adhoc - adhoc_fcffc9d2.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
max_speed_frac: 0.25
model: claude-opus-5-5
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: 310.1 s
total steps: 362

operator

scenes

trials

errored

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

Goal: Stack the bowls on the table.

Raw transcript

system

user

Goal: Stack the bowls on the table.

step 0

assistant

agent noteThree bowls in a row (white left, blue middle, pink right). Moving left arm above estimated white bowl center to refine its position via wrist cam.

move_to

left_x0.4200left_y-0.1200left_z0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7952, 0.6048, -0.3798, -0.0227, -0.0406, 0.9996, -0.0208, 0.7929, 0.6022, -0.379, -0.0109, -0.0334, 0.9968] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1801 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=-0.0006 right_z=0.1796 right_yaw=-0.0004 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9968 state[joint_eff]: [-0.3897, -1.4974, 10.1402, 1.7802, -0.0317, 0.2418, -0.0611, -0.3761, -1.2923, 10.2769, 1.9121, -0.1245, 0.1734, -0.3541] 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": 0.42, "left_y": -0.12, "left_z": 0.2}, "note": "Three bowls in a row (white left, blue middle, pink right). Moving left arm above estimated white bowl center to refine its position via wrist cam."})

tool

executing move_to over 11 steps (1.1s)

step 11

assistant

agent noteWhite bowl is roughly centered under the left gripper. Shifting to its left (+y) rim to pinch the rim with jaws straddling it.

move_to

left_x0.4250left_y-0.0680left_z0.1200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4244, 1.4433, 1.0183, -0.2436, -0.3412, -0.263, 0.9995, -0.0216, 0.7975, 0.6018, -0.3893, -0.0162, -0.0311, 0.9965] state[eef_state]: left_x=0.4087 left_y=-0.1159 left_z=0.181 left_yaw=-0.0184 left_pitch=-0.054 left_roll=0.0171 left_gripper=0.9995 right_x=0.2935 right_y=0.0001 right_z=0.1761 right_yaw=0.0021 right_pitch=-0.0148 right_roll=0.0052 right_gripper=0.9965 state[joint_eff]: [-0.294, -6.9538, 8.8547, 1.6825, -0.2466, -0.0562, -0.0171, 0.0205, -1.5795, 7.2274, 1.8388, 0.0269, -0.0562, -0.0415] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.425, "left_y": -0.068, "left_z": 0.12}, "note": "White bowl is roughly centered under the left gripper. Shifting to its left (+y) rim to pinch the rim with jaws straddling it."})

tool

executing move_to over 5 steps (0.5s)

step 16

assistant

agent noteBowl's left rim is between the jaws in the wrist view. Descending so the jaws straddle the rim.

move_to

left_x0.4250left_y-0.0680left_z0.0300

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2615, 1.5101, 0.8364, -0.0353, -0.2394, -0.1894, 0.9995, -0.0216, 0.7979, 0.6003, -0.3927, -0.0162, -0.0311, 0.9965] state[eef_state]: left_x=0.414 left_y=-0.0637 left_z=0.1124 left_yaw=0.022 left_pitch=-0.1153 left_roll=0.0282 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1746 right_yaw=0.0021 right_pitch=-0.0201 right_roll=0.0053 right_gripper=0.9965 state[joint_eff]: [0.253, -6.2564, 6.7897, 1.8828, -0.0904, 0.1099, -0.0122, -0.0205, -1.2103, 7.3368, 1.8144, -0.0317, -0.0611, -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": 0.425, "left_y": -0.068, "left_z": 0.03}, "note": "Bowl's left rim is between the jaws in the wrist view. Descending so the jaws straddle the rim."})

tool

executing move_to over 6 steps (0.6s)

step 22

assistant

agent noteJaws straddle the white bowl's left rim near table level. Closing to pinch the rim.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2638, 1.7466, 0.7227, 0.2562, -0.2363, -0.1864, 0.9995, -0.0216, 0.7986, 0.6003, -0.3931, -0.0166, -0.0307, 0.9965] state[eef_state]: left_x=0.4161 left_y=-0.0658 left_z=0.0261 left_yaw=0.0178 left_pitch=-0.1724 left_roll=0.0451 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1743 right_yaw=0.0022 right_pitch=-0.0213 right_roll=0.0058 right_gripper=0.9965 state[joint_eff]: [-0.2667, -7.2137, 4.8752, 1.6825, -0.149, -0.0611, -0.0122, -0.1299, -1.2923, 7.0222, 1.7314, -0.0659, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws straddle the white bowl's left rim near table level. Closing to pinch the rim."})

tool

executing move_to over 10 steps (1.0s)

step 32

assistant

agent noteGripper settled at 0.10 (~1 cm), consistent with pinching the rim. Lifting to verify the bowl comes up.

move_to

left_z0.1400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2649, 1.7397, 0.7162, 0.2905, -0.2295, -0.207, 0.1023, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0311, 0.9965] state[eef_state]: left_x=0.4198 left_y=-0.0686 left_z=0.0324 left_yaw=0.0207 left_pitch=-0.1399 left_roll=0.0151 left_gripper=0.1023 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0024 right_pitch=-0.0217 right_roll=0.0055 right_gripper=0.9965 state[joint_eff]: [-0.2393, -7.1179, 5.8872, 1.2674, -0.2125, 0.1734, 0.3932, -0.0615, -1.1556, 7.0222, 1.7705, -0.0464, -0.0366, -0.0122] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.14}, "note": "Gripper settled at 0.10 (~1 cm), consistent with pinching the rim. Lifting to verify the bowl comes up."})

tool

executing move_to over 7 steps (0.7s)

step 39

assistant

agent noteWhite bowl appears lifted with the gripper. Carrying it over the blue middle bowl, offset by the bowl radius so the centers align.

move_to

left_y-0.2680left_z0.1700left_x0.4200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2649, 1.5375, 0.9165, -0.1349, -0.2325, -0.2134, 0.1016, -0.0216, 0.7986, 0.5999, -0.3927, -0.0166, -0.0311, 0.9965] state[eef_state]: left_x=0.4184 left_y=-0.0676 left_z=0.1163 left_yaw=0.0278 left_pitch=-0.1612 left_roll=0.0188 left_gripper=0.1016 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=0.0024 right_pitch=-0.0213 right_roll=0.0055 right_gripper=0.9965 state[joint_eff]: [-0.1162, -8.9368, 9.3333, 1.6532, -0.0904, 0.0513, -0.0806, -0.1162, -1.2513, 7.2274, 1.7167, -0.0317, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.268, "left_z": 0.17, "left_x": 0.42}, "note": "White bowl appears lifted with the gripper. Carrying it over the blue middle bowl, offset by the bowl radius so the centers align."})

tool

executing move_to over 18 steps (1.8s)

step 57

assistant

agent noteThe white bowl never left the table (still visible in its original spot in both views), so the rim grasp slipped. Returning above its left rim with gripper open to retry, deeper this time.

move_to

left_x0.4250left_y-0.0680left_z0.1200left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7601, 1.8835, 1.5341, -0.5793, -0.5488, -0.6102, 0.1014, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.0307, 0.9965] state[eef_state]: left_x=0.4169 left_y=-0.2642 left_z=0.159 left_yaw=0.0145 left_pitch=-0.1825 left_roll=0.0172 left_gripper=0.1014 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=0.0022 right_pitch=-0.0255 right_roll=0.0059 right_gripper=0.9965 state[joint_eff]: [-0.4171, -9.8393, 9.0325, 1.2381, -0.486, 0.0904, -0.0269, -0.1436, -1.388, 7.0359, 1.7363, -0.0708, -0.0464, -0.0122] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.425, "left_y": -0.068, "left_z": 0.12, "left_gripper": 1.0}, "note": "The white bowl never left the table (still visible in its original spot in both views), so the rim grasp slipped. Returning above its left rim with gripper open to retry, deeper this time."})

tool

executing move_to over 18 steps (1.8s)

step 75

assistant

agent noteWrist view shows the white bowl now centred under the jaws (it was pushed left during the last close), so its left rim is ~5 cm further +y. Moving over that rim.

move_to

left_x0.4350left_y-0.0170left_z0.1000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2661, 1.5875, 0.981, -0.2153, -0.239, -0.2417, 0.9969, -0.0219, 0.8043, 0.5999, -0.3931, -0.0166, -0.0311, 0.9965] state[eef_state]: left_x=0.4215 left_y=-0.0678 left_z=0.1087 left_yaw=0.0514 left_pitch=-0.2222 left_roll=0.0227 left_gripper=0.9969 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0021 right_pitch=-0.0274 right_roll=0.0057 right_gripper=0.9965 state[joint_eff]: [0.2256, -9.1556, 6.5299, 1.7509, -0.0513, 0.2271, -0.0904, -0.2256, -1.306, 7.0496, 1.746, -0.0855, -0.0562, -0.0122] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.435, "left_y": -0.017, "left_z": 0.1}, "note": "Wrist view shows the white bowl now centred under the jaws (it was pushed left during the last close), so its left rim is ~5 cm further +y. Moving over that rim."})

tool

executing move_to over 5 steps (0.5s)

step 80

assistant

agent noteWhite bowl's left rim now sits between the jaws in the wrist view. Descending low so the fingers cover more of the rim wall.

move_to

left_z0.0100

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1078, 1.6058, 0.973, -0.1864, -0.1532, -0.1585, 0.9979, -0.0219, 0.8043, 0.5999, -0.3935, -0.0162, -0.0311, 0.9965] state[eef_state]: left_x=0.4302 left_y=-0.0158 left_z=0.1007 left_yaw=0.0907 left_pitch=-0.2371 left_roll=0.0192 left_gripper=0.9979 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.0017 right_pitch=-0.0278 right_roll=0.0055 right_gripper=0.9965 state[joint_eff]: [0.3214, -6.612, 6.106, 1.7705, 0.0562, 0.149, 0.0904, -0.0889, -1.2513, 7.0359, 1.7558, -0.0464, -0.022, -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_z": 0.01}, "note": "White bowl's left rim now sits between the jaws in the wrist view. Descending low so the fingers cover more of the rim wall."})

tool

executing move_to over 6 steps (0.6s)

step 86

assistant

agent noteThe last descent didn't move (z stayed at 0.10, no contact effort). Re-sending a full-pose descent target over the rim.

move_to

left_z0.0200left_x0.4300left_y-0.0150

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0963, 1.6131, 0.9718, -0.1749, -0.128, -0.1375, 0.998, -0.0216, 0.8043, 0.5999, -0.3935, -0.0166, -0.0311, 0.9965] state[eef_state]: left_x=0.432 left_y=-0.0155 left_z=0.0987 left_yaw=0.0688 left_pitch=-0.2378 left_roll=0.0149 left_gripper=0.998 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0024 right_pitch=-0.0278 right_roll=0.0057 right_gripper=0.9965 state[joint_eff]: [-0.2256, -7.3915, 6.188, 1.7265, -0.0415, 0.1978, -0.0024, -0.0615, -1.3197, 7.1726, 1.7509, -0.0611, -0.0562, -0.0122] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.02, "left_x": 0.43, "left_y": -0.015}, "note": "The last descent didn't move (z stayed at 0.10, no contact effort). Re-sending a full-pose descent target over the rim."})

tool

executing move_to over 6 steps (0.6s)

step 92

assistant

agent noteDescent stalled at z=0.067 with shoulder load dropping: the right jaw is likely hitting the bowl's sloped inner wall. Shifting the gripper 3 cm left so the right jaw sits just inside the rim.

move_to

left_z0.0900left_y0.0130

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0963, 1.6737, 0.8898, -0.0231, -0.1307, -0.1383, 0.998, -0.0216, 0.8051, 0.5999, -0.3935, -0.0166, -0.0311, 0.9965] state[eef_state]: left_x=0.4332 left_y=-0.0151 left_z=0.0671 left_yaw=0.0712 left_pitch=-0.2284 left_roll=0.0148 left_gripper=0.998 right_x=0.2931 right_y=0.0002 right_z=0.1723 right_yaw=0.0024 right_pitch=-0.0285 right_roll=0.0057 right_gripper=0.9965 state[joint_eff]: [0.0205, -2.8239, 3.0291, 0.779, -0.0708, -0.0317, -0.0073, -0.212, -1.3333, 7.4188, 1.7509, -0.0513, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.09, "left_y": 0.013}, "note": "Descent stalled at z=0.067 with shoulder load dropping: the right jaw is likely hitting the bowl's sloped inner wall. Shifting the gripper 3 cm left so the right jaw sits just inside the rim."})

tool

executing move_to over 3 steps (0.3s)

step 95

assistant

agent noteBowl rim now near the right jaw; backing off 1 cm so the right jaw goes just inside the rim, and descending to straddle the wall.

move_to

left_y0.0020left_z0.0100

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0223, 1.6627, 0.8963, -0.0784, -0.0933, -0.1146, 0.9981, -0.0216, 0.8097, 0.598, -0.3927, -0.0166, -0.0311, 0.9965] state[eef_state]: left_x=0.426 left_y=0.0105 left_z=0.0644 left_yaw=0.1011 left_pitch=-0.2701 left_roll=0.009 left_gripper=0.9981 right_x=0.2933 right_y=0.0002 right_z=0.1703 right_yaw=0.0025 right_pitch=-0.0342 right_roll=0.0058 right_gripper=0.9965 state[joint_eff]: [0.0342, -8.0479, 7.3641, 1.3309, 0.1197, 0.2711, -0.0024, -0.1436, -1.7162, 7.2821, 1.7216, -0.0415, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": 0.002, "left_z": 0.01}, "note": "Bowl rim now near the right jaw; backing off 1 cm so the right jaw goes just inside the rim, and descending to straddle the wall."})

tool

executing move_to over 4 steps (0.4s)

step 99

assistant

Reached z=0.004; bowl wall is right next to the right jaw. Closing.

agent noteFingers are down at table level with the white bowl's wall by the right jaw. 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]: [-0.049, 1.7912, 0.7994, 0.0856, -0.094, -0.1352, 0.9981, -0.0219, 0.8108, 0.5972, -0.3931, -0.0166, -0.0307, 0.9965] state[eef_state]: left_x=0.4142 left_y=-0.0001 left_z=0.0039 left_yaw=0.0892 left_pitch=-0.3307 left_roll=0.0041 left_gripper=0.9981 right_x=0.2932 right_y=0.0001 right_z=0.1696 right_yaw=0.0019 right_pitch=-0.0365 right_roll=0.0062 right_gripper=0.9965 state[joint_eff]: [-0.2393, -6.6393, 5.4496, 1.2821, -0.2076, 0.0317, -0.0073, -0.1709, -1.4154, 7.1316, 1.7509, -0.0659, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]

assistant

Reached z=0.004; bowl wall is right next to the right jaw. Closing.

move_to({"targets": {"left_gripper": 0.0}, "note": "Fingers are down at table level with the white bowl's wall by the right jaw. Closing to pinch the wall."})

tool

executing move_to over 10 steps (1.0s)

step 109

assistant

agent noteJaws closed on the bowl wall (reading 0.10 ≈ 1 cm wall, wall visible at the jaw tips). Lifting to confirm the bowl comes with it.

move_to

left_z0.1200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0505, 1.7782, 0.8059, 0.1272, -0.078, -0.1574, 0.1034, -0.0216, 0.8116, 0.5957, -0.3931, -0.0166, -0.0311, 0.9965] state[eef_state]: left_x=0.4257 left_y=-0.0042 left_z=0.0177 left_yaw=0.0836 left_pitch=-0.2719 left_roll=-0.0322 left_gripper=0.1034 right_x=0.293 right_y=0.0002 right_z=0.1686 right_yaw=0.0025 right_pitch=-0.0388 right_roll=0.0059 right_gripper=0.9965 state[joint_eff]: [0.212, -7.1043, 4.9573, 1.0965, -0.2173, 0.1587, 0.5739, -0.0889, -1.4017, 7.2821, 1.7118, -0.0659, -0.0317, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.12}, "note": "Jaws closed on the bowl wall (reading 0.10 \u2248 1 cm wall, wall visible at the jaw tips). Lifting to confirm the bowl comes with it."})

tool

executing move_to over 7 steps (0.7s)

step 116

assistant

agent noteWrist view shows the bowl stayed fixed relative to the jaws while lifting, so it's grasped. Carrying it over the blue bowl (center est. x0.44, y-0.30), with grasp offset by the bowl radius.

move_to

left_x0.4400left_y-0.2500left_z0.1800

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0509, 1.6073, 0.9955, -0.263, -0.0788, -0.165, 0.1036, -0.0216, 0.812, 0.5953, -0.3931, -0.0162, -0.0311, 0.9965] state[eef_state]: left_x=0.4229 left_y=-0.004 left_z=0.0954 left_yaw=0.0893 left_pitch=-0.3014 left_roll=-0.0326 left_gripper=0.1036 right_x=0.293 right_y=0.0001 right_z=0.1684 right_yaw=0.0021 right_pitch=-0.0396 right_roll=0.0057 right_gripper=0.9965 state[joint_eff]: [-0.1026, -9.4017, 9.2786, 1.4969, -0.0464, 0.0415, -0.0024, -0.1026, -1.347, 7.0632, 1.7021, -0.0269, -0.0855, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.25, "left_z": 0.18}, "note": "Wrist view shows the bowl stayed fixed relative to the jaws while lifting, so it's grasped. Carrying it over the blue bowl (center est. x0.44, y-0.30), with grasp offset by the bowl radius."})

tool

executing move_to over 22 steps (2.2s)

step 138

assistant

agent noteOver the blue bowl; the wrist view shows a grey bowl still on the table to the left, so the white bowl may have slipped. Lowering toward the blue bowl anyway to place if it's still held.

move_to

left_z0.1100

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6682, 1.977, 1.7905, -0.8341, -0.4278, -0.6788, 0.1036, -0.0216, 0.8162, 0.5953, -0.3939, -0.0162, -0.0311, 0.9965] state[eef_state]: left_x=0.4376 left_y=-0.2475 left_z=0.1714 left_yaw=0.0743 left_pitch=-0.318 left_roll=-0.0409 left_gripper=0.1036 right_x=0.2931 right_y=0.0001 right_z=0.1671 right_yaw=0.0021 right_pitch=-0.0445 right_roll=0.0059 right_gripper=0.9965 state[joint_eff]: [-0.3761, -10.3316, 8.6769, 1.0769, -0.4127, -0.0464, -0.0122, -0.0205, -1.7026, 7.0359, 1.6825, -0.0464, -0.0269, -0.0122] 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": {"left_z": 0.11}, "note": "Over the blue bowl; the wrist view shows a grey bowl still on the table to the left, so the white bowl may have slipped. Lowering toward the blue bowl anyway to place if it's still held."})

tool

executing move_to over 4 steps (0.4s)

step 142

assistant

agent noteThe white bowl is still on the table in its spot (visible in the left wrist view), so the grasp didn't hold. Going back over its left rim with the jaws half-open for a cleaner, rim-centred pinch.

move_to

left_x0.4300left_y0.0000left_z0.1300left_gripper0.5000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.672, 1.9903, 1.5803, -0.6811, -0.4267, -0.6849, 0.1036, -0.0216, 0.8173, 0.5945, -0.4118, -0.0166, -0.0311, 0.9965] state[eef_state]: left_x=0.4255 left_y=-0.2404 left_z=0.1057 left_yaw=0.0905 left_pitch=-0.3703 left_roll=0.0056 left_gripper=0.1036 right_x=0.2905 right_y=0.0003 right_z=0.1628 right_yaw=0.0025 right_pitch=-0.0644 right_roll=0.0066 right_gripper=0.9965 state[joint_eff]: [0.4444, -10.3726, 7.3641, 1.4579, -0.2808, 0.0122, -0.0122, -0.0889, -1.1829, 7.0769, 1.8486, -0.0611, -0.0659, -0.0171] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.43, "left_y": 0.0, "left_z": 0.13, "left_gripper": 0.5}, "note": "The white bowl is still on the table in its spot (visible in the left wrist view), so the grasp didn't hold. Going back over its left rim with the jaws half-open for a cleaner, rim-centred pinch."})

tool

executing move_to over 22 steps (2.2s)

step 164

assistant

agent noteWhite bowl's left rim appears right of the jaws (~5 cm −y). Shifting over it and explicitly commanding pitch 0 since the wrist had drifted to −0.4 pitch.

move_to

left_y-0.0500left_x0.4300left_z0.1200left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0574, 1.6661, 1.2224, -0.5407, -0.1177, -0.1825, 0.4983, -0.0216, 0.8192, 0.5945, -0.416, -0.0166, -0.0311, 0.9965] state[eef_state]: left_x=0.4287 left_y=-0.0003 left_z=0.1195 left_yaw=0.1343 left_pitch=-0.4042 left_roll=0.0082 left_gripper=0.4983 right_x=0.2899 right_y=0.0003 right_z=0.1615 right_yaw=0.0025 right_pitch=-0.0705 right_roll=0.0067 right_gripper=0.9965 state[joint_eff]: [0.2803, -10.4274, 5.9692, 1.4676, 0.1343, 0.1343, -0.0904, -0.0342, -1.5521, 7.0769, 1.8095, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.05, "left_x": 0.43, "left_z": 0.12, "left_pitch": 0.0}, "note": "White bowl's left rim appears right of the jaws (~5 cm \u2212y). Shifting over it and explicitly commanding pitch 0 since the wrist had drifted to \u22120.4 pitch."})

tool

executing move_to over 14 steps (1.4s)

step 178

assistant

agent noteRim is at the right jaw in the wrist view and the gripper sits just left of the bowl in the top view; shifting 2 cm right to centre the rim between the half-open jaws.

move_to

left_y-0.0720left_x0.4350left_z0.1000left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2531, 1.5703, 0.8154, 0.0528, -0.3122, -0.2363, 0.4989, -0.0216, 0.8196, 0.5945, -0.4175, -0.0162, -0.0311, 0.9965] state[eef_state]: left_x=0.4224 left_y=-0.0495 left_z=0.0981 left_yaw=0.1157 left_pitch=-0.0926 left_roll=0.0342 left_gripper=0.4989 right_x=0.2897 right_y=0.0002 right_z=0.1611 right_yaw=0.0022 right_pitch=-0.0724 right_roll=0.0065 right_gripper=0.9965 state[joint_eff]: [-0.3624, -9.2103, 6.3795, 1.8095, -0.2466, -0.1148, 0.0464, 0.0342, -1.3744, 7.1726, 1.6679, -0.0464, -0.0708, -0.0122] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.072, "left_x": 0.435, "left_z": 0.1, "left_pitch": 0.0}, "note": "Rim is at the right jaw in the wrist view and the gripper sits just left of the bowl in the top view; shifting 2 cm right to centre the rim between the half-open jaws."})

tool

executing move_to over 4 steps (0.4s)

step 182

assistant

agent noteBowl's left rim is now centred between the jaws. Descending so the fingers straddle the upper part of the wall.

move_to

left_z0.0300left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3195, 1.6207, 0.8036, 0.1471, -0.3691, -0.2512, 0.4989, -0.0216, 0.8196, 0.5945, -0.4187, -0.0166, -0.0311, 0.9965] state[eef_state]: left_x=0.4282 left_y=-0.0708 left_z=0.0924 left_yaw=0.1029 left_pitch=-0.0488 left_roll=0.0431 left_gripper=0.4989 right_x=0.2896 right_y=0.0003 right_z=0.1608 right_yaw=0.0025 right_pitch=-0.0735 right_roll=0.0068 right_gripper=0.9965 state[joint_eff]: [-0.0752, -6.694, 6.2974, 1.9951, -0.3687, -0.0366, -0.0073, -0.0889, -1.347, 6.9949, 1.6532, -0.0366, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.03, "left_pitch": 0.0}, "note": "Bowl's left rim is now centred between the jaws. Descending so the fingers straddle the upper part of the wall."})

tool

executing move_to over 5 steps (0.5s)

step 187

assistant

agent noteThe white bowl's wall runs between the jaws with the fingers down near z=0.02. Closing to pinch it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3267, 1.8076, 0.6662, 0.4309, -0.3904, -0.2512, 0.4989, -0.0219, 0.8207, 0.5945, -0.4191, -0.0162, -0.0311, 0.9965] state[eef_state]: left_x=0.4163 left_y=-0.0663 left_z=0.0188 left_yaw=0.114 left_pitch=-0.0798 left_roll=0.0725 left_gripper=0.4989 right_x=0.2896 right_y=0.0001 right_z=0.1605 right_yaw=0.0018 right_pitch=-0.0751 right_roll=0.0066 right_gripper=0.9965 state[joint_eff]: [0.0889, -7.5145, 4.9846, 1.9267, -0.0855, 0.0952, -0.0171, -0.1709, -1.2513, 7.0222, 1.6777, -0.0269, -0.0464, -0.0122] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The white bowl's wall runs between the jaws with the fingers down near z=0.02. Closing to pinch it."})

tool

executing move_to over 5 steps (0.5s)

step 192

assistant

agent noteJaws closed right on the rim (reading 0.04, thin wall). Lifting 5 cm to check in the top view whether the bowl comes up.

move_to

left_z0.1000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3298, 1.792, 0.6781, 0.5179, -0.3828, -0.2821, 0.0393, -0.0216, 0.8207, 0.5945, -0.4198, -0.0162, -0.0311, 0.9965] state[eef_state]: left_x=0.4328 left_y=-0.0746 left_z=0.045 left_yaw=0.12 left_pitch=0.0223 left_roll=-0.0065 left_gripper=0.0393 right_x=0.2894 right_y=0.0002 right_z=0.1603 right_yaw=0.0022 right_pitch=-0.0758 right_roll=0.0066 right_gripper=0.9965 state[joint_eff]: [-0.0752, -6.0513, 4.2598, 0.6178, -0.2222, 0.2857, 1.2332, -0.1026, -1.388, 7.0085, 1.6581, -0.0562, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.1}, "note": "Jaws closed right on the rim (reading 0.04, thin wall). Lifting 5 cm to check in the top view whether the bowl comes up."})

tool

executing move_to over 4 steps (0.4s)

step 196

assistant

agent noteBowl rim stays fixed at the jaw tips in the wrist view as the arm rises. Lifting higher to clear the table and confirm in the top view.

move_to

left_z0.1700

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3294, 1.6581, 0.7288, 0.3153, -0.387, -0.2855, 0.0412, -0.0219, 0.823, 0.5945, -0.4221, -0.0166, -0.0311, 0.9965] state[eef_state]: left_x=0.4285 left_y=-0.0722 left_z=0.0802 left_yaw=0.1255 left_pitch=0.0072 left_roll=0.0005 left_gripper=0.0412 right_x=0.2892 right_y=0.0002 right_z=0.1592 right_yaw=0.0021 right_pitch=-0.0804 right_roll=0.007 right_gripper=0.9965 state[joint_eff]: [-0.4034, -8.8274, 8.6496, 1.8339, -0.1392, 0.0317, 0.9939, -0.1436, -1.5932, 6.9812, 1.6972, -0.0562, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.17}, "note": "Bowl rim stays fixed at the jaw tips in the wrist view as the arm rises. Lifting higher to clear the table and confirm in the top view."})

tool

executing move_to over 6 steps (0.6s)

step 202

assistant

agent noteTop view confirms the white bowl is lifted with the gripper, hanging ~6 cm to the right of the jaws. Carrying it so its centre lands over the blue bowl (est. y −0.30).

move_to

left_x0.4300left_y-0.2400left_z0.1700left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3294, 1.5082, 0.9092, -0.0319, -0.387, -0.289, 0.0414, -0.0216, 0.823, 0.5945, -0.4221, -0.0162, -0.0307, 0.9965] state[eef_state]: left_x=0.4282 left_y=-0.0721 left_z=0.1493 left_yaw=0.1274 left_pitch=-0.0079 left_roll=0.005 left_gripper=0.0414 right_x=0.2892 right_y=0.0002 right_z=0.1592 right_yaw=0.002 right_pitch=-0.0804 right_roll=0.007 right_gripper=0.9965 state[joint_eff]: [-0.3624, -8.4171, 9.1009, 1.663, -0.1294, -0.0073, 0.9402, -0.0342, -1.4017, 6.9949, 1.6435, -0.0317, -0.0269, -0.0171] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.43, "left_y": -0.24, "left_z": 0.17, "left_pitch": 0.0}, "note": "Top view confirms the white bowl is lifted with the gripper, hanging ~6 cm to the right of the jaws. Carrying it so its centre lands over the blue bowl (est. y \u22120.30)."})

tool

executing move_to over 15 steps (1.5s)

step 217

assistant

agent noteWhite bowl is hanging directly over the blue bowl in the top view. Lowering it so it nests before releasing.

move_to

left_z0.0900

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7444, 1.8214, 1.3388, -0.3355, -0.683, -0.593, 0.042, -0.0219, 0.823, 0.5945, -0.4225, -0.0162, -0.0311, 0.9965] state[eef_state]: left_x=0.4251 left_y=-0.2352 left_z=0.1562 left_yaw=0.1062 left_pitch=-0.0321 left_roll=0.0212 left_gripper=0.042 right_x=0.2891 right_y=0.0001 right_z=0.1592 right_yaw=0.0018 right_pitch=-0.0808 right_roll=0.0067 right_gripper=0.9965 state[joint_eff]: [-0.3487, -9.388, 9.2239, 1.409, -0.5495, -0.0806, 0.9109, -0.1299, -1.2923, 7.1316, 1.7021, -0.0513, -0.0659, -0.0122] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.09}, "note": "White bowl is hanging directly over the blue bowl in the top view. Lowering it so it nests before releasing."})

tool

executing move_to over 5 steps (0.5s)

step 222

assistant

agent noteNo contact yet at z 0.086; lowering a bit more so the white bowl seats inside the blue one (descent will stop at contact).

move_to

left_z0.0550

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7479, 1.9053, 1.1873, -0.16, -0.6815, -0.5999, 0.0428, -0.0219, 0.8234, 0.5945, -0.4225, -0.0166, -0.0311, 0.9965] state[eef_state]: left_x=0.4176 left_y=-0.2307 left_z=0.086 left_yaw=0.1078 left_pitch=-0.0722 left_roll=0.06 left_gripper=0.0428 right_x=0.2892 right_y=0.0002 right_z=0.1591 right_yaw=0.0021 right_pitch=-0.0812 right_roll=0.007 right_gripper=0.9965 state[joint_eff]: [0.1709, -9.6479, 6.3111, 1.6239, -0.3541, 0.0611, 0.9109, -0.1573, -1.347, 7.0906, 1.6728, -0.0659, -0.0415, -0.0122] 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

move_to({"targets": {"left_z": 0.055}, "note": "No contact yet at z 0.086; lowering a bit more so the white bowl seats inside the blue one (descent will stop at contact)."})

tool

executing move_to over 3 steps (0.3s)

step 225

assistant

agent noteDescent stopped at z 0.067, so the white bowl has settled into the blue bowl. Opening to release it.

move_to

left_gripper0.6000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7479, 1.9411, 1.1461, -0.0746, -0.6815, -0.5995, 0.0441, -0.0219, 0.823, 0.5945, -0.4225, -0.0162, -0.0307, 0.9965] state[eef_state]: left_x=0.4181 left_y=-0.2312 left_z=0.067 left_yaw=0.1072 left_pitch=-0.0667 left_roll=0.054 left_gripper=0.0441 right_x=0.2891 right_y=0.0001 right_z=0.1592 right_yaw=0.0016 right_pitch=-0.0808 right_roll=0.007 right_gripper=0.9965 state[joint_eff]: [-0.1573, -8.5402, 5.6, 1.4139, -0.2955, -0.0659, 0.7985, -0.1846, -1.2786, 6.9949, 1.6728, -0.0708, -0.0269, -0.0122] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.6}, "note": "Descent stopped at z 0.067, so the white bowl has settled into the blue bowl. Opening to release it."})

tool

executing move_to over 6 steps (0.6s)

step 231

assistant

agent noteWhite bowl released onto the blue bowl. Lifting the left arm straight up clear of the rim.

move_to

left_z0.1700

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7483, 1.9564, 1.1362, -0.0467, -0.6815, -0.6033, 0.5952, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0311, 0.9965] state[eef_state]: left_x=0.4185 left_y=-0.2318 left_z=0.0605 left_yaw=0.1087 left_pitch=-0.0648 left_roll=0.0489 left_gripper=0.5952 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0025 right_pitch=-0.0808 right_roll=0.007 right_gripper=0.9965 state[joint_eff]: [0.0205, -9.0188, 5.4906, 1.3602, -0.3492, -0.022, -0.149, -0.0479, -1.347, 7.2137, 1.6728, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.17}, "note": "White bowl released onto the blue bowl. Lifting the left arm straight up clear of the rim."})

tool

executing move_to over 8 steps (0.8s)

step 239

assistant

agent noteLeft arm is clear above the stack. Parking it at home so the right arm can bring the pink bowl over.

move_to

left_x0.2950left_y0.0000left_z0.1800left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7483, 1.8271, 1.3735, -0.3519, -0.68, -0.6109, 0.5961, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0311, 0.9965] state[eef_state]: left_x=0.4277 left_y=-0.2406 left_z=0.1645 left_yaw=0.1097 left_pitch=-0.0253 left_roll=-0.0046 left_gripper=0.5961 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0025 right_pitch=-0.0827 right_roll=0.007 right_gripper=0.9965 state[joint_eff]: [-0.294, -9.306, 7.0632, 1.0574, -0.3297, 0.0366, 0.0855, -0.0068, -1.5521, 6.9812, 1.6777, -0.0611, -0.0562, -0.0122] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.295, "left_y": 0.0, "left_z": 0.18, "left_gripper": 1.0}, "note": "Left arm is clear above the stack. Parking it at home so the right arm can bring the pink bowl over."})

tool

executing move_to over 22 steps (2.2s)

step 261

assistant

agent noteWhite bowl is now nested in the blue bowl. Moving the right arm above the pink bowl (seen ahead-left in its wrist view) to localize it.

move_to

right_x0.4200right_y0.1000right_z0.1500right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1589, 0.8494, 0.6449, -0.4049, -0.2611, -0.226, 0.9986, -0.0216, 0.8291, 0.5945, -0.4225, -0.0166, -0.0307, 0.9965] state[eef_state]: left_x=0.2993 left_y=0.0019 left_z=0.1816 left_yaw=0.1605 left_pitch=-0.016 left_roll=-0.0182 left_gripper=0.9986 right_x=0.2894 right_y=0.0003 right_z=0.1575 right_yaw=0.0023 right_pitch=-0.0869 right_roll=0.0074 right_gripper=0.9965 state[joint_eff]: [0.2803, -1.812, 6.7077, 1.8095, -0.1685, 0.1636, -0.0513, -0.0068, -1.7709, 7.2547, 1.6923, -0.0806, -0.022, -0.0122] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.1, "right_z": 0.15, "right_pitch": 0.0}, "note": "White bowl is now nested in the blue bowl. Moving the right arm above the pink bowl (seen ahead-left in its wrist view) to localize it."})

tool

executing move_to over 11 steps (1.1s)

step 272

assistant

agent notePink bowl sits just under the right gripper, slightly to its right. Shifting over the bowl's right-side rim with jaws half-open, as worked for the white bowl.

