adhoc

completed
2026-09-22T18:35:14.777986+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
278.6 s
total steps
252
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

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles lie on their sides; plan is to grab each by the cap, lift so it hangs vertically, and set it down upright. Moving left arm above the estimated cap of the leftmost bottle.
move_to
left_x0.4200left_y-0.1200left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7929, 0.6079, -0.3767, -0.0227, -0.0284, 0.9987, -0.0158, 0.7891, 0.6041, -0.3843, -0.0166, -0.025, 0.9998] state[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2939 right_y=0.0019 right_z=0.1804 right_yaw=0.0002 right_pitch=-0.0008 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.3214, -1.4701, 9.7299, 1.7753, -0.022, 0.1148, -0.149, -0.8821, -1.0735, 10.4, 1.7998, -0.1099, 0.0806, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.12, "left_z": 0.15}, "note": "Three bottles lie on their sides; plan is to grab each by the cap, lift so it hangs vertically, and set it down upright. Moving left arm above the estimated cap of the leftmost bottle."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteLeft wrist cam shows the bottle's cap ahead and to the left of the jaws, body under the jaws. Shifting forward and left to centre over the cap.
move_to
left_x0.4400left_y-0.0800left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.424, 1.4868, 0.8501, -0.0471, -0.3397, -0.2489, 0.9984, -0.0193, 0.794, 0.6033, -0.4042, -0.0235, -0.0292, 0.9998] state[eef_state]: left_x=0.4031 left_y=-0.1134 left_z=0.1283 left_yaw=-0.0193 left_pitch=-0.0769 left_roll=0.024 left_gripper=0.9984 right_x=0.2914 right_y=0.0021 right_z=0.1747 right_yaw=0.0048 right_pitch=-0.0262 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.4171, -6.7624, 8.8547, 1.8144, -0.3492, -0.1197, -0.0415, -0.0889, -1.5932, 7.2274, 1.8877, 0.0122, -0.0122, -0.0122] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.08, "left_z": 0.15}, "note": "Left wrist cam shows the bottle's cap ahead and to the left of the jaws, body under the jaws. Shifting forward and left to centre over the cap."})
tool
executing move_to over 3 steps (0.3s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteCap/neck of the left bottle is now just ahead of the jaws in the wrist cam. Descending open to neck height to grasp it.
move_to
left_x0.4400left_y-0.0800left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2913, 1.5173, 0.8646, 0.012, -0.2764, -0.2089, 0.9983, -0.0193, 0.7845, 0.5808, -0.3973, -0.0238, -0.0322, 0.9998] state[eef_state]: left_x=0.4263 left_y=-0.0737 left_z=0.1312 left_yaw=0.0388 left_pitch=-0.0512 left_roll=0.0046 left_gripper=0.9983 right_x=0.2889 right_y=0.0022 right_z=0.1684 right_yaw=0.0068 right_pitch=-0.0323 right_roll=-0.0017 right_gripper=0.9998 state[joint_eff]: [-1.6068, -6.106, 9.7709, 1.9756, 0.2808, 0.2955, -0.022, -0.1846, -1.935, 6.9675, 1.9267, -0.0513, 0.022, -0.0122] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.08, "left_z": 0.02}, "note": "Cap/neck of the left bottle is now just ahead of the jaws in the wrist cam. Descending open to neck height to grasp it."})
tool
executing move_to over 8 steps (0.8s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent notePrevious descent didn't move the arm (z still 0.13). Trying a smaller descent step toward the bottle neck.
move_to
left_x0.4300left_y-0.0750left_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2752, 1.5204, 0.8703, 0.0151, -0.2398, -0.1829, 0.9983, -0.0193, 0.7712, 0.5503, -0.3843, -0.0242, -0.0334, 0.9998] state[eef_state]: left_x=0.4288 left_y=-0.0738 left_z=0.132 left_yaw=0.0104 left_pitch=-0.0525 left_roll=0.0033 left_gripper=0.9983 right_x=0.286 right_y=0.0024 right_z=0.1607 right_yaw=0.0077 right_pitch=-0.0365 right_roll=-0.0023 right_gripper=0.9998 state[joint_eff]: [-0.1299, -6.5709, 9.5795, 1.9365, 0.022, 0.2076, -0.0122, -0.0615, -1.935, 6.8444, 1.9805, -0.0708, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.075, "left_z": 0.07}, "note": "Previous descent didn't move the arm (z still 0.13). Trying a smaller descent step toward the bottle neck."})
tool
executing move_to over 4 steps (0.4s)
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 noteDescent is being rate-clamped; continuing down toward the bottle neck (z~0.03).
move_to
left_x0.4300left_y-0.0750left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2764, 1.5742, 0.794, 0.1658, -0.247, -0.1837, 0.9983, -0.0196, 0.7528, 0.5171, -0.366, -0.028, -0.036, 0.9998] state[eef_state]: left_x=0.4309 left_y=-0.0736 left_z=0.1074 left_yaw=0.0155 left_pitch=-0.0316 left_roll=0.0008 left_gripper=0.9983 right_x=0.2832 right_y=0.003 right_z=0.1541 right_yaw=0.012 right_pitch=-0.033 right_roll=-0.0024 right_gripper=0.9998 state[joint_eff]: [-0.8, -1.388, 2.988, 0.9548, -0.1783, 0.0317, -0.0122, -0.3761, -1.2513, 6.7761, 1.9951, -0.0513, -0.022, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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": {"left_x": 0.43, "left_y": -0.075, "left_z": 0.03}, "note": "Descent is being rate-clamped; continuing down toward the bottle neck (z~0.03)."})
tool
executing move_to over 5 steps (0.5s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteBottle neck/cap is ahead-left of the jaws and lies diagonally; shifting toward the neck and yawing ~40° so the jaws close across the bottle axis.
move_to
left_x0.4550left_y-0.0500left_z0.0400left_yaw0.7000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2863, 1.7844, 0.6559, 0.551, -0.2516, -0.2016, 0.9982, -0.0204, 0.7372, 0.485, -0.3508, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4329 left_y=-0.0779 left_z=0.0428 left_yaw=0.0188 left_pitch=0.0046 left_roll=-0.0226 left_gripper=0.9982 right_x=0.2802 right_y=0.0032 right_z=0.1467 right_yaw=0.0132 right_pitch=-0.0341 right_roll=-0.0011 right_gripper=0.9998 state[joint_eff]: [0.0615, -5.6137, 3.3436, 0.9597, -0.1538, 0.398, -0.0269, -0.4991, -1.6479, 6.9949, 1.9463, -0.0855, -0.0513, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.455, "left_y": -0.05, "left_z": 0.04, "left_yaw": 0.7}, "note": "Bottle neck/cap is ahead-left of the jaws and lies diagonally; shifting toward the neck and yawing ~40\u00b0 so the jaws close across the bottle axis."})
tool
executing move_to over 5 steps (0.5s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteArm barely moved last time, possibly touching the bottle; raising a bit while shifting toward the neck and yawing.
move_to
left_x0.4550left_y-0.0500left_z0.0800left_yaw0.7000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2867, 1.8019, 0.6476, 0.6209, -0.255, -0.2092, 0.9982, -0.02, 0.7193, 0.4534, -0.3359, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4377 left_y=-0.0788 left_z=0.0468 left_yaw=0.0257 left_pitch=0.0468 left_roll=-0.0408 left_gripper=0.9982 right_x=0.2771 right_y=0.0035 right_z=0.14 right_yaw=0.0139 right_pitch=-0.0329 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.1983, -5.9966, 3.8359, 1.6142, -0.1392, 0.1929, -0.0122, -0.3214, -1.4291, 7.0496, 1.9512, -0.0611, -0.0611, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.455, "left_y": -0.05, "left_z": 0.08, "left_yaw": 0.7}, "note": "Arm barely moved last time, possibly touching the bottle; raising a bit while shifting toward the neck and yawing."})
tool
executing move_to over 5 steps (0.5s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteLeft arm is not responding to the last targets; trying a pure lift at the current xy to see if it tracks.
move_to
left_x0.4380left_y-0.0790left_z0.1200left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2867, 1.8065, 0.6476, 0.6254, -0.255, -0.2092, 0.9982, -0.02, 0.7036, 0.4229, -0.3206, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.438 left_y=-0.0789 left_z=0.0458 left_yaw=0.0257 left_pitch=0.0468 left_roll=-0.0408 left_gripper=0.9982 right_x=0.2744 right_y=0.0035 right_z=0.1332 right_yaw=0.0136 right_pitch=-0.0326 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [-0.1162, -6.2154, 3.8085, 1.5458, -0.1441, 0.232, -0.0122, -0.1983, -1.3197, 6.8991, 1.9707, -0.0562, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.438, "left_y": -0.079, "left_z": 0.12, "left_yaw": 0.0}, "note": "Left arm is not responding to the last targets; trying a pure lift at the current xy to see if it tracks."})
tool
executing move_to over 5 steps (0.5s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteLift tracked. The cap is roughly below the fingertips; now yawing ~35° CCW so the jaws will close across the bottle's diagonal axis.
move_to
left_x0.4450left_y-0.0700left_z0.1100left_yaw0.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2825, 1.6096, 0.7841, 0.2634, -0.2691, -0.202, 0.9982, -0.0204, 0.6861, 0.3927, -0.3088, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4405 left_y=-0.0752 left_z=0.1085 left_yaw=0.0375 left_pitch=0.022 left_roll=-0.0187 left_gripper=0.9982 right_x=0.2711 right_y=0.0035 right_z=0.1263 right_yaw=0.0135 right_pitch=-0.0333 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.0752, -8.8, 8.6359, 1.7363, 0.1148, 0.2173, -0.0122, -0.4308, -0.9231, 6.9538, 1.9951, -0.0757, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.445, "left_y": -0.07, "left_z": 0.11, "left_yaw": 0.6}, "note": "Lift tracked. The cap is roughly below the fingertips; now yawing ~35\u00b0 CCW so the jaws will close across the bottle's diagonal axis."})
tool
executing move_to over 4 steps (0.4s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteWrist view now shows the bottle running along the image vertical with the cap ahead-left of the jaws. Shifting ~3 cm forward and ~3 cm left so the neck is between the fingertips.
move_to
left_x0.4700left_y-0.0600left_z0.1000left_yaw0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.458, 1.8015, 1.0836, -0.083, -0.6643, -0.5949, 0.9978, -0.0204, 0.6659, 0.3607, -0.2916, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4534 left_y=-0.0981 left_z=0.103 left_yaw=0.387 left_pitch=-0.0392 left_roll=-0.0121 left_gripper=0.9978 right_x=0.2684 right_y=0.0035 right_z=0.1202 right_yaw=0.0135 right_pitch=-0.028 right_roll=-0.0011 right_gripper=0.9998 state[joint_eff]: [0.8137, -9.1282, 7.0906, 1.1746, -0.5397, 0.0024, -0.0562, -0.3214, -0.8821, 7.0359, 1.9023, -0.1099, -0.0415, -0.0122] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.06, "left_z": 0.1, "left_yaw": 0.5}, "note": "Wrist view now shows the bottle running along the image vertical with the cap ahead-left of the jaws. Shifting ~3 cm forward and ~3 cm left so the neck is between the fingertips."})
tool
executing move_to over 4 steps (0.4s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteCap is now near the jaw column just ahead of the fingertips; descending to neck height to grasp.
move_to
left_x0.4600left_y-0.0750left_z0.0300left_yaw0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4492, 1.8233, 1.0657, -0.0772, -0.7181, -0.6262, 0.9977, -0.0204, 0.6495, 0.3344, -0.2836, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4498 left_y=-0.0838 left_z=0.0925 left_yaw=0.4511 left_pitch=-0.0307 left_roll=0.0133 left_gripper=0.9977 right_x=0.2653 right_y=0.0036 right_z=0.1139 right_yaw=0.0135 right_pitch=-0.0299 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [0.0752, -9.7436, 6.2291, 1.5409, -0.2857, 0.3736, -0.0269, -0.4991, -0.9094, 6.9949, 1.956, -0.0659, -0.0562, -0.0122] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.075, "left_z": 0.03, "left_yaw": 0.5}, "note": "Cap is now near the jaw column just ahead of the fingertips; descending to neck height to grasp."})
tool
executing move_to over 5 steps (0.5s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteArm held position on the last target (likely IK limit at longer reach). Trying a pure descent at the current xy/yaw.
move_to
left_x0.4450left_y-0.0850left_z0.0300left_yaw0.4300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4492, 1.8233, 1.0657, -0.0559, -0.7109, -0.6018, 0.9977, -0.02, 0.6327, 0.308, -0.271, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4528 left_y=-0.0863 left_z=0.0948 left_yaw=0.4326 left_pitch=-0.0218 left_roll=0.0136 left_gripper=0.9977 right_x=0.2629 right_y=0.0037 right_z=0.1086 right_yaw=0.0139 right_pitch=-0.0268 right_roll=-0.0011 right_gripper=0.9998 state[joint_eff]: [0.0068, -9.6479, 6.1744, 1.5946, -0.2759, 0.1294, -0.0122, -0.3214, -0.9641, 6.8718, 1.8828, -0.0562, -0.0122, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.445, "left_y": -0.085, "left_z": 0.03, "left_yaw": 0.43}, "note": "Arm held position on the last target (likely IK limit at longer reach). Trying a pure descent at the current xy/yaw."})
tool
executing move_to over 5 steps (0.5s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteJaws straddle the bottle's shoulder just behind the cap. Closing partially for a light grip that may let the bottle pivot when lifted.
move_to
left_gripper0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.453, 1.9347, 0.9298, 0.1562, -0.73, -0.6025, 0.9977, -0.0204, 0.6147, 0.2878, -0.2646, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4392 left_y=-0.0788 left_z=0.0329 left_yaw=0.4431 left_pitch=-0.0329 left_roll=0.0491 left_gripper=0.9977 right_x=0.2606 right_y=0.0037 right_z=0.105 right_yaw=0.0135 right_pitch=-0.0227 right_roll=-0.0013 right_gripper=0.9998 state[joint_eff]: [-0.6632, -10.2085, 5.8188, 1.4628, 0.2515, 0.0806, -0.0122, -0.3761, -0.4444, 6.9402, 1.9707, -0.0904, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.5}, "note": "Jaws straddle the bottle's shoulder just behind the cap. Closing partially for a light grip that may let the bottle pivot when lifted."})
tool
executing move_to over 5 steps (0.5s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteBottle is centred and lightly gripped near the shoulder (gripper 0.51). Lifting so the heavier bottom end can swing down and hang vertically.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4519, 1.9373, 0.9001, 0.2897, -0.7418, -0.6086, 0.5113, -0.02, 0.6018, 0.2691, -0.2642, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4476 left_y=-0.0806 left_z=0.042 left_yaw=0.4559 left_pitch=0.0365 left_roll=-0.0301 left_gripper=0.5113 right_x=0.2578 right_y=0.0038 right_z=0.0997 right_yaw=0.0139 right_pitch=-0.028 right_roll=-0.0011 right_gripper=0.9998 state[joint_eff]: [-0.2803, -9.4427, 3.9179, 1.1306, -0.1197, -0.0317, 0.3394, -0.335, -0.5265, 7.1043, 1.917, -0.105, -0.0611, -0.0122] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Bottle is centred and lightly gripped near the shoulder (gripper 0.51). Lifting so the heavier bottom end can swing down and hang vertically."})
tool
executing move_to over 11 steps (1.1s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteBottle is held by the shoulder and hanging tilted down toward the table. Raising higher so it hangs clear and vertical.
move_to
left_z0.3000left_x0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4519, 1.7168, 1.2686, -0.3733, -0.7334, -0.6289, 0.5123, -0.02, 0.5819, 0.244, -0.2615, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4512 left_y=-0.0836 left_z=0.1738 left_yaw=0.4601 left_pitch=-0.0136 left_roll=0.0075 left_gripper=0.5123 right_x=0.2544 right_y=0.0039 right_z=0.0935 right_yaw=0.0139 right_pitch=-0.0307 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [-0.0889, -11.7402, 8.7863, 1.409, -0.3004, 0.1099, 0.0904, -0.3487, -0.4718, 6.9402, 1.9658, -0.0611, -0.0269, -0.0122] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.3, "left_x": 0.4}, "note": "Bottle is held by the shoulder and hanging tilted down toward the table. Raising higher so it hangs clear and vertical."})
tool
executing move_to over 9 steps (0.9s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteBottle appears to be hanging roughly vertical below the gripper. Lowering until its base nears the table.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5232, 1.5909, 1.5604, -0.8223, -0.7647, -0.6998, 0.5124, -0.0204, 0.5598, 0.2176, -0.2527, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4112 left_y=-0.0918 left_z=0.2798 left_yaw=0.448 left_pitch=-0.013 left_roll=-0.0131 left_gripper=0.5124 right_x=0.2518 right_y=0.0039 right_z=0.0884 right_yaw=0.0135 right_pitch=-0.0261 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [-0.2256, -9.4427, 8.8274, 1.2674, -0.4811, 0.188, 0.0024, -0.4718, -0.3487, 6.8991, 1.956, -0.0659, -0.0562, -0.0122] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.19}, "note": "Bottle appears to be hanging roughly vertical below the gripper. Lowering until its base nears the table."})
tool
executing move_to over 6 steps (0.6s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteBottle hangs vertically below the jaws; lowering a bit more so its base rests on the table before releasing.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5243, 1.5841, 1.2041, -0.5312, -0.7681, -0.7067, 0.5124, -0.0204, 0.5411, 0.1963, -0.2455, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4044 left_y=-0.088 left_z=0.1852 left_yaw=0.4541 left_pitch=-0.0435 left_roll=0.031 left_gripper=0.5124 right_x=0.2498 right_y=0.0039 right_z=0.0845 right_yaw=0.0135 right_pitch=-0.0215 right_roll=-0.0013 right_gripper=0.9998 state[joint_eff]: [-0.4171, -7.6239, 7.1043, 1.3846, -0.4518, 0.1294, -0.0073, -0.4171, -0.253, 7.0085, 1.9121, -0.1148, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15}, "note": "Bottle hangs vertically below the jaws; lowering a bit more so its base rests on the table before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteWrist view shows the cap still pointing forward past the jaws, so the bottle is tilted with its base resting behind. Moving the grip back toward the base to bring it over the base and make the bottle vertical.
move_to
left_x0.3600left_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5243, 1.5883, 1.0481, -0.3611, -0.7715, -0.7071, 0.5124, -0.0204, 0.527, 0.178, -0.2455, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.3991 left_y=-0.0844 left_z=0.1473 left_yaw=0.4561 left_pitch=-0.0357 left_roll=0.0239 left_gripper=0.5124 right_x=0.2472 right_y=0.0039 right_z=0.0794 right_yaw=0.0132 right_pitch=-0.0257 right_roll=-0.0014 right_gripper=0.9998 state[joint_eff]: [-0.5949, -6.9675, 7.5009, 1.7314, -0.4615, 0.0513, -0.0073, -0.4171, -0.0479, 7.0632, 1.9512, -0.0464, -0.0269, -0.0122] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_z": 0.16}, "note": "Wrist view shows the cap still pointing forward past the jaws, so the bottle is tilted with its base resting behind. Moving the grip back toward the base to bring it over the base and make the bottle vertical."})
tool
executing move_to over 4 steps (0.4s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteArm didn't track the last move. Sending only a backward x shift to bring the grip over the bottle's resting base.
move_to
left_x0.3700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5243, 1.6009, 1.0271, -0.3103, -0.7719, -0.7074, 0.5124, -0.02, 0.5056, 0.1577, -0.2447, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.402 left_y=-0.086 left_z=0.1413 left_yaw=0.4561 left_pitch=-0.0259 left_roll=0.0095 left_gripper=0.5124 right_x=0.2447 right_y=0.0041 right_z=0.0752 right_yaw=0.0139 right_pitch=-0.0238 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [-0.6085, -7.788, 7.1316, 1.4676, -0.5299, 0.0757, -0.0122, -0.1846, 0.1299, 6.8855, 1.9316, -0.1001, -0.0366, -0.0122] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37}, "note": "Arm didn't track the last move. Sending only a backward x shift to bring the grip over the bottle's resting base."})
tool
executing move_to over 3 steps (0.3s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteLeft arm is not moving on x-only commands; testing whether a lift tracks.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5243, 1.6009, 1.0271, -0.3099, -0.7719, -0.7071, 0.5125, -0.02, 0.487, 0.1429, -0.2451, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.402 left_y=-0.086 left_z=0.1414 left_yaw=0.4559 left_pitch=-0.0257 left_roll=0.0095 left_gripper=0.5125 right_x=0.2429 right_y=0.0041 right_z=0.0725 right_yaw=0.0139 right_pitch=-0.0204 right_roll=-0.0013 right_gripper=0.9998 state[joint_eff]: [-0.5538, -8.0205, 6.9402, 1.4872, -0.5153, 0.0904, -0.0073, -0.253, -0.0205, 6.5299, 1.9023, -0.1148, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "Left arm is not moving on x-only commands; testing whether a lift tracks."})
tool
executing move_to over 6 steps (0.6s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteTop view shows the bottle hanging roughly vertically below the left gripper. Lowering until its base just touches the table, then I will release.
move_to
left_z0.1550
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5243, 1.5734, 1.2098, -0.4839, -0.7692, -0.7082, 0.5124, -0.0204, 0.4702, 0.128, -0.2455, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4108 left_y=-0.0915 left_z=0.1974 left_yaw=0.4543 left_pitch=-0.0071 left_roll=-0.0227 left_gripper=0.5124 right_x=0.2411 right_y=0.0041 right_z=0.0693 right_yaw=0.0135 right_pitch=-0.0188 right_roll=-0.0014 right_gripper=0.9998 state[joint_eff]: [-0.7726, -9.1145, 7.1726, 0.9792, -0.5348, 0.0757, -0.0122, -0.3761, 0.0068, 6.7624, 1.9219, -0.1148, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.155}, "note": "Top view shows the bottle hanging roughly vertically below the left gripper. Lowering until its base just touches the table, then I will release."})
tool
executing move_to over 3 steps (0.3s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteBottle looks to be hanging vertical with its base at the table. Opening the gripper to release it upright.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.524, 1.6032, 1.1015, -0.3946, -0.7788, -0.7071, 0.5125, -0.0204, 0.4561, 0.1143, -0.2455, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4055 left_y=-0.0868 left_z=0.1579 left_yaw=0.461 left_pitch=-0.0282 left_roll=0.023 left_gripper=0.5125 right_x=0.2395 right_y=0.0041 right_z=0.0662 right_yaw=0.0135 right_pitch=-0.0185 right_roll=-0.0014 right_gripper=0.9998 state[joint_eff]: [-0.4581, -8.3624, 7.3368, 1.5067, -0.5153, 0.0415, -0.0073, -0.294, 0.3897, 6.9812, 1.8974, -0.0757, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Bottle looks to be hanging vertical with its base at the table. Opening the gripper to release it upright."})
tool
executing move_to over 5 steps (0.5s)
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 noteReleased; the bottle seems to be standing. Lifting and pulling the left arm back to check it in the top view.
move_to
left_z0.3000left_x0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.524, 1.6154, 1.0645, -0.3302, -0.7727, -0.7109, 0.9943, -0.02, 0.4404, 0.0998, -0.2455, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4073 left_y=-0.0888 left_z=0.1471 left_yaw=0.4588 left_pitch=-0.0237 left_roll=0.0044 left_gripper=0.9943 right_x=0.2379 right_y=0.0042 right_z=0.063 right_yaw=0.0139 right_pitch=-0.0173 right_roll=-0.0015 right_gripper=0.9998 state[joint_eff]: [-0.294, -9.5111, 6.2974, 1.3114, -0.5201, 0.0562, -0.1099, -0.1983, 0.0889, 6.9128, 1.873, -0.0659, -0.0366, -0.0073] 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": {"left_z": 0.3, "left_x": 0.3}, "note": "Released; the bottle seems to be standing. Lifting and pulling the left arm back to check it in the top view."})
tool
executing move_to over 10 steps (1.0s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteFirst bottle appears to be standing now. Middle bottle lies along the forward axis with its cap far out; moving the left arm above its body to grab and drag it closer before the cap grasp.
move_to
left_x0.4200left_y-0.2600left_z0.1500left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7536, 1.3552, 1.4006, -1.0702, -0.8822, -0.9642, 0.9956, -0.0204, 0.4244, 0.0868, -0.2455, -0.0307, -0.0357, 0.9998] state[eef_state]: left_x=0.3147 left_y=-0.1033 left_z=0.2852 left_yaw=0.431 left_pitch=-0.0128 left_roll=-0.0387 left_gripper=0.9956 right_x=0.2366 right_y=0.0042 right_z=0.0605 right_yaw=0.0133 right_pitch=-0.0143 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [-0.3761, -6.065, 7.6513, 0.9451, -0.6374, 0.1929, 0.1148, -0.3487, 0.2803, 6.8991, 1.8681, -0.0464, -0.0024, -0.0122] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.26, "left_z": 0.15, "left_yaw": 0.0}, "note": "First bottle appears to be standing now. Middle bottle lies along the forward axis with its cap far out; moving the left arm above its body to grab and drag it closer before the cap grasp."})
tool
executing move_to over 14 steps (1.4s)
step 143
assistant
agent noteBottle 1 now stands upright (top view). Middle bottle lies slightly right of the jaw column in the wrist view; shifting right ~3.5 cm to centre on it.
move_to
left_x0.4100left_y-0.2800left_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7795, 1.7954, 1.2385, -0.2501, -0.6743, -0.5556, 0.9957, -0.0204, 0.411, 0.0795, -0.2451, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.409 left_y=-0.2441 left_z=0.1407 left_yaw=0.0518 left_pitch=-0.0384 left_roll=0.0297 left_gripper=0.9957 right_x=0.2362 right_y=0.0042 right_z=0.0602 right_yaw=0.0135 right_pitch=-0.0078 right_roll=-0.0018 right_gripper=0.9998 state[joint_eff]: [-0.1436, -8.9778, 8.3624, 1.6923, -0.2173, 0.1734, 0.0024, -0.3487, 0.3897, 6.8855, 1.8144, -0.0708, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": {"left_x": 0.41, "left_y": -0.28, "left_z": 0.14}, "note": "Bottle 1 now stands upright (top view). Middle bottle lies slightly right of the jaw column in the wrist view; shifting right ~3.5 cm to centre on it."})
tool
executing move_to over 4 steps (0.4s)
step 147
assistant
agent noteMiddle bottle is centred between the jaws in the wrist view, cap ahead. Descending onto its body to grab and drag it closer.
move_to
left_x0.4100left_y-0.2800left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8402, 1.866, 1.2797, -0.2173, -0.7055, -0.5941, 0.9958, -0.0204, 0.411, 0.0792, -0.2455, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4057 left_y=-0.2758 left_z=0.1319 left_yaw=0.0337 left_pitch=-0.0185 left_roll=0.0099 left_gripper=0.9958 right_x=0.2361 right_y=0.0042 right_z=0.0599 right_yaw=0.0135 right_pitch=-0.0085 right_roll=-0.0018 right_gripper=0.9998 state[joint_eff]: [-0.3077, -9.2103, 9.2786, 1.3407, -0.4078, 0.1392, -0.0024, -0.2667, 0.0205, 6.653, 1.7949, -0.1099, -0.0366, -0.0122] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.28, "left_z": 0.03}, "note": "Middle bottle is centred between the jaws in the wrist view, cap ahead. Descending onto its body to grab and drag it closer."})
tool
executing move_to over 7 steps (0.7s)
step 154
assistant
agent noteDescent was not executed; re-issuing a slightly different descent target onto the middle bottle's body.
move_to
left_x0.4050left_y-0.2800left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8478, 1.8793, 1.2911, -0.2256, -0.7151, -0.606, 0.9962, -0.0204, 0.4099, 0.0792, -0.2455, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4052 left_y=-0.2787 left_z=0.1297 left_yaw=0.0391 left_pitch=-0.0196 left_roll=0.0124 left_gripper=0.9962 right_x=0.2362 right_y=0.0042 right_z=0.0602 right_yaw=0.0135 right_pitch=-0.0074 right_roll=-0.0018 right_gripper=0.9998 state[joint_eff]: [-0.0752, -9.8667, 8.7316, 1.2772, -0.4322, -0.105, 0.0269, -0.5265, -0.1299, 6.4479, 1.8242, -0.105, -0.0415, -0.0122] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.405, "left_y": -0.28, "left_z": 0.04}, "note": "Descent was not executed; re-issuing a slightly different descent target onto the middle bottle's body."})
tool
executing move_to over 6 steps (0.6s)
step 160
assistant
agent noteMiddle bottle body is between the jaws at z≈0.046. Closing to grip it for dragging closer.
move_to
left_gripper0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8501, 2.0216, 1.1324, 0.0452, -0.7223, -0.6239, 0.9963, -0.0204, 0.4099, 0.0792, -0.2447, -0.0303, -0.0357, 0.9998] state[eef_state]: left_x=0.401 left_y=-0.2742 left_z=0.0459 left_yaw=0.052 left_pitch=-0.034 left_roll=0.0243 left_gripper=0.9963 right_x=0.2363 right_y=0.0041 right_z=0.0603 right_yaw=0.013 right_pitch=-0.0067 right_roll=-0.0017 right_gripper=0.9998 state[joint_eff]: [-0.0889, -12.0274, 6.3795, -0.9695, -0.3199, 0.9841, 0.0024, -0.1983, -0.0889, 6.5299, 1.7509, -0.0904, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.45}, "note": "Middle bottle body is between the jaws at z\u22480.046. Closing to grip it for dragging closer."})
tool
executing move_to over 6 steps (0.6s)
step 166
assistant
agent noteGripping the middle bottle near its base (gripper 0.55). Dragging it back ~11 cm along the table so its cap end comes within low-height reach.
move_to
left_x0.2900left_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8513, 2.0514, 1.1038, 0.1261, -0.7254, -0.6285, 0.5479, -0.0212, 0.4099, 0.0792, -0.2455, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4016 left_y=-0.2751 left_z=0.0342 left_yaw=0.0549 left_pitch=-0.0183 left_roll=0.0042 left_gripper=0.5479 right_x=0.2362 right_y=0.004 right_z=0.0602 right_yaw=0.0127 right_pitch=-0.0074 right_roll=-0.0018 right_gripper=0.9998 state[joint_eff]: [-0.2667, -12.8615, 4.6838, 1.4139, -0.3639, 0.0562, 0.6178, -0.1299, 0.1983, 6.5846, 1.79, -0.0855, -0.0464, -0.0122] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_z": 0.045}, "note": "Gripping the middle bottle near its base (gripper 0.55). Dragging it back ~11 cm along the table so its cap end comes within low-height reach."})
tool
executing move_to over 9 steps (0.9s)
step 175
assistant
agent noteBottle was dragged back with the jaws. Releasing and lifting to re-grasp it near the shoulder/cap end.
move_to
left_gripper1.0000left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.1049, 1.8889, 0.8906, -0.017, -0.8555, -0.8764, 0.5502, -0.0212, 0.4095, 0.0792, -0.2466, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.2947 left_y=-0.2814 left_z=0.0315 left_yaw=0.0186 left_pitch=-0.0297 left_roll=0.0167 left_gripper=0.5502 right_x=0.236 right_y=0.004 right_z=0.06 right_yaw=0.0127 right_pitch=-0.0082 right_roll=-0.0018 right_gripper=0.9998 state[joint_eff]: [-0.3761, -11.3709, 5.1487, 1.1746, -0.7106, -0.1148, 0.2222, -0.294, 0.1299, 6.9265, 1.7802, -0.0708, -0.0317, -0.0122] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.1}, "note": "Bottle was dragged back with the jaws. Releasing and lifting to re-grasp it near the shoulder/cap end."})
tool
executing move_to over 5 steps (0.5s)
step 180
assistant
agent noteMiddle bottle lies straight ahead along the jaw column with its cap ~10 cm forward. Moving forward over its shoulder for the upright-hang grasp.
move_to
left_x0.4000left_y-0.2780left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.1114, 1.7588, 0.9451, -0.1818, -0.87, -0.8906, 0.9961, -0.0212, 0.4091, 0.0792, -0.2455, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.2933 left_y=-0.2803 left_z=0.0802 left_yaw=0.0271 left_pitch=-0.0101 left_roll=-0.0078 left_gripper=0.9961 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.0066 right_roll=-0.0018 right_gripper=0.9998 state[joint_eff]: [-0.2393, -9.6342, 8.0479, 0.9792, -0.4762, 0.1978, -0.0855, -0.5265, -0.0068, 6.4752, 1.7558, -0.0659, -0.0562, -0.0122] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.278, "left_z": 0.1}, "note": "Middle bottle lies straight ahead along the jaw column with its cap ~10 cm forward. Moving forward over its shoulder for the upright-hang grasp."})
tool
executing move_to over 9 steps (0.9s)
step 189
assistant
agent noteArm didn't track the forward move; re-issuing with a bit more height.
