adhoc

completed
2026-09-22T20:25:16.893041+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
209.2 s
total steps
175
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles lie on their sides; the rightmost one runs roughly forward-back with its cap at the far end. Moving the right arm above its neck to try grabbing the cap end and lifting it so the bottle swings upright.
move_to
right_x0.4500right_y0.2000right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0193, 0.7933, 0.6083, -0.3767, -0.0254, -0.0437, 0.9986, -0.0212, 0.7879, 0.6056, -0.3885, -0.0269, -0.0349, 0.9998] state[eef_state]: left_x=0.2957 left_y=0.0024 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0021 right_z=0.1806 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4855, -1.4974, 9.7573, 1.7705, 0.0269, 0.3053, -0.1587, -0.5812, -0.9094, 10.1949, 1.9121, -0.0024, 0.188, -0.0317] 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": {"right_x": 0.45, "right_y": 0.2, "right_z": 0.15, "right_gripper": 1}, "note": "Three bottles lie on their sides; the rightmost one runs roughly forward-back with its cap at the far end. Moving the right arm above its neck to try grabbing the cap end and lifting it so the bottle swings upright."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteWrist cam shows the bottle cap slightly right of the jaw column and ahead of the fingertips. Advancing ~4 cm and shifting right slightly to hover over the neck.
move_to
right_x0.4800right_y0.1850right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3824, -0.0257, -0.0376, 0.9984, 0.569, 1.7287, 1.1198, -0.1066, 0.4274, 0.2771, 0.9998] state[eef_state]: left_x=0.2959 left_y=0.0025 left_z=0.1829 left_yaw=-0.0025 left_pitch=-0.005 left_roll=0.0055 left_gripper=0.9984 right_x=0.4344 right_y=0.1952 right_z=0.1305 right_yaw=0.0428 right_pitch=-0.0692 right_roll=-0.0418 right_gripper=0.9998 state[joint_eff]: [-0.212, -1.6479, 6.6803, 1.79, -0.0171, -0.1148, -0.0317, -0.1026, -8.6496, 8.8684, 1.8046, 0.5104, 0.1538, -0.0317] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.185, "right_z": 0.1}, "note": "Wrist cam shows the bottle cap slightly right of the jaw column and ahead of the fingertips. Advancing ~4 cm and shifting right slightly to hover over the neck."})
tool
executing move_to over 4 steps (0.4s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteCap still ahead of the fingertips and a bit right of centre; advancing 2-3 cm more, nudging right, and lowering toward neck height.
move_to
right_x0.5000right_y0.1700right_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3828, -0.0257, -0.0372, 0.9983, 0.4892, 1.8637, 1.0847, 0.0708, 0.3714, 0.2298, 0.9998] state[eef_state]: left_x=0.2959 left_y=0.0025 left_z=0.1828 left_yaw=-0.0027 left_pitch=-0.0054 left_roll=0.0058 left_gripper=0.9983 right_x=0.4619 right_y=0.1774 right_z=0.0828 right_yaw=0.0338 right_pitch=-0.0807 right_roll=-0.0438 right_gripper=0.9998 state[joint_eff]: [-0.0068, -1.4427, 6.7487, 1.79, 0.0122, -0.105, -0.0171, -0.1983, -9.6342, 8.4444, 2.1465, 0.1245, 0.0415, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.17, "right_z": 0.06}, "note": "Cap still ahead of the fingertips and a bit right of centre; advancing 2-3 cm more, nudging right, and lowering toward neck height."})
tool
executing move_to over 3 steps (0.3s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteArm stalled near x≈0.467 (reach limit at this height). The fingertips should be over the bottle's upper shoulder, so descending here to grip near the top end.
move_to
right_x0.4700right_y0.1750right_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.025, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1066, 0.3542, 0.2115, 0.9998] state[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1827 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4666 right_y=0.18 right_z=0.0768 right_yaw=0.0527 right_pitch=-0.0757 right_roll=-0.0437 right_gripper=0.9998 state[joint_eff]: [0.0342, -1.4838, 6.6256, 1.7851, 0.0171, -0.0904, -0.0122, -0.5812, -10.1538, 8.3897, 2.1416, 0.105, 0.0855, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.175, "right_z": 0.02}, "note": "Arm stalled near x\u22480.467 (reach limit at this height). The fingertips should be over the bottle's upper shoulder, so descending here to grip near the top end."})
tool
executing move_to over 4 steps (0.4s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe right arm froze and ignored the descent, likely an IK hold near reach. Backing up and raising to get it tracking again.
move_to
right_x0.4200right_y0.1750right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.025, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1066, 0.3542, 0.2115, 0.9998] state[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1827 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4666 right_y=0.18 right_z=0.0768 right_yaw=0.0527 right_pitch=-0.0757 right_roll=-0.0437 right_gripper=0.9998 state[joint_eff]: [-0.0479, -1.4701, 6.7624, 1.8095, 0.0269, -0.1001, -0.0122, -0.335, -10.359, 8.4308, 2.1074, 0.0952, 0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.175, "right_z": 0.12}, "note": "The right arm froze and ignored the descent, likely an IK hold near reach. Backing up and raising to get it tracking again."})
tool
executing move_to over 4 steps (0.4s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteArm still frozen with the approver clamping steps; trying a very small move close to the current pose to see if it tracks.
move_to
right_x0.4600right_y0.1800right_z0.0850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.025, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1062, 0.3542, 0.2115, 0.9998] state[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1827 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4665 right_y=0.18 right_z=0.0767 right_yaw=0.0526 right_pitch=-0.0761 right_roll=-0.0438 right_gripper=0.9998 state[joint_eff]: [0.0615, -1.4701, 6.5846, 1.7998, 0.022, -0.0806, -0.0122, -0.5812, -10.3453, 8.3761, 2.1026, 0.0855, 0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.18, "right_z": 0.085}, "note": "Arm still frozen with the approver clamping steps; trying a very small move close to the current pose to see if it tracks."})
tool
executing move_to over 1 steps (0.1s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteRight arm has not moved for three commands; trying a pure small lift from the exact current x/y to find a direction the controller will accept.
move_to
right_x0.4665right_y0.1800right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.0254, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1062, 0.3542, 0.2119, 0.9998] state[eef_state]: left_x=0.2959 left_y=0.0027 left_z=0.1827 left_yaw=-0.0023 left_pitch=-0.0058 left_roll=0.0056 left_gripper=0.9983 right_x=0.4665 right_y=0.18 right_z=0.0767 right_yaw=0.0524 right_pitch=-0.0761 right_roll=-0.0435 right_gripper=0.9998 state[joint_eff]: [-0.0615, -1.5795, 6.7624, 1.8242, -0.0024, -0.0562, -0.0122, -0.5128, -10.3316, 8.253, 2.0781, 0.0708, 0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4665, "right_y": 0.18, "right_z": 0.1}, "note": "Right arm has not moved for three commands; trying a pure small lift from the exact current x/y to find a direction the controller will accept."})
tool
executing move_to over 2 steps (0.2s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe 'stall' was the fingertips resting on top of the bottle, which is right of the jaw centre. Lifting clear and shifting 1.5 cm right to centre over it.
move_to
right_x0.4500right_y0.1650right_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.7994, 0.614, -0.3832, -0.025, -0.0372, 0.9983, 0.5014, 1.8317, 0.9806, 0.1555, 0.3515, 0.2119, 0.9998] state[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1824 left_yaw=-0.0026 left_pitch=-0.0069 left_roll=0.0054 left_gripper=0.9983 right_x=0.4448 right_y=0.1786 right_z=0.0713 right_yaw=0.0722 right_pitch=-0.0751 right_roll=-0.0411 right_gripper=0.9998 state[joint_eff]: [0.1983, -1.6615, 6.5846, 1.7949, 0.0269, -0.0806, -0.0122, -1.3744, -8.7453, 9.894, 1.9805, 0.1245, 0.0415, -0.0073] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.165, "right_z": 0.13}, "note": "The 'stall' was the fingertips resting on top of the bottle, which is right of the jaw centre. Lifting clear and shifting 1.5 cm right to centre over it."})
tool
executing move_to over 4 steps (0.4s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteHeight commands near full reach are tracking badly (arm sinking instead of rising). Pulling the right arm back toward the base and up to get into a comfortable pose.
move_to
right_x0.3800right_y0.1700right_z0.1800right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.8001, 0.6136, -0.3824, -0.0254, -0.0372, 0.9983, 0.485, 1.8114, 0.9184, 0.2108, 0.3355, 0.2077, 0.9998] state[eef_state]: left_x=0.296 left_y=0.0027 left_z=0.1822 left_yaw=-0.0023 left_pitch=-0.0073 left_roll=0.0056 left_gripper=0.9983 right_x=0.4388 right_y=0.1696 right_z=0.066 right_yaw=0.0715 right_pitch=-0.0671 right_roll=-0.0297 right_gripper=0.9998 state[joint_eff]: [0.0889, -1.7573, 6.6667, 1.8339, 0.0024, -0.0855, -0.0122, 0.1573, -10.3863, 6.2974, 1.9414, 0.1148, -0.0464, -0.0122] 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": {"right_x": 0.38, "right_y": 0.17, "right_z": 0.18, "right_yaw": 0}, "note": "Height commands near full reach are tracking badly (arm sinking instead of rising). Pulling the right arm back toward the base and up to get into a comfortable pose."})
tool
executing move_to over 8 steps (0.8s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteLarger moves are being clamped by the safety layer; trying a small 2 cm retreat at the same height.
move_to
right_x0.4200right_y0.1700right_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.8005, 0.6136, -0.3828, -0.0254, -0.0372, 0.9983, 0.485, 1.8114, 0.9184, 0.2264, 0.3355, 0.2047, 0.9998] state[eef_state]: left_x=0.296 left_y=0.0027 left_z=0.182 left_yaw=-0.0023 left_pitch=-0.0081 left_roll=0.0056 left_gripper=0.9983 right_x=0.4408 right_y=0.1707 right_z=0.0689 right_yaw=0.0735 right_pitch=-0.0528 right_roll=-0.0259 right_gripper=0.9998 state[joint_eff]: [0.212, -1.4701, 6.5299, 1.8242, 0.0317, -0.105, -0.0122, 0.1709, -10.4137, 6.3111, 1.9658, 0.0952, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.17, "right_z": 0.07}, "note": "Larger moves are being clamped by the safety layer; trying a small 2 cm retreat at the same height."})
tool
executing move_to over 2 steps (0.2s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteSmall moves are accepted. The bottle lies along the arm's forward axis with its cap ahead; aiming to grip the body on the cap side of its middle, centred slightly to the right, so it can swing base-down when lifted.
move_to
right_x0.4550right_y0.1600right_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.8009, 0.6136, -0.3805, -0.025, -0.0372, 0.9983, 0.5014, 1.726, 0.8894, 0.1539, 0.3397, 0.2096, 0.9998] state[eef_state]: left_x=0.2963 left_y=0.0026 left_z=0.1824 left_yaw=-0.0026 left_pitch=-0.0062 left_roll=0.0054 left_gripper=0.9983 right_x=0.424 right_y=0.1694 right_z=0.082 right_yaw=0.0834 right_pitch=-0.0663 right_roll=-0.0308 right_gripper=0.9998 state[joint_eff]: [0.0068, -1.2376, 6.612, 1.8486, 0.0366, -0.0952, -0.0122, 0.3487, -10.7966, 7.2957, 2.2051, 0.2369, 0.1148, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.455, "right_y": 0.16, "right_z": 0.06}, "note": "Small moves are accepted. The bottle lies along the arm's forward axis with its cap ahead; aiming to grip the body on the cap side of its middle, centred slightly to the right, so it can swing base-down when lifted."})
tool
executing move_to over 3 steps (0.3s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteBottle is centred between the open jaws; lowering to about its mid-height before closing.
move_to
right_x0.4500right_y0.1580right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.8005, 0.6136, -0.3828, -0.0254, -0.0372, 0.9983, 0.448, 1.8446, 0.8787, 0.2905, 0.3, 0.1818, 0.9998] state[eef_state]: left_x=0.296 left_y=0.0027 left_z=0.182 left_yaw=-0.0023 left_pitch=-0.0081 left_roll=0.0056 left_gripper=0.9983 right_x=0.4416 right_y=0.1583 right_z=0.0496 right_yaw=0.0777 right_pitch=-0.0694 right_roll=-0.0273 right_gripper=0.9998 state[joint_eff]: [0.0752, -1.5248, 6.7487, 1.8193, 0.0122, -0.0904, -0.0122, -0.1436, -10.8923, 6.0376, 2.4493, -0.0171, 0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.158, "right_z": 0.03}, "note": "Bottle is centred between the open jaws; lowering to about its mid-height before closing."})
tool
executing move_to over 2 steps (0.2s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteJaws straddle the bottle body just behind the shoulder; closing to grip it.
move_to
right_gripper0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.8001, 0.6136, -0.3809, -0.025, -0.0372, 0.9983, 0.4374, 1.879, 0.8371, 0.4011, 0.2867, 0.1699, 0.9998] state[eef_state]: left_x=0.2962 left_y=0.0026 left_z=0.1825 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4433 right_y=0.1561 right_z=0.0393 right_yaw=0.0851 right_pitch=-0.0399 right_roll=-0.017 right_gripper=0.9998 state[joint_eff]: [0.0479, -1.4974, 6.5573, 1.8046, -0.0024, -0.1001, -0.0122, 0.5128, -7.0222, 5.2991, 1.9853, 0.149, 0.0366, -0.0122] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.4}, "note": "Jaws straddle the bottle body just behind the shoulder; closing to grip it."})
tool
executing move_to over 6 steps (0.6s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteBottle is gripped (reading 0.43) near its cap end. Lifting so the bottle pivots with its base dragging on the table.
move_to
right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.8005, 0.6132, -0.3824, -0.025, -0.0372, 0.9983, 0.4393, 1.8862, 0.8181, 0.4744, 0.2832, 0.1711, 0.4307] state[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.1819 left_yaw=-0.0026 left_pitch=-0.0081 left_roll=0.0054 left_gripper=0.9983 right_x=0.446 right_y=0.159 right_z=0.0433 right_yaw=0.0895 right_pitch=0.0035 right_roll=0.002 right_gripper=0.4307 state[joint_eff]: [0.0068, -1.5111, 6.8991, 1.8046, 0.0073, -0.0952, -0.0122, -0.0889, -8.0752, 5.3812, 1.7509, 0.2613, 0.1929, 0.9255] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15}, "note": "Bottle is gripped (reading 0.43) near its cap end. Lifting so the bottle pivots with its base dragging on the table."})
tool
executing move_to over 7 steps (0.7s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteOverhead view shows the bottle now hanging roughly vertical below the gripper. Lowering slightly so its base rests on the table before releasing.
move_to
right_z0.1350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3824, -0.025, -0.0372, 0.9983, 0.4412, 1.6547, 0.9962, 0.1238, 0.2749, 0.1589, 0.4313] state[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.182 left_yaw=-0.0026 left_pitch=-0.0077 left_roll=0.0054 left_gripper=0.9983 right_x=0.4524 right_y=0.1646 right_z=0.1505 right_yaw=0.1044 right_pitch=0.0579 right_roll=0.0156 right_gripper=0.4313 state[joint_eff]: [-0.0889, -1.7026, 6.3795, 1.8437, 0.0366, -0.0904, -0.0122, -0.4855, -7.4598, 7.5282, 1.4579, 0.1538, 0.0855, 0.0611] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.135}, "note": "Overhead view shows the bottle now hanging roughly vertical below the gripper. Lowering slightly so its base rests on the table before releasing."})
tool
executing move_to over 1 steps (0.1s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe bottle appears to be standing on its base (descent stopped at z≈0.144). Opening the jaws to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3824, -0.0246, -0.0372, 0.9983, 0.4408, 1.636, 1.0206, -0.0036, 0.2752, 0.1596, 0.4313] state[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.182 left_yaw=-0.003 left_pitch=-0.0077 left_roll=0.0052 left_gripper=0.9983 right_x=0.4418 right_y=0.1593 right_z=0.1439 right_yaw=0.1038 right_pitch=-0.0217 right_roll=-0.0118 right_gripper=0.4313 state[joint_eff]: [0.0752, -1.6068, 6.3932, 1.8095, 0.0122, -0.1001, -0.0122, -0.3214, -7.665, 7.4188, 1.8193, 0.1343, 0.0708, 0.0611] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The bottle appears to be standing on its base (descent stopped at z\u22480.144). Opening the jaws to release it."})
tool
executing move_to over 6 steps (0.6s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteReleased; the bottle appears to be standing in front of the jaws. Lifting and pulling the arm back to clear it and check in the overhead view.
move_to
right_z0.2200right_x0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3824, -0.025, -0.0372, 0.9983, 0.4408, 1.6577, 0.9958, 0.0376, 0.2745, 0.1532, 0.9957] state[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.182 left_yaw=-0.0026 left_pitch=-0.0077 left_roll=0.0054 left_gripper=0.9983 right_x=0.4422 right_y=0.1596 right_z=0.1316 right_yaw=0.1079 right_pitch=-0.0268 right_roll=-0.0185 right_gripper=0.9957 state[joint_eff]: [0.0205, -1.7299, 6.3932, 1.8193, 0.0366, -0.0757, -0.0122, -0.4444, -10.2769, 6.6256, 1.6532, -0.022, 0.0952, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_x": 0.4}, "note": "Released; the bottle appears to be standing in front of the jaws. Lifting and pulling the arm back to clear it and check in the overhead view."})
tool
executing move_to over 6 steps (0.6s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe bottle fell back onto its side after release: I only lifted to about 70° tilt. Going back over it to re-grip near the cap end, and this time I'll lift higher so it hangs vertical before setting it down.
move_to
right_x0.4450right_y0.1600right_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.8005, 0.6132, -0.3824, -0.0227, -0.0372, 0.9983, 0.4953, 1.4563, 1.0618, -0.2352, 0.2913, 0.1734, 0.9955] state[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1819 left_yaw=-0.0046 left_pitch=-0.0081 left_roll=0.0042 left_gripper=0.9983 right_x=0.403 right_y=0.1642 right_z=0.1948 right_yaw=0.1376 right_pitch=-0.0285 right_roll=-0.0129 right_gripper=0.9955 state[joint_eff]: [-0.0889, -1.1966, 6.3932, 1.8095, -0.0024, -0.0806, -0.0122, 0.1573, -8.3761, 10.4, 1.7167, 0.3101, 0.1734, -0.0317] 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": {"right_x": 0.445, "right_y": 0.16, "right_z": 0.07}, "note": "The bottle fell back onto its side after release: I only lifted to about 70\u00b0 tilt. Going back over it to re-grip near the cap end, and this time I'll lift higher so it hangs vertical before setting it down."})
tool
executing move_to over 9 steps (0.9s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteBottle lies centred between the jaws, cap forward. Descending to mid-height to grip it again.
move_to
right_x0.4450right_y0.1600right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3828, -0.0231, -0.0372, 0.9983, 0.4297, 1.7737, 0.849, 0.2642, 0.231, 0.1329, 0.9955] state[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1819 left_yaw=-0.0042 left_pitch=-0.0081 left_roll=0.0044 left_gripper=0.9983 right_x=0.4334 right_y=0.1581 right_z=0.0628 right_yaw=0.1432 right_pitch=-0.0693 right_roll=-0.0212 right_gripper=0.9955 state[joint_eff]: [0.1162, -1.7026, 6.5436, 1.7949, 0.0269, -0.1001, -0.0122, -0.841, -7.9795, 5.559, 2.1074, 0.0562, 0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.445, "right_y": 0.16, "right_z": 0.03}, "note": "Bottle lies centred between the jaws, cap forward. Descending to mid-height to grip it again."})
tool
executing move_to over 3 steps (0.3s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteJaws around the bottle; closing to grip.
move_to
right_gripper0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3828, -0.0231, -0.0372, 0.9983, 0.4297, 1.8938, 0.7994, 0.4671, 0.231, 0.1249, 0.9955] state[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1819 left_yaw=-0.0042 left_pitch=-0.0081 left_roll=0.0044 left_gripper=0.9983 right_x=0.4386 right_y=0.1605 right_z=0.0302 right_yaw=0.1481 right_pitch=-0.0375 right_roll=-0.0184 right_gripper=0.9955 state[joint_eff]: [-0.1299, -1.7573, 6.5983, 1.7851, -0.0317, -0.0708, -0.0122, -0.8274, -8.5949, 4.8889, 1.7802, -0.0464, 0.0073, -0.0122] 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": {"right_gripper": 0.4}, "note": "Jaws around the bottle; closing to grip."})
tool
executing move_to over 6 steps (0.6s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteBottle gripped (0.42). Lifting well above its length so it can hang vertically under the jaws this time.
move_to
right_z0.2600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.7994, 0.6132, -0.3824, -0.0227, -0.0372, 0.9983, 0.4259, 1.9022, 0.7803, 0.5865, 0.2218, 0.1272, 0.4211] state[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1822 left_yaw=-0.0046 left_pitch=-0.007 left_roll=0.0042 left_gripper=0.9983 right_x=0.4471 right_y=0.1641 right_z=0.0434 right_yaw=0.1505 right_pitch=0.0495 right_roll=0.0136 right_gripper=0.4211 state[joint_eff]: [-0.1026, -1.6889, 6.3795, 1.8046, 0.0073, -0.0757, -0.0122, 0.0342, -8.5675, 4.0821, 1.3407, 0.1538, 0.1587, 0.9744] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.26}, "note": "Bottle gripped (0.42). Lifting well above its length so it can hang vertically under the jaws this time."})
tool
executing move_to over 14 steps (1.4s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe bottle slipped out during the lift (it's still lying below, and gripper effort dropped): a 0.4 close command was too weak. Opening and going back down to re-grip with a full close.
move_to
right_gripper1.0000right_x0.4450right_y0.1620right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.7994, 0.6132, -0.3824, -0.0231, -0.0368, 0.9983, 0.4259, 1.6077, 1.3415, -0.3843, 0.205, 0.1089, 0.4211] state[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1822 left_yaw=-0.0044 left_pitch=-0.007 left_roll=0.0047 left_gripper=0.9983 right_x=0.4463 right_y=0.1669 right_z=0.2222 right_yaw=0.1742 right_pitch=-0.064 right_roll=-0.0226 right_gripper=0.4211 state[joint_eff]: [0.1162, -1.6889, 6.4752, 1.8486, 0.0122, -0.0415, -0.0122, -0.294, -10.5504, 10.4821, 1.8291, 0.149, 0.1587, -0.022] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.445, "right_y": 0.162, "right_z": 0.1}, "note": "The bottle slipped out during the lift (it's still lying below, and gripper effort dropped): a 0.4 close command was too weak. Opening and going back down to re-grip with a full close."})
tool
executing move_to over 8 steps (0.8s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteBottle centred in the wrist view, cap forward. Descending a bit further forward (closer to the cap) to grip.
move_to
right_x0.4600right_y0.1600right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3828, -0.0227, -0.0372, 0.9983, 0.421, 1.6947, 0.9112, 0.1425, 0.1963, 0.0998, 0.9961] state[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1825 left_yaw=-0.0046 left_pitch=-0.0062 left_roll=0.0041 left_gripper=0.9983 right_x=0.4358 right_y=0.1613 right_z=0.0982 right_yaw=0.1816 right_pitch=-0.0561 right_roll=-0.0226 right_gripper=0.9961 state[joint_eff]: [0.1709, -1.6068, 6.4889, 1.7998, 0.0024, -0.0855, -0.0122, -0.9368, -7.2274, 6.2017, 2.1514, -0.0317, 0.0269, -0.188] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.16, "right_z": 0.03}, "note": "Bottle centred in the wrist view, cap forward. Descending a bit further forward (closer to the cap) to grip."})
tool
executing move_to over 5 steps (0.5s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteJaws straddle the bottle just behind the label/shoulder; closing fully for a firm squeeze.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3828, -0.0227, -0.0372, 0.9983, 0.3912, 1.9251, 0.8406, 0.445, 0.1757, 0.0914, 0.9961] state[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1825 left_yaw=-0.0046 left_pitch=-0.0062 left_roll=0.0041 left_gripper=0.9983 right_x=0.4496 right_y=0.1559 right_z=0.0256 right_yaw=0.1737 right_pitch=-0.0574 right_roll=-0.017 right_gripper=0.9961 state[joint_eff]: [-0.1573, -1.4701, 6.5299, 1.8144, 0.022, -0.0611, -0.0122, -0.7043, -7.3368, 5.641, 1.7216, -0.0708, -0.0659, -0.0073] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Jaws straddle the bottle just behind the label/shoulder; closing fully for a firm squeeze."})
tool
executing move_to over 10 steps (1.0s)
step 135
assistant
agent noteFirm grip on the bottle (reading 0.36, squeezed). Lifting high so the bottle pivots and hangs vertically with its base down.
move_to
right_z0.2600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.7986, 0.6132, -0.3832, -0.0231, -0.0372, 0.9983, 0.3931, 1.9347, 0.8116, 0.6365, 0.1558, 0.0914, 0.3598] state[eef_state]: left_x=0.2958 left_y=0.0023 left_z=0.1823 left_yaw=-0.0042 left_pitch=-0.007 left_roll=0.0044 left_gripper=0.9983 right_x=0.4622 right_y=0.1659 right_z=0.0497 right_yaw=0.1917 right_pitch=0.09 right_roll=0.0251 right_gripper=0.3598 state[joint_eff]: [-0.1162, -1.6479, 6.5299, 1.79, 0.0122, -0.0855, -0.0122, -0.5812, -8.6632, 3.7128, 1.116, 0.1685, -0.0317, 0.5495] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.26}, "note": "Firm grip on the bottle (reading 0.36, squeezed). Lifting high so the bottle pivots and hangs vertically with its base down."})
tool
executing move_to over 14 steps (1.4s)
step 149
assistant
agent noteBottle slipped again; the grip was above the bottle's centreline so the squeeze popped it out (arm rose 2.5 cm on close). Reopening and repositioning to grip lower, at or below its centre.