move_to

right_x0.4050right_y0.0250right_z0.1000right_gripper0.5000right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1593, 0.8547, 0.6411, -0.4236, -0.2592, -0.2283, 0.9988, 0.3347, 1.4616, 0.8246, -0.0574, 0.2481, 0.1421, 0.9965] state[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1747 left_yaw=0.16 left_pitch=-0.0428 left_roll=-0.0124 left_gripper=0.9988 right_x=0.3998 right_y=0.0969 right_z=0.1226 right_yaw=0.0418 right_pitch=-0.0996 right_roll=-0.0255 right_gripper=0.9965 state[joint_eff]: [-0.0752, -1.9214, 7.2957, 1.8632, -0.1587, -0.022, 0.0024, 0.3214, -6.735, 9.2239, 1.9756, 0.1832, 0.2027, -0.0171] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.405, "right_y": 0.025, "right_z": 0.1, "right_gripper": 0.5, "right_pitch": 0.0}, "note": "Pink bowl sits just under the right gripper, slightly to its right. Shifting over the bowl's right-side rim with jaws half-open, as worked for the white bowl."})

tool

executing move_to over 6 steps (0.6s)

step 278

assistant

agent notePink bowl's right rim is between the jaws, a bit right of centre. Nudging 1 cm right and descending so the fingers straddle the wall.

move_to

right_y0.0130right_x0.4050right_z0.0250right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1593, 0.8566, 0.6411, -0.4309, -0.2592, -0.2283, 0.9988, 0.0917, 1.4586, 0.6289, 0.1776, 0.0875, -0.0002, 0.5043] state[eef_state]: left_x=0.2957 left_y=0.002 left_z=0.1728 left_yaw=0.1602 left_pitch=-0.0514 left_roll=-0.0095 left_gripper=0.9988 right_x=0.3952 right_y=0.0245 right_z=0.0849 right_yaw=0.0112 right_pitch=-0.0797 right_roll=-0.0317 right_gripper=0.5043 state[joint_eff]: [-0.1026, -1.7436, 7.1863, 1.746, -0.149, -0.0171, -0.0122, -0.0889, -6.2427, 6.5026, 2.0098, -0.0366, 0.022, 0.1832] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.013, "right_x": 0.405, "right_z": 0.025, "right_pitch": 0.0}, "note": "Pink bowl's right rim is between the jaws, a bit right of centre. Nudging 1 cm right and descending so the fingers straddle the wall."})

tool

executing move_to over 4 steps (0.4s)

step 282

assistant

agent noteFingers are at table level with the pink bowl's wall between them near the right jaw. Closing to pinch the wall.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1593, 0.8612, 0.6411, -0.4332, -0.2592, -0.2287, 0.9988, 0.0505, 1.7168, 0.4889, 0.5224, 0.0444, -0.0254, 0.5041] state[eef_state]: left_x=0.2956 left_y=0.002 left_z=0.1711 left_yaw=0.1605 left_pitch=-0.058 left_roll=-0.0076 left_gripper=0.9988 right_x=0.3848 right_y=0.0152 right_z=0.0029 right_yaw=0.0198 right_pitch=-0.1351 right_roll=-0.0273 right_gripper=0.5041 state[joint_eff]: [-0.1026, -1.9897, 7.1179, 1.6532, -0.1636, -0.0757, -0.0122, -0.1709, -7.8701, 5.6957, 2.0244, 0.3541, -0.1734, -0.0415] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "Fingers are at table level with the pink bowl's wall between them near the right jaw. Closing to pinch the wall."})

tool

executing move_to over 6 steps (0.6s)

step 288

assistant

agent noteWrist view shows the pink rim pinched between the jaw tips (reading 0.036, same as the successful white-bowl grasp). Lifting to clear the table.

move_to

right_z0.1700

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1593, 0.8623, 0.6411, -0.4339, -0.2592, -0.2287, 0.9988, 0.0521, 1.7241, 0.4892, 0.7399, 0.0174, -0.0128, 0.0361] state[eef_state]: left_x=0.2956 left_y=0.002 left_z=0.1707 left_yaw=0.1605 left_pitch=-0.0598 left_roll=-0.007 left_gripper=0.9988 right_x=0.4144 right_y=0.0221 right_z=0.0444 right_yaw=0.0376 right_pitch=0.0752 right_roll=0.0032 right_gripper=0.0361 state[joint_eff]: [-0.1709, -1.7436, 7.0906, 1.6679, -0.1685, -0.0366, -0.0122, -0.4855, -5.2855, 4.7248, 1.1258, 0.2711, -0.1978, 0.8132] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.17}, "note": "Wrist view shows the pink rim pinched between the jaw tips (reading 0.036, same as the successful white-bowl grasp). Lifting to clear the table."})

tool

executing move_to over 9 steps (0.9s)

step 297

assistant

agent notePink bowl is lifted and hangs left of the right jaws. Carrying it toward the white/blue stack; will check alignment in the top view before lowering.

move_to

right_y0.2500right_x0.4300right_z0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1593, 0.8654, 0.6411, -0.4343, -0.2592, -0.2287, 0.9988, 0.0509, 1.3323, 0.749, 0.2279, 0.0132, -0.0212, 0.0378] state[eef_state]: left_x=0.2957 left_y=0.002 left_z=0.1698 left_yaw=0.1606 left_pitch=-0.063 left_roll=-0.006 left_gripper=0.9988 right_x=0.4261 right_y=0.023 right_z=0.198 right_yaw=0.0444 right_pitch=0.2148 right_roll=-0.0013 right_gripper=0.0378 state[joint_eff]: [-0.0479, -1.9077, 7.0222, 1.6239, -0.1587, -0.0562, -0.0122, -0.294, -4.7111, 7.8838, 1.5946, 0.0122, 0.0513, 0.8083] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.25, "right_x": 0.43, "right_z": 0.2}, "note": "Pink bowl is lifted and hangs left of the right jaws. Carrying it toward the white/blue stack; will check alignment in the top view before lowering."})

tool

executing move_to over 19 steps (1.9s)

step 316

assistant

agent notePink bowl is hanging centred above the white/blue stack in the top view. Lowering it to nest.

move_to

right_z0.0800

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1593, 0.868, 0.6411, -0.4343, -0.2588, -0.2287, 0.9988, 0.7261, 1.7046, 1.0954, 0.1062, 0.5972, 0.2237, 0.0407] state[eef_state]: left_x=0.2958 left_y=0.0019 left_z=0.169 left_yaw=0.1603 left_pitch=-0.0656 left_roll=-0.0053 left_gripper=0.9988 right_x=0.4225 right_y=0.2471 right_z=0.1786 right_yaw=0.101 right_pitch=0.1591 right_roll=-0.0475 right_gripper=0.0407 state[joint_eff]: [-0.0752, -1.8803, 6.9949, 1.6435, -0.1294, -0.0513, -0.0122, 0.1573, -8.4581, 9.8803, 1.8242, 0.4078, 0.2711, 0.7399] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.08}, "note": "Pink bowl is hanging centred above the white/blue stack in the top view. Lowering it to nest."})

tool

executing move_to over 7 steps (0.7s)

step 323

assistant

agent notePink bowl now covers the stack in the top view with no contact yet at z 0.08; lowering further until it seats.

move_to

right_z0.0500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1593, 0.8707, 0.6407, -0.4416, -0.2588, -0.2291, 0.9988, 0.728, 1.8946, 0.9161, 0.4316, 0.5949, 0.2253, 0.0415] state[eef_state]: left_x=0.2949 left_y=0.0021 left_z=0.1668 left_yaw=0.1608 left_pitch=-0.0754 left_roll=-0.0024 left_gripper=0.9988 right_x=0.4185 right_y=0.2452 right_z=0.0802 right_yaw=0.1075 right_pitch=0.1229 right_roll=-0.071 right_gripper=0.0415 state[joint_eff]: [-0.212, -1.8803, 6.9812, 1.7265, -0.1343, -0.0366, -0.0122, -0.4991, -7.8974, 5.1761, 1.4921, 0.1587, -0.0806, 0.6716] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.05}, "note": "Pink bowl now covers the stack in the top view with no contact yet at z 0.08; lowering further until it seats."})

tool

executing move_to over 2 steps (0.2s)

step 325

assistant

Descent stopped at 0.075 — seated. Releasing.

agent noteDescent stopped at z 0.075, so the pink bowl is resting in the stack. Opening to release.

move_to

right_gripper0.6000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1593, 0.8726, 0.6407, -0.4416, -0.2592, -0.2291, 0.9988, 0.7284, 1.9381, 0.9012, 0.5385, 0.5945, 0.2226, 0.0421] state[eef_state]: left_x=0.295 left_y=0.0021 left_z=0.1663 left_yaw=0.1611 left_pitch=-0.0772 left_roll=-0.0016 left_gripper=0.9988 right_x=0.4227 right_y=0.2493 right_z=0.0748 right_yaw=0.1056 right_pitch=0.162 right_roll=-0.0448 right_gripper=0.0421 state[joint_eff]: [-0.1573, -1.8256, 6.9402, 1.6044, -0.1587, -0.0366, -0.0122, -0.1026, -7.4188, 4.0547, 1.0476, 0.0464, -0.0317, 0.735] camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]

assistant

Descent stopped at 0.075 — seated. Releasing.

move_to({"targets": {"right_gripper": 0.6}, "note": "Descent stopped at z 0.075, so the pink bowl is resting in the stack. Opening to release."})

tool

executing move_to over 6 steps (0.6s)

step 331

assistant

agent notePink bowl released on top of the stack. Lifting the right arm straight up clear of the rim.

move_to

right_z0.1700

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1593, 0.8734, 0.6411, -0.4416, -0.2588, -0.2291, 0.9988, 0.7284, 1.9736, 0.8875, 0.5503, 0.59, 0.2199, 0.5956] state[eef_state]: left_x=0.2951 left_y=0.002 left_z=0.1662 left_yaw=0.1608 left_pitch=-0.0776 left_roll=-0.0017 left_gripper=0.9988 right_x=0.4193 right_y=0.2471 right_z=0.0555 right_yaw=0.114 right_pitch=0.1302 right_roll=-0.0674 right_gripper=0.5956 state[joint_eff]: [0.0068, -1.6479, 6.9538, 1.6337, -0.1343, -0.0757, -0.0122, -0.1983, -8.4444, 5.012, 1.7656, 0.1783, 0.0171, -0.1832] camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.17}, "note": "Pink bowl released on top of the stack. Lifting the right arm straight up clear of the rim."})

tool

executing move_to over 8 steps (0.8s)

step 339

assistant

agent noteOnly the pink bowl shows at the stack location, so all three appear nested. Parking the right arm at home to get a clear view for final verification.

move_to

right_x0.2950right_y0.0000right_z0.1800right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1593, 0.8753, 0.6411, -0.4416, -0.2592, -0.2287, 0.9988, 0.7303, 1.7157, 1.0695, 0.2058, 0.5831, 0.2131, 0.5957] state[eef_state]: left_x=0.2951 left_y=0.0021 left_z=0.1657 left_yaw=0.161 left_pitch=-0.0793 left_roll=-0.0005 left_gripper=0.9988 right_x=0.4251 right_y=0.255 right_z=0.1811 right_yaw=0.1159 right_pitch=0.2061 right_roll=-0.0153 right_gripper=0.5957 state[joint_eff]: [-0.1709, -1.812, 6.9675, 1.663, -0.1685, -0.0464, -0.0122, -0.4171, -6.612, 6.7214, 1.1453, 0.149, 0.022, 0.0024] camera 'top_cam' (step 339): [image omitted: streamed camera frame] camera 'left_cam' (step 339): [image omitted: streamed camera frame] camera 'right_cam' (step 339): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.295, "right_y": 0.0, "right_z": 0.18, "right_gripper": 1.0}, "note": "Only the pink bowl shows at the stack location, so all three appear nested. Parking the right arm at home to get a clear view for final verification."})

tool

executing move_to over 22 steps (2.2s)

step 361

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1593, 0.878, 0.6407, -0.445, -0.2592, -0.2291, 0.9988, -0.1265, 0.6918, 0.4026, -0.0723, -0.1417, -0.1013, 0.9962] state[eef_state]: left_x=0.2947 left_y=0.0022 left_z=0.1642 left_yaw=0.1614 left_pitch=-0.0855 left_roll=0.0012 left_gripper=0.9988 right_x=0.2992 right_y=-0.0093 right_z=0.1816 right_yaw=0.0445 right_pitch=0.2121 right_roll=-0.0222 right_gripper=0.9962 state[joint_eff]: [-0.212, -1.9487, 7.1043, 1.6386, -0.1441, -0.0171, -0.0122, 0.6906, -0.759, 7.159, 1.9951, -0.3639, -0.0464, -0.398] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 361): [image omitted: streamed camera frame] camera 'left_cam' (step 361): [image omitted: streamed camera frame] camera 'right_cam' (step 361): [image omitted: streamed camera frame]

Trial 0 Wire

Tools (trial initial)

[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]

System (trial initial)

[
{
"cache_control": {
"type": "ephemeral"
},
"text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n (both face forward), each with its own base frame: +x forward, +y left,\n +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n With the tool pointing straight down the wrist reaches ~0.51 m from the\n base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n normalized fraction of that (0 closed, 1 open). After a full close the\n settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n and stays there for many seconds. Effort cannot tell an empty close\n from a grasp. Judge grasps by the settled reading, then by lifting\n 5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n at ~45°. It is not a plan view: you see the sides of objects, and image-y\n is compressed relative to image-x. Arm-forward is image-up, arm-right is\n image-right, the two bases sit just below the bottom edge, and an arm\n extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n px/cm in the far half of the frame where the arms work, rising to ≈ 8\n px/cm at the bottom edge, and x and y scales differ at the same spot.\n Derive the local scale from your first sizeable move and reuse it.\n Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n forward of the finger axis, so they look *past* the fingertips. Anything\n at or nearer than the grasp point is out of frame; the dark wedge at the\n bottom-centre is the jaws; a held object is never visible in its own\n wrist camera; the working arm hides from the top camera whatever it\n hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n at or below the bottom edge of the wrist image. An object that appears\n centred on the jaw column with clear space below it is still a few\n centimetres short of the fingertips, toward the base. The jaws converge\n on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n pitched forward, ≈ 200 with the tool vertical): a brief empty close\n shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n table and changes within a single frame (larger toward the bottom\n edge). To calibrate it, make a pure radial move of known size and read\n the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n 3 cm radial move and a 1.4 cm descent shift features about equally), so\n depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n toward the base. Rolling the wrist rotates the scene but the jaws still\n close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n description). The fence-side y bound is tight because a low fence runs\n along each outer table edge; the cross-over side reaches past the\n table's centre line, so any point on the table is reachable by at least\n one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n reach and with a load. Aim ~2 cm high when carrying and when clearing\n obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n unfold from there; if a move out of a folded pose stalls, first raise z\n and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n the shoulder stops tracking while its effort stays negative (still\n holding the arm up); effort flipping positive means the arm is pressing\n into the surface: back off. A grasped object touching down reads as a\n stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n more than ~1.5 cm means one of three things: the target was clipped to\n the workspace box (the tool description lists the bounds), the arm is\n at its reach or folded limit (the arm simply stops), or you are in\n contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n the tool about the grasp point; it does not move the grasp point\n sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n with the far-region scale from the facts, remembering the view is\n oblique: a target's image-y position over-states its distance from the\n base by the compression factor, and it sits in whichever arm's frame\n you convert to (the workspace box gives the base spacing for switching\n frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n look at the wrist camera. The object should sit on the jaw column\n (x ≈ 110). If it is fully visible with empty frame below it, advance\n 2–3 cm radially before descending, because the fingertips are further\n out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n retry once. If the second close is also empty, do not repeat it:\n re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n lift clear, then verify in the overhead frame after the arm has moved\n away. The working arm's occlusion of the top view is expected; do not\n retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n cross-over bound), so any object on the table is reachable by at least\n one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n moves, scale probes or table touches; the first task motion is the\n sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n off-centre. Align in the wrist view before closing, and close no further\n than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n and give up early; the operator can move it or widen the box for the\n next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"type": "text"
}
]