move_to
left_x0.3900left_y-0.2750left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.1114, 1.7351, 0.9604, -0.2298, -0.8696, -0.8898, 0.997, -0.0212, 0.4095, 0.0792, -0.2455, -0.0311, -0.036, 0.9998] state[eef_state]: left_x=0.2922 left_y=-0.2782 left_z=0.0887 left_yaw=0.0266 left_pitch=-0.0142 left_roll=0.001 left_gripper=0.997 right_x=0.2362 right_y=0.0041 right_z=0.0603 right_yaw=0.013 right_pitch=-0.007 right_roll=-0.0016 right_gripper=0.9998 state[joint_eff]: [-0.0068, -9.1282, 7.5282, 0.9939, -0.5104, 0.1978, 0.0757, -0.212, 0.1983, 6.5983, 1.7851, -0.0757, -0.022, -0.0073] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.275, "left_z": 0.12}, "note": "Arm didn't track the forward move; re-issuing with a bit more height."})
tool
executing move_to over 8 steps (0.8s)
step 197
assistant
agent noteThe cap and neck are right at the jaw column near the fingertips. Descending to neck height to grasp.
move_to
left_x0.3850left_y-0.2650left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8825, 1.8263, 1.1381, -0.1528, -0.7502, -0.6701, 0.997, -0.0212, 0.4091, 0.0792, -0.2459, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.3797 left_y=-0.2665 left_z=0.1098 left_yaw=0.063 left_pitch=-0.0151 left_roll=-0.0041 left_gripper=0.997 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.007 right_roll=-0.0018 right_gripper=0.9998 state[joint_eff]: [0.1709, -8.6359, 8.5538, 1.4823, -0.2564, 0.3394, -0.0073, -0.4034, 0.1299, 6.5436, 1.7656, -0.0806, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.385, "left_y": -0.265, "left_z": 0.035}, "note": "The cap and neck are right at the jaw column near the fingertips. Descending to neck height to grasp."})
tool
executing move_to over 5 steps (0.5s)
step 202
assistant
agent noteThe bottle's shoulder sits between the jaws with the cap just ahead. Closing to a light grip.
move_to
left_gripper0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8772, 1.9827, 1.0222, 0.0959, -0.7486, -0.654, 0.997, -0.0212, 0.4091, 0.0792, -0.2459, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.3796 left_y=-0.2629 left_z=0.0359 left_yaw=0.0592 left_pitch=-0.0301 left_roll=0.0277 left_gripper=0.997 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.007 right_roll=-0.0018 right_gripper=0.9998 state[joint_eff]: [0.3077, -8.6906, 4.6291, 1.3211, -0.4176, 0.0708, -0.0122, -0.2803, -0.0342, 6.5436, 1.7998, -0.0952, -0.0562, -0.0122] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.45}, "note": "The bottle's shoulder sits between the jaws with the cap just ahead. Closing to a light grip."})
tool
executing move_to over 6 steps (0.6s)
step 208
assistant
agent noteGripping the middle bottle by its shoulder (0.47). Lifting high so it hangs base-down.
move_to
left_z0.3000left_x0.3600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8772, 1.985, 1.0027, 0.1928, -0.7567, -0.6544, 0.4707, -0.0212, 0.4091, 0.0792, -0.2455, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.385 left_y=-0.2678 left_z=0.0424 left_yaw=0.0645 left_pitch=0.019 left_roll=-0.0297 left_gripper=0.4707 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.0066 right_roll=-0.0018 right_gripper=0.9998 state[joint_eff]: [-0.3487, -10.0308, 4.0821, 1.1551, -0.2711, 0.0073, 0.4127, -0.212, 0.0889, 6.5436, 1.8144, -0.0464, -0.0366, -0.0122] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.3, "left_x": 0.36}, "note": "Gripping the middle bottle by its shoulder (0.47). Lifting high so it hangs base-down."})
tool
executing move_to over 17 steps (1.7s)
step 225
assistant
agent noteTop view shows the middle bottle hanging vertically below the gripper. Lowering it until its base reaches the table.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9302, 1.7355, 1.7405, -0.8532, -0.7719, -0.7189, 0.471, -0.0212, 0.4091, 0.0792, -0.2462, -0.0311, -0.036, 0.9998] state[eef_state]: left_x=0.3635 left_y=-0.2755 left_z=0.2863 left_yaw=0.0559 left_pitch=-0.006 left_roll=-0.0299 left_gripper=0.471 right_x=0.2361 right_y=0.0041 right_z=0.0602 right_yaw=0.013 right_pitch=-0.0074 right_roll=-0.0016 right_gripper=0.9998 state[joint_eff]: [-0.4855, -8.3897, 8.3077, 1.1844, -0.5788, 0.0562, 0.0122, -0.4171, 0.0068, 6.7487, 1.8095, -0.1148, -0.0073, -0.0122] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.16}, "note": "Top view shows the middle bottle hanging vertically below the gripper. Lowering it until its base reaches the table."})
tool
executing move_to over 9 steps (0.9s)
step 234
assistant
agent noteBottle base is at the table under the gripper; opening to leave it standing.
move_to
left_gripper1.0000left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9302, 1.7378, 1.2675, -0.429, -0.7788, -0.7242, 0.471, -0.0212, 0.4046, 0.0792, -0.2462, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.3601 left_y=-0.2695 left_z=0.1616 left_yaw=0.0639 left_pitch=-0.0296 left_roll=0.0112 left_gripper=0.471 right_x=0.2364 right_y=0.004 right_z=0.0612 right_yaw=0.0127 right_pitch=-0.0028 right_roll=-0.0019 right_gripper=0.9998 state[joint_eff]: [-0.8, -7.788, 6.9265, 1.4139, -0.4518, 0.1685, -0.0122, -0.1983, 0.4034, 6.5846, 1.7802, -0.0806, -0.0415, -0.0122] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.15}, "note": "Bottle base is at the table under the gripper; opening to leave it standing."})
tool
executing move_to over 6 steps (0.6s)
step 240
assistant
agent noteMiddle bottle released and standing (cap up in wrist view). Lifting the arm clear so the bottles are not disturbed.
move_to
left_z0.3000left_x0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9302, 1.7515, 1.2053, -0.3382, -0.7792, -0.7254, 0.9958, -0.0212, 0.4046, 0.0792, -0.2462, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.3606 left_y=-0.2701 left_z=0.1444 left_yaw=0.0645 left_pitch=-0.0213 left_roll=-0.002 left_gripper=0.9958 right_x=0.2364 right_y=0.004 right_z=0.0612 right_yaw=0.0127 right_pitch=-0.0028 right_roll=-0.0019 right_gripper=0.9998 state[joint_eff]: [-0.6222, -9.5795, 6.2154, 1.4139, -0.4713, 0.105, -0.1148, -0.3624, 0.4991, 6.8581, 1.7851, -0.0708, -0.0073, -0.0122] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.3, "left_x": 0.25}, "note": "Middle bottle released and standing (cap up in wrist view). Lifting the arm clear so the bottles are not disturbed."})
tool
executing move_to over 11 steps (1.1s)
step 251
assistant
agent noteI stood up two bottles and saw the third already standing, so all three look upright now. I didn't lift the arm clear for a final check, though, and the first bottle may be leaning. - **Left bottle:** I gripped it lightly at the shoulder, lifted it so it hung base-down, lowered it to the table and let go. In the last wrist-camera view it stands cap-up but may lean a little. - **Middle bottle:** Its cap end was too far out to grab at table height. I dragged it about 11 cm closer by its base, then grabbed it at the shoulder and did the same hang-and-release. The wrist camera shows it upright. - **Right bottle:** I planned to stand it with the right arm but never touched it. The overhead view shows it standing, so it was probably upright from the start. The right-arm wrist camera shows it only as a close-up blur, so this isn't certain. The right arm was never moved back to its home pose and has drifted down to about 6 cm above the table.
done
hindsight- Before planning, compare each bottle's shape in the overhead view. A standing bottle there looks like a tall vertical shape with the cap at the top, which is easy to mistake for a bottle lying along the forward axis. I may have assumed a bottle was lying when it was already upright, and I misjudged the first bottle's state at least twice. - Standing bottles up works this way: grip the lying bottle lightly (gripper about 0.45–0.5, roughly 5 cm) across its shoulder just behind the cap, with the jaws closing across the bottle. Lift to z ≈ 0.28–0.30 and it swings to hang base-down. Lower to z ≈ 0.15–0.16, where the base touches for a 22 cm bottle gripped at the shoulder, then open. - A low grasp (z ≈ 0.03–0.04) is hard to get past x ≈ 0.44–0.45; the arm just holds position. If the cap is further out, drag the bottle toward the base by its body first. - The left arm often ignored the first command after a sideways move or yaw change, especially descents, and the joints didn't move at all. Re-sending a slightly different target, or a z-only move, usually worked, so plan for this in the call budget. - An idle arm at a low hover drifts down steadily; park it higher.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.2247, 1.6238, 1.6657, -1.1515, -0.91, -1.0821, 0.9968, -0.0212, 0.4046, 0.0792, -0.2466, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.2552 left_y=-0.286 left_z=0.2862 left_yaw=0.0376 left_pitch=-0.0208 left_roll=-0.0494 left_gripper=0.9968 right_x=0.2363 right_y=0.004 right_z=0.0611 right_yaw=0.0127 right_pitch=-0.0032 right_roll=-0.0019 right_gripper=0.9998 state[joint_eff]: [-0.253, -7.159, 7.8017, 0.7839, -0.8327, 0.0171, 0.0952, -0.2803, 0.759, 6.8444, 1.7753, -0.0562, -0.0562, -0.0122] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
done({"summary": "I stood up two bottles and saw the third already standing, so all three look upright now. I didn't lift the arm clear for a final check, though, and the first bottle may be leaning.\n\n- **Left bottle:** I gripped it lightly at the shoulder, lifted it so it hung base-down, lowered it to the table and let go. In the last wrist-camera view it stands cap-up but may lean a little.\n- **Middle bottle:** Its cap end was too far out to grab at table height. I dragged it about 11 cm closer by its base, then grabbed it at the shoulder and did the same hang-and-release. The wrist camera shows it upright.\n- **Right bottle:** I planned to stand it with the right arm but never touched it. The overhead view shows it standing, so it was probably upright from the start. The right-arm wrist camera shows it only as a close-up blur, so this isn't certain.\n\nThe right arm was never moved back to its home pose and has drifted down to about 6 cm above the table.", "hindsight": "- Before planning, compare each bottle's shape in the overhead view. A standing bottle there looks like a tall vertical shape with the cap at the top, which is easy to mistake for a bottle lying along the forward axis. I may have assumed a bottle was lying when it was already upright, and I misjudged the first bottle's state at least twice.\n- Standing bottles up works this way: grip the lying bottle lightly (gripper about 0.45\u20130.5, roughly 5 cm) across its shoulder just behind the cap, with the jaws closing across the bottle. Lift to z \u2248 0.28\u20130.30 and it swings to hang base-down. Lower to z \u2248 0.15\u20130.16, where the base touches for a 22 cm bottle gripped at the shoulder, then open.\n- A low grasp (z \u2248 0.03\u20130.04) is hard to get past x \u2248 0.44\u20130.45; the arm just holds position. If the cap is further out, drag the bottle toward the base by its body first.\n- The left arm often ignored the first command after a sideways move or yaw change, especially descents, and the joints didn't move at all. Re-sending a slightly different target, or a z-only move, usually worked, so plan for this in the call budget.\n- An idle arm at a low hover drifts down steadily; park it higher."})
tool
done: I stood up two bottles and saw the third already standing, so all three look upright now. I didn't lift the arm clear for a final check, though, and the first bottle may be leaning. - **Left bottle:** I gripped it lightly at the shoulder, lifted it so it hung base-down, lowered it to the table and let go. In the last wrist-camera view it stands cap-up but may lean a little. - **Middle bottle:** Its cap end was too far out to grab at table height. I dragged it about 11 cm closer by its base, then grabbed it at the shoulder and did the same hang-and-release. The wrist camera shows it upright. - **Right bottle:** I planned to stand it with the right arm but never touched it. The overhead view shows it standing, so it was probably upright from the start. The right-arm wrist camera shows it only as a close-up blur, so this isn't certain. The right arm was never moved back to its home pose and has drifted down to about 6 cm above the table.
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 · 18.41 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, 0.7929, 0.6079, -0.3767, -0.0227, -0.0284, 0.9987, -0.0158, 0.7891, 0.6041, -0.3843, -0.0166, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2939 right_y=0.0019 right_z=0.1804 right_yaw=0.0002 right_pitch=-0.0008 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.4701, 9.7299, 1.7753, -0.022, 0.1148, -0.149, -0.8821, -1.0735, 10.4, 1.7998, -0.1099, 0.0806, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93cb9d9be1588c032f2753fade5ccabb46b915edc72e7f678d1678040d726a2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63f5efd48824b595c926238e2ffa12ab3b473f0136ad8002ecb266f52865690a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1fc2e4f2bedb6b936e7a5c137e666b131b693964ce634b043a994932b835055",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 6.332 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, 0.7929, 0.6079, -0.3767, -0.0227, -0.0284, 0.9987, -0.0158, 0.7891, 0.6041, -0.3843, -0.0166, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2939 right_y=0.0019 right_z=0.1804 right_yaw=0.0002 right_pitch=-0.0008 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.4701, 9.7299, 1.7753, -0.022, 0.1148, -0.149, -0.8821, -1.0735, 10.4, 1.7998, -0.1099, 0.0806, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93cb9d9be1588c032f2753fade5ccabb46b915edc72e7f678d1678040d726a2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63f5efd48824b595c926238e2ffa12ab3b473f0136ad8002ecb266f52865690a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1fc2e4f2bedb6b936e7a5c137e666b131b693964ce634b043a994932b835055",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xi6jFEG2d7EUGcfD6qrQVA",
      "input": {
        "note": "Three bottles lie on their sides; plan is to grab each by the cap, lift so it hangs vertically, and set it down upright. Moving left arm above the estimated cap of the leftmost bottle.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.12,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Xi6jFEG2d7EUGcfD6qrQVA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.424, 1.4868, 0.8501, -0.0471, -0.3397, -0.2489, 0.9984, -0.0193, 0.794, 0.6033, -0.4042, -0.0235, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4031 left_y=-0.1134 left_z=0.1283 left_yaw=-0.0193 left_pitch=-0.0769 left_roll=0.024 left_gripper=0.9984 right_x=0.2914 right_y=0.0021 right_z=0.1747 right_yaw=0.0048 right_pitch=-0.0262 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -6.7624, 8.8547, 1.8144, -0.3492, -0.1197, -0.0415, -0.0889, -1.5932, 7.2274, 1.8877, 0.0122, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4369251af81a91ba610d049d35b0396ce887a5f1c009784fc5c8832228542886",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02a3fb0e6ffaddabedd568db4f8eb5f2d5741995b1e563ee36307117b0bd4827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c6b91c71b9462d210cc96ad6a97e7fa12d3e6c42186e65aad8d59cb15601afad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 7.525 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, 0.7929, 0.6079, -0.3767, -0.0227, -0.0284, 0.9987, -0.0158, 0.7891, 0.6041, -0.3843, -0.0166, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2939 right_y=0.0019 right_z=0.1804 right_yaw=0.0002 right_pitch=-0.0008 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.4701, 9.7299, 1.7753, -0.022, 0.1148, -0.149, -0.8821, -1.0735, 10.4, 1.7998, -0.1099, 0.0806, -0.0317]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.424, 1.4868, 0.8501, -0.0471, -0.3397, -0.2489, 0.9984, -0.0193, 0.794, 0.6033, -0.4042, -0.0235, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4031 left_y=-0.1134 left_z=0.1283 left_yaw=-0.0193 left_pitch=-0.0769 left_roll=0.024 left_gripper=0.9984 right_x=0.2914 right_y=0.0021 right_z=0.1747 right_yaw=0.0048 right_pitch=-0.0262 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -6.7624, 8.8547, 1.8144, -0.3492, -0.1197, -0.0415, -0.0889, -1.5932, 7.2274, 1.8877, 0.0122, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4369251af81a91ba610d049d35b0396ce887a5f1c009784fc5c8832228542886",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02a3fb0e6ffaddabedd568db4f8eb5f2d5741995b1e563ee36307117b0bd4827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6b91c71b9462d210cc96ad6a97e7fa12d3e6c42186e65aad8d59cb15601afad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSugoKEAgSGAI4AUIIdGhpbmtpbmcSDF6V89Gl6XgaYvh20RoMsVykP5REhZnN59CBIjAg1VVt/2Qh9W3lmWeSgdgwJk3Xow86rraKqtBzBq4A4oAGpeRABychyWMsMEQi4qwq1wk8ESrvYakfmglslrSeDHjnAqfvTv0PcaexIX3/OMbDPuvc/jTpqc5IG/XiwNRWJInUiv8YvOJytTu+FZV8q2Tl0IjXiAuMR3MTy7IpAhBc8r59LYg+YanbjnZ2osq9ZaM4vSxTjBQreKQNLpkca34yWHbmrdO9todhC+9WUUI5YCy90OuuSm3eoMVDWDtyjzlmdP+hyie26USHW/Wz4EUZ5k1ibIeINnoMRWuZocLtgvn8MGXY7I2dRGwx+nVC3TO+AZ0kbtzqXxAnk8ojosaQr089gvnUk+slkcIhkqj6ieYe8r9SopYs5DzA8XWjC8/CR9xPe5z+1/oBGxAk+YwsQHhCHe4ZjK4JSrbZwC70Eq/3YB3u6FhBcuNNw5toKCf6UMX3hSatpr2q3c0fhUN0+SfIvAk2/3ygm6BpNGqt3PHm6YLZo4T+rmBtlw7IHf3ZSF8WxqNA93AAO/ONcD0utt+DdE5IIvlxwlkRQBYHzkVVK52N0S9jGsAEkPrB1q7i/7Gb9idHdkOJqb6ycAlXDXdtrngh69NqPmZspeUM1sZe0xGXnvvwCO3d4cCTzeoHn0BMhrmuj6uOazKuST4p1ug1DYs7+cPLOCn/Wn4riSN26q6Lkd3VklLZZU/bJuimJ9LYKQf3T7QcbYBlgxLuEymUEODweDFdzAuI0nNbD+PcM7nJfn4hKI+PUUiDTHVSi9Gj6djCgFtzyvlNHTFCqCg7OqxmSw+yNj4UOZ6eIiGf18XlX6V+G/yVSj9PTmP/9saYcCOyhfJt6Tuy2NqreNkfp8OlgQCkNpII8MroPAYoZY8AAFZfP1ij3VR+dpGs38c6AhpHuQwBmIHugrwZHpGr1eiES5BHd3Hisydyitfj3Rnjp/qgvIQlB54G7mKEuDFO3Czpk2N8gqRqbaYEN5TYFRhg6GyLxs1NFj2KCiTzlJ9Zo9Y/sXhZcjM+p339aM2tt0PPSb/buqo3eJ0VKNNoE/CtiveF9sOCYVgd35U+URIWDjyBYllLy8MtKF66kQStHUEoBlyr/jeKGU03IgpMTLiV4ohRtFKGFOqur14SIICkKCIvpAzrdJHMQcZSY6zmTCBCsAHusF62La9hZa5v1CFOa5HUvR9JYoliEYVDLdgkzvimIDaGa6jOxIXaLBo9V749FJhKL7Zc4b9/I0ILW2K+4eZVmwsPSVXhsVFkZFWODWNYqN7CHj1AWGRcYOqK9SwvKOayYa6JOZ/XPQIkupLhzyK6/YzXTgXHp1enhYKomJzMoxsdbjZPwfNpCoqYuKG3GmC3SMOZUDQBTj++I5/mlyhhDDFXNGxXTahkjk5VpdXyCsNli3ICCyLCVzLkBcNaU3LK9WAqG31Z2OXb7FBG0nzuH7JFgz0YFBI7tMuvej4unlHj9gnUHvekJdm64nF2IcmKm0Mo7RUOUVLSPO2/9M7xg7nD8EhsHMshcUQ21VmCNVvw6JXWNpgliaYsKRxo7mPpcpCdw89LGafFiTFJfZP2V6gNWYrUAge8bmGDuRWO5AqfaXIXQwqpyXhbOEeXBkXoufx280Q3EMf08n4B3p5hnHaOuCS81w7G1lJbVwQg3rbXK9zuAqqTTJkGuYkI+VgcH242Fuv7ptfnRLQHyppT/6BIDGOJKiYEgcaqx8gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CjMM54oHNBhnPKZ5dHD6bh",
      "input": {
        "note": "Left wrist cam shows the bottle's cap ahead and to the left of the jaws, body under the jaws. Shifting forward and left to centre over the cap.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.08,
          "left_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_01CjMM54oHNBhnPKZ5dHD6bh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2913, 1.5173, 0.8646, 0.012, -0.2764, -0.2089, 0.9983, -0.0193, 0.7845, 0.5808, -0.3973, -0.0238, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.4263 left_y=-0.0737 left_z=0.1312 left_yaw=0.0388 left_pitch=-0.0512 left_roll=0.0046 left_gripper=0.9983 right_x=0.2889 right_y=0.0022 right_z=0.1684 right_yaw=0.0068 right_pitch=-0.0323 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-1.6068, -6.106, 9.7709, 1.9756, 0.2808, 0.2955, -0.022, -0.1846, -1.935, 6.9675, 1.9267, -0.0513, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:190df79a2fd339a694acd63a4dabc6ffe095b62c2417172dfd07ab78123a2052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed1d6b4890ac6d0a3920417159f1a9aad0d0ca31e21468002b48b846648fc5f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aefcf4c3032c9a5b6f88a8f60429ade9fd7e6da8e60b510d4821286f585cacdc",
        "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 · 4.745 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, 0.7929, 0.6079, -0.3767, -0.0227, -0.0284, 0.9987, -0.0158, 0.7891, 0.6041, -0.3843, -0.0166, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2939 right_y=0.0019 right_z=0.1804 right_yaw=0.0002 right_pitch=-0.0008 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.4701, 9.7299, 1.7753, -0.022, 0.1148, -0.149, -0.8821, -1.0735, 10.4, 1.7998, -0.1099, 0.0806, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.424, 1.4868, 0.8501, -0.0471, -0.3397, -0.2489, 0.9984, -0.0193, 0.794, 0.6033, -0.4042, -0.0235, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4031 left_y=-0.1134 left_z=0.1283 left_yaw=-0.0193 left_pitch=-0.0769 left_roll=0.024 left_gripper=0.9984 right_x=0.2914 right_y=0.0021 right_z=0.1747 right_yaw=0.0048 right_pitch=-0.0262 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -6.7624, 8.8547, 1.8144, -0.3492, -0.1197, -0.0415, -0.0889, -1.5932, 7.2274, 1.8877, 0.0122, -0.0122, -0.0122]",
      "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]: [-0.2913, 1.5173, 0.8646, 0.012, -0.2764, -0.2089, 0.9983, -0.0193, 0.7845, 0.5808, -0.3973, -0.0238, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.4263 left_y=-0.0737 left_z=0.1312 left_yaw=0.0388 left_pitch=-0.0512 left_roll=0.0046 left_gripper=0.9983 right_x=0.2889 right_y=0.0022 right_z=0.1684 right_yaw=0.0068 right_pitch=-0.0323 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-1.6068, -6.106, 9.7709, 1.9756, 0.2808, 0.2955, -0.022, -0.1846, -1.935, 6.9675, 1.9267, -0.0513, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:190df79a2fd339a694acd63a4dabc6ffe095b62c2417172dfd07ab78123a2052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed1d6b4890ac6d0a3920417159f1a9aad0d0ca31e21468002b48b846648fc5f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aefcf4c3032c9a5b6f88a8f60429ade9fd7e6da8e60b510d4821286f585cacdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrQsKEAgSGAI4AUIIdGhpbmtpbmcSDIoKI2fidyx7EZE9iBoM/LWen7HATAg/on5YIjD7zOfZDK6NWH6bupGlXeDcMc7sJNg6cNlXnhOfbTxdl/YgbBLUe4ks6YsBQ+WmdGcqygqhvGoNMQX2vMKL/rZ0X1F50k/9TRLLNm6ZNXgMTED1Eq+I8yQWSx8izsYzhaRZfa99kSNtav71Few/3PXx5VeyKGzxGzTZl7OOwh2Ygal+UfVVtn48C6IW5JrnediVLSHQWW/ndyxlTo322LICVYElmncP+O3J3mm7v8pPAFzMDuoA2BPX/FxZvuaekfWPNalK5KX06G3BRAE3IQTk2B6iXYcoFPm0ISIo0Hu0BWVloH/U2gaYAmC8Woq5A4TxsoYSbGgO13a4y220WnImNhfhsb8UQeLnPXbr3m4/ipJdNrgJk1lx9nhhFShaf+5cqG3s9mQ92onsFiIbU+kLAN+Hh9yKOrMOR12AsmBErIvmj7z/+duiBoxowS7eZWapLNJpXGnCfNMhL8i+9ft7/Pt1qXNcXmAPT/DtDln+pgoHUHYZI9DKXKdeHsli4/Is75eBqE2aRC2lhjqS9w8J+XwpeNvHhZMBa2k2vcsW6dwjFS1VuLKCv9XLF0Eek6I+J7koQU3INoIQYKi7/E/pCIaqW/xDpaMo/xnNJ+FTH76Q+GqnP3KBZxkWDd+UNjanofFHpvtfsbfTk/7KhRBbbShT+z1bn7pczrhNFJ5c67LJHUQHX5/PhnVK1QUXJ3m4rmH+RyFqY5AJ8Bsrzl8Y2MHajG5qy+FccYtFWVy7VYcS+ojvOV9ub3i8EXGkXOjlluwrWblnLfDfDnmTULtLDxodFrBhwR+FWsdJhEH13ZZkald8sVS+MRBgg/L/PBcONdPs/dKD1/nObTS0SX3IfTEPxjwTEAR6Q1Vlk6T1dhOJXg1kD9BCGY0WKP7HOq1kKhGVMkiFVFYotyDyPJ8Xg986Zv4P1dhAietK8BarSNKtLQWIxatLz2N5O2cGGXFyM7aL65H1mAVhiHCuz4TnAw98OoNNYO/mOJymWYSCSO6Ud+0eGLSMIcQ7iA0ucBx35/rDlOWavzWkJ/PkJ+ef3LNKHF8MyWTMYK38wskWYckGBAvava9mi31wyUqGeDevKM4I+WBjXeOe6CHFQOLFCe+Jfu0T/0cSR4pZFVxv4Jb3ssEwMKpaUN6fWlOSlS2pR+sQK3UJK6/j5taZ3ZjhMhPkd3MGOYtD6q9Y+oHwreHoKTDXPLJ9lVkJCSM9T6rao5Uynr2brBXubNp3FdqDM3TP6OYba6kAP+5ynhegTjQgjKjrJJjnb0JfnKg0qa0OVQceFVKQ6dKdIoEJ8d0OrVNqOUUDoldg+lvEsS7SgLoHney+cxVskRF5cb3TLN/z5DnJQydEBU0KhZogPz/TPklws34aLsQkbMludZoG+wpaFV5WQuV/8EkBvaNEfg6adevZW5q97VeJSgfyr6InYRD1YVOC66WwGbu5Q2KQZVAvIy7XQaD2iGTJR/dk6R9Y5QMRILBt0SK5YDc7YTkeyeKRBOwRjNOXiZhwH13teVxLZanK40prDcJNCQnj3P8y1U29GuZnbAagzc3iYNvZdQDqdjYljPJ5MilEXdJdLkvKD3zMhhAHJ/Sgz71SeLnMEtjD+XSSxxmWLx16M3tkOO+EfqCIM5jJQYmja5TB92pZ5PM57LdNd04oWyng1N+1h90x+pWgcwCDbe47DK/lu1tFcGJSFJW19LqDHrxFt22osnhMrYGPGf0JSIvW0OYj5/Em9+Dzq1utChBhcHdNAm/TLtQvP3xLgcIJBF67BAQV+02W3OCA6Aldd6FiIRPSAY+1c1H5qFJd8wUbxIfpV7sB76w0X+2JQxNREXeHKeWtIw8vvCJol/Ne5gsKZVDh0CKtzPNZ1Ljj56/tGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013tqSgBSJGKZTyYgZb1NrAz",
      "input": {