move_to
right_gripper1.0000right_x0.4550right_y0.1600right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3832, -0.0227, -0.0372, 0.9983, 0.3931, 1.6554, 1.3918, -0.3801, 0.1524, 0.0692, 0.3583] state[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1824 left_yaw=-0.0046 left_pitch=-0.0066 left_roll=0.0042 left_gripper=0.9983 right_x=0.4618 right_y=0.1664 right_z=0.2224 right_yaw=0.207 right_pitch=-0.0643 right_roll=-0.0221 right_gripper=0.3583 state[joint_eff]: [0.2667, -1.4838, 6.5026, 1.8339, 0.0122, -0.0806, -0.0122, -0.0752, -10.8239, 10.4, 1.9902, 0.0952, 0.1001, -0.1734] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.455, "right_y": 0.16, "right_z": 0.1}, "note": "Bottle slipped again; the grip was above the bottle's centreline so the squeeze popped it out (arm rose 2.5 cm on close). Reopening and repositioning to grip lower, at or below its centre."})
tool
executing move_to over 8 steps (0.8s)
step 157
assistant
agent noteBottle is centred between the open jaws. Descending all the way to the table so the fingers close below the bottle's centreline.
move_to
right_x0.4550right_y0.1600right_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3832, -0.0227, -0.0372, 0.9983, 0.3904, 1.7157, 0.9443, 0.1448, 0.1444, 0.0685, 0.9959] state[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1824 left_yaw=-0.0046 left_pitch=-0.0066 left_roll=0.0042 left_gripper=0.9983 right_x=0.4467 right_y=0.1603 right_z=0.102 right_yaw=0.2116 right_pitch=-0.0483 right_roll=-0.0149 right_gripper=0.9959 state[joint_eff]: [-0.1026, -1.6342, 6.7077, 1.7949, 0.0073, -0.0464, -0.0122, -0.9915, -6.8855, 6.0923, 1.9414, -0.0562, 0.0415, 0.105] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.455, "right_y": 0.16, "right_z": 0.0}, "note": "Bottle is centred between the open jaws. Descending all the way to the table so the fingers close below the bottle's centreline."})
tool
executing move_to over 7 steps (0.7s)
step 164
assistant
agent noteDescent stopped at z≈0.028 with the bottle between the jaws; closing fully.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3836, -0.0227, -0.0372, 0.9983, 0.3859, 1.9846, 0.8185, 0.635, 0.1223, 0.0696, 0.9955] state[eef_state]: left_x=0.2957 left_y=0.0022 left_z=0.1823 left_yaw=-0.0046 left_pitch=-0.007 left_roll=0.0042 left_gripper=0.9983 right_x=0.4603 right_y=0.1676 right_z=0.028 right_yaw=0.225 right_pitch=0.0436 right_roll=0.0141 right_gripper=0.9955 state[joint_eff]: [-0.1573, -1.6342, 6.5026, 1.7949, -0.0024, -0.0904, -0.0122, -0.5128, -5.0803, 4.1504, 0.8181, 0.0806, -0.0952, -0.0464] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Descent stopped at z\u22480.028 with the bottle between the jaws; closing fully."})
tool
executing move_to over 10 steps (1.0s)
step 174
assistant
agent noteI couldn't stand any of the three bottles up. On the rightmost bottle, the plan was to grip it near the cap end and lift so it swings upright with its base dragging on the table, then set it down. The first grip held, but I only lifted to about 70° of tilt, and the bottle fell back onto its side when I let go. On the next three tries it didn't stay in the jaws: once it slipped out as I lifted, twice squeezing seemed to push it out as the jaws closed. On the last try the gripper closed on nothing (reading 0.015). I have 9 calls left, and each attempt takes about 5, so I can't finish all three bottles. All three are still lying on their sides.
give_up
hindsight- The approver clamps moves of more than about 5 cm near full reach to almost nothing, and the arm looks frozen. Early on I mistook this, and the fingertips resting on top of the bottle (about 6.5 cm high), for a reach limit. Use small steps of 2–4 cm near x≈0.45. - Right arm, rightmost bottle: it lay front-to-back at right_y≈0.16–0.18, x≈0.30–0.50, cap forward. Its centre in the right wrist camera at column ~110 matched right_y≈0.16. - Yaw drifts up to about +0.2 rad over repeated moves unless you keep commanding right_yaw 0. - A partial close (0.4) doesn't grip hard enough: the bottle slipped during the lift. Gripping above the bottle's centreline squeezes it out: the arm rose 2–3 cm and pitched up on every close. Lying bottles need the fingers below the centreline. Descents toward z=0 stopped at z≈0.028, probably on the bulge of the bottle. Try pressing to z≈-0.01, or make the jaw axis cross the bottle exactly at a right angle. - Tipping a bottle up by pivoting needs the grip higher than the bottle's length above the grip point, about 0.2 m or more, before lowering. Otherwise it's only tilted and falls back when released. - With pitch and roll pinned, the only way to stand a bottle up is this pivot-lift. Budget about 6 calls per bottle. Keep the grip width open to about 1 while descending, then close fully (0), low on the body near the cap end.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3832, -0.0231, -0.0372, 0.9983, 0.3878, 1.9553, 0.8581, 0.6327, 0.1181, 0.0532, 0.0151] state[eef_state]: left_x=0.2958 left_y=0.0023 left_z=0.1824 left_yaw=-0.0042 left_pitch=-0.0066 left_roll=0.0044 left_gripper=0.9983 right_x=0.4729 right_y=0.1746 right_z=0.0563 right_yaw=0.2385 right_pitch=0.1095 right_roll=0.0119 right_gripper=0.0151 state[joint_eff]: [-0.0479, -1.4701, 6.6393, 1.79, -0.0024, -0.0904, -0.0122, -0.0479, -8.4308, 5.053, 0.9744, 0.1343, 0.1148, 1.0769] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I couldn't stand any of the three bottles up. On the rightmost bottle, the plan was to grip it near the cap end and lift so it swings upright with its base dragging on the table, then set it down. The first grip held, but I only lifted to about 70\u00b0 of tilt, and the bottle fell back onto its side when I let go. On the next three tries it didn't stay in the jaws: once it slipped out as I lifted, twice squeezing seemed to push it out as the jaws closed. On the last try the gripper closed on nothing (reading 0.015). I have 9 calls left, and each attempt takes about 5, so I can't finish all three bottles. All three are still lying on their sides.", "hindsight": "- The approver clamps moves of more than about 5 cm near full reach to almost nothing, and the arm looks frozen. Early on I mistook this, and the fingertips resting on top of the bottle (about 6.5 cm high), for a reach limit. Use small steps of 2\u20134 cm near x\u22480.45.\n- Right arm, rightmost bottle: it lay front-to-back at right_y\u22480.16\u20130.18, x\u22480.30\u20130.50, cap forward. Its centre in the right wrist camera at column ~110 matched right_y\u22480.16.\n- Yaw drifts up to about +0.2 rad over repeated moves unless you keep commanding right_yaw 0.\n- A partial close (0.4) doesn't grip hard enough: the bottle slipped during the lift. Gripping above the bottle's centreline squeezes it out: the arm rose 2\u20133 cm and pitched up on every close. Lying bottles need the fingers below the centreline. Descents toward z=0 stopped at z\u22480.028, probably on the bulge of the bottle. Try pressing to z\u2248-0.01, or make the jaw axis cross the bottle exactly at a right angle.\n- Tipping a bottle up by pivoting needs the grip higher than the bottle's length above the grip point, about 0.2 m or more, before lowering. Otherwise it's only tilted and falls back when released.\n- With pitch and roll pinned, the only way to stand a bottle up is this pivot-lift. Budget about 6 calls per bottle. Keep the grip width open to about 1 while descending, then close fully (0), low on the body near the cap end."})
tool
give_up: I couldn't stand any of the three bottles up. On the rightmost bottle, the plan was to grip it near the cap end and lift so it swings upright with its base dragging on the table, then set it down. The first grip held, but I only lifted to about 70° of tilt, and the bottle fell back onto its side when I let go. On the next three tries it didn't stay in the jaws: once it slipped out as I lifted, twice squeezing seemed to push it out as the jaws closed. On the last try the gripper closed on nothing (reading 0.015). I have 9 calls left, and each attempt takes about 5, so I can't finish all three bottles. All three are still lying on their sides.
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, 0], left_roll: [0, 0], 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, 0], right_roll: [0, 0], 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 · 21.07 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6083, -0.3767, -0.0254, -0.0437, 0.9986, -0.0212, 0.7879, 0.6056, -0.3885, -0.0269, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0024 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0021 right_z=0.1806 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.4974, 9.7573, 1.7705, 0.0269, 0.3053, -0.1587, -0.5812, -0.9094, 10.1949, 1.9121, -0.0024, 0.188, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9daf06287e2f6b093420fedf10fd0c4f734f972dc108b78de6e5578b067a93bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea4162152edf006e6ad6d848440f3d5e964ff90d0d3a88a2ba732d0273629ae7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
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      "source": {
        "data": "$blob:e89c98aa810b0231ebb3712b33867882b4300af6b1c2caa8db827f6b6c685c95",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 6.281 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6083, -0.3767, -0.0254, -0.0437, 0.9986, -0.0212, 0.7879, 0.6056, -0.3885, -0.0269, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0024 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0021 right_z=0.1806 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.4974, 9.7573, 1.7705, 0.0269, 0.3053, -0.1587, -0.5812, -0.9094, 10.1949, 1.9121, -0.0024, 0.188, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9daf06287e2f6b093420fedf10fd0c4f734f972dc108b78de6e5578b067a93bf",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea4162152edf006e6ad6d848440f3d5e964ff90d0d3a88a2ba732d0273629ae7",
        "media_type": "image/png",
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e89c98aa810b0231ebb3712b33867882b4300af6b1c2caa8db827f6b6c685c95",
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012MYBymqDcPS1rga6qLGhQu",
      "input": {
        "note": "Three bottles lie on their sides; the rightmost one runs roughly forward-back with its cap at the far end. Moving the right arm above its neck to try grabbing the cap end and lifting it so the bottle swings upright.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.45,
          "right_y": 0.2,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_012MYBymqDcPS1rga6qLGhQu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3824, -0.0257, -0.0376, 0.9984, 0.569, 1.7287, 1.1198, -0.1066, 0.4274, 0.2771, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0025 left_z=0.1829 left_yaw=-0.0025 left_pitch=-0.005 left_roll=0.0055 left_gripper=0.9984 right_x=0.4344 right_y=0.1952 right_z=0.1305 right_yaw=0.0428 right_pitch=-0.0692 right_roll=-0.0418 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.6479, 6.6803, 1.79, -0.0171, -0.1148, -0.0317, -0.1026, -8.6496, 8.8684, 1.8046, 0.5104, 0.1538, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef5c7457ba089dca214e757a3a9461b994594867bdc8a8c7861956e752199b9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8e2c2edc6512e89a999c5e46a22d6a96372f67a0847bd2bce238a3e4fe2bd39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b83e7aae940d280bb333de75729fb95d181d3493d4ba38cd0adfad8dd3454ca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.624 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6083, -0.3767, -0.0254, -0.0437, 0.9986, -0.0212, 0.7879, 0.6056, -0.3885, -0.0269, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0024 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0021 right_z=0.1806 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.4974, 9.7573, 1.7705, 0.0269, 0.3053, -0.1587, -0.5812, -0.9094, 10.1949, 1.9121, -0.0024, 0.188, -0.0317]",
      "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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3824, -0.0257, -0.0376, 0.9984, 0.569, 1.7287, 1.1198, -0.1066, 0.4274, 0.2771, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0025 left_z=0.1829 left_yaw=-0.0025 left_pitch=-0.005 left_roll=0.0055 left_gripper=0.9984 right_x=0.4344 right_y=0.1952 right_z=0.1305 right_yaw=0.0428 right_pitch=-0.0692 right_roll=-0.0418 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.6479, 6.6803, 1.79, -0.0171, -0.1148, -0.0317, -0.1026, -8.6496, 8.8684, 1.8046, 0.5104, 0.1538, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef5c7457ba089dca214e757a3a9461b994594867bdc8a8c7861956e752199b9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8e2c2edc6512e89a999c5e46a22d6a96372f67a0847bd2bce238a3e4fe2bd39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b83e7aae940d280bb333de75729fb95d181d3493d4ba38cd0adfad8dd3454ca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7wkKEAgSGAI4AUIIdGhpbmtpbmcSDFpQKWT3iO5bDF7WChoMjWZhJ2RyauW1Cm1vIjCrhxalcxpopw7nIK7gO50kgxVHoyuOgXW2G+ikp58C9VpykYaJpyxh0/7J+NtAP0YqjAnT/uldDizD8gJP+s1+wRiIsHMgs/A8i+yaXt/6PMOByyxXmFcY5YK6TWSTigmRj/9ELSGaHMzD+0XURAfT8miasLFq/jLnVvUUPkohg5nNears6cSv9scuayorKpgUn+DY5uKebFq/tA8nEkTqfNmLyPfAhACQLcHgsqnah6yPmP8mzIsHA+1PiVHyLmXVcFLSG4bumhJNOwokkzl8Y+bJbncIfQXQ4G1cRvWAozY8FDyzaaLaKXtVPRCWpZPEU8uop7X9uAX6q5rpMTdPOvId3AeHgVUtgYb9ALbSP43+AnMbKyqq1z4NL0rgjzEOeB6THq1/D06sujdgGZ6lvWC7YJZtGZBaMRVQfpOBzYs7fFP+i1VdZQexYh8yftaiTbQzo6+acaFnCSv0g+UfEJmOYex7q45Yyq1GUDftrDM+XYxjcQqpF+NrIM6yoTauDKZgsMhxvoTsyoMC/uTWc5t2kmstlgTcgqVe2hn1dGaioicJ2qGEx1vhrQfT8ccTnx41UIZTe+3MOS0ZWwXtSCBNtwkmzs9OKgoh0K759maL8XBNKf6zD+MJngCduAAbP5tu3w/nWLGGCS+8we3eLNBEo22oDGGboyN33o6Mjq/vOk7ktMnu0uSrPbo6HefGrSUTjlYWE5xdAJUMHYyq1NkTmriX8GTATBtQJOfnvBa2cr7PuxJTyN5t5ipZNnupjntzMt2r6q9U5nzwNpnZ4Y/mpOo2Az+GnGdV74sWVn9KSRLieiH7IX0SH+7aHyFByF8WbayWssCs2+EApypOtsDWi7ONG8dtwKh9yMux+f9ul92vPk16Rs7dnzVFvD0zE8eLV2HEAlBunIsoQOrm6W04zRvkK6tiJNSVpok9iVlu6JQZuap2DUoDJTg9eltxoPko+VCtm5JUKaIP0TeQY8wFFoGU/61gHqiMv7b22/EO/xO2NlQDksJbkd0J51lBb1dzFVjTilLksKnwqhvx0PLkWjal95siTii/8f/YnSgWblMWKx87raUensiVDfQgTaboJjn7zFnpl78FxEE9Psxm4erwFO767skTXYFpHtcog5DifptBlvmT87+ufdLfq5/AIAsEEMSR528ob7y9DS1r/J/vLJFo3SgB3JEV0Pz5tmfRPyrpN9Y6QaKL9QWdMbBX84kzDy06eMH5V0Rs9Izi7p5dflJLjqEzFrJOIpO6vJV3fvfhB3GGOTX4kADR23WiDggXoh3hpYK0hSx9gOTslYG1h1fBvi8/aEXF411PssGqcYzWo0Jgevo/SiecHa99gm+t25DFQ8pb6YtWoAJxwqVCYdfVXZR55y+xgfTwaGY2sCKvUe3KzCfiZfMNpJzPCs33ocnRNry2w4dhY0RgBfrPgoLTt+VNv/fi8O9mar0Mu9JVWfP0bygKQ1sAzRT33SeLQzMJQg0d9y6QdhKArUB0dTkBm5hW3t5sYa/MoYrzMmhcfXEt242gEfxexfnAipTrkqIVtYpsl//HnfhLoCb9bfH6HQhUjZP6N1frV0SRdJ8i7efiOES98NPfnsl1PzzlYGoKhmjGwoEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014re1xZh6hKk4QH4qhX6MGb",
      "input": {
        "note": "Wrist cam shows the bottle cap slightly right of the jaw column and ahead of the fingertips. Advancing ~4 cm and shifting right slightly to hover over the neck.",
        "targets": {
          "right_x": 0.48,
          "right_y": 0.185,
          "right_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_014re1xZh6hKk4QH4qhX6MGb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3828, -0.0257, -0.0372, 0.9983, 0.4892, 1.8637, 1.0847, 0.0708, 0.3714, 0.2298, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0025 left_z=0.1828 left_yaw=-0.0027 left_pitch=-0.0054 left_roll=0.0058 left_gripper=0.9983 right_x=0.4619 right_y=0.1774 right_z=0.0828 right_yaw=0.0338 right_pitch=-0.0807 right_roll=-0.0438 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -1.4427, 6.7487, 1.79, 0.0122, -0.105, -0.0171, -0.1983, -9.6342, 8.4444, 2.1465, 0.1245, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:908768eb7630892301c0baa5e2548f5a3a4718e12a400e235bb8f8ef3839e7f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:576eba21705a5dd0b442feef98c663cdb4bb32402110ea74a62d217f0edd7b71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2cb8c8d25b7eeb1525b0719a26611d0aa8b4ceac171075bf568840af7f24fefe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 5.957 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6083, -0.3767, -0.0254, -0.0437, 0.9986, -0.0212, 0.7879, 0.6056, -0.3885, -0.0269, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0024 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0021 right_z=0.1806 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.4974, 9.7573, 1.7705, 0.0269, 0.3053, -0.1587, -0.5812, -0.9094, 10.1949, 1.9121, -0.0024, 0.188, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3824, -0.0257, -0.0376, 0.9984, 0.569, 1.7287, 1.1198, -0.1066, 0.4274, 0.2771, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0025 left_z=0.1829 left_yaw=-0.0025 left_pitch=-0.005 left_roll=0.0055 left_gripper=0.9984 right_x=0.4344 right_y=0.1952 right_z=0.1305 right_yaw=0.0428 right_pitch=-0.0692 right_roll=-0.0418 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.6479, 6.6803, 1.79, -0.0171, -0.1148, -0.0317, -0.1026, -8.6496, 8.8684, 1.8046, 0.5104, 0.1538, -0.0317]",
      "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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3828, -0.0257, -0.0372, 0.9983, 0.4892, 1.8637, 1.0847, 0.0708, 0.3714, 0.2298, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0025 left_z=0.1828 left_yaw=-0.0027 left_pitch=-0.0054 left_roll=0.0058 left_gripper=0.9983 right_x=0.4619 right_y=0.1774 right_z=0.0828 right_yaw=0.0338 right_pitch=-0.0807 right_roll=-0.0438 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -1.4427, 6.7487, 1.79, 0.0122, -0.105, -0.0171, -0.1983, -9.6342, 8.4444, 2.1465, 0.1245, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:908768eb7630892301c0baa5e2548f5a3a4718e12a400e235bb8f8ef3839e7f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:576eba21705a5dd0b442feef98c663cdb4bb32402110ea74a62d217f0edd7b71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cb8c8d25b7eeb1525b0719a26611d0aa8b4ceac171075bf568840af7f24fefe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/AcKEAgSGAI4AUIIdGhpbmtpbmcSDJKDlVxQkU1fKzBLxBoMLb1lffzZOBbvQNIFIjBmk/ZV0xVFYL0bedXpiVqFQlYd83/ALRODMlj6POGjrccslaLdvhCOJUMbQ77mZMMqmQfBI8xQx0SIDJbv5F1uu8HNO2TfIPolgUH5Y1paCvfqgA+jTI/Jyi5OQ9WCvftfhj4CKpP8fS+jFa0vRHtkC37nrfldXdPop4NYPDhH++9ST+xRbpehVu56MP2wg04R1hbDO2bLIZ5VUCY5uMVU9PgnDHvSLLqOEE/Fqj5OuL6da/6gldmjNAkG2/dc6GPwiRFpdrPDWEALrOW28D25TBdm0Vqu9jypLZGVfNK002qIOpVLdJ6EGZYfrLqaxF9/922jJ/ZBLRfaF++boFISLMY4HK4b/y08fMGcTSHLfULlLB3xAdpOILEyxcFrPlnOXdtvo9v6AYNjFh39SlMqUzfS5bgtz4VRNSXF73xm/A0aqxh+cvxVsa9EjNWp11xMu10AsomjE2ZOAMYAXDDGp/uVY1t4M7TsuQyB4GFfcxYym62Aw1fCnXCzF9vnS6lxXQKCjdWMBnaRG4uFeA3TujoKntHuFeteyGqa9FvWiU7MKUudgRpd4Yf4aJ60hQxydgvucJv74y4c+zI+eewGGYKhRHsJaz1r61jo/tZktEnC3wu4/0Voa5o0galzpuYRjbAvMNH/ghK2yNUrOHLaTlnl8Ikr+0MneQ95aAXNpUXi2dmayisraIcql4OhsrHK5XCc2h9w82gDkuoblQcqOI0Og8edGoac8DOjh6eY2oYLMPkYAxXyyW2gWOetxDugOkFnJReRLI2tiL+MtKqSBdpDhKg7b7uvTn5ovGxNc01bXhMn0CRZZmsHQ+Kz5987qP/+ux1/KJS7jizlpApEYGpAyauRJfNBC5ouXdcpeRb34oYMgtzUfuk6AW7cECIU2S0EFp5PXawiEyT7/FLFS0Z7IfON7n4yUgqeQI1KWd1hRYlPxAz4FMbsMA3B492yY9MsgU/7DoK9kgiTkfTqM1X+2Gva7/38I3GhfMw8oUH/+XhmkXaoGFbCqtwF2G+ESqNAVS+mN4HU/DGkMw6WmsBSyGHe1EZt0LyVEDvvaCcVUhESg3Jd4qEZ1fb8ACjcZtQVzPi+eJa6kGLWFRtA2gnTiKW0OixlCTkzUjFhBpaCf9SprB5XN6ZpJy7UBhaa96xDoOfGz4rjlP6dto+TLSdRJ1AObuerL+s54fhlT8sdaHBqd6WwNVmoG756SBGc+2R4EDPIlO+P0QEfFXmevwbWHvGiLdSvEEV+Td75zkMm3NGWKlPo0/QQqr23fR8oeLQFwIcFWcJwHtoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LfnwRknEz641LVZJUfNBZ1",
