adhoc

completed
2026-09-22T18:29:46.269388+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
271.3 s
total steps
263
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 the table, caps pointing forward. Moving the right arm over the cap end of the rightmost bottle so I can grab the cap and swing the bottle 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]: [-0.02, 0.7937, 0.6086, -0.3763, -0.0204, -0.0288, 0.9986, -0.0166, 0.7898, 0.6044, -0.3862, -0.0143, -0.025, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.0013 left_z=0.183 left_yaw=0.0003 left_pitch=0.0008 left_roll=0.0002 left_gripper=0.9986 right_x=0.2937 right_y=0.0012 right_z=0.18 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5402, -1.4974, 9.7299, 1.7314, -0.0513, 0.1197, -0.1538, -0.8137, -1.2923, 10.3453, 1.873, -0.0708, 0.105, -0.0366] 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 the table, caps pointing forward. Moving the right arm over the cap end of the rightmost bottle so I can grab the cap and swing the bottle 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 noteRight wrist cam shows the bottle's cap slightly right of the jaw column and a few cm ahead. Shifting right/forward and lower to line up over the cap.
move_to
right_x0.4700right_y0.1650right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.3836, -0.0227, -0.0292, 0.9984, 0.5705, 1.7325, 1.1259, -0.1093, 0.4442, 0.2878, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1827 left_yaw=0.0025 left_pitch=-0.0057 left_roll=0.0012 left_gripper=0.9984 right_x=0.4357 right_y=0.1937 right_z=0.1317 right_yaw=0.0362 right_pitch=-0.0636 right_roll=-0.0437 right_gripper=0.9998 state[joint_eff]: [-0.1709, -1.5795, 6.8718, 1.7509, -0.0317, -0.0611, -0.0317, 0.3214, -8.8274, 8.9641, 1.79, 0.3785, 0.3004, -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": 0.47, "right_y": 0.165, "right_z": 0.1}, "note": "Right wrist cam shows the bottle's cap slightly right of the jaw column and a few cm ahead. Shifting right/forward and lower to line up over the cap."})
tool
executing move_to over 3 steps (0.3s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteCap still sits a bit right of the jaw column and ahead of the fingertips. Nudging right and forward while descending toward cap height.
move_to
right_x0.4900right_y0.1500right_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.384, -0.0227, -0.0292, 0.9983, 0.4728, 1.7969, 1.0416, 0.0662, 0.3782, 0.2424, 0.9998] state[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1826 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0012 left_gripper=0.9983 right_x=0.455 right_y=0.1635 right_z=0.0962 right_yaw=0.0167 right_pitch=-0.0613 right_roll=-0.03 right_gripper=0.9998 state[joint_eff]: [-0.0615, -1.5795, 6.5709, 1.7851, -0.0366, -0.0415, -0.0171, 0.2256, -8.3624, 6.3248, 2.1514, -0.0464, 0.0952, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_y": 0.15, "right_z": 0.06}, "note": "Cap still sits a bit right of the jaw column and ahead of the fingertips. Nudging right and forward while descending toward cap height."})
tool
executing move_to over 3 steps (0.3s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteArm lagged behind the last target; the cap is centred-ahead in the wrist view. Pushing forward and down to cap height.
move_to
right_x0.4900right_y0.1500right_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.614, -0.3836, -0.0223, -0.0292, 0.9983, 0.45, 1.8332, 0.9886, 0.1879, 0.3393, 0.2123, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1826 left_yaw=0.0021 left_pitch=-0.0061 left_roll=0.001 left_gripper=0.9983 right_x=0.4595 right_y=0.1606 right_z=0.0793 right_yaw=0.0424 right_pitch=-0.0424 right_roll=-0.0189 right_gripper=0.9998 state[joint_eff]: [-0.3077, -1.6342, 6.6256, 1.7851, -0.0024, -0.0659, -0.0122, -0.5949, -8.2256, 6.1607, 2.1758, 0.2515, 0.1636, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_y": 0.15, "right_z": 0.04}, "note": "Arm lagged behind the last target; the cap is centred-ahead in the wrist view. Pushing forward and down to cap height."})
tool
executing move_to over 3 steps (0.3s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe arm stalled at x≈0.46, z≈0.08, probably resting on the bottle body. Raising slightly and advancing so the fingertips clear the bottle and sit over the cap.
move_to
right_x0.5000right_y0.1550right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.614, -0.3836, -0.0227, -0.0296, 0.9983, 0.4503, 1.8332, 0.9882, 0.2035, 0.3389, 0.2123, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0027 left_pitch=-0.0061 left_roll=0.0009 left_gripper=0.9983 right_x=0.4613 right_y=0.1618 right_z=0.0821 right_yaw=0.0433 right_pitch=-0.0285 right_roll=-0.0127 right_gripper=0.9998 state[joint_eff]: [-0.1162, -1.5932, 6.8581, 1.7851, -0.0073, -0.0904, -0.0122, -0.6359, -8.2256, 6.2017, 2.0, 0.2418, 0.1148, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.155, "right_z": 0.1}, "note": "The arm stalled at x\u22480.46, z\u22480.08, probably resting on the bottle body. Raising slightly and advancing so the fingertips clear the bottle and sit over the cap."})
tool
executing move_to over 3 steps (0.3s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteRight arm is not responding to the last few targets (stuck near x 0.46, z 0.08). Backing up to a comfortable pose to see if it tracks again.
move_to
right_x0.4000right_y0.1600right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.3824, -0.0227, -0.0292, 0.9983, 0.4503, 1.8332, 0.9874, 0.2073, 0.3389, 0.2119, 0.9998] state[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1829 left_yaw=0.0025 left_pitch=-0.0045 left_roll=0.0012 left_gripper=0.9983 right_x=0.4616 right_y=0.1619 right_z=0.0825 right_yaw=0.0435 right_pitch=-0.0257 right_roll=-0.0118 right_gripper=0.9998 state[joint_eff]: [-0.1162, -1.4291, 6.653, 1.8632, -0.0317, -0.0855, -0.0122, -0.6359, -8.0479, 6.0513, 2.0635, 0.2564, 0.0952, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.16, "right_z": 0.15}, "note": "Right arm is not responding to the last few targets (stuck near x 0.46, z 0.08). Backing up to a comfortable pose to see if it tracks again."})
tool
executing move_to over 5 steps (0.5s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteArm does track, just slowly (moves get delta-clamped). Bottle lies straight ahead with its cap ~7 cm forward; advancing to hover just over the neck.
move_to
right_x0.4700right_y0.1650right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.614, -0.3843, -0.0227, -0.0292, 0.9983, 0.5259, 1.61, 0.8867, 0.0223, 0.3717, 0.2382, 0.9998] state[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0013 left_gripper=0.9983 right_x=0.405 right_y=0.165 right_z=0.1074 right_yaw=0.0769 right_pitch=-0.0738 right_roll=-0.0349 right_gripper=0.9998 state[joint_eff]: [-0.3214, -1.0872, 6.694, 1.8681, -0.0366, -0.0464, -0.0122, -0.8, -9.7983, 8.1026, 2.3468, 0.4957, 0.1929, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.165, "right_z": 0.1}, "note": "Arm does track, just slowly (moves get delta-clamped). Bottle lies straight ahead with its cap ~7 cm forward; advancing to hover just over the neck."})
tool
executing move_to over 5 steps (0.5s)
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 noteArm is sagging and lagging; cap still several cm ahead of the jaws. Commanding further forward and higher to compensate.
move_to
right_x0.5000right_y0.1600right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.387, -0.0223, -0.0292, 0.9983, 0.4438, 1.8057, 0.9577, 0.1188, 0.308, 0.1875, 0.9998] state[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1819 left_yaw=0.0021 left_pitch=-0.0091 left_roll=0.0011 left_gripper=0.9983 right_x=0.4427 right_y=0.1551 right_z=0.066 right_yaw=0.0731 right_pitch=-0.1174 right_roll=-0.0477 right_gripper=0.9998 state[joint_eff]: [-0.2393, -1.5248, 6.6803, 1.8632, -0.0073, -0.0415, -0.0122, -0.7863, -8.5538, 9.1145, 2.0342, 0.1001, 0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.16, "right_z": 0.12}, "note": "Arm is sagging and lagging; cap still several cm ahead of the jaws. Commanding further forward and higher to compensate."})
tool
executing move_to over 5 steps (0.5s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteGrasp point is stuck at z≈0.065, about the bottle's diameter, so the fingers are resting on the bottle. Lifting clear first.
move_to
right_x0.4500right_y0.1600right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.4381, 1.813, 0.8974, 0.2626, 0.2855, 0.1738, 0.9998] state[eef_state]: left_x=0.2954 left_y=0.0016 left_z=0.182 left_yaw=0.0021 left_pitch=-0.0087 left_roll=0.0011 left_gripper=0.9983 right_x=0.4457 right_y=0.1578 right_z=0.0652 right_yaw=0.0956 right_pitch=-0.0512 right_roll=-0.0184 right_gripper=0.9998 state[joint_eff]: [-0.1983, -1.7846, 6.3385, 1.8144, -0.0122, -0.0562, -0.0122, -0.294, -8.8821, 6.1744, 2.1123, 0.1587, 0.022, -0.0122] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.16, "right_z": 0.2}, "note": "Grasp point is stuck at z\u22480.065, about the bottle's diameter, so the fingers are resting on the bottle. Lifting clear first."})
tool
executing move_to over 9 steps (0.9s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteNow clear above the bottle; the cap sits right at the jaw column just ahead of the fingertips. Descending straight down onto the cap/neck.
move_to
right_x0.4700right_y0.1650right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.4389, 1.6718, 1.1107, 0.0025, 0.2752, 0.1623, 0.9998] state[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1819 left_yaw=0.0025 left_pitch=-0.0091 left_roll=0.0013 left_gripper=0.9983 right_x=0.4622 right_y=0.1679 right_z=0.168 right_yaw=0.1113 right_pitch=0.0359 right_roll=0.0085 right_gripper=0.9998 state[joint_eff]: [-0.0479, -1.7162, 6.4068, 1.8339, -0.0122, -0.0659, -0.0122, -0.3487, -10.4274, 8.2803, 1.7265, 0.232, 0.1392, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.165, "right_z": 0.03}, "note": "Now clear above the bottle; the cap sits right at the jaw column just ahead of the fingertips. Descending straight down onto the cap/neck."})
tool
executing move_to over 9 steps (0.9s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteJaws are straddling the bottle near the label; the neck and cap are ~4–5 cm further forward. Sliding forward along the bottle to put the jaws around the neck.
move_to
right_x0.5100right_y0.1650right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6136, -0.3866, -0.0227, -0.0292, 0.9983, 0.424, 1.9602, 0.9245, 0.4046, 0.2596, 0.1467, 0.9998] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0013 left_gripper=0.9983 right_x=0.465 right_y=0.1641 right_z=0.0341 right_yaw=0.1178 right_pitch=-0.0358 right_roll=-0.0189 right_gripper=0.9998 state[joint_eff]: [-0.1983, -1.6205, 6.3385, 1.8046, -0.0464, -0.0708, -0.0122, -0.5265, -8.3897, 4.7658, 1.5409, 0.022, 0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.51, "right_y": 0.165, "right_z": 0.035}, "note": "Jaws are straddling the bottle near the label; the neck and cap are ~4\u20135 cm further forward. Sliding forward along the bottle to put the jaws around the neck."})
tool
executing move_to over 4 steps (0.4s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteJaws now straddle the bottle's upper shoulder just behind the neck. Closing to grip it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0223, -0.0292, 0.9983, 0.3889, 2.0548, 1.0477, 0.4259, 0.2234, 0.1207, 0.9998] state[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1821 left_yaw=0.0021 left_pitch=-0.008 left_roll=0.0011 left_gripper=0.9983 right_x=0.5013 right_y=0.167 right_z=0.0378 right_yaw=0.1271 right_pitch=0.0062 right_roll=-0.0067 right_gripper=0.9998 state[joint_eff]: [-0.1026, -1.6752, 6.4479, 1.8388, -0.0122, -0.0562, -0.0122, -0.6769, -9.0462, 7.5829, 1.5897, -0.0024, 0.0269, -0.0122] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Jaws now straddle the bottle's upper shoulder just behind the neck. Closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteBottle gripped at the shoulder (reading 0.48 ≈ 4.6 cm). Raising the cap end in an arc around the bottle's base so it pivots upright.
move_to
right_x0.4600right_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3859, 2.059, 1.0615, 0.4198, 0.2153, 0.1062, 0.4847] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.5044 right_y=0.168 right_z=0.0395 right_yaw=0.1385 right_pitch=0.0084 right_roll=-0.0139 right_gripper=0.4847 state[joint_eff]: [-0.212, -1.6889, 6.694, 1.8095, -0.0269, -0.0611, -0.0122, -0.0342, -11.1111, 4.8479, 1.6435, 0.0366, 0.1294, 0.7985] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_z": 0.13}, "note": "Bottle gripped at the shoulder (reading 0.48 \u2248 4.6 cm). Raising the cap end in an arc around the bottle's base so it pivots upright."})
tool
executing move_to over 6 steps (0.6s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteBottle still in the grip with its cap end raised. Continuing the arc up and back over the base to bring it vertical.
move_to
right_x0.3800right_z0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0223, -0.0292, 0.9983, 0.4263, 1.7927, 1.0145, 0.0925, 0.218, 0.1265, 0.4841] state[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1821 left_yaw=0.0021 left_pitch=-0.008 left_roll=0.0011 left_gripper=0.9983 right_x=0.4537 right_y=0.168 right_z=0.0868 right_yaw=0.1646 right_pitch=-0.0955 right_roll=-0.026 right_gripper=0.4841 state[joint_eff]: [-0.0889, -1.4564, 6.3658, 1.8486, -0.0122, -0.0855, -0.0122, 0.3077, -12.0684, 8.0068, 2.293, 0.3101, 0.149, -0.0806] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_z": 0.22}, "note": "Bottle still in the grip with its cap end raised. Continuing the arc up and back over the base to bring it vertical."})
tool
executing move_to over 9 steps (0.9s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteTop view shows the bottle hanging roughly vertical under the right gripper. Lowering until its base sits firmly on the table before releasing.
move_to
right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.5316, 1.3975, 1.0092, -0.2504, 0.2825, 0.1646, 0.4838] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.3822 right_y=0.1718 right_z=0.192 right_yaw=0.1967 right_pitch=-0.0386 right_roll=-0.0195 right_gripper=0.4838 state[joint_eff]: [0.0205, -1.7299, 6.3795, 1.8291, -0.0708, -0.0611, -0.0122, 0.3761, -8.1846, 10.0855, 2.0049, 0.2418, 0.2369, -0.0415] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15}, "note": "Top view shows the bottle hanging roughly vertical under the right gripper. Lowering until its base sits firmly on the table before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe bottle appears to be standing on its base under the gripper. Opening to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.5354, 1.4109, 0.8482, -0.1143, 0.2832, 0.1707, 0.4837] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0025 left_pitch=-0.0084 left_roll=0.0013 left_gripper=0.9983 right_x=0.371 right_y=0.1668 right_z=0.1427 right_yaw=0.1959 right_pitch=-0.0743 right_roll=-0.0276 right_gripper=0.4837 state[joint_eff]: [-0.3077, -1.7299, 6.3658, 1.8095, -0.0415, -0.0708, -0.0122, -0.5675, -6.2017, 8.2256, 2.2784, 0.022, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The bottle appears to be standing on its base under the gripper. Opening to release it."})
tool
executing move_to over 6 steps (0.6s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteReleased. The right wrist view is ambiguous about whether the bottle stayed upright, so I'm lifting straight up and back to get a clear overhead view.
move_to
right_x0.3000right_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0223, -0.0292, 0.9983, 0.5358, 1.4109, 0.7666, -0.0055, 0.2756, 0.1635, 0.9958] state[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1821 left_yaw=0.0021 left_pitch=-0.008 left_roll=0.0011 left_gripper=0.9983 right_x=0.3676 right_y=0.1665 right_z=0.1283 right_yaw=0.207 right_pitch=-0.0504 right_roll=-0.0201 right_gripper=0.9958 state[joint_eff]: [-0.0889, -1.7026, 6.5299, 1.8095, -0.0317, -0.0708, -0.0122, -0.0752, -7.6103, 6.5026, 1.9414, 0.1197, 0.0611, -0.0317] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_z": 0.25}, "note": "Released. The right wrist view is ambiguous about whether the bottle stayed upright, so I'm lifting straight up and back to get a clear overhead view."})
tool
executing move_to over 8 steps (0.8s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteCan't tell from the current views whether the first bottle stayed upright; pulling the right arm back toward its base so the overhead camera can see that spot.
move_to
right_x0.1800right_y0.0500right_z0.2500right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.6941, 1.1248, 0.9611, -0.482, 0.374, 0.234, 0.9955] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0013 left_gripper=0.9983 right_x=0.3042 right_y=0.1739 right_z=0.2285 right_yaw=0.2467 right_pitch=-0.0234 right_roll=-0.0156 right_gripper=0.9955 state[joint_eff]: [-0.0615, -1.4974, 6.3795, 1.8242, -0.0659, -0.0415, -0.0122, 0.0342, -4.9709, 9.6752, 1.79, 0.2857, 0.2222, -0.0317] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.18, "right_y": 0.05, "right_z": 0.25, "right_yaw": 0}, "note": "Can't tell from the current views whether the first bottle stayed upright; pulling the right arm back toward its base so the overhead camera can see that spot."})
tool
executing move_to over 11 steps (1.1s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteOverhead shows the right bottle fell back flat; a rigid shoulder grip didn't let it pivot. Going back above its shoulder to grab it, drag it closer, then re-grip loosely at the cap so it can swing vertical.
move_to
right_x0.4900right_y0.1680right_z0.1700right_yaw0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3862, -0.0223, -0.0292, 0.9983, 0.9241, 0.6064, 0.8913, -1.0756, 0.6758, 0.5396, 0.9955] state[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1823 left_yaw=0.0021 left_pitch=-0.0072 left_roll=0.0011 left_gripper=0.9983 right_x=0.1863 right_y=0.0694 right_z=0.2413 right_yaw=0.0772 right_pitch=-0.0167 right_roll=-0.0069 right_gripper=0.9955 state[joint_eff]: [-0.3214, -1.7026, 6.4342, 1.8388, -0.022, -0.0757, -0.0122, -0.0342, 0.7453, 8.9504, 1.5946, 0.315, 0.149, -0.0171] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_y": 0.168, "right_z": 0.17, "right_yaw": 0.1}, "note": "Overhead shows the right bottle fell back flat; a rigid shoulder grip didn't let it pivot. Going back above its shoulder to grab it, drag it closer, then re-grip loosely at the cap so it can swing vertical."})
tool
executing move_to over 24 steps (2.4s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteRight wrist view shows the cap right on the jaw column just ahead of the fingertips. Descending straight down to cap height.
move_to
right_x0.4800right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0223, -0.0292, 0.9983, 0.4259, 1.7515, 1.2133, -0.149, 0.2527, 0.144, 0.9955] state[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.182 left_yaw=0.0021 left_pitch=-0.0084 left_roll=0.0011 left_gripper=0.9983 right_x=0.4676 right_y=0.1676 right_z=0.1448 right_yaw=0.1258 right_pitch=-0.0906 right_roll=-0.0338 right_gripper=0.9955 state[joint_eff]: [-0.1026, -1.6615, 6.4479, 1.79, -0.022, -0.0464, -0.0122, -1.2513, -8.9094, 9.8803, 1.9853, 0.1538, 0.0904, -0.0171] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_z": 0.03}, "note": "Right wrist view shows the cap right on the jaw column just ahead of the fingertips. Descending straight down to cap height."})
tool
executing move_to over 8 steps (0.8s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteJaws are around the neck with the cap just ahead. Advancing ~1.5 cm so the jaws sit on the cap itself.
move_to
right_x0.4920right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4183, 1.9862, 0.9653, 0.3908, 0.2386, 0.1364, 0.9955] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0025 left_pitch=-0.0076 left_roll=0.0013 left_gripper=0.9983 right_x=0.4735 right_y=0.1687 right_z=0.0338 right_yaw=0.1351 right_pitch=-0.0384 right_roll=-0.0152 right_gripper=0.9955 state[joint_eff]: [-0.3214, -1.7162, 6.3521, 1.8437, -0.0269, -0.0757, -0.0122, -0.9641, -7.5009, 4.9846, 1.7509, 0.0317, 0.0952, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.492, "right_z": 0.03}, "note": "Jaws are around the neck with the cap just ahead. Advancing ~1.5 cm so the jaws sit on the cap itself."})
tool
executing move_to over 2 steps (0.2s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteJaws are on the neck just below the cap. Closing only partway for a light pinch that lets the bottle swing about the jaw axis when lifted.
move_to
right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4145, 2.0109, 0.9768, 0.4618, 0.2237, 0.1192, 0.9955] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0013 left_gripper=0.9983 right_x=0.484 right_y=0.1741 right_z=0.0399 right_yaw=0.1531 right_pitch=0.0148 right_roll=-0.0059 right_gripper=0.9955 state[joint_eff]: [-0.1709, -1.6342, 6.4205, 1.8535, -0.022, -0.0562, -0.0122, -1.5658, -7.0085, 7.6786, 1.7265, 0.0855, 0.0757, -0.0073] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.25}, "note": "Jaws are on the neck just below the cap. Closing only partway for a light pinch that lets the bottle swing about the jaw axis when lifted."})
tool
executing move_to over 8 steps (0.8s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteLight pinch on the neck (reading 0.26 ≈ 2.5 cm). Lifting high and a bit back so the bottle can swing down and hang vertically from the neck.
move_to
right_x0.4000right_z0.2800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.4129, 2.009, 0.9905, 0.4797, 0.2134, 0.1173, 0.259] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.49 right_y=0.1777 right_z=0.0496 right_yaw=0.1609 right_pitch=0.0459 right_roll=0.0062 right_gripper=0.259 state[joint_eff]: [-0.3214, -1.7299, 6.4752, 1.8242, -0.022, -0.0611, -0.0122, -0.1573, -10.2906, 5.3538, 1.2576, 0.1734, 0.0513, 0.3004] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_z": 0.28}, "note": "Light pinch on the neck (reading 0.26 \u2248 2.5 cm). Lifting high and a bit back so the bottle can swing down and hang vertically from the neck."})
tool
executing move_to over 15 steps (1.5s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe light pinch slipped; the right bottle is still lying with its cap forward. Going back down to the neck for a full, firm close this time.
move_to
right_x0.4900right_y0.1750right_z0.0350right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0223, -0.0292, 0.9983, 0.5304, 1.4918, 1.3254, -0.4854, 0.2859, 0.1604, 0.2584] state[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1823 left_yaw=0.0021 left_pitch=-0.0072 left_roll=0.0011 left_gripper=0.9983 right_x=0.404 right_y=0.1834 right_z=0.2486 right_yaw=0.1948 right_pitch=-0.0502 right_roll=-0.0291 right_gripper=0.2584 state[joint_eff]: [-0.3214, -1.6752, 6.3795, 1.873, -0.0073, -0.0757, -0.0122, 0.1709, -9.4017, 9.9077, 1.8437, 0.2418, 0.3004, -0.0708] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_y": 0.175, "right_z": 0.035, "right_gripper": 1}, "note": "The light pinch slipped; the right bottle is still lying with its cap forward. Going back down to the neck for a full, firm close this time."})
tool
executing move_to over 14 steps (1.4s)
step 190
assistant
agent noteNeck is centred between the jaws with the cap just ahead. Closing fully for a firm neck grip.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4023, 2.0033, 0.9897, 0.3595, 0.1719, 0.0834, 0.9971] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0013 left_gripper=0.9983 right_x=0.4751 right_y=0.1732 right_z=0.0271 right_yaw=0.2031 right_pitch=-0.0718 right_roll=-0.0251 right_gripper=0.9971 state[joint_eff]: [-0.294, -1.6068, 6.6256, 1.8193, -0.0269, -0.0464, -0.0122, -0.7726, -9.0188, 6.5436, 1.917, -0.0806, 0.1685, -0.1392] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Neck is centred between the jaws with the cap just ahead. Closing fully for a firm neck grip."})
tool
executing move_to over 10 steps (1.0s)
step 200
assistant
agent noteFull close came up empty (0.017); the round neck squeezed out and the arm rode up. Reopening and lowering again, a touch further forward over the cap itself.
move_to
right_gripper1.0000right_x0.5000right_z0.0330
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3996, 2.0064, 0.9451, 0.5945, 0.1551, 0.0799, 0.0172] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0025 left_pitch=-0.0076 left_roll=0.0013 left_gripper=0.9983 right_x=0.49 right_y=0.1812 right_z=0.0569 right_yaw=0.2157 right_pitch=0.1104 right_roll=0.0164 right_gripper=0.0172 state[joint_eff]: [-0.0889, -1.7026, 6.6256, 1.8926, -0.0513, -0.0757, -0.0122, -0.294, -9.2513, 4.0684, 1.0232, 0.1343, 0.105, 0.735] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.5, "right_z": 0.033}, "note": "Full close came up empty (0.017); the round neck squeezed out and the arm rode up. Reopening and lowering again, a touch further forward over the cap itself."})
tool
executing move_to over 10 steps (1.0s)
step 210
assistant
agent noteThe cap now sits between the jaw tips, slightly right of centre. Closing to a firm-but-not-full squeeze on the cap.
move_to
right_gripper0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3977, 2.0377, 1.0359, 0.4328, 0.152, 0.0696, 0.9957] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.4955 right_y=0.183 right_z=0.042 right_yaw=0.223 right_pitch=0.0096 right_roll=-0.0094 right_gripper=0.9957 state[joint_eff]: [-0.3077, -1.5111, 6.4205, 1.8242, -0.0464, -0.0073, -0.0122, -1.0598, -7.7607, 7.3504, 1.7509, -0.0855, 0.0366, -0.022] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.12}, "note": "The cap now sits between the jaw tips, slightly right of centre. Closing to a firm-but-not-full squeeze on the cap."})
tool
executing move_to over 9 steps (0.9s)
step 219
assistant
agent noteCap squeezed out again (empty at 0.13); I think the jaws were closing above the cap's centre line. Reopening and going lower, to the cap's mid-height.
move_to
right_gripper1.0000right_x0.5000right_y0.1800right_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6106, -0.3866, -0.0223, -0.0292, 0.9983, 0.3988, 2.0373, 1.042, 0.4717, 0.1406, 0.0654, 0.1257] state[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.181 left_yaw=0.0021 left_pitch=-0.0103 left_roll=0.0011 left_gripper=0.9983 right_x=0.501 right_y=0.1882 right_z=0.0526 right_yaw=0.2358 right_pitch=0.0533 right_roll=0.0005 right_gripper=0.1257 state[joint_eff]: [-0.212, -1.7299, 6.7077, 1.8291, -0.0415, -0.0415, -0.0122, -0.6359, -10.6598, 6.2427, 1.199, 0.1099, 0.0952, 0.2759] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.5, "right_y": 0.18, "right_z": 0.02}, "note": "Cap squeezed out again (empty at 0.13); I think the jaws were closing above the cap's centre line. Reopening and going lower, to the cap's mid-height."})
tool
executing move_to over 9 steps (0.9s)
step 228
assistant
agent noteAt x≈0.50 the arm can't get below z≈0.044 (reach limit), which is why the cap kept popping out. Backing onto the bottle's shoulder so I can grab it and drag the whole bottle closer.
move_to
right_x0.4650right_y0.1720right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6029, -0.3862, -0.0227, -0.0292, 0.9983, 0.3904, 2.0651, 1.0519, 0.4835, 0.1211, 0.0471, 0.9957] state[eef_state]: left_x=0.294 left_y=0.0017 left_z=0.1775 left_yaw=0.0025 left_pitch=-0.0175 left_roll=0.0015 left_gripper=0.9983 right_x=0.5041 right_y=0.1882 right_z=0.0444 right_yaw=0.2537 right_pitch=0.0458 right_roll=-0.0066 right_gripper=0.9957 state[joint_eff]: [-0.1983, -1.853, 6.8034, 1.8437, -0.0366, -0.0562, -0.0122, -1.2923, -7.0906, 4.6291, 1.6874, -0.022, 0.0659, -0.0464] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.465, "right_y": 0.172, "right_z": 0.035}, "note": "At x\u22480.50 the arm can't get below z\u22480.044 (reach limit), which is why the cap kept popping out. Backing onto the bottle's shoulder so I can grab it and drag the whole bottle closer."})
tool
executing move_to over 4 steps (0.4s)
step 232
assistant
agent noteJaws around the upper neck of the right bottle. Closing to grab it so I can drag it closer.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.791, 0.5877, -0.3782, -0.0227, -0.0292, 0.9983, 0.3904, 1.9858, 0.9176, 0.5167, 0.1184, 0.0471, 0.9955] state[eef_state]: left_x=0.2928 left_y=0.0017 left_z=0.1737 left_yaw=0.0025 left_pitch=-0.0194 left_roll=0.0015 left_gripper=0.9983 right_x=0.4748 right_y=0.1767 right_z=0.0394 right_yaw=0.256 right_pitch=0.0241 right_roll=-0.0082 right_gripper=0.9955 state[joint_eff]: [-0.1436, -1.3333, 6.8308, 1.8291, -0.0659, -0.0855, -0.0122, -0.335, -10.8513, 4.547, 1.4432, -0.0317, 0.0757, -0.0269] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Jaws around the upper neck of the right bottle. Closing to grab it so I can drag it closer."})
tool
executing move_to over 10 steps (1.0s)
step 242
assistant
agent noteNeck grips keep squeezing out upward. Reopening and moving back onto the bottle's round body near the shoulder, the one grip that held earlier.
move_to
right_gripper1.0000right_x0.4400right_y0.1750right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7891, 0.5766, -0.3721, -0.0227, -0.0292, 0.9983, 0.3912, 1.9602, 0.8978, 0.5694, 0.1024, 0.046, 0.0188] state[eef_state]: left_x=0.2921 left_y=0.0017 left_z=0.1704 left_yaw=0.0025 left_pitch=-0.0225 left_roll=0.0016 left_gripper=0.9983 right_x=0.4757 right_y=0.1805 right_z=0.0553 right_yaw=0.2705 right_pitch=0.0809 right_roll=0.0062 right_gripper=0.0188 state[joint_eff]: [-0.1436, -2.1812, 6.5573, 1.9463, -0.0366, -0.0855, -0.0122, -0.7453, -9.4564, 4.4786, 1.2186, 0.1197, 0.0464, 0.9304] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.44, "right_y": 0.175, "right_z": 0.03}, "note": "Neck grips keep squeezing out upward. Reopening and moving back onto the bottle's round body near the shoulder, the one grip that held earlier."})
tool
executing move_to over 10 steps (1.0s)
step 252
assistant
agent noteBottle's neck/shoulder is centred between the jaws with the cap just ahead. Closing firmly.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7795, 0.5625, -0.3641, -0.0227, -0.0292, 0.9983, 0.4114, 1.9236, 0.8082, 0.5854, 0.1146, 0.0513, 0.9956] state[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1681 left_yaw=0.0025 left_pitch=-0.019 left_roll=0.0015 left_gripper=0.9983 right_x=0.4511 right_y=0.1787 right_z=0.0421 right_yaw=0.2779 right_pitch=0.045 right_roll=0.0002 right_gripper=0.9956 state[joint_eff]: [-0.0752, -1.7026, 6.3658, 1.9658, -0.0659, -0.0562, -0.0122, 0.335, -9.6615, 3.7675, 1.3407, 0.0073, 0.0757, -0.0855] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Bottle's neck/shoulder is centred between the jaws with the cap just ahead. Closing firmly."})
tool
executing move_to over 10 steps (1.0s)
step 262
assistant
agent noteI didn't get any bottle to stand upright, and too few calls are left to fix the method and then do three bottles. The only grip that held was on the rightmost bottle's wide shoulder (reading 0.48). I then lifted its cap end along an arc over its base, but the grip was rigid, so the bottle couldn't swing vertical in the jaws, and it dropped back flat when I let go. A light pinch at the neck (0.25) slipped off when I lifted. Every full close on the neck or cap after that came up empty: the round neck squeezed out upward and pushed the arm up each time. The caps sit at x≈0.50–0.53 in the right arm's frame, at the limit of how far it can reach at table height. There, the arm stalls at z≈0.04–0.05, above the cap's centre line, so the jaws can't close around it. The rightmost bottle is still lying down (slightly moved), and the other two haven't been touched.