        "note": "Cap/neck of the left bottle is now just ahead of the jaws in the wrist cam. Descending open to neck height to grasp it.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.08,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_013tqSgBSJGKZTyYgZb1NrAz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2752, 1.5204, 0.8703, 0.0151, -0.2398, -0.1829, 0.9983, -0.0193, 0.7712, 0.5503, -0.3843, -0.0242, -0.0334, 0.9998]\nstate[eef_state]: left_x=0.4288 left_y=-0.0738 left_z=0.132 left_yaw=0.0104 left_pitch=-0.0525 left_roll=0.0033 left_gripper=0.9983 right_x=0.286 right_y=0.0024 right_z=0.1607 right_yaw=0.0077 right_pitch=-0.0365 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -6.5709, 9.5795, 1.9365, 0.022, 0.2076, -0.0122, -0.0615, -1.935, 6.8444, 1.9805, -0.0708, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73a410bbf9607c1fec53871db6637dd3157348f2719ae2709a06d77254b19efe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:840b32f6b8edd19a73a89f0db74bfd2442dfe13acf1c69ad4dc9c1cc1711768b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b9a3463e5f85cbf4ae6d6f90925bc161d2fd68e5ff08fa79817c5394426a9ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /messages · status 200 · 3.387 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]: [-0.424, 1.4868, 0.8501, -0.0471, -0.3397, -0.2489, 0.9984, -0.0193, 0.794, 0.6033, -0.4042, -0.0235, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4031 left_y=-0.1134 left_z=0.1283 left_yaw=-0.0193 left_pitch=-0.0769 left_roll=0.024 left_gripper=0.9984 right_x=0.2914 right_y=0.0021 right_z=0.1747 right_yaw=0.0048 right_pitch=-0.0262 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -6.7624, 8.8547, 1.8144, -0.3492, -0.1197, -0.0415, -0.0889, -1.5932, 7.2274, 1.8877, 0.0122, -0.0122, -0.0122]",
      "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]: [-0.2913, 1.5173, 0.8646, 0.012, -0.2764, -0.2089, 0.9983, -0.0193, 0.7845, 0.5808, -0.3973, -0.0238, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.4263 left_y=-0.0737 left_z=0.1312 left_yaw=0.0388 left_pitch=-0.0512 left_roll=0.0046 left_gripper=0.9983 right_x=0.2889 right_y=0.0022 right_z=0.1684 right_yaw=0.0068 right_pitch=-0.0323 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-1.6068, -6.106, 9.7709, 1.9756, 0.2808, 0.2955, -0.022, -0.1846, -1.935, 6.9675, 1.9267, -0.0513, 0.022, -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]: [-0.2752, 1.5204, 0.8703, 0.0151, -0.2398, -0.1829, 0.9983, -0.0193, 0.7712, 0.5503, -0.3843, -0.0242, -0.0334, 0.9998]\nstate[eef_state]: left_x=0.4288 left_y=-0.0738 left_z=0.132 left_yaw=0.0104 left_pitch=-0.0525 left_roll=0.0033 left_gripper=0.9983 right_x=0.286 right_y=0.0024 right_z=0.1607 right_yaw=0.0077 right_pitch=-0.0365 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -6.5709, 9.5795, 1.9365, 0.022, 0.2076, -0.0122, -0.0615, -1.935, 6.8444, 1.9805, -0.0708, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73a410bbf9607c1fec53871db6637dd3157348f2719ae2709a06d77254b19efe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:840b32f6b8edd19a73a89f0db74bfd2442dfe13acf1c69ad4dc9c1cc1711768b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b9a3463e5f85cbf4ae6d6f90925bc161d2fd68e5ff08fa79817c5394426a9ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5wgKEAgSGAI4AUIIdGhpbmtpbmcSDDiyLuLvYVv+Cf+O6RoMAFTygjTKHi0PMTkSIjDi52yR7Y919jdo02yYrR0wlJ5FeRAhR/txSzvOPvGwo4wdiU4vuMnULSFFZPpPyZ4qhAj78zx+qC8OhBq1GqHOm4l2cDVfHQypchcEO0hsoCq2hSbd3CAX/3DpjGputZgIYUTBro0TD9BaI4zuETlEKmZ7gsPXGWsCeDx0Z7xIlSsQzaOky2Z5SZvbhi/ENRRE23v5I4VkWc9OyeJwx2oaTfg3cDf4KuahQeBlpQVjieG9kLmvs+FbpsRezI7pwmu2oWQvaoAHUO/+t6gqW4T0GmO6ddtYkmShhfJELaS5ddLNfxEnZlm13wFjaqJIqFBegkz+1YbhJGefCGoTzZxKz0m5fwJHX60Z9Xi+4uANcEBjeCUxweYOOfBLQ1iZv7OdlU5m0UpTvbNEx2BSHXsYM04Jb8wfqWPXgx+Z4RKz0aUWMzVi21xUhJXmSJVaDdcEzXG3MZBPeT0ynLjIfoLtXFc64gly9CBwH2qFAjeTiHav+SPIy4qkQah8bpRK0JA3pxkdDI8HMfZafWPn1r/zu4n7xLDlI4bEyTunaxY0jpHbpkYdGMffQnEZ/7EM8Sn5Rmk+CJHy3OErOKC/5q9PnmcRt/0MWRQnvgsR+Fbqt6RdKTqiIja3m+YbnH62wLXedSea/KMMTSXDXnXe/uDjK9FNi22Mn7uw+98H6i1LSia3guik76L38U+4eMqhoYxLRQ6KVjbBA223S29dnmk2itGz6/61U8iSBrvF9X5kRLyXBwAg2E7cwnVJhIwrlceiB2md+LPzfsCMfT3y+QdsRVB7cS+Cn4q4dLkEPUcgD8WP4vchXo2egQ02FEZjJmTl8CVnAGByAwCUd+hg1aVModPIcrP392zRC1WRxPtaV4IHsTRN36JZSipwD6bU0mscspgiilLqUBUl+//blmXjvgfDyNaTvVzAqjWH8k22sszixxHmj5+zJ+aXnqRwAY+RPPfExCYhhBeBotsPoANV9nPfJPHJKJoTDP9Q5V9ZT28Njk8KxF8phK/y4oHgWjfTutA6SMHoSc6Yn4ZFEoZ7dGVe7JQsPDwp+HVn5VnVqnIyT7oBJHNhq+9+wsPqIOOWbmFiswYK1vTR+2FoTfO42OP0vxRGt7kD/H+UB9l+k0XhYDUryWD+lQ5O5PlHZr4+3PYdGPsp45KMEIPCvEwXC50DQjzRNTLed9U+f0+4aErPvOLTjTIMfDyG020KxYrly/PlIetZ3CBOVbMt0w0XNbyiBBHA1LVa6aYV8JYtLVWtW0GV/57X5YT5hJPcFSFC7I4AG4UJpPpcFwplOvqfIsEBlWxQS/zni/xA7Tlf/AxUlrpz1vVTx6A94xx1Ev1hr+I04S15R4LkiIaF59E1ReGuSg+SL28gNS1/kYMx3On61crsxNg2poxbBN259Dsl6wiJTiGVst79jveG1tqSw8t27vBAxhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013aKFcjMuPCcHF1N2PqeH6f",
      "input": {
        "note": "Previous descent didn't move the arm (z still 0.13). Trying a smaller descent step toward the bottle neck.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.075,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013aKFcjMuPCcHF1N2PqeH6f",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2764, 1.5742, 0.794, 0.1658, -0.247, -0.1837, 0.9983, -0.0196, 0.7528, 0.5171, -0.366, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4309 left_y=-0.0736 left_z=0.1074 left_yaw=0.0155 left_pitch=-0.0316 left_roll=0.0008 left_gripper=0.9983 right_x=0.2832 right_y=0.003 right_z=0.1541 right_yaw=0.012 right_pitch=-0.033 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.8, -1.388, 2.988, 0.9548, -0.1783, 0.0317, -0.0122, -0.3761, -1.2513, 6.7761, 1.9951, -0.0513, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7624f247762882b7ffd04fb15cfbdbc400361b8a6b5199e1c7cd149d2c8cbbbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4eb223148643b4eb8be3fc7e4b5fb0bd5561438cd6e1a7cdceaf4d09c1afb2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc4c9630f542f2ce63738bffa9a0413219e63c5925e6051b7e32b80fd4a445e2",
        "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 · 11.65 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]: [-0.2913, 1.5173, 0.8646, 0.012, -0.2764, -0.2089, 0.9983, -0.0193, 0.7845, 0.5808, -0.3973, -0.0238, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.4263 left_y=-0.0737 left_z=0.1312 left_yaw=0.0388 left_pitch=-0.0512 left_roll=0.0046 left_gripper=0.9983 right_x=0.2889 right_y=0.0022 right_z=0.1684 right_yaw=0.0068 right_pitch=-0.0323 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-1.6068, -6.106, 9.7709, 1.9756, 0.2808, 0.2955, -0.022, -0.1846, -1.935, 6.9675, 1.9267, -0.0513, 0.022, -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]: [-0.2752, 1.5204, 0.8703, 0.0151, -0.2398, -0.1829, 0.9983, -0.0193, 0.7712, 0.5503, -0.3843, -0.0242, -0.0334, 0.9998]\nstate[eef_state]: left_x=0.4288 left_y=-0.0738 left_z=0.132 left_yaw=0.0104 left_pitch=-0.0525 left_roll=0.0033 left_gripper=0.9983 right_x=0.286 right_y=0.0024 right_z=0.1607 right_yaw=0.0077 right_pitch=-0.0365 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -6.5709, 9.5795, 1.9365, 0.022, 0.2076, -0.0122, -0.0615, -1.935, 6.8444, 1.9805, -0.0708, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2764, 1.5742, 0.794, 0.1658, -0.247, -0.1837, 0.9983, -0.0196, 0.7528, 0.5171, -0.366, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4309 left_y=-0.0736 left_z=0.1074 left_yaw=0.0155 left_pitch=-0.0316 left_roll=0.0008 left_gripper=0.9983 right_x=0.2832 right_y=0.003 right_z=0.1541 right_yaw=0.012 right_pitch=-0.033 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.8, -1.388, 2.988, 0.9548, -0.1783, 0.0317, -0.0122, -0.3761, -1.2513, 6.7761, 1.9951, -0.0513, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7624f247762882b7ffd04fb15cfbdbc400361b8a6b5199e1c7cd149d2c8cbbbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4eb223148643b4eb8be3fc7e4b5fb0bd5561438cd6e1a7cdceaf4d09c1afb2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc4c9630f542f2ce63738bffa9a0413219e63c5925e6051b7e32b80fd4a445e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9AYKEAgSGAI4AUIIdGhpbmtpbmcSDL6ogE9TuCdMshxtNhoMIFbVvDOVOjMYGP58IjC3AFclc1Rf+OIN/Szr4Z71aptrMsiVZdXIlFfgoOpKLqhyB9fHUJvojtsMdrtxHdsqkQYj9QNGtSh+WYq6ku0rGDAMmWaH9YSv/zjKJx/g7kSWhjHKOk5XF46BUm4JS3sgZ2u5YP+sN85nzdGXMelyzBAmry/YSvBfFHGZQ7FEFUTYv9p5M9TvhCJfz6kAoZv1wh6MZShOBo0ZU1ei1K8mGXp0T98Eu07qwPLXg2+T8CoNhFuws9igehEWxuggV9lXefeAyTroDMt2USo8ckxa9B8vZQPAV2U5lVC2JdL7rcpRUV7XtQ5AYGwpNKHf3bFBMF320BtV4F3Hv3gwWdHM6vr1PiEklpnkAG5Pa9y+yq5CXoBLYlFHa8LKkUAMYr4xfONXfWLj1kdiPe6N9l6Lx15F2mEkSkKsYxP+FhcgtDHZW15Ny0FTFDgzvS2FBc7ceOd8Sr+3jVvmFIp8/BOyXS371Q+1GuiE+EPLMP0XbNS8QTtjV8TdhLaS4U5lzJUDuXTjCCEgRMWt5RlpYC6ucGhn1Zo32qA/pLg5wiStm1EPV9z8DcHheC8dMyMFySZ8udpmR1rQbptAuSMCmzBz3ugCDnYRp5E3QgfQGfTv9JCO4i03hv/4RYT3RD5x5CgEcGKxHEcnGU2YvSQ53L7BltyiZ/Lf4/YUlwIZbUHUbI/AxaPuutSx3L6QW1idNpJOpxnuY9TLn7XPK+CJJwj81lG5TAYmHVjBJIgJlc47HgOvy+ir6y/1aFztXFpVzq5kdIN4MWU7J9rlefEnTCjGwoe/r0bHvUoIpDhGMmN3sKhdur9KhEJUlCCsYnNGwbau94XYinh56ZJ/kZ9eSOpBwNsX6/IFZmvmCRoA0KjkXXa6B23ri5q45wohLGmnqD0bHn9xiKPqL8IqizDli8XSSkMndQvSNzg3OA1OL0POxnA88NCHquJyl9cvC0+qtH3hp1asTeFUIZvzsEagSMGyu+2sV44aoBTuPBQ0aP0Fn4FnBBX22uvzHYR4feSjWMzaczxGwdOZcFObFjOEDVUSQm2ehB+l19IaIEQUdOgrx63bqmv5/glI+NUNzF+CUPktYfYRWnIRsdphtlq+7J7xjJZAchgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018eHpFARFzZXxFcwhLZy6LL",
      "input": {
        "note": "Descent is being rate-clamped; continuing down toward the bottle neck (z~0.03).",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.075,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_018eHpFARFzZXxFcwhLZy6LL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2863, 1.7844, 0.6559, 0.551, -0.2516, -0.2016, 0.9982, -0.0204, 0.7372, 0.485, -0.3508, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4329 left_y=-0.0779 left_z=0.0428 left_yaw=0.0188 left_pitch=0.0046 left_roll=-0.0226 left_gripper=0.9982 right_x=0.2802 right_y=0.0032 right_z=0.1467 right_yaw=0.0132 right_pitch=-0.0341 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.6137, 3.3436, 0.9597, -0.1538, 0.398, -0.0269, -0.4991, -1.6479, 6.9949, 1.9463, -0.0855, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1671cb3f5d6877fe30e09de449178e7f4b6bbc2ab9476345ff49807b09ac02ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc2867cb8059bd790c57ee87d025e67ea51764677a577b410d6a3f35f3f772d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6986eaff8f8da2743189baf6865a0ecee32fa2372441757f95193eff04f5d0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 4.477 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]: [-0.2752, 1.5204, 0.8703, 0.0151, -0.2398, -0.1829, 0.9983, -0.0193, 0.7712, 0.5503, -0.3843, -0.0242, -0.0334, 0.9998]\nstate[eef_state]: left_x=0.4288 left_y=-0.0738 left_z=0.132 left_yaw=0.0104 left_pitch=-0.0525 left_roll=0.0033 left_gripper=0.9983 right_x=0.286 right_y=0.0024 right_z=0.1607 right_yaw=0.0077 right_pitch=-0.0365 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -6.5709, 9.5795, 1.9365, 0.022, 0.2076, -0.0122, -0.0615, -1.935, 6.8444, 1.9805, -0.0708, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2764, 1.5742, 0.794, 0.1658, -0.247, -0.1837, 0.9983, -0.0196, 0.7528, 0.5171, -0.366, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4309 left_y=-0.0736 left_z=0.1074 left_yaw=0.0155 left_pitch=-0.0316 left_roll=0.0008 left_gripper=0.9983 right_x=0.2832 right_y=0.003 right_z=0.1541 right_yaw=0.012 right_pitch=-0.033 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.8, -1.388, 2.988, 0.9548, -0.1783, 0.0317, -0.0122, -0.3761, -1.2513, 6.7761, 1.9951, -0.0513, -0.022, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2863, 1.7844, 0.6559, 0.551, -0.2516, -0.2016, 0.9982, -0.0204, 0.7372, 0.485, -0.3508, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4329 left_y=-0.0779 left_z=0.0428 left_yaw=0.0188 left_pitch=0.0046 left_roll=-0.0226 left_gripper=0.9982 right_x=0.2802 right_y=0.0032 right_z=0.1467 right_yaw=0.0132 right_pitch=-0.0341 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.6137, 3.3436, 0.9597, -0.1538, 0.398, -0.0269, -0.4991, -1.6479, 6.9949, 1.9463, -0.0855, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1671cb3f5d6877fe30e09de449178e7f4b6bbc2ab9476345ff49807b09ac02ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc2867cb8059bd790c57ee87d025e67ea51764677a577b410d6a3f35f3f772d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6986eaff8f8da2743189baf6865a0ecee32fa2372441757f95193eff04f5d0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UjaJKJcT4oUMpU6SWMHRrr",
      "input": {
        "note": "Bottle neck/cap is ahead-left of the jaws and lies diagonally; shifting toward the neck and yawing ~40° so the jaws close across the bottle axis.",
        "targets": {
          "left_x": 0.455,
          "left_y": -0.05,
          "left_yaw": 0.7,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01UjaJKJcT4oUMpU6SWMHRrr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2867, 1.8019, 0.6476, 0.6209, -0.255, -0.2092, 0.9982, -0.02, 0.7193, 0.4534, -0.3359, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4377 left_y=-0.0788 left_z=0.0468 left_yaw=0.0257 left_pitch=0.0468 left_roll=-0.0408 left_gripper=0.9982 right_x=0.2771 right_y=0.0035 right_z=0.14 right_yaw=0.0139 right_pitch=-0.0329 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.9966, 3.8359, 1.6142, -0.1392, 0.1929, -0.0122, -0.3214, -1.4291, 7.0496, 1.9512, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2c54a3435bbab93cb5e2ca26b874c1125f01a641511fce8d4c601e8508111fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96906382a46115e1b8df45911bc3a155145472d9fa10a5508cdacd3a3ae1e5f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6cbd1dea241ddccb78d07576d8c2c235ba5b15bb7d603d3d8fd3f4aee0a089e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 3.983 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]: [-0.2764, 1.5742, 0.794, 0.1658, -0.247, -0.1837, 0.9983, -0.0196, 0.7528, 0.5171, -0.366, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4309 left_y=-0.0736 left_z=0.1074 left_yaw=0.0155 left_pitch=-0.0316 left_roll=0.0008 left_gripper=0.9983 right_x=0.2832 right_y=0.003 right_z=0.1541 right_yaw=0.012 right_pitch=-0.033 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.8, -1.388, 2.988, 0.9548, -0.1783, 0.0317, -0.0122, -0.3761, -1.2513, 6.7761, 1.9951, -0.0513, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.2863, 1.7844, 0.6559, 0.551, -0.2516, -0.2016, 0.9982, -0.0204, 0.7372, 0.485, -0.3508, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4329 left_y=-0.0779 left_z=0.0428 left_yaw=0.0188 left_pitch=0.0046 left_roll=-0.0226 left_gripper=0.9982 right_x=0.2802 right_y=0.0032 right_z=0.1467 right_yaw=0.0132 right_pitch=-0.0341 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.6137, 3.3436, 0.9597, -0.1538, 0.398, -0.0269, -0.4991, -1.6479, 6.9949, 1.9463, -0.0855, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2867, 1.8019, 0.6476, 0.6209, -0.255, -0.2092, 0.9982, -0.02, 0.7193, 0.4534, -0.3359, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4377 left_y=-0.0788 left_z=0.0468 left_yaw=0.0257 left_pitch=0.0468 left_roll=-0.0408 left_gripper=0.9982 right_x=0.2771 right_y=0.0035 right_z=0.14 right_yaw=0.0139 right_pitch=-0.0329 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.9966, 3.8359, 1.6142, -0.1392, 0.1929, -0.0122, -0.3214, -1.4291, 7.0496, 1.9512, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2c54a3435bbab93cb5e2ca26b874c1125f01a641511fce8d4c601e8508111fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96906382a46115e1b8df45911bc3a155145472d9fa10a5508cdacd3a3ae1e5f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cbd1dea241ddccb78d07576d8c2c235ba5b15bb7d603d3d8fd3f4aee0a089e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwggKEAgSGAI4AUIIdGhpbmtpbmcSDMsJ6p86beYMuJdlHBoMqMLUpdVxvTZVrnrUIjAO5D6VDvt2H8f/Qkpx1uGRtgTFOE7WSKxqcGmTp2QYEwQJB+4wEPqUwWfMAmkGbB0q3wfYkaiFH/0IYXTA5QVScoXqjBPFh2Ti3RW2wWblVC/I8LDl6D6s3leBc4r5cZjxfLOAexjY7Kaq4JyLTU2hPFB3r5fBzRe+wT8r9HZEnMr0Bss4fVwSm6FP4HFn2uMaPfMqnX1EJx1Wb1705a3tNasUdu6d0K3yH8/BQQxAFY+FebYK5rdCwkjjwSf18LDPoVbwTTxFcnXOU8hLrBaAFlamd9Fff4KF59Xh3aNKSTc2EC2YqcDyReys4Cwr1PgD0T8oRi2sG6jvQK8du1WLQwEjkrAP4qlN3gJdf7k4EnOZDy2ndfTs0KkOfAr/rENCMdD42tw71QjF12+B5NwL5AtwJnP7WXCFS7GDKAfeAX48NAbOx4RaIU2oNXxgkqcu/Z1Zp2Kp14sZxusqwGx4LDAZ1cQggY3YbtBva8+ZTwZIbgbCz9zYNE9kEOa6HrZL8SqgwGNdGjsNr0AnqwGLvBepBnHXx2exewi43+a6r8IVDW9i3UfRrERhSycKaD/DuUMCFSzQ3yD2Q5tW+A2TdH29n/mivjO30wHHlbb73+0QK8VyZ55HTKmAC+K9x6Ng2L3KFHPc4i1O8ptKLIA5bWPaOoxXkXLy3gs5b25swtG6LN/xQe6v3g8qWAYKq0qluU4loVesz8dQNhtk/enupTKto+wqhBZulKT4t4h1T1zVeBf/4AKbvjQ2LHsUn71Ugtzf/Ekx490v+ypR1eCDtwGIMER9hZiUqehFsa/CjMgus76A0V+bq0FgRmmCe9gZZCLapbYyrMaewcpm7tl1U2ThOtfaUxHSk0hhc53YZlLn5eRUh0SSHu63rabTEWFpm2aX8OmxXyHhgdCWBua2Ui9uDBU05JTejB8kGLN3Jh1FNvR3cYvBHgw4p6I5eJdHqg2sq/MKZxjuFZ84bocfdnd8hTdmRremT1K6INHYmddY3vae+rZrhgvonqnRa1cWLPDCGFUY31dOziOux9xkAkbLuvveOooG1pKOXwypzqJLJF73ssbx19/XCap0PIvLf+lqhcN/p6j0sXr4yDHeSjpqZ/jhE1Vk66oEXUe3PfMe2yY4z9qQDEKh3sBewB0mF9vrwJLwzyJjT7erPttvugNat2/av7FQ+9BO5e/xC4MN9J8U+RXgvLScS9ZUCmzffJa6/t6olIz2qt6iX/VKgw+mWDb1lzAcr+QFOVrlQzGrQNEBENzERa+sRbMI41qxWpOOav3bst2WFmg6WitdpxxH1OZ4KVqdLLucOwED69hJpFte7zIb8gRhsq4mTFAk0FM/fJxS8CAu82++Va82sX4rWMyfFMetVVSnlt5o/vIIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BUe49KAGzfYy1RuwNdPHxc",
      "input": {
        "note": "Arm barely moved last time, possibly touching the bottle; raising a bit while shifting toward the neck and yawing.",
        "targets": {
          "left_x": 0.455,
          "left_y": -0.05,
          "left_yaw": 0.7,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BUe49KAGzfYy1RuwNdPHxc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2867, 1.8065, 0.6476, 0.6254, -0.255, -0.2092, 0.9982, -0.02, 0.7036, 0.4229, -0.3206, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.438 left_y=-0.0789 left_z=0.0458 left_yaw=0.0257 left_pitch=0.0468 left_roll=-0.0408 left_gripper=0.9982 right_x=0.2744 right_y=0.0035 right_z=0.1332 right_yaw=0.0136 right_pitch=-0.0326 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -6.2154, 3.8085, 1.5458, -0.1441, 0.232, -0.0122, -0.1983, -1.3197, 6.8991, 1.9707, -0.0562, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbf509164a747d3c4ef16c62a2a248a7a890823c079c50868a311c64849737af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26124edd95fa514c2f6b2048778a7691dc238679ad6f04c8b94663e28b06a584",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9dea1464d4ce0e3760201e4710b9334afeec98ead2d0a00718c3f1ca9249659a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 8.195 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]: [-0.2863, 1.7844, 0.6559, 0.551, -0.2516, -0.2016, 0.9982, -0.0204, 0.7372, 0.485, -0.3508, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4329 left_y=-0.0779 left_z=0.0428 left_yaw=0.0188 left_pitch=0.0046 left_roll=-0.0226 left_gripper=0.9982 right_x=0.2802 right_y=0.0032 right_z=0.1467 right_yaw=0.0132 right_pitch=-0.0341 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.6137, 3.3436, 0.9597, -0.1538, 0.398, -0.0269, -0.4991, -1.6479, 6.9949, 1.9463, -0.0855, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2867, 1.8019, 0.6476, 0.6209, -0.255, -0.2092, 0.9982, -0.02, 0.7193, 0.4534, -0.3359, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4377 left_y=-0.0788 left_z=0.0468 left_yaw=0.0257 left_pitch=0.0468 left_roll=-0.0408 left_gripper=0.9982 right_x=0.2771 right_y=0.0035 right_z=0.14 right_yaw=0.0139 right_pitch=-0.0329 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.9966, 3.8359, 1.6142, -0.1392, 0.1929, -0.0122, -0.3214, -1.4291, 7.0496, 1.9512, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2867, 1.8065, 0.6476, 0.6254, -0.255, -0.2092, 0.9982, -0.02, 0.7036, 0.4229, -0.3206, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.438 left_y=-0.0789 left_z=0.0458 left_yaw=0.0257 left_pitch=0.0468 left_roll=-0.0408 left_gripper=0.9982 right_x=0.2744 right_y=0.0035 right_z=0.1332 right_yaw=0.0136 right_pitch=-0.0326 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -6.2154, 3.8085, 1.5458, -0.1441, 0.232, -0.0122, -0.1983, -1.3197, 6.8991, 1.9707, -0.0562, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbf509164a747d3c4ef16c62a2a248a7a890823c079c50868a311c64849737af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26124edd95fa514c2f6b2048778a7691dc238679ad6f04c8b94663e28b06a584",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dea1464d4ce0e3760201e4710b9334afeec98ead2d0a00718c3f1ca9249659a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpQcKEAgSGAI4AUIIdGhpbmtpbmcSDFdtOgypnAn+J2fitxoMU/T4l/4oe87hCzeMIjCf0Rue8d7aEnqfbD1QmGan2BB/Io4QSNzxq7AK1aqYwNPtzDIAaTW/4U+gljjd2HsqwgYjpWeJjjP6YdlHJ+qw7fLI0L/mf2uufpCPwiDxjs0GwLa37Bldpot9qqZFyulDvZgAi7uJMjqAnJuWLmmKgoux4+c7CtzbtES8eX0IBDYX4lnTA0F4134/5LSZC1x9By67IJ1szdnfLbtPuvQzCGUJnpZjT8BE84z2U+zQ6WdzTBxp24yFrCR1Z2BMwDlNlNPBk4+0sVrGW4W297fQsHVFcGtYVrd7bfZTNcAZwagrL1FQJLigkkzhRG6nW+IgTaEn/DKTn2H4mXAshz9g7g6Ps/5yIFHedXKgCKBNGzeD3n0na/XH+EYE2ftdd86ZMCSEQhSkdwRA5VzeV9gb9GrO2iNJvCnZkiLcWrS1GsxqoAHnBPusQU5WVFoBMqSdjpMrB2Z/4gJp19Cpu6UeSgJtRWtgnvL1QZmCacWCbhHxbl+WRaRiyh0zAPATjGyNIuRuEnX8K7rvjYkJbTc4qNf2pHufceq31ZNg3yqvreWNolU3u6rXDt6fKDXYUEi7Nsc34nleC8iYTOQBVVvI0lBDB103FEX4q/iR1OOys48n3EkHVBtG5FUnjlcdalVBKgemvWJb13raEs4E6z3pF1UOVkE1BrpFnIVeyKM0Y1WW2qF4nFx28u7/A26erwZPHNpXiNQ6rOiNVHpGAfRaYi7iC/H2KZpKmpHxxK1V5QjKrbqXYg+UvI5OO1BSD0OqmTNYmkV0hNihkktm6nzPES7udPHnJMW0GsX5nEmYl2EM0YgaPypvs/t95HcUzSTUzAqTniJUE6xYd/bA/7H4dhxHf04xRg3VKtjUKIs393KFvQ+60J0HFfKQ4gzwkHF6b1jaZBcQa1zGDjIQvIF/ZWOjMNc5yx3vEE7tMB8TDcom3j3+zsebrfCNtXfLjtVe1yt1wzLN0oF5pt7vZJkneozoa8WTDLHNLUFqiznZPmJaD4Jm6TeotB++wj3+oY2yuF3Jex+UZ3zXQZrH7DxxgaAtX5cXPx2zBJhimR+k4BxNdruVfX/9Py6ejG5S0e49KWJu3+CKeSi+gOdow/HNS7gVpiJSlgHbT26/s/+oq1l8YtaEwxSXInECAJzSoiESHo+eMAGyS0INVFBHtzE+2WgSID0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BCvuXrT5xYh5aiwaMTVcLe",
      "input": {
        "note": "Left arm is not responding to the last targets; trying a pure lift at the current xy to see if it tracks.",
        "targets": {
          "left_x": 0.438,
          "left_y": -0.079,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BCvuXrT5xYh5aiwaMTVcLe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2825, 1.6096, 0.7841, 0.2634, -0.2691, -0.202, 0.9982, -0.0204, 0.6861, 0.3927, -0.3088, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4405 left_y=-0.0752 left_z=0.1085 left_yaw=0.0375 left_pitch=0.022 left_roll=-0.0187 left_gripper=0.9982 right_x=0.2711 right_y=0.0035 right_z=0.1263 right_yaw=0.0135 right_pitch=-0.0333 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.8, 8.6359, 1.7363, 0.1148, 0.2173, -0.0122, -0.4308, -0.9231, 6.9538, 1.9951, -0.0757, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a80faa22dcadbb5c256efe37bcbbee530e402ddd4b8689cf93ec77bfce2e1f9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b960b537fba0458cfe34a2862f48e8b869d81afeb9f5ad819d4a0973d180e19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b36446faf776720df451fa1a129c4110e5cec664e79ad8e3a7416e94ca44a7f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 7.926 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]: [-0.2867, 1.8019, 0.6476, 0.6209, -0.255, -0.2092, 0.9982, -0.02, 0.7193, 0.4534, -0.3359, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4377 left_y=-0.0788 left_z=0.0468 left_yaw=0.0257 left_pitch=0.0468 left_roll=-0.0408 left_gripper=0.9982 right_x=0.2771 right_y=0.0035 right_z=0.14 right_yaw=0.0139 right_pitch=-0.0329 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.9966, 3.8359, 1.6142, -0.1392, 0.1929, -0.0122, -0.3214, -1.4291, 7.0496, 1.9512, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2867, 1.8065, 0.6476, 0.6254, -0.255, -0.2092, 0.9982, -0.02, 0.7036, 0.4229, -0.3206, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.438 left_y=-0.0789 left_z=0.0458 left_yaw=0.0257 left_pitch=0.0468 left_roll=-0.0408 left_gripper=0.9982 right_x=0.2744 right_y=0.0035 right_z=0.1332 right_yaw=0.0136 right_pitch=-0.0326 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -6.2154, 3.8085, 1.5458, -0.1441, 0.232, -0.0122, -0.1983, -1.3197, 6.8991, 1.9707, -0.0562, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2825, 1.6096, 0.7841, 0.2634, -0.2691, -0.202, 0.9982, -0.0204, 0.6861, 0.3927, -0.3088, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4405 left_y=-0.0752 left_z=0.1085 left_yaw=0.0375 left_pitch=0.022 left_roll=-0.0187 left_gripper=0.9982 right_x=0.2711 right_y=0.0035 right_z=0.1263 right_yaw=0.0135 right_pitch=-0.0333 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.8, 8.6359, 1.7363, 0.1148, 0.2173, -0.0122, -0.4308, -0.9231, 6.9538, 1.9951, -0.0757, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a80faa22dcadbb5c256efe37bcbbee530e402ddd4b8689cf93ec77bfce2e1f9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b960b537fba0458cfe34a2862f48e8b869d81afeb9f5ad819d4a0973d180e19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b36446faf776720df451fa1a129c4110e5cec664e79ad8e3a7416e94ca44a7f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LQjcp9xDneaivBcXScotjH",
      "input": {
        "note": "Lift tracked. The cap is roughly below the fingertips; now yawing ~35° CCW so the jaws will close across the bottle's diagonal axis.",
        "targets": {
          "left_x": 0.445,
          "left_y": -0.07,