      "input": {
        "note": "Cap still ahead of the fingertips and a bit right of centre; advancing 2-3 cm more, nudging right, and lowering toward neck height.",
        "targets": {
          "right_x": 0.5,
          "right_y": 0.17,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01LfnwRknEz641LVZJUfNBZ1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.025, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1066, 0.3542, 0.2115, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1827 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4666 right_y=0.18 right_z=0.0768 right_yaw=0.0527 right_pitch=-0.0757 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -1.4838, 6.6256, 1.7851, 0.0171, -0.0904, -0.0122, -0.5812, -10.1538, 8.3897, 2.1416, 0.105, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2910e93a9c4ffbce67c9800ee0ac5e5d24a9ab191067f4418d52cca18fe0288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60e46ef9b813ed265187c535d018fe9cbb9e33887a9fbb1a093b5e936baf13b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:74f356222a695ad85d091ddf66d8d2757bb75b7314d0c4d04d1f13ca342162ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 3.741 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3824, -0.0257, -0.0376, 0.9984, 0.569, 1.7287, 1.1198, -0.1066, 0.4274, 0.2771, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0025 left_z=0.1829 left_yaw=-0.0025 left_pitch=-0.005 left_roll=0.0055 left_gripper=0.9984 right_x=0.4344 right_y=0.1952 right_z=0.1305 right_yaw=0.0428 right_pitch=-0.0692 right_roll=-0.0418 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.6479, 6.6803, 1.79, -0.0171, -0.1148, -0.0317, -0.1026, -8.6496, 8.8684, 1.8046, 0.5104, 0.1538, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3828, -0.0257, -0.0372, 0.9983, 0.4892, 1.8637, 1.0847, 0.0708, 0.3714, 0.2298, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0025 left_z=0.1828 left_yaw=-0.0027 left_pitch=-0.0054 left_roll=0.0058 left_gripper=0.9983 right_x=0.4619 right_y=0.1774 right_z=0.0828 right_yaw=0.0338 right_pitch=-0.0807 right_roll=-0.0438 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -1.4427, 6.7487, 1.79, 0.0122, -0.105, -0.0171, -0.1983, -9.6342, 8.4444, 2.1465, 0.1245, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.025, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1066, 0.3542, 0.2115, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1827 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4666 right_y=0.18 right_z=0.0768 right_yaw=0.0527 right_pitch=-0.0757 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -1.4838, 6.6256, 1.7851, 0.0171, -0.0904, -0.0122, -0.5812, -10.1538, 8.3897, 2.1416, 0.105, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2910e93a9c4ffbce67c9800ee0ac5e5d24a9ab191067f4418d52cca18fe0288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60e46ef9b813ed265187c535d018fe9cbb9e33887a9fbb1a093b5e936baf13b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74f356222a695ad85d091ddf66d8d2757bb75b7314d0c4d04d1f13ca342162ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4AoKEAgSGAI4AUIIdGhpbmtpbmcSDAqmg1TOWmuRM7cqihoMEjIIqDbsELbwxugeIjAR4+7iI9yyBx2QKVcBjX+Ly1f4OCy+Df+m1IFNMbGwWlDPT4yY90Qvx4GZZxfy5bYq/Qn+i6LGmzIoqiR/4rQ9bsJx0gGF0BQAcha9ZWav1DbpcqL8xB6G1Y4iVrbGau61l1PJkC/Q941X22urI/mISiAIsc/gcSX2MZR8DFOxXqQCaQqhy4rHiJN6XKIIotZ0Swp+cTxp7/3PxIIEbpmg9EOUF3jOz2/AFztCOcnAnu5gWmO1kPGdcnEM1ASLFRKVcMiUsuAM5DfBZqmyJ8mno+9lWfDvTMWWf0u7OrnvsH7G/F4YrB+nBl9r0kdSYoDmA6CjijYPJZ0SU4PQKH2hPE1T+U72ipMqg3wfFQN7FI+Xn1+x/yTbSeNRyZj/8QJZb1h993jN908O6c7UrMbWKrMZeOEinHZfMM/g0NDSdmul4I/yVtY5Og/MYl1SZVn2sZ6INuBCpJxt2EWOMMMHrZ8kGmyUYMJIBFb9wci1/mM7Vf90zh+bxWYgCYKaC1TH1EDBd/FGRbPfcCrSjHOo3xN27dAbANQzAeDryj03AQMbSbUaZ/4P0zK0cPe52HbgVLHLns9ng2lq7mJFmD33E9+fUAn/pyoRRIo4z4CnZhOJPbobCvPU3JdUp3pG9VPazGm1amsISjVqe16FeLg2GOXRS/ETd1CqVHSZMlhUm+4Z7F5T6NYq2VEPjUryIiSU1LVWpIzkv+zZIFyt1C5nmSPDYT47ljJeeVsVy909COWXoIgdQusj8eForgUBwC9R9BfHbx7KMYkM3AAASe1/3/k8XTWmLrj9m4pSq6BC8FxUAPQu+zj9d/BJYTj3Vb1MQQz59M6/2rFSLSwYP4zwTKBigRtpI2Cf5ysXYjeAoMMUV8YJHszKjXSXNdKD0bW4IFzo6h9tBadjnHKprIVQmUjYakXE7I8fG5NbVpq9Dp1l4TwIkpeCD/V4eTLiUniY43PuCP6kGd2IF4/yVwqvZR/JX71EwlaV91v/IBqbIoIRsJo43E8epUr6zY/VBHNP+L/mCCOEjCgOZNM2PfCfoG+f92IotLp1fub0KcvBZ723DDxAlxEhnbwAfgjtaLkzd9BovZgfNEZveC/rsrvmnbPZ9py8v9kjxPBQl7hvGesWv97KPikglkl/Ls0YnYH9ZHi59B9aFzsjMOn1HTF3/TvlTXiYk+8w1sVwgdkjpOSIPv7pXMmv1BkSZQbBBPokQjeJjJ1Vlj9Q0cBYTZwxgevFhBbi8SLuTF64s8psr50UIpZv7ZTxqXm+hOzACzL1zM12I63PBEbyTmhl5Q1xov0uJhdeoC7mN2PYw6s2YJNma8OUcHPtbXwearJSK48UtVU506yBryM9a2I2511vORkLaPHLcpX1mT27QVwR5zT3nA761sAgNQqrHmgLj9zFfgzQHkkaYfTRp/7BGKxnzvrxHtWf3oAdbne1WlKA73Fj2bEWYdhvxopQGm3wlm+In0Floh/k623+d48CmppwFAqMhwrHWe3KH+e9AQ2b29XppoGTyjvLPblyiPEupgL97NXZdilBNOPovDYCMvTGwBP76tYxGsbaCf4w6cJ/tb1pJSOl8Qsy4JKWRA/aGfCnabMjiAaFqX+TPGbd06pkfRF04iXdAp4uCZhhVXbeWVDAb7PqwuQvcQe8ClJz01vWE3hAQh+5iZv/KLMQb2GYUMoxOlW8Z5T/jMUJ6Y6sIQhrs+idMpuum6KxpUrBvIg2hx+w/bcaEIYOentqsxS9MUoQ0DxIcQkQK7j44B5g9RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YZfQU6eMg1V7xcceQ1Dww5",
      "input": {
        "note": "Arm stalled near x≈0.467 (reach limit at this height). The fingertips should be over the bottle's upper shoulder, so descending here to grip near the top end.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.175,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01YZfQU6eMg1V7xcceQ1Dww5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.025, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1066, 0.3542, 0.2115, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1827 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4666 right_y=0.18 right_z=0.0768 right_yaw=0.0527 right_pitch=-0.0757 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.4701, 6.7624, 1.8095, 0.0269, -0.1001, -0.0122, -0.335, -10.359, 8.4308, 2.1074, 0.0952, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d866fa54a62cd3c0aef0a7491294b8c9101d74ccbdb7bbfe843da4e08a26f1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a13997a11a4eee0d9f5dc091b63e5411f6a0921fae7712275334d3538cce91f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4352fb4f3e474170a3827974d3d5e1ec901cc04ae446c5da2b5ebe328acda8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.821 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3828, -0.0257, -0.0372, 0.9983, 0.4892, 1.8637, 1.0847, 0.0708, 0.3714, 0.2298, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0025 left_z=0.1828 left_yaw=-0.0027 left_pitch=-0.0054 left_roll=0.0058 left_gripper=0.9983 right_x=0.4619 right_y=0.1774 right_z=0.0828 right_yaw=0.0338 right_pitch=-0.0807 right_roll=-0.0438 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -1.4427, 6.7487, 1.79, 0.0122, -0.105, -0.0171, -0.1983, -9.6342, 8.4444, 2.1465, 0.1245, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.025, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1066, 0.3542, 0.2115, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1827 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4666 right_y=0.18 right_z=0.0768 right_yaw=0.0527 right_pitch=-0.0757 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -1.4838, 6.6256, 1.7851, 0.0171, -0.0904, -0.0122, -0.5812, -10.1538, 8.3897, 2.1416, 0.105, 0.0855, -0.0122]",
      "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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.025, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1066, 0.3542, 0.2115, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1827 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4666 right_y=0.18 right_z=0.0768 right_yaw=0.0527 right_pitch=-0.0757 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.4701, 6.7624, 1.8095, 0.0269, -0.1001, -0.0122, -0.335, -10.359, 8.4308, 2.1074, 0.0952, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d866fa54a62cd3c0aef0a7491294b8c9101d74ccbdb7bbfe843da4e08a26f1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a13997a11a4eee0d9f5dc091b63e5411f6a0921fae7712275334d3538cce91f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4352fb4f3e474170a3827974d3d5e1ec901cc04ae446c5da2b5ebe328acda8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+wYKEAgSGAI4AUIIdGhpbmtpbmcSDFmEDmJDFWr/B+3PBBoMxLrM4N1htb4KshnlIjB1D337Dn/IoiYAszlIgSXGYc1OqLRKjQk5qJ/a189bUi18MB3dhOjNa3EmDCdPJUoqmAbJYKRiUl5Qbz6r+/q/y/ez5Yc1NvUHVJscji+5GGZNGUXD4T1uxx/AzVn838BHcVY8IYsrD/hfd+kPr49TY69DmonNrnkvSxlwvVruBRhdD5NsrJZtNlFWhhtSxv75g/jSJbrOJleIRDDqGrfCqVu1krzfev93yd4r1X9RehrLXWSbT4IWfX9Q89uvJ/23VQkoXfPF40nXqq3pw10/olxo0bYlG+Z6Fo2J1+pTL+myd31b3wBGpuD9BOkJ4+3TqcNpySftawX49bNPr+VTnxQdDvn84ManmaUkbCHT1RKm8UMXhWkbjNF9aQCOnwiSYTn5hHx0yUdbLRD0cMfJv5m4U8K1yyoCHNaLSc023Z0ruWZ4pCPwOiNnN7puNwB2xqUI2aWfL9xMynkfkZALZZwbDGYuaZLe73YNK/9qKHaA1rNFJkNKlVF293j1WTUmyUOgLATTD4CselcsKg6CHGUkjUjiKgYP2u+q3ly6L3HRjlv/N3hpK29KA/BaWofm8JL/qDyQzInQWAQGBra30BoVY6EZsdwfBAwzHmT0LvSETQzlsNTT+Aj35LWXapNBYAqTg3+fZDPo0bS3e9lNAzjqxS2FfX+MNQY8XPVo8hYbDi5dHV15wsEw/n/9Rpyywlhy/LCBvexm1ZNyejn8+UVXa5KAj1M1uKmUyweN6J5azY06fJyggwHtwTBUGiH2tHspaHNX5kqkywabQjONNQN95gRLk/zDB4XCXGpeaEMjLzNwLII01AhqlSTA7wtL+4CoyD6Jk8FhBO4tplV3hiDkk2+dluw2XNRV/FOL/bqdcI+3gvnIK6BPYMi7KSgW+q7Z/+kmjaME4U0/8VS/xCT8UOiVa4N8Fh5vYgjEkirqEYELAo0lVNxvd9wZpn5U/lSNgP2gL6tsF2LvbzLYA3nTWiT41YSRS4J08B7gkMYS+GScmMa4ZtyNcj/Vqv2asEomQu8CsLnYAlNnlszwc5jvJZMnSlDStbFP8/UgWSPe4Tr+0DCeebh3tS/7m8xuCc1fcsiQUwod98VQVZnY/sxiXXE6z+X/euQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DkBZ7FpnKhRH53nykMWikU",
      "input": {
        "note": "The right arm froze and ignored the descent, likely an IK hold near reach. Backing up and raising to get it tracking again.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.175,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DkBZ7FpnKhRH53nykMWikU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.025, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1062, 0.3542, 0.2115, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1827 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4665 right_y=0.18 right_z=0.0767 right_yaw=0.0526 right_pitch=-0.0761 right_roll=-0.0438 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -1.4701, 6.5846, 1.7998, 0.022, -0.0806, -0.0122, -0.5812, -10.3453, 8.3761, 2.1026, 0.0855, 0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90cb7e0abd5a3ab1c5d0b680624892bd73f5eff2fe4fc95e02518782a7196d2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c191f33a62003f2cb2f744792f7448f94b619e5505d5ba34e2bb35740f38d1af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9ee3529991838a99108baba8e22baa2e4eb05f1ff5539f0b75c9ecfb3c9aa724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 5.077 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.025, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1066, 0.3542, 0.2115, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1827 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4666 right_y=0.18 right_z=0.0768 right_yaw=0.0527 right_pitch=-0.0757 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -1.4838, 6.6256, 1.7851, 0.0171, -0.0904, -0.0122, -0.5812, -10.1538, 8.3897, 2.1416, 0.105, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.025, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1066, 0.3542, 0.2115, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1827 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4666 right_y=0.18 right_z=0.0768 right_yaw=0.0527 right_pitch=-0.0757 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.4701, 6.7624, 1.8095, 0.0269, -0.1001, -0.0122, -0.335, -10.359, 8.4308, 2.1074, 0.0952, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.025, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1062, 0.3542, 0.2115, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1827 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4665 right_y=0.18 right_z=0.0767 right_yaw=0.0526 right_pitch=-0.0761 right_roll=-0.0438 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -1.4701, 6.5846, 1.7998, 0.022, -0.0806, -0.0122, -0.5812, -10.3453, 8.3761, 2.1026, 0.0855, 0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90cb7e0abd5a3ab1c5d0b680624892bd73f5eff2fe4fc95e02518782a7196d2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c191f33a62003f2cb2f744792f7448f94b619e5505d5ba34e2bb35740f38d1af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ee3529991838a99108baba8e22baa2e4eb05f1ff5539f0b75c9ecfb3c9aa724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjwgKEAgSGAI4AUIIdGhpbmtpbmcSDOQlDGOjA6UQ2Bno/BoMO8A8nZ52DMBb1DTEIjDwHUraVlHU/3VbrR50qyzzeMcFP/fkp07t4VlSPwx6zlit8HNPLTcMHPieH0tyh8oqrAfsUg1OtwfdPKbi4da7hnCjEkgFhEEZRdH8kw3QyM9lZND0171j6oHwyqhkqk7TMoAgxNkXxmNsHo7OksjhmZmOyYb1ZoQMr8yZCcIyeOLS68MmwcF/3DosZ4ZjjeIu6d2t7/oCVmOEpBG0g52hsjUJxi+6AHE5jkNncHtMBZrRSRwH8hmHWtWYt53W+GlMuVN4ZQTxL6Zk6zgC2KhSNnYEoY1PZQeb6iHuIZrSyCH917yH6qFu/AGP62XtHbp8/hgpaX8D6tG6icl0q59QoobegiqNgKA/hA5NERczNZ2YR5qz3vB6cAm30/sdwZhep8hHjl+ncoBEUyPCR/wPMO3oebAOEvgkFB5km2O6+lG1sD0NwHrSAe7i41waxU7ICOzXP0+S0Duj5m14YZ8SCevGKCb1xftymGOfXtHXOiITKtpQ5lkQtrP128e27UJC/hAMLQweqh/1pz5txWVAgitMQj6RgiF3W7/Ifg1SFsL7MJEz3Bwojt643bLMPNgVwwuuu9LZtb6dFQHLsFDVVN/Zv+fSKGwUaLrxmyvf371xdWaT3OJRC4goLhlTjLOFTy6eXy/1IGF5qOjRdrlFWXvXU6ivHsC/YuTHxITmvgfb9zfN1vw5icOv3qv2WU/V2gbmfLPVJ6VPZUmwRX3jiaKGSA9laQGrfKpGdFdSwGCbDHvtFcVCaRuGEp/tNQO/i5HSV2x+/pDDNPj5M58UYr5EzmqaTcsio7CgUop/Ep/Df1LZ8Pu1GUzERNyAoc/us7cpwUHPliwClaVOJFbhgp0WupJaFI8s89LWCbwvZnJjmA/NFq/i04NtNhlobG5jElvuVnydQkdkztnHHb5gbjzmo6Qm+qKJtc8+hQqRxmEsXnMRo72GhY6XgshO0byHojs2umvmdEeIJIIRhD5uzNzqR0sNJIe/61QcvFiZmAOUx3KEy/mHSYP4FxENsVy9fFkgCUPUjzQ1qTrJAA9eJB/bQsJZ5Ujda+7zLFSfkQKJ2771rDQpSn1Ljk1Wo9xa1XQy2gRUnqkLTmOLzSMI9jh5a4DxfQSxEqJh1093bF1/g0tp+vJz8/KJE9315xDJ4bVUp8OjtXfkvWvugzVDQviPvqIBsJ5wIkrsKNsOSQNbzt4kP+Mlv2ij7BkBRRpbO4IYZuLdqTNiYlo8x4qXAFcRhMntETh90breq7IKl6P9wL0pJ/H/mpNpZezNt/qv7r09MQn8ufdzrXUVrhQBA1S6taPf0VBmw7rgjDjyGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VUxyYkVcrFrEVQmTkUiC4f",
      "input": {
        "note": "Arm still frozen with the approver clamping steps; trying a very small move close to the current pose to see if it tracks.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.18,
          "right_z": 0.085
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_01VUxyYkVcrFrEVQmTkUiC4f",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.0254, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1062, 0.3542, 0.2119, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0027 left_z=0.1827 left_yaw=-0.0023 left_pitch=-0.0058 left_roll=0.0056 left_gripper=0.9983 right_x=0.4665 right_y=0.18 right_z=0.0767 right_yaw=0.0524 right_pitch=-0.0761 right_roll=-0.0435 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5795, 6.7624, 1.8242, -0.0024, -0.0562, -0.0122, -0.5128, -10.3316, 8.253, 2.0781, 0.0708, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66743408f5113baaa07de45a36fa34bcd7d634a91782244553a83e4c5417c800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aa7b960d1f0f371bdbc23a1322563c6b02766291610d7638bee93775920e8b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14888c54ec9cbce22f48345a6f3439414878aecd98c671db479b9ba377243fa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 8.35 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.025, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1066, 0.3542, 0.2115, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1827 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4666 right_y=0.18 right_z=0.0768 right_yaw=0.0527 right_pitch=-0.0757 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.4701, 6.7624, 1.8095, 0.0269, -0.1001, -0.0122, -0.335, -10.359, 8.4308, 2.1074, 0.0952, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.025, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1062, 0.3542, 0.2115, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1827 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4665 right_y=0.18 right_z=0.0767 right_yaw=0.0526 right_pitch=-0.0761 right_roll=-0.0438 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -1.4701, 6.5846, 1.7998, 0.022, -0.0806, -0.0122, -0.5812, -10.3453, 8.3761, 2.1026, 0.0855, 0.0611, -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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.0254, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1062, 0.3542, 0.2119, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0027 left_z=0.1827 left_yaw=-0.0023 left_pitch=-0.0058 left_roll=0.0056 left_gripper=0.9983 right_x=0.4665 right_y=0.18 right_z=0.0767 right_yaw=0.0524 right_pitch=-0.0761 right_roll=-0.0435 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5795, 6.7624, 1.8242, -0.0024, -0.0562, -0.0122, -0.5128, -10.3316, 8.253, 2.0781, 0.0708, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66743408f5113baaa07de45a36fa34bcd7d634a91782244553a83e4c5417c800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aa7b960d1f0f371bdbc23a1322563c6b02766291610d7638bee93775920e8b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14888c54ec9cbce22f48345a6f3439414878aecd98c671db479b9ba377243fa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjwkKEAgSGAI4AUIIdGhpbmtpbmcSDA9CaSEYn8zwXSm+3hoMgEKAXoscAf06d3XXIjCikilaETJ/FClI8+2swwqthXIWV05WwhN4+maFGO8KUD7OyDoN2rU/6lUxpNCmAwcqrAhOh4a+D+CHS0kGRcRN3h9S8RmXDBE7nTTREMBYbNufea4MnnGq0cQdqn7brm4ODlDoBbOoVN2Ek5K21toJFeLWjqW/Ura1ET1Q1OD7sE38h6P4fMfx4vu5qMm85eNscU55lGOlIu/zAp4Pw1Ol+SJBSta83Q6lnnQ8s1T3Rr9JDExO22D6xM3dLYi/rrQDfXYPujHb65JieygqF8Ulv5zqBPh3C8w9EZ1aRPPTkbYKQxq32qMWB5Vv9CYry0TORL4ilKv13F197unWEO0FJMYBpNv834OQ6vPKrrZcmjxjBkZjFfXc1jbgWHK8Ll6NUF2V/o+wPrGNs4/DPgfJzwDpbKBLdSwBWe8GpCMLyqzKyoL24bg1Rz7RLNT+BjmdxMt7r1dPbMIVLJnGSMJTrF1Q16gPOCePPejIYuG1VGKdks1G09m23wNup+EOMN4XVqTcblsiq8Y+QljqW4aWvd/XVjfaYLjeBztB8kKpyxJDOBW1yBhnW2bDRmhFmg8nXcHizychOGTYcSUZH93khojovNj8yc3rqVh0IIS/xAtIUD5LMPfxunVigzYO3JbktC+fN/UbOtxTv3TItsHGOqq/ixQN95CTYx6PDFNrb6IYGtbxtU4Ra7HhWD6bEW3TpsASFbxj6BCVBsPslw6WMacCqVtgTvPvWrTJ4+QH+aLfua1tqPv6s41Wu59jMqYd4tlEJn2FmLKpLgEnrXS0UJyZRVLApS2XXRcCqXD4y78RyG8kk3h9pxIxNTwXrs0gH4/xYz5C6fhj17YYfbsWEybNsXZtsyeMkdpnvo4/F0N9hnsjiPGP68oHKmM3eRN8SUI41RsbPW9GvSCYBFbOMvMg+VGtAX7mTanSYcSOe4zVHCWTaX8bcRUIcw1IakEjzT7LwZnHOEynicitwbUvof3aL3DMm7kOBzwZZFCLosTeswVgGYoBryJ+9yFnUsYvUPIhpRmlS7gtJBbtwQOq9tf6i36JcHtWXHkUDKqghWmm6H1yPzXASU7bJUtC8AeF6wxgnTFFXZYp9JxQOXujenxw7gGV1ekaesMQMVFWsZUoU12MQPlCtin5HkAsr1bJIXPG64NaHPQbh8hnEVKX/ZT5gBIZ/Dy/uIa+1eVzu9Be1RUvPJnJ0mzLYyyo4jLhyxW+vla9VM9Qh4i7cvILF5u3W3zavqBaGtuqz5ZA+pAqdt4pL/+Rwa4WoAXv9tE9/8S/tz4sJKyKvruv8en8OVRCjvKpQYHZ9FrG21Vy/4LaDYfGX3H+M05x1AEh8dqsHHw2NRWkjfjstGdWOCkwNzwSkB1WZgHlPxyOqIkqp4e/vtz+2Lh2uVbj9cPfVg0YQSQ285ZisDq9GEfDfLZbDOURsXbAOCIycEnkAQWPTGNwkVPIBapOvDEdhJknYvpQhIThqgVKj8aLmFVKOKIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BHBskWSw5cdCLqF6PBW2GZ",
      "input": {
        "note": "Right arm has not moved for three commands; trying a pure small lift from the exact current x/y to find a direction the controller will accept.",
        "targets": {
          "right_x": 0.4665,