give_up
hindsight1) Moves get rate-limited ('delta_clamped'), and each call only runs a few steps, so the arm often stops short of the target. Check the readback and send the target again instead of assuming it arrived. Free-space poses sag a lot, e.g. commanded z 0.10 read 0.066; command 3–4 cm high. 2) The three bottles lie with caps pointing forward (+x). Their caps are at x≈0.50–0.53 in the arm frame, beyond where the tool can get low at table height (x≈0.49), so the arm stalls at z≈0.04–0.05. A stalled z at ≈0.065 means the fingertips are resting on top of the lying bottle's body; lift before moving sideways. 3) Right-arm positions: rightmost bottle ≈ right_y 0.165–0.18, bottoms ≈ x 0.30. Middle bottle ≈ top-cam column 105 (≈ right_y 0.30 or left_y −0.33). Left bottle ≈ column 60, tilted (≈ left_y −0.16). 4) Grips closed above a round neck or cap pop out upward and read ≈0.017 (empty). The only grip that held was on the wide shoulder/body at z≈0.035 (reading 0.48). 5) With pitch pinned, a rigid grip plus an arc lift does not stand a bottle up: it can't turn in the jaws, and the empty bottle falls back flat. Better plan: first drag each bottle toward the base by ~10 cm (shoulder grip at x≈0.46, move to x≈0.36, release) so the cap is well within reach. Then grip the cap at its mid-height (z≈0.025–0.03) with a partial close so it can swing, lift to z≈0.25+ so the bottle hangs from the cap, lower until the base touches, and release. Alternatively, find a way to push the bottle's base against something. 6) The right wrist camera is reliable for lining up the cap on the jaw column (x≈110). The top camera is hidden by the arm and hard to read; retracting the arm toward x≈0.18, y≈0.05 gives a clear overhead view.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7738, 0.5488, -0.3557, -0.0227, -0.0292, 0.9983, 0.4122, 1.9083, 0.8417, 0.5507, 0.1013, 0.0467, 0.016] state[eef_state]: left_x=0.2899 left_y=0.0018 left_z=0.1651 left_yaw=0.0025 left_pitch=-0.0187 left_roll=0.0015 left_gripper=0.9983 right_x=0.4568 right_y=0.1841 right_z=0.0545 right_yaw=0.2922 right_pitch=0.0581 right_roll=0.0046 right_gripper=0.016 state[joint_eff]: [-0.212, -1.7573, 6.7624, 1.8974, -0.0122, -0.0562, -0.0122, -0.5402, -9.0188, 6.0923, 1.1893, 0.0952, 0.0513, 1.0427] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I didn't get any bottle to stand upright, and too few calls are left to fix the method and then do three bottles. The only grip that held was on the rightmost bottle's wide shoulder (reading 0.48). I then lifted its cap end along an arc over its base, but the grip was rigid, so the bottle couldn't swing vertical in the jaws, and it dropped back flat when I let go. A light pinch at the neck (0.25) slipped off when I lifted. Every full close on the neck or cap after that came up empty: the round neck squeezed out upward and pushed the arm up each time. The caps sit at x\u22480.50\u20130.53 in the right arm's frame, at the limit of how far it can reach at table height. There, the arm stalls at z\u22480.04\u20130.05, above the cap's centre line, so the jaws can't close around it. The rightmost bottle is still lying down (slightly moved), and the other two haven't been touched.", "hindsight": "1) Moves get rate-limited ('delta_clamped'), and each call only runs a few steps, so the arm often stops short of the target. Check the readback and send the target again instead of assuming it arrived. Free-space poses sag a lot, e.g. commanded z 0.10 read 0.066; command 3\u20134 cm high. 2) The three bottles lie with caps pointing forward (+x). Their caps are at x\u22480.50\u20130.53 in the arm frame, beyond where the tool can get low at table height (x\u22480.49), so the arm stalls at z\u22480.04\u20130.05. A stalled z at \u22480.065 means the fingertips are resting on top of the lying bottle's body; lift before moving sideways. 3) Right-arm positions: rightmost bottle \u2248 right_y 0.165\u20130.18, bottoms \u2248 x 0.30. Middle bottle \u2248 top-cam column 105 (\u2248 right_y 0.30 or left_y \u22120.33). Left bottle \u2248 column 60, tilted (\u2248 left_y \u22120.16). 4) Grips closed above a round neck or cap pop out upward and read \u22480.017 (empty). The only grip that held was on the wide shoulder/body at z\u22480.035 (reading 0.48). 5) With pitch pinned, a rigid grip plus an arc lift does not stand a bottle up: it can't turn in the jaws, and the empty bottle falls back flat. Better plan: first drag each bottle toward the base by ~10 cm (shoulder grip at x\u22480.46, move to x\u22480.36, release) so the cap is well within reach. Then grip the cap at its mid-height (z\u22480.025\u20130.03) with a partial close so it can swing, lift to z\u22480.25+ so the bottle hangs from the cap, lower until the base touches, and release. Alternatively, find a way to push the bottle's base against something. 6) The right wrist camera is reliable for lining up the cap on the jaw column (x\u2248110). The top camera is hidden by the arm and hard to read; retracting the arm toward x\u22480.18, y\u22480.05 gives a clear overhead view."})
tool
give_up: I didn't get any bottle to stand upright, and too few calls are left to fix the method and then do three bottles. The only grip that held was on the rightmost bottle's wide shoulder (reading 0.48). I then lifted its cap end along an arc over its base, but the grip was rigid, so the bottle couldn't swing vertical in the jaws, and it dropped back flat when I let go. A light pinch at the neck (0.25) slipped off when I lifted. Every full close on the neck or cap after that came up empty: the round neck squeezed out upward and pushed the arm up each time. The caps sit at x≈0.50–0.53 in the right arm's frame, at the limit of how far it can reach at table height. There, the arm stalls at z≈0.04–0.05, above the cap's centre line, so the jaws can't close around it. The rightmost bottle is still lying down (slightly moved), and the other two haven't been touched.
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 · 19.43 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]: [-0.02, 0.7937, 0.6086, -0.3763, -0.0204, -0.0288, 0.9986, -0.0166, 0.7898, 0.6044, -0.3862, -0.0143, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0013 left_z=0.183 left_yaw=0.0003 left_pitch=0.0008 left_roll=0.0002 left_gripper=0.9986 right_x=0.2937 right_y=0.0012 right_z=0.18 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -1.4974, 9.7299, 1.7314, -0.0513, 0.1197, -0.1538, -0.8137, -1.2923, 10.3453, 1.873, -0.0708, 0.105, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eac179a783afae5396adb771e6826d1147f6a6b29a2181972ecbdfa7ca135c52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:721c444dc2a8ec7af7a5e274d372934c7d4f79db75bd6af4602def34049a113f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:220af80c2aafb3a3c4bc418b914fd41ebc76d496fb35641241fd2a1e6df2b0bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 6.659 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]: [-0.02, 0.7937, 0.6086, -0.3763, -0.0204, -0.0288, 0.9986, -0.0166, 0.7898, 0.6044, -0.3862, -0.0143, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0013 left_z=0.183 left_yaw=0.0003 left_pitch=0.0008 left_roll=0.0002 left_gripper=0.9986 right_x=0.2937 right_y=0.0012 right_z=0.18 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -1.4974, 9.7299, 1.7314, -0.0513, 0.1197, -0.1538, -0.8137, -1.2923, 10.3453, 1.873, -0.0708, 0.105, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eac179a783afae5396adb771e6826d1147f6a6b29a2181972ecbdfa7ca135c52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:721c444dc2a8ec7af7a5e274d372934c7d4f79db75bd6af4602def34049a113f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:220af80c2aafb3a3c4bc418b914fd41ebc76d496fb35641241fd2a1e6df2b0bb",
        "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+yAKEAgSGAI4AUIIdGhpbmtpbmcSDKsWUfJgvAWXop/vURoM6+9TzfQhjhR4pOe3IjBlp39EIV6k6PqjG24qexp7KaXojWsz7LTLu6XSVQIfjWz8LC080OJPuiv00zgloMwqmCAEiOnPwfjOWvQIwwAVOOXe2kshCXrj02QTmFCfhYKtNHSVmXyAx1lUd9nccU8YDmnhBujxm8iuGZIQbTSnydF+++Kh/w6RNRu+THJ8BEVoI+rcEAhKU+g8/i+eZYvL3u54DKmTGlABPeJ453cFcoQx16bGHq3owWwpsFxwlnPXnQpWn7+vTJLvYLjeHogP6YeBc9hFZiFzrcTPsS2aQ1bQuOh4xMK7Y+b1hal7/BkTpEG7N4YHUVLBVQLu2qdocNzVFsLovE5DV281VJtlN9pQdVJ49oWnZpNJDMIE1XI5MHj69zk49v9Lxt/bVd3kav3JsvFBeHnzW4dvWzYnvWsM7BzNH7BL+N8jD0DtUW47u/0cO7vkkSHiaJmgOhRTv2MrxXtKcAfoMaQtFuSFHoSP/I0qX2blUSkfPatwTpx/pWK8dR3TXswf6mPUK09uoDL5RFeHM16mCTJUGjUkYgqnSNQDQn0mlvYThoPnOvjL3vU1U/CnHdLo2HqMCo8hTdgLdZVA6eNOHQuz40U7xz6CRe29kTZgLeKofbeB9mrbsojMKWGTBAR/zhdwiykhSA0lkczdngnKjegXeFiIzlQoAsoawoJpny/C27b3RYN3kde47bwbz2qhPRejOTwxEzLhS72YemPYZzLoSw4uq5XIt6li1h6JPjjSDFs9v0iVYelIXZYT3LgYevpKTbNj2RZqbptI88hUFp4kXlU2rJ+EYu5+xC8+Hf820tPGJosL2aCFFDeqw0dzzhoQYhNA8l4OVuSLHBUL4vqYyMqo00w8vfI+3a1s7ngVSCcpGsGH5N45LWYdkEf+FbX5oPViposoH+z3bp408BngXfOjlCrRIBPESp8oTKS01FNrHARU6sjyc/E4NDar9m1ftWQCfda6C33iW3nTYHl+mAEzQ3ZO1aLqTgR5d5KiM3SgCP0mfn54LNNclnLFbNxmu/HbjYpEDZvaqI5nHzs5YLje5/kV4SpH35u35mi9Rdov1Ra5umk5H+fKwkRPhbnqzKH6jbE7zQQ8q4p6QSLyiWUENDCT7pXG7+4MZMewNxYu+rTl8zlxxb20Soaq/JriaK500N7dMxBo07JF/6QeiPZk2K2oS6l11tH+9oQ/ThU1A5OqAGZVkFVQK+tv0sDfvbWiCiF0opmJYDie3gYxHV66s1GAG1WRkQnJSurZ/iNnhjBGa1UbQlMTj3yDyRVNLvvwZo//doqRoIQ+jikTyxHuGpSSbeQolOhl56sctdo+V1047x3+vf+2goS2Ysnba4daQbRie1qVxiebyQGt3aAGizHNwHNw+vFCVUT5droz+kFYq8TfiUW154Zw0V4LCUwn5FcitmPwEkueuYx9RrzhbzEarOSqUY5CuZpd+Zwmdc3reUoTB2BPFSGZvLxI6O70HVLjRkxZQ0/iUfVW5ry9jSr12H3g3EFp6V3qqNaq7RbrdrEVcBWV7EEkkUwNjx6ZbI2a3gBLCbCUKvi4Kq2SgYj4E69n/IUHg2OykT2wuJLE4xxYwCZQZVwAKI+8ckBl6CyEqTnlk9OjJ5VgonLWyuRFI5hFn9ld3ZssGUHdvSx1m1TThzq6lnXIebu+wvaN4R/mu29DbuvBA9pPJQg/3WGsbgQim3sSOC0SxPkkW7ZRxmCS9egbOM0RKU8qM3/cLpMmAYtZyLbpnF48YHUHBK5RU10Ed2MF6sbZ5jrFzfbRjCvyRGSw+cHIPMW3q7AeumgOROXy09AAtU8SQQf4Bv8Pg5qb7QDVENP6o2Z/X6IkpGWcboIfAHqetY+bw8qZlr8+JWGXbsfL5FYPKKNMkOHIGDfYiGYO9qtIQxlsP9xvYN9OsBTwIqb5nSOA0p13vK3AZ7N3bENxQFnD9UYYeI6lxi6sFzlEiE5YTIvl5pQ5SgfHU+VeVw7y+LsbGFcV5Bhc05XdoZIf9oJYwVR0SG1noqlPMJhrzH4swEpftGQK30e05vc1VYe7IX+n3y9pd64+KExuTty1P7e1jCJlKL1g+eAnj9ul8EMzxiBb9FmVEEhWltbSxJOdjpyOTpid+eGDwcJqEicUZf/5GMz2i1S5pDDq6NkvsPT7QBc6XT0NMyjcF6UL0ygeaPJMzeX4s1Kwjqap9lCTDlddR8RKLc89eaDxLpJXbAIDvNDJ07J/8UeEimw3eAiWPHx0InaZeKjaM9Pl1uVdDmIKUFQ8Vv7lS1ImAn2TPg0XmuetJDMPaxn85108iuX5UKyBCjpmxIq9iaY56sfpo6VNKE1jI+bG85Zeb0ooOTHWi8MO7V4pCvoHoKguY8tZk0pQt/Li1HI0WutPWdpXxJ5+uOk7N67aIHwVh3cA6ufpYSmQPOh+ainuxTx6fkSfyyTw+4t1mCY0TQVRWjSwp8m5214u89imM4pDtwU5zry3wlvDMtUxnsywDYIkJiqHYzvWA3NzR1QVdtz7NlfDWUtqITwTFuIX3QdaGhFzmml5o5oNzUeiSFxxkdeXtfFl5mm9xQKpaWilYXMM64ggTMHTVABRpOh2MxcDKuqsL+E1zwvzpryoKYfPzNDDHR5uxKFRvkzUKVVpJeC3YWRtFTNLIK63ubna00ZBCE7ciMBDC+6OqJdeXMbC1m1KartNUS768sLL5k73Je7+YwwUC7I+9XnFBEETtuSOHLxjaEXZ8TyI55TNTV3SRQe8ETDKQUAC83l4eK2AuwFXHLqS93xd0GoUczhEJXmTL9z/hLE4zYX14ZbbTTt1gRFey6gosn7fLeq2qiU5bP9o+hGr4JoqJevT9POvZx/mMbURoNDYxGrnc4K3fj8dI/ZrBO1a3EQ0P02vCgtadUZzfNv+JYUCg3mvAFErdPGSbLZFxknyOBM+wd+l06z58ZLKYKsEFv78BOKlTYE/nWmW5e5iKamFg3WWe7+wvCnX0ZCGEvTaSlqhYFRgti9wJ//07GDQLcy3iFhFoRSDcDCMIQgl9yA6wTUf4lXyhntI7PsOPSFIvux1K1dHMKYp6Y9uh2PsP17OobINtyQS7vOwWyy5ImDhkVtFFR8gzxeuux+CLS9l6brQuWAioA5Huebsq+V/XmkivhalYRvfywwnvMJoit4oIXHkovAoRjPLAdIjDMRmnPJb2jgOIEAl0nIKNHA0fso19Qkf5fIAavbFk8zettqe19dVMX4RSoS/LS4YW+t/jB0RlJk6wgEiOxwXK4osmbS5frDyD1KD++Sgrq6sy2iGErTtDxgJHJ+fATgg4kkhk4jb1Gl0VeNsHUv1m4W5pD5jz8weA2Kq/QOoMhvFE0gJfLTnrdcgjfCdHUGpJn/8AOw1zcmMjbOOmNOPEXGfrid/pYn6NYGaEoKXcxasg2OKMU9PAXk5rZos9FNKazwcKZSFj7QTQ3Qi3L445TRLKscM3fUf9MWlR8E3DDV/2zp6/g0yKwg2ix+CoJfUS59KVEqU0LfZ7zrWCke8VBpW6hU9mTfEbHQFJE+C6Dtici4q6iXNur/ECD9hT3J/ZPp/8vbUaTddHjiNwiNluZ3+vEDiHtiqxL9PNkcs39N3mtJsgClY9CrLww7TWcv3qBI1jryenEQAoUqVrBZDVAy1SgqyX23klGSsaNISk3IrDmjNGlQfyVnn++okMP7uJ0CaeVZHvbHUmmTWwUh97CHldTgChUipsW4qwRG5a6Yoyw58ggf230X4qTcMmlFbh2uLMTYz/guTJIrV7D2kD5ZxBFiu6SxlZwfxQNDEdTsf9dpRVIjFGSZ5OHwtAhOyiwUXvJz66KG1FK40dMCBA8gFwZpaZhSqBJWFXImnPM2pCkdkFK9QWRH7qFfqvHCrXIWPLmd/GcQDNR/lxaXfg25nYtINiLwrXMz8zNj8s5h/kFp2vCrnrbYw2CMYun3mGuit9jO76ANP2WDUXMfs5tnKaFW1fnccA8Fo+AYCO9I/plOAKEbSGVEz8sxVwXzB7i8gylE3lXMMDvwSS/xJ9oYzlnCktnvuPEPFkcCyakrXtyobumzmJkI//pbYa9UG85DO85MatLL+/F5hPXvR7eI9hLC3BhkiOWGXikaNpAkuFXeH9FFLR//KOklraWF06Rvb6yexuxjf4Do6EiE/mU0RNXbH5sUxL7+mpniDN4kdMLkQ0VrRw/Wslt7UNkSTJ+5HMSD9PNNkmcBknT6PWh+NK6o2R1j27O0flcYCBGWuIgS5gRUvIbU/jhzTHf0jrdoO+Q5jaWwviFOV+IT1x4GixeJW821XL/YcS5Jts6GzVODq6YwduCDhsrYjwk3qpuBWZNOyu2BJGhMxXQ/iZPk4epNdlpGioGBeHN4Y/oMBcRTH99t/3oWIztgWdU1jCJT6JmxPTlDFiqjuv2zD6TRcb7wUxxIu6K1lkJ1/V9VSZcHpHuwH+DdtxZwwKm4nDsMc8fkihjcH/yka0AtjXsSrHotXn5RMYB3Sl1oIYn3lWKnGs8hDz2Fea9+B+zfm2bhoe6DmbeWRExlrKR3VNmTRSw2nwP6QX1vPufnHUwVEBH2Agup5leGwgNMCQZJgUNUYe9hj2cgN96QaalTnyaZ+iDvHrcZAKfzb8cBzwVW1V+nnsg+LTsv2QjT9ohVeP2oFuveyf86NqwtqE8c0tjoOJs+wFhdQqFXHa/oeuID3eWdyfYWNUBm0rlnxxOfjllZgF7fNy9KuPNaFgnxI+jMhj/WyymMzWbeT9l23lCMdM0TtZnT4Nx2EsqaOpNfCd0RHlS2HoDFZZNw6zK8JaCTR3UPbcaKif+Hd08XsT8/9Ba4oXPHg7Pid3QhpkpEGWGnTeBV9NuSFfqtdkmZaERN64vdp4/d4BcQiwMi7+7gtm2g3YSTXuNyp0hHQbZzvAqOiRSOWOMUOYHpLBCKrKXH0jnl3tGoCeM2L/NovK9ntTraob9Iovs61WVn+izQ8AYqSmpEVxlpD04PTTdEtiVEhITkoTBdtHGNoxmkbVf5vv0GKOu8Kk/pcLJb7iwkaNCfAYZSm6T1lmWIOI56s++6TgMp4GRJPvqYh82PHgKm4aUYloPPF4SI8JREeHknKHT9KNM+L6J2kbo18vuTvRFxgxDsi5T0amNyKlU0gnFdlJj4rennRJ7AxvFdyV4J64hcsnfQ4x/WGBJQanolwBBu7oaxCHdD8GjOqFOlSFaoLd18NNo7apJ+G+hkYL5ihQ5x4HOvZHjDPw4eCcRQT1m5unl6lbuFLc0QyTMk1xhq8xh0B88Fczw4BckKO49R3zoZiKYRMtZ9PEjgy6aWL5bwFb1BjxzOuCzjSZbjuWkqdIYtcMafUapZoYHENCKfFfbjc3MKTlaqItgu4axc/ywXtC12ejML9cl2B0B/rFYJ+Kfw08dULAHXtd6/eBwaoZPhoxnwVVK4dGVwO2ogTlYuCgeEB/b3VN8jxs4dKrqXujjI3tnaayZb9QCCtmOe30u4cyi6uHM+HlbjibXJxfTI4fDqjJLJ1NAMzKSnIEhL3lGcTn/IHrkWFS4hZTgMbmjA3W9RfbFNzIMfl1YA6gmxEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E4i1wGFi2nunYFYnATQe73",
      "input": {
        "note": "Three bottles lie on the table, caps pointing forward. Moving the right arm over the cap end of the rightmost bottle so I can grab the cap and swing the bottle 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_01E4i1wGFi2nunYFYnATQe73",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3836, -0.0227, -0.0292, 0.9984, 0.5705, 1.7325, 1.1259, -0.1093, 0.4442, 0.2878, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1827 left_yaw=0.0025 left_pitch=-0.0057 left_roll=0.0012 left_gripper=0.9984 right_x=0.4357 right_y=0.1937 right_z=0.1317 right_yaw=0.0362 right_pitch=-0.0636 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.5795, 6.8718, 1.7509, -0.0317, -0.0611, -0.0317, 0.3214, -8.8274, 8.9641, 1.79, 0.3785, 0.3004, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31a46f0565da98376307fdb28ad651fd04e2af2a54da0046bcd355338ff7f0f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb360d52ca3a3b998e405a603922830e4c6c2021ecd5c96eec2bd97186201aee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c5bec2ee7955d98897d87ac8e743c4cd5609225141634fccd8308b4091095c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 4.447 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]: [-0.02, 0.7937, 0.6086, -0.3763, -0.0204, -0.0288, 0.9986, -0.0166, 0.7898, 0.6044, -0.3862, -0.0143, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0013 left_z=0.183 left_yaw=0.0003 left_pitch=0.0008 left_roll=0.0002 left_gripper=0.9986 right_x=0.2937 right_y=0.0012 right_z=0.18 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -1.4974, 9.7299, 1.7314, -0.0513, 0.1197, -0.1538, -0.8137, -1.2923, 10.3453, 1.873, -0.0708, 0.105, -0.0366]",
      "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]: [-0.02, 0.7982, 0.614, -0.3836, -0.0227, -0.0292, 0.9984, 0.5705, 1.7325, 1.1259, -0.1093, 0.4442, 0.2878, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1827 left_yaw=0.0025 left_pitch=-0.0057 left_roll=0.0012 left_gripper=0.9984 right_x=0.4357 right_y=0.1937 right_z=0.1317 right_yaw=0.0362 right_pitch=-0.0636 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.5795, 6.8718, 1.7509, -0.0317, -0.0611, -0.0317, 0.3214, -8.8274, 8.9641, 1.79, 0.3785, 0.3004, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31a46f0565da98376307fdb28ad651fd04e2af2a54da0046bcd355338ff7f0f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb360d52ca3a3b998e405a603922830e4c6c2021ecd5c96eec2bd97186201aee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c5bec2ee7955d98897d87ac8e743c4cd5609225141634fccd8308b4091095c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSpgoKEAgSGAI4AUIIdGhpbmtpbmcSDDugqo/GNb5qZXt5sxoM2LCw+ZeGL41wZrv0IjCl01l6jxfvi0IURCl4oyNvPIEhBhW12nZ6t5bkBXWDY2nNLF3Y83vTkiWhsOnh62cqwwmmJsbBfWoPRhmqdNxPPu7QotoCHE7iAG5mRXu55RErRmmL3bWBv+XKLwgq9tEyDyRM8vQhikj4+fbMqAxKwcmox/Gl2zfcOoqHEfSMPyWUD64kxZ8yNuWLUeDrQ6dXeoioHoL7KKepMJkDBgIafHAZ15ypBOreuvXFiwGcdVAj2DD0BMqAw/OSV9johVmlePUbohHmB9HVWbxiwKVUzstKdwHffi/mF8MtVERkc4jcDeDPMpdmY5iTOSjKgggZqMnwHhmWnFADlQr6hoO3OUoOZnks+DJRirggmvh7306OGn+fSp07AzmYcVbivdfg5rwIH3+ZdwzTHRaDckN9jMs9K5qFjF4W5mNzuL9iryIKQvyYkUBw6gHiMQxVYtJF763mIsvt9UPz29k7wToQ7HMPOXHGekTGPyS58m3uIxCNoIHIBhfymb79aJBknFBXcAForEF5bZHAp3J5TrLawEeKls5qYiMGLOFVOIFjpnAn25VUT7k++fM24fo6nCzAW+zIpihtoH7Ad8kj+uoHFqC/no5g/nqszLGn1KAvRztFFidwdUJN0ZeDgK/JBdclvouPcLpiH70jatOxLIDfbWN+LTXDypghtE9fTrM7sV4ytI6aybg0dYTm/CkxjemJoRsYSgSZ/H2UdIDdSqqJDh59Mqc2WyxRvheeCYM55CkJo6kp7cmL2aVOBkYyCd0pnx6D1EIaO/FDY6gsqeq25cxwp5NilDrGhQsTXKSH9iTR8NmDwuuQ9HaQxS8F+xEKRGF/DCrcHexkBTXQpuoQeJAwf+jvkbDb2Ckp7V9AVKnm/tcHdF5GYuWyQo7AQTMq0XvhOfLJ7VkjbsbpYWbRGhEKBCPjUy7dwI7AHV9NWpIpZwY6nDfzESu8Hi5Q5FVNNBs9kmfsra5JY6pmKFCuzxkASs78FffAwn0K7AkXIWxJY04ztS8oJ/mFU8Pkzw1UwmfWEx/t3Nm4VegWHtrAChPZQQMIYgCWz0JbKfyOg+TmLurLfTd75AEAI7pmYw/R1WAkPkTerlQ5/wrSQaeRDhN2T9HDuE1H6c8eZ9SPeIHsqKYWjLgpcbIaqBdGauXhsHHjFrrG09tbvUegSUkxFH8qPtbIEvX8tgvWSYqqbTNj4f3qpDkpb3jwK6oasmwaGj+hBp67YIeWarg875jCNNbnHD/0MJE4uHP2AMZkMGffsMKrj9TyZtYkCF4uXKQ5ZlUwuQstsK5FUPWxHIb6RqC8OCiZ4Tllj5EU/qSrr+UJ5njXoT9Qlktr7S6j99hb7lsz1YZj/GXGXFOTXC15WPYMtGFN7hiYojp0M6xew7g2WTRYkITp4j9dIUtfBXg/S5mqxqEGdahQg1Jw7576N4YIGSBxEbyl24nkbVVbiZFOxfQ4zk7PgFGhDCQM0SADHlvhl1dKmwqaZ1d9L3MIHjes3jmQ0O/3KyeishpX4NUTp9nU/+uBq6Tu7FQDUT/bCsK6Fnm0H6Ah2rT8/tPvkbhM8/8jvEp0FI+RmXLfCV5A3gNsHwTIchYOvZ41zZX57agVDKR/vLuTxtwXCcHe78VqKUPLXnjEu4HiAzcvY7XPWfGljWZZQPNg0YM5hLRihvBn7Yya5fKgDxG+B2YG6c3fyTDYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014fgV9dDjwpCuQ4K33VPPjW",
      "input": {
        "note": "Right wrist cam shows the bottle's cap slightly right of the jaw column and a few cm ahead. Shifting right/forward and lower to line up over the cap.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.165,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_014fgV9dDjwpCuQ4K33VPPjW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.384, -0.0227, -0.0292, 0.9983, 0.4728, 1.7969, 1.0416, 0.0662, 0.3782, 0.2424, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1826 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0012 left_gripper=0.9983 right_x=0.455 right_y=0.1635 right_z=0.0962 right_yaw=0.0167 right_pitch=-0.0613 right_roll=-0.03 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5795, 6.5709, 1.7851, -0.0366, -0.0415, -0.0171, 0.2256, -8.3624, 6.3248, 2.1514, -0.0464, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5f66e49d9c83baa9dd49007c117864313a906be37964974d79f6e512f51abe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7e48469b450fb0285a5990e0998fa54fb51afa7917dfeedec219f1b6c4993de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9e74c7a5c8c4e95958212ff400afb06da9ec0dba6c4d6340311d384f0956c3c",
        "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 · 4.382 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]: [-0.02, 0.7937, 0.6086, -0.3763, -0.0204, -0.0288, 0.9986, -0.0166, 0.7898, 0.6044, -0.3862, -0.0143, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0013 left_z=0.183 left_yaw=0.0003 left_pitch=0.0008 left_roll=0.0002 left_gripper=0.9986 right_x=0.2937 right_y=0.0012 right_z=0.18 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -1.4974, 9.7299, 1.7314, -0.0513, 0.1197, -0.1538, -0.8137, -1.2923, 10.3453, 1.873, -0.0708, 0.105, -0.0366]",
      "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]: [-0.02, 0.7982, 0.614, -0.3836, -0.0227, -0.0292, 0.9984, 0.5705, 1.7325, 1.1259, -0.1093, 0.4442, 0.2878, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1827 left_yaw=0.0025 left_pitch=-0.0057 left_roll=0.0012 left_gripper=0.9984 right_x=0.4357 right_y=0.1937 right_z=0.1317 right_yaw=0.0362 right_pitch=-0.0636 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.5795, 6.8718, 1.7509, -0.0317, -0.0611, -0.0317, 0.3214, -8.8274, 8.9641, 1.79, 0.3785, 0.3004, -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]: [-0.02, 0.7982, 0.614, -0.384, -0.0227, -0.0292, 0.9983, 0.4728, 1.7969, 1.0416, 0.0662, 0.3782, 0.2424, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1826 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0012 left_gripper=0.9983 right_x=0.455 right_y=0.1635 right_z=0.0962 right_yaw=0.0167 right_pitch=-0.0613 right_roll=-0.03 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5795, 6.5709, 1.7851, -0.0366, -0.0415, -0.0171, 0.2256, -8.3624, 6.3248, 2.1514, -0.0464, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5f66e49d9c83baa9dd49007c117864313a906be37964974d79f6e512f51abe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7e48469b450fb0285a5990e0998fa54fb51afa7917dfeedec219f1b6c4993de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9e74c7a5c8c4e95958212ff400afb06da9ec0dba6c4d6340311d384f0956c3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzAcKEAgSGAI4AUIIdGhpbmtpbmcSDG6wY8tMHe2G0aCTKhoMk9oLdLsJPF9T8gd3IjBZ95VpLEiqX3gR/5yAPE5ok0EXneFxkC8OqI6W2v6iSl+PEIeXPcYGHpLHD6vfmvgq6QZx4XdkyYNoE1LZvyF2SsrN3qLzE0SfK3AKcxsvj7G2+YQbyQZmQ51mt66q85yVFIc5wk2p2N1jVsKYqJofUYDLi/2T+85ecztK1XILSTuJrrVAJAJJTLzSPQ9d912XjkIfsGctjRDLdZq/FPHRY14l7HOWvB7irE89j4+ua7XaI3AFLMoAs8b9fyaDgBcrgnWRAdgue+hnFgHIUG6IsOhDNHDfkp2E7TcSl/Jdbc0XEjmnq8OmEBA+p0ADPOSVPM7RUe2P2M+YBTPZFXra71LtQj1nZ2gpGv0jPN1aQvXZH+lQoeAm8A0pZKAksQzlKewmm9luTfK7zZJcPhUhfkzqq/au4SsLsGVLuc1ZCuKy/wMJwCpYfA2ZPvTZAoGqQZw52Rh2EBxNwhjw6dKqjNnibkxGYfV8mVxKn1USUJsMnQJ5LkgaBWe7TTmYln7c4zms8tkPN7V0FV8wiGPGKIse85OG0Xl8ObtSnmyCP2EOc/m9DFhnHUEGq9/fqpm/Dz0Oc95RLdjW8Ri4ad/zdroYkzbHuxkbOBhH+TudN39nJuyfK8VnSPmaOjc/uGDj9JAWaQ4swD9+j9Be2z8HAnqyQxK3b19sv9mhSrQXSYioP1JHUDTc66/d6XSSIIjPKz09165iyXxKlL5LirZ49CX+eocN2Fz/AJMB07BZSNKWLFLYN/R9DqOs70hlPv+knsyVlA05OESOxayuiUH6aKSnPs3THhtvneDY3f1KX3HStll6HA6VvPYJekR+bqeH1R6wTSGPTUbNCwOpe0Dh+e5Xu/8ftvvUjs6emggykkGVpuUaDGXQ/+UR96SrnGMEi0IdvMAWQbk3w2BK4TglDVjlX14woX7oayvj4Or8n9db3eVKEwcHwzr8PX2Qle4NPAx41C8N+SmgQZrAKt3Lz7kcJkpc3BdlVGDDB35k7YdTRi31M3VlLJ2LyuhiMp3ac1/YrBzOQcTbJ/Xjfc2XamGP95KE+nSFI8XV9EyhhrjNEObKEkVrenfYY8W12j8flYMnbGaIyPgY0Lg1z+nasN8tC8bcv23w56RAoKE/YIhq1lBkyj8hHSLN/ZgBuDqIJDT2xzapzEY1i1sP98g53ilm7FWTf3Pc8sn+pOZbQdmQbeHvy7/M0v3ZNyPtK7h5VBCY+SEgABabDBsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F7EM7yr9VtBWEtVC41LPw6",