          "left_yaw": 0.6,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LQjcp9xDneaivBcXScotjH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.458, 1.8015, 1.0836, -0.083, -0.6643, -0.5949, 0.9978, -0.0204, 0.6659, 0.3607, -0.2916, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4534 left_y=-0.0981 left_z=0.103 left_yaw=0.387 left_pitch=-0.0392 left_roll=-0.0121 left_gripper=0.9978 right_x=0.2684 right_y=0.0035 right_z=0.1202 right_yaw=0.0135 right_pitch=-0.028 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.8137, -9.1282, 7.0906, 1.1746, -0.5397, 0.0024, -0.0562, -0.3214, -0.8821, 7.0359, 1.9023, -0.1099, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:638d698aca400dff0e39b713a42596452b9b5a7104a51f74f8543d75b93dd1ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0de896b0109e13246e6f456ad58dec2622a69053e69581d7bcec1c086b568f55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:838019937708ba029e83a010185f556664f2a588a00684799550f37649af6084",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 5.639 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]: [-0.2867, 1.8065, 0.6476, 0.6254, -0.255, -0.2092, 0.9982, -0.02, 0.7036, 0.4229, -0.3206, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.438 left_y=-0.0789 left_z=0.0458 left_yaw=0.0257 left_pitch=0.0468 left_roll=-0.0408 left_gripper=0.9982 right_x=0.2744 right_y=0.0035 right_z=0.1332 right_yaw=0.0136 right_pitch=-0.0326 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -6.2154, 3.8085, 1.5458, -0.1441, 0.232, -0.0122, -0.1983, -1.3197, 6.8991, 1.9707, -0.0562, -0.0513, -0.0073]\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]: [-0.2825, 1.6096, 0.7841, 0.2634, -0.2691, -0.202, 0.9982, -0.0204, 0.6861, 0.3927, -0.3088, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4405 left_y=-0.0752 left_z=0.1085 left_yaw=0.0375 left_pitch=0.022 left_roll=-0.0187 left_gripper=0.9982 right_x=0.2711 right_y=0.0035 right_z=0.1263 right_yaw=0.0135 right_pitch=-0.0333 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.8, 8.6359, 1.7363, 0.1148, 0.2173, -0.0122, -0.4308, -0.9231, 6.9538, 1.9951, -0.0757, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.458, 1.8015, 1.0836, -0.083, -0.6643, -0.5949, 0.9978, -0.0204, 0.6659, 0.3607, -0.2916, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4534 left_y=-0.0981 left_z=0.103 left_yaw=0.387 left_pitch=-0.0392 left_roll=-0.0121 left_gripper=0.9978 right_x=0.2684 right_y=0.0035 right_z=0.1202 right_yaw=0.0135 right_pitch=-0.028 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.8137, -9.1282, 7.0906, 1.1746, -0.5397, 0.0024, -0.0562, -0.3214, -0.8821, 7.0359, 1.9023, -0.1099, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:638d698aca400dff0e39b713a42596452b9b5a7104a51f74f8543d75b93dd1ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0de896b0109e13246e6f456ad58dec2622a69053e69581d7bcec1c086b568f55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:838019937708ba029e83a010185f556664f2a588a00684799550f37649af6084",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MZwj2PrKf6aBA4Yaqby1T1",
      "input": {
        "note": "Wrist view now shows the bottle running along the image vertical with the cap ahead-left of the jaws. Shifting ~3 cm forward and ~3 cm left so the neck is between the fingertips.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.06,
          "left_yaw": 0.5,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01MZwj2PrKf6aBA4Yaqby1T1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4492, 1.8233, 1.0657, -0.0772, -0.7181, -0.6262, 0.9977, -0.0204, 0.6495, 0.3344, -0.2836, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4498 left_y=-0.0838 left_z=0.0925 left_yaw=0.4511 left_pitch=-0.0307 left_roll=0.0133 left_gripper=0.9977 right_x=0.2653 right_y=0.0036 right_z=0.1139 right_yaw=0.0135 right_pitch=-0.0299 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -9.7436, 6.2291, 1.5409, -0.2857, 0.3736, -0.0269, -0.4991, -0.9094, 6.9949, 1.956, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc8b0cdce93ed2aa524f9839667f0fb892950731496368b4d33572e1003e42b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f285e75d9a8ad221b0fa31fb1c9c50ffbc0bc29dfd50314df0871d40ffdba56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:53e0c5d116a39c5e50ef2980da0503dfe0533bbb2bb9efba16949ea83e054c78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 4.934 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]: [-0.2825, 1.6096, 0.7841, 0.2634, -0.2691, -0.202, 0.9982, -0.0204, 0.6861, 0.3927, -0.3088, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4405 left_y=-0.0752 left_z=0.1085 left_yaw=0.0375 left_pitch=0.022 left_roll=-0.0187 left_gripper=0.9982 right_x=0.2711 right_y=0.0035 right_z=0.1263 right_yaw=0.0135 right_pitch=-0.0333 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.8, 8.6359, 1.7363, 0.1148, 0.2173, -0.0122, -0.4308, -0.9231, 6.9538, 1.9951, -0.0757, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.458, 1.8015, 1.0836, -0.083, -0.6643, -0.5949, 0.9978, -0.0204, 0.6659, 0.3607, -0.2916, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4534 left_y=-0.0981 left_z=0.103 left_yaw=0.387 left_pitch=-0.0392 left_roll=-0.0121 left_gripper=0.9978 right_x=0.2684 right_y=0.0035 right_z=0.1202 right_yaw=0.0135 right_pitch=-0.028 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.8137, -9.1282, 7.0906, 1.1746, -0.5397, 0.0024, -0.0562, -0.3214, -0.8821, 7.0359, 1.9023, -0.1099, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4492, 1.8233, 1.0657, -0.0772, -0.7181, -0.6262, 0.9977, -0.0204, 0.6495, 0.3344, -0.2836, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4498 left_y=-0.0838 left_z=0.0925 left_yaw=0.4511 left_pitch=-0.0307 left_roll=0.0133 left_gripper=0.9977 right_x=0.2653 right_y=0.0036 right_z=0.1139 right_yaw=0.0135 right_pitch=-0.0299 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -9.7436, 6.2291, 1.5409, -0.2857, 0.3736, -0.0269, -0.4991, -0.9094, 6.9949, 1.956, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc8b0cdce93ed2aa524f9839667f0fb892950731496368b4d33572e1003e42b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f285e75d9a8ad221b0fa31fb1c9c50ffbc0bc29dfd50314df0871d40ffdba56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53e0c5d116a39c5e50ef2980da0503dfe0533bbb2bb9efba16949ea83e054c78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS2QkKEAgSGAI4AUIIdGhpbmtpbmcSDC9uL67k95FzpXdJWhoMLeWRdHD9AnK/I7C+IjBarK3A8sSPoVAZXRFVOG3abbVeMEWOWk8K1dsyLBRYk1Y9H7R7L+4bynQp2xoG2Roq9ghSpo2lsAL+ec5ZofF0JTEZpzodv59Rms1wwEvmISfp4Ajk9MMdokloi+p1u1gzniZFkVQBb3hFIY4rbizbYELVUeZ9FOBLhN5FUouaVlZ9rMTnKtIB2qfi2mY7SV4kRIjdkkwSBs04QX2+TG231EsgpHPlR0eqTQjTtPaD09jYbRLBkEGGWywVgWBNvJOG2oft9LAshQ9AASk/uLoFMTD7eZmymtHiU7pE6cBM459JxDWDYVrszxxt0fh/5FGNHA30YpezM+7g6W+0WYJBhn42yQOuF5ephhhcMtuyhkRadKm4mdsbBO4oWJxYw0BYrulKMX7FBdXKygafiQdihfec0bw1rLOob3XIkJfWcV3S52/4/7ZVzcLtu8253s7FSGCnONqGBR6qaKQ+RP/LuZjrGUhdzuzy2t7EU9YJd6Z1dwavXPfVR1HVJPg10wL8M7TUnzrghDm+brebAPf4R7i6VpXYfTKkbWXVmO4U26Oy1UNGjxsnrcvQOBkrEFOF/mmxSNiHXRssYj3rtiTivX12eETgcJvp21x0ZTC7q3VC6X2wHECXAdl6u79gFWfGsi/Zs1uYwsb4ovQAuJmucs4rUfznhkqil/i8ll2XPFjQ1dXwbsoYPAwXZTTIW7ZvUShSFAdTCmEDA1XChWE7QvXVwlqebEA1Xk/HobUoZ9+MR8TvQIijXNbISlW7agrEiC+adtvwkqCpd8W3hywReq5UEHhBor4GAIAL6A/vMjGyVn4umf5ycB2E1PfnODyu2bXZ1RaSKpg58M4yX960uzoC7ZAScCa5Q8HAaQI52SaTgEFeoUKtCydhXKaED77uSXMVaJLb6OUponOoq/8FGCgmLs+dkvujWSHPv+oa+WQ9d0qvi2iNBjF9wJ+3nRH/sq0qm/ZXRjgJF9It31uho5nVKBSzCvSd9hf+DwCVg2GbzO6fPUgvP4m8e95bd4ooJrc8oKVXY7cBMh85Hwq0hXOo8QMQuf6qVWiwYQL7ke7bXQ4He941kH9LA7CabiECxHfmAH5O623E8EBKxM5GS44HI3zqhcOVSlu1BTN6pBG+AdHH9OJZGuC2ndUzeKmKoTSdCjeCoo/c+3xP1Pmpj+4ts9LFOyQoTA0AzcuQmmYgpIuRJbDhQQqqM/Ttn9g4cx3TPxKnuXWo0piwFm2vwRH/Y4jW+Dsu8kN3DveuEY8amMgnrS0lg0W1Xg4gM6nsvQeH5F+ZS0YrYBjJJ46MWtu9Xw94hUBLjTZQhn9iQUoc93FKASCW8O+ApCf+wu+fkQnvU14BxvPx2uOStY+3dVIFDq1LPVOQJr8Hpd12TvaCGOpaYVQ4E1aods0yf2UWu/nY0ecJlC492AH7hVhaTQE23QnyvNXXlnKthBp4yipXrxEtNHEApeyhCMq3QbXP/DX/i9FMo2kdJOYgE8Q5Fs08TX4vqIpHDQLt2bxjHORMKfISqcC02acLrzBLOdp9e+ieSnefh6GMNLhTLHWDU4SlDA1jNQI1doFLxTWkaqm/zKQidIBbgBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BtSB4gsDjiX4ViaNQBhLeL",
      "input": {
        "note": "Cap is now near the jaw column just ahead of the fingertips; descending to neck height to grasp.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.075,
          "left_yaw": 0.5,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BtSB4gsDjiX4ViaNQBhLeL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4492, 1.8233, 1.0657, -0.0559, -0.7109, -0.6018, 0.9977, -0.02, 0.6327, 0.308, -0.271, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4528 left_y=-0.0863 left_z=0.0948 left_yaw=0.4326 left_pitch=-0.0218 left_roll=0.0136 left_gripper=0.9977 right_x=0.2629 right_y=0.0037 right_z=0.1086 right_yaw=0.0139 right_pitch=-0.0268 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -9.6479, 6.1744, 1.5946, -0.2759, 0.1294, -0.0122, -0.3214, -0.9641, 6.8718, 1.8828, -0.0562, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46d06759ab5420a43167df54c5443cd1c0444c39924940b7dca871ec334ce875",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bdf5c975d9df90dea3272907bb347cf70e9d43980cd7dd8ab50adba8fe9093e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a9751299bc575567d52ad714a548352bcbc8a39039785708b66ceef9aa5650d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 9.986 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]: [-0.458, 1.8015, 1.0836, -0.083, -0.6643, -0.5949, 0.9978, -0.0204, 0.6659, 0.3607, -0.2916, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4534 left_y=-0.0981 left_z=0.103 left_yaw=0.387 left_pitch=-0.0392 left_roll=-0.0121 left_gripper=0.9978 right_x=0.2684 right_y=0.0035 right_z=0.1202 right_yaw=0.0135 right_pitch=-0.028 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.8137, -9.1282, 7.0906, 1.1746, -0.5397, 0.0024, -0.0562, -0.3214, -0.8821, 7.0359, 1.9023, -0.1099, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4492, 1.8233, 1.0657, -0.0772, -0.7181, -0.6262, 0.9977, -0.0204, 0.6495, 0.3344, -0.2836, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4498 left_y=-0.0838 left_z=0.0925 left_yaw=0.4511 left_pitch=-0.0307 left_roll=0.0133 left_gripper=0.9977 right_x=0.2653 right_y=0.0036 right_z=0.1139 right_yaw=0.0135 right_pitch=-0.0299 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -9.7436, 6.2291, 1.5409, -0.2857, 0.3736, -0.0269, -0.4991, -0.9094, 6.9949, 1.956, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4492, 1.8233, 1.0657, -0.0559, -0.7109, -0.6018, 0.9977, -0.02, 0.6327, 0.308, -0.271, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4528 left_y=-0.0863 left_z=0.0948 left_yaw=0.4326 left_pitch=-0.0218 left_roll=0.0136 left_gripper=0.9977 right_x=0.2629 right_y=0.0037 right_z=0.1086 right_yaw=0.0139 right_pitch=-0.0268 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -9.6479, 6.1744, 1.5946, -0.2759, 0.1294, -0.0122, -0.3214, -0.9641, 6.8718, 1.8828, -0.0562, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46d06759ab5420a43167df54c5443cd1c0444c39924940b7dca871ec334ce875",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bdf5c975d9df90dea3272907bb347cf70e9d43980cd7dd8ab50adba8fe9093e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a9751299bc575567d52ad714a548352bcbc8a39039785708b66ceef9aa5650d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmggKEAgSGAI4AUIIdGhpbmtpbmcSDJ748jXQKuvpIuPuqBoMCqrHorqhH+3D92aWIjDLUWIAmKsYyvYHj4WEaAVtYJIghpefdgzMCrP+ZgyJdYAot9kB7AIyA8IYYr6x8NYqtwfpo8Xg2g3brW6IW4pE7SoEaor+D4LHK1MywsGKqq/MxIiBQwDqI5zH9JlmFmd7rZgoAoq4BXeQyyC3lRkOPo3UZzVkoHRZUrnA5qvqcwQ8P8sOREEOokBrlyd0uPJmpIlX40iy8fO2bJtmt3VwzByVAaVPG+dg3cZQedqYhorYRt/UtQL1l2hKzttrFJ4lCFyp0k6yC7Unh9Xup6iiUmY9zvdYseTENsMssXlQPRtyj62enhhUxmQjhzfB6YXyUysp0zjUp+DvD5rcC8kkMUIy/tHgYidYG4V27tY2KjMTb08Nu2M1iqq98OiOs1zHC62Cg4W41+XXr3MvMxozoSHfxzDhp7Pifa5jDGpopRyK/ZDUfRgr/aqxB3C1xEp5/xyVS5SbHMyqzRFk8wQ+yvqScxcxDcTshb1jchcJ2pSO8tX9Okb/AQ7Ittc/j5tBExgEEJbuob+agi/fUkyzzgveWFURDtxFNXKtJsLKFhcko7o/uVEwYbYJ2hJLdoLT8SD36OgLLlUYCt4SD5lZA0DKXR382tnnI1aufuiEjgzMUsKBYm/3vEsElayYbWQ4Jrlw+e5HLzon+kWZPWIMeHD8h1hktmUyq/cgcHtEpvqZfOCKlCwobBZ7HRYiIKKLlzetM7jnsJVsk6wjd6qOnDRJNBhJD0XJwViNUnn8pM9vzIWqeWXbNsjnSMOGb+aYuW1IIkxP7i2mrOTWdQeG1ZDnUww1oyv2SmY6XkDVmSpnRk9SUQb8Zkp6CgnneFpRqoSCRZ2AKITIUvge6xU3xZSL0n91T0B3fLOcvlbyc9irTV4SagvtM8QdqCzCnFYqB/RNkZBxqGbYMD5bqHTzSrhmO0IReoCKEOtYbxjZO/CuLmErPh3qGVx4fd2wk8LPjuqKFgk3LPP8Hy+bC6lY9Dj5w4j1DNc6/T8uDHB2+uVNXKnM1rWlrS+ibZ3vO3KyKnMYsnpT0Ma62FP5qgnb45LDjj6IgBIAXjPRJ/pmA2CGHX40nL8EJHH+9UlbiXKUssXr2BhqQpqFS70M0skLbPd5vJnbjkmjt9QWWtxtjMVKpZ6xTJZHNluw1UfioqR95LUC3EWoB1GqG5qjnSseDf+LoiNYHmk+Hu4Q0YEDabrQ2zKE9TonFW96u9GX9n6xNcDS1rz47GygpiFBK1uCUuBCHkfKdY4sONmPbaUaQgZ9w99PO1N8kY7jzW9IGC89KhEzGZXe7Hl1R993DzdnM83v2D55+XvV/SwIE51HQjL45ln53AF8SW8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P5KfAc5RSDkQSk6v34pWgo",
      "input": {
        "note": "Arm held position on the last target (likely IK limit at longer reach). Trying a pure descent at the current xy/yaw.",
        "targets": {
          "left_x": 0.445,
          "left_y": -0.085,
          "left_yaw": 0.43,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01P5KfAc5RSDkQSk6v34pWgo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.453, 1.9347, 0.9298, 0.1562, -0.73, -0.6025, 0.9977, -0.0204, 0.6147, 0.2878, -0.2646, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4392 left_y=-0.0788 left_z=0.0329 left_yaw=0.4431 left_pitch=-0.0329 left_roll=0.0491 left_gripper=0.9977 right_x=0.2606 right_y=0.0037 right_z=0.105 right_yaw=0.0135 right_pitch=-0.0227 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -10.2085, 5.8188, 1.4628, 0.2515, 0.0806, -0.0122, -0.3761, -0.4444, 6.9402, 1.9707, -0.0904, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b53934c0851f55d27d754994c5aad88ff628b3c5b4465a1e59270a9a33248959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5aa712f41216da5b6dc9db8bf8b9cc639ada1a31aedb47189297454d1243327",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7cd8a7217d5bcdfb4d506e702c645c99e439442a006e50deeaead147f9f9512e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 4.306 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]: [-0.4492, 1.8233, 1.0657, -0.0772, -0.7181, -0.6262, 0.9977, -0.0204, 0.6495, 0.3344, -0.2836, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4498 left_y=-0.0838 left_z=0.0925 left_yaw=0.4511 left_pitch=-0.0307 left_roll=0.0133 left_gripper=0.9977 right_x=0.2653 right_y=0.0036 right_z=0.1139 right_yaw=0.0135 right_pitch=-0.0299 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -9.7436, 6.2291, 1.5409, -0.2857, 0.3736, -0.0269, -0.4991, -0.9094, 6.9949, 1.956, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4492, 1.8233, 1.0657, -0.0559, -0.7109, -0.6018, 0.9977, -0.02, 0.6327, 0.308, -0.271, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4528 left_y=-0.0863 left_z=0.0948 left_yaw=0.4326 left_pitch=-0.0218 left_roll=0.0136 left_gripper=0.9977 right_x=0.2629 right_y=0.0037 right_z=0.1086 right_yaw=0.0139 right_pitch=-0.0268 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -9.6479, 6.1744, 1.5946, -0.2759, 0.1294, -0.0122, -0.3214, -0.9641, 6.8718, 1.8828, -0.0562, -0.0122, -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]: [-0.453, 1.9347, 0.9298, 0.1562, -0.73, -0.6025, 0.9977, -0.0204, 0.6147, 0.2878, -0.2646, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4392 left_y=-0.0788 left_z=0.0329 left_yaw=0.4431 left_pitch=-0.0329 left_roll=0.0491 left_gripper=0.9977 right_x=0.2606 right_y=0.0037 right_z=0.105 right_yaw=0.0135 right_pitch=-0.0227 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -10.2085, 5.8188, 1.4628, 0.2515, 0.0806, -0.0122, -0.3761, -0.4444, 6.9402, 1.9707, -0.0904, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b53934c0851f55d27d754994c5aad88ff628b3c5b4465a1e59270a9a33248959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5aa712f41216da5b6dc9db8bf8b9cc639ada1a31aedb47189297454d1243327",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cd8a7217d5bcdfb4d506e702c645c99e439442a006e50deeaead147f9f9512e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016JkhDpuy6BGTypoe8cp25g",
      "input": {
        "note": "Jaws straddle the bottle's shoulder just behind the cap. Closing partially for a light grip that may let the bottle pivot when lifted.",
        "targets": {
          "left_gripper": 0.5
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_016JkhDpuy6BGTypoe8cp25g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4519, 1.9373, 0.9001, 0.2897, -0.7418, -0.6086, 0.5113, -0.02, 0.6018, 0.2691, -0.2642, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4476 left_y=-0.0806 left_z=0.042 left_yaw=0.4559 left_pitch=0.0365 left_roll=-0.0301 left_gripper=0.5113 right_x=0.2578 right_y=0.0038 right_z=0.0997 right_yaw=0.0139 right_pitch=-0.028 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -9.4427, 3.9179, 1.1306, -0.1197, -0.0317, 0.3394, -0.335, -0.5265, 7.1043, 1.917, -0.105, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0be55578000874020e82fe8e9d9b966bb6e8214b118766fd88c9d2e2f1e14e2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ed37895df1bd680bd92f32b59749099bbb2f0e78fe93b396118d931bae11024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d9a75e50a79fa9957b570369b09e0d74c6667662ce297412516e8587369d9ef",
        "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 · 4.805 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]: [-0.4492, 1.8233, 1.0657, -0.0559, -0.7109, -0.6018, 0.9977, -0.02, 0.6327, 0.308, -0.271, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4528 left_y=-0.0863 left_z=0.0948 left_yaw=0.4326 left_pitch=-0.0218 left_roll=0.0136 left_gripper=0.9977 right_x=0.2629 right_y=0.0037 right_z=0.1086 right_yaw=0.0139 right_pitch=-0.0268 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -9.6479, 6.1744, 1.5946, -0.2759, 0.1294, -0.0122, -0.3214, -0.9641, 6.8718, 1.8828, -0.0562, -0.0122, -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]: [-0.453, 1.9347, 0.9298, 0.1562, -0.73, -0.6025, 0.9977, -0.0204, 0.6147, 0.2878, -0.2646, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4392 left_y=-0.0788 left_z=0.0329 left_yaw=0.4431 left_pitch=-0.0329 left_roll=0.0491 left_gripper=0.9977 right_x=0.2606 right_y=0.0037 right_z=0.105 right_yaw=0.0135 right_pitch=-0.0227 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -10.2085, 5.8188, 1.4628, 0.2515, 0.0806, -0.0122, -0.3761, -0.4444, 6.9402, 1.9707, -0.0904, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4519, 1.9373, 0.9001, 0.2897, -0.7418, -0.6086, 0.5113, -0.02, 0.6018, 0.2691, -0.2642, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4476 left_y=-0.0806 left_z=0.042 left_yaw=0.4559 left_pitch=0.0365 left_roll=-0.0301 left_gripper=0.5113 right_x=0.2578 right_y=0.0038 right_z=0.0997 right_yaw=0.0139 right_pitch=-0.028 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -9.4427, 3.9179, 1.1306, -0.1197, -0.0317, 0.3394, -0.335, -0.5265, 7.1043, 1.917, -0.105, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0be55578000874020e82fe8e9d9b966bb6e8214b118766fd88c9d2e2f1e14e2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ed37895df1bd680bd92f32b59749099bbb2f0e78fe93b396118d931bae11024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d9a75e50a79fa9957b570369b09e0d74c6667662ce297412516e8587369d9ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1gcKEAgSGAI4AUIIdGhpbmtpbmcSDLnOgTIHD3JAIvdlNRoMrQdKRffKueulp1iZIjBN9C/boi1heC1Ti1tl3gx5jP6qHDO5heTxgqOXz467XahSdwEMY4eYy5mB4wmncvIq8wZnwQ6SFLoIqEQv8HXOt8Joq4bDgdhIO1sHYOxzkyTPbGhP+o6gfWmtLE7PCNLjym6xtYA/8qzwQwHliF80XAdA9/4JAnkkSpWo/7wzHn2rY1+cFo3MYFphHZNBfeOxIohWPDZRA++9daqQT5PHNDRGlLPuBg55NLBHNItJmchVOvgIOK1VlS5K43Cpa5skEFbSpPcOXWfH2xdeQLmUKeiTX6Xjn571oxszHscce7c7jhXE5BNgMqTKCVdbeeiw9C0W43nw+EHqioXIpyLIWxz7XEJNMCvuFccvgHCMCMSMwFWq/JyJu1t7zQj6toKvyAqhvPqCtjLOyJ/LyXlvF6HPDXjYNKpwVUdTjmNrm0mykE1Cl2ImgrPuOKFsr3JxTQt1MQBbq6pNz9mjOUy8oUlc9tF/poqkMOlGKPm7/ahXzSk1ka00JzsWh918O5w1uzjgUYNO/QAfh8EiHT7CW0SSkV+3Bti2bRfZRYAKkDoxrbZI2Xsyg98YCSF6XSMEvdS4KdJJH2W+SCFFv7tigzB+bmO8RmHG5m5Etqi2TZPqKJIYavUwsCjPcO0nT7qlZPpHAeLkjn6Se7H4OCMTCILL+BULaid2jXoTtA+mIDLTt12tRuEG2rSxwuCzPnHgaOfTHo9/gWbjXLa+AGIrPmMn63Ref8zqJV81hrBdXX9WznvQNf0SJ7XhCHLxbtIW28vKqKFn87RHS96NpSFm3xP0EcLPff5PXvxUJ7H33/ih1Yir3vAAF8Ok2h1uOw3GtXLcCUeAfnVEihI7JjTlLyyO+iRFiBcOO/4iATu1IjaRqrUdZWCYHa2Ouuxtv6UaAjNHz9je+pzmDpzxsK3KYt/MBzQHUwW3Lhvsmbwph6qZDYJ6jXA28gp1InjsBbfsl8MZIJ9GX6OA592r9aOxRCqiPL5ulnl3CFhiFh+JtTPovt6Hk6NSw9afJMnTvhFzy86+NmCf1glOoH2Wwk/TSrAxTHQj7HOiMekJFpLKb/ziZGGWzjeoyAa0Z6xeOFgRLWLCH/PgJPZWZbtWjGUmitbw1B/6rt5S3fo838j5ARzOQRGXMiNau9sr5XElfgn3GvD4iOE6iwSMNCk6BGUmj4KvvNHk8ZD1XG9pdDyWWUDFan3/ardrkRNYtxNFU5VyLqJfBTnSWN5daG1CXCBtn119gcl2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UaLAWFaMH5CV2tpmpHqzx4",
      "input": {
        "note": "Bottle is centred and lightly gripped near the shoulder (gripper 0.51). Lifting so the heavier bottom end can swing down and hang vertically.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01UaLAWFaMH5CV2tpmpHqzx4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4519, 1.7168, 1.2686, -0.3733, -0.7334, -0.6289, 0.5123, -0.02, 0.5819, 0.244, -0.2615, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4512 left_y=-0.0836 left_z=0.1738 left_yaw=0.4601 left_pitch=-0.0136 left_roll=0.0075 left_gripper=0.5123 right_x=0.2544 right_y=0.0039 right_z=0.0935 right_yaw=0.0139 right_pitch=-0.0307 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -11.7402, 8.7863, 1.409, -0.3004, 0.1099, 0.0904, -0.3487, -0.4718, 6.9402, 1.9658, -0.0611, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93d8e2615abde8a754a1033ac2848d73f0a88188600e316708603c25140f7277",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:237dd3b2225c17fa736181f86a7fb298193306a2c03e220a6d0249db9b4d5b36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00c112fb3c939e08921361cae5059b7b7a6db30112f737d47bfbfdc350abf69f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 4.852 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]: [-0.453, 1.9347, 0.9298, 0.1562, -0.73, -0.6025, 0.9977, -0.0204, 0.6147, 0.2878, -0.2646, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4392 left_y=-0.0788 left_z=0.0329 left_yaw=0.4431 left_pitch=-0.0329 left_roll=0.0491 left_gripper=0.9977 right_x=0.2606 right_y=0.0037 right_z=0.105 right_yaw=0.0135 right_pitch=-0.0227 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -10.2085, 5.8188, 1.4628, 0.2515, 0.0806, -0.0122, -0.3761, -0.4444, 6.9402, 1.9707, -0.0904, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4519, 1.9373, 0.9001, 0.2897, -0.7418, -0.6086, 0.5113, -0.02, 0.6018, 0.2691, -0.2642, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4476 left_y=-0.0806 left_z=0.042 left_yaw=0.4559 left_pitch=0.0365 left_roll=-0.0301 left_gripper=0.5113 right_x=0.2578 right_y=0.0038 right_z=0.0997 right_yaw=0.0139 right_pitch=-0.028 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -9.4427, 3.9179, 1.1306, -0.1197, -0.0317, 0.3394, -0.335, -0.5265, 7.1043, 1.917, -0.105, -0.0611, -0.0122]",
      "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]: [-0.4519, 1.7168, 1.2686, -0.3733, -0.7334, -0.6289, 0.5123, -0.02, 0.5819, 0.244, -0.2615, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4512 left_y=-0.0836 left_z=0.1738 left_yaw=0.4601 left_pitch=-0.0136 left_roll=0.0075 left_gripper=0.5123 right_x=0.2544 right_y=0.0039 right_z=0.0935 right_yaw=0.0139 right_pitch=-0.0307 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -11.7402, 8.7863, 1.409, -0.3004, 0.1099, 0.0904, -0.3487, -0.4718, 6.9402, 1.9658, -0.0611, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93d8e2615abde8a754a1033ac2848d73f0a88188600e316708603c25140f7277",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:237dd3b2225c17fa736181f86a7fb298193306a2c03e220a6d0249db9b4d5b36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00c112fb3c939e08921361cae5059b7b7a6db30112f737d47bfbfdc350abf69f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwgKEAgSGAI4AUIIdGhpbmtpbmcSDIjyUFMdzlurzlTkCxoMY63s/Im01TZThIF4IjA12V/2N9AqAGJyRzn1IINVbwasOt51aGhW9fiJoWjRPyGYFLkGmxvDHIc86pza4cIq3Ad/BgJsh8Z5gym5Fn9OMdsXucr4402ZaFT2me4qZu2COplFuWPr7Ds1HHz2RbQ0r+XrTAuhitAcpY/CElkpacVB8Br2/2WjeyIVetaZVk1uIXwMd5V9BEZRjdn0J6bQQD4gpp5cGpTK0eXx/C/6nZvw3M268cKWxSM9OIEtIwPSi+YHQogCVpFEnuDVtOCo7KavpHr21UAqk0ZUQr/7xItXHGx2C2zAG6LpcErHbfOKMvU/UIwqI0my0RJHDG3HsQH5rfUPv5m0A91+b1R7FGfASG5kZQLVkTZdv+eUpWyZNre4nJ23IKG1qWF/3C/JvKXlBMUfB3c89mp3+tAm3fMdG/24ZO/0CYs/nOKY+eOf+zz0kaoGKhy18qEynOQDuvSrlLmN7hsrfWV9HeQLwTRGxPo+qdTL376b0fIzGIWek461VCHp4p2rvXskf4bjOmBYgvthmgAH/yXU6YJYkZ7ZZnVWkhCq0jsKEcABqC5BRifSnBTSNfy70eYd9pO6ib2g5YxEZSJm6FlaO1vFoDx65dgw3IiIwekG4QQq4VwocUs/fxCpm71Fh5Wiwu2QnHmg8avIPu9vCgtjjGBIk5of05wgPS8t6Duv8l1wVa42CsxpZL7XFoX3WTKJm5LYDY0TZqCJHkaPxq8kd+RB3PBomcZEaszT0CLdAiw1wHgK9jD/rCH8+xpjasxtEwxp8ZJYX9T+sGL2hTsQ4dtOVgWbyRI42Vxb4V3jRmzT6cw/iyUFUQm6vYT1TwqTcuwHgP5rmtugb1mylhh445SXHhQEjzw5VU+2JzRrnsSb5RiT7nb/4doI6G0EFQMMDbRck6NNnHN8vfXfmrVe8Lfe5cCda+Gw738uNRm9fEsKs1a2PyHPeQJbZiXTWTps1g3n/EBzWOgDqHYct7ewajor5KYXR2Te+0id1DHeZxYTkjULcMUlO1vSDbMSZ5suZBf1wM59m6lMQSBSCR1q/eCwI12+0FLxqKwoN/xetEAVK6oHfSeMCVpClNtNQUcgiYYkQnh0ObpWT1V8TCHmoi26jVSwD5Q6hqq7fxQ7Glf8t4iX0Nz+cToTSFc6gQD4x6LAfTX1aBEXNkdokaMjYUwnFQA1j3YvGcolLFaldNA4jb2MU0o5TXToVctRZv263NKMm/tl/yAf7o3+uQwANouX5gPLEfhrOkgKOciJI1KvYuVwN10wQcBVnQv5Z3gVaaOXrOTjNbkHuHgntsUqXfIjNckZrj0LrLZajvyqRhYTyVwdHZyrq0CbymT/10Q5eavz+h5wBcO4kFa+2wceqKJA0+fURvWVm0bbQ1iyXuy1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012qknydjxmWborNsSTniVLc",