          "right_y": 0.18,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01BHBskWSw5cdCLqF6PBW2GZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7994, 0.614, -0.3832, -0.025, -0.0372, 0.9983, 0.5014, 1.8317, 0.9806, 0.1555, 0.3515, 0.2119, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1824 left_yaw=-0.0026 left_pitch=-0.0069 left_roll=0.0054 left_gripper=0.9983 right_x=0.4448 right_y=0.1786 right_z=0.0713 right_yaw=0.0722 right_pitch=-0.0751 right_roll=-0.0411 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -1.6615, 6.5846, 1.7949, 0.0269, -0.0806, -0.0122, -1.3744, -8.7453, 9.894, 1.9805, 0.1245, 0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8692b41173c238dd7bcdfbe47d6ad34213dd7b389b545664ce4ffcab2c252c46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8de8228808138e8ecda3b6cf0202100a01fd68475ecb8b5d512d9092f69152c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d05c4bdd759004659cf5691eb953da1e05772b7003f412193e6ac7edf2b55ea4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 7.103 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.025, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1062, 0.3542, 0.2115, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1827 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4665 right_y=0.18 right_z=0.0767 right_yaw=0.0526 right_pitch=-0.0761 right_roll=-0.0438 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -1.4701, 6.5846, 1.7998, 0.022, -0.0806, -0.0122, -0.5812, -10.3453, 8.3761, 2.1026, 0.0855, 0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.0254, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1062, 0.3542, 0.2119, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0027 left_z=0.1827 left_yaw=-0.0023 left_pitch=-0.0058 left_roll=0.0056 left_gripper=0.9983 right_x=0.4665 right_y=0.18 right_z=0.0767 right_yaw=0.0524 right_pitch=-0.0761 right_roll=-0.0435 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5795, 6.7624, 1.8242, -0.0024, -0.0562, -0.0122, -0.5128, -10.3316, 8.253, 2.0781, 0.0708, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7994, 0.614, -0.3832, -0.025, -0.0372, 0.9983, 0.5014, 1.8317, 0.9806, 0.1555, 0.3515, 0.2119, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1824 left_yaw=-0.0026 left_pitch=-0.0069 left_roll=0.0054 left_gripper=0.9983 right_x=0.4448 right_y=0.1786 right_z=0.0713 right_yaw=0.0722 right_pitch=-0.0751 right_roll=-0.0411 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -1.6615, 6.5846, 1.7949, 0.0269, -0.0806, -0.0122, -1.3744, -8.7453, 9.894, 1.9805, 0.1245, 0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8692b41173c238dd7bcdfbe47d6ad34213dd7b389b545664ce4ffcab2c252c46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8de8228808138e8ecda3b6cf0202100a01fd68475ecb8b5d512d9092f69152c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d05c4bdd759004659cf5691eb953da1e05772b7003f412193e6ac7edf2b55ea4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS8Q8KEAgSGAI4AUIIdGhpbmtpbmcSDE9kjEY2UwyiPrqikRoMOID7M3e0xgT0Bg/JIjD0bTDD65Bk9Usvj2RjbZvlydxzqfJOQIZgeCnKjoLRzdo9J10/mrALixn8gh8UVXEqjg8nwSHn0RAmoVGlb08zXGkcQH+FotvMcVKmtzxu1evnIjwY6Kc1QE2YyAuyM1ORPSPigseSFnpYIkDuT6K7HzDLh+3HU5iplV+HLqVifnN+y2Hhh5ZrqCfPtmK7daicvtd8migRDvgx4cY0J7DFNO54h/8aKi1RM+ns3HWuFbvcNYYbKvNajxxw4MZucm4lBg3xc0T3sQR/Ufjs7E22zs1c/eUNYGoe6za7xVWa2DabR2qPOBqKIdODeQVw8/eUyS8IMleSSbN1ZjaOM+6t6dzW3zzceF8ts1ROtnactqfV3HT+lp8a22djxuOcxRMldJ/Mlq6ogke2r9DwioyYEX8F4o3+Oj8l8/QRzPPyTpVdm+PisNwfYzVlAIdyo4QKbrclr5yzzV670N9n+HrY3QIJ79EPc69s/QRxF5teAjAScjnKRLnJo+bNKRFLedqYZWwJuFBcWgXPoBLi7FkIRv+8ygS6gEc+zltXQlQwJUlbvcwtN5E51+Oa0A7SWqXjDEVN5fS1OXAdDT9CS+/DlOkX2XWZib4jinui9uFq2s9K7gbdIixJ2VyxYW+DwUBAVRwgA2xMPoMXr3EMHFL88jjIFWUlHP6FuFAoJTSw1ZCXmzcVqhHFcOkX2P0tF9QaeB5Vx7vjJHCg9ExrUxl7n0/+Sqm+vBQOPBazceX3BtSQBGUh2EjLzo0PXilNu7HVFebyLnB0mIfOzblPxfxNtv5naYCF1t0G5ghRfeILw6fvpOjZyEfawBlodHKwhVmw2XZobbM6W82se22Q937Wjv4CmvkeMymoCDeD47vMZSRyVJuRxMG7d5X4iGvwbeQOMn6nTsHfWFp+URVFKeI4fqEwRjfaAfiVS7wUJm9aXwd20gKifTyE/Qm0tJ4cGdiaxPc0zfZ2rVzZ3sjxG1MbW5vo/ZGmHXyHbrCmfSK7BnCfGakSQ3HfPmuF8GYGNd4FgbkyL2pAVlzr1TEbV6lJMU1jX10fuWZMXN9cpmt2Z0NoAEhGvbgsKi6iPIwbOPsaVDSPTM80vVaym2A9suPELHlIQh/ptEF3HvLJHUayMfSYhr2UA/emExxhelSEO/qFoe9hQz/lkeuYDHbJV5+sJ+S6MJ0VSqeCIl73GCaeD8SKZt9DmVXZu1TvL3ojZ+0fpSBJDNSjSCNeRyAPR55MvTATdsOVLp67fUmeFiNKKY6kz/DtRMuZPiv9qvOJs/AOdm95h+xl8FXgrXNvEGxwbK68xZbDy4MJB18eHHEbp/Lj+350L1FATZOPhDN7Oe2ewLEYxIhKQx7lYv888ge69ekrgrIOCgZB/xbhHy1yGPtJNN3d0srpiqYS3yDSIHe5yzItf/Gc3MbTkPmzoT8NsDrW2pX5GTlefFjmZ0mpe2qidfckfTk723EyHPRMWkk24zAPwzlDGYm94hd9crcUa1bXYVZnJG8oDEhwhWuoHeO2IOxhmnm6z9OE0eLBrn8HbAnlKCHQknzO2dhNna88D1lTI/gwhpcx/KOIPGj7f3iQQZu5arHZog6Z2UE4OIsTSfR1GVqre/jny89JDXNNq1+dbc4VmeiuJbbtq9m3AMjx+EmOWfzWWaBhuv5m4rdY+Jy/m0zMroQfQbna2oGpb1skx0eCuJD9RhZ4GMwTZs+IAHCmClnGepD4MYwADFaaz3SqStSGRvnSSX5MXN1eqqz+nZtgeCgUjEmTHWy1/doFf7R+CBbE4jXW9VAQ7tgQBKINZYuAr8NqIbxug5eenH1FcPG4fAycj5NYMPsvLeGJuo2jmf58gtlOMCAqNGbtr/nHnt0qGjED4kih3cAnuxtq/pnTJXh8Wdi8k03O/i0CJumJ2+780PH5qeVtPLo8QUeZmV6jxibN6rE0dkL7VRsKFHWQe3L+Fzpz0TjrfPJRDiMjvBCBW72KEMFS25GFmRHJtQqZTVlhicSmZuqiY6mMsG3Ns27jMdtMLXu82J9Teyj7stpcScJMFLCPgXetCc28h7EykI6EwfVo3AK7w2xdhtbSdD8LjA+FRhuu+c3Fkx2k9v6Kp7hARHT5bOTijkngO0O8ubl7SSfep7L66y1dJ7uO1IeecDa/Fham+Gxy453TbkDtfkealGZg5rT+YkxQbQddAJQ4qlmZb/nXakF4DwZWwRjt6SoMoeIYLK1QhJMTevLsEpfEjF1cuUHiWLF+6QZhHHYuJw3Led41wGZARn3Zp3HJj/En4PNkmgW8nt0mOuI1WsGRAX6RHqKVD2MyWAe4ASGgvipuk+ZsvXIYDozfo3LTG5QR78f98tR/pNoX2qfbU4nmD0zVDDPSKu8sMMsFj8BmmDxV67DyhSmPK1Ke/ywYg/eiLjTinLcSURfnxCnHSdkATnUy5QLu+Vz6PIu+gXZydwTgPR/jD6kg1wO5fIEdX68kPzj5yj+pR6CbFEr7NaKBm7ZBaMvPUhHirLoPMVHd8X1Ai4KyCNTvtYBmbGG6P9TxyLe6R5oVRQeMF6pru+ccvCKj2gWQtBJ4Orur179mNl2quiAID/KQwWwGjsiJlvJvM4FOklbnFzveT37+oH4uD3c1+BD3eC/69u2SpL2TUAxCDucEjBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TFYumTByG4dxGGrikBnQFc",
      "input": {
        "note": "The 'stall' was the fingertips resting on top of the bottle, which is right of the jaw centre. Lifting clear and shifting 1.5 cm right to centre over it.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.165,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01TFYumTByG4dxGGrikBnQFc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6136, -0.3824, -0.0254, -0.0372, 0.9983, 0.485, 1.8114, 0.9184, 0.2108, 0.3355, 0.2077, 0.9998]\nstate[eef_state]: left_x=0.296 left_y=0.0027 left_z=0.1822 left_yaw=-0.0023 left_pitch=-0.0073 left_roll=0.0056 left_gripper=0.9983 right_x=0.4388 right_y=0.1696 right_z=0.066 right_yaw=0.0715 right_pitch=-0.0671 right_roll=-0.0297 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.7573, 6.6667, 1.8339, 0.0024, -0.0855, -0.0122, 0.1573, -10.3863, 6.2974, 1.9414, 0.1148, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:820936c8eb7c0a79debb143fabe222c9cd8eab2a6871adf9e56c0507190c53b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5bccd5b481c2378f97a6d7349cc469590e878172f42570a1672ecaaccfd7c5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3013054d7924a57aa57f5ed4ecb8daf206b1d6e07d39198cb5d0de7ac01ce62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 4.808 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.614, -0.3828, -0.0254, -0.0372, 0.9983, 0.4839, 1.8893, 1.0855, 0.1062, 0.3542, 0.2119, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0027 left_z=0.1827 left_yaw=-0.0023 left_pitch=-0.0058 left_roll=0.0056 left_gripper=0.9983 right_x=0.4665 right_y=0.18 right_z=0.0767 right_yaw=0.0524 right_pitch=-0.0761 right_roll=-0.0435 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5795, 6.7624, 1.8242, -0.0024, -0.0562, -0.0122, -0.5128, -10.3316, 8.253, 2.0781, 0.0708, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7994, 0.614, -0.3832, -0.025, -0.0372, 0.9983, 0.5014, 1.8317, 0.9806, 0.1555, 0.3515, 0.2119, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1824 left_yaw=-0.0026 left_pitch=-0.0069 left_roll=0.0054 left_gripper=0.9983 right_x=0.4448 right_y=0.1786 right_z=0.0713 right_yaw=0.0722 right_pitch=-0.0751 right_roll=-0.0411 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -1.6615, 6.5846, 1.7949, 0.0269, -0.0806, -0.0122, -1.3744, -8.7453, 9.894, 1.9805, 0.1245, 0.0415, -0.0073]",
      "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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6136, -0.3824, -0.0254, -0.0372, 0.9983, 0.485, 1.8114, 0.9184, 0.2108, 0.3355, 0.2077, 0.9998]\nstate[eef_state]: left_x=0.296 left_y=0.0027 left_z=0.1822 left_yaw=-0.0023 left_pitch=-0.0073 left_roll=0.0056 left_gripper=0.9983 right_x=0.4388 right_y=0.1696 right_z=0.066 right_yaw=0.0715 right_pitch=-0.0671 right_roll=-0.0297 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.7573, 6.6667, 1.8339, 0.0024, -0.0855, -0.0122, 0.1573, -10.3863, 6.2974, 1.9414, 0.1148, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:820936c8eb7c0a79debb143fabe222c9cd8eab2a6871adf9e56c0507190c53b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5bccd5b481c2378f97a6d7349cc469590e878172f42570a1672ecaaccfd7c5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3013054d7924a57aa57f5ed4ecb8daf206b1d6e07d39198cb5d0de7ac01ce62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSwQwKEAgSGAI4AUIIdGhpbmtpbmcSDDRnaNlmwh74yC3xJRoM6035wFFcJfv4xasgIjAOWImP+iBjLlouHZA3CsmuJ4+oQY8AIxftJYvmkhSuKWlGGe/0BxtIFcDvaR9HVaoq3gvbWnAqWyt1fWEA1SJMCovY3NrWD8x7C2U0UR8N9dCZ3HVYUudQTJOqw7ID4n+n+hpxsbRy9EwB5vEikIFwZIwMlXOHIfdE1zkb86DZGqIKCIUTygTUrIBLxz+sTRsEzWRUG1ktTtvpwCfTALLakYtsNOMt+hqRcronajkHLHs0vrw5eoIHXXeQlWM2d9DFYAUblmmhPQqgCBZ5fUVd9oCzuNzHnb7u8JqYnYrqVn4XtkSIr1I/qLI7p2HIcDUitU7dUTzyshQ39q+wWd+AkjlkngRiRJE4ZJ4SrHJem1X+4spTN0QU9wLp5QueBojh9JClxGoTh6lL6vjNzgoQPi9KglTxohvAMZsxM2iwaUnLdrvSll23luqyYAyENES7jkt7yVsqJbuWudAlJqSfW2hlINiin3bG2bPxJ111nAnIcUjaobW17EH3gJlrAvWJA4u3H6H5OefN5vW0S+lmsiwayBF7evnD4/0tFbC3ubE8XrM9VcgdcMlYSBFyj17pSzBegmihCICvusVtdlXhBUCfUfP+LdKXBTzItKVBInGzuvzP5aulgRi8CI6W3c1K4QdGWQBAQXdx4o4IQSuI3wUOEMz2TzCUBaw+0gp5zAEaRgwL9pAV0BlfRL7AORPFbEqA2aK1lrps0GRCcfvCXqs1Hydw7+NTSTxdFySexzriM4abr5tNJzOC3HKjoVcvm93AIk2iFt1oJsXOakFtCgFalr6fUvpnvyBKHvdnlUQq8i4MZ9aGb8CcR5WhR9BbDl3g70Hqs3oiS7kbyKZl/ro6nYy+z//rzZYWH0wOU4GlOzABnEWk23Lp8kbCUeQ3gZEc+T8Q5fNR3PhA72Td/zCdnKdwHRgLAOUglE22102neXLFousPDCuKQyBipP9u8606GZZCbSf820eY7KkE7m6pT+Ow5j85AEpDW8nxj3z5B+JitGcVvzIWpNSzczp2CfxROHQ+bh41tJr2hlXjmlgjreRbvWOyUsNYq71r8ylErFznvWpmgWT1NuUVOL2xt7bfdQ1shG8Zo1pTFWhzeBCh1k7V0K/yb1oGuy23p8KSKGXNL6kJ2CxKwQe2ESzXo5ZwvVuigDd90ue9QVSolYzzADLcQJN9UCcATi7IXT/h7uQEaPmYikwS+iecXct/Vhr8Ptzbf6q0cBqv/ag64ImiyRs+doH8a8m7x+eQfmcECtPH9AAxhhUj3616b6P2DiWN/q1BjsrC5AI+T5eEIgW2kcX2BJ4yf2drh69ZO6pFRplGaDnqdK6OSZCwom3hxENEvNNxnr/PZUC830wtJmHBYhdldGf/yBKLW6TQPRwI2m/RBFCmjO1XzdUSh06sFj2yXpMlkqcK+EiT6fXtP7Cye9WkGoE2MBxI9IEk01+7CuhhbTFqHh5hXOzCCBY5Be8x7CvDrlBdoHlz//KYMcfL2jSaurLvy/EQtGA9Q3uYG8M3Y8vzEMdZfWqs/qaKibB94F48uVQ+gkj/NcG6yUkTTo6IIUkzCMF6Pg96D8+tDkV+MNYlmkzhfJqnxCxLLKQFyscDRNiOKp1zhGDdXwMfoFtB0tVQoOBZpLyKpO3akQ2yBKDiPoppXyHxqoLPPbQh8UDEm0Nurb7lDymAdSKUf4ftYRiJ9Uc3cwrtFlKBZM1f6V9dYnGgUDenUrhaaJSRZcjNYFTOHWdfVVaMHn+SmrEQBg6HQ8163pReBRLJwk2p+jwCmCyNO8AB3PwhPnVhyTiKAMnr9YUpJjRn8Y20s1Af40NTEWv2aTZZAa1OgJT4zQWJR8aLDGXuFgrWNhVCa/ODO8cCInhW7zLiveCy7trMCRvBqmRkcnr3pQ+nyZVf4HI8D+0KcR5cPVIVF2AM3RWg4fbTpT0fXhRekbno+F+d1D1+ByhJrrobiXhjCuVuyAxwNvktp+Ie3PYc/sOxaDhBFn9oNpw6WWZt6ilamhkgC2t4LlRqTNJfwRGfG3dr+rEGw7KD3hk9vPvo+S24gOIEmY45YdjWxXWqUhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VuRRxFeyJ9qKG1unkvgn4i",
      "input": {
        "note": "Height commands near full reach are tracking badly (arm sinking instead of rising). Pulling the right arm back toward the base and up to get into a comfortable pose.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.17,
          "right_yaw": 0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01VuRRxFeyJ9qKG1unkvgn4i",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8005, 0.6136, -0.3828, -0.0254, -0.0372, 0.9983, 0.485, 1.8114, 0.9184, 0.2264, 0.3355, 0.2047, 0.9998]\nstate[eef_state]: left_x=0.296 left_y=0.0027 left_z=0.182 left_yaw=-0.0023 left_pitch=-0.0081 left_roll=0.0056 left_gripper=0.9983 right_x=0.4408 right_y=0.1707 right_z=0.0689 right_yaw=0.0735 right_pitch=-0.0528 right_roll=-0.0259 right_gripper=0.9998\nstate[joint_eff]: [0.212, -1.4701, 6.5299, 1.8242, 0.0317, -0.105, -0.0122, 0.1709, -10.4137, 6.3111, 1.9658, 0.0952, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1bed9ba0aeae6f1d415d364482ee24a651592c2058f874e9208f72408ed6176",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a83c0368c4184f3152abf3f7d8d9dbf034e87d43df34d5b77824bdfe57e4be5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1a10a2991aa90122496fe034b0c0ce4e161258741156f21a85af5fe22ff832e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 12.83 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7994, 0.614, -0.3832, -0.025, -0.0372, 0.9983, 0.5014, 1.8317, 0.9806, 0.1555, 0.3515, 0.2119, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0026 left_z=0.1824 left_yaw=-0.0026 left_pitch=-0.0069 left_roll=0.0054 left_gripper=0.9983 right_x=0.4448 right_y=0.1786 right_z=0.0713 right_yaw=0.0722 right_pitch=-0.0751 right_roll=-0.0411 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -1.6615, 6.5846, 1.7949, 0.0269, -0.0806, -0.0122, -1.3744, -8.7453, 9.894, 1.9805, 0.1245, 0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6136, -0.3824, -0.0254, -0.0372, 0.9983, 0.485, 1.8114, 0.9184, 0.2108, 0.3355, 0.2077, 0.9998]\nstate[eef_state]: left_x=0.296 left_y=0.0027 left_z=0.1822 left_yaw=-0.0023 left_pitch=-0.0073 left_roll=0.0056 left_gripper=0.9983 right_x=0.4388 right_y=0.1696 right_z=0.066 right_yaw=0.0715 right_pitch=-0.0671 right_roll=-0.0297 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.7573, 6.6667, 1.8339, 0.0024, -0.0855, -0.0122, 0.1573, -10.3863, 6.2974, 1.9414, 0.1148, -0.0464, -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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8005, 0.6136, -0.3828, -0.0254, -0.0372, 0.9983, 0.485, 1.8114, 0.9184, 0.2264, 0.3355, 0.2047, 0.9998]\nstate[eef_state]: left_x=0.296 left_y=0.0027 left_z=0.182 left_yaw=-0.0023 left_pitch=-0.0081 left_roll=0.0056 left_gripper=0.9983 right_x=0.4408 right_y=0.1707 right_z=0.0689 right_yaw=0.0735 right_pitch=-0.0528 right_roll=-0.0259 right_gripper=0.9998\nstate[joint_eff]: [0.212, -1.4701, 6.5299, 1.8242, 0.0317, -0.105, -0.0122, 0.1709, -10.4137, 6.3111, 1.9658, 0.0952, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1bed9ba0aeae6f1d415d364482ee24a651592c2058f874e9208f72408ed6176",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a83c0368c4184f3152abf3f7d8d9dbf034e87d43df34d5b77824bdfe57e4be5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1a10a2991aa90122496fe034b0c0ce4e161258741156f21a85af5fe22ff832e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS+QgKEAgSGAI4AUIIdGhpbmtpbmcSDEzNO+xBLsgupHzyuRoMH0SeXFzLg0lKjI3qIjCLPZQ1dE02zW0XjAU+mHelg1XmAgJd6SGWDChzIUTJPqpCXDUwh5O12F+QEV0LVfQqlggoORcSwEJApDE+SBtK7dyQoeBGW94UJggYpEqFylH/AwC3s9IbFTAd+fTBR5SA2y2smGOYeHdC2wwRtjmK5DwErOSJ2ZO4ueR5fjaASyMl3r01QQbKXEPKukx8JSwKYOX3+j8Gib10KwqttjiX3+GX0TlaC74Z1kpKUwQse9ArruP6vYUg2KCh1BplESSMPooWKg4SAJfRS9jMFv1EZLEOJochDZ924t9yxuv1hIct9evYIKaEd3zN1uNV6ULmI7uBgRTuS4b4Baw09ozLvKZILd1ZFhqUoaUPxL4pPasyQtIq4JuVJKFj7IbRAfrbjW760yiELCOE2eOvWp+Qv/2b+n7fCXj455Nh1/rG1S4UMxwS+Q9efgDMfCvHik5SkXA1Z7hODIzwfrtUk31t16fiHm2PVlonMMNDtsg5zopcEqQie9lcC3kNbyMQXeLJgz2ylQKZK5MqZIDx1Q2WDzvAjV6RCfclFLKQe7D4z7Uwae7HpUpnc/0pruyNE/hlPInyMZvPDysz+CY8TAKoxO3V3r3MwdeDa5b8yHTDKL6cCaPhfRUv8jt4zkceQcaLoMD+c2v3PgF3bPlE9HWOMjZIdcmY3s+Ob3TVOQ+2VUAcXrjP0F/NDBqKQinohkZHkAzeNAY9sCofXAga6pjV/RZDyNXiXV9NvR0kX3kkjJL1fb9Bl4uyox9fDusX5tovqIQcmmtbgZKJElRlqbpnRdC+iMesX676hhPAhUroOVatcAMiGNHtkmnrdT8dMlyKOPM1/L9lDoTZkOdUGkKWEBhctfCpFd3TGGwL3LaSagA2TaOabc745N5tw0bcwM07w9Wgem65LmXpxcT7SAxVHREXrxBfJvZcU8lyKzkAw1Wzc1qlcDbJXPTvaFmQ/w4eZVCrYKtTI02o5EItWXF0bVuvcB/xI/RAtUQM1+E9TSM8zgsug97PfylMVEnkaNJEN3cZgWbEASgOGy9JW+TRtaM1T091YBgIQlZDId1255qEiHtSZA7jpfvfOIHoGJIsUMir29hjRIhjahfrMvc15qEwJf6gg+GeB+Zp+gKVFAadkmJO3TjqW5DTHnh7LlP57rpBJLIoJQ7GcneUNUmhy3aGYMX0TSqx8Xxc5gORq5yL/aJcioSULs2GNZS/7H6liqITQdz8ZL7pX0hMlha5ieLhlI95zc5aW/tBMBA+Qi+BFYsJgUMc3CgRsNlPhb5upVuttRX10XsInnGM59VCiV01m77mtldq+kIXIcV+K/1nBoXbP+pe4omKJkn/0fcrbF37K/qXULOGHczHj67E+vfAGwak2KzSKt0eDXQrg7Uan38eof4RMAQifzEiztSsnzzgdevMpIO4BPf0KihPKXJyr5VkyVNcTlGxaqmUq8wCjHu6BiSCHxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014cFj39ZHyED7EASs4EUjdp",
      "input": {
        "note": "Larger moves are being clamped by the safety layer; trying a small 2 cm retreat at the same height.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.17,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_014cFj39ZHyED7EASs4EUjdp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8009, 0.6136, -0.3805, -0.025, -0.0372, 0.9983, 0.5014, 1.726, 0.8894, 0.1539, 0.3397, 0.2096, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0026 left_z=0.1824 left_yaw=-0.0026 left_pitch=-0.0062 left_roll=0.0054 left_gripper=0.9983 right_x=0.424 right_y=0.1694 right_z=0.082 right_yaw=0.0834 right_pitch=-0.0663 right_roll=-0.0308 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -1.2376, 6.612, 1.8486, 0.0366, -0.0952, -0.0122, 0.3487, -10.7966, 7.2957, 2.2051, 0.2369, 0.1148, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3faa5be7ac8ef3a557be0ba6c81f72d760a9146883d42f74c860212c262d9356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77b84de60836c8d9a39afee5aa65d0e17f0cc1261847037590433e1377a0edd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d0c3943c5a756b70a81d781692f2301aa8ceb3a1e0129d37b397eee50bf96ef1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 3.921 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6136, -0.3824, -0.0254, -0.0372, 0.9983, 0.485, 1.8114, 0.9184, 0.2108, 0.3355, 0.2077, 0.9998]\nstate[eef_state]: left_x=0.296 left_y=0.0027 left_z=0.1822 left_yaw=-0.0023 left_pitch=-0.0073 left_roll=0.0056 left_gripper=0.9983 right_x=0.4388 right_y=0.1696 right_z=0.066 right_yaw=0.0715 right_pitch=-0.0671 right_roll=-0.0297 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.7573, 6.6667, 1.8339, 0.0024, -0.0855, -0.0122, 0.1573, -10.3863, 6.2974, 1.9414, 0.1148, -0.0464, -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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8005, 0.6136, -0.3828, -0.0254, -0.0372, 0.9983, 0.485, 1.8114, 0.9184, 0.2264, 0.3355, 0.2047, 0.9998]\nstate[eef_state]: left_x=0.296 left_y=0.0027 left_z=0.182 left_yaw=-0.0023 left_pitch=-0.0081 left_roll=0.0056 left_gripper=0.9983 right_x=0.4408 right_y=0.1707 right_z=0.0689 right_yaw=0.0735 right_pitch=-0.0528 right_roll=-0.0259 right_gripper=0.9998\nstate[joint_eff]: [0.212, -1.4701, 6.5299, 1.8242, 0.0317, -0.105, -0.0122, 0.1709, -10.4137, 6.3111, 1.9658, 0.0952, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8009, 0.6136, -0.3805, -0.025, -0.0372, 0.9983, 0.5014, 1.726, 0.8894, 0.1539, 0.3397, 0.2096, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0026 left_z=0.1824 left_yaw=-0.0026 left_pitch=-0.0062 left_roll=0.0054 left_gripper=0.9983 right_x=0.424 right_y=0.1694 right_z=0.082 right_yaw=0.0834 right_pitch=-0.0663 right_roll=-0.0308 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -1.2376, 6.612, 1.8486, 0.0366, -0.0952, -0.0122, 0.3487, -10.7966, 7.2957, 2.2051, 0.2369, 0.1148, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3faa5be7ac8ef3a557be0ba6c81f72d760a9146883d42f74c860212c262d9356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77b84de60836c8d9a39afee5aa65d0e17f0cc1261847037590433e1377a0edd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0c3943c5a756b70a81d781692f2301aa8ceb3a1e0129d37b397eee50bf96ef1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FihhTCF7tyWDRkXPC4pxSc",