      "input": {
        "note": "Cap still sits a bit right of the jaw column and ahead of the fingertips. Nudging right and forward while descending toward cap height.",
        "targets": {
          "right_x": 0.49,
          "right_y": 0.15,
          "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_01F7EM7yr9VtBWEtVC41LPw6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3836, -0.0223, -0.0292, 0.9983, 0.45, 1.8332, 0.9886, 0.1879, 0.3393, 0.2123, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1826 left_yaw=0.0021 left_pitch=-0.0061 left_roll=0.001 left_gripper=0.9983 right_x=0.4595 right_y=0.1606 right_z=0.0793 right_yaw=0.0424 right_pitch=-0.0424 right_roll=-0.0189 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.6342, 6.6256, 1.7851, -0.0024, -0.0659, -0.0122, -0.5949, -8.2256, 6.1607, 2.1758, 0.2515, 0.1636, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1e847aa0dc28348ab47d5f47e803ead543d28628c8002a9bd2ec50a79b88127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bffc60e3742621889e2096bc04871b5cb04ae1ce3404d8068360f1246140e7d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f7a9cb1576c0ced98e4df638e7cfd7bc49344e4b11457e898248e19eac6e5b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 6.233 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]: [-0.02, 0.7982, 0.614, -0.3836, -0.0227, -0.0292, 0.9984, 0.5705, 1.7325, 1.1259, -0.1093, 0.4442, 0.2878, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1827 left_yaw=0.0025 left_pitch=-0.0057 left_roll=0.0012 left_gripper=0.9984 right_x=0.4357 right_y=0.1937 right_z=0.1317 right_yaw=0.0362 right_pitch=-0.0636 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.5795, 6.8718, 1.7509, -0.0317, -0.0611, -0.0317, 0.3214, -8.8274, 8.9641, 1.79, 0.3785, 0.3004, -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]: [-0.02, 0.7982, 0.614, -0.384, -0.0227, -0.0292, 0.9983, 0.4728, 1.7969, 1.0416, 0.0662, 0.3782, 0.2424, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1826 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0012 left_gripper=0.9983 right_x=0.455 right_y=0.1635 right_z=0.0962 right_yaw=0.0167 right_pitch=-0.0613 right_roll=-0.03 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5795, 6.5709, 1.7851, -0.0366, -0.0415, -0.0171, 0.2256, -8.3624, 6.3248, 2.1514, -0.0464, 0.0952, -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]: [-0.02, 0.7986, 0.614, -0.3836, -0.0223, -0.0292, 0.9983, 0.45, 1.8332, 0.9886, 0.1879, 0.3393, 0.2123, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1826 left_yaw=0.0021 left_pitch=-0.0061 left_roll=0.001 left_gripper=0.9983 right_x=0.4595 right_y=0.1606 right_z=0.0793 right_yaw=0.0424 right_pitch=-0.0424 right_roll=-0.0189 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.6342, 6.6256, 1.7851, -0.0024, -0.0659, -0.0122, -0.5949, -8.2256, 6.1607, 2.1758, 0.2515, 0.1636, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1e847aa0dc28348ab47d5f47e803ead543d28628c8002a9bd2ec50a79b88127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bffc60e3742621889e2096bc04871b5cb04ae1ce3404d8068360f1246140e7d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f7a9cb1576c0ced98e4df638e7cfd7bc49344e4b11457e898248e19eac6e5b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS/gcKEAgSGAI4AUIIdGhpbmtpbmcSDFPmkSTJvu0wCjWijRoMGI+H1mMTL8k+Hed6IjBNcocU4D00xXicHgoeoiwF7kUm5rQYuJEGMAisHSgA7gNeGymtUhiOqky1Xs8aXYAqmwclk9JbdmeJtshB7DpgGFvvtZtW1w8u8ajOAItugh9iGURlGg/10vZ0bKmZLUBcp5IMXG3GpBnnEUJktvqeN3ExhwxB4MbNXCGb0vrgR+wafY1UVApFpdFr+Yiq+GV6T49LXN0uQw+ys9EdhiwXYHbu+wT1sy3g1IlexAFRBPoZRfDXo1tPmjvGi/GTDaaYWpkEwXdix6KAC0T9BB2CaWLES6IiNL0oibNocTqnDKJd84dPR1nIcagloJ1HFl0SZN+MSHKD3Vwmls3d66mgzjk3YwWH+YB3WhciiPtFgHYUvOQTEpmV163mgPI8tcEmzbSDrIGHWs/sWVVwAl5N05TAwf+LAve48OghlMXRkzs7CXLbC495AvP7cfy+5lFqY/iJuE82EBAizPHBiRRUik2nqI7i81X6xB6Nt7J0XGgYRZ/pleYJlviuAv8J9HSiB5vF26NM9b3ELQFnnN+gC+W2cQyTpzuCMht7TnTzl4wVeZe6Eg6TDY8rs2Bp6JsMCCo6QsaJJwd+hvwL28VLBWDBtNtYWllkCvhqYXv0CMRVw1oAGS8vUktAMSkANJX2KyGTi6uYo1dJ3TWjMjOTze+HogzPtC2O3rj0zeLvsVfMdoNyO1TNAJfsXRPW+91FSbZeZQsKzHRJGFmPAK6SeJS8tCl3OFaouqoHTr5H7XNy+/rrkr/SA06o5cZh3lWmBhoBWiGeWJ+O9Q42VRolmb6Y7QAfBnRLpdfU/Ktzf+PYVKMPHLXDRUvN31i39CrYYE17UYE7RAV6hYckTIJqE8U92hVhG3yLD9BFCV5NBBU9sNRvEorq6U9XjuOXW0uj3TdYAqub0D6oblT2Z4Rd6ZNb+lX0uyybi/q2bRkBTKDhadGCCiPo2ekQ9wTKzRMdGsxdZcF7gBz2ZX0fnZtEZc1PK/+3JRyHwSJxJcIS/yjJvs0VW/CEDy8GH4R/Vhq7nwcFYOVBZTps9nYu66x/Jha470JSvlOShhXX4YHQLoQ8d9gIMkCyyp4lfq1eJA0XXDTBOs7yQ4pbvUWCizNLvHky6/AZgM3UhGJ2x7i4Yc8ANc5RfQPc/IqhGjfMs98EYbuit1bR7iMw+HqZKlCYyFlmOkWByO+KN+z0yRjeU/SJOFUd7pn3pNTT0nHVHQeEjW/pocIMQgRSjTJuntfk6IYmzl3IlQT6H5riISJlNl7WtHBg8WdRl6HXG+/e/JoEYQqm/7aWlhlm6/7dFRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MBtsY5rBYGF7eCoqidyrVF",
      "input": {
        "note": "Arm lagged behind the last target; the cap is centred-ahead in the wrist view. Pushing forward and down to cap height.",
        "targets": {
          "right_x": 0.49,
          "right_y": 0.15,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01MBtsY5rBYGF7eCoqidyrVF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3836, -0.0227, -0.0296, 0.9983, 0.4503, 1.8332, 0.9882, 0.2035, 0.3389, 0.2123, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0027 left_pitch=-0.0061 left_roll=0.0009 left_gripper=0.9983 right_x=0.4613 right_y=0.1618 right_z=0.0821 right_yaw=0.0433 right_pitch=-0.0285 right_roll=-0.0127 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.5932, 6.8581, 1.7851, -0.0073, -0.0904, -0.0122, -0.6359, -8.2256, 6.2017, 2.0, 0.2418, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e77aa9723e4b95570f6ffd27ba221c4c1971b1d15dbec3507c38d8ce2565bc82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d645adf450e512cee625963bd21f19154a1817a5fc243c51c6f02ff5f017b1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f9147738eedd8ceee2cdccdf4ae1065ad2fa51bf0b67c584b7a28814a967c98",
        "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 · 4.842 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]: [-0.02, 0.7982, 0.614, -0.384, -0.0227, -0.0292, 0.9983, 0.4728, 1.7969, 1.0416, 0.0662, 0.3782, 0.2424, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1826 left_yaw=0.0025 left_pitch=-0.0061 left_roll=0.0012 left_gripper=0.9983 right_x=0.455 right_y=0.1635 right_z=0.0962 right_yaw=0.0167 right_pitch=-0.0613 right_roll=-0.03 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5795, 6.5709, 1.7851, -0.0366, -0.0415, -0.0171, 0.2256, -8.3624, 6.3248, 2.1514, -0.0464, 0.0952, -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]: [-0.02, 0.7986, 0.614, -0.3836, -0.0223, -0.0292, 0.9983, 0.45, 1.8332, 0.9886, 0.1879, 0.3393, 0.2123, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1826 left_yaw=0.0021 left_pitch=-0.0061 left_roll=0.001 left_gripper=0.9983 right_x=0.4595 right_y=0.1606 right_z=0.0793 right_yaw=0.0424 right_pitch=-0.0424 right_roll=-0.0189 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.6342, 6.6256, 1.7851, -0.0024, -0.0659, -0.0122, -0.5949, -8.2256, 6.1607, 2.1758, 0.2515, 0.1636, -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]: [-0.02, 0.7986, 0.614, -0.3836, -0.0227, -0.0296, 0.9983, 0.4503, 1.8332, 0.9882, 0.2035, 0.3389, 0.2123, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0027 left_pitch=-0.0061 left_roll=0.0009 left_gripper=0.9983 right_x=0.4613 right_y=0.1618 right_z=0.0821 right_yaw=0.0433 right_pitch=-0.0285 right_roll=-0.0127 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.5932, 6.8581, 1.7851, -0.0073, -0.0904, -0.0122, -0.6359, -8.2256, 6.2017, 2.0, 0.2418, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e77aa9723e4b95570f6ffd27ba221c4c1971b1d15dbec3507c38d8ce2565bc82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d645adf450e512cee625963bd21f19154a1817a5fc243c51c6f02ff5f017b1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f9147738eedd8ceee2cdccdf4ae1065ad2fa51bf0b67c584b7a28814a967c98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkgoKEAgSGAI4AUIIdGhpbmtpbmcSDLVJq+mJrXb7TNXDmBoMl/O6pNt07nVJWuJsIjBTeEmfNUkcOFmdoWJuwdQ0I6ZXS+MubSfVwTjGNUrf3C/zuhFJU3r2PqbkbdRxedIqrwnYMRh9uHbg3bE/rcW8yuAvKxQcmTalDPPZClGrYid0Vz/Cux4cwDA2qkXDSbV4YzS6ehF4U6nVEXsq13ZT6R/iJWPYVoX8Ait9uqtWI54TI5xD9ZmZjmA32dRinv1kxsKoRhBdz2B98oMAwCmWd94bNFTJBXlDLSMq/P7V4R6Ji9Z9geJp1/Nd//BP3V8LdJ3q/vRMTQ8zg66dn30Kki2ClRr8eFOtU5dyAJJ3cwGJbBOO4Gf1yf1XWvSKP1htDTtuhoDNGM/fjhf/nkvAPSGE+FmbjNS1UXDUQMJ9F3MdxR9buxAaUnzqovIPfiMsINcLhiYWrGOZXpfoKxprxM54kcXHM8kSM82hCqFsidzQi3DbKjbHanPVAn34WDmzq+MWF/bpa1oY2WmisP28fwOXOA3tE+QABx6TVAKvUTJmz8VzO3Pk42ACrAEstScZ4LTqusYx4iTgcx1bi7U39CV3eV2Y7kmumAsP4k4RvPBwX+rN0uDVqun8DjMtXWiAHdEN2HqQEc/W3NNX1Wc4sJf3FlewsRsBqY4XY/8CNxPg0cFB6Ek28deWjWiYeQ/kKUnIEsVBqP7E2LM674XidOW8bV8+uWGWXITxI22tZ/o6jjQMUFr9GN6zlzZSVjdGr9y6biya5reJV930PRw80iFEdQxktXMVAmHu6iQ5TxnaYr3MGsitoYy9m+VxBAXGR9gPlDC48a876CRv7T7AbK4ovdbthEsuIvbhjthvxah1tls1/YMmC4aW9nsNjW4W6Na+mv9h8eOETGE8PkYqEjOHM2Ll4cY8sFBnR0T8H9at2TajVAgI/puYLcBvU8biq+ec1nso8C7s3D6ATd2CVw7HwF1QvHWa7hZDL0LG913LrW53n+HoePM2eTSN4Hb9//oJ5OW2qxvYforUVOanPjh+UM+8fXwp9JTcgxGsFjvenE8b7QUhGqeXRerXAJNFRXoRBips96jw3yLcJ2YYX2jXtgdAPINBhUWoIDNSEY/bxCEffvl2ADxBkQiwrWCNrEcMl9eFNlSY7Q6FUIzaIeYBWSWPol/TZflKekyrtGWAMBU4s4Y7p8u6FL648DmaAHU6q1kiUqqM+71WqcSelxe1YoTEsgaEvbeAisL10q6dkjRr2hS9XOkKwVK16vFCIovJCNjaZ3gKcFRM3A2EPYscHPnoCzJiVEinUWMkruE25W5Sunbb2G3ajYKm3+mGOzzzw7ZApFVTeRUfN8ZmPrQGZ2RmkFKqE/85tUYn/Uy7fbQBBJHpGqUIKx3O0WS9WHshS7qqkmlNtUrxdXLvnz5Pk9u1DNToVYjMJebXleknqv65OJz6XHQP/TAuQXOSOGh8Y6MZzQc96QJuhpiNy85M0XgxAI7JKb0dODcKz0AzhbG2H/evwxlfE2/HyKIWjSdnKv6WDSmKxjlcNGslIuwsLISdZ/D91oWvwMNfFKGbD0d5gL8KvEG+ZG8V8HfTgghOQBa5I582bPgPLFook9AcaEKZ9Og5wjQv6CFX80dhaZcrCvOj+89uY9NJddC5pvlTyqWX87NA5Ls2qk5p9Tr0SpCgR5MmOx+KKxnsG47b3W7EjRKvP5qF8Y0PCxqfbBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WaB6df8DfpvsXzKxAMQpkv",
      "input": {
        "note": "The arm stalled at x≈0.46, z≈0.08, probably resting on the bottle body. Raising slightly and advancing so the fingertips clear the bottle and sit over the cap.",
        "targets": {
          "right_x": 0.5,
          "right_y": 0.155,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WaB6df8DfpvsXzKxAMQpkv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3824, -0.0227, -0.0292, 0.9983, 0.4503, 1.8332, 0.9874, 0.2073, 0.3389, 0.2119, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1829 left_yaw=0.0025 left_pitch=-0.0045 left_roll=0.0012 left_gripper=0.9983 right_x=0.4616 right_y=0.1619 right_z=0.0825 right_yaw=0.0435 right_pitch=-0.0257 right_roll=-0.0118 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.4291, 6.653, 1.8632, -0.0317, -0.0855, -0.0122, -0.6359, -8.0479, 6.0513, 2.0635, 0.2564, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3d3279af4c92bea56215aea6d3d9774fe236f8140040ae57eb9fe90aabdbab2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1f9631e8d3a5db46fa0333aefa15998d29d5974cbc4548e7e9d0c9f62ea3753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff034ad6a6e99db585e7ea0a06c0bdcad076d769deddb3e4dbec93e49d802349",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 8.18 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]: [-0.02, 0.7986, 0.614, -0.3836, -0.0223, -0.0292, 0.9983, 0.45, 1.8332, 0.9886, 0.1879, 0.3393, 0.2123, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1826 left_yaw=0.0021 left_pitch=-0.0061 left_roll=0.001 left_gripper=0.9983 right_x=0.4595 right_y=0.1606 right_z=0.0793 right_yaw=0.0424 right_pitch=-0.0424 right_roll=-0.0189 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.6342, 6.6256, 1.7851, -0.0024, -0.0659, -0.0122, -0.5949, -8.2256, 6.1607, 2.1758, 0.2515, 0.1636, -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]: [-0.02, 0.7986, 0.614, -0.3836, -0.0227, -0.0296, 0.9983, 0.4503, 1.8332, 0.9882, 0.2035, 0.3389, 0.2123, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0027 left_pitch=-0.0061 left_roll=0.0009 left_gripper=0.9983 right_x=0.4613 right_y=0.1618 right_z=0.0821 right_yaw=0.0433 right_pitch=-0.0285 right_roll=-0.0127 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.5932, 6.8581, 1.7851, -0.0073, -0.0904, -0.0122, -0.6359, -8.2256, 6.2017, 2.0, 0.2418, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3824, -0.0227, -0.0292, 0.9983, 0.4503, 1.8332, 0.9874, 0.2073, 0.3389, 0.2119, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1829 left_yaw=0.0025 left_pitch=-0.0045 left_roll=0.0012 left_gripper=0.9983 right_x=0.4616 right_y=0.1619 right_z=0.0825 right_yaw=0.0435 right_pitch=-0.0257 right_roll=-0.0118 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.4291, 6.653, 1.8632, -0.0317, -0.0855, -0.0122, -0.6359, -8.0479, 6.0513, 2.0635, 0.2564, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3d3279af4c92bea56215aea6d3d9774fe236f8140040ae57eb9fe90aabdbab2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1f9631e8d3a5db46fa0333aefa15998d29d5974cbc4548e7e9d0c9f62ea3753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff034ad6a6e99db585e7ea0a06c0bdcad076d769deddb3e4dbec93e49d802349",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS8wcKEAgSGAI4AUIIdGhpbmtpbmcSDIFstsA26igUeGbGfRoMHHRIve4fHhTSIuBkIjDGophkEYwdKtlq//1K0lgC9B7fBK0NeCNMdzAnWYOz7p82SXp7B4LkwhXr9Nuwh8QqkAevm6GruVc+hCqJpIguB4x7xPCY3jEDDv6gHOQDuNpquv8l/hHSA8iQ+1Y3Zqv2D/JnOSyC/E+c8sjnmdBxQ6W8izgjbTU3zOa5Ji3vtVThBi2g+9fCIQPrg78tk1UAI+ArZjr5dyEcGcReLTQaSVQ/48zaXSgP/NSksIYqWts6Am6w4pxCQjcsEXAyCWaUZcZ/kZ6PWQJceLTzeI+7I2viF8qPPsWvBKNx53z6ihopujAFg2pDOI/HrIapDsHffnFbhZrcYBLHZi1FyClPSjQNFLSfLkG60uqG93wIlpJ2jjFyB1e8bt3be7EFqdd1lL4E8sicu0APjUo1U0NSWXMp3I7NG8LBC6Y1nWI65JkFYG7/jwydFF2665RLx63k50CtfYTU54i3GEIIguoJgG3SKGlCYibJbwwfivzKoO5Ncu5CzEcAXS/8JN/xkP2+IuYludP0p3hiF4sKnyRGvvFHzEVF0mB6HI53BluyL4dtqS1PNHwkmW+O8S/RfXG7eVxa8PNdoPv85i3IJOyoYbabHbmgkQlAO1KSFMSqDL/XtQIhhvuU3XsbCS4Ja8+GY5MBwl6c6KI3LSMXVPUdwA2qUD10la/iun5b6bdG/E/6lFXSy3XgZ2EZyAoNBHMc0lrMFGdkurdoCwfX3yrwmTrehdgJyfqMxtG6MUWrjaQylUzXamuYwPsH9nO9dMo0LDN7L320BF5YSx9hf3lbJ49vpmJDpNTp0rgF5yVE+QpEOpMAQH63LmEAM2LZix3VG2WfD/HH8iu0uu01F8QbPxTKhhszRwdoHZV0c7n7FUSpRMa218xbl+wKg5eZvk+PJ7iRzzhdGDiusNfPxgwgZQHcxglsLnWdCrLgCdFYlHJv1EsMLvMk7EP6NjKaVuZzy5R8Dh/CT+c1bnY9i+YBBTjAXnvO9xBM3cEiJcamdS69j/IHnGIF5Tty3ikCi7H2JN0zLDBhCVHvMLSctobM8vpzcL3thaEYmCTKDRUqodbNWe8Lj5kadZlAHKVAaJ0FIF09dGmKETaYhidydobmDySP9V14mwmBbPB/cuA0TbOoaArdV6f1pQ57ZJjJOsv1mpuBb1eYSRiixAENOtSenEtvFdMn7ZQ0U42eAk6Y/jxpJtDzQ8oGvtdyoaJyKzeaxDMQ1xcSY6hd9g3lclNSXZPnpKGkoMR2bbSqJxpO+dpPw+DEvaXhJhjOuj52h8HFlekYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BKvFZwAmzeg8jXN9rFj8Fv",
      "input": {
        "note": "Right arm is not responding to the last few targets (stuck near x 0.46, z 0.08). Backing up to a comfortable pose to see if it tracks again.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.16,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BKvFZwAmzeg8jXN9rFj8Fv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3843, -0.0227, -0.0292, 0.9983, 0.5259, 1.61, 0.8867, 0.0223, 0.3717, 0.2382, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0013 left_gripper=0.9983 right_x=0.405 right_y=0.165 right_z=0.1074 right_yaw=0.0769 right_pitch=-0.0738 right_roll=-0.0349 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.0872, 6.694, 1.8681, -0.0366, -0.0464, -0.0122, -0.8, -9.7983, 8.1026, 2.3468, 0.4957, 0.1929, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82f452afe8910a3873b386b8b7fc7ce19215d6386c02d81d2aa6fb012750db61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7fd20bcc50c46c7c3e96c1170dacabeed16c7b203a61b8aabcb977c99ed8bb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d27499f6a97fb6c0a93674084878381140b93c660d1da056a27c93c10166476c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 4.084 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]: [-0.02, 0.7986, 0.614, -0.3836, -0.0227, -0.0296, 0.9983, 0.4503, 1.8332, 0.9882, 0.2035, 0.3389, 0.2123, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0027 left_pitch=-0.0061 left_roll=0.0009 left_gripper=0.9983 right_x=0.4613 right_y=0.1618 right_z=0.0821 right_yaw=0.0433 right_pitch=-0.0285 right_roll=-0.0127 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.5932, 6.8581, 1.7851, -0.0073, -0.0904, -0.0122, -0.6359, -8.2256, 6.2017, 2.0, 0.2418, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3824, -0.0227, -0.0292, 0.9983, 0.4503, 1.8332, 0.9874, 0.2073, 0.3389, 0.2119, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1829 left_yaw=0.0025 left_pitch=-0.0045 left_roll=0.0012 left_gripper=0.9983 right_x=0.4616 right_y=0.1619 right_z=0.0825 right_yaw=0.0435 right_pitch=-0.0257 right_roll=-0.0118 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.4291, 6.653, 1.8632, -0.0317, -0.0855, -0.0122, -0.6359, -8.0479, 6.0513, 2.0635, 0.2564, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3843, -0.0227, -0.0292, 0.9983, 0.5259, 1.61, 0.8867, 0.0223, 0.3717, 0.2382, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0013 left_gripper=0.9983 right_x=0.405 right_y=0.165 right_z=0.1074 right_yaw=0.0769 right_pitch=-0.0738 right_roll=-0.0349 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.0872, 6.694, 1.8681, -0.0366, -0.0464, -0.0122, -0.8, -9.7983, 8.1026, 2.3468, 0.4957, 0.1929, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82f452afe8910a3873b386b8b7fc7ce19215d6386c02d81d2aa6fb012750db61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7fd20bcc50c46c7c3e96c1170dacabeed16c7b203a61b8aabcb977c99ed8bb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d27499f6a97fb6c0a93674084878381140b93c660d1da056a27c93c10166476c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SRgNSoVGvN2V1xHP3H7Sae",
      "input": {
        "note": "Arm does track, just slowly (moves get delta-clamped). Bottle lies straight ahead with its cap ~7 cm forward; advancing to hover just over the neck.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.165,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01SRgNSoVGvN2V1xHP3H7Sae",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.387, -0.0223, -0.0292, 0.9983, 0.4438, 1.8057, 0.9577, 0.1188, 0.308, 0.1875, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1819 left_yaw=0.0021 left_pitch=-0.0091 left_roll=0.0011 left_gripper=0.9983 right_x=0.4427 right_y=0.1551 right_z=0.066 right_yaw=0.0731 right_pitch=-0.1174 right_roll=-0.0477 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.5248, 6.6803, 1.8632, -0.0073, -0.0415, -0.0122, -0.7863, -8.5538, 9.1145, 2.0342, 0.1001, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a5005b0d510fb66b4ca4728f673a3962984ee247eafe4b382e8d3fd404f3044",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b5810f9a96e6878dcfb8f4e575be22faaf55e816f1720392ceb392c1e6a548c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:88297804be2fe72019c8ce5e49ec6087179e2fbc9888c050221f792bfe6a63fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 4.568 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]: [-0.02, 0.7982, 0.614, -0.3824, -0.0227, -0.0292, 0.9983, 0.4503, 1.8332, 0.9874, 0.2073, 0.3389, 0.2119, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1829 left_yaw=0.0025 left_pitch=-0.0045 left_roll=0.0012 left_gripper=0.9983 right_x=0.4616 right_y=0.1619 right_z=0.0825 right_yaw=0.0435 right_pitch=-0.0257 right_roll=-0.0118 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.4291, 6.653, 1.8632, -0.0317, -0.0855, -0.0122, -0.6359, -8.0479, 6.0513, 2.0635, 0.2564, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3843, -0.0227, -0.0292, 0.9983, 0.5259, 1.61, 0.8867, 0.0223, 0.3717, 0.2382, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0013 left_gripper=0.9983 right_x=0.405 right_y=0.165 right_z=0.1074 right_yaw=0.0769 right_pitch=-0.0738 right_roll=-0.0349 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.0872, 6.694, 1.8681, -0.0366, -0.0464, -0.0122, -0.8, -9.7983, 8.1026, 2.3468, 0.4957, 0.1929, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.387, -0.0223, -0.0292, 0.9983, 0.4438, 1.8057, 0.9577, 0.1188, 0.308, 0.1875, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1819 left_yaw=0.0021 left_pitch=-0.0091 left_roll=0.0011 left_gripper=0.9983 right_x=0.4427 right_y=0.1551 right_z=0.066 right_yaw=0.0731 right_pitch=-0.1174 right_roll=-0.0477 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.5248, 6.6803, 1.8632, -0.0073, -0.0415, -0.0122, -0.7863, -8.5538, 9.1145, 2.0342, 0.1001, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a5005b0d510fb66b4ca4728f673a3962984ee247eafe4b382e8d3fd404f3044",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b5810f9a96e6878dcfb8f4e575be22faaf55e816f1720392ceb392c1e6a548c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88297804be2fe72019c8ce5e49ec6087179e2fbc9888c050221f792bfe6a63fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqAcKEAgSGAI4AUIIdGhpbmtpbmcSDM+3iQq/j5LsmTW/KRoM8E7PbFADhRKjeMEZIjCN26F5e914pu5BL0tW6EpKx3WVoQdqOcEZ0vPV2j40UFfh9qHt0WJb3AEZSbnKmL4qxQaxU4gaqAeM6co1hBfWi35ZaTB2z1lEkPUNgjaF62RjeuB4daQq1prsT1DwTqe3vlyIb2JPmonflzoUlaAw0JrSLa6nT+XNPR5rvjuPZOVxWB7FIdhxNDWO5fnAMpd6SyYr1DZ9ECL945xw7857fmzomlghIVIIHip7JJYtU53/dmBdsKHV7/VylIL6vIkHri0xO0jaDLLceEG6n+4SYjkb5hv3ay3b+xs0nM5lEDKDFpIH1ydrFn8Ch7hf3jzDNf/9ttrw+Jz+bHT6aRE1OcBPswXZ/Qh6P/RPqWLov9IaF0sVDt822FPmsRjQhJb55VjbN1G7urOzYG1zHZmAiE7QzjGGMfHCtRII+htZxZ+WgBKrYc1WrxDQvAyHn65QCl+SRQnYJNKdlpJ/wY0PulKGW78Hku+OKakN7Aea7EmBPi2iqNqaNbsDAT+kkSJ9y0buN65P+WBEyuYyCpeotoqMl4sriv/YA26/vcuHh4iFUd6SKzSjGqFqdMXfYZt87qO6lBtAtH00rj4QaesWHNikYD37TVo6XlXo8wuZL47b7XM8DNvu4KCk7crNrTfyUKWJjJjcTtsHQt+hOUOvir5RXAJh0pi6B2TlOMHO/1oOWxek9hEMcU4KDlq8cH86DIofHHpfCKvNbIe2sP1Vfn6HV9TNqmHTFW3awiy47R9/1KfcftnET8SRHXIhMohvK5S00FOOb8HPz5IhbjRXK6pDJroFqXEGgMhyT64n7FR//Etp+siIMbKQyMkGvp4l9psIsVOpHO8NaK+gDLoBkQjb+7bhe3xt7WFyWt96Yy9DGx5c4XpS1T4eECNyLTTv2DHVTZW4Ey9KruvDLhX9HDhhBSBf5l/J4BrQ/YkphBQ1MvbQeFnRhXAi+4tHbSfVNyH3WuiGhyEMNy7IBBEMekB2wONl3enHTl4Q8PPf6+sZKD0IwHU1dmckuz7y2XBm01CZ4xUNxIlBUdyvDEktaFJO4E8scXxPh8TQdxiAuyjLpPf51ckWkOKnGsQ4TGPz2xkrhIzrAMmfoX+k/s0j41dFTdvkTn8iLaoEieareR1nM3gzBy+DmJMF7vJkcYCf81GwVmHktUftrssgzlO0pRUuNg/ph6gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017uBgtFUGatTdfeHYTJ95j5",