      "input": {
        "note": "Bottle is held by the shoulder and hanging tilted down toward the table. Raising higher so it hangs clear and vertical.",
        "targets": {
          "left_x": 0.4,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_012qknydjxmWborNsSTniVLc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5232, 1.5909, 1.5604, -0.8223, -0.7647, -0.6998, 0.5124, -0.0204, 0.5598, 0.2176, -0.2527, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4112 left_y=-0.0918 left_z=0.2798 left_yaw=0.448 left_pitch=-0.013 left_roll=-0.0131 left_gripper=0.5124 right_x=0.2518 right_y=0.0039 right_z=0.0884 right_yaw=0.0135 right_pitch=-0.0261 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.4427, 8.8274, 1.2674, -0.4811, 0.188, 0.0024, -0.4718, -0.3487, 6.8991, 1.956, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b43dc48db9d4366bfbdd1d300e4836dc65c751f2bd657e35e2fe594a2e1c8c74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:736559ba362e5b5c9dc74d898f7a2c9ed85f64f3d4a9ea4daa1893ebf637dbae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:febbf281f6fb4d08af70f673755ff8661b184aa3eb053ca06b8d7ceb857b37ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 3.373 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]: [-0.4519, 1.9373, 0.9001, 0.2897, -0.7418, -0.6086, 0.5113, -0.02, 0.6018, 0.2691, -0.2642, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4476 left_y=-0.0806 left_z=0.042 left_yaw=0.4559 left_pitch=0.0365 left_roll=-0.0301 left_gripper=0.5113 right_x=0.2578 right_y=0.0038 right_z=0.0997 right_yaw=0.0139 right_pitch=-0.028 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -9.4427, 3.9179, 1.1306, -0.1197, -0.0317, 0.3394, -0.335, -0.5265, 7.1043, 1.917, -0.105, -0.0611, -0.0122]",
      "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]: [-0.4519, 1.7168, 1.2686, -0.3733, -0.7334, -0.6289, 0.5123, -0.02, 0.5819, 0.244, -0.2615, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4512 left_y=-0.0836 left_z=0.1738 left_yaw=0.4601 left_pitch=-0.0136 left_roll=0.0075 left_gripper=0.5123 right_x=0.2544 right_y=0.0039 right_z=0.0935 right_yaw=0.0139 right_pitch=-0.0307 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -11.7402, 8.7863, 1.409, -0.3004, 0.1099, 0.0904, -0.3487, -0.4718, 6.9402, 1.9658, -0.0611, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5232, 1.5909, 1.5604, -0.8223, -0.7647, -0.6998, 0.5124, -0.0204, 0.5598, 0.2176, -0.2527, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4112 left_y=-0.0918 left_z=0.2798 left_yaw=0.448 left_pitch=-0.013 left_roll=-0.0131 left_gripper=0.5124 right_x=0.2518 right_y=0.0039 right_z=0.0884 right_yaw=0.0135 right_pitch=-0.0261 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.4427, 8.8274, 1.2674, -0.4811, 0.188, 0.0024, -0.4718, -0.3487, 6.8991, 1.956, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b43dc48db9d4366bfbdd1d300e4836dc65c751f2bd657e35e2fe594a2e1c8c74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:736559ba362e5b5c9dc74d898f7a2c9ed85f64f3d4a9ea4daa1893ebf637dbae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:febbf281f6fb4d08af70f673755ff8661b184aa3eb053ca06b8d7ceb857b37ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQkKEAgSGAI4AUIIdGhpbmtpbmcSDH/Lg1M3H0alCEmg1BoMPTe+xtQVEYBX4B2AIjD937FdiLKIWBjEK2LJPHJBpzWk4OvldMNjYQIFxKkeVOv48+KDbEpwuhVDhi1DLvEqzgjGwM3wjZ8dRu/alPh18AtgHGKIusCuRzyhIcLALuzjWeTNQEZSfKMJwHotG6if//Wu8z9k4o34YxrfVKqBddrwwIH7qiEk5h4yS8yJOzmjRfcIW9HA7cmd3sLR5zL5i0KmmanuZlI/VbY+9YqcR9q57fb7dSOGNYM4ZMJb/IRjejY0DNy39rZDyNruf8OR7GBRehDecwy/fw2SxR6Nf63IGqZJT6mFLl1ojCsqLdnyUAiIpW8X1ds69er212oQQAOv7X2vUJyPsRsp51HpmBgkC3olOSS4WVela2AFkIImgmSvmnIKtloqRhi1qiGjWLvOKdUSShmtpbS/VeAxC3e03bFYhoJiNjgrUblnG1FyRbXo5S+p1uvs4wdDKw5bPaFsRTq2Xm4waf4PRfRetzFFX1UGQfM5KkeqX5Mq+/pkNerLcbfKyPxCMTk2nSloxI0JS7oPm9uBeHwETcnqvJTOJTtnvTk4KYNOQEFSHHnGtKhO+Rc58CEPr0zXklQdO13HCIdP18m8HIXzaDQsH1m2X7zUgLi1rwTPovNbhfwXvch7K7ay93337mE/KxeS2fSmDx3poEfMwlfT644DUMobJy9305YruKRwOuXA+VzSHvcmxXWW/j5dYiLcI+BmVHdLCQJ8rXX99PtXN6fRQaM2iVCdq1cWGdBPHhpUl0KhVUjiJ1rAiwuIhulVjInJGLVge3b2rnUHEX/QtoBKyWmtCt8hDYeFjylwB/q009ys8rSEQYcxDSbfHrrJkbCHnNcD03F7FOzHvhY1o3QMAOlmVkGq44ItRvEMj82ak16P4He8sZ/4y8PyOuwydf4bB1z0C/QEDUWecKoHqfsKrE3b7Mi44+R8XTVRoVGXBUWNb6mXsVyEqDpaw+6BzfCl6Yp/ufFebfJFZQMNf5I6w36KliurVfK1EbXa4MlxdU5PHGcxV/+vg+rM+cizk/QONtnbFkvDhW6fwbFhUOCjHPPlgmF0Ubnzj14MBPv0L8IiB4Qwfg6KZZ0/JJpqjYHzxM9fO7accgBaHWbiY2d5kpurNBxDyDcAEsxHbaPX30IiBiFcCegNqy1UWio0GtI1MMveaIxIrA403eIU6lbaZPfkDbfJymg7yFi4Jx3c7xycsUNHMmKqFVczDPH+LxXO/1VYCzIKNfmlVfypVRsSCn8fFSfqdAc1/DBxSaY2R1TnrZ2RDPKjmT6LKo+4Izgi1Af7HyoRa19iQUyEtbrFFRk8wlOqGhn/Pl7cFi27yF4Dyh6FiyCPUE5Zl+xGSrBSRvOGkrtI4bhqsy0w7+UGOM5I6bdul/zcXOhYzyRpQ+XqJxjqGGsFWcCldZLExtl0n9uRFoOI9p9qBz3NAeDUvBrgsixqp8Dlws8ZjIvWrBLvp/ary2i//Q16IshycwxXsP0NFaQNKVoWXRuwmay7sHb1t4alMdx7z/kZVhPO2NZssUkFfF19FxKGQyv+fFiJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LFMCWm4WdFsvMDX4hDRBDj",
      "input": {
        "note": "Bottle appears to be hanging roughly vertical below the gripper. Lowering until its base nears the table.",
        "targets": {
          "left_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01LFMCWm4WdFsvMDX4hDRBDj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5243, 1.5841, 1.2041, -0.5312, -0.7681, -0.7067, 0.5124, -0.0204, 0.5411, 0.1963, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4044 left_y=-0.088 left_z=0.1852 left_yaw=0.4541 left_pitch=-0.0435 left_roll=0.031 left_gripper=0.5124 right_x=0.2498 right_y=0.0039 right_z=0.0845 right_yaw=0.0135 right_pitch=-0.0215 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.6239, 7.1043, 1.3846, -0.4518, 0.1294, -0.0073, -0.4171, -0.253, 7.0085, 1.9121, -0.1148, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91c49351f000818fc2be7cacf5e1d42a4a61a4bc78f27bac0c036d6e4f50208a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0d952050f5154c52a13357a2022e7981f4470133b5cece5a491a45758ce6252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:97e76cd21fe748bca4255120b320996cc56cbb41d9830a65b986f0935cb7cab5",
        "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 · 10.33 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]: [-0.4519, 1.7168, 1.2686, -0.3733, -0.7334, -0.6289, 0.5123, -0.02, 0.5819, 0.244, -0.2615, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4512 left_y=-0.0836 left_z=0.1738 left_yaw=0.4601 left_pitch=-0.0136 left_roll=0.0075 left_gripper=0.5123 right_x=0.2544 right_y=0.0039 right_z=0.0935 right_yaw=0.0139 right_pitch=-0.0307 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -11.7402, 8.7863, 1.409, -0.3004, 0.1099, 0.0904, -0.3487, -0.4718, 6.9402, 1.9658, -0.0611, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5232, 1.5909, 1.5604, -0.8223, -0.7647, -0.6998, 0.5124, -0.0204, 0.5598, 0.2176, -0.2527, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4112 left_y=-0.0918 left_z=0.2798 left_yaw=0.448 left_pitch=-0.013 left_roll=-0.0131 left_gripper=0.5124 right_x=0.2518 right_y=0.0039 right_z=0.0884 right_yaw=0.0135 right_pitch=-0.0261 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.4427, 8.8274, 1.2674, -0.4811, 0.188, 0.0024, -0.4718, -0.3487, 6.8991, 1.956, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5243, 1.5841, 1.2041, -0.5312, -0.7681, -0.7067, 0.5124, -0.0204, 0.5411, 0.1963, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4044 left_y=-0.088 left_z=0.1852 left_yaw=0.4541 left_pitch=-0.0435 left_roll=0.031 left_gripper=0.5124 right_x=0.2498 right_y=0.0039 right_z=0.0845 right_yaw=0.0135 right_pitch=-0.0215 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.6239, 7.1043, 1.3846, -0.4518, 0.1294, -0.0073, -0.4171, -0.253, 7.0085, 1.9121, -0.1148, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91c49351f000818fc2be7cacf5e1d42a4a61a4bc78f27bac0c036d6e4f50208a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0d952050f5154c52a13357a2022e7981f4470133b5cece5a491a45758ce6252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97e76cd21fe748bca4255120b320996cc56cbb41d9830a65b986f0935cb7cab5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgwcKEAgSGAI4AUIIdGhpbmtpbmcSDDzYOWdWZNIMV956rxoMpBAIiZsTbFz9JkupIjCd2r8j27NByJHymto4NbQGJAj62QUfOb3GL1VE6SF1HJac39dsD8fOnYtyBBwA7HYqoAY8/bVy6YjW79QQwRJkxm28y2eZ2WZfbOL6c+K/Hl7HnU1/gt1Ied5iNYD1ijhNC5mbg/04a+LzH1qOuEqkdsMv6BI4tewI1YlXK2nAkKFpdUBEsFvEWygfMoTWDEEQYE/vr9n1jCzofPMmU1dsQk12FQhMZ/39aR9WaIyXnc47fMxaAElfOASWjNaKW+r+h6d2drYX8dFSRgL13nZ6lFZoUnqqQnxKydEwYg/YUJnXQTZDN+RSmCP/d5TkvJPIWKe4Ts2IwrJ1C8ocidoz3Q1jonV+FY39sPKUzzHFehSfTTxlsV+DTq4qKMkz6LUHvIMjddOx37jY5E7NY6fLYKNDG9Ur1V/11mK/wvVOlJAPCHAdDtM2iZFPX/H/kE6CwRJ9E/YtlAkq6Apx2whRE0mj+X/VGSoZRje4FmJkLYuJClv2qhihtnK3MTbT5UL0vZfVEbqebuL7V82nXw9gc+boNGncmlRjSiqvD7k4ryXdWTCDs7vRrLnRGl0IMkcMuJRwuQDN0t4rXI5JwtuWWutSRl+7GUzaqEHOv/QszZFcJIOa/H6HGBzlFr5BTnK9TZ21A0XotpUhfS6wDqkm5Ip3CkrTQed4dlWv0a/bFE+9gtUPCnH9xd5XKM/WdzefCXPWdSMk0JgcsMraNM3h5mlwazraMALr+6jc36iA617Iufmz8KrkdtQc7+UyKHgWK9mjfFNPQcX1vFNrrr2sSu1XFU3azWSMHxHHDFOVcTtuQ6LQ7cmTZ/mWTfTH8e1hOt9MSbmW8sglleUvOajMd0rn0o9pvPptTO8RecoVp8dHNDpweJmfTc45vUA05VDVcmP35s2Kg0wWZdKZ4EOKJaX1CIrAluTo4c1znjueoS2Nc99ebwgZyZoNIvAnLDe1eXA5EwyBuK/5+LBMG6TVySzY2JIKTe0jO6/PRjOeNERPB1dtRTQW5ZyHiP45sHvYxUcWsxBB/X2rARZh/L1QvvMMWctY3e6AqdhQY76SxaFG7rNT1ep79QqpusrU9/bVaqlDlPCFSjH32dhDsOtOvIFK7Pl4wXhvMO9VF3FuyRmFtxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sn4g5VAs7sZM7Eagc9E34t",
      "input": {
        "note": "Bottle hangs vertically below the jaws; lowering a bit more so its base rests on the table before releasing.",
        "targets": {
          "left_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_01Sn4g5VAs7sZM7Eagc9E34t",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5243, 1.5883, 1.0481, -0.3611, -0.7715, -0.7071, 0.5124, -0.0204, 0.527, 0.178, -0.2455, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3991 left_y=-0.0844 left_z=0.1473 left_yaw=0.4561 left_pitch=-0.0357 left_roll=0.0239 left_gripper=0.5124 right_x=0.2472 right_y=0.0039 right_z=0.0794 right_yaw=0.0132 right_pitch=-0.0257 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -6.9675, 7.5009, 1.7314, -0.4615, 0.0513, -0.0073, -0.4171, -0.0479, 7.0632, 1.9512, -0.0464, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c2af981408cf02a00760854d5e9f2f85a02a0d06923c80bb97439e128ef402a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8055e62364c5938dceed664efaa576eca75a5dd16555f947c57116adfc7cc8f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5daa4ae72a97fe29069b2bc3543a9dff89d91283d7135713bb295d240be30b73",
        "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 · 8.658 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]: [-0.5232, 1.5909, 1.5604, -0.8223, -0.7647, -0.6998, 0.5124, -0.0204, 0.5598, 0.2176, -0.2527, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4112 left_y=-0.0918 left_z=0.2798 left_yaw=0.448 left_pitch=-0.013 left_roll=-0.0131 left_gripper=0.5124 right_x=0.2518 right_y=0.0039 right_z=0.0884 right_yaw=0.0135 right_pitch=-0.0261 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.4427, 8.8274, 1.2674, -0.4811, 0.188, 0.0024, -0.4718, -0.3487, 6.8991, 1.956, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5243, 1.5841, 1.2041, -0.5312, -0.7681, -0.7067, 0.5124, -0.0204, 0.5411, 0.1963, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4044 left_y=-0.088 left_z=0.1852 left_yaw=0.4541 left_pitch=-0.0435 left_roll=0.031 left_gripper=0.5124 right_x=0.2498 right_y=0.0039 right_z=0.0845 right_yaw=0.0135 right_pitch=-0.0215 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.6239, 7.1043, 1.3846, -0.4518, 0.1294, -0.0073, -0.4171, -0.253, 7.0085, 1.9121, -0.1148, -0.0171, -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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5243, 1.5883, 1.0481, -0.3611, -0.7715, -0.7071, 0.5124, -0.0204, 0.527, 0.178, -0.2455, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3991 left_y=-0.0844 left_z=0.1473 left_yaw=0.4561 left_pitch=-0.0357 left_roll=0.0239 left_gripper=0.5124 right_x=0.2472 right_y=0.0039 right_z=0.0794 right_yaw=0.0132 right_pitch=-0.0257 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -6.9675, 7.5009, 1.7314, -0.4615, 0.0513, -0.0073, -0.4171, -0.0479, 7.0632, 1.9512, -0.0464, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c2af981408cf02a00760854d5e9f2f85a02a0d06923c80bb97439e128ef402a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8055e62364c5938dceed664efaa576eca75a5dd16555f947c57116adfc7cc8f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5daa4ae72a97fe29069b2bc3543a9dff89d91283d7135713bb295d240be30b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011SaTPdQWSC6Y5xzEg3S9RH",
      "input": {
        "note": "Wrist view shows the cap still pointing forward past the jaws, so the bottle is tilted with its base resting behind. Moving the grip back toward the base to bring it over the base and make the bottle vertical.",
        "targets": {
          "left_x": 0.36,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011SaTPdQWSC6Y5xzEg3S9RH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5243, 1.6009, 1.0271, -0.3103, -0.7719, -0.7074, 0.5124, -0.02, 0.5056, 0.1577, -0.2447, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.402 left_y=-0.086 left_z=0.1413 left_yaw=0.4561 left_pitch=-0.0259 left_roll=0.0095 left_gripper=0.5124 right_x=0.2447 right_y=0.0041 right_z=0.0752 right_yaw=0.0139 right_pitch=-0.0238 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -7.788, 7.1316, 1.4676, -0.5299, 0.0757, -0.0122, -0.1846, 0.1299, 6.8855, 1.9316, -0.1001, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ce7893615b7d2cbc801c2bbbb5a97b156ab4b3a03442703f56f96a465b27fd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8838d5e9552f3bfa2f2ebcd93bff9554f69b1a993143332f7f974a0d3f18d77a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b838eb3dc807cd29541f3a819244f3f93df3d71579f5e56cf4fc011011ac470f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 3.869 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]: [-0.5243, 1.5841, 1.2041, -0.5312, -0.7681, -0.7067, 0.5124, -0.0204, 0.5411, 0.1963, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4044 left_y=-0.088 left_z=0.1852 left_yaw=0.4541 left_pitch=-0.0435 left_roll=0.031 left_gripper=0.5124 right_x=0.2498 right_y=0.0039 right_z=0.0845 right_yaw=0.0135 right_pitch=-0.0215 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.6239, 7.1043, 1.3846, -0.4518, 0.1294, -0.0073, -0.4171, -0.253, 7.0085, 1.9121, -0.1148, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5243, 1.5883, 1.0481, -0.3611, -0.7715, -0.7071, 0.5124, -0.0204, 0.527, 0.178, -0.2455, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3991 left_y=-0.0844 left_z=0.1473 left_yaw=0.4561 left_pitch=-0.0357 left_roll=0.0239 left_gripper=0.5124 right_x=0.2472 right_y=0.0039 right_z=0.0794 right_yaw=0.0132 right_pitch=-0.0257 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -6.9675, 7.5009, 1.7314, -0.4615, 0.0513, -0.0073, -0.4171, -0.0479, 7.0632, 1.9512, -0.0464, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5243, 1.6009, 1.0271, -0.3103, -0.7719, -0.7074, 0.5124, -0.02, 0.5056, 0.1577, -0.2447, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.402 left_y=-0.086 left_z=0.1413 left_yaw=0.4561 left_pitch=-0.0259 left_roll=0.0095 left_gripper=0.5124 right_x=0.2447 right_y=0.0041 right_z=0.0752 right_yaw=0.0139 right_pitch=-0.0238 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -7.788, 7.1316, 1.4676, -0.5299, 0.0757, -0.0122, -0.1846, 0.1299, 6.8855, 1.9316, -0.1001, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ce7893615b7d2cbc801c2bbbb5a97b156ab4b3a03442703f56f96a465b27fd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8838d5e9552f3bfa2f2ebcd93bff9554f69b1a993143332f7f974a0d3f18d77a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b838eb3dc807cd29541f3a819244f3f93df3d71579f5e56cf4fc011011ac470f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018HffRpBYVQQoCGj47SeWXk",
      "input": {
        "note": "Arm didn't track the last move. Sending only a backward x shift to bring the grip over the bottle's resting base.",
        "targets": {
          "left_x": 0.37
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_018HffRpBYVQQoCGj47SeWXk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5243, 1.6009, 1.0271, -0.3099, -0.7719, -0.7071, 0.5125, -0.02, 0.487, 0.1429, -0.2451, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.402 left_y=-0.086 left_z=0.1414 left_yaw=0.4559 left_pitch=-0.0257 left_roll=0.0095 left_gripper=0.5125 right_x=0.2429 right_y=0.0041 right_z=0.0725 right_yaw=0.0139 right_pitch=-0.0204 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -8.0205, 6.9402, 1.4872, -0.5153, 0.0904, -0.0073, -0.253, -0.0205, 6.5299, 1.9023, -0.1148, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:484d6796f69e7e63f8edd64457a5c244407990847f4c95917ea21762a1ebb8ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96bcf6e700d7e753de87f82aceed8ab9aed24a248664b7341b2d31f344ea8097",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b411828b539fe984960ae48774bf47df5ca18170937bfafd249dfca4d122971d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /messages · status 200 · 7.298 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]: [-0.5243, 1.5883, 1.0481, -0.3611, -0.7715, -0.7071, 0.5124, -0.0204, 0.527, 0.178, -0.2455, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3991 left_y=-0.0844 left_z=0.1473 left_yaw=0.4561 left_pitch=-0.0357 left_roll=0.0239 left_gripper=0.5124 right_x=0.2472 right_y=0.0039 right_z=0.0794 right_yaw=0.0132 right_pitch=-0.0257 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -6.9675, 7.5009, 1.7314, -0.4615, 0.0513, -0.0073, -0.4171, -0.0479, 7.0632, 1.9512, -0.0464, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5243, 1.6009, 1.0271, -0.3103, -0.7719, -0.7074, 0.5124, -0.02, 0.5056, 0.1577, -0.2447, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.402 left_y=-0.086 left_z=0.1413 left_yaw=0.4561 left_pitch=-0.0259 left_roll=0.0095 left_gripper=0.5124 right_x=0.2447 right_y=0.0041 right_z=0.0752 right_yaw=0.0139 right_pitch=-0.0238 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -7.788, 7.1316, 1.4676, -0.5299, 0.0757, -0.0122, -0.1846, 0.1299, 6.8855, 1.9316, -0.1001, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5243, 1.6009, 1.0271, -0.3099, -0.7719, -0.7071, 0.5125, -0.02, 0.487, 0.1429, -0.2451, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.402 left_y=-0.086 left_z=0.1414 left_yaw=0.4559 left_pitch=-0.0257 left_roll=0.0095 left_gripper=0.5125 right_x=0.2429 right_y=0.0041 right_z=0.0725 right_yaw=0.0139 right_pitch=-0.0204 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -8.0205, 6.9402, 1.4872, -0.5153, 0.0904, -0.0073, -0.253, -0.0205, 6.5299, 1.9023, -0.1148, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:484d6796f69e7e63f8edd64457a5c244407990847f4c95917ea21762a1ebb8ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96bcf6e700d7e753de87f82aceed8ab9aed24a248664b7341b2d31f344ea8097",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b411828b539fe984960ae48774bf47df5ca18170937bfafd249dfca4d122971d",
        "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/gcKEAgSGAI4AUIIdGhpbmtpbmcSDDJzWjY22JGPaCkAoRoM4mj2Kqgl11mdJQaAIjAqtIwVGAf7M6kuuCV9fEp4VHLoR0y/KpJmedz5fnM/1k3DLY5mqSycuYdeudlCUrEqmweD7P7BiWJjWX391qo/ilhvhwi4On9/y/SW8imsI6fw4Bs+htePTuoUmrcgT8Bn4TpZulMuX2DWJwLb+XwN5WzpP8BFX4hwcruIt0F9EL7Lc7zB8pIrjhpKB1/77ZbJCCZNUtMdi6BjGAt4P5swIm3RoLmXq3pHInB4g9+eysHzOdRa6/svb3WSpcemvvq50YI7ttBRMra6N0VaW+bwF8zhPpTvx6RmZ6W/NTFGg+UBvuuHswy+G+mCdBaV4qsRmv9SGrTq5FCrfNlloM7w4k4pPEjMNsXPFKypQkJ0idFvt91wBZbGZ5sWIdzuDPM7qcFa7LO8LQE09mlz6nW/N2rjGa0T+7eomMQaSO+U3SGibACcZREpK945AdemoPrBqpCI/ZYiYlkHi9ayrO57YC4qeGTESnp/Q/OqV2JBlytoU0/crhhjMEl78fLuyeuMBLOUDnADy6Uzx4FL6gDqDqUqL1+k3BiVqx7KsNBVgbBxb1l3Ka6KgGcSxR+zQ1805HUV76hioMY4bPwNoryb/G+s0KkgJubVqxT9jMo2eQkS0UFaSZOPB7nZZdGDsLhTqOUmJQaMqcfIYHITZIZxgGdC4wMXJhr7A0lLo8xHycMd2VjtaIdtfstR8V2zDCytsQ90ScrbS7r/94b2wDmLWBoNk8Y8m2ni50IWW8ugOOvB7RdD4B2WW+SUEJkWgfC3SOiwVrB+6LpT1dZj2xn32wq/UJTLv0EGjr5IH6NW/XJAVZ/6SpoU31XMJ9fTT5mvV7l3KpaFUvj5kEnTVYKZwLBbjiQx//T7YQ4hb3BIwqLrJDMl+1dCr4cbQM0r5CtHGJn4oSVxjmHLfVBi7XLUmwEvtB/U1sOg/XkkvLDr/NAAyiPfuxQrAKkw9FvCBt0soUp7agPpussdo6PIqN5yFlnyjvgR9WtxaoLHzz8+mhEIN10SVFwK76YXxwEhuRk7XvIuepFsq1e4yadT+aH1FPw5eFi6Zj8lkQ4fpzJrobTBo2jrh9DxkRQvwItf4byOdQJrSGmYpNAcfs1Uq9LsvCB+S98xjqnJ/ga4RceEiH8SPCq9UF+NW1U9yV+IUDFRCHZgsXD7ZbhoNQDRrb+ULOQAubxnk9y/QNmZVExoGGowS0awFotbR72ZZ+MqFUD73sgaMOMp8Q8XVQHtv11C5LhkY5yvuuDbrP4nvtSfHGpFTjpb16I6MsbLZdgFqlqsZUs3k5PTWoAykvIbvxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013kAhQN9qsj6sKY2vEh2EiC",
      "input": {
        "note": "Left arm is not moving on x-only commands; testing whether a lift tracks.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_013kAhQN9qsj6sKY2vEh2EiC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5243, 1.5734, 1.2098, -0.4839, -0.7692, -0.7082, 0.5124, -0.0204, 0.4702, 0.128, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4108 left_y=-0.0915 left_z=0.1974 left_yaw=0.4543 left_pitch=-0.0071 left_roll=-0.0227 left_gripper=0.5124 right_x=0.2411 right_y=0.0041 right_z=0.0693 right_yaw=0.0135 right_pitch=-0.0188 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -9.1145, 7.1726, 0.9792, -0.5348, 0.0757, -0.0122, -0.3761, 0.0068, 6.7624, 1.9219, -0.1148, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dece67d0c957f00c1686adfeda1ae59ac384284f92508f26a871f7e5c93b6ded",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c54b6427abaf75aca7a4387c877db4a0ddf86847b6d454c4ccef7217d239d6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f79c5360706770da1f204610362982f04e390bc771a09953a5b85d0be843fb1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 5.318 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]: [-0.5243, 1.6009, 1.0271, -0.3103, -0.7719, -0.7074, 0.5124, -0.02, 0.5056, 0.1577, -0.2447, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.402 left_y=-0.086 left_z=0.1413 left_yaw=0.4561 left_pitch=-0.0259 left_roll=0.0095 left_gripper=0.5124 right_x=0.2447 right_y=0.0041 right_z=0.0752 right_yaw=0.0139 right_pitch=-0.0238 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -7.788, 7.1316, 1.4676, -0.5299, 0.0757, -0.0122, -0.1846, 0.1299, 6.8855, 1.9316, -0.1001, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5243, 1.6009, 1.0271, -0.3099, -0.7719, -0.7071, 0.5125, -0.02, 0.487, 0.1429, -0.2451, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.402 left_y=-0.086 left_z=0.1414 left_yaw=0.4559 left_pitch=-0.0257 left_roll=0.0095 left_gripper=0.5125 right_x=0.2429 right_y=0.0041 right_z=0.0725 right_yaw=0.0139 right_pitch=-0.0204 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -8.0205, 6.9402, 1.4872, -0.5153, 0.0904, -0.0073, -0.253, -0.0205, 6.5299, 1.9023, -0.1148, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5243, 1.5734, 1.2098, -0.4839, -0.7692, -0.7082, 0.5124, -0.0204, 0.4702, 0.128, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4108 left_y=-0.0915 left_z=0.1974 left_yaw=0.4543 left_pitch=-0.0071 left_roll=-0.0227 left_gripper=0.5124 right_x=0.2411 right_y=0.0041 right_z=0.0693 right_yaw=0.0135 right_pitch=-0.0188 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -9.1145, 7.1726, 0.9792, -0.5348, 0.0757, -0.0122, -0.3761, 0.0068, 6.7624, 1.9219, -0.1148, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dece67d0c957f00c1686adfeda1ae59ac384284f92508f26a871f7e5c93b6ded",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c54b6427abaf75aca7a4387c877db4a0ddf86847b6d454c4ccef7217d239d6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f79c5360706770da1f204610362982f04e390bc771a09953a5b85d0be843fb1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NrEeiQ3G5RByrrSbRn2rGB",
      "input": {
        "note": "Top view shows the bottle hanging roughly vertically below the left gripper. Lowering until its base just touches the table, then I will release.",
        "targets": {