call 0 attempt 0 · /messages · status 200 · 14.68 s

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

{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6048, -0.3798, -0.0227, -0.0406, 0.9996, -0.0208, 0.7929, 0.6022, -0.379, -0.0109, -0.0334, 0.9968]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1801 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=-0.0006 right_z=0.1796 right_yaw=-0.0004 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9968\nstate[joint_eff]: [-0.3897, -1.4974, 10.1402, 1.7802, -0.0317, 0.2418, -0.0611, -0.3761, -1.2923, 10.2769, 1.9121, -0.1245, 0.1734, -0.3541]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f465a6fd291624f38c9636236b531639ff70ec81fa427c52ac158ec72133d9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6e0788dea36e9cdb0397caf623fe1850784f3542f91b508a13ea791d3083087",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0f77533952bd0731a9eb9d1f3073c9277dbd42ff0a62f7d682df024bb9e8297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 5.238 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6048, -0.3798, -0.0227, -0.0406, 0.9996, -0.0208, 0.7929, 0.6022, -0.379, -0.0109, -0.0334, 0.9968]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1801 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=-0.0006 right_z=0.1796 right_yaw=-0.0004 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9968\nstate[joint_eff]: [-0.3897, -1.4974, 10.1402, 1.7802, -0.0317, 0.2418, -0.0611, -0.3761, -1.2923, 10.2769, 1.9121, -0.1245, 0.1734, -0.3541]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f465a6fd291624f38c9636236b531639ff70ec81fa427c52ac158ec72133d9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6e0788dea36e9cdb0397caf623fe1850784f3542f91b508a13ea791d3083087",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0f77533952bd0731a9eb9d1f3073c9277dbd42ff0a62f7d682df024bb9e8297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012sJ1xAx1LeJhTPDhqdToEn",
      "input": {
        "note": "Three bowls in a row (white left, blue middle, pink right). Moving left arm above estimated white bowl center to refine its position via wrist cam.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.12,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_012sJ1xAx1LeJhTPDhqdToEn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4244, 1.4433, 1.0183, -0.2436, -0.3412, -0.263, 0.9995, -0.0216, 0.7975, 0.6018, -0.3893, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4087 left_y=-0.1159 left_z=0.181 left_yaw=-0.0184 left_pitch=-0.054 left_roll=0.0171 left_gripper=0.9995 right_x=0.2935 right_y=0.0001 right_z=0.1761 right_yaw=0.0021 right_pitch=-0.0148 right_roll=0.0052 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -6.9538, 8.8547, 1.6825, -0.2466, -0.0562, -0.0171, 0.0205, -1.5795, 7.2274, 1.8388, 0.0269, -0.0562, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7db685bf57eee9419df408439583b758a3c3b04ad353f019eee984480df3723f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07d963266afbde158bb4073f6450a2e8d8a1fbb5eb688e70e9c0ad91c72a1890",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd1fc730369f05c1944f76a6177f328ce2d748fdd8af4545259117d53cb0b45a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 10.08 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6048, -0.3798, -0.0227, -0.0406, 0.9996, -0.0208, 0.7929, 0.6022, -0.379, -0.0109, -0.0334, 0.9968]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1801 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=-0.0006 right_z=0.1796 right_yaw=-0.0004 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9968\nstate[joint_eff]: [-0.3897, -1.4974, 10.1402, 1.7802, -0.0317, 0.2418, -0.0611, -0.3761, -1.2923, 10.2769, 1.9121, -0.1245, 0.1734, -0.3541]",
      "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]: [-0.4244, 1.4433, 1.0183, -0.2436, -0.3412, -0.263, 0.9995, -0.0216, 0.7975, 0.6018, -0.3893, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4087 left_y=-0.1159 left_z=0.181 left_yaw=-0.0184 left_pitch=-0.054 left_roll=0.0171 left_gripper=0.9995 right_x=0.2935 right_y=0.0001 right_z=0.1761 right_yaw=0.0021 right_pitch=-0.0148 right_roll=0.0052 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -6.9538, 8.8547, 1.6825, -0.2466, -0.0562, -0.0171, 0.0205, -1.5795, 7.2274, 1.8388, 0.0269, -0.0562, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7db685bf57eee9419df408439583b758a3c3b04ad353f019eee984480df3723f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07d963266afbde158bb4073f6450a2e8d8a1fbb5eb688e70e9c0ad91c72a1890",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd1fc730369f05c1944f76a6177f328ce2d748fdd8af4545259117d53cb0b45a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSmgkKEAgSGAI4AUIIdGhpbmtpbmcSDOumxH+v2PnlygFpcBoMKkLi2D85oskNyyg6IjA5YLg/HEtFFT0MpgraUX+QRpkGSWH3yw2NuIyLAD+AgP8beaDYcTuH5bbc58I1TT4qtwjyYkyY99QzAp8vDu0CeOGkEB6H2d310vxzEfDm3BReLH8NWs+LsSYWj2EKFswcMwmLJ9v5pCPU7G+zCPLWQ46aGZqsC9pSTenSyBgSHQWJpuz2yWrWuWItlLqdJeYRZqbhsLzw7B1Ou2cP8itwlvMHJgnXe5F9hh7TvbeZ5R9XNBI8kabND3fg3eJnX/AHzw34F//J6ajagJ28UOGs0r+8FdD0/47WCcusCM0Upm1jrEAybGZRZHTEd9dR0E+BI9p4e0FhArwSAMhNL6jzXhw8oB2Dk8hvgXpksiSIlGwJJpBOes+iVGFnLEfQOMD/C/iSuqno31K2j0xm0deN9iL1OgySZzwPyjcTfswPGtq+6tI0msn2GyazdnJZfhKZIjbmHEd3velJqcQ1Q+rYy4B2dhtsV0JwEHhY68nHI/U7oqHaFYUmPzh5gBSihWzVajQoWYBjmBq1Yu2eKt1b8ZZyjBZUDs08oExYsFBqvd9X8p8+egMTJQnZ3xeedJpi9ncQYspIJDrzgWO9/8eeRWs0i96qEBVEuPTpqUz6MmnOENa2iwad/lyXrPfELNlNZ94USZNp2OUWVVP+jAtR5o9kyaEPAn/ann+iJHnjnp+ltiTbKkeYgRNFmQas1Xftpdl4gTEEj52g5vUtkuvxADcLemtgVeJQd7ZMvRcA3UYH7gBR05d5g+y8CayMPMTXt3eIHoPKLZ3k0SkS0+UjQsMgDwTxwu8mFduNQQSyHXtZtgKnVhWKvZhD3UP2j8gwGnjqnbeaDkqzhEj8fGaeRI5msQsimyPxJaPo5G54qzLAQrarqDD6ExR+U17xeEv45iOtjct0/4v61V53iI8wvl6H0p0QzIBOExUx4Ye+nQVLt1xuzN4D7xDCoDeUyPLvtzukBtD3S2YmGeZbXASC25IDvIwOYlLH8glCz6qWrCIY3qQixuoPzeMhjwPZ0o5/v+5mjWf8cJLwHTGviHiysBK4b5mNN0hkT6nxvYUuYkzfP0rPLUXQhhEB0qjEGkr6ssxUjnCvNmhXa+5oPAGE7x7s088WeYzoBl22gx7T59xnXqEPDlfi9Zz3eG9fqbqmHIY1niowP/DKinkC5hci/kNRP/7zZiQLRval2HNAG9+ZZXv8zNroua9RCuWU+3D8tbbXLVAkIJUzf/WPuaDvpYJVY+tOqW/8EUZr58c3HQymVDbGG/8HCD/KCB3SzPFMc6khWT7c1Bifgk2uWN24CcKU4POWIMBaWt4yK21lTqsT+wH0ZanIVvK5XkvYyTWMWv9LJ3/4gq8BWA824QBXu6b18+FWjp1pDshlQAuW/9Vaz4EwCpj2bwQiVEuBlmLT3TnJNZSAd2q6FQH75xGAb08/RHSfaiXM712heTvKCa7pxACUwMU7YS3guR1xwImW7Wt+zbMiEtJJwcFiscMLEb1qTgDML6AzeBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PWt1yeRpFmNCg8vN5TRaJ7",
      "input": {
        "note": "White bowl is roughly centered under the left gripper. Shifting to its left (+y) rim to pinch the rim with jaws straddling it.",
        "targets": {
          "left_x": 0.425,
          "left_y": -0.068,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01PWt1yeRpFmNCg8vN5TRaJ7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2615, 1.5101, 0.8364, -0.0353, -0.2394, -0.1894, 0.9995, -0.0216, 0.7979, 0.6003, -0.3927, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.414 left_y=-0.0637 left_z=0.1124 left_yaw=0.022 left_pitch=-0.1153 left_roll=0.0282 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1746 right_yaw=0.0021 right_pitch=-0.0201 right_roll=0.0053 right_gripper=0.9965\nstate[joint_eff]: [0.253, -6.2564, 6.7897, 1.8828, -0.0904, 0.1099, -0.0122, -0.0205, -1.2103, 7.3368, 1.8144, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed4cd2a972aed88c5c911b162fee085a8ba9199a18c535ba87966a244be35d1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c19f99bba22ea4b1e5a29f0118208a0e3c30e462d2d532c6c5379001b21715fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da276452a7fc909e0694cac2110c3d09366287d977f63beb2ffa7b2b726783ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 3.821 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6048, -0.3798, -0.0227, -0.0406, 0.9996, -0.0208, 0.7929, 0.6022, -0.379, -0.0109, -0.0334, 0.9968]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1801 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=-0.0006 right_z=0.1796 right_yaw=-0.0004 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9968\nstate[joint_eff]: [-0.3897, -1.4974, 10.1402, 1.7802, -0.0317, 0.2418, -0.0611, -0.3761, -1.2923, 10.2769, 1.9121, -0.1245, 0.1734, -0.3541]",
      "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]: [-0.4244, 1.4433, 1.0183, -0.2436, -0.3412, -0.263, 0.9995, -0.0216, 0.7975, 0.6018, -0.3893, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4087 left_y=-0.1159 left_z=0.181 left_yaw=-0.0184 left_pitch=-0.054 left_roll=0.0171 left_gripper=0.9995 right_x=0.2935 right_y=0.0001 right_z=0.1761 right_yaw=0.0021 right_pitch=-0.0148 right_roll=0.0052 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -6.9538, 8.8547, 1.6825, -0.2466, -0.0562, -0.0171, 0.0205, -1.5795, 7.2274, 1.8388, 0.0269, -0.0562, -0.0415]",
      "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]: [-0.2615, 1.5101, 0.8364, -0.0353, -0.2394, -0.1894, 0.9995, -0.0216, 0.7979, 0.6003, -0.3927, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.414 left_y=-0.0637 left_z=0.1124 left_yaw=0.022 left_pitch=-0.1153 left_roll=0.0282 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1746 right_yaw=0.0021 right_pitch=-0.0201 right_roll=0.0053 right_gripper=0.9965\nstate[joint_eff]: [0.253, -6.2564, 6.7897, 1.8828, -0.0904, 0.1099, -0.0122, -0.0205, -1.2103, 7.3368, 1.8144, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed4cd2a972aed88c5c911b162fee085a8ba9199a18c535ba87966a244be35d1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c19f99bba22ea4b1e5a29f0118208a0e3c30e462d2d532c6c5379001b21715fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da276452a7fc909e0694cac2110c3d09366287d977f63beb2ffa7b2b726783ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS9gYKEAgSGAI4AUIIdGhpbmtpbmcSDBaUz7I1tBzmuizbhBoMoJND1odAoyYA9IebIjBQGI5jjQOk4yVkaHj9pYf1JncMLq6Xa+dbaOhk0iDCpi56JCkE4ANXy/6eB/kNlNAqkwbKN8RFEl1ZzJQNYksspAld9l7JGK5fYeEyEGlKXQrhyNPIWYGOLfKwunKaH35BWOyt/mFU32jt11JV9RpHTiAVwlb9BLy8eWXmjsY0YI7xpqxOVVfCodAB2PvZfD2QZaN7issB/VGY53uW3DQUx2t9S0dS+cg525KXyINJQznnvxd+1JJj4EFEVcWXj/0divAeqRaxQcvyvLjmByR3Z24bTajbL3hn0MImc0biqbM6IEMJLyWUEfonqJ5VNeEW1eL6pJN5iaJKnbmArqIkirQuTgHFjNi2kyyHZAL9KElChJ3y65/h52NZMl6+SDz7Ql80XwWGepegGLsshYgIQ36Yb7bfjuZq18H4swkGOPMPKi4p/IbXh2bHaFkzlUKF7QZjT+51BwzAJxFICVf415s04oe55cwuMdiAhiZnzS75MnbRjg2m93fwBD765EFpNeGlRZ90CK9WsBYqWJG5WkGJ9ITG/YBlVV0rIB4S3WOvIRcYlFk0tlZ45hASwrvm8/2ST1c77VRRgOdc/FjD9UQyPnuvgSdB29JVFriQJdgAHPkm1ouJgPiBDj8ZVAoiYXIFjqC9WqryZZKNEkjM41bbrw8tUVMYUIQIxsPSMzZN1BLN0YEmsCsaJF1hDqznVA/01GdNZ5bEuUXCiHZf0+tWi9vuzvsWYAKD2C+3+NUi34eE9pSv8PO+A/PVqTY4qkT3G8rSVmyNyvMhfHWtv0PjmwfTBC3QSSffF9taKPGXTMcPq7W6lZUOyEBhInHtKPM0OWwCoGLSWeHQ9omgLU7uyP/wJAgjLg5bdQIJCkFX0ogzP4IBpatJ1TJmo2rC1skwo5ZJF5nm/oSeOkygNLP75p5ukpGe7iwc1Kbh1FKUaCQGSSl00K4HUG9LHXnHkOa9EUWpRzZown6E7ZoyWGs43EQZe/6TeJsig0cwcb6bEmuznAe8e6900Z92Ww5fJEc23gOsxf9kr4mYQX3DE9Khk0MZGf/3ljeDCr5JAcVRU6e7AOAi++N6+TEDTlpNFi7r6zqnALlMaVw/5OzOo6joap0IGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UvmpkKVaSo7Te7gLLHPv4S",
      "input": {
        "note": "Bowl's left rim is between the jaws in the wrist view. Descending so the jaws straddle the rim.",
        "targets": {
          "left_x": 0.425,
          "left_y": -0.068,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01UvmpkKVaSo7Te7gLLHPv4S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2638, 1.7466, 0.7227, 0.2562, -0.2363, -0.1864, 0.9995, -0.0216, 0.7986, 0.6003, -0.3931, -0.0166, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4161 left_y=-0.0658 left_z=0.0261 left_yaw=0.0178 left_pitch=-0.1724 left_roll=0.0451 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1743 right_yaw=0.0022 right_pitch=-0.0213 right_roll=0.0058 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -7.2137, 4.8752, 1.6825, -0.149, -0.0611, -0.0122, -0.1299, -1.2923, 7.0222, 1.7314, -0.0659, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afd6416494f3fef4aa49dcae16f9573b31ac3efffa698479b1a6b9e167fa83ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cfe9e8c5f6000a9d9df8315c7f8471e40386692e57e04e499a487a329811e5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46347517a6e5ead389a63ef7ac477e0a535c643db1276fb6970b67e0d46f266e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 5.681 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]: [-0.4244, 1.4433, 1.0183, -0.2436, -0.3412, -0.263, 0.9995, -0.0216, 0.7975, 0.6018, -0.3893, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4087 left_y=-0.1159 left_z=0.181 left_yaw=-0.0184 left_pitch=-0.054 left_roll=0.0171 left_gripper=0.9995 right_x=0.2935 right_y=0.0001 right_z=0.1761 right_yaw=0.0021 right_pitch=-0.0148 right_roll=0.0052 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -6.9538, 8.8547, 1.6825, -0.2466, -0.0562, -0.0171, 0.0205, -1.5795, 7.2274, 1.8388, 0.0269, -0.0562, -0.0415]",
      "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]: [-0.2615, 1.5101, 0.8364, -0.0353, -0.2394, -0.1894, 0.9995, -0.0216, 0.7979, 0.6003, -0.3927, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.414 left_y=-0.0637 left_z=0.1124 left_yaw=0.022 left_pitch=-0.1153 left_roll=0.0282 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1746 right_yaw=0.0021 right_pitch=-0.0201 right_roll=0.0053 right_gripper=0.9965\nstate[joint_eff]: [0.253, -6.2564, 6.7897, 1.8828, -0.0904, 0.1099, -0.0122, -0.0205, -1.2103, 7.3368, 1.8144, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2638, 1.7466, 0.7227, 0.2562, -0.2363, -0.1864, 0.9995, -0.0216, 0.7986, 0.6003, -0.3931, -0.0166, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4161 left_y=-0.0658 left_z=0.0261 left_yaw=0.0178 left_pitch=-0.1724 left_roll=0.0451 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1743 right_yaw=0.0022 right_pitch=-0.0213 right_roll=0.0058 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -7.2137, 4.8752, 1.6825, -0.149, -0.0611, -0.0122, -0.1299, -1.2923, 7.0222, 1.7314, -0.0659, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afd6416494f3fef4aa49dcae16f9573b31ac3efffa698479b1a6b9e167fa83ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cfe9e8c5f6000a9d9df8315c7f8471e40386692e57e04e499a487a329811e5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46347517a6e5ead389a63ef7ac477e0a535c643db1276fb6970b67e0d46f266e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+wYKEAgSGAI4AUIIdGhpbmtpbmcSDH1LA8ENua61rXVjehoMiu99uKvET1M2MRALIjCXlm1jOapsEnDVxLeR9cxWYddLOrdj5gBArQhYhFfWlsAHyZB2ZKSDlaJZ+E4AYxUqmAbGm8GnBHn/jy4FHNNa1HeLKFHNn+e+v4pzt4Dd4IZukvFS9+yKu9wyLZB4yZEpoMg/pKC5QBuhFvNoH/XaC/cQupkItXr0gXRR991whxj3KuVxxwKLM0pHHfWQzMI0uCH2SeNOB9cKcbBSqjzjgYDebyXjKCYnQyr/d4PtXiX6//yOCX6L5j6xC9j1oKr4dNWyEVSY8L18u6a9Mmiq97QyKsifyHU36ObnYsPQSZbIC21MkPtbbzruRHS84LKAjXycWoE4B4cR3BwVkq5P0GMHs7Ym6Fi9QHqTa2nWp7wSTPQ/I7+YUdEhw3n5/5Wwn6pqEIPidvfk5Pwy37mlJ3AUditOMfBAmwMOCsZDyvVIkkcNgBmdkqrrycIqgS6nxmiKWhfSf7PDzI0gSi6BrJ/bHhpHDBADZVKtvAHq2HvKrHymhnOHV31wa+o0PzjKy53B0U+uomgLt7koAlD9swyyECVDPa0/9afKx3+xHUX5gQjVnZDYpvmufNnt9V8LkyGgBAg/O8uwarPwRLq577NLtkXtLlS5P5hY64pggrpSHUpuWj77oH++pM4SnjSedb+Es7ZIIjDZgSznxU7MHs5DNhYYlT416zdbHd91Zr5k+RKoX5MhbZ0pQ0N4hFD8qsxtSAAHgLnzH2WlMRGVtLUMKSJ4h19JWsJP1VAJpMskYvA7xc1YYavtd8HMpfb98w+d6j6avJDAFPN+Kttp3tG7fFvRaAowiqzP9zwbCP9nEr5veQv90MqVTYc+XmTMSkwrOyTxOO5UKCq/me0VQ5BfyBBp0/3J4kldk+PV1grSEqxZGXTglscKfROZOBHYHUqM2v9owUr17CTQvNvMSS1kaNGtBqk4Ey+B8naqvxscK9rfMe2HpX7H2tJNnCNNP3t+wGfJEbmTrgUVUpQR6PC5tv+3WUeWgQ3HnQ/KmGBoTyjBu/5wiv8LE8/qy/PkobL0FyjmWbVW+8n5igkJmZoYyvEwB8yOaqcVIFj+3SVvNOuIFwJ4B7F+gEF7INQw5y1r0d4HM4/iSQoP7vGMiu2U3LIOT1HZLkMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X9QGU8qgTf7yEzsdJi8JJS",
      "input": {
        "note": "Jaws straddle the white bowl's left rim near table level. Closing to pinch the rim.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01X9QGU8qgTf7yEzsdJi8JJS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2649, 1.7397, 0.7162, 0.2905, -0.2295, -0.207, 0.1023, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4198 left_y=-0.0686 left_z=0.0324 left_yaw=0.0207 left_pitch=-0.1399 left_roll=0.0151 left_gripper=0.1023 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0024 right_pitch=-0.0217 right_roll=0.0055 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -7.1179, 5.8872, 1.2674, -0.2125, 0.1734, 0.3932, -0.0615, -1.1556, 7.0222, 1.7705, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38d62ed3e5cd4e8b9032852c470849e320dbd479b0d9ee019b2306ab6106003d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35c607c9bed6c00369b54e5e909a9f648f313debd8c1c8bc2db4e053f3210225",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49faeed028e767f75452a8ab5f9447974414f47fe14afb142b9382a498702222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 4.105 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]: [-0.2615, 1.5101, 0.8364, -0.0353, -0.2394, -0.1894, 0.9995, -0.0216, 0.7979, 0.6003, -0.3927, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.414 left_y=-0.0637 left_z=0.1124 left_yaw=0.022 left_pitch=-0.1153 left_roll=0.0282 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1746 right_yaw=0.0021 right_pitch=-0.0201 right_roll=0.0053 right_gripper=0.9965\nstate[joint_eff]: [0.253, -6.2564, 6.7897, 1.8828, -0.0904, 0.1099, -0.0122, -0.0205, -1.2103, 7.3368, 1.8144, -0.0317, -0.0611, -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]: [-0.2638, 1.7466, 0.7227, 0.2562, -0.2363, -0.1864, 0.9995, -0.0216, 0.7986, 0.6003, -0.3931, -0.0166, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4161 left_y=-0.0658 left_z=0.0261 left_yaw=0.0178 left_pitch=-0.1724 left_roll=0.0451 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1743 right_yaw=0.0022 right_pitch=-0.0213 right_roll=0.0058 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -7.2137, 4.8752, 1.6825, -0.149, -0.0611, -0.0122, -0.1299, -1.2923, 7.0222, 1.7314, -0.0659, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2649, 1.7397, 0.7162, 0.2905, -0.2295, -0.207, 0.1023, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4198 left_y=-0.0686 left_z=0.0324 left_yaw=0.0207 left_pitch=-0.1399 left_roll=0.0151 left_gripper=0.1023 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0024 right_pitch=-0.0217 right_roll=0.0055 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -7.1179, 5.8872, 1.2674, -0.2125, 0.1734, 0.3932, -0.0615, -1.1556, 7.0222, 1.7705, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38d62ed3e5cd4e8b9032852c470849e320dbd479b0d9ee019b2306ab6106003d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35c607c9bed6c00369b54e5e909a9f648f313debd8c1c8bc2db4e053f3210225",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49faeed028e767f75452a8ab5f9447974414f47fe14afb142b9382a498702222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlgkKEAgSGAI4AUIIdGhpbmtpbmcSDAiZMqAFndgexVG7FRoMaTmrIg9YqAo2U1U0IjATyZLxSMiuiko+YWeXbnVlT34eD7Pbv2tlBOs1xpOj6ZCtQamFQu38mBWLFYbag60qswge40J2nA3S+HcUnID854On372Jf7xiJ3wEEY0yqKvzfe7DywHjDY+61b3pdB+H7uA9hfdJMioX8lSOodPm97WlQtphPJV8siBCLsREE1+A1kRnubCIX7GovUpOcKyg24gvtuqwpus9GfaEsH1bQ69ESXodfz3E2LtTLRCGCSPBet5jPyo6ZmBSE9MyR7+yVxH9ht7dUDSjexs4lqRWoVofNIWncCO39o0SxyK9uilDFgWSRmjh+VpxfrULMng4c/fOqKk4uO2ZurrhcpbfYfA6dFYf2L4/nx197B38vFcW2DfkRnak62BWtXm8+3qwVXG4GUbej532d/e1cfCW4PWeXlut+hah/vB6oy866BTg5TAIeMTn9+wekqRwdl0Dy4U9MtlNeSxFVda8CQTWB+qkdanO5fgp7VWogtENlregGKrYVFD9AiM/qdgQg3WLemk/xoRBIP5DJzDQHFn4WUUgXRl3Musk6wLrLQ3IGejn094WZXjsgv807p5iImKpXDOuGWg7AxsdX8TbZlrTP02Ow7bRXXD5OIKyhZTQAHoKtnowqHUDHWL3CqpYUdqboa3tpk2K/50gCsnYGfs1Du2IFtYj4zLc7zskuMf8T1K1xTAG+Ir+uyW1t/ufoHqbMhveCDaewdAmMkgVUi/+ViZDuEaY8N6K4MP5xEv49XwPGEBomGAbt3J9puhyOH7NAjvpkyfNzae5ngE68cK/XtxDS3mBpzUaNl4eT2rowJPDpt1q9+5EIZMtAXxc4tKEBf4fxiMFFCzzQLk05zq+4WWmQKvzHddfyjLO9fLrg4BMdx51qOpgKyObxQOPF0xzUc1zSJnypiNuHTz1DbCYojtDz+/PrlyEp1mfL2XhUt3v8pK1uvJkyF1I0/MHUOF/8SVbfFL1WM6EFwKBcnfYOA7Zg3SGQDJgCg5A9Wx3T8X5KuCmAzMeeNBomf0nsKGQPz69ifZz5a1Hd02xOft6DzlkRVOUZnV3qUnxrYtzL6YIMLOr9M8/zpbZx6eklBT5tt5dUrDziFLmO9z/ryQ6DFVGH4K++Qk3bpy3d/dpiMrswedy5JAw2TixvEcUCFSZVh7P80rE4JH2AjeRMV8jU3Mu5IW5NaN0DOfQYOPs5LpxSraWm10zavq7cJK72N5UzuMb2C/b/BwmvLWD8rNA4siZ6DzLqGJp6pJdsC7VMHLjNiQL7WoeXi/zx7EPr5fscUvyJG//9ApkYKh780DYQLXWST4ODUCUGjEpPIBX7G2/rzSNVbB5eGjOudSD7kYBZltptGrG5y6y+3njmmCfq3HLAAsCZxRxbE84od08a/rVMLldmmK9oToGi+LC3c9qgeHo3Piqs1V/O7/UWUkWrp6eYBKwOysfeMCbvog6aJ6XbGZKTV8ST6hY8sBW4PX0g70sAKe9/e7dUn2gkQlPdTBFkofgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015SVQvvFo6KM6poqDPBeMMb",
      "input": {
        "note": "Gripper settled at 0.10 (~1 cm), consistent with pinching the rim. Lifting to verify the bowl comes up.",
        "targets": {
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015SVQvvFo6KM6poqDPBeMMb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2649, 1.5375, 0.9165, -0.1349, -0.2325, -0.2134, 0.1016, -0.0216, 0.7986, 0.5999, -0.3927, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4184 left_y=-0.0676 left_z=0.1163 left_yaw=0.0278 left_pitch=-0.1612 left_roll=0.0188 left_gripper=0.1016 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=0.0024 right_pitch=-0.0213 right_roll=0.0055 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -8.9368, 9.3333, 1.6532, -0.0904, 0.0513, -0.0806, -0.1162, -1.2513, 7.2274, 1.7167, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58089e84613ec7857db6816340d7bc9c9168a5e182b033abfdb977b24439363c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fbdc92fd6a52631c1b45fb5ae7c27d44e79eb748490955fcab255ada8a6cdab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a1b3d9bfe28a79239bebda3ab37cc7d65fc8ac826a1f2ced1da86d43dd7aac49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 8.805 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]: [-0.2638, 1.7466, 0.7227, 0.2562, -0.2363, -0.1864, 0.9995, -0.0216, 0.7986, 0.6003, -0.3931, -0.0166, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4161 left_y=-0.0658 left_z=0.0261 left_yaw=0.0178 left_pitch=-0.1724 left_roll=0.0451 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1743 right_yaw=0.0022 right_pitch=-0.0213 right_roll=0.0058 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -7.2137, 4.8752, 1.6825, -0.149, -0.0611, -0.0122, -0.1299, -1.2923, 7.0222, 1.7314, -0.0659, -0.022, -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]: [-0.2649, 1.7397, 0.7162, 0.2905, -0.2295, -0.207, 0.1023, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4198 left_y=-0.0686 left_z=0.0324 left_yaw=0.0207 left_pitch=-0.1399 left_roll=0.0151 left_gripper=0.1023 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0024 right_pitch=-0.0217 right_roll=0.0055 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -7.1179, 5.8872, 1.2674, -0.2125, 0.1734, 0.3932, -0.0615, -1.1556, 7.0222, 1.7705, -0.0464, -0.0366, -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]: [-0.2649, 1.5375, 0.9165, -0.1349, -0.2325, -0.2134, 0.1016, -0.0216, 0.7986, 0.5999, -0.3927, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4184 left_y=-0.0676 left_z=0.1163 left_yaw=0.0278 left_pitch=-0.1612 left_roll=0.0188 left_gripper=0.1016 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=0.0024 right_pitch=-0.0213 right_roll=0.0055 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -8.9368, 9.3333, 1.6532, -0.0904, 0.0513, -0.0806, -0.1162, -1.2513, 7.2274, 1.7167, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58089e84613ec7857db6816340d7bc9c9168a5e182b033abfdb977b24439363c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fbdc92fd6a52631c1b45fb5ae7c27d44e79eb748490955fcab255ada8a6cdab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1b3d9bfe28a79239bebda3ab37cc7d65fc8ac826a1f2ced1da86d43dd7aac49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSzgcKEAgSGAI4AUIIdGhpbmtpbmcSDLt3u0NCAmhbD329iBoMXVoGu88hwFPfimZOIjCrRZCpr3dhUFWSf6LIJ4oj1GfJV4lopkhSjO3N/o0aAY+nkae6Ii3f5DxDipOVFTUq6wbBzl/23lxdBx7pQNHNRpdy8/ZTYo1a2ydJtCb3qrbWMIhJ2xGC/RSpBrgljBxT5K84H5/YcarhZ/Ff++F8/7B6Ws5iD9k5ItDovdPflCi3r3Sebv4rqrkBD9D7GpXlgAu3tHcElHv1OpLMaXpXuqwJxkGsrzT2VvVFK7UCXTODc3HivTP6ZDovV+aInh/MNFjOvdx9m4nP9WM+fobXamCGXsm7CGXpmSmwq+ycIO07+M6EQhrTeFYrmAcFvpew7dFm56zRgBmfFbLcXtwOuyQtINPqicZLC1gZZtaQoAzaKRxNwCGkfMq5z+NmWttV5/7JrIQfbBqdIs7q797II+4hz1lfOrye7oSZFX2YxPYofBapXpzdHnjsFFUFD2I4O0DfrAHc9XJBET6SDP6omooJ3EhB52Oqvvd/jyemCZ0Y3aNb1pAqtpx6qAUXcxmFQH7JtgqfsXjbzXys8KC6p9K0XJtpEQNBBejnrbUxysiW/gDCOzBVnQz28ziiCW9rWkoMkOltAYO9XWUQhfWnLaRgLy3d+VWCR4EB3pwxNSk68SrEyh9GM5mGxtltEzuifyjvSCFe0ulHT2ZF2S/0FqZ6HK5tgICKPMlR0htnDBWxj89oJ/Lg1X+35mL3p96xdTfRa569F0V3WUamehgnXuipORWEmcMH2rtm1G0bBNvXDhLrnXTHEKpv1jEpBGd3IKQ0La15KaEpOOy5S0BEXl3CdJQddRIsoM4IUwK48Br/Az5JZDJbbOw32z7Xch1eI1sPGhoPxNcKIIT3XjUXXYQ92/wmGDEZ8trOHftuaxX5WAUJEhuqWAyg+v8Ue6QPsWbz9CYNBG0WjMxg/nY28+EaT7EFHAlOSss0aYpwDzTHrznsgWnznvIezWkO07iKEGMp2JJ/47udijndbAcb+Zs5XaBn+OOpp8jpahaQ2Y8Mo8EZGLVeDA6rAvaqoKEcWAAVtDeYND3jwaH/LpH8AmYN+qrPJyN9zAH2Jn0D93qkhqSg2P3fHxKBKHq7ToaaX3gPgeDAF5D1Glx3tyvigO7vIt56n+87QVW41TzaSFL0YMIGhHAZSJp9ADNGAM603LkbEO/9/VvPD8cFv1PhCG3DL3f7Cl37GsCXbfvmUMZUMia5+d4JRyFDxmxjlTuxKxO/YKbcJeb4CU0HABgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HYRxkd6w7mAxmWGXBhJt5D",
      "input": {
        "note": "White bowl appears lifted with the gripper. Carrying it over the blue middle bowl, offset by the bowl radius so the centers align.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.268,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01HYRxkd6w7mAxmWGXBhJt5D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7601, 1.8835, 1.5341, -0.5793, -0.5488, -0.6102, 0.1014, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4169 left_y=-0.2642 left_z=0.159 left_yaw=0.0145 left_pitch=-0.1825 left_roll=0.0172 left_gripper=0.1014 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=0.0022 right_pitch=-0.0255 right_roll=0.0059 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -9.8393, 9.0325, 1.2381, -0.486, 0.0904, -0.0269, -0.1436, -1.388, 7.0359, 1.7363, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5913ba1846139b55eecc9caa5574f060e91d2e1710f6895685859c34cfff81c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:470531536a9fc5495b05f0677fc20b9343d354f3113d15f9be727ee9148c9c06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:058724436129441fd2d1ce36fdc1a4148e0eb635732d410b1453a6e30bc42800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 7.802 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]: [-0.2649, 1.7397, 0.7162, 0.2905, -0.2295, -0.207, 0.1023, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4198 left_y=-0.0686 left_z=0.0324 left_yaw=0.0207 left_pitch=-0.1399 left_roll=0.0151 left_gripper=0.1023 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0024 right_pitch=-0.0217 right_roll=0.0055 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -7.1179, 5.8872, 1.2674, -0.2125, 0.1734, 0.3932, -0.0615, -1.1556, 7.0222, 1.7705, -0.0464, -0.0366, -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]: [-0.2649, 1.5375, 0.9165, -0.1349, -0.2325, -0.2134, 0.1016, -0.0216, 0.7986, 0.5999, -0.3927, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4184 left_y=-0.0676 left_z=0.1163 left_yaw=0.0278 left_pitch=-0.1612 left_roll=0.0188 left_gripper=0.1016 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=0.0024 right_pitch=-0.0213 right_roll=0.0055 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -8.9368, 9.3333, 1.6532, -0.0904, 0.0513, -0.0806, -0.1162, -1.2513, 7.2274, 1.7167, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7601, 1.8835, 1.5341, -0.5793, -0.5488, -0.6102, 0.1014, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4169 left_y=-0.2642 left_z=0.159 left_yaw=0.0145 left_pitch=-0.1825 left_roll=0.0172 left_gripper=0.1014 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=0.0022 right_pitch=-0.0255 right_roll=0.0059 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -9.8393, 9.0325, 1.2381, -0.486, 0.0904, -0.0269, -0.1436, -1.388, 7.0359, 1.7363, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5913ba1846139b55eecc9caa5574f060e91d2e1710f6895685859c34cfff81c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:470531536a9fc5495b05f0677fc20b9343d354f3113d15f9be727ee9148c9c06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:058724436129441fd2d1ce36fdc1a4148e0eb635732d410b1453a6e30bc42800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EhPY1XkHJqy3Yu2FV5fSyt",
      "input": {
        "note": "The white bowl never left the table (still visible in its original spot in both views), so the rim grasp slipped. Returning above its left rim with gripper open to retry, deeper this time.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.425,
          "left_y": -0.068,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01EhPY1XkHJqy3Yu2FV5fSyt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2661, 1.5875, 0.981, -0.2153, -0.239, -0.2417, 0.9969, -0.0219, 0.8043, 0.5999, -0.3931, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4215 left_y=-0.0678 left_z=0.1087 left_yaw=0.0514 left_pitch=-0.2222 left_roll=0.0227 left_gripper=0.9969 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0021 right_pitch=-0.0274 right_roll=0.0057 right_gripper=0.9965\nstate[joint_eff]: [0.2256, -9.1556, 6.5299, 1.7509, -0.0513, 0.2271, -0.0904, -0.2256, -1.306, 7.0496, 1.746, -0.0855, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e529af4c91eaaddda0c6770958a2e191f909134d82082f34deee9d246fada77c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7fa05c5e6a9f14079ff26b1eff51eeacde0892aea4283b91601bb53a830c6ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91ec64402e41365c5d099a0a94e9567f61fc5d112f39147c2e258f49f2a37482",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 4.016 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]: [-0.2649, 1.5375, 0.9165, -0.1349, -0.2325, -0.2134, 0.1016, -0.0216, 0.7986, 0.5999, -0.3927, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4184 left_y=-0.0676 left_z=0.1163 left_yaw=0.0278 left_pitch=-0.1612 left_roll=0.0188 left_gripper=0.1016 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=0.0024 right_pitch=-0.0213 right_roll=0.0055 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -8.9368, 9.3333, 1.6532, -0.0904, 0.0513, -0.0806, -0.1162, -1.2513, 7.2274, 1.7167, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7601, 1.8835, 1.5341, -0.5793, -0.5488, -0.6102, 0.1014, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4169 left_y=-0.2642 left_z=0.159 left_yaw=0.0145 left_pitch=-0.1825 left_roll=0.0172 left_gripper=0.1014 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=0.0022 right_pitch=-0.0255 right_roll=0.0059 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -9.8393, 9.0325, 1.2381, -0.486, 0.0904, -0.0269, -0.1436, -1.388, 7.0359, 1.7363, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2661, 1.5875, 0.981, -0.2153, -0.239, -0.2417, 0.9969, -0.0219, 0.8043, 0.5999, -0.3931, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4215 left_y=-0.0678 left_z=0.1087 left_yaw=0.0514 left_pitch=-0.2222 left_roll=0.0227 left_gripper=0.9969 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0021 right_pitch=-0.0274 right_roll=0.0057 right_gripper=0.9965\nstate[joint_eff]: [0.2256, -9.1556, 6.5299, 1.7509, -0.0513, 0.2271, -0.0904, -0.2256, -1.306, 7.0496, 1.746, -0.0855, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e529af4c91eaaddda0c6770958a2e191f909134d82082f34deee9d246fada77c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7fa05c5e6a9f14079ff26b1eff51eeacde0892aea4283b91601bb53a830c6ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91ec64402e41365c5d099a0a94e9567f61fc5d112f39147c2e258f49f2a37482",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dp4erRyjQ9Wkj3SECbCwTM",