      "input": {
        "note": "Arm is sagging and lagging; cap still several cm ahead of the jaws. Commanding further forward and higher to compensate.",
        "targets": {
          "right_x": 0.5,
          "right_y": 0.16,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017uBgtFUGatTdfeHYTJ95j5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.4381, 1.813, 0.8974, 0.2626, 0.2855, 0.1738, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0016 left_z=0.182 left_yaw=0.0021 left_pitch=-0.0087 left_roll=0.0011 left_gripper=0.9983 right_x=0.4457 right_y=0.1578 right_z=0.0652 right_yaw=0.0956 right_pitch=-0.0512 right_roll=-0.0184 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.7846, 6.3385, 1.8144, -0.0122, -0.0562, -0.0122, -0.294, -8.8821, 6.1744, 2.1123, 0.1587, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01b2be9a00ed80f4672876ab35c65ce8c3fa7005a3fe2d83ea3e15d57ff5e107",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d85d7172bfafaf323a79b2b51824dd7ce0f276515785fe0ce8b01c77237bcfc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e72bb6459e73f5830ccb187f3f52722ebc20dffe7cc0d7eca5e16ae5abd58fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 6.26 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]: [-0.02, 0.7986, 0.614, -0.3843, -0.0227, -0.0292, 0.9983, 0.5259, 1.61, 0.8867, 0.0223, 0.3717, 0.2382, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0013 left_gripper=0.9983 right_x=0.405 right_y=0.165 right_z=0.1074 right_yaw=0.0769 right_pitch=-0.0738 right_roll=-0.0349 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.0872, 6.694, 1.8681, -0.0366, -0.0464, -0.0122, -0.8, -9.7983, 8.1026, 2.3468, 0.4957, 0.1929, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.387, -0.0223, -0.0292, 0.9983, 0.4438, 1.8057, 0.9577, 0.1188, 0.308, 0.1875, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1819 left_yaw=0.0021 left_pitch=-0.0091 left_roll=0.0011 left_gripper=0.9983 right_x=0.4427 right_y=0.1551 right_z=0.066 right_yaw=0.0731 right_pitch=-0.1174 right_roll=-0.0477 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.5248, 6.6803, 1.8632, -0.0073, -0.0415, -0.0122, -0.7863, -8.5538, 9.1145, 2.0342, 0.1001, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.4381, 1.813, 0.8974, 0.2626, 0.2855, 0.1738, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0016 left_z=0.182 left_yaw=0.0021 left_pitch=-0.0087 left_roll=0.0011 left_gripper=0.9983 right_x=0.4457 right_y=0.1578 right_z=0.0652 right_yaw=0.0956 right_pitch=-0.0512 right_roll=-0.0184 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.7846, 6.3385, 1.8144, -0.0122, -0.0562, -0.0122, -0.294, -8.8821, 6.1744, 2.1123, 0.1587, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01b2be9a00ed80f4672876ab35c65ce8c3fa7005a3fe2d83ea3e15d57ff5e107",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d85d7172bfafaf323a79b2b51824dd7ce0f276515785fe0ce8b01c77237bcfc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e72bb6459e73f5830ccb187f3f52722ebc20dffe7cc0d7eca5e16ae5abd58fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgwkKEAgSGAI4AUIIdGhpbmtpbmcSDEKX/qHcfxJJ5fJF+BoMMPSeJ29RVWhLRq6hIjAF7671EWivHQhMjnnmnYswg7ABkttEu3AOo/2S5ynTT3khKXTRsD2wqn5RCgClh9oqoAhGkmvG4kI0FFg47qfCgSPnlmxmrNp9MvypF5YFjgVeIvYPxa7bZQYd1ODUV923AXBzAM3cE+HvZaYOBB1V2aYYCN3bcBNt/4ytcKNkQVjRRae0Vv7xZDsUBg4OuxEGAYhXqvoZ09cHZeqD26/EwnQQ1LlPjYHdYKxpcHQ4gpc/IFrKrAccSLMxNdSqt73AObtlsJeTy4tlTgp+Hp1cXqafR+ndIbFbvv4Micm+jy5cSXnrPbMM/Wb6tGwwwneor46c/MF3VryVjpe+RqFIO5mNdFkxk0jACb3fT+F5OtUfU4/rvoFwLflV+i2bf7H4TNUZ8nRnEp5nJ7KIfQ7AAuNxVOV3j178f4uzR7Y/RxAOyxuV0CSGdjOGgLSkuf/WBIuPmBDO8eMo/DXhl+KuhtmHBxR704KFf47jfu4jfhLvEEaI/yj8tnSbvWsCouJH98CvXdvtm8lcM+F+6GpCgMsnr4HsMHed5OVPLN1fPka4ESu4VrTYvE+Icwp+0iKYSmANLi9GUQk6wrsFCQraKZzyhC+l9HK6T1OELt2w93JS33tjwcpvtblJwOgEWff6YGC6yqe5CcKRojbQx+cFRgTABG5/G0SGXsVSIuPuV37u+TvKMx12isJI1B/SF1tJO25CUdcE+q2GeYKtVHeQ7rhTgqeFAa0JJGzpn7t6/3p4UL5R782y0W02yIFrGvWUyliSHeU1Sm//oFsVDhZaOtyqE9ARdhSpXJAtuTAlBjNiz2mgb+oQjtU77MHc4dQ6eFWpNWMASNcDJA5BetAHD+BH5DcJzZ6/EVIHpN+gblyMw+1LXbkjjXfHr97lUBtMKNXr/AnGj+aMe5WsVd/m8YQr29gcTVvFu3ftxwsg47Jny7EKdg5D/vRwT6XAXwRotoa6uF/TlX2A6Khh7WPUO8nobpgrvaOM3WYzxGRHKamEMFYrgt45cOF5YU/IiF6HhbV+lhASDPBaLiBXvVVeIqvdHKnlsuubJos+kMEpdpD4ZqxzbIKiCZKbcPLh39Kl0YkJEzxCgi6k6BFxLv8A0MgMLPmIhsjdCQT7X1zYbZYhV90QEkff39gGTGMB5E/Yqslejgq9cXewjyVR7mtVHmNk89/LVyUnzFQzCQqc7RKWNz5BpP0RN3oemDhub+2uLXptMgW4SH+3KGOpEPzIeaovxnkK/DHEkVxPg3KaUXc3Xk6QkfvUS2GMvD7+jMwcTffYVeSzCVGtT+989yi+Xu96F4h+rAPXbos4Jm5woVHywl3b+FO21FXo01sWswjBo5Oxk/ku7rCjqPZZax3FPZkwIG0SolE5wRu5z+MDTJSvx19RIN3f8gnfO9vxwP/NRe8gyAb01YUstPXWxc6abmsNtj3q4DGqa0INHfDS8HleTB5BgpaOB87gFryn02BO34wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WdqPq4m2dFQQ58g5jXsDhg",
      "input": {
        "note": "Grasp point is stuck at z≈0.065, about the bottle's diameter, so the fingers are resting on the bottle. Lifting clear first.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.16,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01WdqPq4m2dFQQ58g5jXsDhg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.4389, 1.6718, 1.1107, 0.0025, 0.2752, 0.1623, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1819 left_yaw=0.0025 left_pitch=-0.0091 left_roll=0.0013 left_gripper=0.9983 right_x=0.4622 right_y=0.1679 right_z=0.168 right_yaw=0.1113 right_pitch=0.0359 right_roll=0.0085 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.7162, 6.4068, 1.8339, -0.0122, -0.0659, -0.0122, -0.3487, -10.4274, 8.2803, 1.7265, 0.232, 0.1392, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39bd195236dd6695ff102e5340efe6abfc3190d8f091f92957f09c8e216bd240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26af55eb3f1e3a316961e150d5cd93f3bc471901172d71a9ea35a1c35de56544",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd548582394f788fcbc332d1ad0b7e676d6ed413c11ace24554ffb933f97cc5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 6.705 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]: [-0.02, 0.7982, 0.614, -0.387, -0.0223, -0.0292, 0.9983, 0.4438, 1.8057, 0.9577, 0.1188, 0.308, 0.1875, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1819 left_yaw=0.0021 left_pitch=-0.0091 left_roll=0.0011 left_gripper=0.9983 right_x=0.4427 right_y=0.1551 right_z=0.066 right_yaw=0.0731 right_pitch=-0.1174 right_roll=-0.0477 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.5248, 6.6803, 1.8632, -0.0073, -0.0415, -0.0122, -0.7863, -8.5538, 9.1145, 2.0342, 0.1001, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.4381, 1.813, 0.8974, 0.2626, 0.2855, 0.1738, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0016 left_z=0.182 left_yaw=0.0021 left_pitch=-0.0087 left_roll=0.0011 left_gripper=0.9983 right_x=0.4457 right_y=0.1578 right_z=0.0652 right_yaw=0.0956 right_pitch=-0.0512 right_roll=-0.0184 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.7846, 6.3385, 1.8144, -0.0122, -0.0562, -0.0122, -0.294, -8.8821, 6.1744, 2.1123, 0.1587, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.4389, 1.6718, 1.1107, 0.0025, 0.2752, 0.1623, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1819 left_yaw=0.0025 left_pitch=-0.0091 left_roll=0.0013 left_gripper=0.9983 right_x=0.4622 right_y=0.1679 right_z=0.168 right_yaw=0.1113 right_pitch=0.0359 right_roll=0.0085 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.7162, 6.4068, 1.8339, -0.0122, -0.0659, -0.0122, -0.3487, -10.4274, 8.2803, 1.7265, 0.232, 0.1392, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39bd195236dd6695ff102e5340efe6abfc3190d8f091f92957f09c8e216bd240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26af55eb3f1e3a316961e150d5cd93f3bc471901172d71a9ea35a1c35de56544",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd548582394f788fcbc332d1ad0b7e676d6ed413c11ace24554ffb933f97cc5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS5QkKEAgSGAI4AUIIdGhpbmtpbmcSDJKuqIMQmCQ0ZfMS8RoMifHk2qcZuCjMPd8rIjBNVxhQvqzmO8hdrVd45UMJ5VoOiCUeSltncfpSZum7wlnIwIuR9yHivhDSIhDshBwqggmVpnwC8cRsKdGxQnuYUORsqtsxJUNv5lwUy1abf+aLkX9lJPZI8hXtSvvnOnDf7Nj7J0eBLv61Q2qS1NqnjdOOOGcQbm7g6sFxjAFTBtdMOElWoGge3f49bTgiumiHRoMm7Nfx4u4Q6A5d1SUonkU9E7E4V3uXwcB2kIpjA5HEuaIHv1JbT21sgYnXpKx/ih8S+K5zEXb9tB7zx4NndyfjRX8vWiGGBw4m76qrtAl2HI3QxYtin/DJK1PUMzD14ckpjVN1qA6Lq8phH8LurdfyQ892E2OcQFO2KntLyqPlV8VruywQxXGJG16OqpsmFjXaS8wqM8Vy5+adl7FX1/qproMzZkyvM0Hs02vqudSqKYNBN5VX9yVlAle7CKybi4RzlQkKtNDrx+iGjJftxwVvljywMvEYs8NYqapY2RlUpAOHwJY0jGx/VhDNgiAjXOCK/P2mnIoSEyHucOkXXXigkY7V7Za48hUonEqOtcyftKW1ET0b1AUuHtSoqiPTQ94d7BWZqKjOa5SBW5xN6DL/Y4Qxi49SQU45zzINhuDx1EK0TUqBc1ZcCXF2XSXNc1Bc1Mi4A+B8iar1foCT1uFLfMX4y7y6e5w3KptDV6DuipNC3pJoc89k5zXOAdW3IcS+2viVzNlMIYxQr43S67ycI85IhQBgNgpM8IZaELk6r35wYa6t1yjzlnb3VQyyaAfjZ5/rU5OTvUXQ2YGhVNUnEDWdy+KSg6jBLY6jwqnOnrLQixKWnB8AhcFTteM73eejgCcaJxRgvX0KcdRK1TiyJK+fbQIrmQl0EocDceVib9WXoSSnLEoJLHK/kSfJF3NH+DSmDBwB1WNeyEcqEcTd/rAEQMiyXqqjmQN3IIFJfuqtZE55/gdwuuUssM9oLAie5L/rBjDnf2Pbh+xU4bHe0/T6nT639ipO+/MsyeO2gVyHFjm9/DVUCedkcJAHhSM1S1HvvP6Vr1n+UOdDuuaT4jZemzUQ4144ymXG+SLXvsg2l3UcBAV+JXOVv0TmzKvetV0XN/0vn4MEAlz1T1Aswj7kJCxwaxGprK/lrtkjDaJz32P5LGyhMEdBGJ3NlttP3ra4535hBMe/0uEaaFL9eIpNEBZuFg9NUkb8bViGQV+cUCAF6H9t/nwL+Bcb5yQrBiGr8TgoRjpCXqgtYhVTofIKg2NrOo27mwTbp8GxCwL5ideHunKwiJvFZ7fxPc90Hq+g+59QwQnb7NDyHZbSokBlW4Gm2lp3BaB8ufkKwxDvWcRu1ktOwaYS5xCbMiX6gZtov5j1BiYQlWkbSSX7vCgKpozFEQXY7ycHzzLnt+ldjk9iVIPl6CwDr0mfNbDi+evbYNlu/WKCglX/EY7FODe0r6AF3ywGBbyEgrSNvluqyhZ2soNGhFyk5EcU+MPEWHCX4tqu4nuGkVwMuxiODXb6gAjLYYrXveS81VW9iY0gECnnoT8r3221chgk8lTAtKbYEE6Wlc/12tMz5XS6VZ2g+UlwxPHRIzrimuJmO1zxgqX+bttVD6CujrFA4DGLRxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M95oD22sWyW4Ci81eEmVJm",
      "input": {
        "note": "Now clear above the bottle; the cap sits right at the jaw column just ahead of the fingertips. Descending straight down onto the cap/neck.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.165,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01M95oD22sWyW4Ci81eEmVJm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.3866, -0.0227, -0.0292, 0.9983, 0.424, 1.9602, 0.9245, 0.4046, 0.2596, 0.1467, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0013 left_gripper=0.9983 right_x=0.465 right_y=0.1641 right_z=0.0341 right_yaw=0.1178 right_pitch=-0.0358 right_roll=-0.0189 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.6205, 6.3385, 1.8046, -0.0464, -0.0708, -0.0122, -0.5265, -8.3897, 4.7658, 1.5409, 0.022, 0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02bf5da5b9d5336e7e250a19c0daa40c60853dbb13d2575f43622b3ea43cf87b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51db36b9633c0e2f8c7123208d5f345bb32098e7266f79f1f2db07af1b249af2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8588af5dc3d4e1587d6863b150cbc5adc71c8b69f29a8177c76c148e05ef9b5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 4.936 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]: [-0.02, 0.7982, 0.614, -0.3866, -0.0223, -0.0292, 0.9983, 0.4381, 1.813, 0.8974, 0.2626, 0.2855, 0.1738, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0016 left_z=0.182 left_yaw=0.0021 left_pitch=-0.0087 left_roll=0.0011 left_gripper=0.9983 right_x=0.4457 right_y=0.1578 right_z=0.0652 right_yaw=0.0956 right_pitch=-0.0512 right_roll=-0.0184 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.7846, 6.3385, 1.8144, -0.0122, -0.0562, -0.0122, -0.294, -8.8821, 6.1744, 2.1123, 0.1587, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.4389, 1.6718, 1.1107, 0.0025, 0.2752, 0.1623, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1819 left_yaw=0.0025 left_pitch=-0.0091 left_roll=0.0013 left_gripper=0.9983 right_x=0.4622 right_y=0.1679 right_z=0.168 right_yaw=0.1113 right_pitch=0.0359 right_roll=0.0085 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.7162, 6.4068, 1.8339, -0.0122, -0.0659, -0.0122, -0.3487, -10.4274, 8.2803, 1.7265, 0.232, 0.1392, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.3866, -0.0227, -0.0292, 0.9983, 0.424, 1.9602, 0.9245, 0.4046, 0.2596, 0.1467, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0013 left_gripper=0.9983 right_x=0.465 right_y=0.1641 right_z=0.0341 right_yaw=0.1178 right_pitch=-0.0358 right_roll=-0.0189 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.6205, 6.3385, 1.8046, -0.0464, -0.0708, -0.0122, -0.5265, -8.3897, 4.7658, 1.5409, 0.022, 0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02bf5da5b9d5336e7e250a19c0daa40c60853dbb13d2575f43622b3ea43cf87b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51db36b9633c0e2f8c7123208d5f345bb32098e7266f79f1f2db07af1b249af2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8588af5dc3d4e1587d6863b150cbc5adc71c8b69f29a8177c76c148e05ef9b5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxAsKEAgSGAI4AUIIdGhpbmtpbmcSDLQZwiEmJHs43I2n2BoMv59e/aD/6K8AD1g/IjDCYL1H/hZuzv6ElSScQfB7aFjfKIsotvdPVAB7hjf4SrABKWnXxa2aauGjIC7gbcUq4QqTSkIqyjA4kOJnymFD+Ubg6A/GFM/ePLcJWwt58+fErWvbrXMSRnY9y2MtCZPkKFU9IjIkWy9ioUDe+QNzl7oIIjh+jtGNDQVYt3CD5YzC84E0cn63mxKqg8nj1y+N/a7sOPUEaFBmvxHTJVP1IC1mI5G7Ii1mlMOLPCvT9ihLTmT93hKSQsgoPO9+bvp+u86rvncX4VOCgktusvDgT0Zk1titbenVRXzR9k9ThT3QLVYPvGKqeJYsMS/azXijPMnnAfnpY9BHqGLLxyXjI8wgr/a6WvbygGCC76IGtkiQrp4RtXoldONDWik1ZYsdv/WzAZgdS51NH7aeCf5tnPc0w/W0oHJEyZys0OHBJPDWgVrh3jsYJ6kHVmgj0ZnjTwQI3uY8n21rvbLSuvs+sjtP5sqbd6v9lJ7luLZuQvppqIBqYB+ic20dZVQsrdoSNS7vyTjN6jUjF9Fti5db2zxLhl0/xbUHU8yR4f38Z7xV4CvWpxIA2hw+MzWVYPH7NA0ZTFZY8MEDa2BPTMXpUW05fPYIz8tD2f5KK4T0hPnZLLhcIFq/UV9PnBO0LibTiTLwEl5wVOc9+6fMtIbIFFuCeIk5RZY3CwSsHcITuC8Jl9VFphq17lQURChWwpTe99nrOTuOTv2j4kpRH9OG9Nl3Y2/WgJ5t4ZCpOpj7ZL8pAZVQtS8PMVLWwjHM8QdeJBf5TeBpRX7wTAKfpu10oAItD7Glg/PNoOi8SWCPDGYXW2DW/0vCpSG498qLpVx0lnBiz+tuL0VW/zYfXKO/P9DxleKGvFl/Kw6iJZou+x1/uiMMlGEd/M+wYfV5RKN8FuSxAvdy2Cv+gFEntVyfh9hQ1a0eISmZ5ZZlP77kaONXAtNuasJxziSLMHxGQxKGv1QnwwyDZa4ExI6Jl3NCIOng+EXJLa5/hvIaNDRTYQW2tJgGHveaBi32HtgDfV8+nQonQ7DPp1XLPlpxdazCwGsRikwsquGHx60EOYFnS3VpAnNjraq6htbPqj5DjSp4SHuUVjWj/YyeTO4alPbme6iXJqO7kte/8THEfhL5aZ2iJqlqLVYZGTFoRUcadwNCsF00/rFBhWCApu47NsKXrDlwijFRo+ndQ03VW8DeoIW1F8/oFPy3vFDI5JoS2huR2m+vdcQq9zl7FFBQv77ciZDJ9N6QBIz2M59sPwRHXeYq0CAPkfooynh0k0hlvQNRrMwhN587PrpB1I7sntG0trQqz54eZETG77oNz3QwtBIl7yTQ6wI4Vnfg/Opf9uoHOCpKOCbGoXT3ZvL94NSqpR0J09UEAPGCAhDm3V62BtPyRoSA7/QkKulA7OgRpVialKhOcVUy8ZQcL3PyChiJ89FdiOL6J5l9snOY8VcrtCnFRZL17YsRQ8NCwzoCYk7QOmiSxYHwbVp6ooSlRJxvd/39YyBbpmJmBra2Bi4CShsaAODj96Ywtw9vvu40IBhwQTV0N+db8z4vLMAQXSNHdLHlv/BJrdZ8dBe4R2gh58nvc516/mOsa2DISmmuRL+qkrpLM/ipIjCg5Aoj89QLruXWR64HSbPV9EH9eOsk5T8q9XfG8aT1clqHLAtGjD/ZNm1PASfuyRbYHUwWO5b4YRmk2B8cemztyKlv3snybdwZnEhVGUp1UwyjrHOrbTHiqA5X74WeIq5K5VhI7PEarZmi7RCXUa88yCqaCE4Tl8pM8bLnlD5jDQTnrrWX3EeAFFh3EcdU3zLT9NGWDXabZm+m8d4gs9lmUu42qz6V6q2vtO6GopVjvc3Jf6gkiTyJmeMwGTr/2dMP/R4YA6f1uHXGKpD5Q3KCsuqAwmDafe0A+dYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019BBRjEHo9Qvk49exBioECX",
      "input": {
        "note": "Jaws are straddling the bottle near the label; the neck and cap are ~4–5 cm further forward. Sliding forward along the bottle to put the jaws around the neck.",
        "targets": {
          "right_x": 0.51,
          "right_y": 0.165,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019BBRjEHo9Qvk49exBioECX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0223, -0.0292, 0.9983, 0.3889, 2.0548, 1.0477, 0.4259, 0.2234, 0.1207, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1821 left_yaw=0.0021 left_pitch=-0.008 left_roll=0.0011 left_gripper=0.9983 right_x=0.5013 right_y=0.167 right_z=0.0378 right_yaw=0.1271 right_pitch=0.0062 right_roll=-0.0067 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.6752, 6.4479, 1.8388, -0.0122, -0.0562, -0.0122, -0.6769, -9.0462, 7.5829, 1.5897, -0.0024, 0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9da6e546d2fa2d577d0fd13254796918db8a452ca9e634694bb6b1e27fb3fadf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0767d1ff1a28c237d835347defa0e756c013f347591972bd6ed8da5ff669465d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:117521497781e79ab06ac4419a0a20a7a7e227a624b02b6cffd19a81ce81cf99",
        "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 · 7.575 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]: [-0.02, 0.7982, 0.614, -0.387, -0.0227, -0.0292, 0.9983, 0.4389, 1.6718, 1.1107, 0.0025, 0.2752, 0.1623, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1819 left_yaw=0.0025 left_pitch=-0.0091 left_roll=0.0013 left_gripper=0.9983 right_x=0.4622 right_y=0.1679 right_z=0.168 right_yaw=0.1113 right_pitch=0.0359 right_roll=0.0085 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.7162, 6.4068, 1.8339, -0.0122, -0.0659, -0.0122, -0.3487, -10.4274, 8.2803, 1.7265, 0.232, 0.1392, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.02, 0.7963, 0.6136, -0.3866, -0.0227, -0.0292, 0.9983, 0.424, 1.9602, 0.9245, 0.4046, 0.2596, 0.1467, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0013 left_gripper=0.9983 right_x=0.465 right_y=0.1641 right_z=0.0341 right_yaw=0.1178 right_pitch=-0.0358 right_roll=-0.0189 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.6205, 6.3385, 1.8046, -0.0464, -0.0708, -0.0122, -0.5265, -8.3897, 4.7658, 1.5409, 0.022, 0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0223, -0.0292, 0.9983, 0.3889, 2.0548, 1.0477, 0.4259, 0.2234, 0.1207, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1821 left_yaw=0.0021 left_pitch=-0.008 left_roll=0.0011 left_gripper=0.9983 right_x=0.5013 right_y=0.167 right_z=0.0378 right_yaw=0.1271 right_pitch=0.0062 right_roll=-0.0067 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.6752, 6.4479, 1.8388, -0.0122, -0.0562, -0.0122, -0.6769, -9.0462, 7.5829, 1.5897, -0.0024, 0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9da6e546d2fa2d577d0fd13254796918db8a452ca9e634694bb6b1e27fb3fadf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0767d1ff1a28c237d835347defa0e756c013f347591972bd6ed8da5ff669465d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:117521497781e79ab06ac4419a0a20a7a7e227a624b02b6cffd19a81ce81cf99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxAkKEAgSGAI4AUIIdGhpbmtpbmcSDPZFQJJEp+h326FlxxoMpdzHbATQpxeuJHWBIjDSet7LvnccGJIdVTvrjixja13lA+xJLE0YaFT+r6lPQTCO3IHlX0I5lzKVrqeIRlQq4QiomDSa86KEOJG7cC7RQjbsabYW9llaLXVNfjkAsbcVzwZde+1iO3dMXp79yuyRJTg0jyPSdgYhTlqAl9GiiuIIazPE0vofFbpS6EAKlZanrK55Fhid13UFFBEbTIIbqxhNsqlS6qVSjMvhswe6isOwP5yWTY71ytDzRN3rIjW9cd7fyxLFmRusLsFQ0I53ulZQRJFHjP3zQvpG8xvXPkQo67YwW5griKZ4oBuhB0HipjLRPvvRRGCs4TZ5CwIv/VrKcYfl4HX8J14o2IGt2wkhSC4vYWjdmO4DwPpoN7iVicxwamItWOjgfWai35VUY0uPIPBbvlnCN9eiUYU0Jcd7AKh2+Qe9vt48EBmmB87sJU8lVjL88ZQQX31ydxOrsEuKMd6y+DEFRNyVjhjVsq2ItO2ev21F4tFEHfPs9+Pj21GWv0iYkUvmbpd+qQm3BFms/UMJ1/qiDwoRCfeig37OnBdHXbWed0xZ4iXN/saZdjP34FFsCmOov6kyv6bCrHCsxOygBba+MKsBPuiCF2WRgFQsduXnTmmI0pRN37v7uQlMhjf7qaRAHrZZYUwuQu27QfQcQjrEYmLUGTbbkk7OlcIotMx3XQ4OEu8TdiIXwNh4oMrBHplTXzy/L4S3hVUD4yLPayZcpCpvORMu9VkYV/4q4YVktt6Z3oNh2Fg0Elx5R5NWnulpmvKiSz0teaMAud+SBXWReXSUBTfCAoHR+r4YFiH1KznvEHbEgFwwu6ARQEPrVpUP/5nYf7bZvXQrhcUKvYzicy6ERk0a2x6dQqqaODtDjXG8uwVutB2B1Uz9onqJYqrse5RqH6K0JjhqqS4Np1PK24ui9FVfZEPr2QpiB8y04gVivZAC9Quhbo2Ez2uqFHmW1RAJQArbCruZBGUj3nIyTG2UPx0XzVQEvZVs8zfzGVjE1NjdEwzsVH0CHcybeA8i6/RA1lH8/hGAioIaKVmJ+TFsi2hZ+cl+cCDEC86B7NMW51T5HoZiJHIEBXGm+cl29LvOLCF0qMk4/IY7Qj2iZVghG3ckEy7l34HDNQ1Ob6hC69X8zPTDTU3u08RdnTNV8QlGzS1zFkgC9JQFu78/uu/kulREhRLh9VyA0KQH7WAJGrjTx+8tmW5za3G9fWcgUasqlZ0wO5bQmtoWJ5YiAz2x+/8HDUI7yWde81vBBI55iMrylItzWtBxANN8Lx/MFeW/5S/0FwyjK8jqrmudSQqnfzlQghbC73u5g6uazaG9bB3ty8/5m2dEQSC7MYsFWsMUwPVcC5g7pyDyz9+e0BH78ifJb1y+yDP1wnxqAj2yit1PHsABX6Ftm/U/r8hV7zfy7yqNVSeTCia4ZX3U3SevAwaycc4wociGjCJEPX5OgJjiE80UeF6D4kLcB1sQMavfvRF/lv9XBApTJ8SnAFI6xGsxTGrrQa75nNb6QLwK+1093/TBd2NlCrw+gLma1rAglfVg/BL3Jh/GiyhbdosPwsUoPmfUjhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A3m6Zqbgodj3VVrrKfd4xH",
      "input": {
        "note": "Jaws now straddle the bottle's upper shoulder just behind the neck. Closing to grip it.",
        "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_01A3m6Zqbgodj3VVrrKfd4xH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3859, 2.059, 1.0615, 0.4198, 0.2153, 0.1062, 0.4847]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.5044 right_y=0.168 right_z=0.0395 right_yaw=0.1385 right_pitch=0.0084 right_roll=-0.0139 right_gripper=0.4847\nstate[joint_eff]: [-0.212, -1.6889, 6.694, 1.8095, -0.0269, -0.0611, -0.0122, -0.0342, -11.1111, 4.8479, 1.6435, 0.0366, 0.1294, 0.7985]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:111cc3270fd50da00d4fbbb2601da76ff0f9c4f1100376e47ecc4bbafa4253da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29044825dc6530c64d422a361c6df988380ef41410f7752ab1d7eb38a21c04df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec72de8a390624d6ab94f50b8f4642ca2a60ca726de7a5af2bdb36fc209fc443",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 3.823 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]: [-0.02, 0.7963, 0.6136, -0.3866, -0.0227, -0.0292, 0.9983, 0.424, 1.9602, 0.9245, 0.4046, 0.2596, 0.1467, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0013 left_gripper=0.9983 right_x=0.465 right_y=0.1641 right_z=0.0341 right_yaw=0.1178 right_pitch=-0.0358 right_roll=-0.0189 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.6205, 6.3385, 1.8046, -0.0464, -0.0708, -0.0122, -0.5265, -8.3897, 4.7658, 1.5409, 0.022, 0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0223, -0.0292, 0.9983, 0.3889, 2.0548, 1.0477, 0.4259, 0.2234, 0.1207, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1821 left_yaw=0.0021 left_pitch=-0.008 left_roll=0.0011 left_gripper=0.9983 right_x=0.5013 right_y=0.167 right_z=0.0378 right_yaw=0.1271 right_pitch=0.0062 right_roll=-0.0067 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.6752, 6.4479, 1.8388, -0.0122, -0.0562, -0.0122, -0.6769, -9.0462, 7.5829, 1.5897, -0.0024, 0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3859, 2.059, 1.0615, 0.4198, 0.2153, 0.1062, 0.4847]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.5044 right_y=0.168 right_z=0.0395 right_yaw=0.1385 right_pitch=0.0084 right_roll=-0.0139 right_gripper=0.4847\nstate[joint_eff]: [-0.212, -1.6889, 6.694, 1.8095, -0.0269, -0.0611, -0.0122, -0.0342, -11.1111, 4.8479, 1.6435, 0.0366, 0.1294, 0.7985]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:111cc3270fd50da00d4fbbb2601da76ff0f9c4f1100376e47ecc4bbafa4253da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29044825dc6530c64d422a361c6df988380ef41410f7752ab1d7eb38a21c04df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec72de8a390624d6ab94f50b8f4642ca2a60ca726de7a5af2bdb36fc209fc443",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FreAcyXu54RzzcyUxWouTZ",