          "left_z": 0.155
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01NrEeiQ3G5RByrrSbRn2rGB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.524, 1.6032, 1.1015, -0.3946, -0.7788, -0.7071, 0.5125, -0.0204, 0.4561, 0.1143, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4055 left_y=-0.0868 left_z=0.1579 left_yaw=0.461 left_pitch=-0.0282 left_roll=0.023 left_gripper=0.5125 right_x=0.2395 right_y=0.0041 right_z=0.0662 right_yaw=0.0135 right_pitch=-0.0185 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -8.3624, 7.3368, 1.5067, -0.5153, 0.0415, -0.0073, -0.294, 0.3897, 6.9812, 1.8974, -0.0757, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11d21fd4c954a9ff2437aaa8c51c1c8710a25a7ecd12a8772c0502f0a04e3f37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ffac4a6055bfbe4a20b4d61ac94797f5898064405540965c45f5d4082274b1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:17c2009cdb1cdae37cc5a808fec9c02ccca07d2ff54e36a51b579c614ec15a88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 3.904 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]: [-0.5243, 1.6009, 1.0271, -0.3099, -0.7719, -0.7071, 0.5125, -0.02, 0.487, 0.1429, -0.2451, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.402 left_y=-0.086 left_z=0.1414 left_yaw=0.4559 left_pitch=-0.0257 left_roll=0.0095 left_gripper=0.5125 right_x=0.2429 right_y=0.0041 right_z=0.0725 right_yaw=0.0139 right_pitch=-0.0204 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -8.0205, 6.9402, 1.4872, -0.5153, 0.0904, -0.0073, -0.253, -0.0205, 6.5299, 1.9023, -0.1148, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5243, 1.5734, 1.2098, -0.4839, -0.7692, -0.7082, 0.5124, -0.0204, 0.4702, 0.128, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4108 left_y=-0.0915 left_z=0.1974 left_yaw=0.4543 left_pitch=-0.0071 left_roll=-0.0227 left_gripper=0.5124 right_x=0.2411 right_y=0.0041 right_z=0.0693 right_yaw=0.0135 right_pitch=-0.0188 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -9.1145, 7.1726, 0.9792, -0.5348, 0.0757, -0.0122, -0.3761, 0.0068, 6.7624, 1.9219, -0.1148, -0.0366, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.524, 1.6032, 1.1015, -0.3946, -0.7788, -0.7071, 0.5125, -0.0204, 0.4561, 0.1143, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4055 left_y=-0.0868 left_z=0.1579 left_yaw=0.461 left_pitch=-0.0282 left_roll=0.023 left_gripper=0.5125 right_x=0.2395 right_y=0.0041 right_z=0.0662 right_yaw=0.0135 right_pitch=-0.0185 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -8.3624, 7.3368, 1.5067, -0.5153, 0.0415, -0.0073, -0.294, 0.3897, 6.9812, 1.8974, -0.0757, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11d21fd4c954a9ff2437aaa8c51c1c8710a25a7ecd12a8772c0502f0a04e3f37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ffac4a6055bfbe4a20b4d61ac94797f5898064405540965c45f5d4082274b1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17c2009cdb1cdae37cc5a808fec9c02ccca07d2ff54e36a51b579c614ec15a88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSwQoKEAgSGAI4AUIIdGhpbmtpbmcSDIZmeNQPxtL/TIjh+xoMqSuIhCMQav1tsUYgIjDwXtboUnqfTe5O1JVVXiSp1HeLBD0+wNUW1YOb+lKqdWRyz/Q8tvhVh7rLyZIz5LMq3gnjx1QAZUivEPPAdtsCvLw5JHikel2l9tL4lQVGcfNB4q2LyQM7qt8qQ9zHP+4Hb/rsir9UJ6Q06HcKk9rvKbru06iyWHofvIMnVUAFisuPykV5c+4OPMKxtu6i/A05aTsUMko3BG+lWnDMankNWnGX40zy1dBn2ya2kza/HIGTV8Hqgp4dZuX8Nto7S0bK1/p6CHyB+vAksevBKpr5/kwBhql8NHTkPzuVkNIjeF7B2xwg1Krsf4lAEgkQKeDZA0Wn85tMYAzxc0hp/MI6xxlN4WAn5lRH4f3Q24WfgS5TJ75jWE/HGRMoKapI+rMtZIfxgQ/gpYMgpMOs+vQNUSnpRJ85VDyKLiFCg4qTtjcm3df/xluWyM9hRSeK6EUXa59+yWe6stm+wfMjGpTV6ldurf0k1QyP1PB83PQJJmW3tWpkSuqTQC4nPk7JOUXPCc+whz+/Xx8E6VWRmpu/hJ9SoQvLSO44ot3TDE32yJXKhbU87Z74yan1qUDG2aLhlEsnqt9a3hF6AUtV0gwTcwmA/k3QrBYgIT+weOLvG678CTUd5kOkhb5xsSg8SciZAKlar8U0z5nJ14pfb5H1y4TgN0RWRkVtahmha0ZiNN0AXDvLHoOhernv8DolcP3nXnPjWYrx8yBId4NHc4uf/m/1DAzgFtzcqr7DS8wvQek4lihDHieJQ1beiTQGuONy6VJvSENL7r1lXNnoUJlCWO1R7vEqPNTy/hlpk1o8Ny7fivjiRwJ55LVuEK9XRN81rWWRuYyGK9c9jZKSLa+hGfn0Cji7yUiYxVSUSD3j+v6oTEjmx8lIy6LSVs/zlUlyA5j8Lh+YoWGorsmAHKnul23pbEAqT/grNg3nyqx6kn5WBuALBHw//jXHgYSOM2axtxsfKvE7IhkGfWnNjHkIf+bbAjSrIGR7MehlckjQx43Wg2elvDXd+PwmAC3bPDQtADGGvYB9sxD5/bTdAV/nE+zWwh+ZYAeoxUQYj5IV3/gzw2zQO+h8lUbEvCHRcD07coIhTIJeJXWit0F8VLbyi4D7HLfMLZxeQIMuKmrq9wUnNKYykPETMn+sivUXBFIko1OaYIg4NrLJrTZheXT+PxCHEQWxsylqgW2Udzukoy8JnJ5MIUXY0fiHOG6EAMY3MIEfErX9YEOlAcmGrZp8WjzSzIhG+YqWAKA+RnwERJG48mpcWjSOeCst1dQshT4gDXiglB/b6YpEQYTr5pfGw3J2A89OR3v9Y1Mg468ZFbxsMCAIzbDab6en9SHr99gBkc3wo727+jdIhHDLnTvO01dN7KhFgTokSAkAoTb309jmEcZEpGUQNui3sSVDdUW3+6tXq4Y/XzJ9sq3BZIEVKqZBc672BVeQ4Itg13E2NcqAjXrNrPcIMu1q/jlEKedHRkNn7QH+wZv4RLVovRZz/Wmeb6UR7bSWQ2N7oHmnXMje/5IjJBs+p0U+7tp9WnFlIsq9X9V/8OIC6pM9/S02uZfoV+HiCN8smkgg6SxlyRIfTEJ75r+65tvrjlh3UowKxkdQE0wYMrcTjOnauDTSGYEdsFqmIW0BQkFaPScKa7rLqAtyiRzF3BF4ZH5ssIJg+O4EPslgjcI8bJIBoH33UyoMMJVVVTOajfOXuvUqcikorykmZ40OQeREDTWGtp1fGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CT8SkDciMejyt7UmSitYwV",
      "input": {
        "note": "Bottle looks to be hanging vertical with its base at the table. Opening the gripper to release it upright.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01CT8SkDciMejyt7UmSitYwV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.524, 1.6154, 1.0645, -0.3302, -0.7727, -0.7109, 0.9943, -0.02, 0.4404, 0.0998, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4073 left_y=-0.0888 left_z=0.1471 left_yaw=0.4588 left_pitch=-0.0237 left_roll=0.0044 left_gripper=0.9943 right_x=0.2379 right_y=0.0042 right_z=0.063 right_yaw=0.0139 right_pitch=-0.0173 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -9.5111, 6.2974, 1.3114, -0.5201, 0.0562, -0.1099, -0.1983, 0.0889, 6.9128, 1.873, -0.0659, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:106b8a1d54f46fea01beb839266adab9de3965fee15549f402eabb26c99ef1eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:731e7ed75d1c0af9f78baa3695d60657670d199bdce6c4032d9b7b15163df13c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba5d14c430fd5f36d1f3863e4a5452d1183c8889aa584ab7be37c5523dfbb025",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 23 attempt 0 · /messages · status 200 · 16.32 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]: [-0.5243, 1.5734, 1.2098, -0.4839, -0.7692, -0.7082, 0.5124, -0.0204, 0.4702, 0.128, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4108 left_y=-0.0915 left_z=0.1974 left_yaw=0.4543 left_pitch=-0.0071 left_roll=-0.0227 left_gripper=0.5124 right_x=0.2411 right_y=0.0041 right_z=0.0693 right_yaw=0.0135 right_pitch=-0.0188 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -9.1145, 7.1726, 0.9792, -0.5348, 0.0757, -0.0122, -0.3761, 0.0068, 6.7624, 1.9219, -0.1148, -0.0366, -0.0122]\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]: [-0.524, 1.6032, 1.1015, -0.3946, -0.7788, -0.7071, 0.5125, -0.0204, 0.4561, 0.1143, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4055 left_y=-0.0868 left_z=0.1579 left_yaw=0.461 left_pitch=-0.0282 left_roll=0.023 left_gripper=0.5125 right_x=0.2395 right_y=0.0041 right_z=0.0662 right_yaw=0.0135 right_pitch=-0.0185 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -8.3624, 7.3368, 1.5067, -0.5153, 0.0415, -0.0073, -0.294, 0.3897, 6.9812, 1.8974, -0.0757, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.524, 1.6154, 1.0645, -0.3302, -0.7727, -0.7109, 0.9943, -0.02, 0.4404, 0.0998, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4073 left_y=-0.0888 left_z=0.1471 left_yaw=0.4588 left_pitch=-0.0237 left_roll=0.0044 left_gripper=0.9943 right_x=0.2379 right_y=0.0042 right_z=0.063 right_yaw=0.0139 right_pitch=-0.0173 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -9.5111, 6.2974, 1.3114, -0.5201, 0.0562, -0.1099, -0.1983, 0.0889, 6.9128, 1.873, -0.0659, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:106b8a1d54f46fea01beb839266adab9de3965fee15549f402eabb26c99ef1eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:731e7ed75d1c0af9f78baa3695d60657670d199bdce6c4032d9b7b15163df13c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba5d14c430fd5f36d1f3863e4a5452d1183c8889aa584ab7be37c5523dfbb025",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzAcKEAgSGAI4AUIIdGhpbmtpbmcSDOWCVlP7gy7iQe+RKBoMhiIZtDi7XGQB8YOMIjAfy1dUzju/nVfrbbVd7DBK6Y8OKv1KpHq1xrS3ngIiF2nib/kY9mCALjqfcKBmv4gq6QaQwglWJ5ym/mDoHLsMOg67vd7CHZEOolwbSt6irzsi+j15bqJaCEf7mwidoXxwSO7a0dAzvz7WOCxeyEdwu0lePhfJEp4nbqZTzI+Q00PP0LG34f4tCXdDL7ssA1YHr93qzVUNoId5BF7qrdkLQ2B9qB5ZnHPO6SYmpLDu7qoEpfuN13tVhxQaKMq/S9zq0RQgORPX3+6kvcz48rOjW2OviWPKpBSRrGX7vO0wXW3QFQVhw2lYMU3yrgmbfEADKMzr2dedSCzwE/5Mmb41pk0pH8ns1gHNDypl4L/RFHdtTOhsLQrHQGz9HTnJ2JwgS0+P9l3IVfbb0aXG+ed3yQiVOehXUfdYMUhZJ7Lr3hakOpsIifrK3gTCfSq0YBtwJSfGc+UkJGLsmjhNCK2s82S2H5AzESXTNJR9vFgm4qMChyoNMZM4GIAp8qByLy9m+ukU/dtLxSl/DaNaX3vG6pRDx1ypPcfLvQKMNobPQJ8IhLfmLs2IHPeOieizHoNvy40g17UnGngYSMjBT2Gy0pr4kxHiOhnUNYHT26h/4jJVxFd7h8rIKuvczP2MyG7snfDkxHqI045lsZzJhsPPrDIRAFMWQEd6UQFJQ486v2mMJUmrM00F2Q1VhSsCr7kiD1RGn+XLv0Slg9nYGF+qM/em8cP96/8iHPJGQXEpdswNIWszVa3kYGODm0f+6+CXruOYyWQS40Wy8nqwocKDz5W8o7e369ivS4TiyTH2GzvppzorDT2qGSzg5AVarlvvDaNRwUDJIeLiCTqLgUl5xT7z+gCLOInIhZG3JmtMOpQv6A6aUlOUTTP9WMomf0XXTurazeufgLZqb9+UygzN9ivf2r63VgY7zWlvsSkeBi+Y3MIT5WR5XFunuPbvsnW2KSUaM9tbS+DB6hrDfmtNFJXUlTGnp6AB5A4JWfzKVh1Ok0fghNGnwUnAO4ly3jzuDlgtGnEyicKemFW8zPCEdhxDLZuxRJxpI12BFO1FCxiDLhLbKOq/zxWSeUiJLUa5ur2Oj18z2dgNp/yMVyyuzIKJ2c+Xd5t7QvcpHPpC41Sohk01GMSiDeT2soMiEnS8PoYac4x3dfoLieDuvPjJB/auq3/xUk9QjXBls20ci1rVrirRVZipT1b8IO12m8m0gy35XJ1FdELxrWcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016BRdHQfaureqQNruKUvSgG",
      "input": {
        "note": "Released; the bottle seems to be standing. Lifting and pulling the left arm back to check it in the top view.",
        "targets": {
          "left_x": 0.3,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016BRdHQfaureqQNruKUvSgG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7536, 1.3552, 1.4006, -1.0702, -0.8822, -0.9642, 0.9956, -0.0204, 0.4244, 0.0868, -0.2455, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3147 left_y=-0.1033 left_z=0.2852 left_yaw=0.431 left_pitch=-0.0128 left_roll=-0.0387 left_gripper=0.9956 right_x=0.2366 right_y=0.0042 right_z=0.0605 right_yaw=0.0133 right_pitch=-0.0143 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -6.065, 7.6513, 0.9451, -0.6374, 0.1929, 0.1148, -0.3487, 0.2803, 6.8991, 1.8681, -0.0464, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14b3d0f2cae44d5dd2e9ae77f7feafc654078e026b8e3326e8f2ffb639de0820",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af67e60014747f48f2d298ddb58b57b660a0d71cd1bef1e7ded682a5997aca3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:11f370eac8c6ed1d45f86487af0828f7f05e0083c5d71e5d5db54db0b57801d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 5.9 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]: [-0.524, 1.6032, 1.1015, -0.3946, -0.7788, -0.7071, 0.5125, -0.0204, 0.4561, 0.1143, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4055 left_y=-0.0868 left_z=0.1579 left_yaw=0.461 left_pitch=-0.0282 left_roll=0.023 left_gripper=0.5125 right_x=0.2395 right_y=0.0041 right_z=0.0662 right_yaw=0.0135 right_pitch=-0.0185 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -8.3624, 7.3368, 1.5067, -0.5153, 0.0415, -0.0073, -0.294, 0.3897, 6.9812, 1.8974, -0.0757, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.524, 1.6154, 1.0645, -0.3302, -0.7727, -0.7109, 0.9943, -0.02, 0.4404, 0.0998, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4073 left_y=-0.0888 left_z=0.1471 left_yaw=0.4588 left_pitch=-0.0237 left_roll=0.0044 left_gripper=0.9943 right_x=0.2379 right_y=0.0042 right_z=0.063 right_yaw=0.0139 right_pitch=-0.0173 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -9.5111, 6.2974, 1.3114, -0.5201, 0.0562, -0.1099, -0.1983, 0.0889, 6.9128, 1.873, -0.0659, -0.0366, -0.0073]",
      "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]: [-0.7536, 1.3552, 1.4006, -1.0702, -0.8822, -0.9642, 0.9956, -0.0204, 0.4244, 0.0868, -0.2455, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3147 left_y=-0.1033 left_z=0.2852 left_yaw=0.431 left_pitch=-0.0128 left_roll=-0.0387 left_gripper=0.9956 right_x=0.2366 right_y=0.0042 right_z=0.0605 right_yaw=0.0133 right_pitch=-0.0143 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -6.065, 7.6513, 0.9451, -0.6374, 0.1929, 0.1148, -0.3487, 0.2803, 6.8991, 1.8681, -0.0464, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14b3d0f2cae44d5dd2e9ae77f7feafc654078e026b8e3326e8f2ffb639de0820",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af67e60014747f48f2d298ddb58b57b660a0d71cd1bef1e7ded682a5997aca3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11f370eac8c6ed1d45f86487af0828f7f05e0083c5d71e5d5db54db0b57801d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS6BgKEAgSGAI4AUIIdGhpbmtpbmcSDK85ScZn5SKjyE0nARoMpAS1w8E/6s3HVikRIjC+YtaIf68acW09iFqcp79mOMf8hCNvxcI0LZ4PTTIlRhbj+brT7XcIYWBoo9fVGMEqhRiubk/cMcQyCGoBhnHQmpas1W1oCUOOBzu7YkErO3HkRvnGaN7YJSge6ytbuBMmGGV77xGxIqUyEJcE7/MkPMWg9KMo6yp7KuycbHbRzcMUq/J9eoS5MRN1+9PdbxKa/AwMHw9wvB7VkzoIIo0BywmqP7lyxn7L0Bbl7nemM3U8/uLRcCwb/dHe6MTzrMvYAjiB29UhzOoUyzb2ljiLRTxgwzjY0MytaaUV+tfhkc9Bfxr50LebrKpexKZrpnqZLwuQHwwNlqYKtVVmMQe7MeV4Q/KglGufyowLXF/QzeqyJmVfgGlLb0FEG+ct8BQPWEiHUnTx5V1J2/7hltEM9ByMfZ7Qesk3GshXM7T3q0oqa29z/jLgE2JCDqiJ+Yjtp3I1xpO9VPsVoEg0Wz5I1q6zS8Rao+pb81cOsjDEImK1thwqyZbImrbyYbnTKxdHDRJF0IcRE0STNLJQIOD9pz7/7Tp9dhgD2+UnA0WzW7ENhH37CQ94wtvx40tivEV0HskzN7BT3u6qQyD8s/7iPBtx/QZiPQK0iWq+NNoP0OFw6wSvZn5bP/vLjCbfjesebQt3u2flUr+7H4URFF1jWmaug+oc0zYvoxnWUvw9y4+BL2/S9vzIZUtw4d169miOqmMfuddnVsMRh4blulGY360vTd29qU6pX+UoJ2ahju2nw2D8UkxaQsWfJ9SYZZtRopjc7WhubkFA23xkPQo+CjbbibJTs0YD62d2DSvNfO7kSdshzy1lXvyOWiKqikFaywyZFvdr25fmKZwWskutwyH0YBUbXPVvxo3L7h/Vo4aXNQ/uh0p2RDAJdZd38R//BqYI1tTI/WNzK6EB47dWAbxg5/FVqxbKeE3jarZiwFJFmoAoVpMHydBx/l/PZldVsf/YT8ponmXBpaGrQGT1mSJoIsLOPqv3IO0Ru8ESr6BMYaBZBdD9i8K9BYw5r26UkqtH1bnENJqIbOxVHCajnV/VuxPuFtCZgqKunW9zk7cHpCelhNZKzZO9yzcEVuY62ztA0qu6Gu0CROyz8V8CbFdACzlwCKIkcNAGgM5vOS5YyVii/5/OEjTjXSasnrF+iaC6/1E+FZwTZ1Gcv42ByB3hZBS4VeKFGvnFeb08UIT7Uphdf37jrE1ql+V+m6jHwM65KGx26d5vMKnSO83UzMIQjkKkGv7WY/7LpaEwxprG2ieA+K1SGpxh7TFweXqBBaYk7Ey0CqUBqCF6LE0RVRFkXs1VE+BXX9obwojPGWX/eaGeOZm7KUeKRqk2i11aBxmNaI/Cx3CbCPkmqUSv/YbIPK+pSA1QD817oxeYQnRF5l15FdEFhLF8YJrfnA/MrFAJy+Ulo8Fjft0y3TNhcszl72A/Co5CvCw2OFcT1tajWrggduq4/1a3OkMGLjNiX8HyrKtP3IG0jZlwX3UBjsBo0q2ECde5lOTsWASrwzt2GhIrsQDel+cVAi+6pGQgU+Ts9BKFgNacd8ADfnsjXjrJtz08ghgdogzcHUE97S6cpDZ1AKHTktjrb9UoPAYQuYpkJeeriiftB9FpXDtnVdIsG3BS4WzUhLeILrKsggnIDIoq24XnXeY2+nChcMqkoLtKfeKTozta7MPitcpGnVX5Im+sWqh8AfpNXqrNnR4qH0dC3lMg/pbitvx/kwEGQoKvTaHPzSe+hoAvc3MWS75UqhKLSqtDOgYyunUZiDPqYt/WUXWTj86v+7fmsMdMvscjY6IJOS/6WpAZR4ZCytCRWNC0P+w29Euv34XnaIkK4jD75K/CIcN/WzJwQg3JscaVi+kF2iu8zj6PUlIoe7NETbzj7B3YW88N70NlHIifG8a6rmKFX8fILQyL5Rq8D1wFS0/N43JBqDcBxT2AwgxZVTVmVPhKRxF2Cb2OTOjNyFwjoTgP2SCwtJ3PjsL/Np+L1a0EQkXLwhGpRC+cqafzA7QAjWk8uDRDXdraV1EQ5/LXKYxb8DTa6YqcINoKE5fmLxDKP17SOQCNufXmFA93ou8yg4q8KPQrlT5jgiSdDet3ae++Uxva0eTkQoUUdpd0dqylJ5H8amnNv7n0lWSRAlR1m0ayv7kwGcW7GE4GOCNd6mOXrJvIN1RGzDTa4y2Fz2dx7Wp9vdlrRFP9DmL1cF7vLc9kxwafhu9PFZBwpJTGXvbN8iSNlBm9fzI4XGD0rOI1XDpfzHr2UWj8WLXt0oOYVoe4SyBx1EFQTbWYe/aaWr/2tXk2XSe8Mnz44ZH0i8Q9NMhSf80CFi6JEw0IZiAq7SIb6vfQ7pSGCt5ucsH35XbTsiZZ9edI13WVd9D9ExkYiqIMqQUh6MClCrSg8oNOnVctwagT/mQTYTkDmjrZ6lu6suJPcDFweCyPfS60X7gtXYuRGrkpr7IthTRKS4COxDPpiXOZ5jqhJTrIBWZA6HHctFsDOF9CGHBkmbY7EDQuQSLe8PWfCXCSMr2fVAeB/unXt/1i/cv9V5dreZTbtdBLHCiX0DEzG1onMvtRoRnCcuZg6dqUzBoHDKsKYzmLuFSfYjRn5mGcKqiQZmsWd+CXXBSxYTHeBwjpeu6PXo0Yea1ID12wZuHK+pJKFT+fEhDJ5aWD3u5J14+Eb8iG2lnY+8oRX15xPz1hx36XevtZThaHu8Zw/Cuqhgcgau6hawIgs66NCY9+vUZ5PyR8f8GgCziYtLS168nGMRj+4wl4T9rhqdeTHaRY9fdnVouZj68ll+GWuOj+H5PxO8pXSBzEbRws4NgbX2hXJ9lV8iibNeXH5kNw6Yi0M/Pr4EW5XASbshkqyU41vrbrfBOeRWVsmZuqPl835ag4Tgh2Et/T3XGxKXXeLgc5GK77TG0idaCY72CA72LC+c9GaPXicaT4EpYJHPgElG292FHgA4YKtR/8XVVvbbyGbHxFCjUug25u/cq6Sb8ZkK31NNLvSkJEFN8gb+NIfKvbgGJpcZl7hX6UwTOM8vTAOHV8HVdDBabB0uYv4567M9IHqpRMpXYbRXbSFlYvxhL9cz09fT9BdZGq8GeUkeAit4TXwUh5sWRmuROT1ddbIydv+nVMT7NzV0W82MFEPWY6yEDI32ReaEUDXdAi8p9gbOnKUbZB4ChCwzMbHyPjhe5ymHUxL6VfVpXF1ipDrR7PRJEM6rzl6ovVwOTmI5fY1nanp2otmEZSU/5uldfXcsJzzvS9wZHMpRfBDSRNKpYIsv8K+9eWA/bcs3UxSC3p26w84eBU29tgBX0BaZP++ua1sWfpsR7ZdT/RNiFwg196FoT4HWuCCywVoblh19OWskdXkjfDs9QWHAJfthdmyMhsl/jfh7XfTgtdz5uHlLuL+XikKYMGqli6tHiYeqIN5luHSCtVRplr0ToyNkaBs91TtQx1rc3pafuB6wJVDkpd3L134E4hQLv4moQjEmmnBbaJ0ynh5ERi6QWEwiHP31EpaVGg/1+BRl42jEGqmho4HGvEqD/+25rqiBWzhrKW4/1MHbKafkIML/sFmuCEqcma9GL64/HDp+qdn8MMSJ3jSrcdqcU60ixpk6OOmVokrtAP6pdskbZnLCBIxMdRowZq6IcTwX1X+yldArstodHqNnPdfSCeBprWkT9qQrZk+fS8uSmtatC4mK4qdfKVZ+mJ1rq3AnQDw8iSsaM4eKwiKmfTtGQ2tVqyr1AOk+tfEgGtjgg9Fs0MzOLB2gvU2MYD2TZsAUBEzqxFJgAimjTIg60lWdDVR610UidhtjUFJgpEwwY+Lj5qtGzBKyCxfpK4ExLgd6quteqEaT4yzL/Nl1NVGY5gWJBhpO4QQlaOTwrFjdW4MKpV7NLkACW6aPVX+4X2LzgkIy4qiPts837OM0Mjc4maZd13H7yLXm9wwq4JmDRbt4DscOSwCMlOfLrtwcEgT53y8fFezSWZCI1zakcUKUoITpNEJCnSKjBhVMt2lDWroDPlvXaoOm0mvOQ/nNxIsDod2fDJAIX5CBL/T2rt1h6mIXOAgl9/d8P7z9HyD0c/l2LaSDcZPihIpXOWYifN4qUhMsCwJDqsNPZxSBh7NjBgICwmeUpONLMEdkEmjfbWmb95Mcu9pSxbxSMotcCrvXUEdkDY2QXSHk6mHVTC64iD7xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TCyAXCL7QYnNptuDAtytHC",
      "input": {
        "note": "First bottle appears to be standing now. Middle bottle lies along the forward axis with its cap far out; moving the left arm above its body to grab and drag it closer before the cap grasp.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.26,
          "left_yaw": 0.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01TCyAXCL7QYnNptuDAtytHC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7795, 1.7954, 1.2385, -0.2501, -0.6743, -0.5556, 0.9957, -0.0204, 0.411, 0.0795, -0.2451, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.409 left_y=-0.2441 left_z=0.1407 left_yaw=0.0518 left_pitch=-0.0384 left_roll=0.0297 left_gripper=0.9957 right_x=0.2362 right_y=0.0042 right_z=0.0602 right_yaw=0.0135 right_pitch=-0.0078 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.9778, 8.3624, 1.6923, -0.2173, 0.1734, 0.0024, -0.3487, 0.3897, 6.8855, 1.8144, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:719188a6a44211c3849042e4eb7ef6e673e62e8bdd33c3501b38419716aabe5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acdeaaa5c8f6ac099b91a7606053bedb35677e99c94843e00da6cd76e248aa65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:73e72b117497c8b8ea4bf2c4398c1b947003bd9fe805d60526a17a36b5754297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 4.691 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]: [-0.524, 1.6154, 1.0645, -0.3302, -0.7727, -0.7109, 0.9943, -0.02, 0.4404, 0.0998, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4073 left_y=-0.0888 left_z=0.1471 left_yaw=0.4588 left_pitch=-0.0237 left_roll=0.0044 left_gripper=0.9943 right_x=0.2379 right_y=0.0042 right_z=0.063 right_yaw=0.0139 right_pitch=-0.0173 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -9.5111, 6.2974, 1.3114, -0.5201, 0.0562, -0.1099, -0.1983, 0.0889, 6.9128, 1.873, -0.0659, -0.0366, -0.0073]",
      "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]: [-0.7536, 1.3552, 1.4006, -1.0702, -0.8822, -0.9642, 0.9956, -0.0204, 0.4244, 0.0868, -0.2455, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3147 left_y=-0.1033 left_z=0.2852 left_yaw=0.431 left_pitch=-0.0128 left_roll=-0.0387 left_gripper=0.9956 right_x=0.2366 right_y=0.0042 right_z=0.0605 right_yaw=0.0133 right_pitch=-0.0143 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -6.065, 7.6513, 0.9451, -0.6374, 0.1929, 0.1148, -0.3487, 0.2803, 6.8991, 1.8681, -0.0464, -0.0024, -0.0122]",
      "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]: [-0.7795, 1.7954, 1.2385, -0.2501, -0.6743, -0.5556, 0.9957, -0.0204, 0.411, 0.0795, -0.2451, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.409 left_y=-0.2441 left_z=0.1407 left_yaw=0.0518 left_pitch=-0.0384 left_roll=0.0297 left_gripper=0.9957 right_x=0.2362 right_y=0.0042 right_z=0.0602 right_yaw=0.0135 right_pitch=-0.0078 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.9778, 8.3624, 1.6923, -0.2173, 0.1734, 0.0024, -0.3487, 0.3897, 6.8855, 1.8144, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:719188a6a44211c3849042e4eb7ef6e673e62e8bdd33c3501b38419716aabe5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acdeaaa5c8f6ac099b91a7606053bedb35677e99c94843e00da6cd76e248aa65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73e72b117497c8b8ea4bf2c4398c1b947003bd9fe805d60526a17a36b5754297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwoKEAgSGAI4AUIIdGhpbmtpbmcSDFJJYUvtHJFA6a6jSBoMb6/Z/2bhyacRvu9HIjAWRN4x8GNIxvdoxO0SQRSZD9mRBUHa6mUjONezOUykg7nx3Dm7zSUxWPvmQW+E5p0quAl0rYlli2ML10uKxNt7FMfVFev3ujBIhdqt5U7d/Q/kStx+kxxf9TFbgHT92KBQIjSWhEpAwUCVmP4Q2ROkcCibiyVbXJnTkRFa30CwRiC/zArXxGATaFbKR4VKE6lImNs50KhItpn1G9zaOMb3OkDxLSu6zCkX+vPxo8tpFqH3oBbKSeKi1Pq4BKeKhIofvuf6lrAZKHWJWWHRKtYdjp79CeUCArMjbLjcCmVS8yvnMx3xeP0YcxOMw68kzmTHyR7Hg0GboebR2/jlGNeUEhQeOfn0YOiFc6AEvGdVYu6F8UuoT9PObU2O5eJSJEM5RVSGVzxaI6BPxK2sXV3qGI63y2t22APPDuCi/XXyNK2DYR6NkrWp5Uq3Ja4yO3ZvXddex7EHGnouK8y1PNTimHkBWSsdXfEVCWif6iz6sxSiW+Djq4blTk6Ih5LT+KnIXltr6T9kU30VUdUQuirPwpYiYWk3CXRzYI0fMY8FVfOIHqCnbnCF2iHY9n7aru0cNZ/jIgCgJo3yM40ccgdU4sMbG6bz9RvcQwAgtoHMlYbWCaX96O4SmOMWun54qgnZqKBIQVA1Gxmu5ME7Scll5danMbeClQiy+iAX8UFRTTM6+CFt+uLzCtaF5l07nG9noV8P9iQRi1jVePct/CwWJEyWKB6mZo2Az15swpnLPBVszk4AOgvYRD9c0txL/ilhCCLCXCdIKPpocoWFB7VNxMXM74kU6lPDmLu5tTQXu5xKjixXJJnaT1FX6EJuhWGc85NWWXe5Y4ivzDgliFtek2yIO6YpSlqSl4Kao2fCDGxbdrUUezGJ6bEVWmlM1FTTXaQpX6etRtezattswdsKYvAdHg+Wny4FCrPzKutJgmnR7riTzmOes+s72lsNd1bYnFAZfiWmcAFDI5F5dqZCqb/r2Hhk2bbOqlAKCkLVyg7pWRuHF8H6Aqj+1N7SSJmPapAagEWbe21VACjMgYGW/pZgb5pQ8GfhCNmDCzBU7BItv+bfIH7J7QIIWDDnLAgSEoKxmDPtkXhQvheQAdhEy9kNeSAiTNQscaQPlv8HwRJUc9c+SMTEbNIooT7ihNOINzyeLxOZDHLkONGNlO3VqNgCNHoTVw7GKXn6FAtT6wKl9OWsHlbL71PIhLAz4IP2irtvq0y1g3mP3trsQib9saneFUGoDrsyAbrG0aLm69pVHw1t6PRHdb+Xk4BGx1TshV42b3Tqs0SGW+25sdByWmuL4inUU4J8lUfeXiI4V9vLtgmy6tlFnURmo9+6BC5nK34Sp56jRDPMWVed+AA5yYqvyWN7YJ3sBNP7mZ5eSIjrXGuygNWAp9jTIHqcacohby4LkJOYUoDWMp5O6Y71zXRyTUyE22Dtvb2NDz16ktwPxowoIaXgW/lxjzRinJjsklQftJKCt5H8kyBULX60H89EMfKWxFEvaPEcpkz52K/rHMDRVxneiN1DeVrwS1lOlHCQn7bqJKnnOrdpjMFiKTdrSrLB5dilaNUsXA9yhkGmgsb4znToMYli//S8Xf69V0UqSM4TZ4IzIDVBG+K2b3SAVSVWGN0ZjB8PRmWGHUHmqL0b39kEASAedUSlQCkvDQyNW1yg5qJvHRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DfLgpB7rKKW2PvqyZqi1Lm",
      "input": {
        "note": "Bottle 1 now stands upright (top view). Middle bottle lies slightly right of the jaw column in the wrist view; shifting right ~3.5 cm to centre on it.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.28,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DfLgpB7rKKW2PvqyZqi1Lm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8402, 1.866, 1.2797, -0.2173, -0.7055, -0.5941, 0.9958, -0.0204, 0.411, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4057 left_y=-0.2758 left_z=0.1319 left_yaw=0.0337 left_pitch=-0.0185 left_roll=0.0099 left_gripper=0.9958 right_x=0.2361 right_y=0.0042 right_z=0.0599 right_yaw=0.0135 right_pitch=-0.0085 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -9.2103, 9.2786, 1.3407, -0.4078, 0.1392, -0.0024, -0.2667, 0.0205, 6.653, 1.7949, -0.1099, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca8a9a9833321935765076acd9ee2196fab5583008d51bf0ae7278954b727cb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25d08a2d3952f7fee84b6c76f1ab45af23b0a853245576cbb77337afcedf6027",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b483783250ad31810e643e8960b1338d006d21dc602b3ff09eebbf2086eba6af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 4.612 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]: [-0.7536, 1.3552, 1.4006, -1.0702, -0.8822, -0.9642, 0.9956, -0.0204, 0.4244, 0.0868, -0.2455, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3147 left_y=-0.1033 left_z=0.2852 left_yaw=0.431 left_pitch=-0.0128 left_roll=-0.0387 left_gripper=0.9956 right_x=0.2366 right_y=0.0042 right_z=0.0605 right_yaw=0.0133 right_pitch=-0.0143 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -6.065, 7.6513, 0.9451, -0.6374, 0.1929, 0.1148, -0.3487, 0.2803, 6.8991, 1.8681, -0.0464, -0.0024, -0.0122]",