      "input": {
        "note": "Wrist view shows the white bowl now centred under the jaws (it was pushed left during the last close), so its left rim is ~5 cm further +y. Moving over that rim.",
        "targets": {
          "left_x": 0.435,
          "left_y": -0.017,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Dp4erRyjQ9Wkj3SECbCwTM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1078, 1.6058, 0.973, -0.1864, -0.1532, -0.1585, 0.9979, -0.0219, 0.8043, 0.5999, -0.3935, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4302 left_y=-0.0158 left_z=0.1007 left_yaw=0.0907 left_pitch=-0.2371 left_roll=0.0192 left_gripper=0.9979 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.0017 right_pitch=-0.0278 right_roll=0.0055 right_gripper=0.9965\nstate[joint_eff]: [0.3214, -6.612, 6.106, 1.7705, 0.0562, 0.149, 0.0904, -0.0889, -1.2513, 7.0359, 1.7558, -0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b93c47e40069bf95dc3e11242d62a1d83e05d12444287f1023668c0f379050dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:959b12099ac959c19042c0e8329f92a1b5fe8325ee8fd8ef7f142aeb2003d1a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa2eb31ba9d6a3255369c5596f047350882d6f54923288381dc146373732cd49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 6.182 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]: [-0.7601, 1.8835, 1.5341, -0.5793, -0.5488, -0.6102, 0.1014, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4169 left_y=-0.2642 left_z=0.159 left_yaw=0.0145 left_pitch=-0.1825 left_roll=0.0172 left_gripper=0.1014 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=0.0022 right_pitch=-0.0255 right_roll=0.0059 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -9.8393, 9.0325, 1.2381, -0.486, 0.0904, -0.0269, -0.1436, -1.388, 7.0359, 1.7363, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2661, 1.5875, 0.981, -0.2153, -0.239, -0.2417, 0.9969, -0.0219, 0.8043, 0.5999, -0.3931, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4215 left_y=-0.0678 left_z=0.1087 left_yaw=0.0514 left_pitch=-0.2222 left_roll=0.0227 left_gripper=0.9969 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0021 right_pitch=-0.0274 right_roll=0.0057 right_gripper=0.9965\nstate[joint_eff]: [0.2256, -9.1556, 6.5299, 1.7509, -0.0513, 0.2271, -0.0904, -0.2256, -1.306, 7.0496, 1.746, -0.0855, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1078, 1.6058, 0.973, -0.1864, -0.1532, -0.1585, 0.9979, -0.0219, 0.8043, 0.5999, -0.3935, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4302 left_y=-0.0158 left_z=0.1007 left_yaw=0.0907 left_pitch=-0.2371 left_roll=0.0192 left_gripper=0.9979 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.0017 right_pitch=-0.0278 right_roll=0.0055 right_gripper=0.9965\nstate[joint_eff]: [0.3214, -6.612, 6.106, 1.7705, 0.0562, 0.149, 0.0904, -0.0889, -1.2513, 7.0359, 1.7558, -0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b93c47e40069bf95dc3e11242d62a1d83e05d12444287f1023668c0f379050dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:959b12099ac959c19042c0e8329f92a1b5fe8325ee8fd8ef7f142aeb2003d1a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa2eb31ba9d6a3255369c5596f047350882d6f54923288381dc146373732cd49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7wcKEAgSGAI4AUIIdGhpbmtpbmcSDHCxnZ/PdZdmp3emKRoML98JE9Glq3cvnHbIIjA//NPiYbyJn7MMNjeaq7I//+BnzMySVB+C8n/kjLWxk1tXiuxTIMDcLCtNYGo85oUqjAfe6gSHPwB+qq6tfMM5bSpzM9EjhZLx2D+uQH73HkLQn1X6JgeO6vZDVfZTF17kykohNRmzW22GBsSIDuP/xmOI/wlYDIuTqe20cxFwshXvp7+L9G17TJhSZz5SCcmXUrZ55KZc655baks7ZCiCIIzOxvHYPCPr+K/WoEyxZcnbgStnhQYzVhY/V/BGXsFR8NQcAa3/H0JiRKOQP36XqUEN3UnHvPSlxhXc+ZnQoj8Gq5rQ4FXGTO2cTvKoH20HSLbgC31cGr4lB47mq9mEKM/5wQWDG8O3NPRYtrHWcrX+YrAp9xAb5hypvr+UxqBCQYqK83/+HkRZ6G9cTLS+3+zKrVTlbFJ2VaNqUSe2jvnsEK0Cs/UvB+VKFhWdVWxCKpUZ2wht1cw6aSGiwsOjetpXYJ8pvSrhrT0OseQaWsktNycA4teO8ccbFZEYJ+2WnHMzQMsvrjKzi2u9o7HKoXs6eU02EI+m+IX+hSBIRL5I4rMUdiVzFpabhtxb9Ud1HEvqw7WATXJSsUolmyEaFLfQdIax2ByC7ugb8qlsxPcHL1tBdzNxAxu00xnJyMK3Fkoz0kBId2YivgajrJV/PCqrF3+7fjXYadQVOmh9Sc7NgM6xbJtda9SmCEDB0CGNSnvBH6+GciVrriGCwcbW6wsy7J84sBo2d7b/PnZSkMlTWISqOkn/AASPTSBzFA0kkJmcufwWvmVEqcSNb++JZTBcOit2nzRUanzbcaklwBAUTAR5Gw1a/Wlr04+KNx4B88J8UsQFATifjC86kYENyIr5DrbebsjAO5DBaempvnMWfHB8qm6gwjB9MQOxQm8bqui93Ew0H08Q7qY0Y804xoTBNNURPiADmFSkrJati221QbuO+vtL7pck4/hGgJFTPkXv2O9aF/12nn3qG8/2McQujpx16/S1gn92Uf9Cz4l8UvV7GjdRdDwUdYmTMUkqZLdal9KGfZtZhJm8QXCN/lKDhAC8JUFqnr78XiJK/A0uzPqgoNLjt/azUXAcns26QCBW4BbN7ao4/MT5SxUPruMSMbYs23Yk7HwRvsq5p6XM6Qh+tkpTxzmcX14k3W4o5gWQBG3cJ25CQ2Tnp5cKWcFww9edRnHzV96AFwiws17694TD9rkWfHsJ5PQEy70YJAaiFtBDbbAm5jc8MvGHF12uLycsvGobnJ9Zzl08zw9V8nGXyRTMWamEB8wZ1BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UEcunm7cKvMba3ZVkTbb8r",
      "input": {
        "note": "White bowl's left rim now sits between the jaws in the wrist view. Descending low so the fingers cover more of the rim wall.",
        "targets": {
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01UEcunm7cKvMba3ZVkTbb8r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0963, 1.6131, 0.9718, -0.1749, -0.128, -0.1375, 0.998, -0.0216, 0.8043, 0.5999, -0.3935, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.432 left_y=-0.0155 left_z=0.0987 left_yaw=0.0688 left_pitch=-0.2378 left_roll=0.0149 left_gripper=0.998 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0024 right_pitch=-0.0278 right_roll=0.0057 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -7.3915, 6.188, 1.7265, -0.0415, 0.1978, -0.0024, -0.0615, -1.3197, 7.1726, 1.7509, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d60c8cace86de9d3ff7c7faa1eedfa156550a3d5ea151bad934b85f110e55d60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fcb5375e221d3b62089ffe99ab58a723a3a64d1dcac9093645085172787feb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d3dd60592a1228531014c437f30415b63d68418d531f85f94f4ad986fe32625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 11.98 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]: [-0.2661, 1.5875, 0.981, -0.2153, -0.239, -0.2417, 0.9969, -0.0219, 0.8043, 0.5999, -0.3931, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4215 left_y=-0.0678 left_z=0.1087 left_yaw=0.0514 left_pitch=-0.2222 left_roll=0.0227 left_gripper=0.9969 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0021 right_pitch=-0.0274 right_roll=0.0057 right_gripper=0.9965\nstate[joint_eff]: [0.2256, -9.1556, 6.5299, 1.7509, -0.0513, 0.2271, -0.0904, -0.2256, -1.306, 7.0496, 1.746, -0.0855, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1078, 1.6058, 0.973, -0.1864, -0.1532, -0.1585, 0.9979, -0.0219, 0.8043, 0.5999, -0.3935, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4302 left_y=-0.0158 left_z=0.1007 left_yaw=0.0907 left_pitch=-0.2371 left_roll=0.0192 left_gripper=0.9979 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.0017 right_pitch=-0.0278 right_roll=0.0055 right_gripper=0.9965\nstate[joint_eff]: [0.3214, -6.612, 6.106, 1.7705, 0.0562, 0.149, 0.0904, -0.0889, -1.2513, 7.0359, 1.7558, -0.0464, -0.022, -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]: [-0.0963, 1.6131, 0.9718, -0.1749, -0.128, -0.1375, 0.998, -0.0216, 0.8043, 0.5999, -0.3935, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.432 left_y=-0.0155 left_z=0.0987 left_yaw=0.0688 left_pitch=-0.2378 left_roll=0.0149 left_gripper=0.998 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0024 right_pitch=-0.0278 right_roll=0.0057 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -7.3915, 6.188, 1.7265, -0.0415, 0.1978, -0.0024, -0.0615, -1.3197, 7.1726, 1.7509, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d60c8cace86de9d3ff7c7faa1eedfa156550a3d5ea151bad934b85f110e55d60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fcb5375e221d3b62089ffe99ab58a723a3a64d1dcac9093645085172787feb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d3dd60592a1228531014c437f30415b63d68418d531f85f94f4ad986fe32625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSzAkKEAgSGAI4AUIIdGhpbmtpbmcSDG4rfM7O/25sY+oP6BoM0gTCF1dUDnydrV7hIjC+WLad5rFc+LAWO2e6BoCW5EjlUa9/457F+EEkGftXkHueYIpmH+8MGfqBZRtG4+sq6QjlalVDnSJ3NfVlQ5EAF1c3M/yACjXdzNzUU/WiW9fhTO1srSED3T6eQf7h9GwIdg3oj7AZcB9/G/LH3brvPY0+lc4pOVCScfHEekXX1IqgzvZcyUeIhvg7o5G8fWa9WNItrUtsKb4uHiLFF0RxB/aO/J2xSihWNoHbJsu9VnkuG42yCLr1bKzPt/GtKO6DN+TRwxhG6pscP1y0zRCZPOduUF/JNQUrGFER7Wq/OkNmFuNpoYGNNLxzane4SbyJiRwD/CwEA4fIiPOm5LwatQtuz3G4zd2CdSwPKChJkEVb3sshmJvpu9VklBBKUfq/VCGkfaO5qWI5ZZsjV3NQin2AtEsdatemzqopUvydrDxUQmhfV2TMc/Wilh9M6wSOYAJ2NSLHariKgb/1mYGY+9Pwvmy7WtWYJP/Kmopb1bN2o1EFuPVNWaabprEH6E/zTs04m3rdIiuoUSo5SMFje2SxCW06+NzvWJgrmczeSe1wmIi1cob/xeW64C2Q2hzp07IFrxQu1yTeSuBmWEHilV6lmlTW0Tr6JpeUtRHAtOk/YaNHB+56Fd9UwnEFXW1hPj9xK9fk8jMKYgDgYeEu0FkJbKgpEH4gd0+lWrG0XAATToBPScUIBZq7dXIlhv7WBSKltpNjWxaM+d7N62ADFLZ0vGwUvX8BbEOqNFzagQU63LHJkKx6u9okbmXB2NorV+DvmRmToIoVWX1E8vUBjzB0XC8IDnE4zrlem78/rIV0IsnV+vgw9xKBXPSLdWGyoilCZ38XFM2GalSYOBO3S9OvWgZiT2ZfxVSMFFhFLlWHKKbUX3GjxIeH7/YMi5uwWJhtk5q28VXVHIg10XkaCwYqwLHkaVUJkVe7nn3uJY4+0KEyc1zJVYGWqbspSo2htM6eIstUb1j8pGC8Fa5Bkyz4sWoFnLd6X2JveXRXnzgYQuRq//3Q+KNU0MVnIPloCVwC0rfB2Ow2VhCmsUbECSG6wRqkAUE0RBQIlq7/APzx27+V1XXnUgTZ5ImTjLreVI0ATlPHtwrclVBTDAVnv6ExT3KqWpfQyy/TKVah8XQ6oebLKA0DgsNugmDrE/XwyhNSU88mepj9xl2PInb+ufs7w8T05mjlbo5m3KxqU2ebFLEbpZhm06xOm7u53cpc5UJ3aSpV/QYriqW7xQL9FAHtDPgcgjSpZfo6nTS9KgCWcPwNYtwszgxwwYLxRHbQSILdpda3Oklu8hq0Np8F2DLDoGFQToXPd5HTfT7Wkp63sxygaR1t4Nhc1GtSLHGFGDPXg3wC7EItHds4B//OgRIbr7WykgleRQgkYQAJc3GMe3Iy2NeP34FqN79M+2DOVhZP6J+k6EZe3XsHTXkkjqTzbadOHfWzby4uxx3IWZS/MgZfeF3cCBXHq87B0V3S9RMMOg6pPD9V4q9++7Kg6vZuxyE4mAjYthDlLtCWZobVN363f4G+28TBdFsCG0myia1Ynl+kdEti1XKbAqvRmgNOB3ur6AK6RnfTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011dXrN7QS66pymvqAfsFPZw",
      "input": {
        "note": "The last descent didn't move (z stayed at 0.10, no contact effort). Re-sending a full-pose descent target over the rim.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.015,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_011dXrN7QS66pymvqAfsFPZw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0963, 1.6737, 0.8898, -0.0231, -0.1307, -0.1383, 0.998, -0.0216, 0.8051, 0.5999, -0.3935, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4332 left_y=-0.0151 left_z=0.0671 left_yaw=0.0712 left_pitch=-0.2284 left_roll=0.0148 left_gripper=0.998 right_x=0.2931 right_y=0.0002 right_z=0.1723 right_yaw=0.0024 right_pitch=-0.0285 right_roll=0.0057 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -2.8239, 3.0291, 0.779, -0.0708, -0.0317, -0.0073, -0.212, -1.3333, 7.4188, 1.7509, -0.0513, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f83835222bc4a6e021ecaa6f128f2b0da37afa43e824cd8a3425705dff31b8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bbcaa51e37d5a57304d448558abf3d91880ad2ae3d0d9a42133124b167a0932",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab1c0c7699a693d516697111876de1b45e1e4590e208c291f926c41882d0c673",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 4.463 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]: [-0.1078, 1.6058, 0.973, -0.1864, -0.1532, -0.1585, 0.9979, -0.0219, 0.8043, 0.5999, -0.3935, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4302 left_y=-0.0158 left_z=0.1007 left_yaw=0.0907 left_pitch=-0.2371 left_roll=0.0192 left_gripper=0.9979 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.0017 right_pitch=-0.0278 right_roll=0.0055 right_gripper=0.9965\nstate[joint_eff]: [0.3214, -6.612, 6.106, 1.7705, 0.0562, 0.149, 0.0904, -0.0889, -1.2513, 7.0359, 1.7558, -0.0464, -0.022, -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]: [-0.0963, 1.6131, 0.9718, -0.1749, -0.128, -0.1375, 0.998, -0.0216, 0.8043, 0.5999, -0.3935, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.432 left_y=-0.0155 left_z=0.0987 left_yaw=0.0688 left_pitch=-0.2378 left_roll=0.0149 left_gripper=0.998 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0024 right_pitch=-0.0278 right_roll=0.0057 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -7.3915, 6.188, 1.7265, -0.0415, 0.1978, -0.0024, -0.0615, -1.3197, 7.1726, 1.7509, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0963, 1.6737, 0.8898, -0.0231, -0.1307, -0.1383, 0.998, -0.0216, 0.8051, 0.5999, -0.3935, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4332 left_y=-0.0151 left_z=0.0671 left_yaw=0.0712 left_pitch=-0.2284 left_roll=0.0148 left_gripper=0.998 right_x=0.2931 right_y=0.0002 right_z=0.1723 right_yaw=0.0024 right_pitch=-0.0285 right_roll=0.0057 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -2.8239, 3.0291, 0.779, -0.0708, -0.0317, -0.0073, -0.212, -1.3333, 7.4188, 1.7509, -0.0513, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f83835222bc4a6e021ecaa6f128f2b0da37afa43e824cd8a3425705dff31b8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bbcaa51e37d5a57304d448558abf3d91880ad2ae3d0d9a42133124b167a0932",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab1c0c7699a693d516697111876de1b45e1e4590e208c291f926c41882d0c673",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E7djnaanoVieWEtzd43y4X",
      "input": {
        "note": "Descent stalled at z=0.067 with shoulder load dropping: the right jaw is likely hitting the bowl's sloped inner wall. Shifting the gripper 3 cm left so the right jaw sits just inside the rim.",
        "targets": {
          "left_y": 0.013,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01E7djnaanoVieWEtzd43y4X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0223, 1.6627, 0.8963, -0.0784, -0.0933, -0.1146, 0.9981, -0.0216, 0.8097, 0.598, -0.3927, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.426 left_y=0.0105 left_z=0.0644 left_yaw=0.1011 left_pitch=-0.2701 left_roll=0.009 left_gripper=0.9981 right_x=0.2933 right_y=0.0002 right_z=0.1703 right_yaw=0.0025 right_pitch=-0.0342 right_roll=0.0058 right_gripper=0.9965\nstate[joint_eff]: [0.0342, -8.0479, 7.3641, 1.3309, 0.1197, 0.2711, -0.0024, -0.1436, -1.7162, 7.2821, 1.7216, -0.0415, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efba61dd85615a4f1b269bd7540dab6c5bb79e2f6e59bb30f8b8e2ef5b40e946",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef8d6ed5795f87cb7c4e008d4856a9b519ed5515e0961adb95de095b5cc9b2a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09771e84a72c243a486ece2719ffbdd9c8132ec3acabcc9dbbf8aa7ba74e7d2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 3.392 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]: [-0.0963, 1.6131, 0.9718, -0.1749, -0.128, -0.1375, 0.998, -0.0216, 0.8043, 0.5999, -0.3935, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.432 left_y=-0.0155 left_z=0.0987 left_yaw=0.0688 left_pitch=-0.2378 left_roll=0.0149 left_gripper=0.998 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0024 right_pitch=-0.0278 right_roll=0.0057 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -7.3915, 6.188, 1.7265, -0.0415, 0.1978, -0.0024, -0.0615, -1.3197, 7.1726, 1.7509, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0963, 1.6737, 0.8898, -0.0231, -0.1307, -0.1383, 0.998, -0.0216, 0.8051, 0.5999, -0.3935, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4332 left_y=-0.0151 left_z=0.0671 left_yaw=0.0712 left_pitch=-0.2284 left_roll=0.0148 left_gripper=0.998 right_x=0.2931 right_y=0.0002 right_z=0.1723 right_yaw=0.0024 right_pitch=-0.0285 right_roll=0.0057 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -2.8239, 3.0291, 0.779, -0.0708, -0.0317, -0.0073, -0.212, -1.3333, 7.4188, 1.7509, -0.0513, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0223, 1.6627, 0.8963, -0.0784, -0.0933, -0.1146, 0.9981, -0.0216, 0.8097, 0.598, -0.3927, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.426 left_y=0.0105 left_z=0.0644 left_yaw=0.1011 left_pitch=-0.2701 left_roll=0.009 left_gripper=0.9981 right_x=0.2933 right_y=0.0002 right_z=0.1703 right_yaw=0.0025 right_pitch=-0.0342 right_roll=0.0058 right_gripper=0.9965\nstate[joint_eff]: [0.0342, -8.0479, 7.3641, 1.3309, 0.1197, 0.2711, -0.0024, -0.1436, -1.7162, 7.2821, 1.7216, -0.0415, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efba61dd85615a4f1b269bd7540dab6c5bb79e2f6e59bb30f8b8e2ef5b40e946",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef8d6ed5795f87cb7c4e008d4856a9b519ed5515e0961adb95de095b5cc9b2a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09771e84a72c243a486ece2719ffbdd9c8132ec3acabcc9dbbf8aa7ba74e7d2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS2gcKEAgSGAI4AUIIdGhpbmtpbmcSDBS+LDWUCIWo4mNmhRoMy9ZnwCXMaIMeN6vRIjBshkAsg5YsQTD1HGojek0MzftOu7ZxdIUHecxbiDkBOcBMl6Th3eAsUtMAM/O+sSQq9wZWgGluBJu/G2iD2qBVlNqCaJSH2zdaIOW4totIP65sKTGtBZ/FRUkj2FTN5JfiC+h+tEX/ZVhmARfCJ7nVbAuRnC3EUQnsUoOBCBDPCPLZp3xlMPA5Y3CyXvUst6rmRHpS/r4+FyJBURkb2dSqp3r2moUULfxhqM7mpnhaZlhNrXXxKFyStIwCRFnqYka19NxerMGV+bQ7nCx9uZkrx2kNIjTHVXr5yUdBtAPwCX7tAf2ETqJcjMP1SgHfafDfHgfIBtQ4AucrmtKh25PkZYV6d4QgeMLg8BPpB655VziPgEC7vj7rfaKxI5AJYz5JJ3uAyji6dtx4oMXim/sprggXRDfBarpbzA6dTYOo156Ew0Lan4ApBVIxqOkbT43JPHXBMuMdQ804c8dbLgZXQGzvp6U9iU6tlNAIBriL+JD7qdFC2Q2IByBzdtL88Utov5dcFGl6PN0TF13H4hX+5JJXQQ4RX87bp21kv4ka2+1Zw1Py4FcH710HcMeK+CJ2B5UmdEBbAqaUT5QQKrLM7mevMMkjd4Cm4yLBA/BYpcpPxsubQYLRspMYROPx/aEsvAipyW8GZTEvNkDA6jHW7VeQVgjylv8zL0jkvT+mpPQ8K3LIlw0+9zBAzZUnjKtDo87jqdEOtkdEa7NFczUCzaH4af64E7Dd535JvbeVu9yJAtiKpXyAE/urCC2h7XXfgAX3argTHQTrNT+rXMM/v/5VgJQdij9LbCpBbsWdjg+AwhcPDjgh99UFXkTpTn7PfwO/9f9YG6xux6K2PdrRqxhBx3EGL4fu5EelKCeIGbD+gnYeCBcSnpuaGOXeY7eclxjjm0vaCPvJ6pN/NQZxYr9eTPmIDL9Bhduc1wzSnPGSk5CG2qzaWTKg2PMls+zEThzI+Cind6iMBxg19pQ6PVLHn1tVYJvOPnn5KUvdErS3o2pNtgALmuys+WUnbjyRoO+uI3RETOTw9T8GM1Qz5YDerpmko/+XFAT7aH2CUzfV1PpHs+vaDe5AoLzttQZwEMZ+FwFipkzKPf389jn/gJxVrVPLXJnfxMafyzDmT/Mp8OWi5I0mP2KBsPv5va7wvZmq9q4eVGGfLzUTDM40DdGD0AJr5/Fk15ySRLOuQN+zwPrDoi6JLdaPIbjhoOxzhVe1eBarm6jdJED4fiY8hvBqrbSY/QPWKhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G5NwUfvPJbUecJWgbwVrPy",
      "input": {
        "note": "Bowl rim now near the right jaw; backing off 1 cm so the right jaw goes just inside the rim, and descending to straddle the wall.",
        "targets": {
          "left_y": 0.002,
          "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_01G5NwUfvPJbUecJWgbwVrPy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.049, 1.7912, 0.7994, 0.0856, -0.094, -0.1352, 0.9981, -0.0219, 0.8108, 0.5972, -0.3931, -0.0166, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4142 left_y=-0.0001 left_z=0.0039 left_yaw=0.0892 left_pitch=-0.3307 left_roll=0.0041 left_gripper=0.9981 right_x=0.2932 right_y=0.0001 right_z=0.1696 right_yaw=0.0019 right_pitch=-0.0365 right_roll=0.0062 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -6.6393, 5.4496, 1.2821, -0.2076, 0.0317, -0.0073, -0.1709, -1.4154, 7.1316, 1.7509, -0.0659, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8e6f3145baed438e8776af50e955bfcd9e87022d8821b481332e184a5699f1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ae507312e0add80a36444063d92318257f0bb09e71e9fa5d1f755b3ad92bc22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b9b237bf6e75ad729f9e178f65a083fdf6cccad949b49786adb3bf534caf175",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 4.017 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]: [-0.0963, 1.6737, 0.8898, -0.0231, -0.1307, -0.1383, 0.998, -0.0216, 0.8051, 0.5999, -0.3935, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4332 left_y=-0.0151 left_z=0.0671 left_yaw=0.0712 left_pitch=-0.2284 left_roll=0.0148 left_gripper=0.998 right_x=0.2931 right_y=0.0002 right_z=0.1723 right_yaw=0.0024 right_pitch=-0.0285 right_roll=0.0057 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -2.8239, 3.0291, 0.779, -0.0708, -0.0317, -0.0073, -0.212, -1.3333, 7.4188, 1.7509, -0.0513, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0223, 1.6627, 0.8963, -0.0784, -0.0933, -0.1146, 0.9981, -0.0216, 0.8097, 0.598, -0.3927, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.426 left_y=0.0105 left_z=0.0644 left_yaw=0.1011 left_pitch=-0.2701 left_roll=0.009 left_gripper=0.9981 right_x=0.2933 right_y=0.0002 right_z=0.1703 right_yaw=0.0025 right_pitch=-0.0342 right_roll=0.0058 right_gripper=0.9965\nstate[joint_eff]: [0.0342, -8.0479, 7.3641, 1.3309, 0.1197, 0.2711, -0.0024, -0.1436, -1.7162, 7.2821, 1.7216, -0.0415, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.049, 1.7912, 0.7994, 0.0856, -0.094, -0.1352, 0.9981, -0.0219, 0.8108, 0.5972, -0.3931, -0.0166, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4142 left_y=-0.0001 left_z=0.0039 left_yaw=0.0892 left_pitch=-0.3307 left_roll=0.0041 left_gripper=0.9981 right_x=0.2932 right_y=0.0001 right_z=0.1696 right_yaw=0.0019 right_pitch=-0.0365 right_roll=0.0062 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -6.6393, 5.4496, 1.2821, -0.2076, 0.0317, -0.0073, -0.1709, -1.4154, 7.1316, 1.7509, -0.0659, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8e6f3145baed438e8776af50e955bfcd9e87022d8821b481332e184a5699f1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ae507312e0add80a36444063d92318257f0bb09e71e9fa5d1f755b3ad92bc22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b9b237bf6e75ad729f9e178f65a083fdf6cccad949b49786adb3bf534caf175",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Reached z=0.004; bowl wall is right next to the right jaw. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QUPNEo6oSHFru3dQN67f7U",
      "input": {
        "note": "Fingers are down at table level with the white bowl's wall by the right jaw. 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_01QUPNEo6oSHFru3dQN67f7U",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0505, 1.7782, 0.8059, 0.1272, -0.078, -0.1574, 0.1034, -0.0216, 0.8116, 0.5957, -0.3931, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4257 left_y=-0.0042 left_z=0.0177 left_yaw=0.0836 left_pitch=-0.2719 left_roll=-0.0322 left_gripper=0.1034 right_x=0.293 right_y=0.0002 right_z=0.1686 right_yaw=0.0025 right_pitch=-0.0388 right_roll=0.0059 right_gripper=0.9965\nstate[joint_eff]: [0.212, -7.1043, 4.9573, 1.0965, -0.2173, 0.1587, 0.5739, -0.0889, -1.4017, 7.2821, 1.7118, -0.0659, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c929ef23eb45b1a6f672baea86103ef83c6ed7a051654c0375ec4558f6e594ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65ef140a2a6103e7ac78dc51441b093f1906d3a5070fa990f621fda1feedbf64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6948ab96f71c67462ac30959a2eff22107c90d7d8324d0338119cd753f382fb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 9.121 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]: [-0.0223, 1.6627, 0.8963, -0.0784, -0.0933, -0.1146, 0.9981, -0.0216, 0.8097, 0.598, -0.3927, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.426 left_y=0.0105 left_z=0.0644 left_yaw=0.1011 left_pitch=-0.2701 left_roll=0.009 left_gripper=0.9981 right_x=0.2933 right_y=0.0002 right_z=0.1703 right_yaw=0.0025 right_pitch=-0.0342 right_roll=0.0058 right_gripper=0.9965\nstate[joint_eff]: [0.0342, -8.0479, 7.3641, 1.3309, 0.1197, 0.2711, -0.0024, -0.1436, -1.7162, 7.2821, 1.7216, -0.0415, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.049, 1.7912, 0.7994, 0.0856, -0.094, -0.1352, 0.9981, -0.0219, 0.8108, 0.5972, -0.3931, -0.0166, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4142 left_y=-0.0001 left_z=0.0039 left_yaw=0.0892 left_pitch=-0.3307 left_roll=0.0041 left_gripper=0.9981 right_x=0.2932 right_y=0.0001 right_z=0.1696 right_yaw=0.0019 right_pitch=-0.0365 right_roll=0.0062 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -6.6393, 5.4496, 1.2821, -0.2076, 0.0317, -0.0073, -0.1709, -1.4154, 7.1316, 1.7509, -0.0659, -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 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0505, 1.7782, 0.8059, 0.1272, -0.078, -0.1574, 0.1034, -0.0216, 0.8116, 0.5957, -0.3931, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4257 left_y=-0.0042 left_z=0.0177 left_yaw=0.0836 left_pitch=-0.2719 left_roll=-0.0322 left_gripper=0.1034 right_x=0.293 right_y=0.0002 right_z=0.1686 right_yaw=0.0025 right_pitch=-0.0388 right_roll=0.0059 right_gripper=0.9965\nstate[joint_eff]: [0.212, -7.1043, 4.9573, 1.0965, -0.2173, 0.1587, 0.5739, -0.0889, -1.4017, 7.2821, 1.7118, -0.0659, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c929ef23eb45b1a6f672baea86103ef83c6ed7a051654c0375ec4558f6e594ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65ef140a2a6103e7ac78dc51441b093f1906d3a5070fa990f621fda1feedbf64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6948ab96f71c67462ac30959a2eff22107c90d7d8324d0338119cd753f382fb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSwwcKEAgSGAI4AUIIdGhpbmtpbmcSDD5eltoyZ3pMgnbzohoMKh2KdGX1q78WDHAgIjA7utYNrsQ45j7wjKywY/nJ0jRMRSRhncUtG8EiGcw3ZExGDzppncD1YvKIPl863SMq4AYRCDdJAeR+uHhlHpjDBxp3+QaDTmQYLRUlsYI3mKIRcTksmZ9RXRb6H5kjmaKVvCC1WAVtARgFjpAyWYszjA9TtAnZfMTP/lK9GHPwU7w3aUTF7p/PGXu28HvQfCDfQCb7tjSuNlcNUDP/7KF+vZiBV8ZKaPe8omk/hDhWG4WlGCEuF9sPFDSEjpKY9nQNjFYTtSkYFqJ4yEj0QSlfuUxiTB1rue9ITmv1BTOqfohKecvlL4PfxA72qtHlRZZhKJMcZQqwKnLQtTsAw3g/ttMFsHsix+vi5jkkM0zf/17uCuQQqKYAHeqfZBM7c/5TOlC82p7vBmc6DtHwXIrgzcYAxxYQqUNK8vHMjQ+USeSou3dzxjZuSs+SymM3HNL5iPMh9TRxmriLwi7G42bTQIuZssM9lBX8epQ/Ch4fu55/eMOZr6Dma4E9KseHRqs3sbY9HiLH0Gy8oR/fukvZckUy8FGJX54AAYEiLrXZPd818aPYgGBujynClGtI/Qc7W8WOz3cZFO7/6DbifoDITc99k7LoRL68gOeGYEGdYhiaHBevFmZoPCkcFpmujo5dVcjGAMsoD5YdIzOS9gfNze1LNqntW7Ut9WQiL3sbNZrXQBtUBtl7DE6LnXRVypa9fqdtRZ+Q9BROGoVdye8Ej2UW+1iLGYoWamVCtpNnQWKkdhUFRthng3VcyOtqYMGO1eIK+WsMhOuyRlGvis1PjP9wTkc+U5HzTcIXIigYf5/gprBDIDCAACjd5WAokZRA5FXSF9JWhZxb80ue5XABN6edeTnjZrzYrhn4LUoVDcI9FqOU4ScujKvKBVFno6Z39KwUBYB7U5e+FVNmDU9D0dsZkX3p6C47h4TUa4wiI9r4Iju6TSWL/mQjGA+Y3p0XEVHS/fiUaNV7PmCIuyxs8v8izj1KhyhiQrN83FEQGVxxmW512FMaEch5KyExJd3YMar5aqAUscTBa9Ml5kpe9dZgO0HTs7ckqN92yi/ele+196Fg/26cYsXZNUPuW0manK3OnX6AN9mclOAqCOEWmH00PY5SGCj1ZM6x/fgWVjCc8WLK44ic0dnoXmKdspYKn9O3XUT2IHPuL6ZmmIHoIP8i5PXu4dDC1bexM1U/bXGZnNqBLYCOtKFmnb1nLvoxI8QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DMuHedd7CCrpf6Sad2o7tU",
      "input": {
        "note": "Jaws closed on the bowl wall (reading 0.10 ≈ 1 cm wall, wall visible at the jaw tips). Lifting to confirm the bowl comes with it.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01DMuHedd7CCrpf6Sad2o7tU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0509, 1.6073, 0.9955, -0.263, -0.0788, -0.165, 0.1036, -0.0216, 0.812, 0.5953, -0.3931, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4229 left_y=-0.004 left_z=0.0954 left_yaw=0.0893 left_pitch=-0.3014 left_roll=-0.0326 left_gripper=0.1036 right_x=0.293 right_y=0.0001 right_z=0.1684 right_yaw=0.0021 right_pitch=-0.0396 right_roll=0.0057 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -9.4017, 9.2786, 1.4969, -0.0464, 0.0415, -0.0024, -0.1026, -1.347, 7.0632, 1.7021, -0.0269, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e1e8e2d8cfcf4cafacb4f3491614633493cc98dd89668d0a575e1a6e6547cf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:345c75783e3da5dcfcbe9297ca1b7ee1132ecb22ae6e1642c1fe761ae61a8aa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8ef03ec4f29c443291bc7d1f5d245cdcc847d5c1edec780401b1e90b1e113f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 23.89 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]: [-0.049, 1.7912, 0.7994, 0.0856, -0.094, -0.1352, 0.9981, -0.0219, 0.8108, 0.5972, -0.3931, -0.0166, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4142 left_y=-0.0001 left_z=0.0039 left_yaw=0.0892 left_pitch=-0.3307 left_roll=0.0041 left_gripper=0.9981 right_x=0.2932 right_y=0.0001 right_z=0.1696 right_yaw=0.0019 right_pitch=-0.0365 right_roll=0.0062 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -6.6393, 5.4496, 1.2821, -0.2076, 0.0317, -0.0073, -0.1709, -1.4154, 7.1316, 1.7509, -0.0659, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0505, 1.7782, 0.8059, 0.1272, -0.078, -0.1574, 0.1034, -0.0216, 0.8116, 0.5957, -0.3931, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4257 left_y=-0.0042 left_z=0.0177 left_yaw=0.0836 left_pitch=-0.2719 left_roll=-0.0322 left_gripper=0.1034 right_x=0.293 right_y=0.0002 right_z=0.1686 right_yaw=0.0025 right_pitch=-0.0388 right_roll=0.0059 right_gripper=0.9965\nstate[joint_eff]: [0.212, -7.1043, 4.9573, 1.0965, -0.2173, 0.1587, 0.5739, -0.0889, -1.4017, 7.2821, 1.7118, -0.0659, -0.0317, -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 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0509, 1.6073, 0.9955, -0.263, -0.0788, -0.165, 0.1036, -0.0216, 0.812, 0.5953, -0.3931, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4229 left_y=-0.004 left_z=0.0954 left_yaw=0.0893 left_pitch=-0.3014 left_roll=-0.0326 left_gripper=0.1036 right_x=0.293 right_y=0.0001 right_z=0.1684 right_yaw=0.0021 right_pitch=-0.0396 right_roll=0.0057 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -9.4017, 9.2786, 1.4969, -0.0464, 0.0415, -0.0024, -0.1026, -1.347, 7.0632, 1.7021, -0.0269, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e1e8e2d8cfcf4cafacb4f3491614633493cc98dd89668d0a575e1a6e6547cf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:345c75783e3da5dcfcbe9297ca1b7ee1132ecb22ae6e1642c1fe761ae61a8aa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8ef03ec4f29c443291bc7d1f5d245cdcc847d5c1edec780401b1e90b1e113f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YXBgrPEhJCwNFvLRn2UvwK",