      "input": {
        "note": "Bottle gripped at the shoulder (reading 0.48 ≈ 4.6 cm). Raising the cap end in an arc around the bottle's base so it pivots upright.",
        "targets": {
          "right_x": 0.46,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01FreAcyXu54RzzcyUxWouTZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0223, -0.0292, 0.9983, 0.4263, 1.7927, 1.0145, 0.0925, 0.218, 0.1265, 0.4841]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1821 left_yaw=0.0021 left_pitch=-0.008 left_roll=0.0011 left_gripper=0.9983 right_x=0.4537 right_y=0.168 right_z=0.0868 right_yaw=0.1646 right_pitch=-0.0955 right_roll=-0.026 right_gripper=0.4841\nstate[joint_eff]: [-0.0889, -1.4564, 6.3658, 1.8486, -0.0122, -0.0855, -0.0122, 0.3077, -12.0684, 8.0068, 2.293, 0.3101, 0.149, -0.0806]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff78c0a10ffa358d5053a03e8e1581e9d0fa7b2ceb79ae14908bb884deb0ea52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b191aa0aad791b636ff17b4059465b586ff7accb0f60a79123a555d3dcd0bd7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a844533344b2cc539142d40bc1c328990cdb3d73961178ebe4846bb63ce8d688",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 5.35 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]: [-0.02, 0.7963, 0.6132, -0.387, -0.0223, -0.0292, 0.9983, 0.3889, 2.0548, 1.0477, 0.4259, 0.2234, 0.1207, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1821 left_yaw=0.0021 left_pitch=-0.008 left_roll=0.0011 left_gripper=0.9983 right_x=0.5013 right_y=0.167 right_z=0.0378 right_yaw=0.1271 right_pitch=0.0062 right_roll=-0.0067 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.6752, 6.4479, 1.8388, -0.0122, -0.0562, -0.0122, -0.6769, -9.0462, 7.5829, 1.5897, -0.0024, 0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3859, 2.059, 1.0615, 0.4198, 0.2153, 0.1062, 0.4847]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.5044 right_y=0.168 right_z=0.0395 right_yaw=0.1385 right_pitch=0.0084 right_roll=-0.0139 right_gripper=0.4847\nstate[joint_eff]: [-0.212, -1.6889, 6.694, 1.8095, -0.0269, -0.0611, -0.0122, -0.0342, -11.1111, 4.8479, 1.6435, 0.0366, 0.1294, 0.7985]",
      "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]: [-0.02, 0.7963, 0.6132, -0.387, -0.0223, -0.0292, 0.9983, 0.4263, 1.7927, 1.0145, 0.0925, 0.218, 0.1265, 0.4841]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1821 left_yaw=0.0021 left_pitch=-0.008 left_roll=0.0011 left_gripper=0.9983 right_x=0.4537 right_y=0.168 right_z=0.0868 right_yaw=0.1646 right_pitch=-0.0955 right_roll=-0.026 right_gripper=0.4841\nstate[joint_eff]: [-0.0889, -1.4564, 6.3658, 1.8486, -0.0122, -0.0855, -0.0122, 0.3077, -12.0684, 8.0068, 2.293, 0.3101, 0.149, -0.0806]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff78c0a10ffa358d5053a03e8e1581e9d0fa7b2ceb79ae14908bb884deb0ea52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b191aa0aad791b636ff17b4059465b586ff7accb0f60a79123a555d3dcd0bd7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a844533344b2cc539142d40bc1c328990cdb3d73961178ebe4846bb63ce8d688",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQcKEAgSGAI4AUIIdGhpbmtpbmcSDMPK43B+Weq34+7NOBoM/d2paVgpDFh7CLzbIjDyGR3xqPlAm8kkpY+ldli4au5rIJ56VxEyKJ5fWzRPNoFtCOF8SE9jPjZ2yz2BN1Yq3gY01KzU397nwxHTQOedIXwN/+9MyI1zSXqlP4KK4JXBwidxuD/lAAd4/bx3rrxnSUlCiwxf7drxR7+KCi5PS7lBhsYyT1RnThrQFLsycOj6ZHiURuFW9Suj9mQUQWvSAkNIAR1Nv2vzda5sHKmFi/bd5le8QdI/+kSJRNpVIewmdVefnbL7wKrCl6YNV6nMVnJ7IUzMJdl5fzZHXuC4s0uqO0y3cJN7MthDdGMrnv9XWPbc8DFgQHm0hAay0JLgBEpf2mdCFN7VwGr6DHPa9XY01ajCxNG+FUtFVYSNEeguWSAvaBwScUj8+4LnCOb4Q360vfsX0FJbWyu5DJ8ruITe5KSE0jOoViU1sioNPMwXxqde8q064oVf40BHsWxC7A7OPgQfPzrRg6M46DKRfw09zlrwWGAECf0D+5DJjUwHeiv3lQpadmVr/IzeHmlbSt6Oo+O6TluddEXJLzMBU7qxFtoUtcUMkVXQNvxlKxl3q2y0mSd699pzieraXa6JRuZKqX0AxjIaVLrANexH4yT9xkJOJG5Nc8N5sU6CrHhW/l7N4R0TQ08mvSZgnzqUlZQ6Rzozc7xDkG3ZSwGg4T09rNgZNoasMDaXnCP7DLLd/xfe9ehJxM7lKDxmWmGS5n8uRVLacDLm0c72TM85Iov/40XKUlJdIRiX8gZuzI3bjLJxhHCHv0lYqVysK25c/cyqQnbjT9nJIxprnm7Gxfkffzan23T/roGplQ302cs5jvOwtgq2Q0tmzAg4HCD1hXwrNA5Vh32j4RIrqMA3rt5tVVOgLLjU4ImtlSwSYhBhSZdru7nagSeh1qBUhhZ4Tk1Z+g/ac/S/jclkcjO8VGcoc3CtaBYbkGmAty8cBpHhvPwGo1VKPaCbsZ3zSvM+FaXgTWxAi/NuVDGqbFY1aTw2oPq0JIkwKKEW/Fe+4I8cSwWr6SKJ89X4lgG6zuWpKGss5jw79YlwViltJtKDAnOm5GXUeaZ8+Q5do0Dlc8fJpErz68GoKH29E9FLotDWCJTrpT0N+5S6kHMVQ/RlC1CFu8ma/mjC0NJg1cBiluITxt0nfZb1Fis/floq0mUr37k0IrlBXrXFUihSKzbqHfGXm0FC6c4klz7os/YOrdx9af6+glT/fM3OEdnerKRzGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U7Jx4xcSY9PEwnAyghjDn8",
      "input": {
        "note": "Bottle still in the grip with its cap end raised. Continuing the arc up and back over the base to bring it vertical.",
        "targets": {
          "right_x": 0.38,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01U7Jx4xcSY9PEwnAyghjDn8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.5316, 1.3975, 1.0092, -0.2504, 0.2825, 0.1646, 0.4838]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.3822 right_y=0.1718 right_z=0.192 right_yaw=0.1967 right_pitch=-0.0386 right_roll=-0.0195 right_gripper=0.4838\nstate[joint_eff]: [0.0205, -1.7299, 6.3795, 1.8291, -0.0708, -0.0611, -0.0122, 0.3761, -8.1846, 10.0855, 2.0049, 0.2418, 0.2369, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb0821417078e0b73a0fde120cff5aa6d4791a03c2abecc11f696d0a310edfe2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:229a93cd450a6a9fbfe13f56e6c24b9734c5188e7acdfd477146c32c63b0c359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5fb09543b09537e7e61a8f5d3a2c75e94620386f9a2b51f34c14a0fa8d43c203",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 3.906 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]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3859, 2.059, 1.0615, 0.4198, 0.2153, 0.1062, 0.4847]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.5044 right_y=0.168 right_z=0.0395 right_yaw=0.1385 right_pitch=0.0084 right_roll=-0.0139 right_gripper=0.4847\nstate[joint_eff]: [-0.212, -1.6889, 6.694, 1.8095, -0.0269, -0.0611, -0.0122, -0.0342, -11.1111, 4.8479, 1.6435, 0.0366, 0.1294, 0.7985]",
      "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]: [-0.02, 0.7963, 0.6132, -0.387, -0.0223, -0.0292, 0.9983, 0.4263, 1.7927, 1.0145, 0.0925, 0.218, 0.1265, 0.4841]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1821 left_yaw=0.0021 left_pitch=-0.008 left_roll=0.0011 left_gripper=0.9983 right_x=0.4537 right_y=0.168 right_z=0.0868 right_yaw=0.1646 right_pitch=-0.0955 right_roll=-0.026 right_gripper=0.4841\nstate[joint_eff]: [-0.0889, -1.4564, 6.3658, 1.8486, -0.0122, -0.0855, -0.0122, 0.3077, -12.0684, 8.0068, 2.293, 0.3101, 0.149, -0.0806]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.5316, 1.3975, 1.0092, -0.2504, 0.2825, 0.1646, 0.4838]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.3822 right_y=0.1718 right_z=0.192 right_yaw=0.1967 right_pitch=-0.0386 right_roll=-0.0195 right_gripper=0.4838\nstate[joint_eff]: [0.0205, -1.7299, 6.3795, 1.8291, -0.0708, -0.0611, -0.0122, 0.3761, -8.1846, 10.0855, 2.0049, 0.2418, 0.2369, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb0821417078e0b73a0fde120cff5aa6d4791a03c2abecc11f696d0a310edfe2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:229a93cd450a6a9fbfe13f56e6c24b9734c5188e7acdfd477146c32c63b0c359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fb09543b09537e7e61a8f5d3a2c75e94620386f9a2b51f34c14a0fa8d43c203",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwwoKEAgSGAI4AUIIdGhpbmtpbmcSDL3IOmykqlynF4i5nBoMw3f/6xd22s6KWlw8IjABMNb7Dvk3sc0nMjA3mBoVa5hSbpmYvVzJg84I1KKX0zmpD43TSAggFToh0m0LLCcq4AmjysxtgUQAxKeXRdbmes5vkzlNOio2RR8o2QQfzhlSL5Ds0HCf7RcsP8Ptt0bU+R9095v8LOMoape84o1pWotjs0EktGx37ppMveQHBqQeROjKi/4Bd3sPdn8bTvss57j6SGm/OSUGEQ/5WsdIlcNu1w5Oicwk7PmSG/yI+ZOsrQHf0rAF8bDj99rrwlnP8V69Omm4TdTJSfLOY2g8KdS4UOJSY9gVFyqskVJYjfW+1Vd+nWCMWVd/jx078tY21ZvggbKm97Qg5CIZQinlYmHK4RqSLttGMa3RfMVF5AO2xXe/GpKOnpriCdydmEEpHvCKl5NJvT2zIGjAp2R03DGB2ib0y1XQBqD44MjTj1yS9phvIqG6Va+XbNlB8YIl/+cGnV8OcHRkPUZ76VLbsxZMUqmLUu5sFEfykeGxCGJHG319KcDMOzyITIP9D7DPH9zfh3d3cUMzwvrrMyHAWICOyon2hbyf6/4m3Cr49YBnY8DEF9/QLplMPVr2LugF3IE7rbo/VtdCbz0WuGqBuIn65cqx8DijNAdp2xvqrc+s2ER9XtP4g68O5gohMtZqmOR30Ixtzjg4gvtw1lMJaW/sUuOZk+baXSUU3B5bYYcG6jv/JgbM0IEIfIaXuUvTdtkvY5jjOsnKxf8RyzC6qq7CF745W6R6/XUhCRIANW+KoAKWhNmuZehN9R0PPQEvJltB3Fpo9oIIDM3HgjwHG6MvCfWFC36aYA1m/9K21LPGVEPwF4a8L4viA+OZmSxB3xMOWawt6BMyFJ8T7rpPLoHPzejcOqygAIpRmIZgpTRnIjeowoXjsuq6eLC/sv7VnLf0T1a27uAww5O+A+56SYrp9knbU+D3ywt0xIfh29Lesf2vm8QVeEjWSU5hOB2gIs/OO74yXKIU/gS16SJIksWjFtWMI0dQATWxhfy9iY2Rhu9F+SN2J3RuRFaOe4qKa6CffilbeHFWbRRuWs0JDEVF9mDDZTaMw0/zPbUexOHYEFd0aMrAELrvit370MAJ/Z0bZbciZlvFCrJuGBRIE0b1hnwgXjaG54BG+yKjb8Lh1BfvrLlGLR0tC6yDth6z69b+xyZBna7e2LPwyI5Xb9EPov6jLXZI4Ow2Xh1D0VuGpV3z5k2bvjDdqvSd9gPCpP1fmRn/zLeyXkNsUK7C3LW64yjD6qVu9jofXdhOPbDZDdXhsQZ4eIWUZ+kCKAeoU2eYSdmdXuzASbDRYeKyJZBX0JxgNQ6/OyQTG+6L/bxMrbdS3WZgGkNXzm0gbwusfbzjWKay4U1TOwghPWHPWXCoa3C0aBgjIiXRDVl12YOTi0K4PE5MtWenjKvcJp+ombKCUf/fdnYn0U2HN4fVwkwklCbUNULAoMpyoSH4Xg1Ci/MwC9KnE7z2LugM6zzy6clqAvrNEycU9/2JvdUVUnxf2oyj8iK20phVMxNUcsfz3Qfb/nhpHVlmI+7nlBKNLiND2uHy1N7nOd0JOGMp0sK0ugghppot+593mQkWNrhTd4VGHAGrGEIxP4kH+mJRxUfVI7fRFE8hihjxvoi45UjVR8YQozR4iKfcyZtoJSFAVNWfla6Jvqt4ch8pC7OXWcyuf8P8W3YPE2DEhgI3e8j706hkJPIX22oFoHBP6OHMo2Ku8+4ysCNtTXdkiYn4XtsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LcwPp9d8KU5ZG2CPaqMESd",
      "input": {
        "note": "Top view shows the bottle hanging roughly vertical under the right gripper. Lowering until its base sits firmly on the table before releasing.",
        "targets": {
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01LcwPp9d8KU5ZG2CPaqMESd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.5354, 1.4109, 0.8482, -0.1143, 0.2832, 0.1707, 0.4837]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0025 left_pitch=-0.0084 left_roll=0.0013 left_gripper=0.9983 right_x=0.371 right_y=0.1668 right_z=0.1427 right_yaw=0.1959 right_pitch=-0.0743 right_roll=-0.0276 right_gripper=0.4837\nstate[joint_eff]: [-0.3077, -1.7299, 6.3658, 1.8095, -0.0415, -0.0708, -0.0122, -0.5675, -6.2017, 8.2256, 2.2784, 0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7764fcdf6be295c563a1d3507a6c6d4d41ed0fd37f4863349569b46d385896c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:071df3ecee4600b1d10d871f637f01fd2daa6d9be7f6e0adc255c897e2cee51e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:184a729d45f7b3293fd87daffd23c97570c28a3a1438870feb180da937e5b343",
        "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 · 5.965 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]: [-0.02, 0.7963, 0.6132, -0.387, -0.0223, -0.0292, 0.9983, 0.4263, 1.7927, 1.0145, 0.0925, 0.218, 0.1265, 0.4841]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1821 left_yaw=0.0021 left_pitch=-0.008 left_roll=0.0011 left_gripper=0.9983 right_x=0.4537 right_y=0.168 right_z=0.0868 right_yaw=0.1646 right_pitch=-0.0955 right_roll=-0.026 right_gripper=0.4841\nstate[joint_eff]: [-0.0889, -1.4564, 6.3658, 1.8486, -0.0122, -0.0855, -0.0122, 0.3077, -12.0684, 8.0068, 2.293, 0.3101, 0.149, -0.0806]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.5316, 1.3975, 1.0092, -0.2504, 0.2825, 0.1646, 0.4838]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.3822 right_y=0.1718 right_z=0.192 right_yaw=0.1967 right_pitch=-0.0386 right_roll=-0.0195 right_gripper=0.4838\nstate[joint_eff]: [0.0205, -1.7299, 6.3795, 1.8291, -0.0708, -0.0611, -0.0122, 0.3761, -8.1846, 10.0855, 2.0049, 0.2418, 0.2369, -0.0415]",
      "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]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.5354, 1.4109, 0.8482, -0.1143, 0.2832, 0.1707, 0.4837]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0025 left_pitch=-0.0084 left_roll=0.0013 left_gripper=0.9983 right_x=0.371 right_y=0.1668 right_z=0.1427 right_yaw=0.1959 right_pitch=-0.0743 right_roll=-0.0276 right_gripper=0.4837\nstate[joint_eff]: [-0.3077, -1.7299, 6.3658, 1.8095, -0.0415, -0.0708, -0.0122, -0.5675, -6.2017, 8.2256, 2.2784, 0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7764fcdf6be295c563a1d3507a6c6d4d41ed0fd37f4863349569b46d385896c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:071df3ecee4600b1d10d871f637f01fd2daa6d9be7f6e0adc255c897e2cee51e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:184a729d45f7b3293fd87daffd23c97570c28a3a1438870feb180da937e5b343",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzggKEAgSGAI4AUIIdGhpbmtpbmcSDKoYBnOP/PfLoleMExoM/y2+d0ZRqYFmrYAYIjBHvYSizpjsHZLMawNoqsxNgPbO3rzn+2qCtZS/FtG7N6f1MMUJ7ZSPDXc84qNEGYcq6wdurQ6/RyHEwQE5y5bTi8E7ipe7IJLMptz47uxy857C9FCZkLpidfQSjWM2HU0GHl3kLZ0Sm+pjTllJo6n0yszmE0BmXYwpzxuknZguG6V6Zd3cVpZTHBPXfv8VKYtqL4tpdVt/k5mG1QBGeEJnqve6Wt0vkRB5/+3scfaXvHz6KSWaFTu/6gcgJAFtwL7DLzFE3/EGTDNGzId2sJdDGJcVcLpN/Nn73SzhGIRGdbXHT9B1zT4VCWzus5scAf4OQ71XC8yHjEDS0JXtk2qfzb3N3KidWBS8LaNiM6cmIdPpuhNBRjYrU6Pk59BQLtRDeg7CgKwT0efr42A5aeZqxpgRl/pHzsT5CIiB+/DkWHymuLu9Bkjf2730eHu9QITlQjTzFxlhNS5cUSpz0seh1fdSoN8GLLeosDgy1rvhVFuOkoZVlPAcuwqWHC3we5vJkUFuWcjFRcxXiqX5Tb58nIG0ea+EG2ovZGXjFCJifIfQJk7/kZ7vE5dD6UZzDo6qCa+r3fRJ9KF6coImDicAprqEnzqLk+ZZn/6ttqxzmAHdfQ1yXxNIBGOlhObvaUx8pT+04ZRryFJvYURoRvl9XVYrfHjCHFFyukzdncVyP2mrVMSxg1skAPIf11DnIQXkK52SsUDN/49PIsl1ANmXOpIJ/q2pMRKLrMEoAg2QzjKX3DJWu/T5HaS+QNPBQXKGuOSJYjOBuToA9jP1SPZmjeGLSbZOUO9ibygWWOAcImDyK8VTYclP0DLFqgQnIR0lwrgAgR8o3FYqtzSYtvvkfCLBvoNzZaHbplrALJqRXlw92Ahw8Zeqn0cqPoGLdzi30bHFfI7iqTRgZtBUjlXx9ubfOJrKXV9NWMNHiIpoTjPcaqbwJeUw/R6c2aaOeA3j1XwanQ3q3wKKA0fYUbHmpZIpF1G6cye0yaEFd2k0bhZfbeUmW+rHragpHO5mk0IokRPmlun6muER0yVtU0LphASb+i4nZ0uLDRT6p8K19alesLHevSDUb65o7mTJQODK1x7YLloxlaxwhpu9HF0pF9a31jHHg/cdq+wnldFf94kUyR1uvgYjxSlxYPUxOsMBCfb96sW9JtIPsFmWPh7veOUoX43H6kp4fuN3THD+HYzWi+V9Ntme1T58UXBwuGV/9Pqz62yCUasecBxi9ohFzW1AD4m9CSeUGvPPVSLAhSDfQIJe22ZYeXVtRAI3RVV4+IbgdRYjtPKSBd3fg3GU8oQBAhprrQL/qI0/EQsokdLgt84yhTac2nnF3aPfM0SQD/rZmKy0iNIXPkCkfSasgL9iLsQOEC6Z9uK5e1LcybrJ9oQExnoGeEBZAclcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MFwNcDRTnjnrqRiYpu3wr7",
      "input": {
        "note": "The bottle appears to be standing on its base under the gripper. Opening 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_01MFwNcDRTnjnrqRiYpu3wr7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0223, -0.0292, 0.9983, 0.5358, 1.4109, 0.7666, -0.0055, 0.2756, 0.1635, 0.9958]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1821 left_yaw=0.0021 left_pitch=-0.008 left_roll=0.0011 left_gripper=0.9983 right_x=0.3676 right_y=0.1665 right_z=0.1283 right_yaw=0.207 right_pitch=-0.0504 right_roll=-0.0201 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.7026, 6.5299, 1.8095, -0.0317, -0.0708, -0.0122, -0.0752, -7.6103, 6.5026, 1.9414, 0.1197, 0.0611, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a599cf01466d240598f546681fdba54b7230331c9e075027175e6fbb7b0a78e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6f2d466bfe1d37042848063cba91bb4753822444c30fbceb6ef1e990dd956a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:65ef534a4abab7bc99526190d1e5a886f09066d4e432c0aa284839074dfe4ad1",
        "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 · 18.21 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]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.5316, 1.3975, 1.0092, -0.2504, 0.2825, 0.1646, 0.4838]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.3822 right_y=0.1718 right_z=0.192 right_yaw=0.1967 right_pitch=-0.0386 right_roll=-0.0195 right_gripper=0.4838\nstate[joint_eff]: [0.0205, -1.7299, 6.3795, 1.8291, -0.0708, -0.0611, -0.0122, 0.3761, -8.1846, 10.0855, 2.0049, 0.2418, 0.2369, -0.0415]",
      "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]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.5354, 1.4109, 0.8482, -0.1143, 0.2832, 0.1707, 0.4837]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0025 left_pitch=-0.0084 left_roll=0.0013 left_gripper=0.9983 right_x=0.371 right_y=0.1668 right_z=0.1427 right_yaw=0.1959 right_pitch=-0.0743 right_roll=-0.0276 right_gripper=0.4837\nstate[joint_eff]: [-0.3077, -1.7299, 6.3658, 1.8095, -0.0415, -0.0708, -0.0122, -0.5675, -6.2017, 8.2256, 2.2784, 0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0223, -0.0292, 0.9983, 0.5358, 1.4109, 0.7666, -0.0055, 0.2756, 0.1635, 0.9958]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1821 left_yaw=0.0021 left_pitch=-0.008 left_roll=0.0011 left_gripper=0.9983 right_x=0.3676 right_y=0.1665 right_z=0.1283 right_yaw=0.207 right_pitch=-0.0504 right_roll=-0.0201 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.7026, 6.5299, 1.8095, -0.0317, -0.0708, -0.0122, -0.0752, -7.6103, 6.5026, 1.9414, 0.1197, 0.0611, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a599cf01466d240598f546681fdba54b7230331c9e075027175e6fbb7b0a78e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6f2d466bfe1d37042848063cba91bb4753822444c30fbceb6ef1e990dd956a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65ef534a4abab7bc99526190d1e5a886f09066d4e432c0aa284839074dfe4ad1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgAoKEAgSGAI4AUIIdGhpbmtpbmcSDGFpjcbtR3UoG+NzxRoMbb6HK54VXMdvBerVIjB74spLOzMAQCOtzEtDgzqjdX5abGIBkBwSHWX3gs0Ed4X5W+0f3VurooBCu8qkX/IqnQmDw6Vj5tykyf1BhPHOqXKrvlz0vwHtLWqGxg3X+9lo+MoleHItBQLXnQINdrLV59v41FONvwBWo80dKVSNpI78ZHxHN2HtM0Hvn555h8i+Iqt85XRe1rNODcNhfJLWNLL49Ecww24WANOyiipPgIjdjEUe+Cjm0YXsWXomGuWWmaDRgtVXG0DkcrRg8r9f69mQ46g3lMkJxPlv+UJtcoon1EZfXOhrKc1aOmQVtd61xeLXelXldhQQo85Jp7NYQqPIS/5m9QIQ47NoqQLLNmdK5ArR/te/mGSVxtZO6uOQrXC35NxTy2RNRN0Fz1LtzTEMa/boLPeEUFgwz1+I0B2FRNFhBp1CHBzBZDs8IEgVYe9jHV9B6Dq0P/+9vt4wXpQjY/2gdfhuCzvjhj62Qd6z0zPkI/LnQeqOp6KT/VFk83LmUajYueVImN0XkjERt4nJddR4FibJzC7mz2fcKN3OcGiseASOUEVa2nIvVjl3FtczzNESJKBnVyx/QywmrdUV4z2o893cMM+Tg2785e1Abz5InWFVYRyY/1fb5TVVizGtdbkclqDfOVwfHzPeKcudD1R03nlQZdlhlCiKaAD+5Q0+kdHYX9UO3rcVHd47EJ8EL11ujWy0mW5HvO6TF5EOQvjO89xfly9SimGLNQuhPxKjqdV8i23TQJnIusTcu7qDyHd+eqscvxeKu4SsGQda6hUhaa2WIjQdYonXo67BcHSuLsOIX04e3puLpQt2WuLvM7+WF7nQLAZhNtiQk3zARIiaoPdcUiZ6JnBv8ER8DcKV3xXIZkW2gsaJnqBhySc+AliU2HkCIu06dD9rHmjhv6akh3IzPbRVpbVt1a9QLne5IPZoldKY/f8pA+ANi7vTP9tTUmH3eHFGKXZNv6sCiWh9bG7X66kJIdwm99H0CKRUFOcKiBPf6UCUBgq06D7Mo7ur+0d9q5s3dj5cTqa83JFqjEpuFv6bDnsRh5mYs7A4qsIv0phv89+dKWSBHY/FD0tc7IdWy8dDowcuk7IkA33zuJBnZI7y54kMAIBlJDFTZ30HpKRHQF19KYu3e0ALC1FczPZuuv/i3g41jycA0yFrl6Wkp1gT2nN4puzO1oIfU1qS4jhJ5F4GIzE0mzaDB2FKV25s+beS61ob5h9D9s4ZYL480EYHZ5KeYIVVLm8oJBD7PysZYyZXToltdS/IUCPkUKXPagkEOgqiI/qzxIBkdYF9sqJLw8QFevOlLQn1h0xaMuP/Kwp35U94MKfEuZWRHnsBmxeW656hrpU2cMxrBcTqpuCCyZmMizqNT7pfeD6ceSyUwF1Fxlq29wQs5EoVupjs/6VZ/JLGGf1ABZmx3oQoXBtILbLt6nKFKnvf1tfubvJR++axVz2+rUofpt36uPDO/Muq01pDmyGPlY/4DnrvuRlx957MarckPOY3g9hcZOzL1c7s55S4cO6Ss/qgYNVTv5790Aep4HhmwJ31Gk5mSkS3+/uGk8OKRdbj2OcDyO5Wbhj0k2kQZ9dfqfKQzEA90cMjwAIeuc5+p3GAWKtXT5P8WrkcxPR7gmk+WPp/Ds+4MhahPBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U1FxU6YstoNbNsR7Aqn2MN",
      "input": {
        "note": "Released. The right wrist view is ambiguous about whether the bottle stayed upright, so I'm lifting straight up and back to get a clear overhead view.",
        "targets": {
          "right_x": 0.3,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01U1FxU6YstoNbNsR7Aqn2MN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.6941, 1.1248, 0.9611, -0.482, 0.374, 0.234, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0013 left_gripper=0.9983 right_x=0.3042 right_y=0.1739 right_z=0.2285 right_yaw=0.2467 right_pitch=-0.0234 right_roll=-0.0156 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.4974, 6.3795, 1.8242, -0.0659, -0.0415, -0.0122, 0.0342, -4.9709, 9.6752, 1.79, 0.2857, 0.2222, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6add01e6aa91f09b2cd1ffb786ea9857e1ddd1a173d2027af7177a3f55179b4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20032ed114953c56dd46e886248494f4fd476e374bdcb605fdd0962449976b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:898591cb99443deb28f1cdb685b18b3c6832edd8e58bd8e101f822a3ae13ff89",
        "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 · 14.86 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]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.5354, 1.4109, 0.8482, -0.1143, 0.2832, 0.1707, 0.4837]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0025 left_pitch=-0.0084 left_roll=0.0013 left_gripper=0.9983 right_x=0.371 right_y=0.1668 right_z=0.1427 right_yaw=0.1959 right_pitch=-0.0743 right_roll=-0.0276 right_gripper=0.4837\nstate[joint_eff]: [-0.3077, -1.7299, 6.3658, 1.8095, -0.0415, -0.0708, -0.0122, -0.5675, -6.2017, 8.2256, 2.2784, 0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0223, -0.0292, 0.9983, 0.5358, 1.4109, 0.7666, -0.0055, 0.2756, 0.1635, 0.9958]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1821 left_yaw=0.0021 left_pitch=-0.008 left_roll=0.0011 left_gripper=0.9983 right_x=0.3676 right_y=0.1665 right_z=0.1283 right_yaw=0.207 right_pitch=-0.0504 right_roll=-0.0201 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.7026, 6.5299, 1.8095, -0.0317, -0.0708, -0.0122, -0.0752, -7.6103, 6.5026, 1.9414, 0.1197, 0.0611, -0.0317]",