      "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]: [-0.7795, 1.7954, 1.2385, -0.2501, -0.6743, -0.5556, 0.9957, -0.0204, 0.411, 0.0795, -0.2451, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.409 left_y=-0.2441 left_z=0.1407 left_yaw=0.0518 left_pitch=-0.0384 left_roll=0.0297 left_gripper=0.9957 right_x=0.2362 right_y=0.0042 right_z=0.0602 right_yaw=0.0135 right_pitch=-0.0078 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.9778, 8.3624, 1.6923, -0.2173, 0.1734, 0.0024, -0.3487, 0.3897, 6.8855, 1.8144, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8402, 1.866, 1.2797, -0.2173, -0.7055, -0.5941, 0.9958, -0.0204, 0.411, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4057 left_y=-0.2758 left_z=0.1319 left_yaw=0.0337 left_pitch=-0.0185 left_roll=0.0099 left_gripper=0.9958 right_x=0.2361 right_y=0.0042 right_z=0.0599 right_yaw=0.0135 right_pitch=-0.0085 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -9.2103, 9.2786, 1.3407, -0.4078, 0.1392, -0.0024, -0.2667, 0.0205, 6.653, 1.7949, -0.1099, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca8a9a9833321935765076acd9ee2196fab5583008d51bf0ae7278954b727cb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25d08a2d3952f7fee84b6c76f1ab45af23b0a853245576cbb77337afcedf6027",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b483783250ad31810e643e8960b1338d006d21dc602b3ff09eebbf2086eba6af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAkKEAgSGAI4AUIIdGhpbmtpbmcSDK4y85xhH239kffbuBoMB8RPVQ8gidao1r9kIjAc3Ny2gxDqQS4aMvxVsb1DVZWZxHb1s1/yKcKlsXqG1kGjtV9gCahyNm596KJGtc8q2QhlEgRunCcyypdl0GyOrjm03Jz8rTQ1yvK7qSOotYIoAAbkzsyzL3uzLFGGcrjnef88nwvx0rYCOJsWTa3dnwoMALy7Zr6+bPXG3Kv0ptBFn5TWTS+Ii1NYUYK9uLOGBNZCyYpsu8u86KB4tW1AtFCFJbPAFa2eWZvHjQiOUW4Brcu3OkYLHt4bdVuP1NOQZXsaxaONRHkx5MMaoX4XW6s7APrXy+vXW/j9yncl+c88gZwIeSiMMXEhfxtJDtS8VpKILyQ2IOlezAlHG8dpy71+aC97XtqS5IB3J52bzay7RDnuXqF3fjnuybCe+mr43AP0o0hTfRjdERJgW7E6Ec2uuvR4QeLYJNQinHroJuOI3hmv7+KZYA2DFFRDJ7ZtIvaRKrPtdMMf83vxIXyFteMigEP4yfefusxcA6z9kEOyaKvVmWkw9rA0sh02TTWjtP7nngPCZ1IYkAQzQ2N5t4zm62WiQb9czyR10wixfI4amygohPfgIcs3ri6lJMUgko8huK6ska/wk5aEg3O0OtRfSwEHzQ9PIpkFdYu8FZOfaky7zYUogww/GuX5NMbbpUUvG+ssBNVnnWJN/kUJQvcZaWXdgax5gySoGC3eSgmA7njfgy1aiTuC4hX2K6XYpbkK+d0bEEj5qrZl9JrqalGrcogUMHD5xrPg6bwBs8SjH7tpSi0ZwC5J62JYHCWxCy8bnCx2E2gFRznx385VOWY885nS3zNkNpTpPxRuGobtMX/12A6kAJ+kFy8khmcIXvR27VnPS9tD5VEZlUKccfQDAa41v1dmmmzxw1rLAgqPBZeWEMDwvXSoCWf0eLlu0O9Q3873HWf/qG2OHQAJmPt4B0QRtQEyFyenugFck5T4nWERYsFE5tzGL6nbJu2WHutr/KcPXWkByPs9qN9KRq/4hTSVlce2pfk7DkKHyinx2l1iJPJkd9N7BCdCkAXW2H7cLa4oC9Fu0OtnYTMyWnZZx4nAJmtlvFJnfh7XcESR3VERuqil30tGwVAAV+GPOMD2gocWqGhRs4WG0iHsaXutBDwL/8+yZ0qkEbx9nHxTwHEZOBCOUyUWgM0Uk0RxEsxLzGuppROI9i4jFk5ySChiYkIcvQayfabK/jBW2makQa6RtSR26+g2+QGvbbWhzzcQns8JvnDY9FP1mSEar/pjxCVmofIw+4jLope4pamMIBKuCSNOW7XS0Y/kX6js7/p2hPJbQXHMO7Wyw/ViRLT1NSTXjgu2ii1EtRbRhx+pawZVv3YPiCctiXUA8RzDYIhwbicG+f0oh8k8cY2H2ELu+zkGRY3zWC4UbRA1UJfbY7rqWyrdHSj4dp/qk9UF3SyY+nWKaAh1/vh72nkCaSMPRSA6cVNjDiNryGB+zhteRZBDCSG1iCpfUiKRj5A/9pthMdreLnYj6pUycO5SLf6V6sG8j5Ee/HK2yddRSJNKwsLm58eYO5bo6ZQFjSZfMvGBcxeDD3aPuV8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PPZcbNM3sGiAa1FtDkVBcG",
      "input": {
        "note": "Middle bottle is centred between the jaws in the wrist view, cap ahead. Descending onto its body to grab and drag it closer.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.28,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01PPZcbNM3sGiAa1FtDkVBcG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8478, 1.8793, 1.2911, -0.2256, -0.7151, -0.606, 0.9962, -0.0204, 0.4099, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4052 left_y=-0.2787 left_z=0.1297 left_yaw=0.0391 left_pitch=-0.0196 left_roll=0.0124 left_gripper=0.9962 right_x=0.2362 right_y=0.0042 right_z=0.0602 right_yaw=0.0135 right_pitch=-0.0074 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -9.8667, 8.7316, 1.2772, -0.4322, -0.105, 0.0269, -0.5265, -0.1299, 6.4479, 1.8242, -0.105, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2081dd59f288f35dd11e31eda700cef0256cb8cb7e81935e201b0d634428a2ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aff0cc05fe24492772be478769a46655035c3869575a3f0cf6a88ccb87fc592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f75425ac5c69379baf230af3610b9990c0c5e60f71405112d6b553dd1e40c786",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 4.274 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]: [-0.7795, 1.7954, 1.2385, -0.2501, -0.6743, -0.5556, 0.9957, -0.0204, 0.411, 0.0795, -0.2451, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.409 left_y=-0.2441 left_z=0.1407 left_yaw=0.0518 left_pitch=-0.0384 left_roll=0.0297 left_gripper=0.9957 right_x=0.2362 right_y=0.0042 right_z=0.0602 right_yaw=0.0135 right_pitch=-0.0078 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.9778, 8.3624, 1.6923, -0.2173, 0.1734, 0.0024, -0.3487, 0.3897, 6.8855, 1.8144, -0.0708, -0.0562, -0.0122]\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]: [-0.8402, 1.866, 1.2797, -0.2173, -0.7055, -0.5941, 0.9958, -0.0204, 0.411, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4057 left_y=-0.2758 left_z=0.1319 left_yaw=0.0337 left_pitch=-0.0185 left_roll=0.0099 left_gripper=0.9958 right_x=0.2361 right_y=0.0042 right_z=0.0599 right_yaw=0.0135 right_pitch=-0.0085 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -9.2103, 9.2786, 1.3407, -0.4078, 0.1392, -0.0024, -0.2667, 0.0205, 6.653, 1.7949, -0.1099, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8478, 1.8793, 1.2911, -0.2256, -0.7151, -0.606, 0.9962, -0.0204, 0.4099, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4052 left_y=-0.2787 left_z=0.1297 left_yaw=0.0391 left_pitch=-0.0196 left_roll=0.0124 left_gripper=0.9962 right_x=0.2362 right_y=0.0042 right_z=0.0602 right_yaw=0.0135 right_pitch=-0.0074 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -9.8667, 8.7316, 1.2772, -0.4322, -0.105, 0.0269, -0.5265, -0.1299, 6.4479, 1.8242, -0.105, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2081dd59f288f35dd11e31eda700cef0256cb8cb7e81935e201b0d634428a2ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aff0cc05fe24492772be478769a46655035c3869575a3f0cf6a88ccb87fc592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f75425ac5c69379baf230af3610b9990c0c5e60f71405112d6b553dd1e40c786",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSwwkKEAgSGAI4AUIIdGhpbmtpbmcSDIboHymaMwRkTvHfihoMsY64PCgnW3mkR+qgIjAl3dViwn+brHiO+cwwthtK5sRloayTbGtkSwJHwHenwxdEyaLTCgkKNNSy7MrTpsUq4Agdf5S6g0HisNLpznzRMRc8rSA15MSDlNj6ChJBiyKwxmsgxFD6DtQMOtKzWR+B5wKQ5ew8QSLNKVMQumm0d5ClyaqUoTXJj1kSwmXv9X7KXys1WnIOm/taTw5cCJi6zVjGOpuu/dj8uAi4AZSieNpfJ6SMGfOVNNbmaDFjMoIT05Nsjkjj1RRezTOjeYXPdwRxnw5qHBfk+LlnxBMPUZWDCUV4D5G1Khgha22152w+0QAb/o3xxxOFcIiJ5ZOz+OAyBTMZT4zDxjwpuDj448fr8VPmZJqKNgTvD0GAe36uD/VNQ9h8BU4Qpvd/g4sOFkFepJ07M8jbHHhU/BoyAGSV1Tl5WETqR6G367flc5ENVImKMvDtI5hGlLq8rnKkBaN3zTEvbrtnwWQdPiBVJD3h/0vrZOVG861RqdXsYyuxXqlMU8Z6KXBatcmM3wwx29hrn5EWpKPKUrJWgyJOKgDjblNEQqdFC+leX7tvjd/+ZBSPv4o3esBD37oEAeCjU3fqPP+uMhdRr3Mqv8RBc/TAh0jFNP+sWYndGHvwsDl0+tz84lDih1sbXogVceup3J1sHyEtXI6sTHqjtCCXYiN+sNaGE+hUKpupYlZq/AcWoaE1yJBGwhU1pwOGRjzFJdQJbeT5mlsJ2NAEuFS7+SzbpsC/XcVxQXo5aKJjQ+Sqo5IkpvwMQnPfpVbxJCWw6/zWg9Fhfhut0B97zPxgyfIEfQI+zRskFNU7nrVBGEfHTIH869bMS+IO4PR63aGVAUL2e5vcTBUX8Ujm59LNHMLE7YPXXbrEeAAk1z17Z+9ghVZ4oDZqsxWyFxDvwWC8cLE8ixqKYBeTCqW1CoUsBh+ytZfZ8BQC68/jEXIrVxYc5XZ4LY6bduPq0QG35Rlj0xp8rTlUbWp5WTXdZ4pOIdr4olJ7ai3wU8N/ZaXUgTP0kyjHzvT89OoIUcvO9FhBu8EBSCpO12kOFB7D4PBVk5wSndLE65j3VCSP8jHvtdEqqNL9X7lEEgUiEchDjxNMRQzUSbjNIG0EY4aOir3Mb4LgmaX9Oy0Q4Iz0izBC181vhyEpv8gQcCUHSe4IWab08g2+o/QHvkU0UQg4BNVJSuZLDnsG85NBRpyeP3nnjJWNZSU0gDvHQZhuvSLwJFQSDTelGGnCyk5p44Jh/6FRXSCwMNsQHG0RHgnG0d0eUsa1BxQVjRFHBX6cvgsmUAAh9EsaFAtWE2iyp0g8+EhRNOfti/YkGYmR+xPBqug08fIt3s4AMzlNbbie3sIFlNaPCZjmxcwKFiEnPbXwngtADAIaFy0dggC5x2Sq9B36/rQsVR8mlOBqH7w6/pPmTM3bEz/Pfgb/m3iYiF3ZLcL2lZAi5Weh9t2b8DWMxyT99eTxM5SGpqC/Z7xwPe/qZEGvUtK+SEXqBdOOFVXGPj5ljjsSUeaWVyRfkEy9qymFr9AppzMj6RQAFyMBsqhtSuFTbXp6U3LfkxLB0d7tmi91NXUKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F9jCw65r2EFB92GtEWkggW",
      "input": {
        "note": "Descent was not executed; re-issuing a slightly different descent target onto the middle bottle's body.",
        "targets": {
          "left_x": 0.405,
          "left_y": -0.28,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01F9jCw65r2EFB92GtEWkggW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8501, 2.0216, 1.1324, 0.0452, -0.7223, -0.6239, 0.9963, -0.0204, 0.4099, 0.0792, -0.2447, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.401 left_y=-0.2742 left_z=0.0459 left_yaw=0.052 left_pitch=-0.034 left_roll=0.0243 left_gripper=0.9963 right_x=0.2363 right_y=0.0041 right_z=0.0603 right_yaw=0.013 right_pitch=-0.0067 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -12.0274, 6.3795, -0.9695, -0.3199, 0.9841, 0.0024, -0.1983, -0.0889, 6.5299, 1.7509, -0.0904, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33bee3655a2789865d2470a58d524e836a8f5dde75c88334d8081dee18657445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d1318307dcf2b229d5c8345da85d291956b7f5cbbe374b19e2edc924df57022",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:de41ba6192d2f60e0a812dc3b857f456040233b7fb62ea006e5db7ad28e96f70",
        "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 · 5.476 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]: [-0.8402, 1.866, 1.2797, -0.2173, -0.7055, -0.5941, 0.9958, -0.0204, 0.411, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4057 left_y=-0.2758 left_z=0.1319 left_yaw=0.0337 left_pitch=-0.0185 left_roll=0.0099 left_gripper=0.9958 right_x=0.2361 right_y=0.0042 right_z=0.0599 right_yaw=0.0135 right_pitch=-0.0085 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -9.2103, 9.2786, 1.3407, -0.4078, 0.1392, -0.0024, -0.2667, 0.0205, 6.653, 1.7949, -0.1099, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8478, 1.8793, 1.2911, -0.2256, -0.7151, -0.606, 0.9962, -0.0204, 0.4099, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4052 left_y=-0.2787 left_z=0.1297 left_yaw=0.0391 left_pitch=-0.0196 left_roll=0.0124 left_gripper=0.9962 right_x=0.2362 right_y=0.0042 right_z=0.0602 right_yaw=0.0135 right_pitch=-0.0074 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -9.8667, 8.7316, 1.2772, -0.4322, -0.105, 0.0269, -0.5265, -0.1299, 6.4479, 1.8242, -0.105, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8501, 2.0216, 1.1324, 0.0452, -0.7223, -0.6239, 0.9963, -0.0204, 0.4099, 0.0792, -0.2447, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.401 left_y=-0.2742 left_z=0.0459 left_yaw=0.052 left_pitch=-0.034 left_roll=0.0243 left_gripper=0.9963 right_x=0.2363 right_y=0.0041 right_z=0.0603 right_yaw=0.013 right_pitch=-0.0067 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -12.0274, 6.3795, -0.9695, -0.3199, 0.9841, 0.0024, -0.1983, -0.0889, 6.5299, 1.7509, -0.0904, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33bee3655a2789865d2470a58d524e836a8f5dde75c88334d8081dee18657445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d1318307dcf2b229d5c8345da85d291956b7f5cbbe374b19e2edc924df57022",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de41ba6192d2f60e0a812dc3b857f456040233b7fb62ea006e5db7ad28e96f70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgQgKEAgSGAI4AUIIdGhpbmtpbmcSDB/XMnysw05szIGNzRoM+bCsP+/gG0Ga038VIjDCYHbVsOiqoGcxIXOUTT9SREWhLi0C5N2Wgo6b9bG1J7IUrpAlmOHoafv6SzbTJoIqngdwJh2eWk1Dc2vXkOXj9Kw4GWnyeGyKFpQeoYIUKYPjBJcnva5dYIVgee/2Li/EcIhwrM/+WD6vMsWuFb1EoeCa+wH13gU+WHvbQKvAAnJS0ERQ8DvpH/x0IVT5r1ahGgeAj9lUDn2V4aHBGYXRgd2eKZTPmi7SLmhdbeYKFCh7Fai9gWc41VSjzUaoUbHxP4NvJKPShUerk/BECuCYHDW5Yjue8NaVWgGjIS1cLTkOafi7oYXgap371J/CXlpUP28TQ1KzcOY0WWo5v/m8S/tZcxRIpR7TQJ9eRLWIk59ZQiEPLf7H/TLLWs2q6cs8FEEoGxEK+ZGFz8vCC66m0Zom37430ZN8GT9yAIEM2XfQ4maa7Fhc12Xy+p3gI91+KNRjJhbrDnNV+YLRUijwmKhnZQXddTxaAYpxW7YOhsuy7K1cIg+X8c7AphFhXpIylhO8KSvLu4gbSDR1JVpMo9orDb2E/0c1bxQ5vvaw4k2ZpFDoVmfmTRI6l45OSwFfmgEL5SybWzqYbFCxAqP/+/5gUJ9ZSSqGiQ7OkRb5dYEv5x9A2Oj00roudpYO4RehsH+uPIb8Kkj/C4YZTM/vW8Qe9+PuRX6x8DOU8JHhXT06Jut6JOMRcH+Ro8/WQWRBdoPfF1bdMHwO+gEv149FPE4RHyPJ/+A/AWWnjeuRAAVPg33FRj77JJ5jCYbjGuccHJWzPGsbmB+ku/DwdBwy2DN5jbuYiRRXIY/Ceo6I2jQQGEBlmum/0lT8rkMRkh8uQkXQYxGWHMkWy/xJGsYMMoelUUgsKh/EeHvNxgvpwvlJZkNZM1Sj4ghmc8cTrNlhTSiPjUTyoE/rNRud4ndpEC45HF+FkEMQmtyL0QnMkU2hR8EmCK5BhZIeqiDCJ43ftZlNBOz3eT9LHfA/FdTaYNLEaKEDSyE9902x6LAP97fa/3EqP6WGrb1C3iScWSbYZbiJCpB/w6hzOnoyO/+RlBQ35YyPOVyQYRof073k05ph9CJSdjecN0quxn4IVjDZs/blXgJ8xDb1yLAxU3wya45MNF+Iw7BJetWYfQsKDgDGFRY9BshLebnxNGrPajqHvuQnANoxGODNzEN8TI1O8w0xGm2hi3WX753eaVMW9SAkgs6MrJnW8dIn7euOGFB+BW3vzbD/yc9UCnoHl3dleyi4JNnQ/oEP2IMeOQXsZv5Mp0bHiB0r/ed1phOl/H2H2k6jIFFe2+TEK71m8aU2tRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VW8ZtmktLz3LQA3UqnW4vn",
      "input": {
        "note": "Middle bottle body is between the jaws at z≈0.046. Closing to grip it for dragging closer.",
        "targets": {
          "left_gripper": 0.45
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VW8ZtmktLz3LQA3UqnW4vn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8513, 2.0514, 1.1038, 0.1261, -0.7254, -0.6285, 0.5479, -0.0212, 0.4099, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4016 left_y=-0.2751 left_z=0.0342 left_yaw=0.0549 left_pitch=-0.0183 left_roll=0.0042 left_gripper=0.5479 right_x=0.2362 right_y=0.004 right_z=0.0602 right_yaw=0.0127 right_pitch=-0.0074 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -12.8615, 4.6838, 1.4139, -0.3639, 0.0562, 0.6178, -0.1299, 0.1983, 6.5846, 1.79, -0.0855, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d824cee7cc5d09dafc6cc1858bca1f9712b3bfe35b267f60755c28ee5026013",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42e6baa07764875912c1fec66724ea6f4608e45ef71a66daf0267232c3760ffe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49f4b64ccce82a98a4561c24e98aead8705a038675f28b786a7f61817bd139b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 5.707 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]: [-0.8478, 1.8793, 1.2911, -0.2256, -0.7151, -0.606, 0.9962, -0.0204, 0.4099, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4052 left_y=-0.2787 left_z=0.1297 left_yaw=0.0391 left_pitch=-0.0196 left_roll=0.0124 left_gripper=0.9962 right_x=0.2362 right_y=0.0042 right_z=0.0602 right_yaw=0.0135 right_pitch=-0.0074 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -9.8667, 8.7316, 1.2772, -0.4322, -0.105, 0.0269, -0.5265, -0.1299, 6.4479, 1.8242, -0.105, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8501, 2.0216, 1.1324, 0.0452, -0.7223, -0.6239, 0.9963, -0.0204, 0.4099, 0.0792, -0.2447, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.401 left_y=-0.2742 left_z=0.0459 left_yaw=0.052 left_pitch=-0.034 left_roll=0.0243 left_gripper=0.9963 right_x=0.2363 right_y=0.0041 right_z=0.0603 right_yaw=0.013 right_pitch=-0.0067 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -12.0274, 6.3795, -0.9695, -0.3199, 0.9841, 0.0024, -0.1983, -0.0889, 6.5299, 1.7509, -0.0904, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8513, 2.0514, 1.1038, 0.1261, -0.7254, -0.6285, 0.5479, -0.0212, 0.4099, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4016 left_y=-0.2751 left_z=0.0342 left_yaw=0.0549 left_pitch=-0.0183 left_roll=0.0042 left_gripper=0.5479 right_x=0.2362 right_y=0.004 right_z=0.0602 right_yaw=0.0127 right_pitch=-0.0074 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -12.8615, 4.6838, 1.4139, -0.3639, 0.0562, 0.6178, -0.1299, 0.1983, 6.5846, 1.79, -0.0855, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d824cee7cc5d09dafc6cc1858bca1f9712b3bfe35b267f60755c28ee5026013",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42e6baa07764875912c1fec66724ea6f4608e45ef71a66daf0267232c3760ffe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49f4b64ccce82a98a4561c24e98aead8705a038675f28b786a7f61817bd139b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSigoKEAgSGAI4AUIIdGhpbmtpbmcSDALrUN73AsVgqSOnyRoMJvTcBi2ueuYaWIGaIjBTT6qXswClcUHeBoGC+Zxhd4t6Ad3hO2ZbslihDBYhBUWCZsUjWDJ9nsyAqV0CtfIqpwlBh2uljfZJSq0ilpel18K2MKIF/sOa21KDiENjaYzOXOGA9lUGwOBnrWqquhOrm1kIxwvQICKf3MooMJ+81Y/v9cTsHVEsPY1JEBv1N7l6C86H2ZZ0ECqiWPL3HTllnK0SVvWSYuy9/I0HOdalYoMwehj0Kdfj2lwe4M8O1Fe1fnJT7h3MyQqG1QglAC76GkIU5VbgE0YOsucgwGuQXCV3e4/ZAQtq0Let6XYD77U2mrcVYIn+mh5zcgYgfawu1rnsXH3yg/cmvGHvK1n7uc6EEf99IuXkIZgOS+/szRjfu2+yNYCt+85CtnO9ZKTPAUXd4l/PWY3fZuNANoiQ5aOiMINDbDjufoOdYpTCwYGPczkmdziKIAEbD89D4zJPWj9FKsLi1ZzRL5la6gg4u7kphAaDQqxAc5Aseg8S0ZskFzMMUDtroAnwF7ESj5EaArBQC+IeQ5zEj7IxRwMGNH6FTJwRiwGdfcyKxetbJeEtehGaCqLlbzPCEm61mEMOhycwhaecy850WRnkLjvfmnbm6bjI8F3GZ89hd6hn7MAJTeiv+O919RsTOVQivi0F7GLeLoYZYMQkb9p3WPnKiI0SfWeHX/8dXXdPF0/feTkeIjUI98gvlnCCq2F91o6iBUJiZgV9dziikoOJCxfr46cabRnMkuNZkO16qPLe54gRA/dQJRdRJ5QCHoyAC6mUznIFO6eTRdCZzOnt/qAOS9GR9Z0QFOR4lTdM+Zs8qMNHP3igXdWr1WePU0uy8jyN8hmdwTxdYIe2wfXjwrPR/HgTqGTMlAtiCjqPFbM/fDP45V3CJiqDbFFOaa+t8RvFqwxixFO0oMMFQgpy9vdm8MYeqk1SSelU8xmCiieZgsEWGzA24wdaJB41r+YR8wvxEew4Mo9qoq0jsnBewy5LrCg43iIet6+7GeKs2rJV/jlGuZr/KxhfRrq2meC5jjqBRJHurxqp4u+8RBEHY8xbTxCQhiJbQCaIMAFNNvcI20IuCN3nKsoT/SnhlFF/1NhpdMHA2+jbJAqN69HVMaqLpi/bHVZ9YRUhC+tqKWJVm0aQ1N6Y2/Dnccj7i640CkjZr/uhC7frKvCrUAutBKsRyC357WdgB95tcqSQN0b0RJGKyxLEaivIcySYbS9liumlujTmZHH38uSPGDkwzT+vLL8TrI1uSNAr0nzMIr1oWINIQKzvD/1pk92GbekfLViIRKaj0yc9/Bi0XOD/qB0wbnHCaxGqyYSWT4UZJ9bYBU7DtzJrqVQxV+Z8L+LtaP5kYo52t90n1RU7bYhdieYrnixrpIrzrOzqNT+9hFclLAgO7Y7F01ppPWKvhQ8I627qs0uNsP2O9LVyhmbnUQk54zWpy2doauH7pd1hhJT4IPE3nTwttIU3dgb7beEPeaW5mD1ASX1BwcOKNYm6/Grsgxla5ey2WnBMjNE66P8piWGxmEcUzX/x6nfaBum2IZBmCOXvVCzACB1qqqkG8b+QZ5zM74y3krozSW0M6zitp3FHdzHYGzNqMbpaEZlQ21zWIs5iQ0ibDPf6CKST/AQ0wyHK1Du9um1RWFTmKEZwpAid2k/3k0Eb3PcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AMj9X3x1xxVBA4GUyqYvYZ",
      "input": {
        "note": "Gripping the middle bottle near its base (gripper 0.55). Dragging it back ~11 cm along the table so its cap end comes within low-height reach.",
        "targets": {
          "left_x": 0.29,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01AMj9X3x1xxVBA4GUyqYvYZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1049, 1.8889, 0.8906, -0.017, -0.8555, -0.8764, 0.5502, -0.0212, 0.4095, 0.0792, -0.2466, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=-0.2814 left_z=0.0315 left_yaw=0.0186 left_pitch=-0.0297 left_roll=0.0167 left_gripper=0.5502 right_x=0.236 right_y=0.004 right_z=0.06 right_yaw=0.0127 right_pitch=-0.0082 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -11.3709, 5.1487, 1.1746, -0.7106, -0.1148, 0.2222, -0.294, 0.1299, 6.9265, 1.7802, -0.0708, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3fe6742c6ce7d67ca42276c27509cadcd554f60a2522c17dd2df94d2bbaf4cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e9265fb6c659cbf35f8014190075388d966746f23966d99e003010af4400ca2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5cf2d03d9d27a344b2c79db0bb4de385dacbc91bade80ec4f37e0f9fc4913eed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 4.337 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]: [-0.8501, 2.0216, 1.1324, 0.0452, -0.7223, -0.6239, 0.9963, -0.0204, 0.4099, 0.0792, -0.2447, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.401 left_y=-0.2742 left_z=0.0459 left_yaw=0.052 left_pitch=-0.034 left_roll=0.0243 left_gripper=0.9963 right_x=0.2363 right_y=0.0041 right_z=0.0603 right_yaw=0.013 right_pitch=-0.0067 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -12.0274, 6.3795, -0.9695, -0.3199, 0.9841, 0.0024, -0.1983, -0.0889, 6.5299, 1.7509, -0.0904, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8513, 2.0514, 1.1038, 0.1261, -0.7254, -0.6285, 0.5479, -0.0212, 0.4099, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4016 left_y=-0.2751 left_z=0.0342 left_yaw=0.0549 left_pitch=-0.0183 left_roll=0.0042 left_gripper=0.5479 right_x=0.2362 right_y=0.004 right_z=0.0602 right_yaw=0.0127 right_pitch=-0.0074 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -12.8615, 4.6838, 1.4139, -0.3639, 0.0562, 0.6178, -0.1299, 0.1983, 6.5846, 1.79, -0.0855, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1049, 1.8889, 0.8906, -0.017, -0.8555, -0.8764, 0.5502, -0.0212, 0.4095, 0.0792, -0.2466, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=-0.2814 left_z=0.0315 left_yaw=0.0186 left_pitch=-0.0297 left_roll=0.0167 left_gripper=0.5502 right_x=0.236 right_y=0.004 right_z=0.06 right_yaw=0.0127 right_pitch=-0.0082 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -11.3709, 5.1487, 1.1746, -0.7106, -0.1148, 0.2222, -0.294, 0.1299, 6.9265, 1.7802, -0.0708, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3fe6742c6ce7d67ca42276c27509cadcd554f60a2522c17dd2df94d2bbaf4cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e9265fb6c659cbf35f8014190075388d966746f23966d99e003010af4400ca2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cf2d03d9d27a344b2c79db0bb4de385dacbc91bade80ec4f37e0f9fc4913eed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4gkKEAgSGAI4AUIIdGhpbmtpbmcSDDC6QNEyiEwSoFBNUBoM4SgrI/jifVaMeCtcIjAGkJ0VnUxw4QYm5NchZVT3qG8fYIginIfruaJAlzgi4pLF8Ul2xkVtT0gaB+9TElAq/whT9CkHLtbRm0YC3jMpursV7wp5AjdnBgDev7O8W4bHHDe2HDP922pGbzWov7sAFu2SAi82+CW680AkJNJFL4Tt4BOUOjt3TRVyNH44v1HTtUmM+5Df/oLgPw7yoK18HkxmRf4/uKWLo1pd83XCOlJCENLh0Nv629US4NwjOUUKtmK1vX+g+oswr2nlMF0k9OsnZra9SyZFbt5DgSX4aesiS1iKk4Y19qPuOsaVjdpzt3Mt6U/bxLMgQowuEFICxbJTxJblx4Nv/BL/mH7xGtVG792bXtvYwG/FbO4Xh4MUpFRyao6PInZ3bBOsUtLczyVmbT38qLle4rxpd2v0m1dRDE4aIBTUcnatFqorxWYkInA2cyS1Rx6WecfXGdPhEv56dWxvV26EuE7/ooCgQGmYz+KrN9z8vXYBNw9erfmpWsulMxfTTqV3C6+dP/e40zOfSLnBVJPhZTNvbl1VSBffIW3SKZ4cOA6m5BWfNwQiy84xvsIx2EMsDHiUta+C7wLEgOzQNtJEuzRoF+kJgFIccIy+ZAwtWDbtOVTlSc21WM5inZAYPmZE8X4Pz7/TsoWNLkPyHIvNbeJ0RK1RQtvdFxH1r0rEwossIskIiETKB+dlUKR8+ILkmLheLKxbb6zx/C7m66AFZcg0yw4sa4nVUbYhItoLYDcSqrgQaRIuEIa/C+XI5ZGkX84CpJwpXNx/axY7+MT+NlzCHSBWhV+pOeAElav6Hp4mQxtrwajZncti8OglP/amYJ/sRbLx709AE6gJr4Nw78RxTozVa9tnwB4rUR0Jjdn1YEhMC+DgHPVMoHooruMkOIGR86FDbgZEefCIafVLfwoEUyUR0I6ffrF5HSFK0gNp8Vos/W7DeR0my4v7IJFOHtm8rVn8AWEKAm8vNOXKIOqPzbR1iAobHRmWntG41q4kUJHHMVwzjIHW4C5byhE3ks+/XdXnMEGvarCKADovQDXGVjn0N2zYhc24EL86BH3RMTaEMIVZEWuxk3eofEck0uZpiT/6I2Nzy2b5jY1A4RMjHYgQ56t03tNy8XB7N1TpoLMLyib+C9TgGptq7ZnWS2Ke6OvfO9yCvu8qMuHwK+7wxVkWGyDiCpg1Nl8dXfD2wOFV4hlyLO5X7GLRsMMy2q7lsnEf6O6NX2+/YJAH4ilQJMhaRxXXzdN81al3a29VS7iWr7vxFdMVddHA30o8DH6Uw1G3SQGqPYc1BpJnELrsjeYLB8kgpTKXvt1uEC3dhEtZo925oVgO7RZeGV1HfK6aFiPJhhL4Uo3qBmSaiz/J1bAb6vm15D1WHIJonBrtplch2Yu2ODyR+OUXAN8Ai9dF319m9aqm//6apBCT2K3E5DTTJ+ZqFh4gaqYsqZVoUJC88Qtgbg3pR9Z+6Ogg2/hrXtZwB+UXCGJV34zer6q8+ZV77itC3u2Fru/dNCvaWDnkN80AkdTuRd6Mnx8w12T1ZB8an4Y3LhaZfyMJg3WmIP+RtsJouhZqkJ0qzxjLj8B0LKu6+NtjYgr1QFxDmkkHf02yARgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012o2RsG13iSeRHviF6NRSi4",
      "input": {
        "note": "Bottle was dragged back with the jaws. Releasing and lifting to re-grasp it near the shoulder/cap end.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_012o2RsG13iSeRHviF6NRSi4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1114, 1.7588, 0.9451, -0.1818, -0.87, -0.8906, 0.9961, -0.0212, 0.4091, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2933 left_y=-0.2803 left_z=0.0802 left_yaw=0.0271 left_pitch=-0.0101 left_roll=-0.0078 left_gripper=0.9961 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.0066 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -9.6342, 8.0479, 0.9792, -0.4762, 0.1978, -0.0855, -0.5265, -0.0068, 6.4752, 1.7558, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e02cf657c23ff89ba7d2cec16abf0de6b46df3ec4e37cf31a6fa6e8645589090",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21324bb5a229dedd530109844f8489d166f2f36c637eb2d0fa4f1c9d42fc0b20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:76328033d5466d2b374c9778df149d9b566fedc711151f11d18d617b01c0f2b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 3.473 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]: [-0.8513, 2.0514, 1.1038, 0.1261, -0.7254, -0.6285, 0.5479, -0.0212, 0.4099, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4016 left_y=-0.2751 left_z=0.0342 left_yaw=0.0549 left_pitch=-0.0183 left_roll=0.0042 left_gripper=0.5479 right_x=0.2362 right_y=0.004 right_z=0.0602 right_yaw=0.0127 right_pitch=-0.0074 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -12.8615, 4.6838, 1.4139, -0.3639, 0.0562, 0.6178, -0.1299, 0.1983, 6.5846, 1.79, -0.0855, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1049, 1.8889, 0.8906, -0.017, -0.8555, -0.8764, 0.5502, -0.0212, 0.4095, 0.0792, -0.2466, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=-0.2814 left_z=0.0315 left_yaw=0.0186 left_pitch=-0.0297 left_roll=0.0167 left_gripper=0.5502 right_x=0.236 right_y=0.004 right_z=0.06 right_yaw=0.0127 right_pitch=-0.0082 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -11.3709, 5.1487, 1.1746, -0.7106, -0.1148, 0.2222, -0.294, 0.1299, 6.9265, 1.7802, -0.0708, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1114, 1.7588, 0.9451, -0.1818, -0.87, -0.8906, 0.9961, -0.0212, 0.4091, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2933 left_y=-0.2803 left_z=0.0802 left_yaw=0.0271 left_pitch=-0.0101 left_roll=-0.0078 left_gripper=0.9961 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.0066 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -9.6342, 8.0479, 0.9792, -0.4762, 0.1978, -0.0855, -0.5265, -0.0068, 6.4752, 1.7558, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e02cf657c23ff89ba7d2cec16abf0de6b46df3ec4e37cf31a6fa6e8645589090",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21324bb5a229dedd530109844f8489d166f2f36c637eb2d0fa4f1c9d42fc0b20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76328033d5466d2b374c9778df149d9b566fedc711151f11d18d617b01c0f2b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzggKEAgSGAI4AUIIdGhpbmtpbmcSDE8WoJlNJRh0wZkWbBoMNh69Z6/rSX19xpTsIjC8IjIAMpFTtZ5rrsMlLf5nYI0rOkalmtXCxFu5WS4tTkm90CqlHxcWnFKzI2tlZIEq6wfZIfCma3wMhdre33of5DqLLdX4T9KemTOw74VqvPcZJV7PjgkE4+gbM0HsIeIcaR26r7Q/QsGwUQni1e0Pnax/jWcrkmMA/UY7FwN9EoxV47uwGxp5+rHZzlv3z5L/KEbQHcaol2oHpSvCmy6cmLo9PK4n3cg8Jps5XAAj9uHzlC28fAW4MXIMS5G17b8OBUhemBh8wqYl/izSGnBs067EIkewOrfFLsytOK7WDpb/xcZlqXWZG0Wy5LJkaDRp+3lWZE047rslx2hYXhNHWYGS6c1NE6JcRT8Om2X/C0AFyhhwP6G0Sf0eMAjzrOIyck5xFFvk5UhprL5G7aP4Zc+TiCPgfJheC+SrbZM7/zKiNXztKZq1rfnxbyGyu/+UdYYvrESDuhrvh9w1ueAyi16PmZZvQmYZ4K0f7Ib+tsyKpMT16Svo839OYEj91PfFgEkcHsst48bwG8j00IMRvJ8636iw44y3kAGwosK8GVAPbnW6xV50nrZAM3HmuxMt7dpRKLZEQ9Alvngnj5WCMD7PQx+Tevw4PjH2smc8wdyiO1m12j8jydKJ8TFEL3kpYnBBLEEMAAoGxlhpDksrFA1OGy3vei4DUgg3Z173uEn4lcYCD4Sx9p5Nnoj2gU/WsZcJbCc8EJZX696z0Wtn4eEVcOI4pYgYmBcNJ1am0dkwcsbP0Diy9bffh7iRxE+88KxLsQVU5FC+RCVRRIwfNokuYb2pwdWK+bLH9AafNQwsMD405zRi5ZWLudEafxE1pIjEK58gXSrmBNI2CczqgyNYlTA/rFVPoirx0kmHTbiGLWyiDVbIAIUO1E8S6aw1Bt+kFsfLAnNGlMaefp0uWWNy4ZTctGfUx2qaDnNRKLB8IEReIwd0AKPts2+uwI0scBjnq8YXvKtgEvLIPaWTsgTvai8vCs2iX5Ep/Un/eLDwDdczk8BmsRYv5yqrIYOiyDNs/frcajBE3p92B6nszPT6MuXgR2iTXjMaTSw+yzhtWvqVAtge/E4qOxVvC9yXXHoiENbi/hXCPJU5RW6mKGfQfM5H+AOlvJb7OCF1qpja/Z4d16BM+i/Ig8P6Ed+UuLMxgtmdEtyjOhT/Lgd1yTayErarD4P8nPtilbY1Mp5HXjJ+3rDZZdw9dDSrW9bfU14vncplwLzJ09ujgaiT0o/m4IPVYRmJS6Wn6oK2HZvpu38lkhwc8XufrjwGHD40Gk2UoebDBoSpSKWod94GuCk2IAXrjppCk1HgfrPkxnDUKWNkAjvIuDgHga0tXRazOaMbBl56J7ax6eiZiGAisygJfZ657qXKANnPdg3u4hjeo+/9dlnnuZnO8xPjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015UT5MTwMXPA7zrvkB6cprE",