      "input": {
        "note": "Wrist view shows the bowl stayed fixed relative to the jaws while lifting, so it's grasped. Carrying it over the blue bowl (center est. x0.44, y-0.30), with grasp offset by the bowl radius.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.25,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01YXBgrPEhJCwNFvLRn2UvwK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6682, 1.977, 1.7905, -0.8341, -0.4278, -0.6788, 0.1036, -0.0216, 0.8162, 0.5953, -0.3939, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4376 left_y=-0.2475 left_z=0.1714 left_yaw=0.0743 left_pitch=-0.318 left_roll=-0.0409 left_gripper=0.1036 right_x=0.2931 right_y=0.0001 right_z=0.1671 right_yaw=0.0021 right_pitch=-0.0445 right_roll=0.0059 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -10.3316, 8.6769, 1.0769, -0.4127, -0.0464, -0.0122, -0.0205, -1.7026, 7.0359, 1.6825, -0.0464, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a5782221a87176c6342228a4ec14371ce60859e542421f7efe75e4d4abd12b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97b02725f3d439a53cd5a24648938771d105b789324bd37afb848f504ba876dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a0b5fbb8ab1f48e8b82c0666d64a771f71f99c1257bc15725b3083e11ccd087",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 18.39 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]: [-0.0505, 1.7782, 0.8059, 0.1272, -0.078, -0.1574, 0.1034, -0.0216, 0.8116, 0.5957, -0.3931, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4257 left_y=-0.0042 left_z=0.0177 left_yaw=0.0836 left_pitch=-0.2719 left_roll=-0.0322 left_gripper=0.1034 right_x=0.293 right_y=0.0002 right_z=0.1686 right_yaw=0.0025 right_pitch=-0.0388 right_roll=0.0059 right_gripper=0.9965\nstate[joint_eff]: [0.212, -7.1043, 4.9573, 1.0965, -0.2173, 0.1587, 0.5739, -0.0889, -1.4017, 7.2821, 1.7118, -0.0659, -0.0317, -0.0171]\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]: [-0.0509, 1.6073, 0.9955, -0.263, -0.0788, -0.165, 0.1036, -0.0216, 0.812, 0.5953, -0.3931, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4229 left_y=-0.004 left_z=0.0954 left_yaw=0.0893 left_pitch=-0.3014 left_roll=-0.0326 left_gripper=0.1036 right_x=0.293 right_y=0.0001 right_z=0.1684 right_yaw=0.0021 right_pitch=-0.0396 right_roll=0.0057 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -9.4017, 9.2786, 1.4969, -0.0464, 0.0415, -0.0024, -0.1026, -1.347, 7.0632, 1.7021, -0.0269, -0.0855, -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 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6682, 1.977, 1.7905, -0.8341, -0.4278, -0.6788, 0.1036, -0.0216, 0.8162, 0.5953, -0.3939, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4376 left_y=-0.2475 left_z=0.1714 left_yaw=0.0743 left_pitch=-0.318 left_roll=-0.0409 left_gripper=0.1036 right_x=0.2931 right_y=0.0001 right_z=0.1671 right_yaw=0.0021 right_pitch=-0.0445 right_roll=0.0059 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -10.3316, 8.6769, 1.0769, -0.4127, -0.0464, -0.0122, -0.0205, -1.7026, 7.0359, 1.6825, -0.0464, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a5782221a87176c6342228a4ec14371ce60859e542421f7efe75e4d4abd12b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97b02725f3d439a53cd5a24648938771d105b789324bd37afb848f504ba876dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a0b5fbb8ab1f48e8b82c0666d64a771f71f99c1257bc15725b3083e11ccd087",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01552wnf1ywWCRKrxdhe5NEj",
      "input": {
        "note": "Over the blue bowl; the wrist view shows a grey bowl still on the table to the left, so the white bowl may have slipped. Lowering toward the blue bowl anyway to place if it's still held.",
        "targets": {
          "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_01552wnf1ywWCRKrxdhe5NEj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.672, 1.9903, 1.5803, -0.6811, -0.4267, -0.6849, 0.1036, -0.0216, 0.8173, 0.5945, -0.4118, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4255 left_y=-0.2404 left_z=0.1057 left_yaw=0.0905 left_pitch=-0.3703 left_roll=0.0056 left_gripper=0.1036 right_x=0.2905 right_y=0.0003 right_z=0.1628 right_yaw=0.0025 right_pitch=-0.0644 right_roll=0.0066 right_gripper=0.9965\nstate[joint_eff]: [0.4444, -10.3726, 7.3641, 1.4579, -0.2808, 0.0122, -0.0122, -0.0889, -1.1829, 7.0769, 1.8486, -0.0611, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4621ce00721fe4b413cbac1308948934ac520b5a0fe8ce25fcf98486e676840",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89ed0f91de14b42ebc8c2ac657960a6683abbe1471811d950c05670f09a5f5e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e22429ca212427184a04cc69f153176ac2a31b09c07504698857112b89bc27ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 6.966 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]: [-0.0509, 1.6073, 0.9955, -0.263, -0.0788, -0.165, 0.1036, -0.0216, 0.812, 0.5953, -0.3931, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4229 left_y=-0.004 left_z=0.0954 left_yaw=0.0893 left_pitch=-0.3014 left_roll=-0.0326 left_gripper=0.1036 right_x=0.293 right_y=0.0001 right_z=0.1684 right_yaw=0.0021 right_pitch=-0.0396 right_roll=0.0057 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -9.4017, 9.2786, 1.4969, -0.0464, 0.0415, -0.0024, -0.1026, -1.347, 7.0632, 1.7021, -0.0269, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6682, 1.977, 1.7905, -0.8341, -0.4278, -0.6788, 0.1036, -0.0216, 0.8162, 0.5953, -0.3939, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4376 left_y=-0.2475 left_z=0.1714 left_yaw=0.0743 left_pitch=-0.318 left_roll=-0.0409 left_gripper=0.1036 right_x=0.2931 right_y=0.0001 right_z=0.1671 right_yaw=0.0021 right_pitch=-0.0445 right_roll=0.0059 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -10.3316, 8.6769, 1.0769, -0.4127, -0.0464, -0.0122, -0.0205, -1.7026, 7.0359, 1.6825, -0.0464, -0.0269, -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]: [-0.672, 1.9903, 1.5803, -0.6811, -0.4267, -0.6849, 0.1036, -0.0216, 0.8173, 0.5945, -0.4118, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4255 left_y=-0.2404 left_z=0.1057 left_yaw=0.0905 left_pitch=-0.3703 left_roll=0.0056 left_gripper=0.1036 right_x=0.2905 right_y=0.0003 right_z=0.1628 right_yaw=0.0025 right_pitch=-0.0644 right_roll=0.0066 right_gripper=0.9965\nstate[joint_eff]: [0.4444, -10.3726, 7.3641, 1.4579, -0.2808, 0.0122, -0.0122, -0.0889, -1.1829, 7.0769, 1.8486, -0.0611, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4621ce00721fe4b413cbac1308948934ac520b5a0fe8ce25fcf98486e676840",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89ed0f91de14b42ebc8c2ac657960a6683abbe1471811d950c05670f09a5f5e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e22429ca212427184a04cc69f153176ac2a31b09c07504698857112b89bc27ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+R0KEAgSGAI4AUIIdGhpbmtpbmcSDF0vgERaQdptg1VCdhoMcb4rUP2Zpb3q0wE7IjApCGV91Cerd0wqULske3CaeeLzdbN7LTmbJN4sg1IOV76SZt4OgnxwdFB6BhXUXlAqlh2dyYSj31QNS0R4fDATIyxh+wzlBQpwEz1aeBL6zI4GRynDapG7hl1uDc2P84u7w1eVud56Xf0/TXDfg24YQppOU2jHdEQFTUH9odxNKwHEqX441wD20mFXSUf5FK00dCjRtR2+EL0htzo6c8S081rqNc9xnvTNsyLXQ7EQTqAryKmS2j0jBZy+VPCJa+DroOIz2+oxM+CofmdFPlSI4VeBcR8P8BVzggJkzAY8kmQxXIzvi+SUJF+FgmD46y8zULWEDe16lxQhkOjXT9rE8Rx7Gx0oRC2GeMrLzzpCGiUHtgqX3sLuztKmxOvhS3JXV3btjqJYWxi8OLYwqoKzB9Qhvf5MJ9DTi0R/fW8XVjcA0bg8EDjm0OF07y1Iz1T/FglGgkg+sK0N/UJY6+Ny/nltnZOrezAhzOeWBFNgUpnNipQ5xFO/+IfR0F8CfjJf+KOrbHzwgYSvq+nJ6xiIA/8Agn/KS7jadnpG4gvwIBjsHGAxwTu7bTJ9hl1wAboOS9fWOvP7AyarO0epEerkmwHQQiwV/4dPrbDjG+ZzEuwl5L0zAFb0eBIkplkGlejcTpgEVFqSNHcaiUC5vECLPrEPXEUcnwjp15Kx4mhudM9IUzN7ozT1bfOAXY4XSn6m0YAhj96+XGVQJcmnU14dR4xeRbhdJcby3WJMhK9sRcCa7U4Lke4j6miTto8j5Yitv/morD0WMV9EdFrf9m/AFvR9H1TsRmyJf65Ic7viJbde7Ac8kK9OHOyDCrEc/MqzzcTqwkoEbn7gTizTX0UoFcEj579Jr9JFZMqmm3tnSOcXZpxqMwonKuKJVN0/rVK4H/Q0RGjatQMkIRuEY5ogmnZWKxGz5Hbyy4w1fsGaM3m2qvhcL8w6eTqE/wfJvqEJ0kYZnPPDyPYYT4y8DVgzZsu6832HP8Wh06uISNLSY2Is5mA752oSMntQAZdBdYQ3YypUsSuggQJViNQDZNEjkK4MGyk9aT8p61g23SQoctFbQ5yVIHL04NwRynXom7muGt6NGjXGmf56Hh8VBiBVhvpqzK+MGNQJGa09rj1cSRZ61aiSLEL9bwWGnsaesjuj9ncldKX4JSa8xmgBS+VhGgzRBO779KiEBOBFlBtOtDuozOPWN8CSsEfu88jLQm5747/tSd84044Q4ZLNni5o6t/LJHzfvCkemjEPXL0vksI1GEz6pdtBuR/Sur5+sF0MawVPsQBJNPJ0gV6nc/Ei6CZ+5LVw43XBYTgAhKIdKlX41rU4blskh1N67blqErfyqPpI58cxrCgrd0u/kGdSV1Fm35uR25KAH5le2dYPWvgN3+3uBgCCwPuLvjYLNPfUgy1NupWogySge9mVU1gXBTtCb5xkQH/OaBVXbqLBCLZZf+EWxTz9z9Zve7en62OtoxKShc6bJ9YF2W/7Ws2u3VO3DlksPg5Qm/v5Kg9YzmX9ieaBI3gcpAwXZc0DpFiz7DVquRg0tQRG8bn4UFoc0iSH6gP7VZzV+Jid6M5NOZEvEVHRIdg3CQQMEVr0mRuRuLVQPdswZAJAcdoHnX+jofe+rShAN/Zu3Z36KlhWM1su5CjswqG1CKUzUCrMcgqy4gPw6SNxFaBWDhHn7Vhv2uNQ4or2/hYG4M+s7EwePuvuXLfZE8zBCfquwO0Wf1Pij55gs7J9dI2MRXqEpw0jqRix3ESyYWseefcXw+OqhdZgo80PH67rWme812rIm9bKgi0CBDDzO8gAgA5f2fbo88zWGz+Cbgg4bCl5PiJ51Ex995Z+z2FmJu+wrcdDh96j4UU/rKdJULsNwF8wap6XQfvJWYiBpZ9EfxY7/yxB1l9n1moHq4NzoM3OBR6nrEMp72V4TTqysqngAsxi9KEOCyE5iKJVV+QCMzx/njTkJGAoCEZirks24/NtDJ8eX11cvgHU6ZpwB5yMD+SZYRj+mJZtk1OzKVXb7lvg0eaHxSxuflJ7Eg/zo3XsYDcw0f/8QKIRhgTRYfUdjSi6hZ6EFwDbIZ8XJ2iARmofsP+mwY5ogpBlBpxE0dh2Ei5OjYnEsdOZUoXNb8K5tlqEsEWufq/pKLcMHZUgnsPbzZX670TQSat69r1MLTqhg17Lbqz1gArcA5o6OO+vkNpF1m/a4+jf3SJT1cz16EAMecKxwe0jJLb7ffat5TAA4YjTzlmK/IrctlhRiFVTFuj9DAFlKuQ/rzLvY9N7Dw2Pm5Im3aOl4AkqmRcDzMRcRsp/MfNw6urgOWOQJ/D/0+sdNxfoMQSbG96u/1eSBYPLgVwXq4trXjgPxprBWdfQDV6ogFSMtzPUYSqh+SY5vJAhfo32Q3xdl/YYjARJldnBm0sxhKg6VnTFRw7ibf6jRYpdaxhITg4H+iEPzBjHZ1G2v1mf6ei0HnX/DFVDQBImAThv7VYLHfAjHAcuGOWRO52Rm1NHPXLDetIbx6HGeSR+bWCgGLP7n/96QoVVkGbEBqZJRqgXcjVHygpN88vHwOr6JNKQ3dD0EI+vljhh2d6OZsXIhPyo8G9CE4qXw0WikUmB+/QpxlAsdUClepTguoF2mTiyryVJlVZ2UteZPn+Ajb2R0qHY6Ocj1AqKUVy/gtNAUK260YPq/R8YTeX0AnEml4N1TCfLey0m61dmth9OWgBNzgd52EdjZknvUskxvr1o7fR5KrqnrfSXCH2VtKPX9qJSLssAVaItlqU7p0ikt9Bt+BQWcxPkbJi6TqUkDggwM6X7EJxBxJm20ps2WheW6u398vz73UJHGd8y4/WIQRZBDSdL4h1IcTh5O/k3IZPN1D53LNQvDonj7eNiFVQz9ktJiQdbyD6mcvZm9GTy24KgJ7mbQ08Icdjof0S5biMxb78wQ6Kui5qDAbevoQBJ19E+DQaLzTrnWk2VEfKy7xkpR9T0ZwSBfhq/eb1PW4fwfxe6PImuhfoeyWPFYPk8hGb/W/n0zAsxWDhDkgH8SqzFGPzSlyP8v9kEYKp2gG9EuwQeb5Ifop3EE3qeTUqHP5Iop3Z3E+u619iNLZqENldmeEd1CEnWDo5EfDx1ggaTKwN9SKs3lIwtxLXljW5+s8+5U87UDEk7q6/k1pliOpD9pGCUQwD6aFRZWXkI7qJxvkqKYQfRDjo5VgMa1VRQHMYCx6Hx+mDLDvDO10SIxEQDJbcBRYNG05wMKVZYyE5gr3zBjbxrgZ85AJkFy6y0GqLP9mK0hm04rhoYSOjQSJaMp8HsDJ66sZwoag6VqkUsdVV6rj0AEbz2nu2ocRjxjlHzjyXALiU/V97efBni1zpL/ZUl8X3vPLKEmfKST1s6QfnyHTT3TB0od7FPfc+NjLwgn6D3IgQE0Xp2/CRIm0ajqMQL+lkSfYgwdIOp4x0G1MUh+91qGoC3a7XaaDrvSxbCoS37ForUY3vuSrPwT0+N2WoPyjscta6XGiPOMiEMnwviqhF46WhyXUfD+YFN1M5rNPMeUXIvRMWr9hdet50WBf8cJ/glWwnX2kGYlmrowrd5wAroGdmQpVbv3QXV/xFc9AdHEtjZj/cIkrbQlWqqYBVxTHv+fwfSU1+RJIhJX3Ml6A655OH02ipFRUvjRN1jwtqZ0+louL6qsoXml4nzIMQYmWebvLmOuyGrF8WrBfpw4SFyQH2mz1/Qyq4Oy7fVX8WNw8RaWYu6RqXkwDXui1kfnwn4vZhVtXnyUFjRKk5L6pGf+LK62Idbci+jNNeAo9xuvE24kOIpeX8ndQiwiNbHBauMkBVeS34VPFe8WyBYOFZlwF81TzXMd5fLg18lWgwM7UyzDFKIxWuTG4N55qw4TIbCagF0p5LEjEc0CjELgRIK2J/ueDCO9ofq9lTpkBEw9+5ppprvuTlFXBOpcu/jBE2JlqiVhp7aCW5s1ntIj5JoS8bT5AqbOTHlRoQ1+GkFYMvtSDpClHpAp48doDa9ZmLAaF+aOBBDAILYxzjPgyvkjRtM72a39WluYV0p/5+/3xSHb1ws1fFwVh2ZXZSOrnc6qLSYZsBc2fKiVBEhTLKFA+cDJW8s4zgu2ExGb6X5qdADHO2TWfI8GGyq7xB3NniCaxzufdBAuEV7Ds4W/6kLL/wWTzNwEmxlx8CdaDF+z1NqD7K/6fVvLCuUQ7et9736neDQzbERDISXC4a/i3S875M8ZEMKTiuSw5MXpFkwyxV2ARS/DgjFltJP7frk2upb2SbCAFNfY7K3fc2tIP3+Vllz54UjouiyMI0CNQYzm70wwx3bFPLty9hdoEJ7TWIGK4PUAuYVbX+FaRqm5+vbbEJ/x7gIY2+4iwHElt/TKmkzo1OrNq8YMmUixM6m7ehwuRMaxXoO+r58t0BmmuGhMUDKSs2FnqWab/2R+uybrHTdlsfP6Dx657yov8Rjd55uKNLMHhL5LDaKrTUvW//gJPhHsXEtsrg/b6znSuUXZDAM582Vc2Hxu3RsRR+/QZDwSdOAnFWbRmJ0+dF/GEngVGTqdWp8pb/jo1TpoFHkSbtONaEW48ZGeZITqf9JUaOvcKmNQv6gezD/mPPFPVKqdW1oczzP72qLXE/j0+IK3pYesYhypyeS4F3qk54lm/KuMBzmnMFB3gtfWUPjtnNcFOuvjb7sOjd+ynyGPIZqEMCfVA5dfCDo+lRYrnkZ/EmVct3Zuxu7SeA37Vl0qXIo+QnPkG9XNqd54z0ybhyP8ZgAetMErsF6CSy578o8dxwQA3DsygUzf2dy5ErrnQidl7c1dBOxGvexUEEj31mcP3bG8UqlvkS1iAx/v1Q6o2xoDUEFit4c57J4YN0T2beGLEYZkkXgCOAQmJom0J8AnVgOl4QM7+gURM3WUoCeKJdfm7EaDOrxv6VDOIp0ls/SRTSnj5EdxiuJFcNj8vOh9KoeLXXHjumQelTA/fMMDr+k1uOwJsexgKt+y4N7NzRRt4ZLLIdDrBs4TNPU3yIF1Op7WHuGVYbA10GsGUcY5IARWef79cc+ptkpxOsXGlVo3m9W8RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K5voEYkMHdjQRjmiEth2SL",
      "input": {
        "note": "The white bowl is still on the table in its spot (visible in the left wrist view), so the grasp didn't hold. Going back over its left rim with the jaws half-open for a cleaner, rim-centred pinch.",
        "targets": {
          "left_gripper": 0.5,
          "left_x": 0.43,
          "left_y": 0.0,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01K5voEYkMHdjQRjmiEth2SL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0574, 1.6661, 1.2224, -0.5407, -0.1177, -0.1825, 0.4983, -0.0216, 0.8192, 0.5945, -0.416, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4287 left_y=-0.0003 left_z=0.1195 left_yaw=0.1343 left_pitch=-0.4042 left_roll=0.0082 left_gripper=0.4983 right_x=0.2899 right_y=0.0003 right_z=0.1615 right_yaw=0.0025 right_pitch=-0.0705 right_roll=0.0067 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -10.4274, 5.9692, 1.4676, 0.1343, 0.1343, -0.0904, -0.0342, -1.5521, 7.0769, 1.8095, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beb14f61b99ad13c4229c0002e0f90b87f958e53772592bf1807fe881d1e1c1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0755de312eeb1cde80eb33e2257c0ccb4e27c06f74b1b827d956d67e8fea6c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d8b33ff6b142fd3177da00e403e75d4e35601bea8a8f81b53fdfd3e2e472dcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 6.828 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]: [-0.6682, 1.977, 1.7905, -0.8341, -0.4278, -0.6788, 0.1036, -0.0216, 0.8162, 0.5953, -0.3939, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4376 left_y=-0.2475 left_z=0.1714 left_yaw=0.0743 left_pitch=-0.318 left_roll=-0.0409 left_gripper=0.1036 right_x=0.2931 right_y=0.0001 right_z=0.1671 right_yaw=0.0021 right_pitch=-0.0445 right_roll=0.0059 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -10.3316, 8.6769, 1.0769, -0.4127, -0.0464, -0.0122, -0.0205, -1.7026, 7.0359, 1.6825, -0.0464, -0.0269, -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]: [-0.672, 1.9903, 1.5803, -0.6811, -0.4267, -0.6849, 0.1036, -0.0216, 0.8173, 0.5945, -0.4118, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4255 left_y=-0.2404 left_z=0.1057 left_yaw=0.0905 left_pitch=-0.3703 left_roll=0.0056 left_gripper=0.1036 right_x=0.2905 right_y=0.0003 right_z=0.1628 right_yaw=0.0025 right_pitch=-0.0644 right_roll=0.0066 right_gripper=0.9965\nstate[joint_eff]: [0.4444, -10.3726, 7.3641, 1.4579, -0.2808, 0.0122, -0.0122, -0.0889, -1.1829, 7.0769, 1.8486, -0.0611, -0.0659, -0.0171]",
      "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]: [-0.0574, 1.6661, 1.2224, -0.5407, -0.1177, -0.1825, 0.4983, -0.0216, 0.8192, 0.5945, -0.416, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4287 left_y=-0.0003 left_z=0.1195 left_yaw=0.1343 left_pitch=-0.4042 left_roll=0.0082 left_gripper=0.4983 right_x=0.2899 right_y=0.0003 right_z=0.1615 right_yaw=0.0025 right_pitch=-0.0705 right_roll=0.0067 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -10.4274, 5.9692, 1.4676, 0.1343, 0.1343, -0.0904, -0.0342, -1.5521, 7.0769, 1.8095, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beb14f61b99ad13c4229c0002e0f90b87f958e53772592bf1807fe881d1e1c1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0755de312eeb1cde80eb33e2257c0ccb4e27c06f74b1b827d956d67e8fea6c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d8b33ff6b142fd3177da00e403e75d4e35601bea8a8f81b53fdfd3e2e472dcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSpQsKEAgSGAI4AUIIdGhpbmtpbmcSDGHF6e0byThxgw2KQRoMFmY0HFNmzeWlkdgNIjBeFyLA617gmN8Bfrd9+iFrIrbqTbc8Xis7tGZvinVNWXgQx+C+J1Q1t/BqSAgiN3Eqwgo0mdz6W1oRaLliSi6Y2VnBhD53FCFOVPsTeROydHgSeORdXcyS1E8i08oKMf5lFDtroLYXfT27lUZ9FZiG/dUpADT08ckc/clC0s77/vl/RhjmwHMynxHBIfh9dqFM5zVmcUC+6SSOfJD6SZaLvaPQOhYvkJ9hJU2NAm2GXv2XYj5EltyWGOy0kCotnZpM1G50mKPSzu0XH7Tv9L1h7LXctHA5r9i+c2WGoPozLsBbdjO+9ZWgECkKT4bQpypQdBGtEUfhbNtxIXurcIxGc2r0htkpBqZtFclXAMTq1TKnC1CbUpOqE7Af4m+yaWa+/C3ZXooHcnBN6P2QYVrmkDVRgBDCHHIpfqujtP/rwxa4k0Ab0xBMsQYhQ+FrlLWBZeb6ktVwfA2Ld8piaXMDB05JXWdTF/Jgyaw2edDXKqNHZHvnGi1xZl2R+yhhw5HXSGsosDhXKiBOeDXPGqtE47H6Kq7OIPDzsJJAu27h0IBFoMzZoVVoa//pxL2m+XPLAuyVT9gy/shn8kxRG/rpljr+fa/Ai2jKVDf/BSNoIAeddtmwCQI8dz2wd3XWlgyuFZc+B/PVy8fZNphw5mIgWr8Uf+8fgcDbRHwfedHMSJE7Kryn119xOuo4Jti3LyE664TKFBc5U2ckWFO5b+PPrYScmot0chaoqz2Jc/NF6VxvLk2qaUAGvSM2ruNinEI7MCSFlFU4LQiTb6wm//PGeT4We2ax5yFDPW5CGapQCBwnEqJdYuWIg7yZtUAehlITrNrvl4gh9EqChLtIgPaSt5UC0shWZ4fKKCkiDMS+MZpIBpxPA72Zlk0v64E60NvlPftvqI9PemkYPtA4NVU6IzR4n7HRSPfrQpEepiwMjeIlKdVK4HZYYTGNlgNA7cBGr8oF0n8eP/KkeyLglgib2pG0GjabCYmhWTA7gP28AoeY62gqyKyVdrZCMinA1BpqSyG6HUCnrp0bXf0urJFk6XDTckmIq+2AbsyrJ3BrNlb1vOll3dJDIpiRju2joNGOmwbL6jAhnojuahwUpfD4/Um7rGftqyvdilfsBJU/U9hcHftcWM+Qaok3MA5TpQ0/w0Mo8QTU99AXljO0mF0EhwTsLysoNA31kGnAQjo9EAVNZfye+AkTKZSY7Ja6JThbSo/pDX2tYZVrI/frAl02uC+aB0Z/wbj3pUvKsmIFZsi0CkBOmW5dhqz6rmvcnrpWS/8jTGEjHti09vNX5FAgFDSrXMsFCn9N9kdwZEOgJu0lBWy0MTO3yUus/qwNpgIccisSAZ6XrG1vlyW1Pnf7R6Wvv4CVq4wAOOhwDjzSFvdqVv4HlYbrxsOHT8OrPDC4070xL8faNZpbCJ5jsaMtoCKytAhnxTFH1S9Jrdy2CcqCfDAcSyRqgs+sfwYr7VZP3wSLXD9kYnuz965pIcfTOEGkHWSF1HWK1RACaHH4wPBmq3ApRNbKJ6b0YdOZQIiaBDjZI9PG13LvwStVi3M3c90E/ohUjchSIqFShBlsPWO87CjLS/JJG9DLa3x/kfgZaWDhBMeSX4r/FaUI/wVx2Kq3SMHIoWx34joLFXMv9TvJ/yb6CcJJzll7sXAzBu3CY8b8sepoD5AQ6SnlcmAV/Trtd3auAPn5Q0PnQvUPgWQlCgeXr0HgjaoP5gHWdGvAgTLMQRmLNEHjvSfjlYS3ZXN47I1Kch5uI5x/eCKETId6HZ8GxQpxQEnOv86GO42F7+I4V4VPF4X876+Y1MP8Pi+JcTk+rmwdaV/qV/x5xFOJ0VhK6fLUSFXCnbVz66amyORRfhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D1RsH6XwYk39DV7Tj9djCJ",
      "input": {
        "note": "White bowl's left rim appears right of the jaws (~5 cm −y). Shifting over it and explicitly commanding pitch 0 since the wrist had drifted to −0.4 pitch.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.43,
          "left_y": -0.05,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01D1RsH6XwYk39DV7Tj9djCJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2531, 1.5703, 0.8154, 0.0528, -0.3122, -0.2363, 0.4989, -0.0216, 0.8196, 0.5945, -0.4175, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4224 left_y=-0.0495 left_z=0.0981 left_yaw=0.1157 left_pitch=-0.0926 left_roll=0.0342 left_gripper=0.4989 right_x=0.2897 right_y=0.0002 right_z=0.1611 right_yaw=0.0022 right_pitch=-0.0724 right_roll=0.0065 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -9.2103, 6.3795, 1.8095, -0.2466, -0.1148, 0.0464, 0.0342, -1.3744, 7.1726, 1.6679, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94ea134085b662a9ea98e3d9ea30de53a55effe97d8e41da2d0a11d85a4f00cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d750893e39f5e0df74cf8f77abe1985a3a1cb7e452ca496f332f432e1ef115d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:64adce39504733a755fb83232a9b13ae60da89f6c892c62d34b082d89b275da5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 4.546 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]: [-0.672, 1.9903, 1.5803, -0.6811, -0.4267, -0.6849, 0.1036, -0.0216, 0.8173, 0.5945, -0.4118, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4255 left_y=-0.2404 left_z=0.1057 left_yaw=0.0905 left_pitch=-0.3703 left_roll=0.0056 left_gripper=0.1036 right_x=0.2905 right_y=0.0003 right_z=0.1628 right_yaw=0.0025 right_pitch=-0.0644 right_roll=0.0066 right_gripper=0.9965\nstate[joint_eff]: [0.4444, -10.3726, 7.3641, 1.4579, -0.2808, 0.0122, -0.0122, -0.0889, -1.1829, 7.0769, 1.8486, -0.0611, -0.0659, -0.0171]",
      "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]: [-0.0574, 1.6661, 1.2224, -0.5407, -0.1177, -0.1825, 0.4983, -0.0216, 0.8192, 0.5945, -0.416, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4287 left_y=-0.0003 left_z=0.1195 left_yaw=0.1343 left_pitch=-0.4042 left_roll=0.0082 left_gripper=0.4983 right_x=0.2899 right_y=0.0003 right_z=0.1615 right_yaw=0.0025 right_pitch=-0.0705 right_roll=0.0067 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -10.4274, 5.9692, 1.4676, 0.1343, 0.1343, -0.0904, -0.0342, -1.5521, 7.0769, 1.8095, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2531, 1.5703, 0.8154, 0.0528, -0.3122, -0.2363, 0.4989, -0.0216, 0.8196, 0.5945, -0.4175, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4224 left_y=-0.0495 left_z=0.0981 left_yaw=0.1157 left_pitch=-0.0926 left_roll=0.0342 left_gripper=0.4989 right_x=0.2897 right_y=0.0002 right_z=0.1611 right_yaw=0.0022 right_pitch=-0.0724 right_roll=0.0065 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -9.2103, 6.3795, 1.8095, -0.2466, -0.1148, 0.0464, 0.0342, -1.3744, 7.1726, 1.6679, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94ea134085b662a9ea98e3d9ea30de53a55effe97d8e41da2d0a11d85a4f00cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d750893e39f5e0df74cf8f77abe1985a3a1cb7e452ca496f332f432e1ef115d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64adce39504733a755fb83232a9b13ae60da89f6c892c62d34b082d89b275da5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSzQkKEAgSGAI4AUIIdGhpbmtpbmcSDEFwtFqtShH5y4g3hhoM7xg+HhVJ2h+hpiHpIjDt1DdjHEOO6bUmaEjix4rMnhBPvqAbn+3x6A7vOk+xJOnATT33VDZjszdTNTNZbUEq6ghZNHTd67HAvwYaGB2iKm/pP5E4cEE76Eoex0xqIhUe8gd5mar00BsM29zWfuOQfaHTw33bAdv4VNXD56Sv97gE3NGWKi8MDcGtZVZJftXzifH7VExdZ/FSESxLanM9bgpRT4BZGLyVMeIFVzFRvXjVd5rn6IKbgc/hb5D1PS5UcbW3Hv5z3sBaZueBR40fSmrkih8RrZYRyz8vc+nycfbb5MNV4Z0uX2dR0u3yX5h/xLF/8LZX6uzc/wbt3b32VYQVvE6oEz6FAQCEP9s5MIGrxFslFL0eh48uJICULZtILdEW4CV6TWsHQNVHme15BVGrDOpqLgiLOBsqY9Hu9UKsoPkm2RcTvKSxJ/Uh4ciPdH8NHTx/Du2emE8Np0rFsJiL/lKHNsEx1oNazUO47JGQ+SCm5uFLb06qelRMXCbIFf89hGgUqDo4klVR5Ddi5+NgfvaCFP0lhCy6kMJNNxn2np0PEVBsSiHhj4/snPyUVoRDkhwqy80Yb41ubWiZylFrHVXUto2lirjYZMPbm0wOmwqH53K7iDZF7Lv1jUs6cU5ccFLLHfROuYzPwPAedchSiVcu6eZtGXfoYf6cqFI8HJp8kx4rFpJvaOByoeM/S6+4CQduqJ4kO2aNlz+QmVM+XiFlYg5A38dePLWriscDpmrbJhKbxRB9g74kvA2kuNE9xjuCOMVUmHf0qhj669qsIfTgrPwmCqYHFJ2/BAGuWMlWD/I9o+sKoMU/cv33T5Yxy/lIrkm4pYI5i/LEVHK0hmwsR8mDiQyRwGsJrHe5ytEsy7NJWyPcPXRre25vi/0rc9pkCvlXjUHi4gzVH5jh1K+yJ7LwBPOOL5UubCbd7mnueQbRReOUErceO69/0kvdVdhdPCwWpF9wzWL9cSO2DukbUABDiCSJRl9G1xPwbR+JqfRd/4Kgi9c07KqMob63Hue7X51u82Uh5Gku+M4854Q0faKTbfD6oR7vjcAj3+JItJdeRJDWXHbOcUylUXXt1IVrPt4EPKQ/6p1HwUiIPYs5zJ7dIw8jDTTCystEXBxQCUFpkEvfCbBJFR1Kq0ZyepXkDLQ3/18eG390fJXAIB1o5N9RiMSqd2yvJu2jeTLM8emIf/gx6wuPy72QjEMNTpyylldTHs26RxIRaa1K9THpeRSa91BjtCjMobflXFpF0Oe1l3A163yBnnQURpLnO2NuQrhaleDWcI6tTUdpvoRN2BKq4oX9V3bciuL6Rh+tQkglo1NlwLvHImpIah88hNvIJWRGh2nAjGfHqoXp6Slva/b4lEL3WWNcAMGYBzML+5rq11RJ6j3VEXmpm3Be7GfQzpU8ABf1u4B+TdQ4bYO6qUUXngjS8zsFZl6iieX97OMe/YgFIuW5zzMuW1k0rshc3B2/W1c6EQRva1TBBh0o7X378PqZ5bhQozQrkZdKjgea2Da6VFcyCeKz/5APOsAuoSJ2b97mq6DKOBgr/YJWJZXDwZPe4+PqYPxF9uMnVJnjqCdJSxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HqqPW1Ni9CWCzn6Bijmtbr",
      "input": {
        "note": "Rim is at the right jaw in the wrist view and the gripper sits just left of the bowl in the top view; shifting 2 cm right to centre the rim between the half-open jaws.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.435,
          "left_y": -0.072,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HqqPW1Ni9CWCzn6Bijmtbr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3195, 1.6207, 0.8036, 0.1471, -0.3691, -0.2512, 0.4989, -0.0216, 0.8196, 0.5945, -0.4187, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4282 left_y=-0.0708 left_z=0.0924 left_yaw=0.1029 left_pitch=-0.0488 left_roll=0.0431 left_gripper=0.4989 right_x=0.2896 right_y=0.0003 right_z=0.1608 right_yaw=0.0025 right_pitch=-0.0735 right_roll=0.0068 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -6.694, 6.2974, 1.9951, -0.3687, -0.0366, -0.0073, -0.0889, -1.347, 6.9949, 1.6532, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:714addda815c959c180ae8d5e1ae67caf39b9c201f270f7b768de44ee3ade9d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56a07d3f69a395fc5eca98832616465b807e82878565fbd4f42ed234fce0ec3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:944fe3923d6800937f0bbe871cb4ab2024cefc2a6f1d581e4fca1c3fb4d27afc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 3.764 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]: [-0.0574, 1.6661, 1.2224, -0.5407, -0.1177, -0.1825, 0.4983, -0.0216, 0.8192, 0.5945, -0.416, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4287 left_y=-0.0003 left_z=0.1195 left_yaw=0.1343 left_pitch=-0.4042 left_roll=0.0082 left_gripper=0.4983 right_x=0.2899 right_y=0.0003 right_z=0.1615 right_yaw=0.0025 right_pitch=-0.0705 right_roll=0.0067 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -10.4274, 5.9692, 1.4676, 0.1343, 0.1343, -0.0904, -0.0342, -1.5521, 7.0769, 1.8095, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2531, 1.5703, 0.8154, 0.0528, -0.3122, -0.2363, 0.4989, -0.0216, 0.8196, 0.5945, -0.4175, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4224 left_y=-0.0495 left_z=0.0981 left_yaw=0.1157 left_pitch=-0.0926 left_roll=0.0342 left_gripper=0.4989 right_x=0.2897 right_y=0.0002 right_z=0.1611 right_yaw=0.0022 right_pitch=-0.0724 right_roll=0.0065 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -9.2103, 6.3795, 1.8095, -0.2466, -0.1148, 0.0464, 0.0342, -1.3744, 7.1726, 1.6679, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3195, 1.6207, 0.8036, 0.1471, -0.3691, -0.2512, 0.4989, -0.0216, 0.8196, 0.5945, -0.4187, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4282 left_y=-0.0708 left_z=0.0924 left_yaw=0.1029 left_pitch=-0.0488 left_roll=0.0431 left_gripper=0.4989 right_x=0.2896 right_y=0.0003 right_z=0.1608 right_yaw=0.0025 right_pitch=-0.0735 right_roll=0.0068 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -6.694, 6.2974, 1.9951, -0.3687, -0.0366, -0.0073, -0.0889, -1.347, 6.9949, 1.6532, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:714addda815c959c180ae8d5e1ae67caf39b9c201f270f7b768de44ee3ade9d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56a07d3f69a395fc5eca98832616465b807e82878565fbd4f42ed234fce0ec3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:944fe3923d6800937f0bbe871cb4ab2024cefc2a6f1d581e4fca1c3fb4d27afc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSngcKEAgSGAI4AUIIdGhpbmtpbmcSDCf1gMxHpCFpBPCNvhoMPsBOtwli4YTVaBXTIjBuu1lUfBfzTUsby8+kkx6n7cnrVqn+aqGW2rNTvEGkX4RHO0+77sMIyZmp3BNRgHEquwZTLsHYtOHaXLotCGb/qR+l/+Y9GL4cyFBe0zsGul1090blNZlOAhtnw9tDzZjVaIWHTl/2JXSnPsFoGh0i2zGMuK0kTqEtyVu6uKXIOvPVlmf62tdmHa8EaTcmrPYoWTTs37R8F6+oYCf1PoDDwQBSo8hPxHuP5wv9QEG7S5yKq72gxkhnvjU4leUj2jy5UmCmj9kxEmqwgCjpltDWTPfoNCLG7VxUBwxp3IlHGZAspRJLGi/jxxveL8gnNx43ZzM/89qRzNpR4ZVKqBMuSS0W9II4pLbJBVvT2YtXtHeA0SP35YdjcxJ/zzqxKaPPTPjmTb7yuixM75dE8+vy2WMeLsElAB76vMcF2R/GOXCD1RwOMupTyUMjR+IO3eQ7m1UBJSZ0qTTeZTtsqVhn9zLxeACdCaV4zYEcySKWThyOUiUPmj1mfGiaJltt750ym+D2S8mROJP6hVhT+7nTSvngf6ZB4/qrjr1ctQ4cBPmSXstqKeQ+vggkTkTosaMOfinCsjzcguYYj8+FrgFlTHyz/YG9nTW0/W9Ju4MaeUVexY9/z90sgOR/ZIfnLMM7dw8KMWWT2EO8wzF+fs0QB1YyFewR8Gd6pxiMKTkMeWjQerVRHEvPqkOYw96kgvSg+JhyrARi1v88y3Yp7LZ+mos81zivfoL0xNT4we67XC0XgS47fJ+CWmyHt4iLqxzGv3SWY1TqE7rfwXFeFzdB01gWOpL5Vt+1Y0IU7XIhhZfaUGHkL5xgLgmf3QWQ4trwUFGJgxEi8VA7yAC6cX1pk9JhyxFCNWp0/qPDgoyUxum0wnAy8iA/Phak6IDsWJHM0nDDR1UxRYd2C12gw1C/mEfaO/FzpVm6V5DIeiHAwgY0l66kUnDP27KHB6tVs3Sfq7jpReEjJPIyWgnw3AR8CvtTQHT/J20ZwfLhtC3MUc5hQAXBYbNdMZ/XdMJAUJbi2fcTYAKVS2SmT4XXx8blxzlDUEYi8li7Tw4DZcGVrMo91iYkdvAziL+Q8QMXXu/OY+Tq1oVIE9C2QN/VicJZPApAiniwlxOj8VDqkpzclA203vVrLLASTXuCYwCohL0yjCzD5ZwTXT+fhT4G0BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vw1vDGks8BwbURnrPFpKj6",
      "input": {
        "note": "Bowl's left rim is now centred between the jaws. Descending so the fingers straddle the upper part of the wall.",
        "targets": {
          "left_pitch": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Vw1vDGks8BwbURnrPFpKj6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3267, 1.8076, 0.6662, 0.4309, -0.3904, -0.2512, 0.4989, -0.0219, 0.8207, 0.5945, -0.4191, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4163 left_y=-0.0663 left_z=0.0188 left_yaw=0.114 left_pitch=-0.0798 left_roll=0.0725 left_gripper=0.4989 right_x=0.2896 right_y=0.0001 right_z=0.1605 right_yaw=0.0018 right_pitch=-0.0751 right_roll=0.0066 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -7.5145, 4.9846, 1.9267, -0.0855, 0.0952, -0.0171, -0.1709, -1.2513, 7.0222, 1.6777, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:929b814dee4a732e219db4c43a8c8038d84ac241ccb61b3c6f1653c759a51f1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9fb82c6953175a43152fce728190a41dda2d6f4f298cf82094e4be76d0c39d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5d4bbd5d37d02d5c56920a0daeb5cc943d13250e94d96d6a839bc87b43ff8ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 5.825 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]: [-0.2531, 1.5703, 0.8154, 0.0528, -0.3122, -0.2363, 0.4989, -0.0216, 0.8196, 0.5945, -0.4175, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4224 left_y=-0.0495 left_z=0.0981 left_yaw=0.1157 left_pitch=-0.0926 left_roll=0.0342 left_gripper=0.4989 right_x=0.2897 right_y=0.0002 right_z=0.1611 right_yaw=0.0022 right_pitch=-0.0724 right_roll=0.0065 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -9.2103, 6.3795, 1.8095, -0.2466, -0.1148, 0.0464, 0.0342, -1.3744, 7.1726, 1.6679, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3195, 1.6207, 0.8036, 0.1471, -0.3691, -0.2512, 0.4989, -0.0216, 0.8196, 0.5945, -0.4187, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4282 left_y=-0.0708 left_z=0.0924 left_yaw=0.1029 left_pitch=-0.0488 left_roll=0.0431 left_gripper=0.4989 right_x=0.2896 right_y=0.0003 right_z=0.1608 right_yaw=0.0025 right_pitch=-0.0735 right_roll=0.0068 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -6.694, 6.2974, 1.9951, -0.3687, -0.0366, -0.0073, -0.0889, -1.347, 6.9949, 1.6532, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3267, 1.8076, 0.6662, 0.4309, -0.3904, -0.2512, 0.4989, -0.0219, 0.8207, 0.5945, -0.4191, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4163 left_y=-0.0663 left_z=0.0188 left_yaw=0.114 left_pitch=-0.0798 left_roll=0.0725 left_gripper=0.4989 right_x=0.2896 right_y=0.0001 right_z=0.1605 right_yaw=0.0018 right_pitch=-0.0751 right_roll=0.0066 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -7.5145, 4.9846, 1.9267, -0.0855, 0.0952, -0.0171, -0.1709, -1.2513, 7.0222, 1.6777, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:929b814dee4a732e219db4c43a8c8038d84ac241ccb61b3c6f1653c759a51f1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9fb82c6953175a43152fce728190a41dda2d6f4f298cf82094e4be76d0c39d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5d4bbd5d37d02d5c56920a0daeb5cc943d13250e94d96d6a839bc87b43ff8ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6AYKEAgSGAI4AUIIdGhpbmtpbmcSDOOz57/UlcwJ29xh7xoMmvTHJHEQQRZ74K9GIjBBIuWkIS2mtEGAhJp8sl8iwjg0NgmuZZXVtXn9xjbMoW1JVnmQ1oqj9zyFp4S2OxIqhQb2e7PmNQzRzTiygGGl61u9v81b55uKFvuZapms1S0gQSx/0RzJHzibkQj8OGu7ITqKYm3jfdC2gWi6s6i0RLxh3+2VaoJ+dWqknQ2WWqoYpvz7zm8vfFx+5CtMgWP/HEE2vK9hsh19nVYo2WlKX13fHWyyUHSj70Is3jjMW1t96z3XkpOPyALiE+J6vjCXATz/0J5d0K870D3t3RAacaU7260jVgVUiobfmQUKc9MMPR8q7JzpjLMucSaNwM9hqP426RJyxDWb2zn1M/c3DgZj4V6jD3KNPmFI3DllKJf4/FglnLn+qXtwPwMvQxA0MqmyXsoVkPfZN56WokjZ8oJtO9gRM4FTzKOXaCsy4TgGac0Pjv+nXLKOoUZvV1tjJ+hlQH/dtgWHyyGs95uBoBbUkSQb7LpD91DOUYJoJyKp+dc3SaJVcNBb2QG1mnobcSrKfRFUd6gkXlEkZYUHqTjyOd7w1knUPUpXrrtwBsk5j5ohs3LgMfVKOiXIh+WbVb9cj2SOFtl7p36HVnfG2EWPZ5lbP9IKx74+OIKdB826zMTbtUX7odfDbXWWyZ1HAkAgadHnbXvr78zR6cAAqkAJOroA/cdEtmQ8DU7Q47PldlGu0V3nzXJ0uQq3A6O95rViNa4x8mGOa+hrsjYcVrbgtnAy79WY+VL7TH5oeO9ISqnTxV/LbFGeDecHze+/d+jvQ5nWzNXKA+BXe/+fgc5zWMSnfQ2F2hdsORnXC+83OdJCT84JIZD6BKJlDNrMaCztT5XiXga2ECl1NkKK6PrQBGGW15ZdPa7g/U8HE41sdapDo6UhvCMa60+MdjrcaX6h/UEF2A5Bg9lJBeLUSOcGCBl1rc2ADHSJCc2cK9PUN3LRGKoPGVgQ4MXGm5cwU+58YL457DzHdVVL3yhhA7/W+DWoqTmUkMH1XX4bKhAadwmLz05g6K0fMHUxJZQ0DWemAQgWL0sV02pDtuATXpnjpbeurMgb8HvjzQbcCWRcNshTzrTFjx6UEYjbYYFiWvefpIW31hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kr1d8Lhs4oEUy5AyNpdSRX",