      "input": {
        "note": "Small moves are accepted. The bottle lies along the arm's forward axis with its cap ahead; aiming to grip the body on the cap side of its middle, centred slightly to the right, so it can swing base-down when lifted.",
        "targets": {
          "right_x": 0.455,
          "right_y": 0.16,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FihhTCF7tyWDRkXPC4pxSc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8005, 0.6136, -0.3828, -0.0254, -0.0372, 0.9983, 0.448, 1.8446, 0.8787, 0.2905, 0.3, 0.1818, 0.9998]\nstate[eef_state]: left_x=0.296 left_y=0.0027 left_z=0.182 left_yaw=-0.0023 left_pitch=-0.0081 left_roll=0.0056 left_gripper=0.9983 right_x=0.4416 right_y=0.1583 right_z=0.0496 right_yaw=0.0777 right_pitch=-0.0694 right_roll=-0.0273 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -1.5248, 6.7487, 1.8193, 0.0122, -0.0904, -0.0122, -0.1436, -10.8923, 6.0376, 2.4493, -0.0171, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:348050fedec4222b7c4921ac7b89143bb1b89597ee2b71415f6b5bfbe6230024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:798bde7a623963658e4a646cb67a73ec58eb544ef824ff35ccaf151f324e4994",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f9dcc98275d7476ad57a7c78153024794ce8a0e11f1eab0819aee077689106b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 3.669 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8005, 0.6136, -0.3828, -0.0254, -0.0372, 0.9983, 0.485, 1.8114, 0.9184, 0.2264, 0.3355, 0.2047, 0.9998]\nstate[eef_state]: left_x=0.296 left_y=0.0027 left_z=0.182 left_yaw=-0.0023 left_pitch=-0.0081 left_roll=0.0056 left_gripper=0.9983 right_x=0.4408 right_y=0.1707 right_z=0.0689 right_yaw=0.0735 right_pitch=-0.0528 right_roll=-0.0259 right_gripper=0.9998\nstate[joint_eff]: [0.212, -1.4701, 6.5299, 1.8242, 0.0317, -0.105, -0.0122, 0.1709, -10.4137, 6.3111, 1.9658, 0.0952, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8009, 0.6136, -0.3805, -0.025, -0.0372, 0.9983, 0.5014, 1.726, 0.8894, 0.1539, 0.3397, 0.2096, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0026 left_z=0.1824 left_yaw=-0.0026 left_pitch=-0.0062 left_roll=0.0054 left_gripper=0.9983 right_x=0.424 right_y=0.1694 right_z=0.082 right_yaw=0.0834 right_pitch=-0.0663 right_roll=-0.0308 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -1.2376, 6.612, 1.8486, 0.0366, -0.0952, -0.0122, 0.3487, -10.7966, 7.2957, 2.2051, 0.2369, 0.1148, -0.0073]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8005, 0.6136, -0.3828, -0.0254, -0.0372, 0.9983, 0.448, 1.8446, 0.8787, 0.2905, 0.3, 0.1818, 0.9998]\nstate[eef_state]: left_x=0.296 left_y=0.0027 left_z=0.182 left_yaw=-0.0023 left_pitch=-0.0081 left_roll=0.0056 left_gripper=0.9983 right_x=0.4416 right_y=0.1583 right_z=0.0496 right_yaw=0.0777 right_pitch=-0.0694 right_roll=-0.0273 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -1.5248, 6.7487, 1.8193, 0.0122, -0.0904, -0.0122, -0.1436, -10.8923, 6.0376, 2.4493, -0.0171, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:348050fedec4222b7c4921ac7b89143bb1b89597ee2b71415f6b5bfbe6230024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:798bde7a623963658e4a646cb67a73ec58eb544ef824ff35ccaf151f324e4994",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f9dcc98275d7476ad57a7c78153024794ce8a0e11f1eab0819aee077689106b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSngcKEAgSGAI4AUIIdGhpbmtpbmcSDEt/ltEkThKfyBBTkxoMsXDQFPuU/lzVRKF6IjBoQBYL76GLQqQqjuvZpo9KUTRT87b6WHWcIzLiD3Mmd6DwUQZ0Wu1tdJUEUzR5MJkquwZ5tl6gc9U9XJrkyuIxENod5uJB4LIbMm3cBRRrw3t2UflDQasVs12FHQIJNrlbSP5OssGx6Wli7jxqNMpA+OytRAITsBzNrnuqf2kGDhbo95aOr9kuwJ5guohmaGAmK9l7kd7q8s5qos3ZQ1XxucB/q/wJsn+5qRL2hoGtgxAh7o63jlfakJtyTEW2Md/m52KeDi5en/KgRnXJN4stdGl7m7FGbZUPvRcjWSf0wdrSYdz2aq0jgwVJYFxrGXssIfUwQjRqXUUeS8C3C7pggAwS5JK/ziTZdLKlBZgmfBJLAFfieEez23SNQGuOqtScuRiKqAMkSgnZI0MZHXJVy/U5MG8/HXNrHjEmahTgTrLDpos5lTiuvvvXFsRX9aKBRPuNI3MLnCQS3FmeEe6vZYmZADbp+Fpk3ry/FVIjTKmixFRYMm8v/ykS7dVaV/DJ54xCLuueAiNxLk/3HyIQjfuLzUEbj8r0oGz0ZHe/jlkAgvi3WewLf9Cv3rHLJQyMMhxuZEmzYJBESdBM5IT0NUZRVGW73hCnMrzeMQfvJhZMc5AcpAUqmdsCA1DOZRtACJwjayOzMM3/6SDY7Uqy9zMEAODJ+5Ucg/jFKrlMR83UdjwvVBs9LXsnuaoWuvdqfECbSHhsk8ZEWNuNSB8dcXS9JYkdaj7oQLGb4xQr7KPZN7wx1B7kv2ZIlJndj+Rvc2hcui0LLRxFKwXjH1Yv2DWzdun9CbQSI8dtWcPOz7AlZBP6hPotKCtYiSzIqrNsOf4lGQhOxnmExlhYTkmrDJ1JMsYRh2Zs/AmdF1T1XeDA4GyX0oCtief+lDT/KinhK2ZXNhCInlmQu0gw47t0r8wvNR/Boc2tnVz6AprYECU1wm9E5X3xpN27Q7iDYLx+DRVfbFqPOTdZnALBKQdPEAo2TaWL4bbjZnXGHleAqFbXHX9Xy3jeyXmLGTAiswjLthRGiWR3zgfYUAw72WoWhv27VBGGBESYxZO+4jDda43B3Lu7ko/leLDzw3nINMclZfXeW/x+yF9Iqbwnjytefwdv3r5eYLF3YMJLxsKS9KW6xmcXWZljS960gPjy/SpQfYXtZLY4Rw2hTa63FBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0198czPX9FBNdSXZa71jdZdz",
      "input": {
        "note": "Bottle is centred between the open jaws; lowering to about its mid-height before closing.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.158,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_0198czPX9FBNdSXZa71jdZdz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6136, -0.3809, -0.025, -0.0372, 0.9983, 0.4374, 1.879, 0.8371, 0.4011, 0.2867, 0.1699, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0026 left_z=0.1825 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4433 right_y=0.1561 right_z=0.0393 right_yaw=0.0851 right_pitch=-0.0399 right_roll=-0.017 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -1.4974, 6.5573, 1.8046, -0.0024, -0.1001, -0.0122, 0.5128, -7.0222, 5.2991, 1.9853, 0.149, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b35aefb1aa6f1c672f796d6657cb66dd933257e3a1ac5ae10dc857563e688d20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdc85ad0aee5667751f3394ca356cc893c7ed7809ef7f6ddc239fad9ee982445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04b3e859c06811e6dad8e9c9ae7191e0f1afeedba3284b88ecc86a62f23a5e73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 4.619 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8009, 0.6136, -0.3805, -0.025, -0.0372, 0.9983, 0.5014, 1.726, 0.8894, 0.1539, 0.3397, 0.2096, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0026 left_z=0.1824 left_yaw=-0.0026 left_pitch=-0.0062 left_roll=0.0054 left_gripper=0.9983 right_x=0.424 right_y=0.1694 right_z=0.082 right_yaw=0.0834 right_pitch=-0.0663 right_roll=-0.0308 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -1.2376, 6.612, 1.8486, 0.0366, -0.0952, -0.0122, 0.3487, -10.7966, 7.2957, 2.2051, 0.2369, 0.1148, -0.0073]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8005, 0.6136, -0.3828, -0.0254, -0.0372, 0.9983, 0.448, 1.8446, 0.8787, 0.2905, 0.3, 0.1818, 0.9998]\nstate[eef_state]: left_x=0.296 left_y=0.0027 left_z=0.182 left_yaw=-0.0023 left_pitch=-0.0081 left_roll=0.0056 left_gripper=0.9983 right_x=0.4416 right_y=0.1583 right_z=0.0496 right_yaw=0.0777 right_pitch=-0.0694 right_roll=-0.0273 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -1.5248, 6.7487, 1.8193, 0.0122, -0.0904, -0.0122, -0.1436, -10.8923, 6.0376, 2.4493, -0.0171, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6136, -0.3809, -0.025, -0.0372, 0.9983, 0.4374, 1.879, 0.8371, 0.4011, 0.2867, 0.1699, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0026 left_z=0.1825 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4433 right_y=0.1561 right_z=0.0393 right_yaw=0.0851 right_pitch=-0.0399 right_roll=-0.017 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -1.4974, 6.5573, 1.8046, -0.0024, -0.1001, -0.0122, 0.5128, -7.0222, 5.2991, 1.9853, 0.149, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b35aefb1aa6f1c672f796d6657cb66dd933257e3a1ac5ae10dc857563e688d20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdc85ad0aee5667751f3394ca356cc893c7ed7809ef7f6ddc239fad9ee982445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04b3e859c06811e6dad8e9c9ae7191e0f1afeedba3284b88ecc86a62f23a5e73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqAcKEAgSGAI4AUIIdGhpbmtpbmcSDJCs7c65SeUEAndxahoMhUKkcY1KFjUgUiNxIjBaEYeQWoXU31EqoWTmEqaUx47wNCcKh5mKxq06sW06j8HRCpqspzdKTvQOjg765LUqxQa7ufyuCVTDF4Fad25DKfyyTwaTP9udjq2cs6fJ5nuX+KDTTGqmmbd6DImEtUXEYvwEuJccnhG7BOopU3iDzmI4NeHuI9Lwcw9C9xCZxnLeyf/LJ1Z7HYfMkxRz8gCmI7eutXilDSqZSbkoLkSGQpoLxrj7rLWRiBP46bp6Ht+rMHz1cukNKZoInNorPwbdR0c9dbQp0rwqcfcN+BgkR0lwD2b8gDezZqZ2Ft2U+n0TqAxO38wfhZ+B5EoQDE6Q1dSO4D5PT7llRr7m4ukCNq4FB7gUCoHNRlKiVqQqSQs2fjwMttb1ZwOdzO4EIp8M3KgLJOVRPxO6u1+DEPAm6r8iHkxLpWEDKTYz9XmHggI/aUQMyfLOrLwaq3QtzdXxnr/j6qDbQIHRe/agDxCLdZJIw1qFJKwELgT64fg/35V3VzhJ2KA9qpasQDnI1uO1M5bcIEI/tjlt/XdcooxPSv54r3dLI8c20l0Mg4pi32Sf34n8qixrnbirDpLvi+rFMKP+wdWYOPQDGfTZbhYJ3yB+RQLxQjQ9SfM6FOaSdGkmBbbtJQon4GaYRckJUCDVKsBZMblzWbBZ9Y+DBkrobetN2UhOfqf55zAQ8IzED/9FdtcuZ7zSH6/V7wO3HqtViUyMLMbUWfxmxhTAiyS73PdWXKEuTqmRTBC6li+quC3gHJck5SYt2oxkqL3q/R2qIbc04tsEElvSrwr4Wxu7wOkkzEK+O4Np1wMMzHOb/BDaffHOcUbuYXcjvy4eFPBYblCX/qff57RTNWr1ZmZr5ZpMcFD01fRhj9dcQvzXFJpAjITHXcDVGGQMAMiHQ71pHDlUI8BgkIyMzQ7ugf3rlPMTkyf5acDRwvnc1v/v23wNm3uo8ZYOUN+Pd58sppv6/bmHU16J4J0MyFXNz4/xULuLmglx6/ZAZCIMQXhENJ1T5gkDq+8AFyHvzOCm1AporTFTbg3E2MFtkXsgzzPTnV3e/o3uGMphsxRD1UjLdJjMxAaXnmBqXpSxGsVLteWD10xdJM535UcGFYOyUWEFl3rA1BFMPtiWdqIn4fGRK7BecfInEy/ZZXptjQZ8Gm69dUSm7eui9Y1/bKCcFC+y3DBT8Sr28pwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011NThXf7XRdnFkn3bPnT8G9",
      "input": {
        "note": "Jaws straddle the bottle body just behind the shoulder; closing to grip it.",
        "targets": {
          "right_gripper": 0.4
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_011NThXf7XRdnFkn3bPnT8G9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8005, 0.6132, -0.3824, -0.025, -0.0372, 0.9983, 0.4393, 1.8862, 0.8181, 0.4744, 0.2832, 0.1711, 0.4307]\nstate[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.1819 left_yaw=-0.0026 left_pitch=-0.0081 left_roll=0.0054 left_gripper=0.9983 right_x=0.446 right_y=0.159 right_z=0.0433 right_yaw=0.0895 right_pitch=0.0035 right_roll=0.002 right_gripper=0.4307\nstate[joint_eff]: [0.0068, -1.5111, 6.8991, 1.8046, 0.0073, -0.0952, -0.0122, -0.0889, -8.0752, 5.3812, 1.7509, 0.2613, 0.1929, 0.9255]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07e3debb2b0bca9728f0ebfe569d90081a587267bbd3f5644c3a1358d7c73a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d4478d8a81116907f68582a83275a344f559d2ea5e7c7c32677b29f607a5b5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:507b5bec999cf68b7adb439b9731dbf5e58ee99694c6f6616560f586cd81ce70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 5.227 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8005, 0.6136, -0.3828, -0.0254, -0.0372, 0.9983, 0.448, 1.8446, 0.8787, 0.2905, 0.3, 0.1818, 0.9998]\nstate[eef_state]: left_x=0.296 left_y=0.0027 left_z=0.182 left_yaw=-0.0023 left_pitch=-0.0081 left_roll=0.0056 left_gripper=0.9983 right_x=0.4416 right_y=0.1583 right_z=0.0496 right_yaw=0.0777 right_pitch=-0.0694 right_roll=-0.0273 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -1.5248, 6.7487, 1.8193, 0.0122, -0.0904, -0.0122, -0.1436, -10.8923, 6.0376, 2.4493, -0.0171, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6136, -0.3809, -0.025, -0.0372, 0.9983, 0.4374, 1.879, 0.8371, 0.4011, 0.2867, 0.1699, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0026 left_z=0.1825 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4433 right_y=0.1561 right_z=0.0393 right_yaw=0.0851 right_pitch=-0.0399 right_roll=-0.017 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -1.4974, 6.5573, 1.8046, -0.0024, -0.1001, -0.0122, 0.5128, -7.0222, 5.2991, 1.9853, 0.149, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8005, 0.6132, -0.3824, -0.025, -0.0372, 0.9983, 0.4393, 1.8862, 0.8181, 0.4744, 0.2832, 0.1711, 0.4307]\nstate[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.1819 left_yaw=-0.0026 left_pitch=-0.0081 left_roll=0.0054 left_gripper=0.9983 right_x=0.446 right_y=0.159 right_z=0.0433 right_yaw=0.0895 right_pitch=0.0035 right_roll=0.002 right_gripper=0.4307\nstate[joint_eff]: [0.0068, -1.5111, 6.8991, 1.8046, 0.0073, -0.0952, -0.0122, -0.0889, -8.0752, 5.3812, 1.7509, 0.2613, 0.1929, 0.9255]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07e3debb2b0bca9728f0ebfe569d90081a587267bbd3f5644c3a1358d7c73a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d4478d8a81116907f68582a83275a344f559d2ea5e7c7c32677b29f607a5b5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:507b5bec999cf68b7adb439b9731dbf5e58ee99694c6f6616560f586cd81ce70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpgkKEAgSGAI4AUIIdGhpbmtpbmcSDFmk/JrH3aNE6aGoyxoMsev45ZOtUqkcb4CyIjAGPUR2gdBtX6uUtFJesOjX7W5PvOyFrq8vMtNyA788Z0LgkjQsvLTFi2RSJxJP8XMqwwgp+Vbnl0KdpvMQHi6kwunPDiziq+ztkCeUA5mNgYeVVAYxraHNRPZAojQGkjPCC/a2Fjx6FMXE0mzCDu6KRibzE4AYGhNs2UHY0V7KGkybDXuaHUUs8SK+U3BKuk8i0zPyf8pnse+ZPK/lPUTB9kYFJqW3+bIQ7yNHrzzvgKyktCiOvtTBUCU2cwCN7qUwoAPt+DfKJh0SGr+dpUWkK4tx2KiY6facnd4IIPSA21p+jRE+NvwUU1bZyJxqQhQ+1yx/9z/Ypr0wraCzp5FQ6oePTh8Fzo0p/dReLNAvQaw+jv0/NCni6zNS8n+hheZaq77Wst2DVJMNJcTvxx5plVF5Z+Oe4biy7E2ZZCyhkjGkgasTGL5bzHJRXu722ZstomR8cJ1BI6eFBW8EyeqoDmpVeHWE5+gzL3DbGtWb/dk9eVo45rZ88+/WuBFczomXzDd/yuqSHJyuR0sYGG4QFlRhdLwUCxmspbFepGQ5auci8XMWSPKo1LmDgRTToCr4dqxhplU6+6bCufhJnGLFzKnGng9qiRlSPxVaz4EZbIKDpWbqd6uTU2cS2MwZnytGBO4eD4e6FsjbXreFshzI8tb8WeSY3KCmd01eg1XU34qTFGjbMjkMOUjPxhSeU0e2CV+AX2mEbexoNTGrx661H9RH0ht7QWA0N5l+J7FM/nK6lb1fY9dNdZSICH/YmiKIXMO3k1wPXlg27qox3uhQEy0j/5AvISWebmqLvNbPtS4+mOn1klsgdHrBKKOq7lQkaQ8PvN+p82CN3hwFu5VO81v9/uTgPlDsYm347yAr6m1qYDahJdL9pMeATg180Dq3fuk+U6e3m5EVQQQSsQalfkCZ1u8fOL8imNuJi9wurYn5M/yL4xDvJ20sJdpoEyP+YB/fyvixUOppkHXkQLkQPn39sUpLZzlZDH5D7Sa42XEdTbEy2GTYbhkDYJ+5VgLbW07smBnbEtBMY9RZqByop8WLwARWDoqdgHvT09s+8d+gWi44TlrLqRkBNPo62NWbPFiLAGecBgWfbs5sOVc4DEXTgDAGbH6g17GX3dL7DpQ0NLcloXQoCV+t13DmPL/KTOL3e4s5aJH8LnsiKdJpOWRhjW8TpKHH/kUQ3LmrQlAczxz6Ach97+d3m5K+5oaObjcXrJOS+P25r4y+8FLqhi9Bhz24tp+iTYz7ftYVY1w4ZjXXVyCQiVwpmRFLbSGqpU978C+x+17ADHXUUROq0TwrD+7zgTU6X4MNmBWH5enoK/3YM+Ikdbw2efs6Uf+y/gH1PKSVFtzQGyNlkrp0T7ueRoSAoL5RlTbinHW4jQLlRpPKeWaEawrahmE01YN97YQXqMqoLd3FEszT8tCKu8dXfcxrEPMi7N+xgSiwIl1mqCvESxd81U9x30VCC+xNy0igT20a7BuUSum2BYMQe8xx6cjrYUWA1izN+7/qanTKBQ6ejxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pd4gzPjuZbfcfKeoNVYuWN",
      "input": {
        "note": "Bottle is gripped (reading 0.43) near its cap end. Lifting so the bottle pivots with its base dragging on the table.",
        "targets": {
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Pd4gzPjuZbfcfKeoNVYuWN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3824, -0.025, -0.0372, 0.9983, 0.4412, 1.6547, 0.9962, 0.1238, 0.2749, 0.1589, 0.4313]\nstate[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.182 left_yaw=-0.0026 left_pitch=-0.0077 left_roll=0.0054 left_gripper=0.9983 right_x=0.4524 right_y=0.1646 right_z=0.1505 right_yaw=0.1044 right_pitch=0.0579 right_roll=0.0156 right_gripper=0.4313\nstate[joint_eff]: [-0.0889, -1.7026, 6.3795, 1.8437, 0.0366, -0.0904, -0.0122, -0.4855, -7.4598, 7.5282, 1.4579, 0.1538, 0.0855, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7f83ca5d91dbe49b8284acf45a3dc442f73695b414c38879cd8adf1f242fa69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa6544d590eb34d236410aff1e4b51af38e0e948535ac4ac502dc2e0b6015d2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae8750963b1ddc4fab8b5ebcd181ff5f2316e0fad4de0b8af060345771a6733a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 4.906 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6136, -0.3809, -0.025, -0.0372, 0.9983, 0.4374, 1.879, 0.8371, 0.4011, 0.2867, 0.1699, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0026 left_z=0.1825 left_yaw=-0.0026 left_pitch=-0.0058 left_roll=0.0054 left_gripper=0.9983 right_x=0.4433 right_y=0.1561 right_z=0.0393 right_yaw=0.0851 right_pitch=-0.0399 right_roll=-0.017 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -1.4974, 6.5573, 1.8046, -0.0024, -0.1001, -0.0122, 0.5128, -7.0222, 5.2991, 1.9853, 0.149, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8005, 0.6132, -0.3824, -0.025, -0.0372, 0.9983, 0.4393, 1.8862, 0.8181, 0.4744, 0.2832, 0.1711, 0.4307]\nstate[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.1819 left_yaw=-0.0026 left_pitch=-0.0081 left_roll=0.0054 left_gripper=0.9983 right_x=0.446 right_y=0.159 right_z=0.0433 right_yaw=0.0895 right_pitch=0.0035 right_roll=0.002 right_gripper=0.4307\nstate[joint_eff]: [0.0068, -1.5111, 6.8991, 1.8046, 0.0073, -0.0952, -0.0122, -0.0889, -8.0752, 5.3812, 1.7509, 0.2613, 0.1929, 0.9255]",
      "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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3824, -0.025, -0.0372, 0.9983, 0.4412, 1.6547, 0.9962, 0.1238, 0.2749, 0.1589, 0.4313]\nstate[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.182 left_yaw=-0.0026 left_pitch=-0.0077 left_roll=0.0054 left_gripper=0.9983 right_x=0.4524 right_y=0.1646 right_z=0.1505 right_yaw=0.1044 right_pitch=0.0579 right_roll=0.0156 right_gripper=0.4313\nstate[joint_eff]: [-0.0889, -1.7026, 6.3795, 1.8437, 0.0366, -0.0904, -0.0122, -0.4855, -7.4598, 7.5282, 1.4579, 0.1538, 0.0855, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7f83ca5d91dbe49b8284acf45a3dc442f73695b414c38879cd8adf1f242fa69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa6544d590eb34d236410aff1e4b51af38e0e948535ac4ac502dc2e0b6015d2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae8750963b1ddc4fab8b5ebcd181ff5f2316e0fad4de0b8af060345771a6733a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1goKEAgSGAI4AUIIdGhpbmtpbmcSDKlu0liur20G7euC/BoMhyqv7GThhUIpFPpeIjAzvZFvVY+WOCtZwrX47Y6G7/SeqaxY2P8AlWTZqXmxX6Jgmm7vru9jhsV+zLYE4vQq8wmVkFRrzE5Y84YqwKX9NiFPOeS6Y8l7Yy+JGC4atbg2qSKfbkBd4rLvnlQnAmkjKzCuFhbNO9/9qkNkND0rqLVhoNk2aUX2UFQLDCpQvEoa9VA7rUhSqRBvehY+XIfnkrVMOL4xsjVM+fLuKEGcisoOGheMDOLzQJmIe9IJuGqsvUHFbDdP/7OGHo74HGU+wJj6rBlfVzVtsI/0wcw94cP/9SqDNy8tjdc8LiN1HrUOnMQCNieQ/6YkgUMOjA+O1224oV7RfuKFou0UBh/yG+1alevlvGK+WFNA11hePhRpU1kqv/bHrNwLg/fJlOl1OrZf+T3Bg5gYtntUq/YfW8FGgADJINzP9TI5wxTPxZh/sym74Twm1W8uqs3HalmZimo7UcWfJoe5BccFNv78SSNLLHzfv4SYBY7oNlXD8r6DdBOOOVV8xDj4wK35kpdsBJDi1pJ+2ELVZmWaUOAYfE9Q2ohDKEhV3HnIVXl7w0NBYCH0vkNEz/jrPGwfeEZ1usuZBdkWwQBgBNr+hMTw9qHcOhzjbySL6aizIRfpj46qXTnHQXEk+sdyPamXNd/0F2B9fc3R3KEf7lsXA6NgNFY3M5dPlDbwvhtpJmoRD7H+SLzK2kUUTiVEENcc3tjd0sE+ZOezCU/3Mrqm+ySCmyRawVjUA4RG0sxWBANACIj8MuxnhRTLEe3YKk1jlNEQaxhLSyZMLcBuuPBkWayF474tN+z2RSuUqtmwKL45u5eJCW3nUvP4XzQEMv/3DyVDz0sBaMX0J309qeDQ7PDmrZ3xho9/APGBBxWK0HuQhMoa1F7PWRDS7A1dsj9/WxE0+p7+w7sKggW5GEFz891k6D9GaQrWvLTNel33KqwLur5HsYp1YR69k97rYMzSe0+TTgbzCFlDxkNrkjNa7S5loZnNxdqissphcNroGKabDzEh3NXlItA9RhxAEHZTO0r4QBDJZKYQ0PYL8A7yt4KPFshkSO4UePpGBZc5xeNt1RCR4VHCrPYZUrPbEFT0ytcmLJ3+WSvREMQX7njRdx7DgKc/NuXpt0VTtqgKzZ0liI5ZPTA4hMHb+uhxm0cNSB9YPUQNFLaSs3foPRJ5ZdbVqLVrThXUyk+QyCAl9YVmVvs7iE3JrZQZPnTArqoB7HyLZdGFFxw26zM+PO7XPHBp24D4pRF6Otr0Emm4sdPtZb1veCj5JHCTENaVusRf3q7pd7e6sxudh7BsZg/W639Bjn3uWYZLT7QrrNNJqmYb+6OjGDAZAnum3+27IMkjsvUFG6mxbP/veqibh0PVue+5gBt1jA8IuR0ftkOK3+0hsE4hUGv5QCL6BwjN1l63Z579UkiYfK6b1h3Di4htKbZ7J1Bl5GX3rB/FaCdIWF7CUxPDsuyO/9YcdvaYHzzF2Bjvc/01SVWc75UUXVHL/a/SbJKx2qGiItNLFQN2igLATpB3lCg9AEkgzmhKoxIyV6KuWBvim51yJC67r9HR49TVWzQ0UKXe5yyWtEqnPa0hoB2LJOgy99cwrS+Fh+3tXar/056lO+VFpExx/gOWvLWdk9jC4C7mUxvJiAYMUfI8CqHoUKp1YAmvtfSfrklbpwgZj0GrAbuY7wwnUDsnWn2kBeKsSBizm3Y4i2v5ukn8b7nSdBWBkJk+KWArybRn1JWDf5h/UmyQ9icYRzNk+YwK+1C1srGFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W2rze3sQwhRC43Loew2cBh",
