKND6HkpOZsJ13FXC36z7bZrKIR8q5vGRWprHNILbAMJRGT4/M0hfCKn/aPF3fNzh0Qbj09rGHEBOtW2yJz5uexq76UDYw8rG+bXsHz3xTek1OwKBG2dt2JFHVp9oG6ZH7RwoGLuj5ks2WYHUVec7SCE6fV4qvodb/kxFI2IbtAsT+i3kssq9JI8b7TYoejPUjV+eR1ICE+oB0tCHmqXkn0fKC56EktCEfIm1hSlg5uI7bS++QJAo0vzuo1sO0tj0XrjYB6JHQioNEfSFJipiCjXXiJPoO97lX5q/x+YyrdsrIG8GveydZMheAnl+LVmuQ76JkCq0so5mjQK5XMOV3wxaqv4Jv3rigzBp+AAMgBsWxRUHdsMO9pyjLa02feihNg6SgBcXBrctAAMtDLI0xY/JXv7SkFjtaLoyr3ub1cKgKJDYtLIlx9/OSplNNKmVTlSraNOw1U8OMIseZO/ljezUGEVs4ohYD6AWLf6DAS0xBhDEgOrKpNPixIm/grewRm2nC6c28RXOs9ij/uIN6omYp9VzeOmwPjkNIBOezix3ZL21P+2rDVpI18Slcmcia6IigMKbAjppJaux3R5mGCQmpOuMNaw5HbhQzr/xD9EZUnHmdcIdQGZJBOMxl6AgaIJHzoK1iwOI7cG+RPCLbsJfG8RVeD0bO/nxbHhyp/pY3ToQKletFkbiWBgKcY/cGc4NTa8cK4rXQLu663h1/xSZ6m8AygKiok9JWKK3AfW31Z2x38IwjM/L4N0A9ZKOnwRtR0yygBdC0AuUYc5LNJZyxDQO6I9Q2wbkAg0hMHSAO6pur9OynvMiMPQ2IijjYjxSxyJCpJDCJM66i5JErKkIspaKK94CLdVDLeXuNeEUVldIDa2HHTLo+mqjpY3TEBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qq3YPfPNpcThmsfRVXKxfT",
      "input": {
        "note": "Descent stopped at ~9 cm: the pink bowl is resting on the stack. Releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Qq3YPfPNpcThmsfRVXKxfT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0387, 1.113, 0.976, -0.8272, -0.049, -0.12, 0.9956, 0.6609, 1.7283, 1.0355, -0.1078, 0.2764, 0.3187, 0.9951]\nstate[eef_state]: left_x=0.295 left_y=0.0008 left_z=0.1724 left_yaw=0.0578 left_pitch=-0.3906 left_roll=-0.0221 left_gripper=0.9956 right_x=0.3869 right_y=0.2443 right_z=0.0903 right_yaw=0.2452 right_pitch=-0.1873 right_roll=0.0399 right_gripper=0.9951\nstate[joint_eff]: [-0.3214, -3.2205, 6.5983, 1.3114, -0.0708, -0.0562, -0.0073, -0.1709, -8.4034, 6.4205, 1.5165, 0.1148, 0.0122, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8ddfb544bcad8c68a2b608ca7d63c91d2d2857a803915a62cab553c305c9530",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90677912f773f7049d8faf3538fb31c6d014e606c2644c735004f6b67233a94b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d341ca98a70d431fa1a54335b2dbc0a7c0e8d1dedce81ae7a94be8e49baa63d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 10.18 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]: [-0.0383, 1.113, 0.976, -0.8215, -0.0494, -0.12, 0.9956, 0.6434, 1.6882, 1.0557, -0.136, 0.281, 0.3225, 0.0395]\nstate[eef_state]: left_x=0.2962 left_y=0.001 left_z=0.1732 left_yaw=0.0583 left_pitch=-0.3849 left_roll=-0.0223 left_gripper=0.9956 right_x=0.3925 right_y=0.2375 right_z=0.1112 right_yaw=0.224 right_pitch=-0.1568 right_roll=0.0529 right_gripper=0.0395\nstate[joint_eff]: [-0.1299, -3.2068, 6.612, 1.3211, -0.0952, -0.0366, -0.0073, 0.2393, -9.0325, 6.694, 1.6777, 0.3053, 0.1148, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0383, 1.113, 0.976, -0.8268, -0.0494, -0.1204, 0.9955, 0.6609, 1.7283, 1.0355, -0.1028, 0.281, 0.3256, 0.0395]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1725 left_yaw=0.0587 left_pitch=-0.3902 left_roll=-0.022 left_gripper=0.9955 right_x=0.388 right_y=0.2442 right_z=0.0913 right_yaw=0.238 right_pitch=-0.1816 right_roll=0.044 right_gripper=0.0395\nstate[joint_eff]: [-0.1846, -3.2342, 6.5846, 1.3846, -0.0855, -0.0708, -0.0171, -0.5812, -10.0444, 7.1043, 1.9023, 0.2759, 0.1343, 1.033]",
      "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]: [-0.0387, 1.113, 0.976, -0.8272, -0.049, -0.12, 0.9956, 0.6609, 1.7283, 1.0355, -0.1078, 0.2764, 0.3187, 0.9951]\nstate[eef_state]: left_x=0.295 left_y=0.0008 left_z=0.1724 left_yaw=0.0578 left_pitch=-0.3906 left_roll=-0.0221 left_gripper=0.9956 right_x=0.3869 right_y=0.2443 right_z=0.0903 right_yaw=0.2452 right_pitch=-0.1873 right_roll=0.0399 right_gripper=0.9951\nstate[joint_eff]: [-0.3214, -3.2205, 6.5983, 1.3114, -0.0708, -0.0562, -0.0073, -0.1709, -8.4034, 6.4205, 1.5165, 0.1148, 0.0122, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8ddfb544bcad8c68a2b608ca7d63c91d2d2857a803915a62cab553c305c9530",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90677912f773f7049d8faf3538fb31c6d014e606c2644c735004f6b67233a94b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d341ca98a70d431fa1a54335b2dbc0a7c0e8d1dedce81ae7a94be8e49baa63d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "text": "Released. Parking the right arm so I can check the stack.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018hF1FtSqakMthEhBh5cMve",
      "input": {
        "note": "Pink bowl released onto the stack. Moving the right arm home to get a clear overhead view of the stack.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_018hF1FtSqakMthEhBh5cMve",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0383, 1.1133, 0.976, -0.8272, -0.049, -0.1204, 0.9956, -0.1886, 1.0378, 0.8833, -0.6861, -0.2829, -0.2523, 0.9963]\nstate[eef_state]: left_x=0.295 left_y=0.0009 left_z=0.1723 left_yaw=0.0584 left_pitch=-0.391 left_roll=-0.0223 left_gripper=0.9956 right_x=0.3018 right_y=-0.0038 right_z=0.1825 right_yaw=0.1902 right_pitch=-0.2225 right_roll=0.0426 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -3.1795, 6.6667, 1.3455, -0.0757, -0.0806, -0.0171, -0.253, -3.7402, 10.0581, 1.3944, -0.359, -0.0171, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23cfef9c70b849edc8189c908b8482a8c96d2ee6caf4f00819ad1bae8b4283fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab81a0c5711ecdb07ff472f51e5ee9a73cffa995ec33973254b14028715ad62a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c05a532199a863a0ec1ceab79d22be5e08b1f121f43999484c9b6083f2a2cd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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