      "input": {
        "note": "The white bowl's wall runs between the jaws with the fingers down near z=0.02. Closing to pinch it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Kr1d8Lhs4oEUy5AyNpdSRX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3298, 1.792, 0.6781, 0.5179, -0.3828, -0.2821, 0.0393, -0.0216, 0.8207, 0.5945, -0.4198, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4328 left_y=-0.0746 left_z=0.045 left_yaw=0.12 left_pitch=0.0223 left_roll=-0.0065 left_gripper=0.0393 right_x=0.2894 right_y=0.0002 right_z=0.1603 right_yaw=0.0022 right_pitch=-0.0758 right_roll=0.0066 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -6.0513, 4.2598, 0.6178, -0.2222, 0.2857, 1.2332, -0.1026, -1.388, 7.0085, 1.6581, -0.0562, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af67705124b78bb7cc8e565361e045e90557e047b1b34ddb6e8811dc779b65d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3e4b480b1e2a50e526fe6d2f23e9d36a75a67509721dbf502f56816a57f5682",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:16fdfdfc1e282037015d213d599092afcb6c994c6c036a44d14e5d4ec4203b8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 5.358 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]: [-0.3195, 1.6207, 0.8036, 0.1471, -0.3691, -0.2512, 0.4989, -0.0216, 0.8196, 0.5945, -0.4187, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4282 left_y=-0.0708 left_z=0.0924 left_yaw=0.1029 left_pitch=-0.0488 left_roll=0.0431 left_gripper=0.4989 right_x=0.2896 right_y=0.0003 right_z=0.1608 right_yaw=0.0025 right_pitch=-0.0735 right_roll=0.0068 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -6.694, 6.2974, 1.9951, -0.3687, -0.0366, -0.0073, -0.0889, -1.347, 6.9949, 1.6532, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3267, 1.8076, 0.6662, 0.4309, -0.3904, -0.2512, 0.4989, -0.0219, 0.8207, 0.5945, -0.4191, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4163 left_y=-0.0663 left_z=0.0188 left_yaw=0.114 left_pitch=-0.0798 left_roll=0.0725 left_gripper=0.4989 right_x=0.2896 right_y=0.0001 right_z=0.1605 right_yaw=0.0018 right_pitch=-0.0751 right_roll=0.0066 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -7.5145, 4.9846, 1.9267, -0.0855, 0.0952, -0.0171, -0.1709, -1.2513, 7.0222, 1.6777, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3298, 1.792, 0.6781, 0.5179, -0.3828, -0.2821, 0.0393, -0.0216, 0.8207, 0.5945, -0.4198, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4328 left_y=-0.0746 left_z=0.045 left_yaw=0.12 left_pitch=0.0223 left_roll=-0.0065 left_gripper=0.0393 right_x=0.2894 right_y=0.0002 right_z=0.1603 right_yaw=0.0022 right_pitch=-0.0758 right_roll=0.0066 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -6.0513, 4.2598, 0.6178, -0.2222, 0.2857, 1.2332, -0.1026, -1.388, 7.0085, 1.6581, -0.0562, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af67705124b78bb7cc8e565361e045e90557e047b1b34ddb6e8811dc779b65d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3e4b480b1e2a50e526fe6d2f23e9d36a75a67509721dbf502f56816a57f5682",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16fdfdfc1e282037015d213d599092afcb6c994c6c036a44d14e5d4ec4203b8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS9QcKEAgSGAI4AUIIdGhpbmtpbmcSDGOj66c9FKwTe1w/3RoMDQP2Gli8mi9bKq2PIjATaI1zAU+LhCyM9eUkStzYQ7Rz1CaKSIKmkO1EXzUiAd0XTdGf17c7c7DtOoS0/A4qkgdgSKNuaeOGcmpXAD5e2Ev2YN1KY/4PNIfqkhYvXBN5+EjB16FREGxKfYZIUQp8G/2cLSUjX3CP+QWeqMAscHdX/BxXCmZXrYl48/XSerm4oqxLb3CyF8Or6rYqhwaFLPyqKZHQMkFYt1NLakYxFMO5qJsnzjx91nPz9gqc1Ju220adoNZB8I6/JCnKix+RLf/FuNlf143TcEnKa/bOOxYqq+/0FJ++l/Y4roehQafgsDBqaKIeASvQmvzqC/NH05NFh4mT5IxfVK4PBhAa1WdHkUn+FCflZQT8YN5CvWZv1oRErI2Lk0pP01X4cwOJa6HDNC5ku6yjbez7okNpg+8vRMUDIqPTz2qOk+BrRmGKZhUYf5B/caMVU1H6C5ldKfw3AA9dLiXr66CBQnvn+LXnpeha4AaFL+7BBXtlrpV+NruW4uSMn13E3wpmC+tDFIykmcpCthYR5YvR2CbZ+fV34PH8M7+EfQV5gBudVDfDmOW49ZbGaQlh701F9WX5AXpRKg/B6/RUTQ2rTzoxWjwXX8YB3HN+rEjLk+cFtOoKIgzVN9Mp9L2XVJTnxUMa91/GEBwyiZEl7cLQp/fIyWIRrhmsryHrjtTtgac22q5EykFbXiJ/3oSX5xRWCBDxOk46iOdDtMgFZMrhQt+DIJbVWVlnBVtHaV6NbTwzTCCxxaKr2Wz/U1Id72FdSK7vpY7t7+qxoLSbetITdANDbSCXFkTkx0U8Yt+Ux/T99IVBRbHJZpKFXSNyJybu+uvkslIWbFILW76JxpAW7r7kltgPArRtcv6AXtOh8x/yHXcdHU5sTi/89f3RjjeXOvRiWIhC0PiV+fEGSQnbh5tvMY3FNNgv7fSNBh6WJjdoElkoNhJFJAp46kXNTpY5txcERuPvktxonaBTzONPdykQbCIO/Vw5b6jasU1hg+J0XujNwXCAJRz/QCYjY/ibr251w8fxzxzjb8rS75rAi1GyNJ+jQcnnzyQQg51UIWQklqEmduN8BwM9lEM3nwmwQIlDYOaifEsHZ3q2Vw3gGx6xAS37qfMVENVAxZlQcAbOiSIDfX+s0Nv5KoM0nOQi8m71oqCEyyGDgv/ZOjYgA4N3PqnUdLjVqfcAtDGJVS6A1GGrp2foVPRjzmYxvOr/XLJyCsdhvoEtVLMAc+1u9GYVnFjNkgPDm275tcqw0zkJJXoSl2qPq/OlTpUHKe7PlZ8LGmRXQRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FYZjued47Mb1vjXLKZQJU3",
      "input": {
        "note": "Jaws closed right on the rim (reading 0.04, thin wall). Lifting 5 cm to check in the top view whether the bowl comes up.",
        "targets": {
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01FYZjued47Mb1vjXLKZQJU3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3294, 1.6581, 0.7288, 0.3153, -0.387, -0.2855, 0.0412, -0.0219, 0.823, 0.5945, -0.4221, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4285 left_y=-0.0722 left_z=0.0802 left_yaw=0.1255 left_pitch=0.0072 left_roll=0.0005 left_gripper=0.0412 right_x=0.2892 right_y=0.0002 right_z=0.1592 right_yaw=0.0021 right_pitch=-0.0804 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -8.8274, 8.6496, 1.8339, -0.1392, 0.0317, 0.9939, -0.1436, -1.5932, 6.9812, 1.6972, -0.0562, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:420a24108c7fe141aac98862a30e91185f7ccbe34d1c58a52e339d7702c25a33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:113526d6b3ce0a9aaaa4a1cb9e9f58f8ac8e4f3fd3b227606daa273c1ec9eb1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d3242bb20129cd18a0f6b9c4b4974ef679c07544c4a10989a49625288f6c9a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 9.315 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]: [-0.3267, 1.8076, 0.6662, 0.4309, -0.3904, -0.2512, 0.4989, -0.0219, 0.8207, 0.5945, -0.4191, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4163 left_y=-0.0663 left_z=0.0188 left_yaw=0.114 left_pitch=-0.0798 left_roll=0.0725 left_gripper=0.4989 right_x=0.2896 right_y=0.0001 right_z=0.1605 right_yaw=0.0018 right_pitch=-0.0751 right_roll=0.0066 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -7.5145, 4.9846, 1.9267, -0.0855, 0.0952, -0.0171, -0.1709, -1.2513, 7.0222, 1.6777, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3298, 1.792, 0.6781, 0.5179, -0.3828, -0.2821, 0.0393, -0.0216, 0.8207, 0.5945, -0.4198, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4328 left_y=-0.0746 left_z=0.045 left_yaw=0.12 left_pitch=0.0223 left_roll=-0.0065 left_gripper=0.0393 right_x=0.2894 right_y=0.0002 right_z=0.1603 right_yaw=0.0022 right_pitch=-0.0758 right_roll=0.0066 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -6.0513, 4.2598, 0.6178, -0.2222, 0.2857, 1.2332, -0.1026, -1.388, 7.0085, 1.6581, -0.0562, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3294, 1.6581, 0.7288, 0.3153, -0.387, -0.2855, 0.0412, -0.0219, 0.823, 0.5945, -0.4221, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4285 left_y=-0.0722 left_z=0.0802 left_yaw=0.1255 left_pitch=0.0072 left_roll=0.0005 left_gripper=0.0412 right_x=0.2892 right_y=0.0002 right_z=0.1592 right_yaw=0.0021 right_pitch=-0.0804 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -8.8274, 8.6496, 1.8339, -0.1392, 0.0317, 0.9939, -0.1436, -1.5932, 6.9812, 1.6972, -0.0562, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:420a24108c7fe141aac98862a30e91185f7ccbe34d1c58a52e339d7702c25a33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:113526d6b3ce0a9aaaa4a1cb9e9f58f8ac8e4f3fd3b227606daa273c1ec9eb1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d3242bb20129cd18a0f6b9c4b4974ef679c07544c4a10989a49625288f6c9a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkAgKEAgSGAI4AUIIdGhpbmtpbmcSDJRAWI23rTAOmC+xSRoM8Wc2QtxR9eLng8B0IjCRjUVCIKJjB16+md1KADMuZNaqDRI5d/SWYLt5EqZSO1ksfASj25yI5a3s9e+3n+kqrQdqAduA2JJLoxBXgOoqyO0mjjYYykzOCC8UWJOtleA83z7FI6r861oeEwOIQ9Zog+dutecxELCPbnTu7JArSA6jmKvctKNc0waHXR4/50Hi+2WJYoFTjxghEBYaZY3WdvYQQkJnMPYsGe31BBnBlCOL1qOYqS2gt+GWJA7gxGfRYFesFlCv3JsfgaV3at57pk33v9v9oFLGl7+3K4RXJIUWlSwFj8K9qQcUfenXw5CJA0ZRLoH+AjFmQQszWZfGL6Tsc2Cmfy9pBU2zSLqMtV6N9Ew/Ct0gaLwzNnQOBMs7Ven9kQP4lgZ/3P0zwEMzs/JqJt7jrbGZvF7KbBswABJhsZ9hCrYl/KCBWT6wLTcSpv7zbmrEgU/kUEYvrKfllqGgYD52YQkPgZ9wzLaPSjc3JyT0+lkLH83sx0wQQMi7hydKRTjIeFztnUscUVr0h230o7E7o6hMtF2vWn8O8NMnVuJx/PyD/85Cci9dg9fWPoxImX10IDyo40GDTRZRhGq8BlJKEkbnrPts1EY+9gldp+A9WpVEmE4k9/cru3tGzkyNo819mC3C/CFwk35XQ+pQ/GMMm4ZczDF8kwE4Cjly7DAXA5g4lAdYzcMKwh6KwyfK+pDSGUoNFYOGXuN+Nj90wz6BPSPj4+Nh70kHAoaoH0M2Z0BSufpgpJQMdvjlwPClvcxMfjpGZkDOgEqlBOz+ToLxnJ2cTY/mlmc0U7FWUOWjSKNSCpid2YudFSy5a6NL24CW7z7ozV6dmgCW/buZXpsYYFN6LOm22qUU/ZTDg3BzP9tf7ThQPlNLL5NOdInzj0etpXbk5Ch9FHUopAAnpwEw0yOrGfVa3cAKYbrNabQ8gBDGQbTGTwFrzTSD8osGAz01ciih+YGF6NAR3SwyHy88V9u2aIwOBd5MKE8MniK4RX8ldDOWtUgw3SFS/KhzM8S7usFph5uQaF+R8dae+jlRlGW6K9jviMAt8QzWKUl/kJsjeEHBeS7u7+zEg99AsAvaXBL77WU7Gt0dVvoTbrd9W4aaVHGn1RhNOt99Ca44vzzekYxzmG/+SMaSI5Gk79Ki50qXiqMqNIcFh/JMjZxfHPT8qOClfEBbJUb3kVcxTkTvBDsAPAX89h4w7czCPM4exHJlxke8uHkI2E2tU7mgKithHBXDcRcqOFhGzzlPYj6vMF3+K+cHvQFAlu4zx1AXaqCigJGcvgHhezYXBiCIsaomc6s5yDAcUdMroNtu/bZKHS+fGJn2thgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W16Jrqe474PhREHksXPHxj",
      "input": {
        "note": "Bowl rim stays fixed at the jaw tips in the wrist view as the arm rises. Lifting higher to clear the table and confirm in the top view.",
        "targets": {
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01W16Jrqe474PhREHksXPHxj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3294, 1.5082, 0.9092, -0.0319, -0.387, -0.289, 0.0414, -0.0216, 0.823, 0.5945, -0.4221, -0.0162, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4282 left_y=-0.0721 left_z=0.1493 left_yaw=0.1274 left_pitch=-0.0079 left_roll=0.005 left_gripper=0.0414 right_x=0.2892 right_y=0.0002 right_z=0.1592 right_yaw=0.002 right_pitch=-0.0804 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -8.4171, 9.1009, 1.663, -0.1294, -0.0073, 0.9402, -0.0342, -1.4017, 6.9949, 1.6435, -0.0317, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59565e93eada5b996ced071cac25009d6cc190c75ffe4e975f1ad1239ad76857",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9b467b8cb270ff6f09a981d3ba85a13dc935143076329208e443aa7e82183cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:685cd2a1cc67e943d6ef06794580c5bff670209c303c3e0e17f48765a80aae15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 4.785 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]: [-0.3298, 1.792, 0.6781, 0.5179, -0.3828, -0.2821, 0.0393, -0.0216, 0.8207, 0.5945, -0.4198, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4328 left_y=-0.0746 left_z=0.045 left_yaw=0.12 left_pitch=0.0223 left_roll=-0.0065 left_gripper=0.0393 right_x=0.2894 right_y=0.0002 right_z=0.1603 right_yaw=0.0022 right_pitch=-0.0758 right_roll=0.0066 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -6.0513, 4.2598, 0.6178, -0.2222, 0.2857, 1.2332, -0.1026, -1.388, 7.0085, 1.6581, -0.0562, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3294, 1.6581, 0.7288, 0.3153, -0.387, -0.2855, 0.0412, -0.0219, 0.823, 0.5945, -0.4221, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4285 left_y=-0.0722 left_z=0.0802 left_yaw=0.1255 left_pitch=0.0072 left_roll=0.0005 left_gripper=0.0412 right_x=0.2892 right_y=0.0002 right_z=0.1592 right_yaw=0.0021 right_pitch=-0.0804 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -8.8274, 8.6496, 1.8339, -0.1392, 0.0317, 0.9939, -0.1436, -1.5932, 6.9812, 1.6972, -0.0562, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3294, 1.5082, 0.9092, -0.0319, -0.387, -0.289, 0.0414, -0.0216, 0.823, 0.5945, -0.4221, -0.0162, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4282 left_y=-0.0721 left_z=0.1493 left_yaw=0.1274 left_pitch=-0.0079 left_roll=0.005 left_gripper=0.0414 right_x=0.2892 right_y=0.0002 right_z=0.1592 right_yaw=0.002 right_pitch=-0.0804 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -8.4171, 9.1009, 1.663, -0.1294, -0.0073, 0.9402, -0.0342, -1.4017, 6.9949, 1.6435, -0.0317, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59565e93eada5b996ced071cac25009d6cc190c75ffe4e975f1ad1239ad76857",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9b467b8cb270ff6f09a981d3ba85a13dc935143076329208e443aa7e82183cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:685cd2a1cc67e943d6ef06794580c5bff670209c303c3e0e17f48765a80aae15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AxzJoNrAB8DwjzAMX7wTZU",
      "input": {
        "note": "Top view confirms the white bowl is lifted with the gripper, hanging ~6 cm to the right of the jaws. Carrying it so its centre lands over the blue bowl (est. y −0.30).",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.43,
          "left_y": -0.24,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01AxzJoNrAB8DwjzAMX7wTZU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7444, 1.8214, 1.3388, -0.3355, -0.683, -0.593, 0.042, -0.0219, 0.823, 0.5945, -0.4225, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4251 left_y=-0.2352 left_z=0.1562 left_yaw=0.1062 left_pitch=-0.0321 left_roll=0.0212 left_gripper=0.042 right_x=0.2891 right_y=0.0001 right_z=0.1592 right_yaw=0.0018 right_pitch=-0.0808 right_roll=0.0067 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -9.388, 9.2239, 1.409, -0.5495, -0.0806, 0.9109, -0.1299, -1.2923, 7.1316, 1.7021, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1ac4caf23525e5b7877848beaf8602132ee01b4ca54e97aab285be7db7c3613",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:967b8095e2c1b47c0dce1403319568e045eb24c1ef335dac554e154633c1abe6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:38baaee6e5003ea1846264a4c0507614d393569ba6aada4fe9831fc090e5b5ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 4.134 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]: [-0.3294, 1.6581, 0.7288, 0.3153, -0.387, -0.2855, 0.0412, -0.0219, 0.823, 0.5945, -0.4221, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4285 left_y=-0.0722 left_z=0.0802 left_yaw=0.1255 left_pitch=0.0072 left_roll=0.0005 left_gripper=0.0412 right_x=0.2892 right_y=0.0002 right_z=0.1592 right_yaw=0.0021 right_pitch=-0.0804 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -8.8274, 8.6496, 1.8339, -0.1392, 0.0317, 0.9939, -0.1436, -1.5932, 6.9812, 1.6972, -0.0562, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3294, 1.5082, 0.9092, -0.0319, -0.387, -0.289, 0.0414, -0.0216, 0.823, 0.5945, -0.4221, -0.0162, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4282 left_y=-0.0721 left_z=0.1493 left_yaw=0.1274 left_pitch=-0.0079 left_roll=0.005 left_gripper=0.0414 right_x=0.2892 right_y=0.0002 right_z=0.1592 right_yaw=0.002 right_pitch=-0.0804 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -8.4171, 9.1009, 1.663, -0.1294, -0.0073, 0.9402, -0.0342, -1.4017, 6.9949, 1.6435, -0.0317, -0.0269, -0.0171]",
      "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]: [-0.7444, 1.8214, 1.3388, -0.3355, -0.683, -0.593, 0.042, -0.0219, 0.823, 0.5945, -0.4225, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4251 left_y=-0.2352 left_z=0.1562 left_yaw=0.1062 left_pitch=-0.0321 left_roll=0.0212 left_gripper=0.042 right_x=0.2891 right_y=0.0001 right_z=0.1592 right_yaw=0.0018 right_pitch=-0.0808 right_roll=0.0067 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -9.388, 9.2239, 1.409, -0.5495, -0.0806, 0.9109, -0.1299, -1.2923, 7.1316, 1.7021, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1ac4caf23525e5b7877848beaf8602132ee01b4ca54e97aab285be7db7c3613",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:967b8095e2c1b47c0dce1403319568e045eb24c1ef335dac554e154633c1abe6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38baaee6e5003ea1846264a4c0507614d393569ba6aada4fe9831fc090e5b5ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6wcKEAgSGAI4AUIIdGhpbmtpbmcSDDncadwlGudSV6T2dxoM+aTs/gWQip/XYyJwIjCtZS4ceHzK15u4GRZ+D2qB9VZSEfIbdUou+NyY8AbMAIQYwFO4gk+fCmHJXfWNq8sqiAci2MWfBPHHDlexyww8CYi1xsNX+ngHVrlRodFeffUrNo4NB/RVHPfGr0dfwq/8fvupFsJl9OYgvEGIIOPlRub1bQLxLZpjQEyV1uz+mADHEHmy5LrOanrUdI8ZTbe8RwkLblZLvfNNAa8O1/DaSEuPhVK4gSVnvctkFO+94tGxbk1Fc4TQEtQ75l1CMCAufRLeT2pz8bBp6bcZ9+BPYKYPZbIAHID/9KsaJGm1efD4ioB8xV9/eBzOf+Ju6V+xFZtQmqHBZuRKilu5D7hhP+J0wm2E/l4ve416ZoS0k9fEtqfVjTqSUWPcJ0w27djC89ryLMq4MfGXxTHqsuTgdMTJ7YW0jntZ/F+rWqzc9kNmejJCs+HGGRHg/mA7g/+cjKvIbV4mavCBt1YqVHOKh1cT2gyGrEZteY+hjiJlBBWZ79kkMcXOdWHllVNZ1WQYOVcQIpdvsS1bMCn927OGADSsfFrikQwFwEVC+rpYa7Ow7Y2roBMcqtdGCXk5o6SKZT+HD/TkG+rgviG3Wh96JlxGlK6Uondt712Ss9ZGxB+F/py6gulMFpeswfoYktIqIZbhs8MIYrQMRGT9q+05dV/3LzOuyp9QGRlBlhQ+lOG+nhoP65LYbtPlHFSFEwk6wMO+05s9Ts5VOi3bA9UF3pER3spTadxz5oaMyGJxL90hFL044cIC0T6uePj3aHwJ5tiS/EWGZwioEbOzxtNyR7PVRu2rA1p7s3RLOjEKcduTTtCdKi21sdvvJlGxyB2EBYux1w+yub06QEpzZx2J+ghQQbTYnpj/cS8dGGNUkJ1bBOPADepWPEKkRq2YROfyIpTNSLSCX6KYAGOaV+De8Q3KcG0EEyIakOikHiHeLLC0fs5CVJ/DJwVrEZixm/TenKxCQ5lXU4mutWw92t6InzOJ6StXQidJ9cRj8i726VbnfUuhStYLPWZvYma1PKgFWCuYzg0EiMLYU/QIhqnubQuYbr5APQeblVsiEIA5+EQ1mpjQTR0EWjEIoKwAR3hLyOc1hsNvte6QS8MffFbqC4Il5HaOWsIeNXFo1QuGGwgOemhR12qao40QBDkUxwH3cvx3Ecs74TjFStFspeYJXU288j35Uqbq4Az/CxpSFwRv5aqkD/HCwJdmpcwBWuScQtHV6eVKt1do4MPmaR8BPIksHa8A4svCgGsNrNZ7Fi3VlpnM1mEURgTqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018Kz6StHGLVJqptQhzx1SsB",
      "input": {
        "note": "White bowl is hanging directly over the blue bowl in the top view. Lowering it so it nests before releasing.",
        "targets": {
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_018Kz6StHGLVJqptQhzx1SsB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7479, 1.9053, 1.1873, -0.16, -0.6815, -0.5999, 0.0428, -0.0219, 0.8234, 0.5945, -0.4225, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4176 left_y=-0.2307 left_z=0.086 left_yaw=0.1078 left_pitch=-0.0722 left_roll=0.06 left_gripper=0.0428 right_x=0.2892 right_y=0.0002 right_z=0.1591 right_yaw=0.0021 right_pitch=-0.0812 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [0.1709, -9.6479, 6.3111, 1.6239, -0.3541, 0.0611, 0.9109, -0.1573, -1.347, 7.0906, 1.6728, -0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d46572021a284a901f4184663e79fd33453731a6e74c278a9f9bb1f0c6e34cc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:023bafc9bf7fd7b2dfb81c2b9b798be410b357daf094282d3f6595b7d86ff301",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7947c938a713d345dc8157acd3f42faa2bad4e7fb63577802e8871123d270222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 3.735 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]: [-0.3294, 1.5082, 0.9092, -0.0319, -0.387, -0.289, 0.0414, -0.0216, 0.823, 0.5945, -0.4221, -0.0162, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4282 left_y=-0.0721 left_z=0.1493 left_yaw=0.1274 left_pitch=-0.0079 left_roll=0.005 left_gripper=0.0414 right_x=0.2892 right_y=0.0002 right_z=0.1592 right_yaw=0.002 right_pitch=-0.0804 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -8.4171, 9.1009, 1.663, -0.1294, -0.0073, 0.9402, -0.0342, -1.4017, 6.9949, 1.6435, -0.0317, -0.0269, -0.0171]",
      "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]: [-0.7444, 1.8214, 1.3388, -0.3355, -0.683, -0.593, 0.042, -0.0219, 0.823, 0.5945, -0.4225, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4251 left_y=-0.2352 left_z=0.1562 left_yaw=0.1062 left_pitch=-0.0321 left_roll=0.0212 left_gripper=0.042 right_x=0.2891 right_y=0.0001 right_z=0.1592 right_yaw=0.0018 right_pitch=-0.0808 right_roll=0.0067 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -9.388, 9.2239, 1.409, -0.5495, -0.0806, 0.9109, -0.1299, -1.2923, 7.1316, 1.7021, -0.0513, -0.0659, -0.0122]",
      "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]: [-0.7479, 1.9053, 1.1873, -0.16, -0.6815, -0.5999, 0.0428, -0.0219, 0.8234, 0.5945, -0.4225, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4176 left_y=-0.2307 left_z=0.086 left_yaw=0.1078 left_pitch=-0.0722 left_roll=0.06 left_gripper=0.0428 right_x=0.2892 right_y=0.0002 right_z=0.1591 right_yaw=0.0021 right_pitch=-0.0812 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [0.1709, -9.6479, 6.3111, 1.6239, -0.3541, 0.0611, 0.9109, -0.1573, -1.347, 7.0906, 1.6728, -0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d46572021a284a901f4184663e79fd33453731a6e74c278a9f9bb1f0c6e34cc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:023bafc9bf7fd7b2dfb81c2b9b798be410b357daf094282d3f6595b7d86ff301",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7947c938a713d345dc8157acd3f42faa2bad4e7fb63577802e8871123d270222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSmAcKEAgSGAI4AUIIdGhpbmtpbmcSDNEeRwNN/9uTVMCcvhoMrVQ+dBJg2y34SqNrIjASjBKBw4es6KzxaAKYEoWN6yG3lP5QSYm7VHaQdhxgv/dsSmSisqh/ILfBn2xWS2QqtQYbEtSTphUWVN/AW6UOF15IHe9Zz++GFEiZIUxY4xxlePbeFB/8y4ZUGNMI1qyRQIrWEPfdLzkcgkDnPMwxva4Y/Nw0f7DAkGyIFpDhGcq8rQb6qvozP/Fc0r3xjZ+Ytkk+yBj+eMiLcDyLbFMQLaU8DSrWmohVXATGuL1qHeJiqcKhqzM/ziX5gbSpdhlsUxa8AYH1RZEroIl/BW70KapvDjdikj7rFdRkX794sLvaYPPXI2H+wJhvi8PgVH5F/eoSjbHnj0pwYW9NaY2KQFUy9jQT6gO08alPb92/BXhg7Dyixm9nTNt2rdMgefC0Yl92YnGPV6GhE21cugMCzFOM99MnIgLc7haIsGNmtQzjUmVS3fUOLudJYiAPH2A9xMgG3tnrooqngX4wAtz5+wS4InoHcD+N1W8JSWuMit2wt3Z+MkmEQvtFApHXLYiV3F+uckeHjRXBdnsrIrkGtUJVELJnhzTY69lE5H3brjbyMMjaR0bzGDJ6aolNzLeZwVTAKl/Rhy2q5SrOO9g8pH6vAVfRkHsk5T9NSAJ9ASF7yT+/gkwWhD0evU3/bcDo5Ccdc6fcQpFdHd7BEFeiHwt6eyQozioNmS9CtDC2sZeRVgKLA6qzmWjDVtZ8LrZ5BeL+3JL66fGXjiVu553n/NF6jSbdbKGJPvraK/4OVGZ52esHkc7YPs3hcwaRS0QB2FGhU9nrvQ9gPg5OzGDfNhcxkV4MQVy1r3ic34L9BkSKPOrZyOsk1GnRJFH3GZmiqtIWToRHlH8aG2vbNSd3CgOdxx92uxEhvpCKqjW95aZf77twVn7NXPCrwFXhCmJ9KrcmMjBEnoVZsqTIBjQijiYctBqT/pzglRDr/BYmx3tXJ6zt0jVqQHShzszb9gFj2THqp5gmN22N9FXG94C0K5y/2DlYtmZ8vxmLiUzGiUOsvY5qUzp3gBmd4JE06K4snytTOiTjRtQSUdrvB+5deaYl3iQRwHVi7hS7IXWwJdYeD3OWfZ7Rrn1GlzRtIk64/zpvaTTcqs9PV+xNMyj3g7E85QGr0a2A+70dyP+r+s3xBSGfO+T6Kms4EuWylpPySO+ZSeoQYhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016C5kXrhaDVKHxJXRjNkkfi",
      "input": {
        "note": "No contact yet at z 0.086; lowering a bit more so the white bowl seats inside the blue one (descent will stop at contact).",
        "targets": {
          "left_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_016C5kXrhaDVKHxJXRjNkkfi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7479, 1.9411, 1.1461, -0.0746, -0.6815, -0.5995, 0.0441, -0.0219, 0.823, 0.5945, -0.4225, -0.0162, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4181 left_y=-0.2312 left_z=0.067 left_yaw=0.1072 left_pitch=-0.0667 left_roll=0.054 left_gripper=0.0441 right_x=0.2891 right_y=0.0001 right_z=0.1592 right_yaw=0.0016 right_pitch=-0.0808 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -8.5402, 5.6, 1.4139, -0.2955, -0.0659, 0.7985, -0.1846, -1.2786, 6.9949, 1.6728, -0.0708, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:432f8963ff7d4df5f8728466c4d5c37e8babc152ef090156a48e1782df685c93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4f96fd910442513e8569bdef0a21ee3ed3f25a0df8dd3bce666a611bc6b4631",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:825117243c79c8783518060bbfb355c867d0587ad319c5b58d7d3931ab64dabc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 4.654 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]: [-0.7444, 1.8214, 1.3388, -0.3355, -0.683, -0.593, 0.042, -0.0219, 0.823, 0.5945, -0.4225, -0.0162, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4251 left_y=-0.2352 left_z=0.1562 left_yaw=0.1062 left_pitch=-0.0321 left_roll=0.0212 left_gripper=0.042 right_x=0.2891 right_y=0.0001 right_z=0.1592 right_yaw=0.0018 right_pitch=-0.0808 right_roll=0.0067 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -9.388, 9.2239, 1.409, -0.5495, -0.0806, 0.9109, -0.1299, -1.2923, 7.1316, 1.7021, -0.0513, -0.0659, -0.0122]",
      "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]: [-0.7479, 1.9053, 1.1873, -0.16, -0.6815, -0.5999, 0.0428, -0.0219, 0.8234, 0.5945, -0.4225, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4176 left_y=-0.2307 left_z=0.086 left_yaw=0.1078 left_pitch=-0.0722 left_roll=0.06 left_gripper=0.0428 right_x=0.2892 right_y=0.0002 right_z=0.1591 right_yaw=0.0021 right_pitch=-0.0812 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [0.1709, -9.6479, 6.3111, 1.6239, -0.3541, 0.0611, 0.9109, -0.1573, -1.347, 7.0906, 1.6728, -0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7479, 1.9411, 1.1461, -0.0746, -0.6815, -0.5995, 0.0441, -0.0219, 0.823, 0.5945, -0.4225, -0.0162, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4181 left_y=-0.2312 left_z=0.067 left_yaw=0.1072 left_pitch=-0.0667 left_roll=0.054 left_gripper=0.0441 right_x=0.2891 right_y=0.0001 right_z=0.1592 right_yaw=0.0016 right_pitch=-0.0808 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -8.5402, 5.6, 1.4139, -0.2955, -0.0659, 0.7985, -0.1846, -1.2786, 6.9949, 1.6728, -0.0708, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:432f8963ff7d4df5f8728466c4d5c37e8babc152ef090156a48e1782df685c93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4f96fd910442513e8569bdef0a21ee3ed3f25a0df8dd3bce666a611bc6b4631",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:825117243c79c8783518060bbfb355c867d0587ad319c5b58d7d3931ab64dabc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7wYKEAgSGAI4AUIIdGhpbmtpbmcSDLVBT6NIVhIILRQhxxoMKxqIi0vmBLm0L7KCIjCe83v3wx1oUfzipw68yI4dNviskYmkxbbmgNjfL5Pno5iU4GVWZbBdCjK7eFGNHi0qjAbkC4Kf43/KhvMXu2kz+0krEhvQsQnkCAeuJedzwWqikEgz6X4r9zV5vxTR18YgFxvQuX7Bqhrzf6dQ1Zjr/X12HkeWOyM039kkuQ2528oWKU2yFFDV+3D+/2gEoBxvhEneNA3wqOVmIPx2hnmgORGRpoTe4zg5e872VXg8wxTi5tyYLuzHmvRnxcdzpRajnFOKEO2aCfdkP9WJe241OmW8hc0/SoHOyk5OfB21U3I9/ib0U5Jc+TWl+yw9nf+3FbLQxz3oVfWyvBGYl4yydUx/ktSKbXWjsw00aic36B30K+Kdlyg4Orit603PvsIf4NUo38qOxPV2xWdR9Pvvkr1o3QGyX/ZQ/Ed5RBZdCdNmSxI94AYzxoMkkMERa2MNQ/mpid4VzHIBCLrOPGcl9i74ZjFzpyN+PtIHaUyLP2kUrIzzRC45Zd+gK5lOJVF9vfYQN9SgeXPpzp1+amXaliC80ofXxegSTGOK2YCgZHvlZXNFwvGgRJiH+STcc+jCe9McGGHsaN+ZukWK0IArZYomKlkm49suYwabmFSrFKq7has5/SSGQE9ds8M69ACxCJhwlmRz2SjtREtepWO4UwwGH+7FjfmoXvz5R5l6WM8U2vrMoRHlPWwo1iQ5rX0Gc+bUixTEatIvVs1tudUzEUKndizoLnWnoso45ncVgRFHBkj4MoJvGwthftUkfzxKm9VbzUI1ekQ8dKJEh5dy6M9uImce+VgjKlbxrAhnHgk+suY2gCVo3+Sn0JYYqNrRvmAr5OwYwJsfEtkneX0cu74xNyC2WTscjtmLVGrPUR1srwi8xzxiiuF+P4b+0nJfxlqLNlLg278ndScTyCyLT51vpfhkgloX6TGBDn0i92HJrs+uSE46MWhDkzWSkSt0Z5dP5K7zw6JWmyC1clnt1eqm418nfjbHUf7apD8H1Sim03DoS8yw81MiwlQWkjKfx8htUvkpiwOmoNghrODcZqcK/H0Sk7qT/GR9i64NfVFVbOJKDb6Gp8NZCvYYi5v9aGdCcbP3Nv77Iq6+qXYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LKQnfYCcKkyAdKbLokXaAT",
      "input": {
        "note": "Descent stopped at z 0.067, so the white bowl has settled into the blue bowl. Opening to release it.",
        "targets": {
          "left_gripper": 0.6