      "input": {
        "note": "Overhead view shows the bottle now hanging roughly vertical below the gripper. Lowering slightly so its base rests on the table before releasing.",
        "targets": {
          "right_z": 0.135
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_01W2rze3sQwhRC43Loew2cBh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3824, -0.0246, -0.0372, 0.9983, 0.4408, 1.636, 1.0206, -0.0036, 0.2752, 0.1596, 0.4313]\nstate[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.182 left_yaw=-0.003 left_pitch=-0.0077 left_roll=0.0052 left_gripper=0.9983 right_x=0.4418 right_y=0.1593 right_z=0.1439 right_yaw=0.1038 right_pitch=-0.0217 right_roll=-0.0118 right_gripper=0.4313\nstate[joint_eff]: [0.0752, -1.6068, 6.3932, 1.8095, 0.0122, -0.1001, -0.0122, -0.3214, -7.665, 7.4188, 1.8193, 0.1343, 0.0708, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50868b931df7be335e118dd6e8a43ce77998d483e2299f640f8f87d6bcb4440b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:014279285cd64480dc82948b877e1bac04f4bfca096e0d7386de69d1ce947af7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:312187f010888043b83bd8a895f8c304dc4acedc7f0abc88acff8684c07d0421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 4.05 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8005, 0.6132, -0.3824, -0.025, -0.0372, 0.9983, 0.4393, 1.8862, 0.8181, 0.4744, 0.2832, 0.1711, 0.4307]\nstate[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.1819 left_yaw=-0.0026 left_pitch=-0.0081 left_roll=0.0054 left_gripper=0.9983 right_x=0.446 right_y=0.159 right_z=0.0433 right_yaw=0.0895 right_pitch=0.0035 right_roll=0.002 right_gripper=0.4307\nstate[joint_eff]: [0.0068, -1.5111, 6.8991, 1.8046, 0.0073, -0.0952, -0.0122, -0.0889, -8.0752, 5.3812, 1.7509, 0.2613, 0.1929, 0.9255]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3824, -0.025, -0.0372, 0.9983, 0.4412, 1.6547, 0.9962, 0.1238, 0.2749, 0.1589, 0.4313]\nstate[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.182 left_yaw=-0.0026 left_pitch=-0.0077 left_roll=0.0054 left_gripper=0.9983 right_x=0.4524 right_y=0.1646 right_z=0.1505 right_yaw=0.1044 right_pitch=0.0579 right_roll=0.0156 right_gripper=0.4313\nstate[joint_eff]: [-0.0889, -1.7026, 6.3795, 1.8437, 0.0366, -0.0904, -0.0122, -0.4855, -7.4598, 7.5282, 1.4579, 0.1538, 0.0855, 0.0611]",
      "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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3824, -0.0246, -0.0372, 0.9983, 0.4408, 1.636, 1.0206, -0.0036, 0.2752, 0.1596, 0.4313]\nstate[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.182 left_yaw=-0.003 left_pitch=-0.0077 left_roll=0.0052 left_gripper=0.9983 right_x=0.4418 right_y=0.1593 right_z=0.1439 right_yaw=0.1038 right_pitch=-0.0217 right_roll=-0.0118 right_gripper=0.4313\nstate[joint_eff]: [0.0752, -1.6068, 6.3932, 1.8095, 0.0122, -0.1001, -0.0122, -0.3214, -7.665, 7.4188, 1.8193, 0.1343, 0.0708, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50868b931df7be335e118dd6e8a43ce77998d483e2299f640f8f87d6bcb4440b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:014279285cd64480dc82948b877e1bac04f4bfca096e0d7386de69d1ce947af7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:312187f010888043b83bd8a895f8c304dc4acedc7f0abc88acff8684c07d0421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/wkKEAgSGAI4AUIIdGhpbmtpbmcSDISyst3suiySMi108hoM7PXcAuj25DEpjwsfIjB64SgIu+iS8ML4Ly/zQDK78s9+WB92kse0FRwcsu4CyuHuKhfiGvuHg+UJa7t7VXQqnAn+C+mH2YxpOd5GGOVj0m+XJapQD948MrpxW1/O9jzjbwWM7ddE1826EHIeCpYaXJBz/RuViG0a1igN5Cg6SsGzu4n2c1P9cxRPVcLb5loYcJSnH0q86+ctZOvcrR+SJCCtbF5EWLKjkjFSzGCaiqg/St7m1HkuIOFHHb2l+0rMV5TOrwImAJBTnv4iAsznQMDMbqsbc3cMorbSuH5bYl6OjLYbMYv5iMXo8JlRLANZox6OG7CT0QNEkiB6WHcggogfUtM7s1tDE7kCb+6W8a/ysM8xruT4Z78T5bjtcnW+W004aBO0vuCXtOfsPbDzw9aqT7lmv/gAZGE6FtOq6+kwIXj7U8eVxpcUkMx4ypBWkDVtDPA4ZDcgBiZ/W4PkAn1tDaq39WNR5OPQuqX0q6KbYIpY6aX9UpIxKjsHPwVBAT/lircCf8teWF9GbvGV1XSaS+DXzXAEeCk/RK9zmBpEHa9wMSZ3R/FRjAlLjUt6eedW3Y12jpTf71CRiCNhwDVA2AygrGCIy3hb2fgv+lvby0L6L4ETICEVLuCxnqc6/IlimtNjnn3ZI2NZUQDRrygDSvy8iGiLfMoo04ubgPGmvG1vDK7yVbzA+ySlP5b3dz5saH3NssBNVeFBNH15rVNxH9Q1ax/nORUGAHlcWiYxJEXyj5/fpVcsJR3BVBYxn2hmy3+0vRicFlmSPQN8GTPS4IHTXEnYkVbAv3RQCIW5KlgopXBX1RUHC8f0cnxLLBPJy85mU7QNxEw351KgxVYQx7QI+dYSmN7WXY11kGf1SfvGzJ6/TC+eMt98vte8siukcmWJghwvw8Av3musLamj9mPgPAyqfdY+Ekz04owGQL0Hi5NQLZ75a5gYvOaZtdtKuAuv261P9QDyiWs8NYEPXV41JYpl9d7m4EbAz8DnlZCE16E5sB/TSaSDcPfiIe+udRIqeejweUwqgycn7bkZLGKLkEp3iVIv9QWgZI0vov4pxZ34bKE+9StnKjIhBdGWVY6sVgtSAJYccg6QggMu8w1A0c+uKpjMN7rrosJuOH8SLAiSHo9UcAroBbJZqsmcmEV8ugwbfCDnIWGQuYYBbXWA7NrwGDjbFAkwyd3Ip/AQbmGiDDvXh/tOyH9JSMsndp5eOI7uviLqVU2e3t77k1l/FnmncFjsE+uj/PVlPq32J9HVNpj/4B7wZ773tJoJS0ddNAfGhDUx5I0QM99lEr1lyW9bmEbH3XrgV8P6i5ynenZfhlgt2uVfsa4Y/eF2QR1YhN9kgj18NEp6QFkxNA1c6+AkC2aCwgZWK+nvv1NOdEnuRJgSe5iy8VCDaCFy6iYUXTFUixhr6nTN9TLnKMhtXIX5dwDE/UfFrlXog5y+mmItsBK5MsDlAAEgPJb2akrt3l3HEtE22BnHids1Z9JpiCV6NTSUE9wpJJh8SuAQZf4oKzA++LEbnJhQCSRQezZjGNFaKRQTv9N9+rrkScj2XicVXS04NPElxuvb2jL4jnWwzzxu6jsWLxF7o9L1wlacP8vXsascKZtt0PDvnKbbGhuRkB1eY1o6COqLVkDR1/nQEWT0/8wsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EXzCNQ8M5U4xouSvFRGic7",
      "input": {
        "note": "The bottle appears to be standing on its base (descent stopped at z≈0.144). Opening the jaws to release it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01EXzCNQ8M5U4xouSvFRGic7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3824, -0.025, -0.0372, 0.9983, 0.4408, 1.6577, 0.9958, 0.0376, 0.2745, 0.1532, 0.9957]\nstate[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.182 left_yaw=-0.0026 left_pitch=-0.0077 left_roll=0.0054 left_gripper=0.9983 right_x=0.4422 right_y=0.1596 right_z=0.1316 right_yaw=0.1079 right_pitch=-0.0268 right_roll=-0.0185 right_gripper=0.9957\nstate[joint_eff]: [0.0205, -1.7299, 6.3932, 1.8193, 0.0366, -0.0757, -0.0122, -0.4444, -10.2769, 6.6256, 1.6532, -0.022, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdd4ee18ef8de1e03fa6c6316b52f540f61267d369ffe7ceba72633eeec3e90a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3d3e6e7e35ebf2c622da18b19e45abb8f7537121fe84e217dd09cb4225e1341",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43066d82961bf3bded3c48e7574bd32e14edf624d026f813ad7d7bf6780a4e02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 12.37 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3824, -0.025, -0.0372, 0.9983, 0.4412, 1.6547, 0.9962, 0.1238, 0.2749, 0.1589, 0.4313]\nstate[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.182 left_yaw=-0.0026 left_pitch=-0.0077 left_roll=0.0054 left_gripper=0.9983 right_x=0.4524 right_y=0.1646 right_z=0.1505 right_yaw=0.1044 right_pitch=0.0579 right_roll=0.0156 right_gripper=0.4313\nstate[joint_eff]: [-0.0889, -1.7026, 6.3795, 1.8437, 0.0366, -0.0904, -0.0122, -0.4855, -7.4598, 7.5282, 1.4579, 0.1538, 0.0855, 0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3824, -0.0246, -0.0372, 0.9983, 0.4408, 1.636, 1.0206, -0.0036, 0.2752, 0.1596, 0.4313]\nstate[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.182 left_yaw=-0.003 left_pitch=-0.0077 left_roll=0.0052 left_gripper=0.9983 right_x=0.4418 right_y=0.1593 right_z=0.1439 right_yaw=0.1038 right_pitch=-0.0217 right_roll=-0.0118 right_gripper=0.4313\nstate[joint_eff]: [0.0752, -1.6068, 6.3932, 1.8095, 0.0122, -0.1001, -0.0122, -0.3214, -7.665, 7.4188, 1.8193, 0.1343, 0.0708, 0.0611]",
      "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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3824, -0.025, -0.0372, 0.9983, 0.4408, 1.6577, 0.9958, 0.0376, 0.2745, 0.1532, 0.9957]\nstate[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.182 left_yaw=-0.0026 left_pitch=-0.0077 left_roll=0.0054 left_gripper=0.9983 right_x=0.4422 right_y=0.1596 right_z=0.1316 right_yaw=0.1079 right_pitch=-0.0268 right_roll=-0.0185 right_gripper=0.9957\nstate[joint_eff]: [0.0205, -1.7299, 6.3932, 1.8193, 0.0366, -0.0757, -0.0122, -0.4444, -10.2769, 6.6256, 1.6532, -0.022, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdd4ee18ef8de1e03fa6c6316b52f540f61267d369ffe7ceba72633eeec3e90a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3d3e6e7e35ebf2c622da18b19e45abb8f7537121fe84e217dd09cb4225e1341",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43066d82961bf3bded3c48e7574bd32e14edf624d026f813ad7d7bf6780a4e02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnQgKEAgSGAI4AUIIdGhpbmtpbmcSDM8XR4BnwC1aEg6RbRoMNbEq7nh6sMJ2tnKEIjAmxdD2q1iRvy5Eyu3HnnZLqFfKSZJeiRU2G8lUnhlWAfYLvhzaB+/yUqE01ParEUIqugdRkcoby7GWaL3g3Aq/+GunvBgcLNEyiGxzUZQ+ab7dEtK0IyFX/8tDrq4HkcfKNM6vrQ42GefWSZqVNXrNSmspDkhg9Srgl0On7bPqCso30OsG5YNrOJKutRIqJKZaF1sb2gjI8+2YIU+ZyKLVdSg3M/F7sjTK1MkzaNmNeq+2wlPs9l1gQaXRT/6XwzswEjoZRA7/QsjlmmDZHkTL/a+smTB9DUu38a2stKzANOFzPlxQK+Kl5wEqIxCqsq9yn2X6rFO/x1SNiyPmSBAhxEInQ0PD8cnLvyCfjImnJV53WXE9LtPCYRc+xqXpH3ITOkVw5tuMmdo7lC0tPkc5XNlzuJR087knFkmDhmdFPYiGN4ndBmZxLhOF1C4ZFUTRDOaOXYcBRxpWrbxEZIpzGZAnCEepTg+4wOxMjcIJV2w+9JJ0uu9ufI4gcrHdEyrCJVv7kks/F0EBnUqX6Bg1s31KiByNz+b9yQB/19LsnCobiYX8Lg5zmeTjLryl4H6r3CQQOIMrdwmT6bivGuBO5OS2Cpw30gIXHoBUB8PQl668uV0Q3PpDiGGKohUHAJBAOVdsthdxZHlBGsik1ogD7FfXsmvlU/vOywSbZETskT1iYacrMNm+6+3My1IRtSirGPQ/GnLVgVmGZzUneV1joG827KKvJWvIA77ieQXN8ByBLAwl6JozS2nt7aBD+pYp1ls2wTRAFqtyK0f8pMsRtVci8n6nLG/oRXc+fJaG140qyDN0323iVQPIXMv7m2QoXonQClJ6U8i/SQN/JLxcsai2VJW2gHRHxVuYzmRvwg1awYA0j9aNE1bWyhI//PbyPW6WuHv1t29o4l9u4rpGWhaYAGfE7eC+FgNiVfYoMjk128GdP/G3u0DjsSny7kRrt1K/rJLKIOdUsL8wZEVggJai2bDqP5jI+S3MxCbxtp4BwnCj+8jsqaSVMVDW1R1oz9EdKQi81Ve0meHSyY9ikW7oY3vgGwSvBB2wkO53ilVILz46WgXJJ9BlWCk9Q7KKoUjAInGjWowoaZy91QTIXAsb/iCk/xQ7vmX+HqjMmrF1LtsJutBmEjU98cudDixhpfikXyNGg9VM3kRSeZC7f8E2cXLoHyzTpDliug+W/GVNhUQFWGon5FYiwFExQcYpnLok1IM4p5cW9h67WxTHe6VWZ4qX+/yRp77BPz2jhqz8o4mtMnEjDIwWENMQ28B7j+ofA3rOdKK9zCWMPB/kbLnzaidN12u1N3dt52evf4L+4qnPEJwaMax4wtsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013Jk9XHMVYUxzndkQ7LuA9p",
      "input": {
        "note": "Released; the bottle appears to be standing in front of the jaws. Lifting and pulling the arm back to clear it and check in the overhead view.",
        "targets": {
          "right_x": 0.4,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_013Jk9XHMVYUxzndkQ7LuA9p",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8005, 0.6132, -0.3824, -0.0227, -0.0372, 0.9983, 0.4953, 1.4563, 1.0618, -0.2352, 0.2913, 0.1734, 0.9955]\nstate[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1819 left_yaw=-0.0046 left_pitch=-0.0081 left_roll=0.0042 left_gripper=0.9983 right_x=0.403 right_y=0.1642 right_z=0.1948 right_yaw=0.1376 right_pitch=-0.0285 right_roll=-0.0129 right_gripper=0.9955\nstate[joint_eff]: [-0.0889, -1.1966, 6.3932, 1.8095, -0.0024, -0.0806, -0.0122, 0.1573, -8.3761, 10.4, 1.7167, 0.3101, 0.1734, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:754649fcc45ed0f0c43db41911d575f5ace650b6717694c88f1cb6e7dfbfa406",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d97467eee0716b906aada8b5c95ea42212dc63a36b93ee585125fcd21822470",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb5bab1a50cf45856dfb0b07c790bc83ec1ac1a0f76d77557f7f55fd73e630e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 3.499 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3824, -0.0246, -0.0372, 0.9983, 0.4408, 1.636, 1.0206, -0.0036, 0.2752, 0.1596, 0.4313]\nstate[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.182 left_yaw=-0.003 left_pitch=-0.0077 left_roll=0.0052 left_gripper=0.9983 right_x=0.4418 right_y=0.1593 right_z=0.1439 right_yaw=0.1038 right_pitch=-0.0217 right_roll=-0.0118 right_gripper=0.4313\nstate[joint_eff]: [0.0752, -1.6068, 6.3932, 1.8095, 0.0122, -0.1001, -0.0122, -0.3214, -7.665, 7.4188, 1.8193, 0.1343, 0.0708, 0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3824, -0.025, -0.0372, 0.9983, 0.4408, 1.6577, 0.9958, 0.0376, 0.2745, 0.1532, 0.9957]\nstate[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.182 left_yaw=-0.0026 left_pitch=-0.0077 left_roll=0.0054 left_gripper=0.9983 right_x=0.4422 right_y=0.1596 right_z=0.1316 right_yaw=0.1079 right_pitch=-0.0268 right_roll=-0.0185 right_gripper=0.9957\nstate[joint_eff]: [0.0205, -1.7299, 6.3932, 1.8193, 0.0366, -0.0757, -0.0122, -0.4444, -10.2769, 6.6256, 1.6532, -0.022, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8005, 0.6132, -0.3824, -0.0227, -0.0372, 0.9983, 0.4953, 1.4563, 1.0618, -0.2352, 0.2913, 0.1734, 0.9955]\nstate[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1819 left_yaw=-0.0046 left_pitch=-0.0081 left_roll=0.0042 left_gripper=0.9983 right_x=0.403 right_y=0.1642 right_z=0.1948 right_yaw=0.1376 right_pitch=-0.0285 right_roll=-0.0129 right_gripper=0.9955\nstate[joint_eff]: [-0.0889, -1.1966, 6.3932, 1.8095, -0.0024, -0.0806, -0.0122, 0.1573, -8.3761, 10.4, 1.7167, 0.3101, 0.1734, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:754649fcc45ed0f0c43db41911d575f5ace650b6717694c88f1cb6e7dfbfa406",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d97467eee0716b906aada8b5c95ea42212dc63a36b93ee585125fcd21822470",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb5bab1a50cf45856dfb0b07c790bc83ec1ac1a0f76d77557f7f55fd73e630e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UzWR68dmkJP76Xvr8arfef",
      "input": {
        "note": "The bottle fell back onto its side after release: I only lifted to about 70° tilt. Going back over it to re-grip near the cap end, and this time I'll lift higher so it hangs vertical before setting it down.",
        "targets": {
          "right_x": 0.445,
          "right_y": 0.16,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01UzWR68dmkJP76Xvr8arfef",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3828, -0.0231, -0.0372, 0.9983, 0.4297, 1.7737, 0.849, 0.2642, 0.231, 0.1329, 0.9955]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1819 left_yaw=-0.0042 left_pitch=-0.0081 left_roll=0.0044 left_gripper=0.9983 right_x=0.4334 right_y=0.1581 right_z=0.0628 right_yaw=0.1432 right_pitch=-0.0693 right_roll=-0.0212 right_gripper=0.9955\nstate[joint_eff]: [0.1162, -1.7026, 6.5436, 1.7949, 0.0269, -0.1001, -0.0122, -0.841, -7.9795, 5.559, 2.1074, 0.0562, 0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4c328c1417d63da48eee3dabb09ee406aed464d44bb7df79d2e175f7c3ffc89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c42e6ecf477f3260c090ca520d26b58ac850927323aa1a04035fc28b25b1dd7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8e6918cb143a4ab5a52177e09c218fc2b2d723e908ac71a33576c2bd91c9de0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 4.617 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3824, -0.025, -0.0372, 0.9983, 0.4408, 1.6577, 0.9958, 0.0376, 0.2745, 0.1532, 0.9957]\nstate[eef_state]: left_x=0.296 left_y=0.0026 left_z=0.182 left_yaw=-0.0026 left_pitch=-0.0077 left_roll=0.0054 left_gripper=0.9983 right_x=0.4422 right_y=0.1596 right_z=0.1316 right_yaw=0.1079 right_pitch=-0.0268 right_roll=-0.0185 right_gripper=0.9957\nstate[joint_eff]: [0.0205, -1.7299, 6.3932, 1.8193, 0.0366, -0.0757, -0.0122, -0.4444, -10.2769, 6.6256, 1.6532, -0.022, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8005, 0.6132, -0.3824, -0.0227, -0.0372, 0.9983, 0.4953, 1.4563, 1.0618, -0.2352, 0.2913, 0.1734, 0.9955]\nstate[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1819 left_yaw=-0.0046 left_pitch=-0.0081 left_roll=0.0042 left_gripper=0.9983 right_x=0.403 right_y=0.1642 right_z=0.1948 right_yaw=0.1376 right_pitch=-0.0285 right_roll=-0.0129 right_gripper=0.9955\nstate[joint_eff]: [-0.0889, -1.1966, 6.3932, 1.8095, -0.0024, -0.0806, -0.0122, 0.1573, -8.3761, 10.4, 1.7167, 0.3101, 0.1734, -0.0317]",
      "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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3828, -0.0231, -0.0372, 0.9983, 0.4297, 1.7737, 0.849, 0.2642, 0.231, 0.1329, 0.9955]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1819 left_yaw=-0.0042 left_pitch=-0.0081 left_roll=0.0044 left_gripper=0.9983 right_x=0.4334 right_y=0.1581 right_z=0.0628 right_yaw=0.1432 right_pitch=-0.0693 right_roll=-0.0212 right_gripper=0.9955\nstate[joint_eff]: [0.1162, -1.7026, 6.5436, 1.7949, 0.0269, -0.1001, -0.0122, -0.841, -7.9795, 5.559, 2.1074, 0.0562, 0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4c328c1417d63da48eee3dabb09ee406aed464d44bb7df79d2e175f7c3ffc89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c42e6ecf477f3260c090ca520d26b58ac850927323aa1a04035fc28b25b1dd7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8e6918cb143a4ab5a52177e09c218fc2b2d723e908ac71a33576c2bd91c9de0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmQcKEAgSGAI4AUIIdGhpbmtpbmcSDKJbj4vVTjgiZt7keBoMJ6iPOX3gi9xnEttYIjAcceWPGXVy5AK6ZhV6LA310GVVE2apNmFPxRxvHT+mFxFJxZfe/5biFglxLelm1L8qtgYK8dgfrMLdyIh4lzPc8gMkrHOZzKVO5VWys4Wjp6qXQvOV5SfhIy9qVkW3Rz+eShGWAZ7kYlP9K5L/ixXtL08Ws2h4+6uAjVSoEPnSYM9Ttz4KqAX+RjgmcTra1yrYTiC7ywCq5yxiMLd6eselyFkgihHBYzCzM5hpPyRSTqlRTjvPaxBbR4eNEnWcc1lRnWMzEfIGesZArXAt/nlMuI7XY7qWkL0qtTTEvrp1QVVP1MbllOMH0J9NL6ntBsCxNes2zo9QKav3sGIavi7OBa/Pd/Ir1acBOtTP05v2Otu19LvM+C3a/CFn5bHCpOu6NkeApEvV9m9yhNRhCsnF6Xgr0zva9Pp2zME2RbyehgjQifouLjtIm3c1am9lEb8F/dy0R251E32Bnv0URQ8Ft+D9Ivo+S5OAvYPST/wCLpb56OYeh0n5HC6wuP4XvMZXP8SiJjSQBVnUFHXen+rdzah7Ajyhb9ygFjpn6Cmcpd3LCubF3PIUbQIKKUqacacUV9663vb8G0J8LfktgGJ/wUHtfaILcDJegTU731qEM2Md6LNcet4puGqSJ5KQuTSB8sYkkbtDkpPgodhs8+pvvub+b2kfsItoclQAHpyGlBuxT+GxKrrR5WcaMn5lVNXhpgKLWbxB9dliRJT+52/wgGBkMtTmWQb27TCfSEr9GsKay5PuU7B1WFqxIYmW6s5ge5tdtaemgVLMRtRGh/xOQvpuWFRfdzXF2eo1r4bdJNhWlHZgJhEfzr/RedPJdY8sdHNoUYdQZzEv6G2VDE2AtXjwANgl4LKp1pl2jWqX63BO6K7gL/wYJuU+Nxcmd615gS5Po/a4O3uJjb6WsKtScDLQHlVaBEd+SjmDlpfJM5meq5WFT0TbtiHtVoRCe6sfEy/wyxICWgNKo2hxFEYefVOywQoIhYWFiloQjClx7VB7PP8fGEBlqotxhJEsFvAxSHfIThlGP/mjyzE0yXNfil8UHCpM9k7us3z0NtuNFrG02l8WAPZzcmq/i1nSs3+of8rdhfzGL65PDYWsQ0hsn1yYcINtWdS3gZEj3+GJ0EyjZ0/Nfi2NLR4PXkT+kVycjxlcuOntdy4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AA6EXVwebSqUosEHiouGKa",
      "input": {
        "note": "Bottle lies centred between the jaws, cap forward. Descending to mid-height to grip it again.",
        "targets": {
          "right_x": 0.445,