      "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]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.6941, 1.1248, 0.9611, -0.482, 0.374, 0.234, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0013 left_gripper=0.9983 right_x=0.3042 right_y=0.1739 right_z=0.2285 right_yaw=0.2467 right_pitch=-0.0234 right_roll=-0.0156 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.4974, 6.3795, 1.8242, -0.0659, -0.0415, -0.0122, 0.0342, -4.9709, 9.6752, 1.79, 0.2857, 0.2222, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6add01e6aa91f09b2cd1ffb786ea9857e1ddd1a173d2027af7177a3f55179b4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20032ed114953c56dd46e886248494f4fd476e374bdcb605fdd0962449976b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:898591cb99443deb28f1cdb685b18b3c6832edd8e58bd8e101f822a3ae13ff89",
        "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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R24mi6QUodoJK6ZFTT5R51eOY4bnitZ4Dj229PRQbxwLmBwvAXuw3l9DIDNBmg2hPrubhTTo6B6ckc0AaN+xuuJQtpkHE9H0uq2Ikr/uSUc5zI1qJm85ti87GLe2zFL9NQBrQqvYxi227I/RpwEZLo55/Q5swIOyyHhaBSYmhWXjcoHdJJT2dV1SJ+jVmMCna+2wW01/RgZ2BEs48drYEVZrqTgx6FO/PlA2MHRWxMexTPaUWpuWZ/F9xNifdDK8wMG9OyL5K7IYJypEhbB3FnGIJSwFHLfNjBuyKWUdWlGd0qQQmZskIPkJBUfPRfTam4xglf9tkEbMQuQEbxtQRRRtNlvus69pA8W8HcUImsn1Nv8s2ySw76jKVS8vn6fzDLJEvdoHmdDi43I1AeR5YwP+NH6GMuqkI7WCo8lXB2RqW4Ar50/0l9D3dM7IbbR/YL1+yq7uq06jOW+ysz9xseo3a9St2lx6/jHj9bggYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AXTUu7hiLu8xQWDJhqHFMU",
      "input": {
        "note": "Can't tell from the current views whether the first bottle stayed upright; pulling the right arm back toward its base so the overhead camera can see that spot.",
        "targets": {
          "right_x": 0.18,
          "right_y": 0.05,
          "right_yaw": 0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01AXTUu7hiLu8xQWDJhqHFMU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3862, -0.0223, -0.0292, 0.9983, 0.9241, 0.6064, 0.8913, -1.0756, 0.6758, 0.5396, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1823 left_yaw=0.0021 left_pitch=-0.0072 left_roll=0.0011 left_gripper=0.9983 right_x=0.1863 right_y=0.0694 right_z=0.2413 right_yaw=0.0772 right_pitch=-0.0167 right_roll=-0.0069 right_gripper=0.9955\nstate[joint_eff]: [-0.3214, -1.7026, 6.4342, 1.8388, -0.022, -0.0757, -0.0122, -0.0342, 0.7453, 8.9504, 1.5946, 0.315, 0.149, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e58378b250a0cc7a317ebf53a4d9ad3c4824db49eea751e3173ebb03270e242a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4b34f56db3b38b94c7fd246a906661166c2197eb134a50fd31d9fe06d9e0971",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:90242f375ed7582cf49bea8c0bb50081b300ab6b098a6c7ff54621a76fc71265",
        "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 · 6.31 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]: [-0.02, 0.7963, 0.6132, -0.387, -0.0223, -0.0292, 0.9983, 0.5358, 1.4109, 0.7666, -0.0055, 0.2756, 0.1635, 0.9958]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1821 left_yaw=0.0021 left_pitch=-0.008 left_roll=0.0011 left_gripper=0.9983 right_x=0.3676 right_y=0.1665 right_z=0.1283 right_yaw=0.207 right_pitch=-0.0504 right_roll=-0.0201 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.7026, 6.5299, 1.8095, -0.0317, -0.0708, -0.0122, -0.0752, -7.6103, 6.5026, 1.9414, 0.1197, 0.0611, -0.0317]",
      "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]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.6941, 1.1248, 0.9611, -0.482, 0.374, 0.234, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0013 left_gripper=0.9983 right_x=0.3042 right_y=0.1739 right_z=0.2285 right_yaw=0.2467 right_pitch=-0.0234 right_roll=-0.0156 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.4974, 6.3795, 1.8242, -0.0659, -0.0415, -0.0122, 0.0342, -4.9709, 9.6752, 1.79, 0.2857, 0.2222, -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]: [-0.02, 0.7963, 0.6132, -0.3862, -0.0223, -0.0292, 0.9983, 0.9241, 0.6064, 0.8913, -1.0756, 0.6758, 0.5396, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1823 left_yaw=0.0021 left_pitch=-0.0072 left_roll=0.0011 left_gripper=0.9983 right_x=0.1863 right_y=0.0694 right_z=0.2413 right_yaw=0.0772 right_pitch=-0.0167 right_roll=-0.0069 right_gripper=0.9955\nstate[joint_eff]: [-0.3214, -1.7026, 6.4342, 1.8388, -0.022, -0.0757, -0.0122, -0.0342, 0.7453, 8.9504, 1.5946, 0.315, 0.149, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e58378b250a0cc7a317ebf53a4d9ad3c4824db49eea751e3173ebb03270e242a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4b34f56db3b38b94c7fd246a906661166c2197eb134a50fd31d9fe06d9e0971",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90242f375ed7582cf49bea8c0bb50081b300ab6b098a6c7ff54621a76fc71265",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSjBkKEAgSGAI4AUIIdGhpbmtpbmcSDKkaMjcwxYOmXtjXVRoMJnSoPDOy37iLP+ybIjBhjaPdokmPQRIH5rzmKJrQDO8XrDWSI0dRjlMAdnQJlvhAYDCMOqqQvm+IXa+IdUwqqRjvNjJLTJfm20QPs+5V6G/+xsWZWumNSS0JmPT8l319eZDRDhPyf6A3lO56PAwUVnDfcUJDC0KrStmnvJ4mW9upEBfhZ2SpxefcRhnadU1PFxW8y/IfBYcvuR0lVj+y5e52HfFpwSdWAaZTwQzDsJGTydBgy0aO/fQ0GQBVB0Uj6RWszKs1hrcBvEQ77/lrj8u2xWNTvnhSp12oU8Bo+rfK4cgsu1iKaQbvrj8TtuxtJQR7T6idZdymd7ecJbxjQPBoWu1etPhCw3K2JqVbLuVm6dPLP5hXUyWaZOIzeHTOCIrSUWdv97IO6symY87HJ3gMI43bL2WN3FJgg8XpmAcqzbuaYaHvSRDv7NHAWjqIYJF7FTtsWEeWTZ0INYoPRfdJ04tp4nof+C90OvJ+Ug3C3ANFlLsXt63+AGcXSUZ70FzH2leLfrxvDouVzGfQV5dBpe29jlA/guEnW8n1uHl0F7IQVD5dQsyYd016RrTds0mx0FGGQQR9GyNrZXn+Yk6SrJ/7z4EvN2TSsCMAW3738SJYohFBTGmSenGnqwE1FxabCJuivUo8Sci17p7PsLk1blrZDR2zS+zhbCKJiou8CPqOFSSmLDoacKdD7a6TWjgczVkeA8uG/HERSWA7tCZ3OrWWbtg/u8/enY/ifGY+Sl4tTvmPR+cLn9/CzJj6NwoCkJ7UWmkQRYIN0wYp6lrluMe/1bwzuMsBqLxuEeaQJ9mcXkAlGlu54DGxSXRzchwj2i+4+/i7LEGTff0o+GQ54+6NS/WG+EHUIx8q4YYdGyS6WlPTFYIotmq2Wfkv3cdfAkQvaQ9AEzLod4FhMiyjCVSnIurt/lEkht2zCvkb2+gjJ9Ms7isM47yab2ZmJbwRpgzoVyL2nQmIDRO1Aoraps+/8pXKu4L0/2atKhqsuU2DMh6o75aHvcR4OSvRf62yotWMhq8wGKBeomNnBPRziWrEzSogQyrQCbBMxZymyGNiWpENM34GKE4aW/fdOzuFoskUq+gEcS6n7MTv1rVJrRGcfwZI5xACz/W6kBQTk/WCgfY3yn/8Ua2Iu94DJ7JWP98Ua+C8RClvKFp3xlrGWZvQ2pnVQC3+UYf5kYmxUSv+JOGBPlg8BQy0kxffxVnTVkA+eYsIdt7N8U/uR6D95+gM5gpA8ULyK3SgglWGbpS+mwH/SjOzgC9d/NIzd0QBXU4XzuiAq7UqAAX46zyIjBZab6z0T+TLw+HV6QoAyFE+HTitNtDepyZTNHoYkzuC8VldhfXLFwgXePacSMObTO+FiroSV5++BvqzYe6Zuj8mJ4u95xCnGj7go29Gh9JJhp4LPqF0bCVHS3mgaBUaLwmNvfX2obVZ5CFs0YYO5N7Cqc9TTAZw4VqAO9zlTVs6/BIo6mveJjB/zx1tCKRtiIu74Vseb2Sh03Ic8q+oOasqy5GeAtc4ULF0hkcXZsDfvROI8wvJHzc9EaP1FS5dR+zM28E/mQF7/bzyWAsrWgahypAUcxcq9InQ+8Mhl/Zcv42BDGHkNswm6zwuA8yqtCgbubVxili1mhIgpMUEYGxt6PXc48lKxO2BRIib6k/9FkiRIoFmfMT6HtwY6ckOYML65AsSBHIWXkvkQRDxsyCei0gxacBtb+TXCvkYfP4q+/0yi31oMOxuZB3xtgH8mOj6ifB1UhMhPsT+4tN4jpbUtt+OxLoJb0dpOed6Uz0sP5RwVMEBYchSFoMsT20A0vMXwkB6muABrfkG8A43ukvbToRmvhPSc3B1c2rX7KNAoXqLTjxI4ImP85+4Kvv2Z54G2ST89zT/On5gCEKNhocaXffadw4wH9qNe/sHfUvRr2sLy7gmzAPmThJWyawWJNvIKBMS64vlQ59N0pKG4s8v3Ox64T9xp/DPTpbbpvJPd94qa5hsvqwxl0NvqtfkdcMrTmHVt4aLG+jw93dVHZs5n7jQjS8Ls76YPmL7FYavRoA/Tdhn0CRAXgbqxI4yFPBCZhisoTcXiFrRvUQgj58rD4OMiYEfRZeDz1k4K4BCa3BgJ46uolmvEmwVkviy5RTh3l9xAr1Np/s7WAHv5OTpM1wMX30EG+OeIOANuwN08ny7rZvwIOxZAWtYEm0EBj23u5BMGh7x9f1jTDWgtEFt+KFcLAOmBEoglhMx30viu4mAXPS95E0W6i32MKMCNgFFgWTTpkvXtneFurOhz8ZZ0idkG6s3L9mo8udROGeelCN1W1uLF3UQRiVpQgLur2GFrXSV15a3tTWtVAaMPelchMq4WYDTGki1tGzgze/VPBe1WkfCUOgO2MGZSkq0Yx7+TYTutBR5ggyhWaMuxKIWDkP4tzaJiEfhDw+nUNYFYrP5Hufuc45EbW3kkiqS7r2GlY4mnWyJQ8VofHabi1VAld1Yl+C60VzpUuc8E1IRa0cXNhiM93B+K6eX9vm1n4m7sS80UsMM+0HJQG1yUqg5QTlSkqIqj4sl2uld8NIHNM7/Ht6zBLPciGa4eYpJ+a+kVs7/rbk/aIuj02RofOdMqGa9R2TlCv41wFTUd5oCP36cMFcIxNJc6iuysT4LKBm+GnLXqikGA2xXNjsrsw6hx1XjzESIuNJPvMpq1ltWEcuqCV9R/oqVZ4oAfmZ7iVKO0anp/R8lCd7+PTt0laxv+pQQm4CiiprgxVk9LaDWFHnJ7rrZAfENJA6Edr92o1Is8NsyTyM2Uxs7lNEDmRgD5KrlE+K8ic3DZpCQSagJ4At8tW1TvU2Bfm3mYwrWYfiEoVr29oWM+Xy1R2FZFmLpL7Fwa4/dsuHOOT6an9RbrXI9wO7kc1Y5NiWY2o83KGnP8N1HXjMway3TpL+VDBd6YX/Sn1rrKhmlbFSEiEoqv8kxKwl90xktZlHsZBgSInkci9x7dy3Yho27bZ+zf4XuThB9eG+lGf2JfWLXOlAwb9xINlQTHOWNDM//bLcqPnDCSbeFDu7KN927lYo0rxbxa23y1ZjcWvr0Cs8ymonamLDN0PSyqFLVKDh4UhpJtMzwUr36wLrvVztYL1lfKO+HIqxgWrvcMyr6j/sKGkIL9J4097IQnz1PrfXxi5cmStmSfABmALGE94KWGwJV9H+VxPk/yIwQaCkUePlNpB6gYTCCbZ3j/sxGVTa/AvEMMU1G7jAVUxBqS0oMuTKFTqDg98lSijRlag0qZMrrmfvdJmYXz0gDcRtXD2SUY60qx3X5k7vklfOcOvMV7yijHQeVy+SCiaJ9q6UBc08OVZOOLkqH8y8tBhgkA+Oaqs1dbp0uNV334fUzF+IdPRenDgc0JKw38aENOFv0EzH4c8L2YSP0S84Dycf5EvLRC4ft4cI4+8jtcvkaSQrfDLEL2TCsZWfjr70hTh4l02vSSsCoaoPibPXUJFFfC2EGVqnfupXRrAjRv2mKc+PD0xZGsSYronaF9SpwPLRi+RXZQ034JP2az3ykDEzev3fAfMfcWrSaNv98IhLdQv00J9G8QGXi3cdl4ZxxJ5gg1jgOa39wLoDDKj7q+0vyUhUgCoaGLIiqbs+Cy8EeeCc32N1reU5zPKKqreu/MDudG8fNQWJyRkuVBgkLlCq0iHztN7dInPdYKjBhEfnX1fhFkEY5anxX/DaAMV9k6glRT+fmjPgYCjzcolkQhfBAUXrb7rq5FpqZ6XB+Y+3PzkmzWSqvySmeMhtG6VE8GLTx1hkKVrajOPnP58orwh+oRI1jx63TX7+4/MUg1E1u1MDobNzUwt1x64V6Qy+cfTqGkVeM7lNm1LVLSY/QV+Aku39t1FNiwNEHjJGu9Q25YXjA5aHIwmjiR1x8Aq/V7NQO4G+a67PE4rfOGGItA041SztRUtTHSOK322I6ImYWEyXqpbRFDLTNifTgc8oBXmWHzzMfwpdQEcWrFRjoJNxKkfA5lUH9FeQQN6LPtcFlj54+r+fwGun/YTyZQZHKL2bsR3bJxqchrOn2GwVtQbFurs7jlTFv8v8WVheoKeMOwd76bFtMPmejG1XK9fxK5Qsmg5bzzdm4dTCYHAqjjdYiF3mD00KVWTUiuV8KA66T30gD9EsbmxE+lJEbw42g8VaW0FdEYmSj5WtuB3Uib+qtPJNCtQyScjdIvYxBXULqjKV02kl2ZQSqcK8zrqf064BRfrheMYVRe5aWhxQl1RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UswC7xPXoXfE5i3uaTd2y1",
      "input": {
        "note": "Overhead shows the right bottle fell back flat; a rigid shoulder grip didn't let it pivot. Going back above its shoulder to grab it, drag it closer, then re-grip loosely at the cap so it can swing vertical.",
        "targets": {
          "right_x": 0.49,
          "right_y": 0.168,
          "right_yaw": 0.1,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01UswC7xPXoXfE5i3uaTd2y1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0223, -0.0292, 0.9983, 0.4259, 1.7515, 1.2133, -0.149, 0.2527, 0.144, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.182 left_yaw=0.0021 left_pitch=-0.0084 left_roll=0.0011 left_gripper=0.9983 right_x=0.4676 right_y=0.1676 right_z=0.1448 right_yaw=0.1258 right_pitch=-0.0906 right_roll=-0.0338 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.6615, 6.4479, 1.79, -0.022, -0.0464, -0.0122, -1.2513, -8.9094, 9.8803, 1.9853, 0.1538, 0.0904, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdb81639c7964256a27b91b7db18d937323e854a1a46c4c7c67e13f352e4926e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb7a8fb681ac8b0b034e9cfab92e971031f228f6abc7d8b5732adcd7a6f01067",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:725a74c4835d8185f75f3d031522b1efa70cc23599c2b808b30c8dd68543d9fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 4.828 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]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.6941, 1.1248, 0.9611, -0.482, 0.374, 0.234, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0013 left_gripper=0.9983 right_x=0.3042 right_y=0.1739 right_z=0.2285 right_yaw=0.2467 right_pitch=-0.0234 right_roll=-0.0156 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.4974, 6.3795, 1.8242, -0.0659, -0.0415, -0.0122, 0.0342, -4.9709, 9.6752, 1.79, 0.2857, 0.2222, -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]: [-0.02, 0.7963, 0.6132, -0.3862, -0.0223, -0.0292, 0.9983, 0.9241, 0.6064, 0.8913, -1.0756, 0.6758, 0.5396, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1823 left_yaw=0.0021 left_pitch=-0.0072 left_roll=0.0011 left_gripper=0.9983 right_x=0.1863 right_y=0.0694 right_z=0.2413 right_yaw=0.0772 right_pitch=-0.0167 right_roll=-0.0069 right_gripper=0.9955\nstate[joint_eff]: [-0.3214, -1.7026, 6.4342, 1.8388, -0.022, -0.0757, -0.0122, -0.0342, 0.7453, 8.9504, 1.5946, 0.315, 0.149, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0223, -0.0292, 0.9983, 0.4259, 1.7515, 1.2133, -0.149, 0.2527, 0.144, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.182 left_yaw=0.0021 left_pitch=-0.0084 left_roll=0.0011 left_gripper=0.9983 right_x=0.4676 right_y=0.1676 right_z=0.1448 right_yaw=0.1258 right_pitch=-0.0906 right_roll=-0.0338 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.6615, 6.4479, 1.79, -0.022, -0.0464, -0.0122, -1.2513, -8.9094, 9.8803, 1.9853, 0.1538, 0.0904, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdb81639c7964256a27b91b7db18d937323e854a1a46c4c7c67e13f352e4926e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb7a8fb681ac8b0b034e9cfab92e971031f228f6abc7d8b5732adcd7a6f01067",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:725a74c4835d8185f75f3d031522b1efa70cc23599c2b808b30c8dd68543d9fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQsKEAgSGAI4AUIIdGhpbmtpbmcSDEaGcqF51zkvSruYaRoMCzGgajV7lhsGErSEIjB4lgIYxQ0QI2n7nqCQTBhvP4cE+RVxs+yzyaqiXlUyxtbM/ygjKSsqmVJ7WN8lJxEq0go/vIE/1C9tiYyQ1wyzwWwMRGcCfx/vmTazXHMyp6WsGdk8d6LUJhUAxpDe2A+dgRJ3+Onou4/iLEwTogmiayKvMB8alpG4gKgevkZ2o6oJRQoHjjxo2QUX2DF0AVMp7aiYk75r+BlJmdxwDEAd8UGzGA/1Im0Xsbycm1mM+RjZG4ItkBVn0zh5d2nP71U0bds+aL5OSCG4UUobA0eAWJGYWird8/kdpNDStgr70JoHuCYIp+cSEgBCMI12eCojR8kfY9X+Lp82caAhoC+3BRIihZDRjPowk/rSW3H2dKQ6z3zXtT/sLvAq2bc8THDGYYT14pKG1nClAPe8vvQbDJk5+9v65mIJYAAUXPvk9oymjKz9Y4XdPtiqPvzOOnKrXvf5iX78SsfjA/olA2KfQtQkwyRmDbDySO04uMLuSd+jIDlYDL+Gd5lkM3v5AOV91agSxHA4kc3rpHsVUsY7X/oLz7lvRzRI4jlFjQmdyF3P5ErRYwAEg3gacFkuLh4mj/WvFYe915o1YYM2HaX0QLrX9ViMQ6dQg1dXtvMYAnSG9UkbFfrT4CZJEv4m44V7etoCsVAclX+6tuW8OuCWmYJh28HE2XKCeaoV1SiNwgZTaScG4IFnSpi6+cKocoF+aKhfy7Hozc1FylJe9jz9sHhiCrIov82XprAClxrhV4zCH48a2tmd6pGP5cs0k60U+WqVfXkNI8B6BTmbeHvtNPE5MuIXqf51WkQpJI88GfaRXvI3ZonuoitsQhsNAaymtUkE4bpCWOWmBApm3WLw6VXxvPd3mlAEZZwCu6oAR4Hy/w3o4xw0D8b6dKhUC5nWnFzByd7zpeaGh+L1NBtoo7K+gj9kMXJTzlOSpMzLfG38sO8dUHCYkSvCWKEoZudnc/RBuWBhH1pXu1y12WlGYwhZXQbHyEE4oldRd91z2Rl5Mht6svP2gk9zltGh7k0zJaj47bwWwT6ML06/+33HmzcPN00q+V8hvYbcnbuZNnMs4jSzDg65T9nTe74ZkcTrLNHyzdK6X8r1tW+JoMukyC/NaOlLKDcBbKhGxT69f1RcLrA/wll3xMdy0A6md6PgoifgZ4QCroXlIBLvxmWA28iUu3u5Eb1uqJpYeiuAcwNft08JJeRN9woagXXWeOjLxYdsnALXC3OAc+J7Dz785+ji2DvElHsM4Nywgz6ACTOYlMIcQ0IujZw0hlUcnVWBE7/jgpgvqMdpiyuIDOguixUeIAYlktPjhIurcJLEUxV/Dc/zZpPL/ZmUnUf/IzTYBPB53qeFxXXbBrC8iuOKRHFaV2/rBHH2bMYuI4947iX5LV7cHawjYTo8Qa8U1cFCPzqLKim65yidy/vnBjm7+8YztoaLoUryZKf75UEBkGgAH/t4hP5KujgFSXRD3p4zHEIJJX9ZRmlHbJDrjFqYFIZORz7WR019M4mHmkLv2mOFTPdrn/WdtoZkunWaEJzx3VBwZggtVS0vqAdy3r8hIvDYlgC/KnAPDLcnn00DZOeUmJjkkksaesiVVCdB9XtmYfVejMLV6iwQAQ/dVQseUA1rJsDG+/5hi1couanqAPA9Xc9h6qjxSLPxhZ9uJHzPorhqj02kmHT0LumvzAKiUGKq194aoPN6728E0xbjIfNtBsBTluhmNUtI+l9uL1bxV3FHjverJVlVSe+z0C3g1bZRTlQa+6eMraFcGSEchzqYgRk4SR8/hX8J8ipJdsHFhRsriFLWDplEkdxV7NtINCT9V+5HnIJWLzBRWacOapAEYEShpwiMhob0OX6oPEG/CWX/EHAzrgIS/MAUQ4Ngu2LR+EIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NgGN9HBKy3sx7hgnveX6HW",
      "input": {
        "note": "Right wrist view shows the cap right on the jaw column just ahead of the fingertips. Descending straight down to cap height.",
        "targets": {
          "right_x": 0.48,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01NgGN9HBKy3sx7hgnveX6HW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4183, 1.9862, 0.9653, 0.3908, 0.2386, 0.1364, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0025 left_pitch=-0.0076 left_roll=0.0013 left_gripper=0.9983 right_x=0.4735 right_y=0.1687 right_z=0.0338 right_yaw=0.1351 right_pitch=-0.0384 right_roll=-0.0152 right_gripper=0.9955\nstate[joint_eff]: [-0.3214, -1.7162, 6.3521, 1.8437, -0.0269, -0.0757, -0.0122, -0.9641, -7.5009, 4.9846, 1.7509, 0.0317, 0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed3cb380dd48321c3ab7a027b9a36f9f449426a2e2ab7113c606d4b596d27afd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:792319f0be8b91e58b5f5f9363bf23092465e65207d8d5bea86a57244ba33718",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a987688f7172d1600cfe1f81b355ec70a7dfb9517540c081ec92baf4ab9dd5d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 8.857 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]: [-0.02, 0.7963, 0.6132, -0.3862, -0.0223, -0.0292, 0.9983, 0.9241, 0.6064, 0.8913, -1.0756, 0.6758, 0.5396, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1823 left_yaw=0.0021 left_pitch=-0.0072 left_roll=0.0011 left_gripper=0.9983 right_x=0.1863 right_y=0.0694 right_z=0.2413 right_yaw=0.0772 right_pitch=-0.0167 right_roll=-0.0069 right_gripper=0.9955\nstate[joint_eff]: [-0.3214, -1.7026, 6.4342, 1.8388, -0.022, -0.0757, -0.0122, -0.0342, 0.7453, 8.9504, 1.5946, 0.315, 0.149, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0223, -0.0292, 0.9983, 0.4259, 1.7515, 1.2133, -0.149, 0.2527, 0.144, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.182 left_yaw=0.0021 left_pitch=-0.0084 left_roll=0.0011 left_gripper=0.9983 right_x=0.4676 right_y=0.1676 right_z=0.1448 right_yaw=0.1258 right_pitch=-0.0906 right_roll=-0.0338 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.6615, 6.4479, 1.79, -0.022, -0.0464, -0.0122, -1.2513, -8.9094, 9.8803, 1.9853, 0.1538, 0.0904, -0.0171]",
      "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]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4183, 1.9862, 0.9653, 0.3908, 0.2386, 0.1364, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0025 left_pitch=-0.0076 left_roll=0.0013 left_gripper=0.9983 right_x=0.4735 right_y=0.1687 right_z=0.0338 right_yaw=0.1351 right_pitch=-0.0384 right_roll=-0.0152 right_gripper=0.9955\nstate[joint_eff]: [-0.3214, -1.7162, 6.3521, 1.8437, -0.0269, -0.0757, -0.0122, -0.9641, -7.5009, 4.9846, 1.7509, 0.0317, 0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed3cb380dd48321c3ab7a027b9a36f9f449426a2e2ab7113c606d4b596d27afd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:792319f0be8b91e58b5f5f9363bf23092465e65207d8d5bea86a57244ba33718",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a987688f7172d1600cfe1f81b355ec70a7dfb9517540c081ec92baf4ab9dd5d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQgKEAgSGAI4AUIIdGhpbmtpbmcSDEWLRl8Y5Y6ticoDyRoMIDqfAGqSx6MADPNXIjD0QkgfOfr+2OLaSA102N76SV68jR84RT3d+qg6vDpJvOvzqBzaUaGBa70P1wbjjZEqogd0zSdFhU9cLkdBmv9x0+fOSE9000GJqPhjAv/oEX51VCtjNEBSpXQ7LD+5/urj34hvyuRsdxmBxqSsU+iSjk/84a10NvVu3dnxhH8mELf7t5NeRyeX/DwYKetkepnJrvptpOEkoRzy7ZNytvej2JoehH9FDcaFdOZCLCgoPpdIY5sZ1bC3A1Jo2wSawIuJCVjIZ1Y7rFjsle9liCVxIXTf0LlizJZbmm0UtwRPVM8VzpVObH6uKMMwJDLbQrbHMuNqQnyln+u8YzOstcWmthjXU4gfA8FKZGWAZKsyj4EO7gQfKloIZNrxGlPpCeQtF0s9KpytaeZ2mQnp6hIX/QxinsNK/D3ZCf73yEYeTQAnQUh+JfHxGSEvY5adzcwdkLdr09Hp5OUzxC/NHYkVEbxuQNHYpq3pfeGJdkF4anKh5evxghe/GZfrWzzvw9qtCAxgT81Hn09z4z0ASzJisfeKr6E8tr7pdGVF4B6UsfEHdEU47Jk88DKgOfmd9SDY0u7+ysKIQ5C1GUZA+NvvbT0ou/m2CZj0m6vkeD86E4jDgQTfNTjNJaLPdz9w/uNtbkW+WVPdRRQBO734rKttgWH1eVQyPbukHc8uvyupp0KMa6FG7Yam3/hoXwOKsrqiWLb97vv5PcyjR/oEtwaV5yj7BFp7fjLGlckPLHceNmHxmbnfMPdTdKzkx9ggKJta47p+EHjtPCGPZTpnm9F/Uv34ADQedzImn72Q5QC4FTpovW92Z0DseFo5snl4wfX25vQl8pFthhkiE69HO5EERy56gYW4dOzaAoNUjimPvCF8nGJw+U+lWAolq51oFvZp8UocVui4F4ZldGXQIVTaZiV10KdxsyhrK4MjLUxv93y+cubamlA4PBYy3TDnqL+h7v2si9u08y31Z7NEnU8sW5ZZsZdJ6/zyUbZxL2gd6Hb21nMoS64T6NUeu7ZE8f3tKM9+j1toquFB2po4US3kFZy1zDYfd6O2Dj9jvIjMjEyk1uuhYazQQkazJsjSQd5hFKs3MHAxm2Y10E4bL/5zbBBBieB2nQvYK2DJfYVgQlx9PBQe+dqXlyB8sossHFLctmo0v2PlL1xPSPYkylIoBY5VXAt59+jaKksIPOf9Hwv+MJB9vYhf4cOCiynY1k15RuZseWbmrtFhgVrIo4ffno+40vFUbDOA/ISWAYYWr+lneaXfRVvnfW46HshqU7a9+GZd5UsT/qTznzCr/iuWBpZtVLsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VXbLANAGsSgqhxqmngpCNL",
      "input": {
        "note": "Jaws are around the neck with the cap just ahead. Advancing ~1.5 cm so the jaws sit on the cap itself.",
        "targets": {
          "right_x": 0.492,
          "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_01VXbLANAGsSgqhxqmngpCNL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4145, 2.0109, 0.9768, 0.4618, 0.2237, 0.1192, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0013 left_gripper=0.9983 right_x=0.484 right_y=0.1741 right_z=0.0399 right_yaw=0.1531 right_pitch=0.0148 right_roll=-0.0059 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.6342, 6.4205, 1.8535, -0.022, -0.0562, -0.0122, -1.5658, -7.0085, 7.6786, 1.7265, 0.0855, 0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d414f9c1d1e192d56f965c10dec9512c7075d57fd524cadff8418f8eb2c393af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f4d6a95f7defab25f94553668eaad1f7af1d9d9d7de49ae2e3b6a2d8aec9a4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63ccb7db81a4d0aff5d89d3f2f99a387301cc190e38ac6259e49a4453705e005",
        "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 · 5.58 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]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0223, -0.0292, 0.9983, 0.4259, 1.7515, 1.2133, -0.149, 0.2527, 0.144, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.182 left_yaw=0.0021 left_pitch=-0.0084 left_roll=0.0011 left_gripper=0.9983 right_x=0.4676 right_y=0.1676 right_z=0.1448 right_yaw=0.1258 right_pitch=-0.0906 right_roll=-0.0338 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.6615, 6.4479, 1.79, -0.022, -0.0464, -0.0122, -1.2513, -8.9094, 9.8803, 1.9853, 0.1538, 0.0904, -0.0171]",
      "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]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4183, 1.9862, 0.9653, 0.3908, 0.2386, 0.1364, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0025 left_pitch=-0.0076 left_roll=0.0013 left_gripper=0.9983 right_x=0.4735 right_y=0.1687 right_z=0.0338 right_yaw=0.1351 right_pitch=-0.0384 right_roll=-0.0152 right_gripper=0.9955\nstate[joint_eff]: [-0.3214, -1.7162, 6.3521, 1.8437, -0.0269, -0.0757, -0.0122, -0.9641, -7.5009, 4.9846, 1.7509, 0.0317, 0.0952, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4145, 2.0109, 0.9768, 0.4618, 0.2237, 0.1192, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0013 left_gripper=0.9983 right_x=0.484 right_y=0.1741 right_z=0.0399 right_yaw=0.1531 right_pitch=0.0148 right_roll=-0.0059 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.6342, 6.4205, 1.8535, -0.022, -0.0562, -0.0122, -1.5658, -7.0085, 7.6786, 1.7265, 0.0855, 0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d414f9c1d1e192d56f965c10dec9512c7075d57fd524cadff8418f8eb2c393af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f4d6a95f7defab25f94553668eaad1f7af1d9d9d7de49ae2e3b6a2d8aec9a4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63ccb7db81a4d0aff5d89d3f2f99a387301cc190e38ac6259e49a4453705e005",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014JEvvTGBqk36VUvYviyXKG",
      "input": {
        "note": "Jaws are on the neck just below the cap. Closing only partway for a light pinch that lets the bottle swing about the jaw axis when lifted.",
        "targets": {