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01LKQnfYCcKkyAdKbLokXaAT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7483, 1.9564, 1.1362, -0.0467, -0.6815, -0.6033, 0.5952, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4185 left_y=-0.2318 left_z=0.0605 left_yaw=0.1087 left_pitch=-0.0648 left_roll=0.0489 left_gripper=0.5952 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0025 right_pitch=-0.0808 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -9.0188, 5.4906, 1.3602, -0.3492, -0.022, -0.149, -0.0479, -1.347, 7.2137, 1.6728, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:172a01e88690263baf39041a8378fac0d93765b00e7fe4d086d2d6a0ce533c10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28ac93985e1ccee894ffce3e2523dfcc74372c0b0203bafffc9c101b506f9b4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e48d83512b165fa4f91a0aded44146d56153cb29bd1709a7fd9f0988dd8471e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 3.596 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]: [-0.7479, 1.9053, 1.1873, -0.16, -0.6815, -0.5999, 0.0428, -0.0219, 0.8234, 0.5945, -0.4225, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4176 left_y=-0.2307 left_z=0.086 left_yaw=0.1078 left_pitch=-0.0722 left_roll=0.06 left_gripper=0.0428 right_x=0.2892 right_y=0.0002 right_z=0.1591 right_yaw=0.0021 right_pitch=-0.0812 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [0.1709, -9.6479, 6.3111, 1.6239, -0.3541, 0.0611, 0.9109, -0.1573, -1.347, 7.0906, 1.6728, -0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7479, 1.9411, 1.1461, -0.0746, -0.6815, -0.5995, 0.0441, -0.0219, 0.823, 0.5945, -0.4225, -0.0162, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4181 left_y=-0.2312 left_z=0.067 left_yaw=0.1072 left_pitch=-0.0667 left_roll=0.054 left_gripper=0.0441 right_x=0.2891 right_y=0.0001 right_z=0.1592 right_yaw=0.0016 right_pitch=-0.0808 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -8.5402, 5.6, 1.4139, -0.2955, -0.0659, 0.7985, -0.1846, -1.2786, 6.9949, 1.6728, -0.0708, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7483, 1.9564, 1.1362, -0.0467, -0.6815, -0.6033, 0.5952, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4185 left_y=-0.2318 left_z=0.0605 left_yaw=0.1087 left_pitch=-0.0648 left_roll=0.0489 left_gripper=0.5952 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0025 right_pitch=-0.0808 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -9.0188, 5.4906, 1.3602, -0.3492, -0.022, -0.149, -0.0479, -1.347, 7.2137, 1.6728, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:172a01e88690263baf39041a8378fac0d93765b00e7fe4d086d2d6a0ce533c10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28ac93985e1ccee894ffce3e2523dfcc74372c0b0203bafffc9c101b506f9b4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e48d83512b165fa4f91a0aded44146d56153cb29bd1709a7fd9f0988dd8471e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS4AgKEAgSGAI4AUIIdGhpbmtpbmcSDBTiuc1al8UVsvrQAxoMdYHAI40kA5ANPQ4PIjBmOkhD47dMEIgIhgRJAKu6khzM5xEAFawWVzxHqUwml/u/7cPM+/Zdnv/v3bRatLsq/Qcyvws9h/a5Mi0EouwVlebl/5hRcQ0YSXlD1lKv7xt9MDvE+l29PEL9YtrK2qSDLlIw9UZA3BSWZxDt5azyEDnzP7cJxG8JmyuM/2HHDIg1YULuaICWZ+vy+N5DXlm1E148gVLflNHMngacphtLLRTC9OJXKP4DzRl9lPXtTGEoy9hOERqXAWzR5CrGea1CUXNG7LgvyXQyTFRfbpvIYmsdUuGIZ3UcY6MCRMeyhkJ1BMS0vVZJMMhMBCma5iLX8VtVlq59TALh+NT6TWZyaOI6VB1sP4orli/L4s41zxwWp5zR0Ueds8YPTceWMVZMP9GB4EYyyskyBBzikuBXJtdjf5KJ9BluqNl9NHBOuFbnBZaVBHeUTZ5C5R8rzEZoqr9jz9/HymepSotFGWmwauunV+Dye5sqcI8RD1Gd/44tEUWOeGoB3yOS4ron2cb/4lbk/IjLvG5XITQ5zIKxseDBL1uN1tHqKfoxkb+phFo6aUP8XU8CNSOlqNU1yJU2JKU4fsCzOcoMQjImTB/kvaGIj8pcyvwQWqU1DaO0FAGqleAaADXxR0+kSnwck06wpP73XPThnboa9jQfTPfc0dTe8ni4MQn/5QVsOxl96nY7VDG+N7DS/sQu01anT3nJi+jkLehCR2xNHWogJbsQOMpvj6B0bP4Uuk1VL5nwf5L2VwuJBlnE1RNjOOnxA215OUQiQKwyhhODMuFB6GOfWRo5BDRiMufiQFOhw7WfbqHq/LbfKwORcWlUVdLeodUV+2312oOz+UbOM9vJ9zf22jjEFzjeBTS2qxgnz96w7HkHWblOdFoZKu2fI92xLi6MRz3QLOqRtxTMiwXxaJeLEZuL0DG4nlCd2jgtjtHHLY7AZfyF3wtz7qnZt1yoGcZMLvlZDmDXIagMqZME1vkt0dTc8vKOxMHv7rfsi2otGRDaNrZy3lXT6KeWossurB6DkAHwUPZV4ezsEaIbNOO0iqa3QTdUIEb/sjvnO2uAdfPtFAnuPJnV2OM0pTLedyV8mpjrCSgAyPufeHFaaSM+N002tyuiOT59brYJReApIaoH8Pxm5A6ULn9Od6L/EzsThu7qEmomfWr+ZBQZL+0nENP7adns9I9ixPoWNJnfW7XhCG5eK5IGu86DPQHYFzu1n1+9hu3Srhcl1ymDvIO4ZIbMka2nwxAZmxH5VBICryeeS9/6uODX5f+oMO0EiuE1oG5OxABOqRroukIHg0kuuGWu0QQttZqcU8ZpnEeezCac7lvY4ptlbClbVABgOBJOxgLNbYDHbiOf8cmuSxgeF+tOe8hyFDhhnm0RFZ6jB/zgHfFB0GZLeHv5dq5BK2GKr9N3k1MY/bq//wurOlw8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017jZe9nNzerGY1E1hSTYpqv",
      "input": {
        "note": "White bowl released onto the blue bowl. Lifting the left arm straight up clear of the rim.",
        "targets": {
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_017jZe9nNzerGY1E1hSTYpqv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7483, 1.8271, 1.3735, -0.3519, -0.68, -0.6109, 0.5961, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4277 left_y=-0.2406 left_z=0.1645 left_yaw=0.1097 left_pitch=-0.0253 left_roll=-0.0046 left_gripper=0.5961 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0025 right_pitch=-0.0827 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -9.306, 7.0632, 1.0574, -0.3297, 0.0366, 0.0855, -0.0068, -1.5521, 6.9812, 1.6777, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01a8b036f9d78f5db9e9c944a57a5aede37e6bcd5be1c2b13d824cee322886f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfb71be182f76d1ec1c6506d282552c3deda2c54652cbeb8ed593a66f65b054e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6df5dbb90cae193f58a0f3c910a2710c3b37e85ca3bc06571648f38cb3d82649",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 6.833 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]: [-0.7479, 1.9411, 1.1461, -0.0746, -0.6815, -0.5995, 0.0441, -0.0219, 0.823, 0.5945, -0.4225, -0.0162, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.4181 left_y=-0.2312 left_z=0.067 left_yaw=0.1072 left_pitch=-0.0667 left_roll=0.054 left_gripper=0.0441 right_x=0.2891 right_y=0.0001 right_z=0.1592 right_yaw=0.0016 right_pitch=-0.0808 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -8.5402, 5.6, 1.4139, -0.2955, -0.0659, 0.7985, -0.1846, -1.2786, 6.9949, 1.6728, -0.0708, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7483, 1.9564, 1.1362, -0.0467, -0.6815, -0.6033, 0.5952, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4185 left_y=-0.2318 left_z=0.0605 left_yaw=0.1087 left_pitch=-0.0648 left_roll=0.0489 left_gripper=0.5952 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0025 right_pitch=-0.0808 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -9.0188, 5.4906, 1.3602, -0.3492, -0.022, -0.149, -0.0479, -1.347, 7.2137, 1.6728, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7483, 1.8271, 1.3735, -0.3519, -0.68, -0.6109, 0.5961, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4277 left_y=-0.2406 left_z=0.1645 left_yaw=0.1097 left_pitch=-0.0253 left_roll=-0.0046 left_gripper=0.5961 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0025 right_pitch=-0.0827 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -9.306, 7.0632, 1.0574, -0.3297, 0.0366, 0.0855, -0.0068, -1.5521, 6.9812, 1.6777, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01a8b036f9d78f5db9e9c944a57a5aede37e6bcd5be1c2b13d824cee322886f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfb71be182f76d1ec1c6506d282552c3deda2c54652cbeb8ed593a66f65b054e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6df5dbb90cae193f58a0f3c910a2710c3b37e85ca3bc06571648f38cb3d82649",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0189sgbg92ujktVdPmjm9Ab3",
      "input": {
        "note": "Left arm is clear above the stack. Parking it at home so the right arm can bring the pink bowl over.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.295,
          "left_y": 0.0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_0189sgbg92ujktVdPmjm9Ab3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1589, 0.8494, 0.6449, -0.4049, -0.2611, -0.226, 0.9986, -0.0216, 0.8291, 0.5945, -0.4225, -0.0166, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.2993 left_y=0.0019 left_z=0.1816 left_yaw=0.1605 left_pitch=-0.016 left_roll=-0.0182 left_gripper=0.9986 right_x=0.2894 right_y=0.0003 right_z=0.1575 right_yaw=0.0023 right_pitch=-0.0869 right_roll=0.0074 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -1.812, 6.7077, 1.8095, -0.1685, 0.1636, -0.0513, -0.0068, -1.7709, 7.2547, 1.6923, -0.0806, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c4acdad12121ad68b444c62414178c7627964d19638b49b021ed54a5e67a4d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e614166636e4c6ae5b944bd28f106d54d265504e07e5322405ceda64e84226d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:948922317c8161880a4337783529cd254634c8e52c380f02ddc27a0826b8b926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 7.554 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]: [-0.7483, 1.9564, 1.1362, -0.0467, -0.6815, -0.6033, 0.5952, -0.0216, 0.823, 0.5945, -0.4225, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4185 left_y=-0.2318 left_z=0.0605 left_yaw=0.1087 left_pitch=-0.0648 left_roll=0.0489 left_gripper=0.5952 right_x=0.2891 right_y=0.0003 right_z=0.1592 right_yaw=0.0025 right_pitch=-0.0808 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -9.0188, 5.4906, 1.3602, -0.3492, -0.022, -0.149, -0.0479, -1.347, 7.2137, 1.6728, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7483, 1.8271, 1.3735, -0.3519, -0.68, -0.6109, 0.5961, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4277 left_y=-0.2406 left_z=0.1645 left_yaw=0.1097 left_pitch=-0.0253 left_roll=-0.0046 left_gripper=0.5961 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0025 right_pitch=-0.0827 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -9.306, 7.0632, 1.0574, -0.3297, 0.0366, 0.0855, -0.0068, -1.5521, 6.9812, 1.6777, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1589, 0.8494, 0.6449, -0.4049, -0.2611, -0.226, 0.9986, -0.0216, 0.8291, 0.5945, -0.4225, -0.0166, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.2993 left_y=0.0019 left_z=0.1816 left_yaw=0.1605 left_pitch=-0.016 left_roll=-0.0182 left_gripper=0.9986 right_x=0.2894 right_y=0.0003 right_z=0.1575 right_yaw=0.0023 right_pitch=-0.0869 right_roll=0.0074 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -1.812, 6.7077, 1.8095, -0.1685, 0.1636, -0.0513, -0.0068, -1.7709, 7.2547, 1.6923, -0.0806, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c4acdad12121ad68b444c62414178c7627964d19638b49b021ed54a5e67a4d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e614166636e4c6ae5b944bd28f106d54d265504e07e5322405ceda64e84226d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:948922317c8161880a4337783529cd254634c8e52c380f02ddc27a0826b8b926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSgwwKEAgSGAI4AUIIdGhpbmtpbmcSDHueZSrNs4n26Re78BoMfo7Y8nKtyalYj3xoIjBeX/vH3NswmyIVoyK1pjh/1/Ep1aR260UAXNONps3LnMO8nC9FUmgCS0LA9GAmuZwqoAv6byftbBfpPsgMsoFLlM3Tc0jz0U5JAoGzG9zVh/h48ECQv8RaPwVMHhvAQ1bBcxW1xPTOn9bn2eUe+zBBYjcdMeIAxeiz/Tg4hAbE4WtgpiFej/lDUxoYlt9vap6TKpiOXbJa4eF8fujcveE0kk/vxoRHBz1RkqYPNoJNQVttM1qhIfvxc1/CY1LW5DT/01AWwly8eCrXeaxPl/wj11lwhAPtlHf6J5nH5PUMrijgPuvmHH+eB/DTjeIvXr8qvFmach5pGX+rjFwqL8uqX1QNdxD+mTGzxT53Qiy/YUzYThWs89x1sJBp8BxXBWeurQORNbFtTawkgTB1eDI8XpUVWjkfXNYJu7IwLaRt7c1g/dMapZiIHfi+aKAKonRntjYtoCV0hzkAiKE97CXGymoJPvb5TEntxVeWkGzglAd/gocd9EOVNwBbg7ULOp3hoNl5nMxRj/foLuAjaLUIxjvPb0LhYvs/wqgcJWtCfMTtJ42iar0pzmxiDivJKVcd5xsnD6ygfDvs3rxFLriNi4GAj16TjWMLWjKuwq+m53YWHd1E1S60c9ys//cqVX+ZNrfG04TdkwB5bI+ftv9xWahRZKoaHEX/ZFL5bOQcauAfa98WyvHktNJyW/q+TEYhyBq66ppN/9psocNybQvLr1vKBC4pyGzp0+ZRom92juR3j4COAhC2MOvWruSsRYhQzpzlMmlCf3txMqbE+ufRLBtD/KMprf7bKyUoBzPsYgdBQPNZcQkdA4hVkW4n6xHvquk0HNiObgBWnnXce3Jd6AxLODiZkagOx00EenCnbxRfd2szFqCB5rsq6Q94B69+cXQfG7YptEf10/ZbKvnlix7A/m6Rc38zRIkAN8QMMNnJUSLZdh/wO92uiqK4UqGcd6QuDWavYHisXfQN0I632yVknFn+caKWTBorYswthYK0PzJmpqQSdHMwlDUu80TvCztOFCOWMv+3vb11N7Jt+yVvlv10iWUpAvu64+w08o9xHFTtrJjGo5cFXfqM5LSJGCRdFqCVwrkFkqczlNRt55akYUxnbTXqp2Z5JDVjUr+6qc0k9U0FJMcw3/CVbRZGvGvr4q1etV0wpaSHwErG5eIwB1zQPAO2djZ+Ju902ry3gfi5ng3jA8g1j65uHzGqZGrJMyakUfrUQvRhEpIbKE9A6I7kzkyBeymgJzPLJfL5HfLIVwJy3twVnUDjhAcAy2/aFUA7dyx7GHt+JOL3GLBYiMb9aRuxQw5Xdx70svUvCDC1gPiR4Ik7ncC7gx4kIBChFhY0hwgOLG2Wc1p8x2+xbMh4n74V7McuYah1tnmua52WpFz489cMqY/lbFv8qkyAxWA8zcSN9bNSHdI8ntF4sCfi1jTwGMhGA4aFkKpJXNSHmrTR4k6Jeoj3L8pIgyLN/QA+UjmMA9VNmR5mq88IFhAnrWaICtIsIjvw/1fwU+TKLFqBWci5BxCUj+R/C4oRKTnhEKv/KWLiL7m0SVvmAf1RLgoEEropYwiQ+TqKgvgLhmTc7gzExbpxfRxJ756HlaEG31g+jHtONR1/LBaLVy/pPu0X7Y/4FKkMzBhczTPprJz54q/TLHMPVa2L1WEzowSaqd/Sqls5jSTuBJ8fEaR4F70LhQWow4hXOnEM1VQV47vnB8tksPq8SuMtbG5bFwHxPR6dt1Y4fHpOXPCa/an8cs/yMu9ETd4xricEaysKzE2nYSS3dAgGUj9SPxSYe78RSTFCGTOnChpVnG+4tGoTV7ImpG6CdpwIKy1W1OgeG4Vsesujghmp1pU58byCJz32XgRZBDVs0rf9Ir8SG8GG7FjiqAPNviSBcjnkHIvygF6gUSdMmDC2h160kpHn5QXVTrebCTxlSPydFLQsX5ku5tI/3ihOrJq4Q/PNdd4kTKT9IaUxdO8D6ayonMMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PGiAMaaH6VLnVRPKwVmUHM",
      "input": {
        "note": "White bowl is now nested in the blue bowl. Moving the right arm above the pink bowl (seen ahead-left in its wrist view) to localize it.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.42,
          "right_y": 0.1,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01PGiAMaaH6VLnVRPKwVmUHM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8547, 0.6411, -0.4236, -0.2592, -0.2283, 0.9988, 0.3347, 1.4616, 0.8246, -0.0574, 0.2481, 0.1421, 0.9965]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1747 left_yaw=0.16 left_pitch=-0.0428 left_roll=-0.0124 left_gripper=0.9988 right_x=0.3998 right_y=0.0969 right_z=0.1226 right_yaw=0.0418 right_pitch=-0.0996 right_roll=-0.0255 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.9214, 7.2957, 1.8632, -0.1587, -0.022, 0.0024, 0.3214, -6.735, 9.2239, 1.9756, 0.1832, 0.2027, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50aaf8cf14592089f2cc8c6d711396b48f3b29187fe126f971e0b3dd76b6f6f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e70c58ef0065e362a3885802451e89362c406dc3b9aeb7ad51b7acbe2e89a4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c47f887cb54ff71e29864414f98f1a4302ca36c73b42acd8643bd899f340f0c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 4.706 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7483, 1.8271, 1.3735, -0.3519, -0.68, -0.6109, 0.5961, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0311, 0.9965]\nstate[eef_state]: left_x=0.4277 left_y=-0.2406 left_z=0.1645 left_yaw=0.1097 left_pitch=-0.0253 left_roll=-0.0046 left_gripper=0.5961 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0025 right_pitch=-0.0827 right_roll=0.007 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -9.306, 7.0632, 1.0574, -0.3297, 0.0366, 0.0855, -0.0068, -1.5521, 6.9812, 1.6777, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1589, 0.8494, 0.6449, -0.4049, -0.2611, -0.226, 0.9986, -0.0216, 0.8291, 0.5945, -0.4225, -0.0166, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.2993 left_y=0.0019 left_z=0.1816 left_yaw=0.1605 left_pitch=-0.016 left_roll=-0.0182 left_gripper=0.9986 right_x=0.2894 right_y=0.0003 right_z=0.1575 right_yaw=0.0023 right_pitch=-0.0869 right_roll=0.0074 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -1.812, 6.7077, 1.8095, -0.1685, 0.1636, -0.0513, -0.0068, -1.7709, 7.2547, 1.6923, -0.0806, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8547, 0.6411, -0.4236, -0.2592, -0.2283, 0.9988, 0.3347, 1.4616, 0.8246, -0.0574, 0.2481, 0.1421, 0.9965]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1747 left_yaw=0.16 left_pitch=-0.0428 left_roll=-0.0124 left_gripper=0.9988 right_x=0.3998 right_y=0.0969 right_z=0.1226 right_yaw=0.0418 right_pitch=-0.0996 right_roll=-0.0255 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.9214, 7.2957, 1.8632, -0.1587, -0.022, 0.0024, 0.3214, -6.735, 9.2239, 1.9756, 0.1832, 0.2027, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50aaf8cf14592089f2cc8c6d711396b48f3b29187fe126f971e0b3dd76b6f6f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e70c58ef0065e362a3885802451e89362c406dc3b9aeb7ad51b7acbe2e89a4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c47f887cb54ff71e29864414f98f1a4302ca36c73b42acd8643bd899f340f0c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AYMUyADTi5QqKUTWGT7zsd",
      "input": {
        "note": "Pink bowl sits just under the right gripper, slightly to its right. Shifting over the bowl's right-side rim with jaws half-open, as worked for the white bowl.",
        "targets": {
          "right_gripper": 0.5,
          "right_pitch": 0.0,
          "right_x": 0.405,
          "right_y": 0.025,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01AYMUyADTi5QqKUTWGT7zsd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8566, 0.6411, -0.4309, -0.2592, -0.2283, 0.9988, 0.0917, 1.4586, 0.6289, 0.1776, 0.0875, -0.0002, 0.5043]\nstate[eef_state]: left_x=0.2957 left_y=0.002 left_z=0.1728 left_yaw=0.1602 left_pitch=-0.0514 left_roll=-0.0095 left_gripper=0.9988 right_x=0.3952 right_y=0.0245 right_z=0.0849 right_yaw=0.0112 right_pitch=-0.0797 right_roll=-0.0317 right_gripper=0.5043\nstate[joint_eff]: [-0.1026, -1.7436, 7.1863, 1.746, -0.149, -0.0171, -0.0122, -0.0889, -6.2427, 6.5026, 2.0098, -0.0366, 0.022, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f34bae6b0b37e8e01c1e88362dc9de02264d1cba71e3e35da629541f658713c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:821036c5bf806b4b0ed1cb76e2ce5bb8f2ef0f6b91971909c7fa3fc7bd754d18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ace96aa9465a7b2ea6504993ff3d33da086a8359555ee77f3733f332cb6af2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 5.311 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1589, 0.8494, 0.6449, -0.4049, -0.2611, -0.226, 0.9986, -0.0216, 0.8291, 0.5945, -0.4225, -0.0166, -0.0307, 0.9965]\nstate[eef_state]: left_x=0.2993 left_y=0.0019 left_z=0.1816 left_yaw=0.1605 left_pitch=-0.016 left_roll=-0.0182 left_gripper=0.9986 right_x=0.2894 right_y=0.0003 right_z=0.1575 right_yaw=0.0023 right_pitch=-0.0869 right_roll=0.0074 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -1.812, 6.7077, 1.8095, -0.1685, 0.1636, -0.0513, -0.0068, -1.7709, 7.2547, 1.6923, -0.0806, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8547, 0.6411, -0.4236, -0.2592, -0.2283, 0.9988, 0.3347, 1.4616, 0.8246, -0.0574, 0.2481, 0.1421, 0.9965]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1747 left_yaw=0.16 left_pitch=-0.0428 left_roll=-0.0124 left_gripper=0.9988 right_x=0.3998 right_y=0.0969 right_z=0.1226 right_yaw=0.0418 right_pitch=-0.0996 right_roll=-0.0255 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.9214, 7.2957, 1.8632, -0.1587, -0.022, 0.0024, 0.3214, -6.735, 9.2239, 1.9756, 0.1832, 0.2027, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8566, 0.6411, -0.4309, -0.2592, -0.2283, 0.9988, 0.0917, 1.4586, 0.6289, 0.1776, 0.0875, -0.0002, 0.5043]\nstate[eef_state]: left_x=0.2957 left_y=0.002 left_z=0.1728 left_yaw=0.1602 left_pitch=-0.0514 left_roll=-0.0095 left_gripper=0.9988 right_x=0.3952 right_y=0.0245 right_z=0.0849 right_yaw=0.0112 right_pitch=-0.0797 right_roll=-0.0317 right_gripper=0.5043\nstate[joint_eff]: [-0.1026, -1.7436, 7.1863, 1.746, -0.149, -0.0171, -0.0122, -0.0889, -6.2427, 6.5026, 2.0098, -0.0366, 0.022, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f34bae6b0b37e8e01c1e88362dc9de02264d1cba71e3e35da629541f658713c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:821036c5bf806b4b0ed1cb76e2ce5bb8f2ef0f6b91971909c7fa3fc7bd754d18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ace96aa9465a7b2ea6504993ff3d33da086a8359555ee77f3733f332cb6af2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS9gcKEAgSGAI4AUIIdGhpbmtpbmcSDKSHN3d4W1jvras96xoMGkRBLqj+Ts4MHI2NIjAi7TYW1jouwfYNe2yLmT17BhF+fnR734f+X/mFEsRzsRt7OalojeX/u4r1k7n+w/gqkwduFU2XOAr5Px8L+LGdjvViq/viCW60CRsKw2xzX7mnhOAaxecRuMt5zCavrjT3kJGDrNkYHOPY5B4rqKSOAE/Kd0NBOonuGacI8VWPZNjk0XXqipxWdzRWAy49GwxALpZWv52TKlZmyMNbvxR1gq8Ui2zHYaq1hnV/b/3gC8Sk+Y+1mSSgpDeRMELCZgE5eNzIXVCEmVHjBrB6vlWOUCsQ9RbPKapvm54P2vd9T17baGQ4dd2H9S7B3gFhGP8CopPnvTN7RySDWVv61bi4f75FjMRRLPbM4snVG8BKmGxKON0ZhEeRHpIt1c8ZwavqQsMAxhqKmwlaZCnDXeswPrnqiFU8BS75SmEAv6C/c83Xxqx34YE4w7DF+F7Sn1VAMPy8r4Ia0HXxdzSgmV7hZyBmtBv2Y/cufv4lO7pxgaHKScuzjmiEac1riZN/sZCV5jBPW6dmBOwC1u4mRYcn6BJaHlwrT51K3JG60emVQQyAqWiWVFna3xd2DDxvLTGfd3yqF1lqh59ijxDyQEG9SpbZqdkouOBr3LbISq/bxXrJ+yc5CXfzwP9MoKIZxemqMQ3z1bQN0HdjlgfYOzFWwUWQbzB4YAJUg0Pd+xfdMipnxTLPFDeLeQHTzTe5xTo0p5oDy2wpaRB4aMbP/pBjDcR3urln++J/Ekj3l8bEXHalmFUY5B/x5cpAAQp+ndQ10CrvmT2YBJ0bSr0/yIjoWwqJqfYDrB29B9dRaYPfSBn+APYuKjx7Av6mPYP55LSR3oPMKistTTbLDwI7ydtmu5kc1ySfFA4tGlvsunJ7Xxp/wxT0SUSAJC86YgvfeQrhgTGCYUAhpQC9Ct1ZnNvMuHJcyXELSqhTyQ1qgHYToNEHtamdxucyCl2G1vF3x3BvvBS7q7MY3lbrnhc4ttV7xIwtnNnlGrTJWRT6k26QLDrtmOB9/lshBzbBbExIMYJaoIukU8CNXliz38vHkk3AZMqN84mU5EG7jEe6me5C3gs+65g+0Nhv23e7MVynmWuO21WGYOpu3ku/GBNia484/pJTWla2ennzptxhtxQr0F2eilxExf3yMC12gqr7kySBoIC73KoEcW83uMqpH3LewbTFBUX0oNJCRTBID0tpJHh5ckdqsBR4tAR5pf+1GklGWCQmmuyobmNiXbD3GcKTy3xKsKnIO2J8bsgHn4897sDMIxZo+acuGw1Z172JSwTNOf+xST8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YLFKWbsjANGRVEGFALpaH9",
      "input": {
        "note": "Pink bowl's right rim is between the jaws, a bit right of centre. Nudging 1 cm right and descending so the fingers straddle the wall.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.405,
          "right_y": 0.013,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01YLFKWbsjANGRVEGFALpaH9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8612, 0.6411, -0.4332, -0.2592, -0.2287, 0.9988, 0.0505, 1.7168, 0.4889, 0.5224, 0.0444, -0.0254, 0.5041]\nstate[eef_state]: left_x=0.2956 left_y=0.002 left_z=0.1711 left_yaw=0.1605 left_pitch=-0.058 left_roll=-0.0076 left_gripper=0.9988 right_x=0.3848 right_y=0.0152 right_z=0.0029 right_yaw=0.0198 right_pitch=-0.1351 right_roll=-0.0273 right_gripper=0.5041\nstate[joint_eff]: [-0.1026, -1.9897, 7.1179, 1.6532, -0.1636, -0.0757, -0.0122, -0.1709, -7.8701, 5.6957, 2.0244, 0.3541, -0.1734, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b362e8566078479a069a297bf68b8908809a32e67318f20da984dd08ec93c1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c192bb8f6277883f6ea423bb903cbb6a28f730edae5f8aaff217ec614390f1eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d3d8e05835b29fb1e53a04d009aab806ae13c7dd4ee6824d3fddf02dbd14347",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 4.394 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8547, 0.6411, -0.4236, -0.2592, -0.2283, 0.9988, 0.3347, 1.4616, 0.8246, -0.0574, 0.2481, 0.1421, 0.9965]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1747 left_yaw=0.16 left_pitch=-0.0428 left_roll=-0.0124 left_gripper=0.9988 right_x=0.3998 right_y=0.0969 right_z=0.1226 right_yaw=0.0418 right_pitch=-0.0996 right_roll=-0.0255 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.9214, 7.2957, 1.8632, -0.1587, -0.022, 0.0024, 0.3214, -6.735, 9.2239, 1.9756, 0.1832, 0.2027, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8566, 0.6411, -0.4309, -0.2592, -0.2283, 0.9988, 0.0917, 1.4586, 0.6289, 0.1776, 0.0875, -0.0002, 0.5043]\nstate[eef_state]: left_x=0.2957 left_y=0.002 left_z=0.1728 left_yaw=0.1602 left_pitch=-0.0514 left_roll=-0.0095 left_gripper=0.9988 right_x=0.3952 right_y=0.0245 right_z=0.0849 right_yaw=0.0112 right_pitch=-0.0797 right_roll=-0.0317 right_gripper=0.5043\nstate[joint_eff]: [-0.1026, -1.7436, 7.1863, 1.746, -0.149, -0.0171, -0.0122, -0.0889, -6.2427, 6.5026, 2.0098, -0.0366, 0.022, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8612, 0.6411, -0.4332, -0.2592, -0.2287, 0.9988, 0.0505, 1.7168, 0.4889, 0.5224, 0.0444, -0.0254, 0.5041]\nstate[eef_state]: left_x=0.2956 left_y=0.002 left_z=0.1711 left_yaw=0.1605 left_pitch=-0.058 left_roll=-0.0076 left_gripper=0.9988 right_x=0.3848 right_y=0.0152 right_z=0.0029 right_yaw=0.0198 right_pitch=-0.1351 right_roll=-0.0273 right_gripper=0.5041\nstate[joint_eff]: [-0.1026, -1.9897, 7.1179, 1.6532, -0.1636, -0.0757, -0.0122, -0.1709, -7.8701, 5.6957, 2.0244, 0.3541, -0.1734, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b362e8566078479a069a297bf68b8908809a32e67318f20da984dd08ec93c1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c192bb8f6277883f6ea423bb903cbb6a28f730edae5f8aaff217ec614390f1eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d3d8e05835b29fb1e53a04d009aab806ae13c7dd4ee6824d3fddf02dbd14347",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS9gkKEAgSGAI4AUIIdGhpbmtpbmcSDABSHJ904vELd2jmRxoMOP0FBD6uP1lCNW67IjDtQs+/kwdr+zvdyuUOHDOw1wDAqyoW6vUG1ScLOi/We+zSM6V8YJMhyx7QV1voWkMqkwlp0frW74YXPBsA7kjvYTH9get9v2RsphTe4D43ThKbocHnXTePStc9ujIsla569irHDZEAKXHXovLtn/O1bbZ0vix4y+WVpGTQFrMuFhXpCCApqdKazWoaJbls7Fh5f91f/3gXo4RdAKfDqpcPSnSvrbR7o0oO9l0KAw/xbsSAebB2DgE8vc4CVVhsTReFQy0NvBIcf/nWMySBaeKGHMf34B5W3uUmg/pCd55QZWTuag7KegBj8NVgnV6UiMkkv14GjDUMKiMW8MUvDIYPevf7rr6SJMP+WQ2hdiz1dv5FnCNWls0lbeywTPLD9uw+CzQMN0aaifpOTvsfUIXP5uIdiI9n4PT78efuw1NJwsSd2xN2NANN/PMr4rlN9zJWZYwawcxlIZmZdqtcwH7K/RLE5eRfaC7PB7r4huLmha6iB8xXy055WC5aodREuCf16SZ0ERBbjL/iU/g+/WlzBWT+a+4SZBlhzLsE+LhPu3JZpwQmXpgqkpsVWrvFm/aw6bxpX88DKY6xEoFu5I8CtK2WvBOmCRwmLmmdl3Vutg0ODDsMLyf1UwufINJRon96aOIqM+eDienvCF4RBwOM3WRons6z8bKz64Z4yae7rOa6wYXrBYmxV9Zpp+G6So5w34VNbVtPecz+b8z4rcFGPGK+fIJMHDWxSHSY28/DrqC879ZxmODzypSuVKSpfAjex7nMIt3jU5ySmnOuOEpZN3qJynofrwkYUtdMWXbEi+DdMq/CoWyjXXBiIaGhUSK/zNEUsuccUOvLI95g5aHBr0fEqmLQ6DCJk6K4iBlc0D2JSi5BO972mnobWiM5obvIgUH6rg1+Njt2GbU3HULiXx7iMHsewy+jQd2ll2kkMgWsntB5rInkw6zW9sTbiq3AgdzxG0paDkW3THIiwWSLg/DscFBtZbrPLJTAY+wivgDo3EV34xn+ONK+gPOR2SKDBGvJoEgG1MSudW9RyIEc7Lz0LzQ8AEfqCdSqFAFLR6cBmJpvy2CyjuOFradEjhO62sYO/N/39x7FM6PQXb12jTBwCaAVkYRNCKFqHMWUHsUIDu+xPfUWk8zcfqmy6U02mHZcfuAY1EYwYJAATic80Wl2KH84GS46yqvHEawjtoCNDgCRMjgeBUcnbBPKG5PIpAMRSVvmfG8n4/nbZf9nfkdJCpubsfFsq1bWYkrvQog+oAqELCrxhSzMv/Qri5N6woeE4dRX+H13UFOdOek24lRrV+9l3KBk1KiWk2TPvG/xN5MzVY5biR31YJ8NqGXcjEr2yI7h5jUg4Q9twUPVysRNGu4zK/7iEJVZJin6hiZZnCwv9273Jys/kLy7hsO23n70HR6KOA+MsyBsdBdtgXY3DUQpy/wXSYhkRgVPtCCECQOeINf+GO5V5kuFOMJ+SHwpS8bb3tFmngGDnA+Y3M651CVOzD6OG2c/MFDCTQGZgX6Ng3Qng9vj0h6ASgfminw2b0P73v0HrgT5l7seRncr5fqvjwzafOFi6NE90GWhbneJV09R1dnVTOOOA9ZCifTM0MMyJ4qiqfrj3NhANNpjCJ/XGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AUP24iVk1qjb1m7jNgeX8r",
      "input": {
        "note": "Fingers are at table level with the pink bowl's wall between them near the right jaw. Closing to pinch the wall.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01AUP24iVk1qjb1m7jNgeX8r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8623, 0.6411, -0.4339, -0.2592, -0.2287, 0.9988, 0.0521, 1.7241, 0.4892, 0.7399, 0.0174, -0.0128, 0.0361]\nstate[eef_state]: left_x=0.2956 left_y=0.002 left_z=0.1707 left_yaw=0.1605 left_pitch=-0.0598 left_roll=-0.007 left_gripper=0.9988 right_x=0.4144 right_y=0.0221 right_z=0.0444 right_yaw=0.0376 right_pitch=0.0752 right_roll=0.0032 right_gripper=0.0361\nstate[joint_eff]: [-0.1709, -1.7436, 7.0906, 1.6679, -0.1685, -0.0366, -0.0122, -0.4855, -5.2855, 4.7248, 1.1258, 0.2711, -0.1978, 0.8132]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b1154177dbfb62ccd35edf4c14a0a7ae6978c076859e2095c0cac4a7322caab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2d62e2b1de012ebd90b7f0ed282bafc61fbd8ef8e647c7c0ace10c6bc7cce14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ca6a3e72d397eca116e846d0185e2b763d2146dbc540f8d2efb3126bf3267024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 8.644 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8566, 0.6411, -0.4309, -0.2592, -0.2283, 0.9988, 0.0917, 1.4586, 0.6289, 0.1776, 0.0875, -0.0002, 0.5043]\nstate[eef_state]: left_x=0.2957 left_y=0.002 left_z=0.1728 left_yaw=0.1602 left_pitch=-0.0514 left_roll=-0.0095 left_gripper=0.9988 right_x=0.3952 right_y=0.0245 right_z=0.0849 right_yaw=0.0112 right_pitch=-0.0797 right_roll=-0.0317 right_gripper=0.5043\nstate[joint_eff]: [-0.1026, -1.7436, 7.1863, 1.746, -0.149, -0.0171, -0.0122, -0.0889, -6.2427, 6.5026, 2.0098, -0.0366, 0.022, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8612, 0.6411, -0.4332, -0.2592, -0.2287, 0.9988, 0.0505, 1.7168, 0.4889, 0.5224, 0.0444, -0.0254, 0.5041]\nstate[eef_state]: left_x=0.2956 left_y=0.002 left_z=0.1711 left_yaw=0.1605 left_pitch=-0.058 left_roll=-0.0076 left_gripper=0.9988 right_x=0.3848 right_y=0.0152 right_z=0.0029 right_yaw=0.0198 right_pitch=-0.1351 right_roll=-0.0273 right_gripper=0.5041\nstate[joint_eff]: [-0.1026, -1.9897, 7.1179, 1.6532, -0.1636, -0.0757, -0.0122, -0.1709, -7.8701, 5.6957, 2.0244, 0.3541, -0.1734, -0.0415]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8623, 0.6411, -0.4339, -0.2592, -0.2287, 0.9988, 0.0521, 1.7241, 0.4892, 0.7399, 0.0174, -0.0128, 0.0361]\nstate[eef_state]: left_x=0.2956 left_y=0.002 left_z=0.1707 left_yaw=0.1605 left_pitch=-0.0598 left_roll=-0.007 left_gripper=0.9988 right_x=0.4144 right_y=0.0221 right_z=0.0444 right_yaw=0.0376 right_pitch=0.0752 right_roll=0.0032 right_gripper=0.0361\nstate[joint_eff]: [-0.1709, -1.7436, 7.0906, 1.6679, -0.1685, -0.0366, -0.0122, -0.4855, -5.2855, 4.7248, 1.1258, 0.2711, -0.1978, 0.8132]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b1154177dbfb62ccd35edf4c14a0a7ae6978c076859e2095c0cac4a7322caab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2d62e2b1de012ebd90b7f0ed282bafc61fbd8ef8e647c7c0ace10c6bc7cce14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca6a3e72d397eca116e846d0185e2b763d2146dbc540f8d2efb3126bf3267024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSowcKEAgSGAI4AUIIdGhpbmtpbmcSDEJeZBME43LjsmOH3xoM2q5JL38JtOlbnS1hIjCEH+jK+fRS3badT2IWc5gJhfr/Ia8I6gB0rhFj8VP3GpIJrw8aOUCg8iTwzh6247sqwAaBCjINi24sAKtfmliZvNgp46gH2Xj2SeBBCwD0IdSjdRM2wO6WKeXXhjzT2bLtbcXBJFP4gifj3HL9ak603QXR+YmrOiVsEWCwihGskcQS4DgeXOPnH1Y7so867RHfaca8fwrDC9qp9LUPbeQCPcIPJGLLh1VsYfStv8H1IFj9sUMx1JTUUd6wLJTt3oYy0WYTk+VaN8/QBhPgG0aAboWQeIKl/b7os7fJxOzxKlKnCKm1KzpdybuT/PtzcslJRuQ0AU+ADHIJ4Iy2ltU8IbQ0uOxIQEtx6nOyr9dRS9vFL3DoQY1Xki1sP6B8KUWRHX/cFq29GY9C5Gpi0rx/ovrN8NYVYPnCIffuXuRcOH0qgyuiaYXsoHkolwrvjS0eg9mvRAcoSiq9kK+l1gWQLcWEk/iPl85YUC2BmM5cbQlFsF/jf+2u69GJQEubnVz/FxMeGX4o9e/3u2KObYNI4twPgteRdmuzgG2bh2Klmnfl3ImSQeYZVrBsTUbBVMbV2LL34kloVaXd+mkXt55nb04zwAC/PtoO7fZb3IMleFI7HchVh1TaawSI1UEpJsIIrRKiz/tznvVXywmEXwdBlneaq041ouf2nkjSEPpmCoxHePaf/dYP8aQ1Nf3HVnztUzwCjyehJg8QmqDT9m6UuUrObTPNgQ1qNr7BYQ8NM4y9f8+z9hspMtdQex+gW5eLYi4EvvYwifnJneYKfd+HAE39DtfXC79jlSJdCvhzoUy9hHOMxRp7MIGgctjsAGyyCPFPk/aA4Z6UpiT9BOSF0fXThvJ5pVcK4YXqNQJLHuKqaDjA8XaQqvhBUKKovoA4aWI7BVflb7QQeVttID/Wp423pLxuMV5NQWAXXVI5fKlcnCKjif+uXERTYXDevPAP97tec69JfpM3+5bMZ2edUVrHk8lbIyTE4Moy3fO3Ds94fh/uusYo/ykD392oOD3oBk3Y+MgsFySvLNwVVbwx8i3CYBCkntjJAlyZdOlIkTrMQLOVLd+vOedm2bCm3cWGkM/hSzmPBA358XXxhe2RL3nn7UUTP8wgCLKQrnXzmqCHn+vhh0Wj7T50UZsRcCbAB9h4lsoc6m+DD7NprjqU6dqHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QgeSUX3whq6U792PcqZSms",
      "input": {
        "note": "Wrist view shows the pink rim pinched between the jaw tips (reading 0.036, same as the successful white-bowl grasp). Lifting to clear the table.",
        "targets": {
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01QgeSUX3whq6U792PcqZSms",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8654, 0.6411, -0.4343, -0.2592, -0.2287, 0.9988, 0.0509, 1.3323, 0.749, 0.2279, 0.0132, -0.0212, 0.0378]\nstate[eef_state]: left_x=0.2957 left_y=0.002 left_z=0.1698 left_yaw=0.1606 left_pitch=-0.063 left_roll=-0.006 left_gripper=0.9988 right_x=0.4261 right_y=0.023 right_z=0.198 right_yaw=0.0444 right_pitch=0.2148 right_roll=-0.0013 right_gripper=0.0378\nstate[joint_eff]: [-0.0479, -1.9077, 7.0222, 1.6239, -0.1587, -0.0562, -0.0122, -0.294, -4.7111, 7.8838, 1.5946, 0.0122, 0.0513, 0.8083]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b0bdc72736cadf1cc1e2145f0e9add1ce851b1ee7a2122ccb3a2baf27af3905",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45290cd0568b08e92d3d9b62e1df380c6cfdcf15ca20c219962d0a9455b2bd82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:964c49c6a50b46dfaac9a099226c2b9a8c0a42f8cf99d43c593c7cae3909f4e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 6.508 s