          "right_y": 0.16,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01AA6EXVwebSqUosEHiouGKa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3828, -0.0231, -0.0372, 0.9983, 0.4297, 1.8938, 0.7994, 0.4671, 0.231, 0.1249, 0.9955]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1819 left_yaw=-0.0042 left_pitch=-0.0081 left_roll=0.0044 left_gripper=0.9983 right_x=0.4386 right_y=0.1605 right_z=0.0302 right_yaw=0.1481 right_pitch=-0.0375 right_roll=-0.0184 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.7573, 6.5983, 1.7851, -0.0317, -0.0708, -0.0122, -0.8274, -8.5949, 4.8889, 1.7802, -0.0464, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c5932796f996f3d4863a76d70b59efd03cd38ff561892c9507c48dab07172e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43423dae362581b2b18189cf19769a77b7fab4e8b872e92d965b8885ea4d2fb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da19efbbe4c45b056ed7c135ac85b2289e570fa283958e9a34806cd1f6d5e89e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 3.693 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8005, 0.6132, -0.3824, -0.0227, -0.0372, 0.9983, 0.4953, 1.4563, 1.0618, -0.2352, 0.2913, 0.1734, 0.9955]\nstate[eef_state]: left_x=0.296 left_y=0.0022 left_z=0.1819 left_yaw=-0.0046 left_pitch=-0.0081 left_roll=0.0042 left_gripper=0.9983 right_x=0.403 right_y=0.1642 right_z=0.1948 right_yaw=0.1376 right_pitch=-0.0285 right_roll=-0.0129 right_gripper=0.9955\nstate[joint_eff]: [-0.0889, -1.1966, 6.3932, 1.8095, -0.0024, -0.0806, -0.0122, 0.1573, -8.3761, 10.4, 1.7167, 0.3101, 0.1734, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3828, -0.0231, -0.0372, 0.9983, 0.4297, 1.7737, 0.849, 0.2642, 0.231, 0.1329, 0.9955]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1819 left_yaw=-0.0042 left_pitch=-0.0081 left_roll=0.0044 left_gripper=0.9983 right_x=0.4334 right_y=0.1581 right_z=0.0628 right_yaw=0.1432 right_pitch=-0.0693 right_roll=-0.0212 right_gripper=0.9955\nstate[joint_eff]: [0.1162, -1.7026, 6.5436, 1.7949, 0.0269, -0.1001, -0.0122, -0.841, -7.9795, 5.559, 2.1074, 0.0562, 0.0269, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3828, -0.0231, -0.0372, 0.9983, 0.4297, 1.8938, 0.7994, 0.4671, 0.231, 0.1249, 0.9955]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1819 left_yaw=-0.0042 left_pitch=-0.0081 left_roll=0.0044 left_gripper=0.9983 right_x=0.4386 right_y=0.1605 right_z=0.0302 right_yaw=0.1481 right_pitch=-0.0375 right_roll=-0.0184 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.7573, 6.5983, 1.7851, -0.0317, -0.0708, -0.0122, -0.8274, -8.5949, 4.8889, 1.7802, -0.0464, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c5932796f996f3d4863a76d70b59efd03cd38ff561892c9507c48dab07172e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43423dae362581b2b18189cf19769a77b7fab4e8b872e92d965b8885ea4d2fb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da19efbbe4c45b056ed7c135ac85b2289e570fa283958e9a34806cd1f6d5e89e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuAkKEAgSGAI4AUIIdGhpbmtpbmcSDOuD0X68knVDmVdWxhoM0R0vpQxIOF/PXAhXIjCsKuRHcId5r6pPgKA+WzK2PLR8Q+PN+gPF3Uv3lH7pdGXdpZqaPkkSDM0E6AelqMEq1Qjn/7HO2J6FLfrouC0JNdJpT6iibCpGqAjYOmQOVMijgt88E3PyRpQJR2ZwGNrTfujYerd3p7SdqjHPFV89WBjIzNU7tdUreI/xoj/oWcHHF4oP0+ykmGsJU5tdfZQGoiGE0HEEf1yAOc5Oe8p7OGFXxHGvq6RxxgDPuB4SQGwyWaLrRlJRVvZ9rnSfOQxKi2hw7552lF/40PNbfe5fxoXRYgWC14F9ZWNNX/aKSwnVBMvAOvle7w+Twuhr+jYkd3O+t+bAVs3WreB8dN9BY7W6nkx3oPHIaNMR5xMThTuQ621k8pr4LBcMR4+ZgYyUq8TOP6cVUHBI5EzDUuOVrXk3T3KJokEPvGngtlRjUWP6EO3d8+I/vqAcK2X1e5q83v3W31MmxPnoBIzbH/aCM/32K00o8E8+GPVk0lhnzhUrll00f5fAryugQsQH8FDT1jT+0sAkd6+wISDgBcopHH1TB15tuzFyxKzrUt7eBgkhj11ntChx5e6TXkgYySCwMthp01gi7tluLkSZ6wZw/RrgaU7FZlOBOtqrj59tFdcRObmMLaP7m3flSL25IhhOK+dfdjC7ZzhIhPIa+Md6FTF6HPqGnhnCDe5vVZYtefcDuGIg470FO25opyMsSjANygSd60dtxwkKnqD4JD/RVWIrQ4zIxNx3Dy2GcSp4RiNi15YpTO9fq+Skmw3zbOBa/2VdflzCcC6RaBUDXY9Vi9VRFLXpo/XNwrr/ZOQXZ6+l6jNsEJgpM0kBhDqPLbNuMDP5UBVbTFqBfn5yyWolpnFDyaZi9J8dZXyRBsJmxH6dx2v81NT8UdnaBGrzc0FnkMxr9Rkanb8Y8X21dApPxfd6p201Noqy7Fq5Mij1p9XWBNHlcsbVgSZShAYgNvGESdFyFKj220sEB5qusJI12IiqSdozPh201AvxcWFl1KaS/2c0sXYUN8Kx3hlAojGbbCs78S8/mnqghp8IXWL5YQdjRVfzE4OfYsgk87DJFiXVIJJ6XQXO4sEExJueYYnePcHRIBhzvUx0K9rfbKZUTL7CpyzW+HVrADOdgz1Wx3iF+43P53DceXblVdZ9A3QWUURBgFaWOH88el8Z0R1z3mI8FIYi6k+x0fQNC9sTvM5i2ke/cSbndS7NAqUQi9nIjPwzBxZcGmlwdl79WabT33F8Wah/IjkWfJlIncaN2rZ5QK8hQw7N7Lb1Plq6EML+E4tERt09iwOVWEkPfvWk9drxVv2BSAaRV151+6aKgoMCVFdRbHdvrDCWZiKBVnwJq4YFJ2B+Q6aD9mQhDRsW2XeRmiWe6Jr9QAGJsFV/wIIKulbOrZwZvkwt+89TE7J+RuwGbjPxtur+Qn8eFuVb1FTsek5gZCYz81retXhQip+A0CReatXywqs1Sa0K4PBauHv+hmu0XAUS/SDqpCAmdnndm7LBI60Es4d6GUCDxaLngn7XMVR6gkhcM/R9Len6JSTenN135hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0163cgQfxicZtQeufoBdRcJH",
      "input": {
        "note": "Jaws around the bottle; closing to grip.",
        "targets": {
          "right_gripper": 0.4
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0163cgQfxicZtQeufoBdRcJH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7994, 0.6132, -0.3824, -0.0227, -0.0372, 0.9983, 0.4259, 1.9022, 0.7803, 0.5865, 0.2218, 0.1272, 0.4211]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1822 left_yaw=-0.0046 left_pitch=-0.007 left_roll=0.0042 left_gripper=0.9983 right_x=0.4471 right_y=0.1641 right_z=0.0434 right_yaw=0.1505 right_pitch=0.0495 right_roll=0.0136 right_gripper=0.4211\nstate[joint_eff]: [-0.1026, -1.6889, 6.3795, 1.8046, 0.0073, -0.0757, -0.0122, 0.0342, -8.5675, 4.0821, 1.3407, 0.1538, 0.1587, 0.9744]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab74b05bbaa4b297bf34067a9bb9db6a59eb2e952f92e4bfdfd4e740c40b5617",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16c0760f3f2eadd010defd493454386a19117c557a9dd4facde10dc175694948",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:32a8e52d717557b50c0e384d7101e5dbb835a4e53c13da2a3336675537ef8980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 7.425 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3828, -0.0231, -0.0372, 0.9983, 0.4297, 1.7737, 0.849, 0.2642, 0.231, 0.1329, 0.9955]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1819 left_yaw=-0.0042 left_pitch=-0.0081 left_roll=0.0044 left_gripper=0.9983 right_x=0.4334 right_y=0.1581 right_z=0.0628 right_yaw=0.1432 right_pitch=-0.0693 right_roll=-0.0212 right_gripper=0.9955\nstate[joint_eff]: [0.1162, -1.7026, 6.5436, 1.7949, 0.0269, -0.1001, -0.0122, -0.841, -7.9795, 5.559, 2.1074, 0.0562, 0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3828, -0.0231, -0.0372, 0.9983, 0.4297, 1.8938, 0.7994, 0.4671, 0.231, 0.1249, 0.9955]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1819 left_yaw=-0.0042 left_pitch=-0.0081 left_roll=0.0044 left_gripper=0.9983 right_x=0.4386 right_y=0.1605 right_z=0.0302 right_yaw=0.1481 right_pitch=-0.0375 right_roll=-0.0184 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.7573, 6.5983, 1.7851, -0.0317, -0.0708, -0.0122, -0.8274, -8.5949, 4.8889, 1.7802, -0.0464, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7994, 0.6132, -0.3824, -0.0227, -0.0372, 0.9983, 0.4259, 1.9022, 0.7803, 0.5865, 0.2218, 0.1272, 0.4211]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1822 left_yaw=-0.0046 left_pitch=-0.007 left_roll=0.0042 left_gripper=0.9983 right_x=0.4471 right_y=0.1641 right_z=0.0434 right_yaw=0.1505 right_pitch=0.0495 right_roll=0.0136 right_gripper=0.4211\nstate[joint_eff]: [-0.1026, -1.6889, 6.3795, 1.8046, 0.0073, -0.0757, -0.0122, 0.0342, -8.5675, 4.0821, 1.3407, 0.1538, 0.1587, 0.9744]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab74b05bbaa4b297bf34067a9bb9db6a59eb2e952f92e4bfdfd4e740c40b5617",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16c0760f3f2eadd010defd493454386a19117c557a9dd4facde10dc175694948",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32a8e52d717557b50c0e384d7101e5dbb835a4e53c13da2a3336675537ef8980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwcKEAgSGAI4AUIIdGhpbmtpbmcSDO5xjUIyAnR0BTvkQhoMcm9/fDqlR++d1KkSIjBdLEiAEfzSooub7R4saKqfFi7xxWywUtGlBJ06sOen9FQIvV1Vbl+q0DD5K/WqgGIq3AZoS9VfhLxv4vfPTAmXkPS9kpnEDR378Xq8j2s1h6j93QdHMRAHbTg3PT2xUakkrB4fEhCbdYoOpc8ITS6GXxm5vS8V8bgbC935y2vMqrD3WOnwl6+xY+PyzIW5xB2HC+GrCyl/G+Zs/h0zsn4iTdgqRgvHaoETP7EPaIfYMPpLGLvu1oewBe/F0E2S7hhKjX1cotpNiSSpJxLFI+V6vYI+L1eRywd6hZR+tZk6OnJolO33R7lROlgaHMxxcDPl8vMb0l+aAjw0BTSBBg8AfnvXSXAUMhoVW8dfp337zK6a5yzl/kjv+yrwPdC1M+n3hAGQQ2rs/lVkBHLHE3P6icV8PwkBSTclt4uettfC5wXQAlgr9wfoAX2dhXn0X1Jn+adfEXD+83yVZNwpQ6Oky2wK2NOJDjanI7L9x40U6RGliE4SPhQfN8UlgyGjMpRqOtk+u92fVtSsdN2nVwhCaCBTVUFigybdzz1YtaJ9vJ8CZEPLCTkBZnCIKHZIH4weHNXdx/u9mJxqaWSyIN2579VR2xRxuqu8AgdgFSf2sQ9O4FnDkHyKzZNZCC1Mun8d4aWzk5t0Yb7wDjyRL3IR14CD3Kv1iqzWd/yMx9AlA4hDh3twDN+6GOveDpiCOpCYV4bR4z2/crFT5vP+uiXnPi24J7aLQ6Rbco20i0Nk/BU+dWzd8mAVqeMvwmEUmaX4BhlqD1TynKOzCmE2BSgHP/PbEYNmgbiG21NbO7WtdhJj25YGbUqbl7iYDAmVDEuIFeBUz06+XPgCtcPNpbCpFRjd0FUuoWCcleqkESMc7nHoq5cSNXFztI/SNl7piI+BKog14UADmmsICQ6tloa4XLOE4FI1smyEQEVFfknDT20oI1fQWClahkBtPPLr0uecfZFjQlN+CEgJ88k8mHW0VRGpYd3uWxpnkafLUetXgg/B1ldvHSumOSrq2KOk5BvPOPOxy0lO6JBI84ioHLjRFvq7r/xY9AxzgOiVQZHwc/VY1l3+1P4MWCX0/7NvKh2gfc+OdBheyRf1MKme3z7UoUc50GDLrNwArpP1ox6ci6DxwrrI0dr9307N0LMsZH3/mnh2SFYMq7WO4fppgA39ZJpWwmGiFqLUfF9SGHoVV1SRpdAWgXv53ldvddITlhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T3H9LMrbWQRWd14HzgRWkx",
      "input": {
        "note": "Bottle gripped (0.42). Lifting well above its length so it can hang vertically under the jaws this time.",
        "targets": {
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01T3H9LMrbWQRWd14HzgRWkx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7994, 0.6132, -0.3824, -0.0231, -0.0368, 0.9983, 0.4259, 1.6077, 1.3415, -0.3843, 0.205, 0.1089, 0.4211]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1822 left_yaw=-0.0044 left_pitch=-0.007 left_roll=0.0047 left_gripper=0.9983 right_x=0.4463 right_y=0.1669 right_z=0.2222 right_yaw=0.1742 right_pitch=-0.064 right_roll=-0.0226 right_gripper=0.4211\nstate[joint_eff]: [0.1162, -1.6889, 6.4752, 1.8486, 0.0122, -0.0415, -0.0122, -0.294, -10.5504, 10.4821, 1.8291, 0.149, 0.1587, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f55b45d7d232f52ea3f6e64bc47c99ebcd5531e0bace09f8d89349edf15605d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9daad311af86ceaec15aa3335bb349556d26bb55f26374f3fda05deeacfa6ddf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eebdb9292c6d33c3db74ca09e9ce2044cd35f996fa81915b5192e288892bcb69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 3.885 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.8001, 0.6132, -0.3828, -0.0231, -0.0372, 0.9983, 0.4297, 1.8938, 0.7994, 0.4671, 0.231, 0.1249, 0.9955]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1819 left_yaw=-0.0042 left_pitch=-0.0081 left_roll=0.0044 left_gripper=0.9983 right_x=0.4386 right_y=0.1605 right_z=0.0302 right_yaw=0.1481 right_pitch=-0.0375 right_roll=-0.0184 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.7573, 6.5983, 1.7851, -0.0317, -0.0708, -0.0122, -0.8274, -8.5949, 4.8889, 1.7802, -0.0464, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7994, 0.6132, -0.3824, -0.0227, -0.0372, 0.9983, 0.4259, 1.9022, 0.7803, 0.5865, 0.2218, 0.1272, 0.4211]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1822 left_yaw=-0.0046 left_pitch=-0.007 left_roll=0.0042 left_gripper=0.9983 right_x=0.4471 right_y=0.1641 right_z=0.0434 right_yaw=0.1505 right_pitch=0.0495 right_roll=0.0136 right_gripper=0.4211\nstate[joint_eff]: [-0.1026, -1.6889, 6.3795, 1.8046, 0.0073, -0.0757, -0.0122, 0.0342, -8.5675, 4.0821, 1.3407, 0.1538, 0.1587, 0.9744]",
      "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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7994, 0.6132, -0.3824, -0.0231, -0.0368, 0.9983, 0.4259, 1.6077, 1.3415, -0.3843, 0.205, 0.1089, 0.4211]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1822 left_yaw=-0.0044 left_pitch=-0.007 left_roll=0.0047 left_gripper=0.9983 right_x=0.4463 right_y=0.1669 right_z=0.2222 right_yaw=0.1742 right_pitch=-0.064 right_roll=-0.0226 right_gripper=0.4211\nstate[joint_eff]: [0.1162, -1.6889, 6.4752, 1.8486, 0.0122, -0.0415, -0.0122, -0.294, -10.5504, 10.4821, 1.8291, 0.149, 0.1587, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f55b45d7d232f52ea3f6e64bc47c99ebcd5531e0bace09f8d89349edf15605d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9daad311af86ceaec15aa3335bb349556d26bb55f26374f3fda05deeacfa6ddf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eebdb9292c6d33c3db74ca09e9ce2044cd35f996fa81915b5192e288892bcb69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AnQ3tr7dW9qhWA83EKknyr",
      "input": {
        "note": "The bottle slipped out during the lift (it's still lying below, and gripper effort dropped): a 0.4 close command was too weak. Opening and going back down to re-grip with a full close.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.445,
          "right_y": 0.162,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01AnQ3tr7dW9qhWA83EKknyr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3828, -0.0227, -0.0372, 0.9983, 0.421, 1.6947, 0.9112, 0.1425, 0.1963, 0.0998, 0.9961]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1825 left_yaw=-0.0046 left_pitch=-0.0062 left_roll=0.0041 left_gripper=0.9983 right_x=0.4358 right_y=0.1613 right_z=0.0982 right_yaw=0.1816 right_pitch=-0.0561 right_roll=-0.0226 right_gripper=0.9961\nstate[joint_eff]: [0.1709, -1.6068, 6.4889, 1.7998, 0.0024, -0.0855, -0.0122, -0.9368, -7.2274, 6.2017, 2.1514, -0.0317, 0.0269, -0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:734c8af25cb9d84ca47233504ba3c03fdabea09cb09cac5739231d984c8aa6b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:068e7ef0d172f14d15b60ed9c102f5b6671f468cc7e45988acc61ae864c3b1e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5114a51869dfe836091531ef3d72ed5f435ab94e898ae317ed5874fc20d74c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 2.895 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7994, 0.6132, -0.3824, -0.0227, -0.0372, 0.9983, 0.4259, 1.9022, 0.7803, 0.5865, 0.2218, 0.1272, 0.4211]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1822 left_yaw=-0.0046 left_pitch=-0.007 left_roll=0.0042 left_gripper=0.9983 right_x=0.4471 right_y=0.1641 right_z=0.0434 right_yaw=0.1505 right_pitch=0.0495 right_roll=0.0136 right_gripper=0.4211\nstate[joint_eff]: [-0.1026, -1.6889, 6.3795, 1.8046, 0.0073, -0.0757, -0.0122, 0.0342, -8.5675, 4.0821, 1.3407, 0.1538, 0.1587, 0.9744]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7994, 0.6132, -0.3824, -0.0231, -0.0368, 0.9983, 0.4259, 1.6077, 1.3415, -0.3843, 0.205, 0.1089, 0.4211]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1822 left_yaw=-0.0044 left_pitch=-0.007 left_roll=0.0047 left_gripper=0.9983 right_x=0.4463 right_y=0.1669 right_z=0.2222 right_yaw=0.1742 right_pitch=-0.064 right_roll=-0.0226 right_gripper=0.4211\nstate[joint_eff]: [0.1162, -1.6889, 6.4752, 1.8486, 0.0122, -0.0415, -0.0122, -0.294, -10.5504, 10.4821, 1.8291, 0.149, 0.1587, -0.022]",
      "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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3828, -0.0227, -0.0372, 0.9983, 0.421, 1.6947, 0.9112, 0.1425, 0.1963, 0.0998, 0.9961]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1825 left_yaw=-0.0046 left_pitch=-0.0062 left_roll=0.0041 left_gripper=0.9983 right_x=0.4358 right_y=0.1613 right_z=0.0982 right_yaw=0.1816 right_pitch=-0.0561 right_roll=-0.0226 right_gripper=0.9961\nstate[joint_eff]: [0.1709, -1.6068, 6.4889, 1.7998, 0.0024, -0.0855, -0.0122, -0.9368, -7.2274, 6.2017, 2.1514, -0.0317, 0.0269, -0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:734c8af25cb9d84ca47233504ba3c03fdabea09cb09cac5739231d984c8aa6b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:068e7ef0d172f14d15b60ed9c102f5b6671f468cc7e45988acc61ae864c3b1e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5114a51869dfe836091531ef3d72ed5f435ab94e898ae317ed5874fc20d74c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/QcKEAgSGAI4AUIIdGhpbmtpbmcSDF+3pfw5waZUcrXL/RoM6jgqUZrDPzQbYV9mIjCEIBX+2M6RWtGpB8o/t7DgoiffM895eMkyulL2zcryaEWwSYlndYUZc5Ws/0OiUKUqmgdYRxKM3RW2QhC8Xnc8NPCjfWHeJ7gbMxQRcNUpwAorHUnv7uDzw9bXS7Sq3A0xHqGl4L5LqGLz9+3vpXleCeqTsLBuNKlOMsYZIlK12EpiRe55U/9HyL5pYqbl+XnUfuRiT/ItSfLWQbjc8DgaZke4whDC4mMec5D+sRhomKviOGQqLVulmS/VhsY8q/9T0BN/7m2xo8tUI9TPjxi5sNB7dp2+86tZpvWhAyshYvxLml7jI/7Xc3uaeJy20ipufgsjNCDVfWJV561qkA2tJYAsbIP5mw/8ydg4gdiQccEoXIFvO9n/WPJAnT2sS4hS8dzzFbS+kHw7ogLH7RI2qcwpNd7hcwCjZ8LJzoD2v9ogS04Wmv2Liw0PQ5xzj/f4iZAlvKtPlUXke8BnFSGk8zqlgjCliLjTpanT+iCps4uOcVZYLnydJvDvtjejNCLPKTPvG8bM6pXIwXan9y75EfvtdhC6aE41ZqcMzpTnFw2zuoNblYmbnbunVdjswf7bQyNEkzDT41CXQjj+FMnwinfAzYa3AB/hy2idFl1rAVgr9Us/gRmlhKJ20gmX03JT2PDsJYMuPBhLoRTqhMnk+Wq/P5vicybIVQMaEr3K2Pcu4952rrVCpDGsKP7IYY2m4Z4jt/5UWlBhJDyggbpj7mr6bR9kDubV0rfg3XKH+Km4W/n2aDHKYog+8eDbJQc1SjtX5gpsawCJX4JVxhjro/QE4GPEQ0oY0t2mano/K/YvykicGixJTI6Owsts375qimV6docnsWsA7C7ojmxQJNIcDJzwTjvBKZfERldW5uD1REVzrdiG+UT8naMLUKEpP/7z4ex0dlMQiKJiEI1I5LLC0Khmnhqo5jH73ZfKqJcNATmryBD/io8VRuv9FBKo9LPGGfo+mPpX0247/dDkCNmJh1dtP7KaxsB1VPoUiZLw1ZYpwAbsypmXgBRLLO3zdek58gxNktVfo3SF2D2satcvpQEGDSCxkHiRkYTl1v/+inTkj6OVCKuUhjZhmW2ElVXBK9KtFUOzlMRhnDDOtJokZnO13NLnWYlCPe+lTU01CP/FjK5pPOCjdqKQ6gL0P1jAOnAu4f58ocGCexLHQq+OiS3h/pLuS3f62iCoWy0R9C5ETGGVJGoLMhlBNsNR6URGkKq+QQw7yCu711AeosLK9YBDTH/gVgzAb6q0EDacILvHIJGBY1vFsAp/1aN54IJTCCeFa7taayTYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LyxfknEqkpskD11LZsBs1A",
      "input": {
        "note": "Bottle centred in the wrist view, cap forward. Descending a bit further forward (closer to the cap) to grip.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.16,
          "right_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_01LyxfknEqkpskD11LZsBs1A",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3828, -0.0227, -0.0372, 0.9983, 0.3912, 1.9251, 0.8406, 0.445, 0.1757, 0.0914, 0.9961]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1825 left_yaw=-0.0046 left_pitch=-0.0062 left_roll=0.0041 left_gripper=0.9983 right_x=0.4496 right_y=0.1559 right_z=0.0256 right_yaw=0.1737 right_pitch=-0.0574 right_roll=-0.017 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -1.4701, 6.5299, 1.8144, 0.022, -0.0611, -0.0122, -0.7043, -7.3368, 5.641, 1.7216, -0.0708, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f9431107955895dadf811e7b5fd1ccf57197f7a27182fdc6da99c516b4e7b00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9247671bc9f26e3102c90c5ffe52c9f65bac2fd74511163307ca2be12d0f5514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91797b7304f5567d7b24e6a02323dcceede01b2d74417e3d75b527fce8fac729",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 3.319 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7994, 0.6132, -0.3824, -0.0231, -0.0368, 0.9983, 0.4259, 1.6077, 1.3415, -0.3843, 0.205, 0.1089, 0.4211]\nstate[eef_state]: left_x=0.2959 left_y=0.0023 left_z=0.1822 left_yaw=-0.0044 left_pitch=-0.007 left_roll=0.0047 left_gripper=0.9983 right_x=0.4463 right_y=0.1669 right_z=0.2222 right_yaw=0.1742 right_pitch=-0.064 right_roll=-0.0226 right_gripper=0.4211\nstate[joint_eff]: [0.1162, -1.6889, 6.4752, 1.8486, 0.0122, -0.0415, -0.0122, -0.294, -10.5504, 10.4821, 1.8291, 0.149, 0.1587, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3828, -0.0227, -0.0372, 0.9983, 0.421, 1.6947, 0.9112, 0.1425, 0.1963, 0.0998, 0.9961]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1825 left_yaw=-0.0046 left_pitch=-0.0062 left_roll=0.0041 left_gripper=0.9983 right_x=0.4358 right_y=0.1613 right_z=0.0982 right_yaw=0.1816 right_pitch=-0.0561 right_roll=-0.0226 right_gripper=0.9961\nstate[joint_eff]: [0.1709, -1.6068, 6.4889, 1.7998, 0.0024, -0.0855, -0.0122, -0.9368, -7.2274, 6.2017, 2.1514, -0.0317, 0.0269, -0.188]\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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3828, -0.0227, -0.0372, 0.9983, 0.3912, 1.9251, 0.8406, 0.445, 0.1757, 0.0914, 0.9961]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1825 left_yaw=-0.0046 left_pitch=-0.0062 left_roll=0.0041 left_gripper=0.9983 right_x=0.4496 right_y=0.1559 right_z=0.0256 right_yaw=0.1737 right_pitch=-0.0574 right_roll=-0.017 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -1.4701, 6.5299, 1.8144, 0.022, -0.0611, -0.0122, -0.7043, -7.3368, 5.641, 1.7216, -0.0708, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f9431107955895dadf811e7b5fd1ccf57197f7a27182fdc6da99c516b4e7b00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9247671bc9f26e3102c90c5ffe52c9f65bac2fd74511163307ca2be12d0f5514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91797b7304f5567d7b24e6a02323dcceede01b2d74417e3d75b527fce8fac729",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GDdSJGQR139n2XorRXZZPN",