          "right_gripper": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_014JEvvTGBqk36VUvYviyXKG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.4129, 2.009, 0.9905, 0.4797, 0.2134, 0.1173, 0.259]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.49 right_y=0.1777 right_z=0.0496 right_yaw=0.1609 right_pitch=0.0459 right_roll=0.0062 right_gripper=0.259\nstate[joint_eff]: [-0.3214, -1.7299, 6.4752, 1.8242, -0.022, -0.0611, -0.0122, -0.1573, -10.2906, 5.3538, 1.2576, 0.1734, 0.0513, 0.3004]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a079384c0f4a5e89fa13b0992e5c20c0629f7813f6c1e75b6629c24ad561c39b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02095ccfb747ec5eeda198415017d7d43393affc8e2367bf9313d45ca50743c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a5b5cbf6ff9997c427c83a7ec1643282288af1c2d790d5fab16e8d8853ec00b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 12.2 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]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4183, 1.9862, 0.9653, 0.3908, 0.2386, 0.1364, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0025 left_pitch=-0.0076 left_roll=0.0013 left_gripper=0.9983 right_x=0.4735 right_y=0.1687 right_z=0.0338 right_yaw=0.1351 right_pitch=-0.0384 right_roll=-0.0152 right_gripper=0.9955\nstate[joint_eff]: [-0.3214, -1.7162, 6.3521, 1.8437, -0.0269, -0.0757, -0.0122, -0.9641, -7.5009, 4.9846, 1.7509, 0.0317, 0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4145, 2.0109, 0.9768, 0.4618, 0.2237, 0.1192, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0013 left_gripper=0.9983 right_x=0.484 right_y=0.1741 right_z=0.0399 right_yaw=0.1531 right_pitch=0.0148 right_roll=-0.0059 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.6342, 6.4205, 1.8535, -0.022, -0.0562, -0.0122, -1.5658, -7.0085, 7.6786, 1.7265, 0.0855, 0.0757, -0.0073]",
      "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]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.4129, 2.009, 0.9905, 0.4797, 0.2134, 0.1173, 0.259]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.49 right_y=0.1777 right_z=0.0496 right_yaw=0.1609 right_pitch=0.0459 right_roll=0.0062 right_gripper=0.259\nstate[joint_eff]: [-0.3214, -1.7299, 6.4752, 1.8242, -0.022, -0.0611, -0.0122, -0.1573, -10.2906, 5.3538, 1.2576, 0.1734, 0.0513, 0.3004]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a079384c0f4a5e89fa13b0992e5c20c0629f7813f6c1e75b6629c24ad561c39b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02095ccfb747ec5eeda198415017d7d43393affc8e2367bf9313d45ca50743c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5b5cbf6ff9997c427c83a7ec1643282288af1c2d790d5fab16e8d8853ec00b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSzggKEAgSGAI4AUIIdGhpbmtpbmcSDN5O9k7g6ZSWEiHofhoM9IVsChPj1j54DUJBIjBM1vHuhvRZNurV1NErU1WnXdsmU17I2Fl2As74ycTxEiO6ejCGKVTDHTfuu/1MtFcq6wdSsNkw/S8buOQCF/VQ1y5KQJ3jhHQhmTUdBFEMTW959sUZpbPsaQO3PMDm5giHzfTRI7KXYgtp8XrPV+eUHZ+I2zsnSUB1s7EdUo7v4fScLcNwpv73e+R8nWOQ5taEwrPoN8OVFA1pDaIhuIfE54wJQlsrEwMEJTyBo/3BaSrhtKoobicAiDDGNV7AytMp4dlc6jC+Iu3u3Sb8vE4p3QRnJLLhwpQwr2MDubv0TcY0p4570PSNhVC9meXOt/U0EsQHBzepgC2aGYejBRAMPkXg3v3NFGDkEaASSbusIpriuz68lCFJk6eB2Bi8eZdBfvPsmUGg7fVUsdmzZPQoLdsFOHS0GHMfBnVr5r7mlQ9hLNCslsuBkULRBjclW+1rgfCYZsS81HROU7+fE9yWXAjuT8lqNe0Gg/4iZ4L3j3Yj6NAA0vmk8wD19tT6wwQJ/DKgEmr5AJn3dqm9g3hOStgqE7AcYDi4CaWMp0Fx9Xha/nsBxUhNnTh+TDRLDicpvdGPN8P8LkW9Yo/6IvtQz6g/ay6vKhHrt58pwSUHbqZed97btCeQh3dzzJJl3rngc5WyTxby/vnwt6KNF9jQDputsVXbOPLc/0CGbgsZZwz3rMCOvklW0EfuJOz1KBNEG/NQqfBY07FmNFf5wlFGUsK+jOweVEKyH0fyrweQF8EbmemrJgq304DAl4VMqcTA1Q8M69jlxhgD4nm+p7ZOfc58Q+LXCj8ZI8Rgn7x7K6RBcd9dTE/aedLTSV654qoQUra1xjAGGGgAZrTm/jlc2XYGcWpUM/Sb9ljOGwXoGBPyPHByHhr/pb6UBKDd0/P/oacup2l7cEc1QtFRmh566m2jN0tfEEX9nn70s2VcCQcu5u9kYZ93URcj8q0Uouz6qUwJ6pZNhpQAXas6LpXYjEQT5qRLhxJaZhZh9uHMNn1ZO62TbfzXee4TRP2pXP8uz6YVHHXWnex2W4R6+JwkVyIk+AOdnXF7Mlb6xAxZAZI5/3JnPQHUPJ8j/AQ2QUn0OuftExZN6xH44j11m8Pk2ED3D8l42HtOx4uaD+80JSycWEQ2PBj0vc3mxoMa73QyuF43LGRkLmUgnBgZXxMOAx5/5qlbTISPdfew/drOvy7iN6AAFYLKq+CEz6iDAV342D8M1XuMP5O4L0xfwn5njWA9bS6lVKDqzDyfS6jDQNb0CrGfwRh9+36yIDqJGGhEGPiu+MD8F4odZD/sN6G2osypRobOdHivbiqG2DhIIhJJLK0Lky+JouH4cUamJKW1urXwnDZWo7jacDJmRNNzNb33b9O/gLwl1gB1CUUrF24aDm4knca/KonapjljGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KgY7FsWB7qRkeDNLhpJyPZ",
      "input": {
        "note": "Light pinch on the neck (reading 0.26 ≈ 2.5 cm). Lifting high and a bit back so the bottle can swing down and hang vertically from the neck.",
        "targets": {
          "right_x": 0.4,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01KgY7FsWB7qRkeDNLhpJyPZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0223, -0.0292, 0.9983, 0.5304, 1.4918, 1.3254, -0.4854, 0.2859, 0.1604, 0.2584]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1823 left_yaw=0.0021 left_pitch=-0.0072 left_roll=0.0011 left_gripper=0.9983 right_x=0.404 right_y=0.1834 right_z=0.2486 right_yaw=0.1948 right_pitch=-0.0502 right_roll=-0.0291 right_gripper=0.2584\nstate[joint_eff]: [-0.3214, -1.6752, 6.3795, 1.873, -0.0073, -0.0757, -0.0122, 0.1709, -9.4017, 9.9077, 1.8437, 0.2418, 0.3004, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e794f69ebdaca39500a04b1d6b22db692ca782d921edc6a2d48f3e547b6b4f6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd899854ead2b760835655a624cafbd443d331bf399af3cb96c93827a19580d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:18be11b197a5e53fb73ccc55759c6067b2d2a500d560e0db517f7ab31eed254f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 3.856 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]: [-0.02, 0.7956, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4145, 2.0109, 0.9768, 0.4618, 0.2237, 0.1192, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0068 left_roll=0.0013 left_gripper=0.9983 right_x=0.484 right_y=0.1741 right_z=0.0399 right_yaw=0.1531 right_pitch=0.0148 right_roll=-0.0059 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.6342, 6.4205, 1.8535, -0.022, -0.0562, -0.0122, -1.5658, -7.0085, 7.6786, 1.7265, 0.0855, 0.0757, -0.0073]",
      "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]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.4129, 2.009, 0.9905, 0.4797, 0.2134, 0.1173, 0.259]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.49 right_y=0.1777 right_z=0.0496 right_yaw=0.1609 right_pitch=0.0459 right_roll=0.0062 right_gripper=0.259\nstate[joint_eff]: [-0.3214, -1.7299, 6.4752, 1.8242, -0.022, -0.0611, -0.0122, -0.1573, -10.2906, 5.3538, 1.2576, 0.1734, 0.0513, 0.3004]",
      "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]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0223, -0.0292, 0.9983, 0.5304, 1.4918, 1.3254, -0.4854, 0.2859, 0.1604, 0.2584]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1823 left_yaw=0.0021 left_pitch=-0.0072 left_roll=0.0011 left_gripper=0.9983 right_x=0.404 right_y=0.1834 right_z=0.2486 right_yaw=0.1948 right_pitch=-0.0502 right_roll=-0.0291 right_gripper=0.2584\nstate[joint_eff]: [-0.3214, -1.6752, 6.3795, 1.873, -0.0073, -0.0757, -0.0122, 0.1709, -9.4017, 9.9077, 1.8437, 0.2418, 0.3004, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e794f69ebdaca39500a04b1d6b22db692ca782d921edc6a2d48f3e547b6b4f6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd899854ead2b760835655a624cafbd443d331bf399af3cb96c93827a19580d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18be11b197a5e53fb73ccc55759c6067b2d2a500d560e0db517f7ab31eed254f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WfNeM72ZThFAcTPZqCuyg6",
      "input": {
        "note": "The light pinch slipped; the right bottle is still lying with its cap forward. Going back down to the neck for a full, firm close this time.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.49,
          "right_y": 0.175,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01WfNeM72ZThFAcTPZqCuyg6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4023, 2.0033, 0.9897, 0.3595, 0.1719, 0.0834, 0.9971]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0013 left_gripper=0.9983 right_x=0.4751 right_y=0.1732 right_z=0.0271 right_yaw=0.2031 right_pitch=-0.0718 right_roll=-0.0251 right_gripper=0.9971\nstate[joint_eff]: [-0.294, -1.6068, 6.6256, 1.8193, -0.0269, -0.0464, -0.0122, -0.7726, -9.0188, 6.5436, 1.917, -0.0806, 0.1685, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a4568235fe632e43eb2587f0bbc0da1e9e9d5250fcf46cf8c8a6a669650cc2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57a099b632b153caea9d1516898b4356d18cee926655148cc7b02365eed6d9a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0bb6087c3a0582f6b70d44f87aa3ebb7dfe5b17cbd477c59567c613869916c4d",
        "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 · 8.958 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]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.4129, 2.009, 0.9905, 0.4797, 0.2134, 0.1173, 0.259]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.49 right_y=0.1777 right_z=0.0496 right_yaw=0.1609 right_pitch=0.0459 right_roll=0.0062 right_gripper=0.259\nstate[joint_eff]: [-0.3214, -1.7299, 6.4752, 1.8242, -0.022, -0.0611, -0.0122, -0.1573, -10.2906, 5.3538, 1.2576, 0.1734, 0.0513, 0.3004]",
      "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]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0223, -0.0292, 0.9983, 0.5304, 1.4918, 1.3254, -0.4854, 0.2859, 0.1604, 0.2584]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1823 left_yaw=0.0021 left_pitch=-0.0072 left_roll=0.0011 left_gripper=0.9983 right_x=0.404 right_y=0.1834 right_z=0.2486 right_yaw=0.1948 right_pitch=-0.0502 right_roll=-0.0291 right_gripper=0.2584\nstate[joint_eff]: [-0.3214, -1.6752, 6.3795, 1.873, -0.0073, -0.0757, -0.0122, 0.1709, -9.4017, 9.9077, 1.8437, 0.2418, 0.3004, -0.0708]",
      "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]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4023, 2.0033, 0.9897, 0.3595, 0.1719, 0.0834, 0.9971]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0013 left_gripper=0.9983 right_x=0.4751 right_y=0.1732 right_z=0.0271 right_yaw=0.2031 right_pitch=-0.0718 right_roll=-0.0251 right_gripper=0.9971\nstate[joint_eff]: [-0.294, -1.6068, 6.6256, 1.8193, -0.0269, -0.0464, -0.0122, -0.7726, -9.0188, 6.5436, 1.917, -0.0806, 0.1685, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a4568235fe632e43eb2587f0bbc0da1e9e9d5250fcf46cf8c8a6a669650cc2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57a099b632b153caea9d1516898b4356d18cee926655148cc7b02365eed6d9a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bb6087c3a0582f6b70d44f87aa3ebb7dfe5b17cbd477c59567c613869916c4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3wYKEAgSGAI4AUIIdGhpbmtpbmcSDEmyHskr1T37lpWCTBoMIeVmbtJf/Cu+1IvpIjD6UyLjHwV5vRY9iJpxYQMSD2HMbmFtGmZ3qchRD1BZ3Gz89m64rh/IMWz210A63VQq/AUHy2Kouvejx0znVMAwzn11tarpHaAUOSSepxUH9Un6L0eJk7k+hRDpwakIDNmHL40zAEVbfnpUyIUHOUSc84CoG+PXeVCtEvpxDdYOBen4HJCwmHo/B73VoO89AHPCD+2xMTCwoz6N+Dgplf2EbwOr/9Vhoy81HDta3rXHHuCMlZDJ43pnupCy1hU8FWfrP4sBUorLpVDug22Elm58NkoW2iuOUbm9XbtRlHlQaLPMcR6EsEoVH6Wy3kkhqxUcXn3y4SWoqZUXW4/jpe5Mgd21OjFU3peRnZzaQSXpwQYN7YVHGDPEeon7wmUtEb0iG/PpWy6n3t8MWCImOKy+ab3E9R3pgYYag2lQGKxzWoJRyA0wy6CxcTrQe8Ek3S426Vbvu/uuP7tE2s6t/RP9xG9QkNeeshL+evOJL2iurkCgJZgQ5QZdiR27eF3ehIeB2d5W6uEO/Chdjvzl0uypmo7JWz+IqJDAlW/p1wpRqbB1D5cNj+xrKuF3SD0GirW/ijMkV0kBKI2+NLKS8titmEQl+Ms9Z1Wmd0NMNc7PZiwwdafwBv6y7UJDydmdvesqc6/VaAQtL03CmsNxedvr87wuITDSyVrP3FLsxKQu09DIBAF+z+u9ll9oKgleH+CUi4RPi5JDkESj4J8HM56/VDmIHXniQV3tJDF43CdmhUeeJ/yKHB7mCkx0a7L3QVjH83zo3fBztdDpMeLTPIgwIAXo6b93yXZK0SSPx/8N0zOoqPpklflHxuLn1xzSIRgwdrIKZM+3ZShUvdzTbrXHmcjVYTl77xOMS77FLHdAg2SBm6QMAtU4etZABXcWRjl9DfA/OPPXoYMeFt3hRZrnzS21hvfLBPGbWALTsQoGPctnvZ8Wt2UHuQ3532FTgu7mX26iojILLcMLxQBwL7jaiAZ9hCGA+6ifUo9VqtR9G+xY8YIuIMRWRbcJ3cIDsNuWaELeQC9fVAaaK1L2r5S6DBL/dM1tDUUAyPPcCx9ZeOjZLlF3S8qWT/2JbHQ9IxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LGNrp2eaWvirY6AdVx3A3g",
      "input": {
        "note": "Neck is centred between the jaws with the cap just ahead. Closing fully for a firm neck grip.",
        "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_01LGNrp2eaWvirY6AdVx3A3g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3996, 2.0064, 0.9451, 0.5945, 0.1551, 0.0799, 0.0172]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0025 left_pitch=-0.0076 left_roll=0.0013 left_gripper=0.9983 right_x=0.49 right_y=0.1812 right_z=0.0569 right_yaw=0.2157 right_pitch=0.1104 right_roll=0.0164 right_gripper=0.0172\nstate[joint_eff]: [-0.0889, -1.7026, 6.6256, 1.8926, -0.0513, -0.0757, -0.0122, -0.294, -9.2513, 4.0684, 1.0232, 0.1343, 0.105, 0.735]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dc5f528dc4b5532205f17299fcdc1522e19c3ff3e3e6dd42eed760e85caeeac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:986d2bbcd55aa281fa76267988718b16f1a5776b664d59fd6071b57965ae8d3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:44d3ae51dec2aff204f4d1cf389ef9742b2bc8a107834843ecbc9bde13be2363",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 5.592 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]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0223, -0.0292, 0.9983, 0.5304, 1.4918, 1.3254, -0.4854, 0.2859, 0.1604, 0.2584]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1823 left_yaw=0.0021 left_pitch=-0.0072 left_roll=0.0011 left_gripper=0.9983 right_x=0.404 right_y=0.1834 right_z=0.2486 right_yaw=0.1948 right_pitch=-0.0502 right_roll=-0.0291 right_gripper=0.2584\nstate[joint_eff]: [-0.3214, -1.6752, 6.3795, 1.873, -0.0073, -0.0757, -0.0122, 0.1709, -9.4017, 9.9077, 1.8437, 0.2418, 0.3004, -0.0708]",
      "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]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4023, 2.0033, 0.9897, 0.3595, 0.1719, 0.0834, 0.9971]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0013 left_gripper=0.9983 right_x=0.4751 right_y=0.1732 right_z=0.0271 right_yaw=0.2031 right_pitch=-0.0718 right_roll=-0.0251 right_gripper=0.9971\nstate[joint_eff]: [-0.294, -1.6068, 6.6256, 1.8193, -0.0269, -0.0464, -0.0122, -0.7726, -9.0188, 6.5436, 1.917, -0.0806, 0.1685, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3996, 2.0064, 0.9451, 0.5945, 0.1551, 0.0799, 0.0172]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0025 left_pitch=-0.0076 left_roll=0.0013 left_gripper=0.9983 right_x=0.49 right_y=0.1812 right_z=0.0569 right_yaw=0.2157 right_pitch=0.1104 right_roll=0.0164 right_gripper=0.0172\nstate[joint_eff]: [-0.0889, -1.7026, 6.6256, 1.8926, -0.0513, -0.0757, -0.0122, -0.294, -9.2513, 4.0684, 1.0232, 0.1343, 0.105, 0.735]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dc5f528dc4b5532205f17299fcdc1522e19c3ff3e3e6dd42eed760e85caeeac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:986d2bbcd55aa281fa76267988718b16f1a5776b664d59fd6071b57965ae8d3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44d3ae51dec2aff204f4d1cf389ef9742b2bc8a107834843ecbc9bde13be2363",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011zne2qqR9BzuHCjLzWUypg",
      "input": {
        "note": "Full close came up empty (0.017); the round neck squeezed out and the arm rode up. Reopening and lowering again, a touch further forward over the cap itself.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.5,
          "right_z": 0.033
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011zne2qqR9BzuHCjLzWUypg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3977, 2.0377, 1.0359, 0.4328, 0.152, 0.0696, 0.9957]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.4955 right_y=0.183 right_z=0.042 right_yaw=0.223 right_pitch=0.0096 right_roll=-0.0094 right_gripper=0.9957\nstate[joint_eff]: [-0.3077, -1.5111, 6.4205, 1.8242, -0.0464, -0.0073, -0.0122, -1.0598, -7.7607, 7.3504, 1.7509, -0.0855, 0.0366, -0.022]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa9869fdeeb2457275e3d2919a5c9d1b7edda05aa18fc3e1b1bd292ef06ddaf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b935832953d5f3fd39d78e7ae831e59e0c380dbba9d4ac58be20a4717ff2315",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb112d58e594f7b13a9316146e323c497907c2db6fb7690d69cba70c6ab1077d",
        "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 · 7.238 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]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4023, 2.0033, 0.9897, 0.3595, 0.1719, 0.0834, 0.9971]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0025 left_pitch=-0.0072 left_roll=0.0013 left_gripper=0.9983 right_x=0.4751 right_y=0.1732 right_z=0.0271 right_yaw=0.2031 right_pitch=-0.0718 right_roll=-0.0251 right_gripper=0.9971\nstate[joint_eff]: [-0.294, -1.6068, 6.6256, 1.8193, -0.0269, -0.0464, -0.0122, -0.7726, -9.0188, 6.5436, 1.917, -0.0806, 0.1685, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3996, 2.0064, 0.9451, 0.5945, 0.1551, 0.0799, 0.0172]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0025 left_pitch=-0.0076 left_roll=0.0013 left_gripper=0.9983 right_x=0.49 right_y=0.1812 right_z=0.0569 right_yaw=0.2157 right_pitch=0.1104 right_roll=0.0164 right_gripper=0.0172\nstate[joint_eff]: [-0.0889, -1.7026, 6.6256, 1.8926, -0.0513, -0.0757, -0.0122, -0.294, -9.2513, 4.0684, 1.0232, 0.1343, 0.105, 0.735]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3977, 2.0377, 1.0359, 0.4328, 0.152, 0.0696, 0.9957]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.4955 right_y=0.183 right_z=0.042 right_yaw=0.223 right_pitch=0.0096 right_roll=-0.0094 right_gripper=0.9957\nstate[joint_eff]: [-0.3077, -1.5111, 6.4205, 1.8242, -0.0464, -0.0073, -0.0122, -1.0598, -7.7607, 7.3504, 1.7509, -0.0855, 0.0366, -0.022]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa9869fdeeb2457275e3d2919a5c9d1b7edda05aa18fc3e1b1bd292ef06ddaf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b935832953d5f3fd39d78e7ae831e59e0c380dbba9d4ac58be20a4717ff2315",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb112d58e594f7b13a9316146e323c497907c2db6fb7690d69cba70c6ab1077d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQoKEAgSGAI4AUIIdGhpbmtpbmcSDI89nuP8SyFZuBxVwxoME88N0+LcWCEw2F4TIjC7vVCr1yUMOiOQDaim8aVHyNWQI/dQblOFIQcZVH3wffvgev8beOpLw5GnEz6860oqxgmQ2oLskFOMmkGaNQxtA3k6OWuldEWSjp14Vg+8fzaJDnJmT+4tOmkQwqSAISPkkpyBDas/Rg7PldUa+dqJ2O9rxFmOjea2PUDxaOXNiO1aKQgdiY4lopNYJAxiK1Ld+osEuh/m8zRJrpN/o0nolw/vv3VwOzJyuOiER+6aNlCnom9Rm41L0+U+ymamsHLsTiFdB+0ChipA6h436ZN8nttkGAUfUhqeD9m6QqgrEWhMqv7zU6xAc2PNf4bC4PtMRxapj35XDm/jBi7YmcK12m7Ca8/hreYwIZIc0CXaP+Ry5ilB+RkDUwwZsHPMRQI3W8t5EZCHJB3eIfKlCQr4AVqjG60BTmrnQEAp2/nh1uh1PSeuYIM79JSfuiQ0CN0d2ZcxYR9UZx8D2r8WUNgiSwEJnGdfZumpLHvK/lmvtPxxCakAw6hynsxhKShak39pQuG/9pVBSYlb8uoo0VSKaSV0ayd2t5WRk8l1NwS+SeF599bOaVnYSAiR5oN3dWKZhiToyC2Lv4vCf9Z7tmyEdAFmQoGPn4oDUnnZGdvqJZp3d5sgdJ7f+3v0aSf+5oaj6o+e0crbSK0+L0agqeTJBA6XxnAcj++x5Ojd9APy2aO18bGypgPgNtnXBjCMoYAIxvyEdA7Xmk6+38Opav4SDV1DUrC+EKVv8toDzLg9vSZa7XxRG41ypci10gCGbw//Q56k8VgsNeqwdXvTMiFjhX8f0nM+fTjB0jFz8ZZZraPL0mJCSe4uzRzyiqy3ERAVK6f8GzWPCmqCqB97cvEJiy0SK8780M6oDx6FMC3HwMJFvxbfYyc5LZIS+B8HgrjA//MVAsQAIXPU481m6hH+eKMB4ILX4ZkeYRFPoICECvNkXVIxwEZkk+Coqrg10wmfvxFpFey5KdX2eeTqJ9xCu9+w2ejsg3nU58th29IRLu3b9BSIbRsF/8G7tVwxz3PUL7nOE2jnGSF+LRk+6Z++mBVyTemT/QIS2FokAh0P6n8n2T06/F2QKrsWPVJOzov5DVXnQr728iJLQVVSTxlh7JdLg7adpNPsRy1SXxTr87QJeTFpXMBJeFZokEkn9enxp4FkMMkfV2etwXYbl6jP9HemugEILOazSV6qptDae4VPzjX+0oBf6aSXgu/4Scu5wRKBPqzjPo+ozFk/SOdUlRwFkwz6oxHdv5URZ+gfPmuN8ltPUlSbxrfrHIsp+CGbccDmWedvjYUittjbP0e2O/fkwtARjK6KGdHpBmuR39PRnCMId35YMGBDCr94jtYWyKLMs+fRg4zFwaQX0oN0KoyPVjZVvXNMa6h+kQekeiwISKmDKRKank/25ebTbPw0nXMFJ6U2rjKLRvOr1X4aAQPd0JEmr7l7EBYl9RTJBn0/B6XxkWWMh2A4VY/b/IgIS/zOGSO9DDJ8IEesAQE8XywphEQDsU0x1f5ApBAzDi1Ygex7xaJrwSRpP2BNcweYJgnTMraeIgSh+VPvTIq10xR2GCt79LRpWBbVQOrkjAnrLfgZUOA9eIOwUZkX8tm1w966IZQOD4Aw2mhOpxB3yZMMLwtUcRK5WjW4qEG7OwZeC9CcRWFzWSFugsorgocaIjGaoRoC+3zYaQ3nSm/s4Ttk88WtS70MGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CtYpyehWzkmf5FX9NtRgrn",
      "input": {
        "note": "The cap now sits between the jaw tips, slightly right of centre. Closing to a firm-but-not-full squeeze on the cap.",
        "targets": {