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

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8612, 0.6411, -0.4332, -0.2592, -0.2287, 0.9988, 0.0505, 1.7168, 0.4889, 0.5224, 0.0444, -0.0254, 0.5041]\nstate[eef_state]: left_x=0.2956 left_y=0.002 left_z=0.1711 left_yaw=0.1605 left_pitch=-0.058 left_roll=-0.0076 left_gripper=0.9988 right_x=0.3848 right_y=0.0152 right_z=0.0029 right_yaw=0.0198 right_pitch=-0.1351 right_roll=-0.0273 right_gripper=0.5041\nstate[joint_eff]: [-0.1026, -1.9897, 7.1179, 1.6532, -0.1636, -0.0757, -0.0122, -0.1709, -7.8701, 5.6957, 2.0244, 0.3541, -0.1734, -0.0415]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8623, 0.6411, -0.4339, -0.2592, -0.2287, 0.9988, 0.0521, 1.7241, 0.4892, 0.7399, 0.0174, -0.0128, 0.0361]\nstate[eef_state]: left_x=0.2956 left_y=0.002 left_z=0.1707 left_yaw=0.1605 left_pitch=-0.0598 left_roll=-0.007 left_gripper=0.9988 right_x=0.4144 right_y=0.0221 right_z=0.0444 right_yaw=0.0376 right_pitch=0.0752 right_roll=0.0032 right_gripper=0.0361\nstate[joint_eff]: [-0.1709, -1.7436, 7.0906, 1.6679, -0.1685, -0.0366, -0.0122, -0.4855, -5.2855, 4.7248, 1.1258, 0.2711, -0.1978, 0.8132]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8654, 0.6411, -0.4343, -0.2592, -0.2287, 0.9988, 0.0509, 1.3323, 0.749, 0.2279, 0.0132, -0.0212, 0.0378]\nstate[eef_state]: left_x=0.2957 left_y=0.002 left_z=0.1698 left_yaw=0.1606 left_pitch=-0.063 left_roll=-0.006 left_gripper=0.9988 right_x=0.4261 right_y=0.023 right_z=0.198 right_yaw=0.0444 right_pitch=0.2148 right_roll=-0.0013 right_gripper=0.0378\nstate[joint_eff]: [-0.0479, -1.9077, 7.0222, 1.6239, -0.1587, -0.0562, -0.0122, -0.294, -4.7111, 7.8838, 1.5946, 0.0122, 0.0513, 0.8083]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b0bdc72736cadf1cc1e2145f0e9add1ce851b1ee7a2122ccb3a2baf27af3905",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45290cd0568b08e92d3d9b62e1df380c6cfdcf15ca20c219962d0a9455b2bd82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:964c49c6a50b46dfaac9a099226c2b9a8c0a42f8cf99d43c593c7cae3909f4e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS0Q0KEAgSGAI4AUIIdGhpbmtpbmcSDKlMtfYR/kSjz3l5NhoMpgICZGXzq+Aq26iwIjBOf02/RgfemRyusBB3W6vK+2uvB9INNkDCOuNmEJWua2EYY62Jncy4CDGMylTw/lMq7gyGMbJzSliKs3CIddsJ/aoG4NKZ9cxRHayIEwAtz2PC2MspjLrZLXPC1CdteUxhZqG55UnLQQS6csbj6Zn9l3WUHf0/23wdLFdSI9pQLlgkMujxv+OjN4KocLK4rGN3Qbims/Qdm86ovn1AKpE/gm+hA9k2ovkMDqjCJs6go4y79K/HAb7RlHeHlNZ4MK+7hpwh5PrZcZ3w0rTJWjo9V0urjXtRI/QxfgHqg3RoILa5em2hFXB+ldwL1bGgGmiDDAq2hEohQkow6lf96g+x8Q3WrGu5Onx/QyejnAKUw+wEhqnYC1zVVsBPfngjM0CznkJQHLHFZSb1qUQTpgtleOSd6VZg7sL75f7/lTP7F/bcYZDCwaUc+l1hryBIN5hq5MLFem5m7RNAddYW9+UiLZ0hBWuKzkEl1QQVRys9SvJ3DGmLD4TwrlqudCg6vk0d41t0CVA90V7ZZJtn0xEl6kQrXs8muLJaTkY4KBRQNY21mfz4EEZzbsUkzAyMSDmI2zgeteTPmlVqoAwdobvKf36NPM7T9A9odSArgsmE0XxXl58bd/Bi9Q03fu5yc/pIc75+bb4EshAnXC+U5YLZzgYV64rPr0hbJA3FxeSKZi502AgbK5cYvp2W5ji7ylsSozF6CdHzpTZfUuu1oo3eHYpK2GMZkUSylOoyIIB8MPymahRWdnbvFvdnV4qJ6yNX7CPm2yYzz8gBbi/8OkFXDwE6KedQG1tGmwoB9iadjBfdyAi3Yqt+D+scLWqZFZ7sYMd4QCJ4575BRm1PlLMlyxp7MFzPQL4Fey/jZyWxJz7g/bGvss2rTPDvq09PfUFVgfS7yxGUNmli1GAw/Drg8Y3yfdfYa3lf6QUO+RsDEiFnUjrRv6pbqSH5rc9hjIpSvqhaJKSfMW8B/8JfEJd7+VbI579n2fsVCfzf0hFTvNTI6/glxuHOfQCLnyP9zbRpYPnrYutvf0aOj3uy9tI+483CT3svTDF5eUaB94beQgusGjFs03mRKPgJP3PLZXsAc3Et8tLmNiwNCE8w6UgtfTLmE2wkko/Rb+4zZCwFOj02QZLFxzyV3t5yBkcMzuZN4LHhQc8yofkBy4itDzCR0CjLmxQfCl+thy4i8uulU0rkCsIRWnfkPPoYWVcrKqFf1HZaFumhCFWRh+0tSOoC9AdrSaVzeOM8wzRE5FBb+iLH2q6FjtEIbr4IadbAYGpWzrGFq3nOK7vH/qbIJKGFwQFpWfFdjt50fTteEEKmLGid0v8rmXrz70a0cHTpFbjQwOgCYrdM6k+YMljT1Hfmsy9edKnmF6210z1KCetfSjdsq3iHZe9jB1hD0wPN0i+1Blq3+k/o0aQC9+3gbLYIpCALJ7y3A9oEkYO0yL1f7FqBzByiqsJMfChxcRqsb57eb3IF8QG2sQ7qKxTVyyXm4HG26cTXEA5zZaYbdKG6r/XvGzb6UkObSb6TScRoWmSlZU+TqA4Ho6aaf2CIthKInFN6GxDZ61HxyMPHvtMHguigylROXmRTnfFGKbo8qEwCbA08WzhBLfwQczVuEJeD9WVOabMx8a0U6bZ7mw6J6OyzciBxee4NPalObmKFV2jtDynLYyddPFujuX+RJKQci7WN1MGkPcMj8ydh/7jSoC/oXESR0RURQlfJE/4ay+UIuWrFxNGSMkCAJ6xAF0jLbt495OSQfo7lZueqsctU+Ol04ymjoPjqQPMR6PysyLHuy/K6WgvZCbWY5DHOGQJiDX3qRIHfIc/J7UO6li9QMwnCl6ycGZJ3+TrAlIbjp+WTEd2AhHksOjypzI85d3gUah6vFh2OWVhKoYLnqrPvKQbFbf/1WBE8extayDVJsVy3t5OchvDBER7nOiLE8cMP8npA1fUQ0qx4BD0BSGc8MqgCzFo9UjQylYrNrEYcGlaj8UKG3MkkqvWpiJkzwK1puE0o7HryPQIZleQ4+LNZTNDAp1Z1v8rJ2lZsnybW/EdQ0g4SHzU3PvWgqQ90fSSxhcz3YpOgeF5Pwl1LU2bQWUK3LxD8yJa80A0s13D3n6zhtTuwQTum+QVLEcgivCgW3Hh7MrdlHnhYQUYc6Mobwf7PVxpHW5z5s5qIFWH2fs31HdUFG+twjRy0yjaE664G+5eJ2U1BaQj84JngklnKd0jUcaNtGLm6/8v1t6ztC3gDhBliRJywl8iCEITOgGCmjBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NNPh6Qg7ZYmULRun1b1A7V",
      "input": {
        "note": "Pink bowl is lifted and hangs left of the right jaws. Carrying it toward the white/blue stack; will check alignment in the top view before lowering.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.25,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01NNPh6Qg7ZYmULRun1b1A7V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.868, 0.6411, -0.4343, -0.2588, -0.2287, 0.9988, 0.7261, 1.7046, 1.0954, 0.1062, 0.5972, 0.2237, 0.0407]\nstate[eef_state]: left_x=0.2958 left_y=0.0019 left_z=0.169 left_yaw=0.1603 left_pitch=-0.0656 left_roll=-0.0053 left_gripper=0.9988 right_x=0.4225 right_y=0.2471 right_z=0.1786 right_yaw=0.101 right_pitch=0.1591 right_roll=-0.0475 right_gripper=0.0407\nstate[joint_eff]: [-0.0752, -1.8803, 6.9949, 1.6435, -0.1294, -0.0513, -0.0122, 0.1573, -8.4581, 9.8803, 1.8242, 0.4078, 0.2711, 0.7399]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6944746751fb734885e083123809d47cc39d44e1ad319d5188addceaf0f568b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8aecf45c0bcf4b130f3c49b0422dc318ad06097401910581a690a973967fb67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:242f64da5ccf6d701d92ef70945541d7f791a6edc326dee2a6f94e75eadf80e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /messages · status 200 · 3.719 s

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

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8623, 0.6411, -0.4339, -0.2592, -0.2287, 0.9988, 0.0521, 1.7241, 0.4892, 0.7399, 0.0174, -0.0128, 0.0361]\nstate[eef_state]: left_x=0.2956 left_y=0.002 left_z=0.1707 left_yaw=0.1605 left_pitch=-0.0598 left_roll=-0.007 left_gripper=0.9988 right_x=0.4144 right_y=0.0221 right_z=0.0444 right_yaw=0.0376 right_pitch=0.0752 right_roll=0.0032 right_gripper=0.0361\nstate[joint_eff]: [-0.1709, -1.7436, 7.0906, 1.6679, -0.1685, -0.0366, -0.0122, -0.4855, -5.2855, 4.7248, 1.1258, 0.2711, -0.1978, 0.8132]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8654, 0.6411, -0.4343, -0.2592, -0.2287, 0.9988, 0.0509, 1.3323, 0.749, 0.2279, 0.0132, -0.0212, 0.0378]\nstate[eef_state]: left_x=0.2957 left_y=0.002 left_z=0.1698 left_yaw=0.1606 left_pitch=-0.063 left_roll=-0.006 left_gripper=0.9988 right_x=0.4261 right_y=0.023 right_z=0.198 right_yaw=0.0444 right_pitch=0.2148 right_roll=-0.0013 right_gripper=0.0378\nstate[joint_eff]: [-0.0479, -1.9077, 7.0222, 1.6239, -0.1587, -0.0562, -0.0122, -0.294, -4.7111, 7.8838, 1.5946, 0.0122, 0.0513, 0.8083]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.868, 0.6411, -0.4343, -0.2588, -0.2287, 0.9988, 0.7261, 1.7046, 1.0954, 0.1062, 0.5972, 0.2237, 0.0407]\nstate[eef_state]: left_x=0.2958 left_y=0.0019 left_z=0.169 left_yaw=0.1603 left_pitch=-0.0656 left_roll=-0.0053 left_gripper=0.9988 right_x=0.4225 right_y=0.2471 right_z=0.1786 right_yaw=0.101 right_pitch=0.1591 right_roll=-0.0475 right_gripper=0.0407\nstate[joint_eff]: [-0.0752, -1.8803, 6.9949, 1.6435, -0.1294, -0.0513, -0.0122, 0.1573, -8.4581, 9.8803, 1.8242, 0.4078, 0.2711, 0.7399]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6944746751fb734885e083123809d47cc39d44e1ad319d5188addceaf0f568b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8aecf45c0bcf4b130f3c49b0422dc318ad06097401910581a690a973967fb67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:242f64da5ccf6d701d92ef70945541d7f791a6edc326dee2a6f94e75eadf80e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSigoKEAgSGAI4AUIIdGhpbmtpbmcSDIf9inCycDsFDxSIURoMXQ2O9sj9ZKEH9TPcIjDPhfZxunugifKWwIOtYclu693Nu7A9FnEa/QiePReodr2uBcZj8kxFc0wLeQwodlsqpwm3EWbS9LfDTfKe2ixrMJtElkroZLvI96Hls1fyipFLhKYweZLHiILJcyOaivy/6kssr9BJKha6vZhnQaFhHqZjBGfXdzDnC8l5fvv33YK28io2l769UGsAx8UsdHlA4Tph2bn4iyI9sJSKjx7a4aJ1nuR/nH6spFRze1/fNpmP8te3pva2grYQy6i1REXZOHysr41BsODVp0Q+jJDmiOVHLgHuof4ya50CHB0Btxdnw4HRchAaBCixtw5UQcbcg4s19TOTyYSfu8RT0v1mKhhXzgc19lfoxiyoRi5gT8tyDnGic//9erHbrYo2DFP21Ad9YLzn9zjgaEaXldo92PshP2g0bnA/0D/ZUyCpxX8R6GqJqjkbKgLBkJ8B04oegGbyqUuTSSHJmK+8tQBmZoNbogTBRrbPUGCoehjt0J+U7sklP2bztsBhzHNL6EZhXT0yZFMmGd4cV3AyIf9y4BPHGScV30dAlzHhegGG4QlbGrh9u/pKNqII3WYa54f5L9bQLo+lYJM5zPRQsLkeKPMG0T6uaF65jRce8LlSVwxA6WFyExDtxjRtOISCdBS91h8QbcDPEYxpdFtLnAOZ80HZ93JB4509w/bPJHf76hYOYTtzmn10U4PK4qsvCGIPSh+lhJ5TFIvNJkITGfpP8HHCwJfdTLJ/1iv8To556nNrvLqEZbqFGLpemoj2J0cR0fvRH8nGy4TilJVNxicZNANmvQhWe0vkp8FNNYCskcJ106RNsxvpKEmi+T1wWHOT5RIvUGDs4MfygeaYgvrFM5bGVkgXoh4mSI2mTXZj7b9zwpmINesr9ij+uu1AU13+3Gs4lyw78dNr2cWu3nflXPTmdalmwVUknKqyAn3QpU58wz5Rhaj0Z42z31fDbEoz6INsKe4sY2pYXRI6d3rsKSbq/Fj2SgTsyyo59EaZhnywnjJWFriZ+W8LHt7FsGR47pZKHSW5ZK6VpjC/BpYfmPTRW6B6AQDvP5wCn8OGGhOXb6CfoZ6dfTpDK4kWAg7aB1587CP0/u92yVfytFjUqGBnd5mViUhgvkMm1scUmyKefvf0RwqapOryJmZGNImtXBRbed2J8twRUXOXK0/GUbmOt/rYwIKmS6ev44uC2Hm9dSz4AASVHXQKSDqV7tsWM1jRT8jUa6iVOd3f+csm97Xqe5UR8h9VcU0sdVtyiwZSYwciNXz06l5BIjr94p5jeeLMRe2PJ2pllg1mLv16rFmVkJMUduNZkwDeePLkJCsFPEkBo3313tB3oMoV8Ojbrfx/TEV6NW7ZaUaAw3yp/q20N+mbmIxjQtHXGQ5mi3wnyTtNRkFwNuUD5T7S/KAdTMwxZfWemVQss5AzrjLX/XaRePYK5qp0AOj4v0pgkIUm7iPEWuTizQBPxJRLOcWJsX6NPReDQWBBN11Y7aNScNsdyGMd+jF4A/pTaVbkXW3d9wc3pW2rFeaCw7NCPCmc9CocybH6JiURPHH56yG+wAAWrVnptsA/4FK3u1l3pkAD3y9kepwjZujzgtLcMbIhdcd20XH3uo+Rdu84PPPeZHelIPH04vsLNUSZpSzAdfv9p+Ie5z53zugYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WHc3bz4ocJiXJpkppK3kdT",
      "input": {
        "note": "Pink bowl is hanging centred above the white/blue stack in the top view. Lowering it to nest.",
        "targets": {
          "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_01WHc3bz4ocJiXJpkppK3kdT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8707, 0.6407, -0.4416, -0.2588, -0.2291, 0.9988, 0.728, 1.8946, 0.9161, 0.4316, 0.5949, 0.2253, 0.0415]\nstate[eef_state]: left_x=0.2949 left_y=0.0021 left_z=0.1668 left_yaw=0.1608 left_pitch=-0.0754 left_roll=-0.0024 left_gripper=0.9988 right_x=0.4185 right_y=0.2452 right_z=0.0802 right_yaw=0.1075 right_pitch=0.1229 right_roll=-0.071 right_gripper=0.0415\nstate[joint_eff]: [-0.212, -1.8803, 6.9812, 1.7265, -0.1343, -0.0366, -0.0122, -0.4991, -7.8974, 5.1761, 1.4921, 0.1587, -0.0806, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b1ccdf7162b3a722e6a8a7c8049c46c3b56a5bb9f2d987dd8bd39a0ed32d319",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53d3b396756770231b11febaa46e436d436f10c15f4e4d969dc32d0f80fae8ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:58b3a2c67aa195775df958919628f9acf005ba4332f6904c1a538df036148ffe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /messages · status 200 · 3.811 s

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

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8654, 0.6411, -0.4343, -0.2592, -0.2287, 0.9988, 0.0509, 1.3323, 0.749, 0.2279, 0.0132, -0.0212, 0.0378]\nstate[eef_state]: left_x=0.2957 left_y=0.002 left_z=0.1698 left_yaw=0.1606 left_pitch=-0.063 left_roll=-0.006 left_gripper=0.9988 right_x=0.4261 right_y=0.023 right_z=0.198 right_yaw=0.0444 right_pitch=0.2148 right_roll=-0.0013 right_gripper=0.0378\nstate[joint_eff]: [-0.0479, -1.9077, 7.0222, 1.6239, -0.1587, -0.0562, -0.0122, -0.294, -4.7111, 7.8838, 1.5946, 0.0122, 0.0513, 0.8083]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.868, 0.6411, -0.4343, -0.2588, -0.2287, 0.9988, 0.7261, 1.7046, 1.0954, 0.1062, 0.5972, 0.2237, 0.0407]\nstate[eef_state]: left_x=0.2958 left_y=0.0019 left_z=0.169 left_yaw=0.1603 left_pitch=-0.0656 left_roll=-0.0053 left_gripper=0.9988 right_x=0.4225 right_y=0.2471 right_z=0.1786 right_yaw=0.101 right_pitch=0.1591 right_roll=-0.0475 right_gripper=0.0407\nstate[joint_eff]: [-0.0752, -1.8803, 6.9949, 1.6435, -0.1294, -0.0513, -0.0122, 0.1573, -8.4581, 9.8803, 1.8242, 0.4078, 0.2711, 0.7399]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8707, 0.6407, -0.4416, -0.2588, -0.2291, 0.9988, 0.728, 1.8946, 0.9161, 0.4316, 0.5949, 0.2253, 0.0415]\nstate[eef_state]: left_x=0.2949 left_y=0.0021 left_z=0.1668 left_yaw=0.1608 left_pitch=-0.0754 left_roll=-0.0024 left_gripper=0.9988 right_x=0.4185 right_y=0.2452 right_z=0.0802 right_yaw=0.1075 right_pitch=0.1229 right_roll=-0.071 right_gripper=0.0415\nstate[joint_eff]: [-0.212, -1.8803, 6.9812, 1.7265, -0.1343, -0.0366, -0.0122, -0.4991, -7.8974, 5.1761, 1.4921, 0.1587, -0.0806, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b1ccdf7162b3a722e6a8a7c8049c46c3b56a5bb9f2d987dd8bd39a0ed32d319",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53d3b396756770231b11febaa46e436d436f10c15f4e4d969dc32d0f80fae8ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58b3a2c67aa195775df958919628f9acf005ba4332f6904c1a538df036148ffe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSggcKEAgSGAI4AUIIdGhpbmtpbmcSDAbC3RMN7AuThqQsohoMK+Ci0kfjRYXq0NMhIjAVjsHLjSZIZFknBntjy/7MGu7D9PfodLccJW6cu7HToyTsOd7urJAZZa272paytnYqnwbTyCn131335hJalkpHxMF831jePINhCaj2Xqys8KWgckv3OY1rfdQjDfjzsnIU53a+6hLdO8ZegZWqRGfrrCQTnsmAQjyrX/yBggoGDSZq3ijzcufmyKe6UMyvdFyaB0rJeMJ7ntzrWoYxsWcamgRmuiCPyyOL3aivp6Wh/JHHcxuhf0rzXv4LuxOtXLXYZLf9HpzlMiLZ99vrfqC/PZsyeyMfJbF5jkGr4bPfnCAh8sU6hibIyfPRSY+r8cbR726FXCC4h5xOIAKWO6bMdE2UIxXZpCOcSKkoIQ8Hwy3VUooObtaWkmwOYdSd+Sa8Vn0KcJ7TtzQ03/zpYHNcmPrBSClCNT3zgqiq37J4nhBnK/aFk1JoBLxzYbwUqqN05snB3qu92ScVP29eHRXAYNdulIqlT8PgdsvWFxNKxLjGoMlirHXvfglHC4Lbv0EzncA4bTikqfTlUkQPQvoUYUvCKIea2/kbiluZOZ3oWMrIUiEPhx8jgiIUKq4EXRz7bBhOLiz+QvsF3QLQcEdQ3vP8+Wvmx8HTU0jJs6nr4T+B4MN+e7QG+k1P0XCTZrgH+jb1oGq5/kxftIqaOm0u6ScTTpC/UxZj4W7715lpM0pLX+Yf2IzTDG3ZeYMBr0k7MgZtuRFFZJnrvyl29xtH1N05tPZq6UnLFQkl9ZkgiWYPRsjwPAZMZiVt99N1scY6mPt9ErFehdpVPrZKmkUwklYMlRscQxsPCVl/tIyhaiN1Pu1UlnuJT77f3iD/Y1IjqeTZpcj6aY8BQY9LzAjZg0mJJsK22prfztBhUoQvHF/JpBkJIUfwpkYtUdkby3RTdHrVoenZsBhXtT+r5pnEGoVodeJMtpO+Cc2sU8/SXMNgqR6kWeJXIQ6sUnww008fRARx2cPS4dgNLOKop+MpSIvqvEf+Y3uPpMmcNCT3DtPk/KhkWC/WG69LlKOdvKjCM2JsiUY/fXHIM7M7RCNiL5uQm7xNJTJ9yImh3WNEThWya3C1b4U7Z3GUieTQM+yjFUDZGCbVwbh3Q44iEnnGvZXJaIEAt5QQnhnyBkl5LGOWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UVemioGZHaD92RmC8Mtjf5",
      "input": {
        "note": "Pink bowl now covers the stack in the top view with no contact yet at z 0.08; lowering further until it seats.",
        "targets": {
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01UVemioGZHaD92RmC8Mtjf5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8726, 0.6407, -0.4416, -0.2592, -0.2291, 0.9988, 0.7284, 1.9381, 0.9012, 0.5385, 0.5945, 0.2226, 0.0421]\nstate[eef_state]: left_x=0.295 left_y=0.0021 left_z=0.1663 left_yaw=0.1611 left_pitch=-0.0772 left_roll=-0.0016 left_gripper=0.9988 right_x=0.4227 right_y=0.2493 right_z=0.0748 right_yaw=0.1056 right_pitch=0.162 right_roll=-0.0448 right_gripper=0.0421\nstate[joint_eff]: [-0.1573, -1.8256, 6.9402, 1.6044, -0.1587, -0.0366, -0.0122, -0.1026, -7.4188, 4.0547, 1.0476, 0.0464, -0.0317, 0.735]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:330ab928c164d00409ce1d34d6dd0ee5129dc4083626a9dff4a6ee2bd15fc127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d26ddfff32213d20f41b653190f35c6d6fc4c0d92a92059e6e23a81ec3f97d8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd6db583e1376e4068b746360b1aa03c4afe353b19a8a53fcc024fb9477e346e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /messages · status 200 · 3.34 s

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

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.868, 0.6411, -0.4343, -0.2588, -0.2287, 0.9988, 0.7261, 1.7046, 1.0954, 0.1062, 0.5972, 0.2237, 0.0407]\nstate[eef_state]: left_x=0.2958 left_y=0.0019 left_z=0.169 left_yaw=0.1603 left_pitch=-0.0656 left_roll=-0.0053 left_gripper=0.9988 right_x=0.4225 right_y=0.2471 right_z=0.1786 right_yaw=0.101 right_pitch=0.1591 right_roll=-0.0475 right_gripper=0.0407\nstate[joint_eff]: [-0.0752, -1.8803, 6.9949, 1.6435, -0.1294, -0.0513, -0.0122, 0.1573, -8.4581, 9.8803, 1.8242, 0.4078, 0.2711, 0.7399]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8707, 0.6407, -0.4416, -0.2588, -0.2291, 0.9988, 0.728, 1.8946, 0.9161, 0.4316, 0.5949, 0.2253, 0.0415]\nstate[eef_state]: left_x=0.2949 left_y=0.0021 left_z=0.1668 left_yaw=0.1608 left_pitch=-0.0754 left_roll=-0.0024 left_gripper=0.9988 right_x=0.4185 right_y=0.2452 right_z=0.0802 right_yaw=0.1075 right_pitch=0.1229 right_roll=-0.071 right_gripper=0.0415\nstate[joint_eff]: [-0.212, -1.8803, 6.9812, 1.7265, -0.1343, -0.0366, -0.0122, -0.4991, -7.8974, 5.1761, 1.4921, 0.1587, -0.0806, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8726, 0.6407, -0.4416, -0.2592, -0.2291, 0.9988, 0.7284, 1.9381, 0.9012, 0.5385, 0.5945, 0.2226, 0.0421]\nstate[eef_state]: left_x=0.295 left_y=0.0021 left_z=0.1663 left_yaw=0.1611 left_pitch=-0.0772 left_roll=-0.0016 left_gripper=0.9988 right_x=0.4227 right_y=0.2493 right_z=0.0748 right_yaw=0.1056 right_pitch=0.162 right_roll=-0.0448 right_gripper=0.0421\nstate[joint_eff]: [-0.1573, -1.8256, 6.9402, 1.6044, -0.1587, -0.0366, -0.0122, -0.1026, -7.4188, 4.0547, 1.0476, 0.0464, -0.0317, 0.735]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:330ab928c164d00409ce1d34d6dd0ee5129dc4083626a9dff4a6ee2bd15fc127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d26ddfff32213d20f41b653190f35c6d6fc4c0d92a92059e6e23a81ec3f97d8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd6db583e1376e4068b746360b1aa03c4afe353b19a8a53fcc024fb9477e346e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Descent stopped at 0.075 — seated. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018WibPtxMx1MhpCMFTcgbzE",
      "input": {
        "note": "Descent stopped at z 0.075, so the pink bowl is resting in the stack. Opening to release.",
        "targets": {
          "right_gripper": 0.6
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_018WibPtxMx1MhpCMFTcgbzE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8734, 0.6411, -0.4416, -0.2588, -0.2291, 0.9988, 0.7284, 1.9736, 0.8875, 0.5503, 0.59, 0.2199, 0.5956]\nstate[eef_state]: left_x=0.2951 left_y=0.002 left_z=0.1662 left_yaw=0.1608 left_pitch=-0.0776 left_roll=-0.0017 left_gripper=0.9988 right_x=0.4193 right_y=0.2471 right_z=0.0555 right_yaw=0.114 right_pitch=0.1302 right_roll=-0.0674 right_gripper=0.5956\nstate[joint_eff]: [0.0068, -1.6479, 6.9538, 1.6337, -0.1343, -0.0757, -0.0122, -0.1983, -8.4444, 5.012, 1.7656, 0.1783, 0.0171, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7717f3aeab71991edcde7f57dd5390875afc36232e7293f89ec5e62cab468c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdc09cc3a7efe791fa6842bf459fa419853b2d9525ea3943aaf5ba324d57fe5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46203e1fc4f7dce4ce5b6da3f8abee9166ebe8929e20e5395c8d0115f4eea1e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /messages · status 200 · 5.129 s

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

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8707, 0.6407, -0.4416, -0.2588, -0.2291, 0.9988, 0.728, 1.8946, 0.9161, 0.4316, 0.5949, 0.2253, 0.0415]\nstate[eef_state]: left_x=0.2949 left_y=0.0021 left_z=0.1668 left_yaw=0.1608 left_pitch=-0.0754 left_roll=-0.0024 left_gripper=0.9988 right_x=0.4185 right_y=0.2452 right_z=0.0802 right_yaw=0.1075 right_pitch=0.1229 right_roll=-0.071 right_gripper=0.0415\nstate[joint_eff]: [-0.212, -1.8803, 6.9812, 1.7265, -0.1343, -0.0366, -0.0122, -0.4991, -7.8974, 5.1761, 1.4921, 0.1587, -0.0806, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8726, 0.6407, -0.4416, -0.2592, -0.2291, 0.9988, 0.7284, 1.9381, 0.9012, 0.5385, 0.5945, 0.2226, 0.0421]\nstate[eef_state]: left_x=0.295 left_y=0.0021 left_z=0.1663 left_yaw=0.1611 left_pitch=-0.0772 left_roll=-0.0016 left_gripper=0.9988 right_x=0.4227 right_y=0.2493 right_z=0.0748 right_yaw=0.1056 right_pitch=0.162 right_roll=-0.0448 right_gripper=0.0421\nstate[joint_eff]: [-0.1573, -1.8256, 6.9402, 1.6044, -0.1587, -0.0366, -0.0122, -0.1026, -7.4188, 4.0547, 1.0476, 0.0464, -0.0317, 0.735]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8734, 0.6411, -0.4416, -0.2588, -0.2291, 0.9988, 0.7284, 1.9736, 0.8875, 0.5503, 0.59, 0.2199, 0.5956]\nstate[eef_state]: left_x=0.2951 left_y=0.002 left_z=0.1662 left_yaw=0.1608 left_pitch=-0.0776 left_roll=-0.0017 left_gripper=0.9988 right_x=0.4193 right_y=0.2471 right_z=0.0555 right_yaw=0.114 right_pitch=0.1302 right_roll=-0.0674 right_gripper=0.5956\nstate[joint_eff]: [0.0068, -1.6479, 6.9538, 1.6337, -0.1343, -0.0757, -0.0122, -0.1983, -8.4444, 5.012, 1.7656, 0.1783, 0.0171, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7717f3aeab71991edcde7f57dd5390875afc36232e7293f89ec5e62cab468c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdc09cc3a7efe791fa6842bf459fa419853b2d9525ea3943aaf5ba324d57fe5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46203e1fc4f7dce4ce5b6da3f8abee9166ebe8929e20e5395c8d0115f4eea1e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BpbPJaZh3YSenn33Sxbkii",
      "input": {
        "note": "Pink bowl released on top of the stack. Lifting the right arm straight up clear of the rim.",
        "targets": {
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01BpbPJaZh3YSenn33Sxbkii",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1593, 0.8753, 0.6411, -0.4416, -0.2592, -0.2287, 0.9988, 0.7303, 1.7157, 1.0695, 0.2058, 0.5831, 0.2131, 0.5957]\nstate[eef_state]: left_x=0.2951 left_y=0.0021 left_z=0.1657 left_yaw=0.161 left_pitch=-0.0793 left_roll=-0.0005 left_gripper=0.9988 right_x=0.4251 right_y=0.255 right_z=0.1811 right_yaw=0.1159 right_pitch=0.2061 right_roll=-0.0153 right_gripper=0.5957\nstate[joint_eff]: [-0.1709, -1.812, 6.9675, 1.663, -0.1685, -0.0464, -0.0122, -0.4171, -6.612, 6.7214, 1.1453, 0.149, 0.022, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcce8540bd6e296fedd5ef9c31a40f11af04168ed14881ac2308fca092f989d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:795e8827fce0c91aa210642b99f852695db93fffb1c7f70397cc7e0ade94bbf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1de6897b97becb6e417204f0580801fe1004b042bfd51791130a7e36c7a39946",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]