      "input": {
        "note": "Jaws straddle the bottle just behind the label/shoulder; closing fully for a firm squeeze.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GDdSJGQR139n2XorRXZZPN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.6132, -0.3832, -0.0231, -0.0372, 0.9983, 0.3931, 1.9347, 0.8116, 0.6365, 0.1558, 0.0914, 0.3598]\nstate[eef_state]: left_x=0.2958 left_y=0.0023 left_z=0.1823 left_yaw=-0.0042 left_pitch=-0.007 left_roll=0.0044 left_gripper=0.9983 right_x=0.4622 right_y=0.1659 right_z=0.0497 right_yaw=0.1917 right_pitch=0.09 right_roll=0.0251 right_gripper=0.3598\nstate[joint_eff]: [-0.1162, -1.6479, 6.5299, 1.79, 0.0122, -0.0855, -0.0122, -0.5812, -8.6632, 3.7128, 1.116, 0.1685, -0.0317, 0.5495]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:377c47743d49941706533385c05eab385153b4d1a0ce261db00e58f7c3302ba9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff8dbb13f977015a1bbe1e7d3e331700557465324c4296e04ade14c85e504784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29ba8147b7222ab9bdd4e1e4cf8c0f6bc6729c02389f4900c1e9f20341b14134",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 10.28 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3828, -0.0227, -0.0372, 0.9983, 0.421, 1.6947, 0.9112, 0.1425, 0.1963, 0.0998, 0.9961]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1825 left_yaw=-0.0046 left_pitch=-0.0062 left_roll=0.0041 left_gripper=0.9983 right_x=0.4358 right_y=0.1613 right_z=0.0982 right_yaw=0.1816 right_pitch=-0.0561 right_roll=-0.0226 right_gripper=0.9961\nstate[joint_eff]: [0.1709, -1.6068, 6.4889, 1.7998, 0.0024, -0.0855, -0.0122, -0.9368, -7.2274, 6.2017, 2.1514, -0.0317, 0.0269, -0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3828, -0.0227, -0.0372, 0.9983, 0.3912, 1.9251, 0.8406, 0.445, 0.1757, 0.0914, 0.9961]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1825 left_yaw=-0.0046 left_pitch=-0.0062 left_roll=0.0041 left_gripper=0.9983 right_x=0.4496 right_y=0.1559 right_z=0.0256 right_yaw=0.1737 right_pitch=-0.0574 right_roll=-0.017 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -1.4701, 6.5299, 1.8144, 0.022, -0.0611, -0.0122, -0.7043, -7.3368, 5.641, 1.7216, -0.0708, -0.0659, -0.0073]",
      "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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.6132, -0.3832, -0.0231, -0.0372, 0.9983, 0.3931, 1.9347, 0.8116, 0.6365, 0.1558, 0.0914, 0.3598]\nstate[eef_state]: left_x=0.2958 left_y=0.0023 left_z=0.1823 left_yaw=-0.0042 left_pitch=-0.007 left_roll=0.0044 left_gripper=0.9983 right_x=0.4622 right_y=0.1659 right_z=0.0497 right_yaw=0.1917 right_pitch=0.09 right_roll=0.0251 right_gripper=0.3598\nstate[joint_eff]: [-0.1162, -1.6479, 6.5299, 1.79, 0.0122, -0.0855, -0.0122, -0.5812, -8.6632, 3.7128, 1.116, 0.1685, -0.0317, 0.5495]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:377c47743d49941706533385c05eab385153b4d1a0ce261db00e58f7c3302ba9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff8dbb13f977015a1bbe1e7d3e331700557465324c4296e04ade14c85e504784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29ba8147b7222ab9bdd4e1e4cf8c0f6bc6729c02389f4900c1e9f20341b14134",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywcKEAgSGAI4AUIIdGhpbmtpbmcSDHVuQ/a1/UshszfHmRoMqf1eGH5zjh0PtDSDIjAEcBFBToUgSw316xQspJGBHCTnCAsZzLI7Cq2cgGlw5aLNRNP5Sb6rS2o4O5Olao8q6Aaj5w74Tlwan+jium9VjHUO8ZVlTYqHXu3mOn3W5PeOr0gT2YIFdysENagsd2L+WExLKjqB0qKT+dG5N8i6qQ+jnwVVYh2d40wrWaUp53Yhdl3TLRwWvulP7uXtaXO4zChcZYo6YFhiAEC+XQNGQuzpzq+tLptpsi56d7THC4JopcNEjsnORZPdynO/0/vy53HvtXXThlzo7nEJEjpqcCijrxdKKxFHKwVWg6qMDatPWjrtWKql7RVCsyA92k72mUENUtPTduJeZcDYcByIq8D6Ufcz5H3IUidvvEpw6sad1XSpk+WsQo9TpgdjpS48b/uyiqPc4pHoCSrhMjPnhqAam9UT5u2LZ0tlnvzshAwKN6NYNSwWcL6WK5ZUmMqhnOfjBnkf5fpiAm+pGGm59I3gYOHVDwrQLemAsKs5iwwhqZp4hSemSlBg/zgpX8JWpIAxLn4rEffguVYQWmA4zvq/XDDjEgzGeS3RIekky6KrFHmupHP+DVmr4Nxc4dfG0+BK3QBbPWo5vGYqrVvVf6nip6MO5oDo284wqeMTtCRqQOW8DQ5pgVQ5dLfUaxUi19WNFVCLqV9vjGUZ0mek+Q9rh9Yjp+AIng71tYAA7+N6uYUSu3GlbbGc3LqcUleiqX66UwU8lkWnYVd19a9Mp9IWAv/+yz73Y2IVdJy2iaVo08bIdkaICCbCFryx8pIVknIDrSZL25SG0sXm7rUDAmn6bZxbalniNW9zeJYrilTgAknm73ZjdcFsqRBj5I4fgQ30AgVOcxzHNdYQ0lkHrbPq7NweazYdH7J5+9N74FfojMtGTwdHnTuk0KiO3+aepACkTgPJ9BDiC0fnXDJ5nY0AiL2r972BZio+Rv3gqs2mVTxyZm7a/X7BbIHzpsh/FWLqV+KAkK1ljijmcEXUNSs6CbHezs0+Ipaenzi1W4l1ag/JaYw8LJmQu2L1hHxndVITzPLSc6sU8UMiJbFV/NMQ/5ALn7XLE6jlQ7rhtCoGX2xXgvLgjZ6Dhgguw30W8ytAvvDyz99LlSJnQWeMHQjdF2LNeiFnY+8LsESzaujw8LeV55d1iwpcWDSTzOzlSPfb8B+V/rYohV2ISfm/v517qsSh6G0S1WX0UbnobNCU4kkajzI9m/LHxZcKwPfSqVAb2aGEz7UhjRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A648LCGpxmgCgCAu9md93a",
      "input": {
        "note": "Firm grip on the bottle (reading 0.36, squeezed). Lifting high so the bottle pivots and hangs vertically with its base down.",
        "targets": {
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01A648LCGpxmgCgCAu9md93a",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3832, -0.0227, -0.0372, 0.9983, 0.3931, 1.6554, 1.3918, -0.3801, 0.1524, 0.0692, 0.3583]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1824 left_yaw=-0.0046 left_pitch=-0.0066 left_roll=0.0042 left_gripper=0.9983 right_x=0.4618 right_y=0.1664 right_z=0.2224 right_yaw=0.207 right_pitch=-0.0643 right_roll=-0.0221 right_gripper=0.3583\nstate[joint_eff]: [0.2667, -1.4838, 6.5026, 1.8339, 0.0122, -0.0806, -0.0122, -0.0752, -10.8239, 10.4, 1.9902, 0.0952, 0.1001, -0.1734]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98c4d45f4376b18138be748d0a1751bc7994a9c6af3d9bb730fc56f9469eb366",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4166ce1a476c91f70d2b531d2fdab6dc39f352110da6d538a275c56c3fbd1da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd6eec31633daa7b7cd67a9fe98a9e3cd6023692eafd79dd22968d7fd29c0fd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /messages · status 200 · 3.341 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3828, -0.0227, -0.0372, 0.9983, 0.3912, 1.9251, 0.8406, 0.445, 0.1757, 0.0914, 0.9961]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1825 left_yaw=-0.0046 left_pitch=-0.0062 left_roll=0.0041 left_gripper=0.9983 right_x=0.4496 right_y=0.1559 right_z=0.0256 right_yaw=0.1737 right_pitch=-0.0574 right_roll=-0.017 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -1.4701, 6.5299, 1.8144, 0.022, -0.0611, -0.0122, -0.7043, -7.3368, 5.641, 1.7216, -0.0708, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.6132, -0.3832, -0.0231, -0.0372, 0.9983, 0.3931, 1.9347, 0.8116, 0.6365, 0.1558, 0.0914, 0.3598]\nstate[eef_state]: left_x=0.2958 left_y=0.0023 left_z=0.1823 left_yaw=-0.0042 left_pitch=-0.007 left_roll=0.0044 left_gripper=0.9983 right_x=0.4622 right_y=0.1659 right_z=0.0497 right_yaw=0.1917 right_pitch=0.09 right_roll=0.0251 right_gripper=0.3598\nstate[joint_eff]: [-0.1162, -1.6479, 6.5299, 1.79, 0.0122, -0.0855, -0.0122, -0.5812, -8.6632, 3.7128, 1.116, 0.1685, -0.0317, 0.5495]",
      "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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3832, -0.0227, -0.0372, 0.9983, 0.3931, 1.6554, 1.3918, -0.3801, 0.1524, 0.0692, 0.3583]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1824 left_yaw=-0.0046 left_pitch=-0.0066 left_roll=0.0042 left_gripper=0.9983 right_x=0.4618 right_y=0.1664 right_z=0.2224 right_yaw=0.207 right_pitch=-0.0643 right_roll=-0.0221 right_gripper=0.3583\nstate[joint_eff]: [0.2667, -1.4838, 6.5026, 1.8339, 0.0122, -0.0806, -0.0122, -0.0752, -10.8239, 10.4, 1.9902, 0.0952, 0.1001, -0.1734]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98c4d45f4376b18138be748d0a1751bc7994a9c6af3d9bb730fc56f9469eb366",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4166ce1a476c91f70d2b531d2fdab6dc39f352110da6d538a275c56c3fbd1da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd6eec31633daa7b7cd67a9fe98a9e3cd6023692eafd79dd22968d7fd29c0fd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WSXkHUJPfX8W9jwbRfp7Zx",
      "input": {
        "note": "Bottle slipped again; the grip was above the bottle's centreline so the squeeze popped it out (arm rose 2.5 cm on close). Reopening and repositioning to grip lower, at or below its centre.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.455,
          "right_y": 0.16,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01WSXkHUJPfX8W9jwbRfp7Zx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3832, -0.0227, -0.0372, 0.9983, 0.3904, 1.7157, 0.9443, 0.1448, 0.1444, 0.0685, 0.9959]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1824 left_yaw=-0.0046 left_pitch=-0.0066 left_roll=0.0042 left_gripper=0.9983 right_x=0.4467 right_y=0.1603 right_z=0.102 right_yaw=0.2116 right_pitch=-0.0483 right_roll=-0.0149 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -1.6342, 6.7077, 1.7949, 0.0073, -0.0464, -0.0122, -0.9915, -6.8855, 6.0923, 1.9414, -0.0562, 0.0415, 0.105]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6a34b409babd3bd888fded799f1a078cd6a360d9666563212b109c991f033fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3a5e84f0c94c976d50005ac01cb8b9452649be9b7d06206916e2380b8a06c7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:172326b72b7bff5e4de64f7119c0a09466efe5ed402dd1445b5d5cf916551b2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 4.132 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7986, 0.6132, -0.3832, -0.0231, -0.0372, 0.9983, 0.3931, 1.9347, 0.8116, 0.6365, 0.1558, 0.0914, 0.3598]\nstate[eef_state]: left_x=0.2958 left_y=0.0023 left_z=0.1823 left_yaw=-0.0042 left_pitch=-0.007 left_roll=0.0044 left_gripper=0.9983 right_x=0.4622 right_y=0.1659 right_z=0.0497 right_yaw=0.1917 right_pitch=0.09 right_roll=0.0251 right_gripper=0.3598\nstate[joint_eff]: [-0.1162, -1.6479, 6.5299, 1.79, 0.0122, -0.0855, -0.0122, -0.5812, -8.6632, 3.7128, 1.116, 0.1685, -0.0317, 0.5495]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3832, -0.0227, -0.0372, 0.9983, 0.3931, 1.6554, 1.3918, -0.3801, 0.1524, 0.0692, 0.3583]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1824 left_yaw=-0.0046 left_pitch=-0.0066 left_roll=0.0042 left_gripper=0.9983 right_x=0.4618 right_y=0.1664 right_z=0.2224 right_yaw=0.207 right_pitch=-0.0643 right_roll=-0.0221 right_gripper=0.3583\nstate[joint_eff]: [0.2667, -1.4838, 6.5026, 1.8339, 0.0122, -0.0806, -0.0122, -0.0752, -10.8239, 10.4, 1.9902, 0.0952, 0.1001, -0.1734]\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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3832, -0.0227, -0.0372, 0.9983, 0.3904, 1.7157, 0.9443, 0.1448, 0.1444, 0.0685, 0.9959]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1824 left_yaw=-0.0046 left_pitch=-0.0066 left_roll=0.0042 left_gripper=0.9983 right_x=0.4467 right_y=0.1603 right_z=0.102 right_yaw=0.2116 right_pitch=-0.0483 right_roll=-0.0149 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -1.6342, 6.7077, 1.7949, 0.0073, -0.0464, -0.0122, -0.9915, -6.8855, 6.0923, 1.9414, -0.0562, 0.0415, 0.105]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6a34b409babd3bd888fded799f1a078cd6a360d9666563212b109c991f033fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3a5e84f0c94c976d50005ac01cb8b9452649be9b7d06206916e2380b8a06c7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:172326b72b7bff5e4de64f7119c0a09466efe5ed402dd1445b5d5cf916551b2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8AYKEAgSGAI4AUIIdGhpbmtpbmcSDEOdAcGOt4BDfr1ZcBoMQknZb9+hz2E11H68IjC4Hol5L+A8pif5F6g0srpv6Nv6dtRNJri9pniEcN+koZX0R7Buf6w9CEjGVrGkNGAqjQYjEkQwFVtNdNCXuq5V6uSXJOuS+7A0RZe/s5S0U4uBjY+v35+1cR1AmImVhuEPHssRXof2/H8zuyvFcO+8hd5iykNlB+QYHGL7wRzwp8lLNN6GWg3oi6xLuaRxh8aj5DlBUq0ynxwB76pM9sNdFlrJ8NG7dqNjxhbyBmWkDYMxdcPhoDmYrBY7rokvNNboRywEuo8DsuAjjwaydedNXsOEntBRlcdjNw/U0VZkP4gZkuWuHeFTDCI8EYLjiA2V5InXSr23x6d9ANLfJzL6Z+CBeuhbd7BMrInlfukDlGBTwAkgDhdTOP9uZcSUTf7U23I9ufXVT9ldhkmb+WUEIZnKnML3fycqnPCYQ2fO4c7/lMep5rKfeuR8StjG3SGJYZM779wWH7yFkyscipAqdmLu5eD4vgiOzdve/KKdCXto5NYaXiTDvSPtNknj/B7AYFUT6bW0vTsTY8LUDXjt56O3agWT6/MC3Th8ZzrVgjlxOGQq0BbW02n4m6Mhc9KlAnNpepZ/FNqTMxxUyX93rt9Z3hbKVCkhxMnSNjFJ4F75QtqgeUc2sVI7pV2K52/ObVLz0LVMs51F615U2UUfp+XCV76263AKJAFfQCWSjd4Fxr0PFuGXQ6kRhhytAslM/qapN4XpkSLVFb/folcMSpUDFU4g6EUObnqGuk0Z5b0tWj0TWyGajsSAuuj2qQxtl4K8mQyB9ocNJTeryJawZtyTEp7+pW+wvL8VMOsZXK2A4VqKbusUxPk0Hs2lmgBRIDbj15DnJmKnErLH+MTMPnQkPjPK9KyQT/3xkDqRTMWSrekc38tZw3Uo3YPkJmkQJCGetLQJsKW+8jMbYcw32jkcZXU87dFvIkmlNMk3AkfwIaGdG2RXp5VznnQkY1RB27coKhsZtpJlyik2gTHRB7r0PrCjLJve6x9IfIWJAgbQbQMHGrS0ktcnXrBO5hASO7f5XMy/sUUeSn8ntaXju6KewJyBqi82tYLKYOi7cDJESx5f+okKZ7jq+Qg5J/NHdUsQtzCvDtvrdCVo95gOGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TvE8G5ugPrBP95YsyLGp5s",
      "input": {
        "note": "Bottle is centred between the open jaws. Descending all the way to the table so the fingers close below the bottle's centreline.",
        "targets": {
          "right_x": 0.455,
          "right_y": 0.16,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01TvE8G5ugPrBP95YsyLGp5s",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3836, -0.0227, -0.0372, 0.9983, 0.3859, 1.9846, 0.8185, 0.635, 0.1223, 0.0696, 0.9955]\nstate[eef_state]: left_x=0.2957 left_y=0.0022 left_z=0.1823 left_yaw=-0.0046 left_pitch=-0.007 left_roll=0.0042 left_gripper=0.9983 right_x=0.4603 right_y=0.1676 right_z=0.028 right_yaw=0.225 right_pitch=0.0436 right_roll=0.0141 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -1.6342, 6.5026, 1.7949, -0.0024, -0.0904, -0.0122, -0.5128, -5.0803, 4.1504, 0.8181, 0.0806, -0.0952, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2c969fb9b9b9bc6ae717ab9b63b503b9bccd9ead2901a0e339ce00291cbb0cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66ea1144910a979461d788ff3b9d833fdebe116717418c9a09ac30aa74492b06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61bacbd4026bb883ad28a0953215677fe6d37bcfccc32cf391cb2fd344b358f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 16.52 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3832, -0.0227, -0.0372, 0.9983, 0.3931, 1.6554, 1.3918, -0.3801, 0.1524, 0.0692, 0.3583]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1824 left_yaw=-0.0046 left_pitch=-0.0066 left_roll=0.0042 left_gripper=0.9983 right_x=0.4618 right_y=0.1664 right_z=0.2224 right_yaw=0.207 right_pitch=-0.0643 right_roll=-0.0221 right_gripper=0.3583\nstate[joint_eff]: [0.2667, -1.4838, 6.5026, 1.8339, 0.0122, -0.0806, -0.0122, -0.0752, -10.8239, 10.4, 1.9902, 0.0952, 0.1001, -0.1734]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3832, -0.0227, -0.0372, 0.9983, 0.3904, 1.7157, 0.9443, 0.1448, 0.1444, 0.0685, 0.9959]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1824 left_yaw=-0.0046 left_pitch=-0.0066 left_roll=0.0042 left_gripper=0.9983 right_x=0.4467 right_y=0.1603 right_z=0.102 right_yaw=0.2116 right_pitch=-0.0483 right_roll=-0.0149 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -1.6342, 6.7077, 1.7949, 0.0073, -0.0464, -0.0122, -0.9915, -6.8855, 6.0923, 1.9414, -0.0562, 0.0415, 0.105]\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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3836, -0.0227, -0.0372, 0.9983, 0.3859, 1.9846, 0.8185, 0.635, 0.1223, 0.0696, 0.9955]\nstate[eef_state]: left_x=0.2957 left_y=0.0022 left_z=0.1823 left_yaw=-0.0046 left_pitch=-0.007 left_roll=0.0042 left_gripper=0.9983 right_x=0.4603 right_y=0.1676 right_z=0.028 right_yaw=0.225 right_pitch=0.0436 right_roll=0.0141 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -1.6342, 6.5026, 1.7949, -0.0024, -0.0904, -0.0122, -0.5128, -5.0803, 4.1504, 0.8181, 0.0806, -0.0952, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2c969fb9b9b9bc6ae717ab9b63b503b9bccd9ead2901a0e339ce00291cbb0cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66ea1144910a979461d788ff3b9d833fdebe116717418c9a09ac30aa74492b06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61bacbd4026bb883ad28a0953215677fe6d37bcfccc32cf391cb2fd344b358f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgkKEAgSGAI4AUIIdGhpbmtpbmcSDOLcuLGth7/6cMROohoMOoduNCn0TPpnJ8AOIjAPygqxULZBX+MjYZBWguuQzqI3jwx1RXYGtgNWVT4au94cYONE0y5v7E/H057lFwUqswjny4EV0CBd+mEVu/l0oxvUTxD0kwbBRep+ZArpVC/Uq3oTdaT7fnkJNDCwpMMonc9eMnMfIr4O2UBwSGFxi+he4R3ZjwkYaXh0khI6OTcr4fKS8iVXwaAEWfd3L8Kwl3yPu0mbRM0yIXplllpNrWPaBCpGO8Lf2xdQ50mFvchrKuOZKyuZLlCs8CEIg1fyKBXEkDZko+4RfEgMMnXzDGu94usNLbn8IJ/O9HeUW+W9sZYRLbup372EvpdjOvrbRt+9D2LGknq40W8JCfj6SdWeHnj0kQJ2Ax5aI3SUBRxXlxf90qWx7JMkrOOAHw69yCswu0zMe+7NlyKKdFB58jf6PLHneoWyaTuBKKK0unwOuSNImTGLX3CDw7HGrQGcvbBgtd1qOgRvgrTBM6y1W1xJSQkIuh0iwoX/4hSGXiepKNHXFpRMZDxpZMA+mobOcdG6uIlHstWRGwKlM0UaO5pJ6r3NG01+G/cTuAcKv7xDF9CVYZTSrF0fEKPqO/YlWfa1e3OGQNTt7BZ4SIJzH2HJUHTXs6gsnhPzczU/2Njg1trIaakirFRIsZRnFaxsRTePtlyxJ2xq2kN72WKZncIVp2QGdjQAY78l8sPZ7lgODKAvGdju4aediC9k/ld6tYRJmp3+hZxgqiscMlOhchNYOqFT+JVd9a6QA7SItLVEmY67F6AVI78cwOa+S2npo/jFwrO7h7/kMIGSdVLlGbxNFXO1lSJaNjsFS75+7H+V1zKLxvTP3gteh1EOGmt+cI2Ho6PSxOeBOIfUFI30zEy/CUbwLNpkeWWnPi4w+S3Au7cP8VLMirU70oCv6cf6ORk0HZdGJBeMvammmE+5K1a6diAEd6rKk0jnIMfPIPqn7bRu0GZmd6ymrJWWUgWY+xv7O2F5eeS5+nvtQVy1zcwcdjMxULPv3AUTfWSy2svgEQPzxGf+Ywl+3s7DIHiZ2T/hcSP+aC+m7N7+lhGUojAgjdv2r90vfG4Zd+TbTxTskba2VkMsyipGcAi/TtLi+bdozQDw+w2LUvnO5DXVmVCwYnyE+0hYIfoEhx0v9NoTUmt07WguVXEJ3D3Ogh3NMc1s53Nw7qYyJrVtVJzQ1MByNFlqixpZAzz87nJkZpbWIQbRjwxQNldb1oGpjP+QfNd5gxHO1ckYxvb9/Yg+e4Jp5JcMgM4wMju6fvrFWCynu8ewCEYi+xH9ERk9oF9spP4568vWWgS40Bfm/E/ZhJMndyLMGzyks+321o8TTWOc6GMyqz+WLcHRxTVE0Jx8fxgu1vEEhqp7WpdRSZDgYloWDMAYLp9+kr5b49a2u/07wa8GCB1BkFxZ5614eis6bIP/e+u/C1fr6aogmPFTzO/nBcGGBOt0WKgl58mHmHuywGjg6ov1uhZ5rC5p23WWxZUVy7Q/sEH6lCrVLNUdEdx9jQplGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015sYQsB8MYvpm7ESmQNKvBa",
      "input": {
        "note": "Descent stopped at z≈0.028 with the bottle between the jaws; closing fully.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015sYQsB8MYvpm7ESmQNKvBa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0181, 0.7982, 0.6132, -0.3832, -0.0231, -0.0372, 0.9983, 0.3878, 1.9553, 0.8581, 0.6327, 0.1181, 0.0532, 0.0151]\nstate[eef_state]: left_x=0.2958 left_y=0.0023 left_z=0.1824 left_yaw=-0.0042 left_pitch=-0.0066 left_roll=0.0044 left_gripper=0.9983 right_x=0.4729 right_y=0.1746 right_z=0.0563 right_yaw=0.2385 right_pitch=0.1095 right_roll=0.0119 right_gripper=0.0151\nstate[joint_eff]: [-0.0479, -1.4701, 6.6393, 1.79, -0.0024, -0.0904, -0.0122, -0.0479, -8.4308, 5.053, 0.9744, 0.1343, 0.1148, 1.0769]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8feae246cc8fa1029ec80193676b36e561dc06fd395ab3fbff8db553d72b3cb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60e229147ca598a3052c5c7dc3904c5336d731980598f3eb30b983534b7851b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72c58048260fed7b96791abcd74de2512f2fea8d243b9c0ee722c67dd701b7a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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