          "right_gripper": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01CtYpyehWzkmf5FX9NtRgrn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6106, -0.3866, -0.0223, -0.0292, 0.9983, 0.3988, 2.0373, 1.042, 0.4717, 0.1406, 0.0654, 0.1257]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.181 left_yaw=0.0021 left_pitch=-0.0103 left_roll=0.0011 left_gripper=0.9983 right_x=0.501 right_y=0.1882 right_z=0.0526 right_yaw=0.2358 right_pitch=0.0533 right_roll=0.0005 right_gripper=0.1257\nstate[joint_eff]: [-0.212, -1.7299, 6.7077, 1.8291, -0.0415, -0.0415, -0.0122, -0.6359, -10.6598, 6.2427, 1.199, 0.1099, 0.0952, 0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eb5a9a234efb3ba6270fe6d7acf97836ff3381be8a1a63ae6ce954c806ec1d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:facbd397508e19a7a130c9573779c8e8ffb2dcabf38c718676ebe91f5e2cd2ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2aecec0e34524851e21fa17727e130863ec1fd21f1456a77269c8999b79ba75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 6.382 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]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.3996, 2.0064, 0.9451, 0.5945, 0.1551, 0.0799, 0.0172]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0025 left_pitch=-0.0076 left_roll=0.0013 left_gripper=0.9983 right_x=0.49 right_y=0.1812 right_z=0.0569 right_yaw=0.2157 right_pitch=0.1104 right_roll=0.0164 right_gripper=0.0172\nstate[joint_eff]: [-0.0889, -1.7026, 6.6256, 1.8926, -0.0513, -0.0757, -0.0122, -0.294, -9.2513, 4.0684, 1.0232, 0.1343, 0.105, 0.735]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3977, 2.0377, 1.0359, 0.4328, 0.152, 0.0696, 0.9957]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.4955 right_y=0.183 right_z=0.042 right_yaw=0.223 right_pitch=0.0096 right_roll=-0.0094 right_gripper=0.9957\nstate[joint_eff]: [-0.3077, -1.5111, 6.4205, 1.8242, -0.0464, -0.0073, -0.0122, -1.0598, -7.7607, 7.3504, 1.7509, -0.0855, 0.0366, -0.022]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6106, -0.3866, -0.0223, -0.0292, 0.9983, 0.3988, 2.0373, 1.042, 0.4717, 0.1406, 0.0654, 0.1257]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.181 left_yaw=0.0021 left_pitch=-0.0103 left_roll=0.0011 left_gripper=0.9983 right_x=0.501 right_y=0.1882 right_z=0.0526 right_yaw=0.2358 right_pitch=0.0533 right_roll=0.0005 right_gripper=0.1257\nstate[joint_eff]: [-0.212, -1.7299, 6.7077, 1.8291, -0.0415, -0.0415, -0.0122, -0.6359, -10.6598, 6.2427, 1.199, 0.1099, 0.0952, 0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eb5a9a234efb3ba6270fe6d7acf97836ff3381be8a1a63ae6ce954c806ec1d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:facbd397508e19a7a130c9573779c8e8ffb2dcabf38c718676ebe91f5e2cd2ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2aecec0e34524851e21fa17727e130863ec1fd21f1456a77269c8999b79ba75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSygwKEAgSGAI4AUIIdGhpbmtpbmcSDNRICLnUABq+5i09dRoMqKCiwj3TlL9tJQSCIjA02HA+5daFkssOVgDkVsFQl8Bn3omMeEP53yEEndOk1+NSPZhLsNrPiy3bPOAKroIq5wvKhtr8DvPlUIfh1azi1RnnQ0g0sVue2YuiCsqPzcIDgMGQS8RPrhOwXy7EnUSBsjELfNu07L8IjpUtPdwqJIMDo5u46oG4rrCzY1de7F/ts1WaTf4tjwjY/A91o5cbx1DXSp3dYI410H0Fj44OuH1Jy6DXgHgTgAp6PFyAxmKvX9kSYN0rXCBZv03KA2W5RrP87JfSpGluIx+Nl73r8BNjh2iNr0eDplfs4BJ6/elatDh9h2wYDyxiGa0GMB29JctsIuxscghY+ScUDHHEVTE0+O5isUcmWzXbSJBN5XQsUU6gewgU3sDY2J08Fp1HM3Lg1RaL5BMYXfRpuqc1blRJ1+vTa2FJF5Z1NoQeJ9aoPLkVnhLP+9nLOi/nsULnpx4YEGUdNZm6xtsy3v2EWYWq5pujRdC58nIYBq7JRSZdKSNkMoNzNDXdNgDG7IJFW8U8GT8zJKS0a4DaXpxjW4Y9sfLR1ll9KVlNn7G837873kwUa2LlfaRCoFRNv1hmwruYiwdAoOFlY30wSolaRl6oY7FK1Okc9xLQYVodUNDea1sd/p94VxqgnX3AFIGmPzvT89rPi0ghgOsnj23BgIEN+K1heCkgKrccqFBJuyPnnQdvqh3kfyCTqm19OsdFOY2wBQvMvyDKZDKHI10xhOUF47x3TdXxTtsXgxjS9xPTudzcYs2SCZh2Dut1MeSxR/GZziaerlAHLU0yP8vxrJ3dk6QGaco7qozlUZczIJFehkkYv7Lh778OHYciupzVP0+v/5IE5k6irUGOl7r7c16b0RjJpS5oTQPoFPN9p7SPMAmCE+DxagRuEE1razYtwFycAxp3e4xkXp4HzbTMXdNyvciNcaP46ncynle2s6scFzIBv00p1muKyD/+fUdMCRkVB9yynEBDlNtz3oseEJwaR7V/DXWcL3aV63rdfwCVARorPfKFQMO3SNcnw89/TQC/mrKFbEDI0dw/Heg7O0Ei2/n/LS1ZAJGl8Fjzk5Mcb8MZmkuh1owb0jGpavE/vAVS2/mDWi0G3rc6zFqTE4L8DGIRjwT7tgieoeW83P8Wqwu2wZSiWM/HMgpATYH5YRi6ueiBoUF4ddFNMTs6nbOUy39wrupztdzgCMYrzwrcI8Iq3e7/DBpw9dX1nsrLpHN+dCYGPbUzUcc6pSvJD5rzjAZvrtUC0ioLp9AoE8zndkTnu10Ru+orqN1wy9QQwmIDId7hmB4VF2UzrAS3zvuwADdyGeADc1bX75DvrB2sjIruQforaoxpRKwPVdow7Aw+ecBb5YzoLNp7ayG2BrNvdBJrrbhctMixejkBDDIr8zgbBpWl040jkPhp9jDkBfg55JmcCIxL3PL/p7uQKI9cn+5rx9Vdh+XoVzvbRC9vDdM6jYOKXFunTeyuwasmBR2fk7/aZYSZHb1pMlQUI8hWdo3Vbv3VBK5j3uCaClgChlLBeOcLOQRNTeOAFo7PSSQO5eWmXKnWmeSnWLO9p22tYWfzWHszA9ikJ9PE4InoFvDDrXV68TTzdy1wn3LbA73CQq7QNonJlPK+hfHObKSbh/eyfOIQv5cYgDE2GMdF5jQCQulrmDteQcCYVfBsUOcx5xlmOmN+9syab+Df5KzT9HVv7SrC9B/k1biahKEluOR6ZQCEB5rY/p/+H0D53J7qLK81acnZ/fbWpPHfUZSB6mY8SSUY19DKnt4Qr48myxXsnT5QsFMU1llYVpgcF8AcYTowNM4Snb8IdSfM5iHh5UI3vbQQ0fXBVRTMePZZXGIwubomiba++wB+1P1oajf2rVhF/yUpMKC3ZVAt93oBhPiN8/pRYd62yilwHS+acGmL6JE0KPrnQaRzuz/FoOYNwP4gdGLT95bVnSB4pWh6XTcOGGbJqq04plJEWarOBtEU480s+pA4YshBYWQcWej5zrnlPfLiNmeLfHCMpFu8IM1+kBcTc09sGCkigbUka52OIpZYmpVIPHiG9k1Ug4o7RTAxgfa0RlG6NZlTHBaw5XkMMfFAShgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SgNbTjYkZGcsknHtMKEZvA",
      "input": {
        "note": "Cap squeezed out again (empty at 0.13); I think the jaws were closing above the cap's centre line. Reopening and going lower, to the cap's mid-height.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.5,
          "right_y": 0.18,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01SgNbTjYkZGcsknHtMKEZvA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6029, -0.3862, -0.0227, -0.0292, 0.9983, 0.3904, 2.0651, 1.0519, 0.4835, 0.1211, 0.0471, 0.9957]\nstate[eef_state]: left_x=0.294 left_y=0.0017 left_z=0.1775 left_yaw=0.0025 left_pitch=-0.0175 left_roll=0.0015 left_gripper=0.9983 right_x=0.5041 right_y=0.1882 right_z=0.0444 right_yaw=0.2537 right_pitch=0.0458 right_roll=-0.0066 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -1.853, 6.8034, 1.8437, -0.0366, -0.0562, -0.0122, -1.2923, -7.0906, 4.6291, 1.6874, -0.022, 0.0659, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01498e2f9c4e8e206ee9c4fd5c389c33505f6343f59e3eb8a40cbc41efda37c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:650bbc6f42dd6ea6d7973ca152f30a40ad1c50edb0019652f378e5d77b6924e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5041f67e91ea9a2ac86d01d0e4a651ffc0b76ba016af1c51910ff17d69395742",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 3.691 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.3977, 2.0377, 1.0359, 0.4328, 0.152, 0.0696, 0.9957]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0025 left_pitch=-0.008 left_roll=0.0013 left_gripper=0.9983 right_x=0.4955 right_y=0.183 right_z=0.042 right_yaw=0.223 right_pitch=0.0096 right_roll=-0.0094 right_gripper=0.9957\nstate[joint_eff]: [-0.3077, -1.5111, 6.4205, 1.8242, -0.0464, -0.0073, -0.0122, -1.0598, -7.7607, 7.3504, 1.7509, -0.0855, 0.0366, -0.022]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "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]: [-0.02, 0.7963, 0.6106, -0.3866, -0.0223, -0.0292, 0.9983, 0.3988, 2.0373, 1.042, 0.4717, 0.1406, 0.0654, 0.1257]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.181 left_yaw=0.0021 left_pitch=-0.0103 left_roll=0.0011 left_gripper=0.9983 right_x=0.501 right_y=0.1882 right_z=0.0526 right_yaw=0.2358 right_pitch=0.0533 right_roll=0.0005 right_gripper=0.1257\nstate[joint_eff]: [-0.212, -1.7299, 6.7077, 1.8291, -0.0415, -0.0415, -0.0122, -0.6359, -10.6598, 6.2427, 1.199, 0.1099, 0.0952, 0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6029, -0.3862, -0.0227, -0.0292, 0.9983, 0.3904, 2.0651, 1.0519, 0.4835, 0.1211, 0.0471, 0.9957]\nstate[eef_state]: left_x=0.294 left_y=0.0017 left_z=0.1775 left_yaw=0.0025 left_pitch=-0.0175 left_roll=0.0015 left_gripper=0.9983 right_x=0.5041 right_y=0.1882 right_z=0.0444 right_yaw=0.2537 right_pitch=0.0458 right_roll=-0.0066 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -1.853, 6.8034, 1.8437, -0.0366, -0.0562, -0.0122, -1.2923, -7.0906, 4.6291, 1.6874, -0.022, 0.0659, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01498e2f9c4e8e206ee9c4fd5c389c33505f6343f59e3eb8a40cbc41efda37c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:650bbc6f42dd6ea6d7973ca152f30a40ad1c50edb0019652f378e5d77b6924e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5041f67e91ea9a2ac86d01d0e4a651ffc0b76ba016af1c51910ff17d69395742",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQsKEAgSGAI4AUIIdGhpbmtpbmcSDJ0qFh9b6NkKXQ9uIxoMRFw6YIvo2jTvCLMNIjDEiujqPX2yXtzA+aW9B6gg20Gg7ZjS2fX1kPMw/Dnbo+eiARHi7g8f4tvoKicv1YYqvgrTknTyk0UVzvZS5KK44R7/xG6EwekqrbS7nNNWOzA2XZ9dJxjHBawzosUEWytJWnQHCW7LXaiPVyhLky7T3jNnpURnmNKD3fnzyv8aYVQA9J7zkPStcMGpeYJUXhrOdHTsyclxoHS3rKw2GtKNVyn3HWsMfT6+Bf07zYCMrmbL8yR7hKV469cZFB2ZVwycB/5uaixFlnFxTTtFY92IJf91PhnNH2qUwYG7gW8rvKynMBue0YiOon/Y96wX2xXNN7V0bk/h88/Mxts0a/axuzxA/INn5eFalzSIKFI0B8Tbmuevo+ZCkkvLLR40lQNGASImUWQ03E+7U0RAi+EsEmMA9aHBC3/jaXnlAvjLeQN4h8Lg+TLPWO0RKYIOCn+G9Bc7lXg8mZZ87gvkG/kfNuFFnGU3dsSP0P74OKtmnRfnisZOfUPKJFZsb9qNVWJGQv02b5Ah8KUoH3hjCU7qhRHNUrgSTFnwmpEgkbPat1gqVykoasENfLXiPu1ER7+cr5B8jazSXXJuxIKVfiWaFANZezTT01g1IWuU16CDr32DNDNs0i5cD/GJ2fVCMna43sDxJWNtLyVk6ajNx/SMF2LwsBHVPAE+l004XXM+J0GRNbBPBi70A2KJo8Kr4RjPBr4FwIBMkFzUqclQ5klb9qQ3Kr12+h7y+1dVCFGmgrAr8LdQe08cfPe9KjpCrpWavR085bjsav4rnE9qNlrrff9bG5zp3xh0W7svio2R3ogGBxi8d2knukJkFfD/ju7Ozl7ROL4Id2iAw/P3yxxu6MnLfvnOwVtOiNoCVpDpE36+rDeoWbrWN786zNPVHBLgKy9fQLtGP9nnyi0t1vvuZYMhNU7bzrLc/2CFHH5Amb8lKHWlkbI3dDDe3SZOZt7WUj05186W3RCW7hchXjaDUAZpyWgKAX1t2OIq0Gc71yZuK3anUsz23e1psH3iP8HY0FHW5JCSEe5mifZKrOcP/cwAvOwrmziDbXCuVXmY9MJjklLJrCbXDR9OcZVrKGzzLSs6+H7ldRZWdlsROaxfPlt8YfCsyAYYnRrP7T4vvji6wDG0A+uyibIuFrBGStHzTqJRUqSMuYaiCBT9Ynh8wMALdX6zhn/d4DpZKwAmvN5HDt5a9v7EffRkqQ2j9/wBhngjjFuGEWYI6PdmMSRCbacM4lnWfZPhY4P2XsDUnuNZ4M7lx0FtJpkryBMIdjITFzCs5q6tQzeS5lTN6lfFsB6X3ExD6c6++8F1+k+GfH3/yloGk7EqKv81B5vJ8YP/pR+92+J5aL6+GAjPNCTeP8ZK5O30fI7lO7hNyppFLNu64SchTFMhZX5wCVSquyLYdvhNoffWxXWU9jaIA4qHj8MVkASED11Py0na5KnHc48oXBrGJE+GGnQafXF3/3cI1wHozxQ+COkif7OEfjXvtA4nM7w3MJ/N9MvqarVILYOM/t3d0NO9ulCE1jlqTFmLjLbagzhgFEUchMMR9CeuUzVt/SAEvv6Yny+vuqBYxQLRqw1JR33OG27bafEFoQOJO7KIM1/WodVMi+XvTQBsh8aWQ2uAXBPPg5wckqbCAT0hdY7KuMldwe4q5KyLMUpFUWlUEY276ARH0VAIQky73u1stZ9yeVmjy0SoUc/ckT6TJBfsC1g/yJdPYCzrOOfPY4v4FGoF7hojt8MqwManh+Zk6C7yPwcpv45fUDP/kG6ez3BSvN5ohuU2TtCFsaqUQFY6YF1815rvCk1mLmAEG576JOC7lDt0qp4NdGV+2gSbLaaQRDSKmu8PL+qFWxtgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Spox8c98XfbZfY3Ey5xZ4r",
      "input": {
        "note": "At x≈0.50 the arm can't get below z≈0.044 (reach limit), which is why the cap kept popping out. Backing onto the bottle's shoulder so I can grab it and drag the whole bottle closer.",
        "targets": {
          "right_x": 0.465,
          "right_y": 0.172,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Spox8c98XfbZfY3Ey5xZ4r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.791, 0.5877, -0.3782, -0.0227, -0.0292, 0.9983, 0.3904, 1.9858, 0.9176, 0.5167, 0.1184, 0.0471, 0.9955]\nstate[eef_state]: left_x=0.2928 left_y=0.0017 left_z=0.1737 left_yaw=0.0025 left_pitch=-0.0194 left_roll=0.0015 left_gripper=0.9983 right_x=0.4748 right_y=0.1767 right_z=0.0394 right_yaw=0.256 right_pitch=0.0241 right_roll=-0.0082 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.3333, 6.8308, 1.8291, -0.0659, -0.0855, -0.0122, -0.335, -10.8513, 4.547, 1.4432, -0.0317, 0.0757, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:014703a5cbb96bf5600e6d755b3ce72584b6f472f142207578bb737b12cab503",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23db9b340c04d3780766932d2c6cf685d192c3be5af7db2b3b99d1f51119471a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29ecdc32fb3e103e0ae5e521ca03230f567c2043c27db8da5a4f736b0c358622",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /messages · status 200 · 7.577 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6106, -0.3866, -0.0223, -0.0292, 0.9983, 0.3988, 2.0373, 1.042, 0.4717, 0.1406, 0.0654, 0.1257]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.181 left_yaw=0.0021 left_pitch=-0.0103 left_roll=0.0011 left_gripper=0.9983 right_x=0.501 right_y=0.1882 right_z=0.0526 right_yaw=0.2358 right_pitch=0.0533 right_roll=0.0005 right_gripper=0.1257\nstate[joint_eff]: [-0.212, -1.7299, 6.7077, 1.8291, -0.0415, -0.0415, -0.0122, -0.6359, -10.6598, 6.2427, 1.199, 0.1099, 0.0952, 0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6029, -0.3862, -0.0227, -0.0292, 0.9983, 0.3904, 2.0651, 1.0519, 0.4835, 0.1211, 0.0471, 0.9957]\nstate[eef_state]: left_x=0.294 left_y=0.0017 left_z=0.1775 left_yaw=0.0025 left_pitch=-0.0175 left_roll=0.0015 left_gripper=0.9983 right_x=0.5041 right_y=0.1882 right_z=0.0444 right_yaw=0.2537 right_pitch=0.0458 right_roll=-0.0066 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -1.853, 6.8034, 1.8437, -0.0366, -0.0562, -0.0122, -1.2923, -7.0906, 4.6291, 1.6874, -0.022, 0.0659, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.791, 0.5877, -0.3782, -0.0227, -0.0292, 0.9983, 0.3904, 1.9858, 0.9176, 0.5167, 0.1184, 0.0471, 0.9955]\nstate[eef_state]: left_x=0.2928 left_y=0.0017 left_z=0.1737 left_yaw=0.0025 left_pitch=-0.0194 left_roll=0.0015 left_gripper=0.9983 right_x=0.4748 right_y=0.1767 right_z=0.0394 right_yaw=0.256 right_pitch=0.0241 right_roll=-0.0082 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.3333, 6.8308, 1.8291, -0.0659, -0.0855, -0.0122, -0.335, -10.8513, 4.547, 1.4432, -0.0317, 0.0757, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:014703a5cbb96bf5600e6d755b3ce72584b6f472f142207578bb737b12cab503",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23db9b340c04d3780766932d2c6cf685d192c3be5af7db2b3b99d1f51119471a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29ecdc32fb3e103e0ae5e521ca03230f567c2043c27db8da5a4f736b0c358622",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3gcKEAgSGAI4AUIIdGhpbmtpbmcSDGIqSz+hoAhE8yDDsBoMwVmuJTeCYg8OHFEOIjAWTqrLoEgiszOygQI7S96ue0LGn9lG/V10gfdcH4OmPRVUhWuem2NjFTiF/PSm7OIq+wb8xiAyKtoRNTktosOCFq6EiI2gfe1KaUtEZIHsqrYP7HYuiI8OKYuxFWGJHwoOoVAeHu2dVXQZCH8YhkxOCBLKnQlIZLKhC8RbE1cpge8DSATAWxaNhoQbOt4LOuKADZOT3+GTKNVY7yw310HjURfHzNy3rw52TQsulQWix+O3wUuTJeT4K8Ov/2++BOuIEMdvwh6r+vzJstgmY4ailwnDKpuwcci0upMiV6mp7TnaON8BRN+qGoJw9lku6Ty+8BcnA1moRUGXqzt6OtnrRJRo2kVrK0AKUKJINSGtIcvNLFQj2xECy+yNQlnPkiXTlwU/lh5ygxzI+D5F5BAOGYvxL9xy900aHbtASBJZdN5s2HNpnfLgxvPb/urO0NO2ftbvD9X/xyCn2NbTRSsJkDZTy5hqglece0Cnb1DdGdxnPVfe7BD/HcIUWT6Xo509uVRCYLeLUHaeI4/thSCxnYFVeNrBGhUwAanuXWbeXUcMgZKd6t0ytNgdRVIDf+MMn+wWpPjvw7FTIDEdBqYW4BE8jaqNrG8aZdArCAD3PqLCTRkHuNXbp9XoHMecENNzW6Z83HbZw1le/B6CmgqfPq/qz1v8vsjVkN4VvmDbma16ba2brkEC1jGroWny1XUGUN+MMMxIcl014bvFmoqXhHS039769Tkbhj4NmkvgXknq4bu2JmwRWtPgsLEJyuHOwfVBQsZcn1mqdaWTQamcy5JZpmekx+9sCy6vQeh6wya7yRrD1krkVNPM5zoNdQRJbhJEgP2YTUcXcug/cMwMZFE9dwK8jWOcFSfmtCCp41Kljl6chHwem7AP0a8KgBqQgEsEFReqI4iMMwyXblBOTuSZKHM9N76reDpFGU4EsTXBXVDHwKX3DMEh5leVBrld84DDvpUtXm5ZAgsBE+RazSNpZ9KuDubzzdQLeskyDU2bZUUe6oAyTe2fAUAMS5kx0inNDJa45e+z0Ntjn8QEBKLTGdmYkwECe0gdL15l4b5F/zEmRmijr4RNgmNz1by0MmGMWwPjawpWs7ZCQZWp5xzasZOnph8k75XAh3K3J0zUktD2kiB6DAumPWpeCbanNfGkzy2aA3cOedx/P/o9FcZs65QkKZarTr2sFe7hWbee3bEy2dziZuW7uyPo2DGXLgO0zoIr89AeALM+5U0fI59Xvo54fjsoEU/t2LkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FkBSXDbsB3VEXHNVmmsXRv",
      "input": {
        "note": "Jaws around the upper neck of the right bottle. Closing to grab it so I can drag it closer.",
        "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_01FkBSXDbsB3VEXHNVmmsXRv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5766, -0.3721, -0.0227, -0.0292, 0.9983, 0.3912, 1.9602, 0.8978, 0.5694, 0.1024, 0.046, 0.0188]\nstate[eef_state]: left_x=0.2921 left_y=0.0017 left_z=0.1704 left_yaw=0.0025 left_pitch=-0.0225 left_roll=0.0016 left_gripper=0.9983 right_x=0.4757 right_y=0.1805 right_z=0.0553 right_yaw=0.2705 right_pitch=0.0809 right_roll=0.0062 right_gripper=0.0188\nstate[joint_eff]: [-0.1436, -2.1812, 6.5573, 1.9463, -0.0366, -0.0855, -0.0122, -0.7453, -9.4564, 4.4786, 1.2186, 0.1197, 0.0464, 0.9304]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a77609f427426a58f602aa7fa6549ae10893d705a4127198afa24d66b02bf71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb7479ad936252e3b926397e6665bb2b2e8154d79896aab25ae1335c7ae48dc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ad08ecb980c9a2740806e0eae7a46808628fefe65f8c2caffb9d6ec36970488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 3.38 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6029, -0.3862, -0.0227, -0.0292, 0.9983, 0.3904, 2.0651, 1.0519, 0.4835, 0.1211, 0.0471, 0.9957]\nstate[eef_state]: left_x=0.294 left_y=0.0017 left_z=0.1775 left_yaw=0.0025 left_pitch=-0.0175 left_roll=0.0015 left_gripper=0.9983 right_x=0.5041 right_y=0.1882 right_z=0.0444 right_yaw=0.2537 right_pitch=0.0458 right_roll=-0.0066 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -1.853, 6.8034, 1.8437, -0.0366, -0.0562, -0.0122, -1.2923, -7.0906, 4.6291, 1.6874, -0.022, 0.0659, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.791, 0.5877, -0.3782, -0.0227, -0.0292, 0.9983, 0.3904, 1.9858, 0.9176, 0.5167, 0.1184, 0.0471, 0.9955]\nstate[eef_state]: left_x=0.2928 left_y=0.0017 left_z=0.1737 left_yaw=0.0025 left_pitch=-0.0194 left_roll=0.0015 left_gripper=0.9983 right_x=0.4748 right_y=0.1767 right_z=0.0394 right_yaw=0.256 right_pitch=0.0241 right_roll=-0.0082 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.3333, 6.8308, 1.8291, -0.0659, -0.0855, -0.0122, -0.335, -10.8513, 4.547, 1.4432, -0.0317, 0.0757, -0.0269]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5766, -0.3721, -0.0227, -0.0292, 0.9983, 0.3912, 1.9602, 0.8978, 0.5694, 0.1024, 0.046, 0.0188]\nstate[eef_state]: left_x=0.2921 left_y=0.0017 left_z=0.1704 left_yaw=0.0025 left_pitch=-0.0225 left_roll=0.0016 left_gripper=0.9983 right_x=0.4757 right_y=0.1805 right_z=0.0553 right_yaw=0.2705 right_pitch=0.0809 right_roll=0.0062 right_gripper=0.0188\nstate[joint_eff]: [-0.1436, -2.1812, 6.5573, 1.9463, -0.0366, -0.0855, -0.0122, -0.7453, -9.4564, 4.4786, 1.2186, 0.1197, 0.0464, 0.9304]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a77609f427426a58f602aa7fa6549ae10893d705a4127198afa24d66b02bf71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb7479ad936252e3b926397e6665bb2b2e8154d79896aab25ae1335c7ae48dc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ad08ecb980c9a2740806e0eae7a46808628fefe65f8c2caffb9d6ec36970488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NhdCQn7wENKhz8nrz37Mc1",
      "input": {
        "note": "Neck grips keep squeezing out upward. Reopening and moving back onto the bottle's round body near the shoulder, the one grip that held earlier.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.44,
          "right_y": 0.175,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NhdCQn7wENKhz8nrz37Mc1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7795, 0.5625, -0.3641, -0.0227, -0.0292, 0.9983, 0.4114, 1.9236, 0.8082, 0.5854, 0.1146, 0.0513, 0.9956]\nstate[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1681 left_yaw=0.0025 left_pitch=-0.019 left_roll=0.0015 left_gripper=0.9983 right_x=0.4511 right_y=0.1787 right_z=0.0421 right_yaw=0.2779 right_pitch=0.045 right_roll=0.0002 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -1.7026, 6.3658, 1.9658, -0.0659, -0.0562, -0.0122, 0.335, -9.6615, 3.7675, 1.3407, 0.0073, 0.0757, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f75b54733925902fd57300b4c63c68b8ce6e666f2ad6e9b84d84a48c667bd72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9cd5a619489b5035cd4631f87086d2df089e763509f8c0d9ae405e2e2b2d95d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8dabe1cf8dffa2f515d670d37a7dc830d3e3cb798e1bd6e718e81978221deba3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 14.61 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.791, 0.5877, -0.3782, -0.0227, -0.0292, 0.9983, 0.3904, 1.9858, 0.9176, 0.5167, 0.1184, 0.0471, 0.9955]\nstate[eef_state]: left_x=0.2928 left_y=0.0017 left_z=0.1737 left_yaw=0.0025 left_pitch=-0.0194 left_roll=0.0015 left_gripper=0.9983 right_x=0.4748 right_y=0.1767 right_z=0.0394 right_yaw=0.256 right_pitch=0.0241 right_roll=-0.0082 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.3333, 6.8308, 1.8291, -0.0659, -0.0855, -0.0122, -0.335, -10.8513, 4.547, 1.4432, -0.0317, 0.0757, -0.0269]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5766, -0.3721, -0.0227, -0.0292, 0.9983, 0.3912, 1.9602, 0.8978, 0.5694, 0.1024, 0.046, 0.0188]\nstate[eef_state]: left_x=0.2921 left_y=0.0017 left_z=0.1704 left_yaw=0.0025 left_pitch=-0.0225 left_roll=0.0016 left_gripper=0.9983 right_x=0.4757 right_y=0.1805 right_z=0.0553 right_yaw=0.2705 right_pitch=0.0809 right_roll=0.0062 right_gripper=0.0188\nstate[joint_eff]: [-0.1436, -2.1812, 6.5573, 1.9463, -0.0366, -0.0855, -0.0122, -0.7453, -9.4564, 4.4786, 1.2186, 0.1197, 0.0464, 0.9304]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7795, 0.5625, -0.3641, -0.0227, -0.0292, 0.9983, 0.4114, 1.9236, 0.8082, 0.5854, 0.1146, 0.0513, 0.9956]\nstate[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1681 left_yaw=0.0025 left_pitch=-0.019 left_roll=0.0015 left_gripper=0.9983 right_x=0.4511 right_y=0.1787 right_z=0.0421 right_yaw=0.2779 right_pitch=0.045 right_roll=0.0002 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -1.7026, 6.3658, 1.9658, -0.0659, -0.0562, -0.0122, 0.335, -9.6615, 3.7675, 1.3407, 0.0073, 0.0757, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f75b54733925902fd57300b4c63c68b8ce6e666f2ad6e9b84d84a48c667bd72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9cd5a619489b5035cd4631f87086d2df089e763509f8c0d9ae405e2e2b2d95d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dabe1cf8dffa2f515d670d37a7dc830d3e3cb798e1bd6e718e81978221deba3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSrQcKEAgSGAI4AUIIdGhpbmtpbmcSDGZ2+JrrPEGjabS6ehoM4ZX/KLNmSELmQXGrIjD7xlYZqDndC9rjBrG9vYbQLEveb+Ho803UR1xpnQSacOj37UgwiJ5HOQLhNc/qBQ4qygZ1Kof8hHLciUuFrO4tD5KJhtoDXdg3uRzLQhE6FR+eB1gp6Sl84wnL29lV1GIpQfJHdZPLtBluxQVh2rw/LFfjK64W8AAlnmjqqM+hUoCI34N8dTZ69+cVd7qh2zRWr7edOgJdV5RBUi7HlD124VuiUcNTfizrSDN5LFYyU0sTvEjeNBolAPMC4wn1blJTvX21oU6PTsw7YyNqZuhvajOJwHPxNY+td14cJIE+iCGR4LM+aqp6QIOQxnC4hvzNSXQMTLaZE5wbxI54aF3dsj7pNeXrTmDuXjH5uDQw6jjI+JDQXI47WCmlDxKgk7VPZ11LZb6+PyNEbnj/ohK5/h+7+6Zvl8mqEb/31gdgZj6LPuvAet/LhVBxyMUmxhvV32bJYG+5K7BwqFcsJFmGBeIWQwqXIBC57OhgXW4XWPClg7QNV3nu3UCz75i/C8JAr7Jr02NsOY+DUkNHgKtYBZjFNv+hxXqiLAhWyVtLBN6SiES4umZy6KWxvKTHC1ASqpWWOQycgez5UbOVoSFmOMxIZWgFXI4+FpssJ/Skoqqvo3ukQ8wOfRGoo0ZeMVIcjHWZrZYwkznMbomnOCnUsWq9429zLu0U73b82thui1o4dVj+BNuznKduLMcwHeMrBG/ehwyCuTyLWjfj4pUbr/W1TC7V6uMDI8vjaxOkrpxBEK3I8zzoLLgDNRY7Kv1IXfs+kstI2cqAOadIMjTfVbFum2N0ht7/kTbS2Mrcf0I4jsggWUfrmBDTkAusHSY0bB24Zpwx6Gp6KMnNL1i0/AB5aGz3Sg0bRuPpaqebItn1KXrz2akADkItSNcrkVSZlLR4rLIVWGWrF+hwCzgZDiOKU9o9DEpOtJZNXPgN2DRkQoaADWxot2U+mlxDrBjoddd/gRaVo4XIE/vQRUo8NoMaqP3hS6XGaPuSPrgkgZBfzYe76SnHKxqZF9HMgnzn3qLJf97BjdAe9i4f8V6v1fbggadQ4wzPA1jWTWNcEYRF4bbc3qGESMb1jC4qi1zxQLc0NvNORCXFZcYa4/LzVY88CzZlNkmbuGEllJPjUxbF1m8v3HBkcCaQVSL/pbZodZRBNXDmrOgBz7RHg0MIoltmek/kXd8fDVZl5xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KrjzvLmLrJbKBoXFocJdjF",
      "input": {
        "note": "Bottle's neck/shoulder is centred between the jaws with the cap just ahead. Closing firmly.",
        "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_01KrjzvLmLrJbKBoXFocJdjF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7738, 0.5488, -0.3557, -0.0227, -0.0292, 0.9983, 0.4122, 1.9083, 0.8417, 0.5507, 0.1013, 0.0467, 0.016]\nstate[eef_state]: left_x=0.2899 left_y=0.0018 left_z=0.1651 left_yaw=0.0025 left_pitch=-0.0187 left_roll=0.0015 left_gripper=0.9983 right_x=0.4568 right_y=0.1841 right_z=0.0545 right_yaw=0.2922 right_pitch=0.0581 right_roll=0.0046 right_gripper=0.016\nstate[joint_eff]: [-0.212, -1.7573, 6.7624, 1.8974, -0.0122, -0.0562, -0.0122, -0.5402, -9.0188, 6.0923, 1.1893, 0.0952, 0.0513, 1.0427]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e08b9e091727487e10b569cef4df769f2f4682f5039533643baedf3654e8e0e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28c6408a3b07cfcd3eeda5321165da483f88659c831dab590e155d52d995a82e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b66707071a685422f9c926632c9e1fada7ada5ebea97ddb48e2573490279dfc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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