      "input": {
        "note": "Middle bottle lies straight ahead along the jaw column with its cap ~10 cm forward. Moving forward over its shoulder for the upright-hang grasp.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.278,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_015UT5MTwMXPA7zrvkB6cprE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1114, 1.7351, 0.9604, -0.2298, -0.8696, -0.8898, 0.997, -0.0212, 0.4095, 0.0792, -0.2455, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2922 left_y=-0.2782 left_z=0.0887 left_yaw=0.0266 left_pitch=-0.0142 left_roll=0.001 left_gripper=0.997 right_x=0.2362 right_y=0.0041 right_z=0.0603 right_yaw=0.013 right_pitch=-0.007 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -9.1282, 7.5282, 0.9939, -0.5104, 0.1978, 0.0757, -0.212, 0.1983, 6.5983, 1.7851, -0.0757, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c41c5054acde2019f0163cdd9a8cbcd442661466eb9f9012f0b3eab785d86fcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:895aa2b4addf2b855b3906563167af8124eaf14ff1034ff32c0de4937bc15248",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6fc94414f949558036a2e260fb7f5c9b4465b26917312c828ffbd3af1b0afc4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 3.897 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]: [-1.1049, 1.8889, 0.8906, -0.017, -0.8555, -0.8764, 0.5502, -0.0212, 0.4095, 0.0792, -0.2466, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=-0.2814 left_z=0.0315 left_yaw=0.0186 left_pitch=-0.0297 left_roll=0.0167 left_gripper=0.5502 right_x=0.236 right_y=0.004 right_z=0.06 right_yaw=0.0127 right_pitch=-0.0082 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -11.3709, 5.1487, 1.1746, -0.7106, -0.1148, 0.2222, -0.294, 0.1299, 6.9265, 1.7802, -0.0708, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1114, 1.7588, 0.9451, -0.1818, -0.87, -0.8906, 0.9961, -0.0212, 0.4091, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2933 left_y=-0.2803 left_z=0.0802 left_yaw=0.0271 left_pitch=-0.0101 left_roll=-0.0078 left_gripper=0.9961 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.0066 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -9.6342, 8.0479, 0.9792, -0.4762, 0.1978, -0.0855, -0.5265, -0.0068, 6.4752, 1.7558, -0.0659, -0.0562, -0.0122]",
      "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]: [-1.1114, 1.7351, 0.9604, -0.2298, -0.8696, -0.8898, 0.997, -0.0212, 0.4095, 0.0792, -0.2455, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2922 left_y=-0.2782 left_z=0.0887 left_yaw=0.0266 left_pitch=-0.0142 left_roll=0.001 left_gripper=0.997 right_x=0.2362 right_y=0.0041 right_z=0.0603 right_yaw=0.013 right_pitch=-0.007 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -9.1282, 7.5282, 0.9939, -0.5104, 0.1978, 0.0757, -0.212, 0.1983, 6.5983, 1.7851, -0.0757, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c41c5054acde2019f0163cdd9a8cbcd442661466eb9f9012f0b3eab785d86fcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:895aa2b4addf2b855b3906563167af8124eaf14ff1034ff32c0de4937bc15248",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fc94414f949558036a2e260fb7f5c9b4465b26917312c828ffbd3af1b0afc4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQcKEAgSGAI4AUIIdGhpbmtpbmcSDATClcYX77zWhIgx6BoMDvd+YRR8sy3zPCKlIjDfPR5DcvUJb31gSSGsMzoExmbGdt5mhqaHAPaJPpJICUPrr/AQyV7IZ/kxJXpx62sqvgZpKLZZMLFBU4ctymLwWqCR9YaW4GtkCK2pV4BpfgidbhUvnsCf48kdRAppCrxtF5NodEHrpvLm/47Lzog3JXOyrErvWTisQkr4HoSeLsYhxp3x2YWKGIePIlspuBOJO/KBj80KtbW0gtzy0jTFB3IpRGre5GTKRvao/M5/p1A2FtgthupeeMZvUfCoAOFOQNFVEJNOxmtc5M2uxnrAyuna/o4U+6pzA89z/QaKz6NPMpTBOXT2ZTH2MySHet3f5Nt9kS8SZl4NSEYt/cgzvoepRI5HG05q0erQvObo3pwOB5sSiwjvi6J8JQsycUq3v0dzcRPM+6+BvsQMAZaoIIvYZ3MSO5B/8sYBGaLLwLI4sgPkBk8mTppnrGofrAgh28BLZwYCvmEdWPKsh6CFxiEhpkA1q9RUQWYk3pFWXrVkjsCjQRvwOO5TtgYqINEJhhPuUNK0AfK8jbBzufYO5R19lChzKemy+3VTCdLrXN4HH7pyxhev77Jso3qrDIC5dI4KTPqdrkAYjFW0grzIN98bjq6FQNN4itbENc447OamCeuVbZsjwlZmJ5OEL2/8p+HOPj2iLaRnHgx24DAwcRfcajyhCUZlXDWr8KjXksfkNWF78NNfrq+IZIDGz3ERS6iahtgvdFTgW3yPdf8pvwnegC7WgLKDQpoXiayWkrdsoADu9ex5Brbn0yEcmBZq5uFj73tlqX8z1tmF3bYKCujqEBp8PaUNad+vK0eNqOqutGvnX+N9LjT+jniU978yziHtYYlqKPJ/CKb9DFPSXKxxEo7xl+nfqUhMvWyXLtMV9opvojD9nF/3NCix0jOl2H3UIQxTtKgXjFlsl7FPlFDHzQzGCKrBHbj5FKcJ27PKv0rrTb3OhgxccolwdP78jQbEiplR/+IuAsa3B3w6pzVyd2V11GfChlSnFw19ZDiro0/BFTMsF6SVGBSKNamhFef3uXtwCfRHnAdSPE7W7FuFqkmaEGOYjmCVkFB3Etua8NY91R9Jqfck1visCbHtlcx1SyWCUlNXsPBnwDOZpdzZoyrz08lETVgSl8mTpJ7lLfA9dpLYAe4dSientttGGKOcNC0XkHS8LHb+Lmll4hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016SWQR146WksWDa3cqgtKdu",
      "input": {
        "note": "Arm didn't track the forward move; re-issuing with a bit more height.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.275,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_016SWQR146WksWDa3cqgtKdu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8825, 1.8263, 1.1381, -0.1528, -0.7502, -0.6701, 0.997, -0.0212, 0.4091, 0.0792, -0.2459, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3797 left_y=-0.2665 left_z=0.1098 left_yaw=0.063 left_pitch=-0.0151 left_roll=-0.0041 left_gripper=0.997 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.007 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -8.6359, 8.5538, 1.4823, -0.2564, 0.3394, -0.0073, -0.4034, 0.1299, 6.5436, 1.7656, -0.0806, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92f83a894603a5d5b8cc9773d8b360a073d6b2acb3a14aa077e1422e1c695413",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7567ad09758bb7b23caf4a57de0a157b2b123d84fd252f9d6d2a1dfa435375e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4461dbc096852fce4f12fae4b0400c148d7348efb9f5ddf33246884b9abd904c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /messages · status 200 · 3.365 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1114, 1.7588, 0.9451, -0.1818, -0.87, -0.8906, 0.9961, -0.0212, 0.4091, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2933 left_y=-0.2803 left_z=0.0802 left_yaw=0.0271 left_pitch=-0.0101 left_roll=-0.0078 left_gripper=0.9961 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.0066 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -9.6342, 8.0479, 0.9792, -0.4762, 0.1978, -0.0855, -0.5265, -0.0068, 6.4752, 1.7558, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "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]: [-1.1114, 1.7351, 0.9604, -0.2298, -0.8696, -0.8898, 0.997, -0.0212, 0.4095, 0.0792, -0.2455, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2922 left_y=-0.2782 left_z=0.0887 left_yaw=0.0266 left_pitch=-0.0142 left_roll=0.001 left_gripper=0.997 right_x=0.2362 right_y=0.0041 right_z=0.0603 right_yaw=0.013 right_pitch=-0.007 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -9.1282, 7.5282, 0.9939, -0.5104, 0.1978, 0.0757, -0.212, 0.1983, 6.5983, 1.7851, -0.0757, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8825, 1.8263, 1.1381, -0.1528, -0.7502, -0.6701, 0.997, -0.0212, 0.4091, 0.0792, -0.2459, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3797 left_y=-0.2665 left_z=0.1098 left_yaw=0.063 left_pitch=-0.0151 left_roll=-0.0041 left_gripper=0.997 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.007 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -8.6359, 8.5538, 1.4823, -0.2564, 0.3394, -0.0073, -0.4034, 0.1299, 6.5436, 1.7656, -0.0806, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92f83a894603a5d5b8cc9773d8b360a073d6b2acb3a14aa077e1422e1c695413",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7567ad09758bb7b23caf4a57de0a157b2b123d84fd252f9d6d2a1dfa435375e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4461dbc096852fce4f12fae4b0400c148d7348efb9f5ddf33246884b9abd904c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3wcKEAgSGAI4AUIIdGhpbmtpbmcSDCfpN2F8LUbA5mX8+xoM3sYe7374EsyfmpY/IjBy+MzP2xGW8KuBhxFbovUXnubtwyivaO1Ga2ZpT8AU8bTlEvfks8dEHn55psaRUeQq/AarYp8amZRrH/qyZTxmgsMk4k34dbnxngoZQCH8hE0RehyO62hnGsPLSsvQOssT7GUSPYR/acLfVPcFj91W84qHHF8lLeic9tqOGLKuq+dnvupsYluzfDa/bNIIfa1i/nRKtVcGT8v9VbBQqqXzlx7f/N8JKjCdCNxpC3q0UrRkIFqN+yBlRGPZFfiy7ZhaAnaPwR6nzTPOIo+VNf1fwHAWojVB4WTq+dIm0kncZ4FtnOTKUP35Db21gWhlmjoQIyVZxgaCx1fxZmwJyYXFi9D00UC8Ova5d+F0OBziiTlyDm2q6gpifJ7gz5zJeoyikxUYuwuWEUm5p/s9Wpkjq5sgHqhuva9LxcUS18CZsav/6D+GGZw+ytD4iH5t1bkwG1AffWNbLvw9ixYmCA1cYiQo2VjPSahiFkWI5eIBErVGYWlFaj5G0mVuFfiXGOdT16pi5qY9CMVJ4VUn0yb+c/6JX6NgLh2Vao+JI+HXClaYmnJrPAnD3Lt7L8m0CliCsXXkikpc6JDhMElkmS+pIuQ2BPRdC5MOdHV+eLTrusO6+1tXgGgL9h8DWjVE0Aw5a7zImBycY1HlgklgNi4ANUesBDEPbwpAVZpRlG2bZsG24dfIzniQCKpC6OPE+lzAtmzQVCVEsvv2sIApCAvZPXb1KBJt3yDLdJFK/yeoZ0Ya05WZPSyMN9Sh3ehln9thauyKerBPkk3Px06W6RXxtBJqu0rE5v+UMJhUOrCUJv+jNxr4YpFCX3raEj6yivZ4u7XIf8GafunSax1VYKME3VLAZdj8hVv76ZJnapro58fUKhT2yEk6Khd+M2HqxARsiKK2fMJVX1RBIUlGiz+QV/O3naX0d5MWYojd8Ii7yWbyiYTh26ziB628BF1YDIX7XECZFQBmKPyiO6X8wwa9J7jqlWyUupVExdmxplhljIiMkwt7T5acTQ3qNqoT4iFU2FH4Qg26aeB3dQdoAPUSF+/VTFKVWdug5s2jcBeRWo5swlvlBvE8/VAix5WEmDz6MMap5+ucPNqZVd/+Idjzt1kPTz+p6hfnOZuPjQP3RTqMpHocp3XhvGOoWx06M+r1QChZqwiLsXP0UYHNjDO9RksRL3dOGRe76LzYrOG91Yiw8cj1b02n9Xwn+37L8ww3tBISvTYIC8AQEDvIeeFm1dtkI9Mh+naXp4wWdFADGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DhmhzFVJi8HYaP1DKV81kK",
      "input": {
        "note": "The cap and neck are right at the jaw column near the fingertips. Descending to neck height to grasp.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.265,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01DhmhzFVJi8HYaP1DKV81kK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8772, 1.9827, 1.0222, 0.0959, -0.7486, -0.654, 0.997, -0.0212, 0.4091, 0.0792, -0.2459, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3796 left_y=-0.2629 left_z=0.0359 left_yaw=0.0592 left_pitch=-0.0301 left_roll=0.0277 left_gripper=0.997 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.007 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -8.6906, 4.6291, 1.3211, -0.4176, 0.0708, -0.0122, -0.2803, -0.0342, 6.5436, 1.7998, -0.0952, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60a7a3ce635637ab20bedc9e1e452a30ad3f0447cf72e229361e6d9787f05e2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:affde4faab55a42db2475b59ce19f9160efe20de9c247edb5404a1e6f255546f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:179512a92112528982e0a1173ffbd1aaef720417c3c73088eb538ae5489f8de0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 5.044 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1114, 1.7351, 0.9604, -0.2298, -0.8696, -0.8898, 0.997, -0.0212, 0.4095, 0.0792, -0.2455, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2922 left_y=-0.2782 left_z=0.0887 left_yaw=0.0266 left_pitch=-0.0142 left_roll=0.001 left_gripper=0.997 right_x=0.2362 right_y=0.0041 right_z=0.0603 right_yaw=0.013 right_pitch=-0.007 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -9.1282, 7.5282, 0.9939, -0.5104, 0.1978, 0.0757, -0.212, 0.1983, 6.5983, 1.7851, -0.0757, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8825, 1.8263, 1.1381, -0.1528, -0.7502, -0.6701, 0.997, -0.0212, 0.4091, 0.0792, -0.2459, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3797 left_y=-0.2665 left_z=0.1098 left_yaw=0.063 left_pitch=-0.0151 left_roll=-0.0041 left_gripper=0.997 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.007 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -8.6359, 8.5538, 1.4823, -0.2564, 0.3394, -0.0073, -0.4034, 0.1299, 6.5436, 1.7656, -0.0806, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8772, 1.9827, 1.0222, 0.0959, -0.7486, -0.654, 0.997, -0.0212, 0.4091, 0.0792, -0.2459, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3796 left_y=-0.2629 left_z=0.0359 left_yaw=0.0592 left_pitch=-0.0301 left_roll=0.0277 left_gripper=0.997 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.007 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -8.6906, 4.6291, 1.3211, -0.4176, 0.0708, -0.0122, -0.2803, -0.0342, 6.5436, 1.7998, -0.0952, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60a7a3ce635637ab20bedc9e1e452a30ad3f0447cf72e229361e6d9787f05e2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:affde4faab55a42db2475b59ce19f9160efe20de9c247edb5404a1e6f255546f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:179512a92112528982e0a1173ffbd1aaef720417c3c73088eb538ae5489f8de0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkgcKEAgSGAI4AUIIdGhpbmtpbmcSDMp5wIYSv7C0cPAm/xoMETW4/knLm0hfj27oIjDyZzLYnBBbRZKz7HH1FkfeEiv/WZVZubZ0OYAzqa8k0TCqCGvA9bzh6LTzRYl4ukUqrwYTbb1gbBgI0v1TyyM83Hn5af2afB4KV+x5fdpJHszMNIeIlNrvQmHn+QpoRRyWiKcNTdNfkcRIhEGQpppVnBNMtk08hQKwvwuskKUoE0LuYFO4MuwbZLwtSz//8q8InKZXgfbBLfIwjve9SWYVlAIRk7hVB/2Vqv99tXBelO/Iq9G+9xu7pP/WN5BPIARtNXrvpPWOTW8MYpBDetdPoEeNQPgQLO1rTBTarqM2vAVBlTQvV48FINhrSc7vod1E6dKcP69OCcRVbuXMXHSuPICkpb6d1yZuQrfiHY5B8KyFyZz4AN8zyWrzdqBPeDUmxSK8kCUTNQQLZP1D/inl/675jgeDSMVUMx60soe3I7edn71fHt6dV5T/ctnvX3tOP0ZGuwdC8Yf9efJvQg13OR/WJmeIuhaHW1Pd1mdrBariUqNdxXFK8niHSHAAgm2sSb+k6CzPDmXFssZgmhgnutl+NZDeHeuIhRf8t1cgvS/IouNisUoV1otBAFyAYCWFEezn6ZLnV39xVw+ketrdT6LfnNiLlT4pOhPOat63XG9uMqoQEzsG1h2fbmpAkpiOZI2Z28tcS18Cwp+pn6ytCG9ufIs9XKJwSE+//0lyWF5cc4NiX3tDfG1uXq5l0dGdbnRM6N2punApJEe7ynEjlNRLRUoj40hhbX2FHUmidPOqPt/BHNz52jy5TN4Xd1RwJaIOWgi28LBbVfJRYgeicCr5kBu7NAYhs4djRnRXdo+0YqhTG5FJ6/ablaxYaDe/p07z2EeZ1ilnxnIxaLzXHw+/mGmyb7d8xOpDdoIW3HL4Q58ps3VMDNwNWj78AeNtMUbW/kA9tPDp2UueoynP9EN+edeBOea77sTKC8K6XUQUm6VJby+UTR1NINnQ3QNr+UtzNCagUi6jfYVcNuNY9PvfXHb+U0kwKvz5ccGRoAAOO0MWBwYh2vXoM7S95DohN6sirZlDR2Jrq2/HRzOGhhXIec0TVGuVVHYz/naXMkaGRBE6aMK5HT+f/QWNzdGqwtQbAkbSr7ABwvzYntr9cqjEOYTnvEt9BDW9dwbe7Qaj/ZvFQWBMB6Vfv9Ow6e+Q/xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015DJgDdJPq3LtXMKR7qcV6G",
      "input": {
        "note": "The bottle's shoulder sits between the jaws with the cap just ahead. Closing to a light grip.",
        "targets": {
          "left_gripper": 0.45
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015DJgDdJPq3LtXMKR7qcV6G",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8772, 1.985, 1.0027, 0.1928, -0.7567, -0.6544, 0.4707, -0.0212, 0.4091, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.385 left_y=-0.2678 left_z=0.0424 left_yaw=0.0645 left_pitch=0.019 left_roll=-0.0297 left_gripper=0.4707 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.0066 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -10.0308, 4.0821, 1.1551, -0.2711, 0.0073, 0.4127, -0.212, 0.0889, 6.5436, 1.8144, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b751ef2759483acba668916fc7d0392a46a9391c90f930a93951d0368db0fe3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85dd7ff77786d080e7d80065581db740c2502325efe2e942a1b6ecd3fcd2ed02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb3c04fce5d9750967adde55721f78c609b3f87ccfbbf08309c1e8470a6e9495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 5.913 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8825, 1.8263, 1.1381, -0.1528, -0.7502, -0.6701, 0.997, -0.0212, 0.4091, 0.0792, -0.2459, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3797 left_y=-0.2665 left_z=0.1098 left_yaw=0.063 left_pitch=-0.0151 left_roll=-0.0041 left_gripper=0.997 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.007 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -8.6359, 8.5538, 1.4823, -0.2564, 0.3394, -0.0073, -0.4034, 0.1299, 6.5436, 1.7656, -0.0806, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8772, 1.9827, 1.0222, 0.0959, -0.7486, -0.654, 0.997, -0.0212, 0.4091, 0.0792, -0.2459, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3796 left_y=-0.2629 left_z=0.0359 left_yaw=0.0592 left_pitch=-0.0301 left_roll=0.0277 left_gripper=0.997 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.007 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -8.6906, 4.6291, 1.3211, -0.4176, 0.0708, -0.0122, -0.2803, -0.0342, 6.5436, 1.7998, -0.0952, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8772, 1.985, 1.0027, 0.1928, -0.7567, -0.6544, 0.4707, -0.0212, 0.4091, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.385 left_y=-0.2678 left_z=0.0424 left_yaw=0.0645 left_pitch=0.019 left_roll=-0.0297 left_gripper=0.4707 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.0066 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -10.0308, 4.0821, 1.1551, -0.2711, 0.0073, 0.4127, -0.212, 0.0889, 6.5436, 1.8144, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b751ef2759483acba668916fc7d0392a46a9391c90f930a93951d0368db0fe3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85dd7ff77786d080e7d80065581db740c2502325efe2e942a1b6ecd3fcd2ed02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb3c04fce5d9750967adde55721f78c609b3f87ccfbbf08309c1e8470a6e9495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QkKEAgSGAI4AUIIdGhpbmtpbmcSDEwe40iFiFNhd3O5ExoMotfnnwbkJxN12lNZIjC9AVyzGtvvMkhkt3kt62EsIKcU+czR6FexGej2nS0sPkP5VRb1gwzhyktF8dETuIYqggm5BJ3h0XHE99WKkVyFZKSacRjlF7bYU12rON/+YTwN4x4vu0PD1Kt+yzZAPdlTSWcYzOUh1dnVnn/axAczMok3Np2UNkWFyCMH/hOZ4oXQEeuaPzI0RDFHQkM9tt8QXS6M6EYiXlkRkyFY6QjW3pVclq8I5X4jHUe6n9y4N699XJhsAL7aQZ85kCv3WdTkU3upozamfj7/n4CbLklJ/SufYR0dgCuOinAMkCVKy1SuW1eU6D8oIGVJkeEop1D0Rd7uxm5+yqS51Y9D43UYSisaWTxApcNrPKVlm2ANF1XVJxiKlpdoidt7W/wv3+EBanbPm0oipM9AKRAzVXSved0oXkTJcDkEJpmb5ZijkaZxT79ymqS/DnMUWPydn9ZTfDmdMIWRo2lP4VY+i19ZK4B3PaQc/66fqJYHrMD/3fMm49GJHhyuVIGudETCkyNzpwIaV0Z3eEsNidtM2Kz754N4pTKtzMkE+SNFHK2HJMslQHzrOOla8doeTVEKsVQ3a+cnbE6ciWZcqkGI6qwf+ZEm+hf3nWZgdnAz1rxKE6jUpvOgrUBlXeZwYR9UMtXMwcwxWrvc9PiT6KY287DCPos+VF0UsoZtalgnSBnd/e/eMIdyMTcIpB/uupdgCEFtv8t/lq7ccJKgutdXnepq3cukcn0x4HlpW/aI7ZQ/DW2Fmztr2FSX55Zb+vFEpj7mbHagFrQCE+Ddt4pX/J6ESxybque+fZQMuq9SaEeGW5qqyekKmdQw3H7+B1Q3/46zYWWEgovzr0lzScV4kCckrzVgY4Ln0U85mwy1IWXw0giCHIlB1RCpQIOLJGrcsWMjFFVR1yA4cHToEWRPCd05uCAL68/UFkDikqdzpwFUtMfMqWGNs+Y0TnxA3gTWaSgHfvgX4lt9aARtP+sB0mvmzgW1TKzWcBWtoWOqJ8B7czT6GTDaFKApjcV0mUh2cQlte4QTdDnRUZAz+F+WKCwLFBLQijYpHa9YbkbFLjFZ4C2L7uD9d8nJmjX+o537YnqLm1IPCP7S7ljDHlfMbGIbp4EKTW3JELy9MVfAPmotecTCb/AdbBJdHCKX0dlRdA2pyOoMDDZQ1hghdJv0skqj8OOR58B7C+NJk0x0qZYnigtUKEVzUs1GWLBtlDRpTE7cXINT6ntoWVOgNnQoIrF2hhst+tLqIIFNhvteBLzMa23DXZKAEvvULZ3aq36O+ZL0XGaTkZHxHKxGZKr6nJrndwkOXBR4R/eNgXEZDHJjzevydmBWOANmJmJmNMnm0fqhqx+NEZvsTDQXjvxROK4TpjMN3WXkueEH1/oDnBMpbhiD9tefpRJb9KdXQPsgesC+y8bZdZTik64PP1bCLx9mIfFzaijqYaoof0O0KvvQ+zjvwIaQnSniP3UTQRAN14CWP2BybogWXEgR8cP+qHQ5IKYAnfHwEUBZS3pJO2YQcumB7XVgZyl2/FnlWTewdXo2XfBpBnQa4l35xbq/2SILJsbepvhgQhx7QjGOH6mVqaBA3HXR6iNCjuehVFYNj/cOslwu5BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013SbuBQA86UCKnKF584B563",
      "input": {
        "note": "Gripping the middle bottle by its shoulder (0.47). Lifting high so it hangs base-down.",
        "targets": {
          "left_x": 0.36,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_013SbuBQA86UCKnKF584B563",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9302, 1.7355, 1.7405, -0.8532, -0.7719, -0.7189, 0.471, -0.0212, 0.4091, 0.0792, -0.2462, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3635 left_y=-0.2755 left_z=0.2863 left_yaw=0.0559 left_pitch=-0.006 left_roll=-0.0299 left_gripper=0.471 right_x=0.2361 right_y=0.0041 right_z=0.0602 right_yaw=0.013 right_pitch=-0.0074 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -8.3897, 8.3077, 1.1844, -0.5788, 0.0562, 0.0122, -0.4171, 0.0068, 6.7487, 1.8095, -0.1148, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13acffbd0074f2430bec84568968e21244d88a3aa6b2743bb384526bf7274b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13dd93d7180c8258099e6add543ec6a7348741a767df2f6e3277556e177baca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a2a1d98b8d71f36bbc9e04ef84c37398f29fc1e9e80b098c522ea5ab09bbdc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 3.826 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8772, 1.9827, 1.0222, 0.0959, -0.7486, -0.654, 0.997, -0.0212, 0.4091, 0.0792, -0.2459, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3796 left_y=-0.2629 left_z=0.0359 left_yaw=0.0592 left_pitch=-0.0301 left_roll=0.0277 left_gripper=0.997 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.007 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -8.6906, 4.6291, 1.3211, -0.4176, 0.0708, -0.0122, -0.2803, -0.0342, 6.5436, 1.7998, -0.0952, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8772, 1.985, 1.0027, 0.1928, -0.7567, -0.6544, 0.4707, -0.0212, 0.4091, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.385 left_y=-0.2678 left_z=0.0424 left_yaw=0.0645 left_pitch=0.019 left_roll=-0.0297 left_gripper=0.4707 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.0066 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -10.0308, 4.0821, 1.1551, -0.2711, 0.0073, 0.4127, -0.212, 0.0889, 6.5436, 1.8144, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9302, 1.7355, 1.7405, -0.8532, -0.7719, -0.7189, 0.471, -0.0212, 0.4091, 0.0792, -0.2462, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3635 left_y=-0.2755 left_z=0.2863 left_yaw=0.0559 left_pitch=-0.006 left_roll=-0.0299 left_gripper=0.471 right_x=0.2361 right_y=0.0041 right_z=0.0602 right_yaw=0.013 right_pitch=-0.0074 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -8.3897, 8.3077, 1.1844, -0.5788, 0.0562, 0.0122, -0.4171, 0.0068, 6.7487, 1.8095, -0.1148, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13acffbd0074f2430bec84568968e21244d88a3aa6b2743bb384526bf7274b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13dd93d7180c8258099e6add543ec6a7348741a767df2f6e3277556e177baca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a2a1d98b8d71f36bbc9e04ef84c37398f29fc1e9e80b098c522ea5ab09bbdc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017ve1YbjJm2sSc1mrCjy392",
      "input": {
        "note": "Top view shows the middle bottle hanging vertically below the gripper. Lowering it until its base reaches the table.",
        "targets": {
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_017ve1YbjJm2sSc1mrCjy392",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9302, 1.7378, 1.2675, -0.429, -0.7788, -0.7242, 0.471, -0.0212, 0.4046, 0.0792, -0.2462, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3601 left_y=-0.2695 left_z=0.1616 left_yaw=0.0639 left_pitch=-0.0296 left_roll=0.0112 left_gripper=0.471 right_x=0.2364 right_y=0.004 right_z=0.0612 right_yaw=0.0127 right_pitch=-0.0028 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.8, -7.788, 6.9265, 1.4139, -0.4518, 0.1685, -0.0122, -0.1983, 0.4034, 6.5846, 1.7802, -0.0806, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb1cbe961188d100ee63402867edaa98498594dce1f26fcdf64bd756a6b7f25a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55930c4f7776a447d7e21bc30653c7a51a8e28d79cf48f522a2120adc58cc7a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e11debe6d678cafee432deb68a9165fcccce58ae9977e2c7e6b42a20c1fffe5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 5.311 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8772, 1.985, 1.0027, 0.1928, -0.7567, -0.6544, 0.4707, -0.0212, 0.4091, 0.0792, -0.2455, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.385 left_y=-0.2678 left_z=0.0424 left_yaw=0.0645 left_pitch=0.019 left_roll=-0.0297 left_gripper=0.4707 right_x=0.2362 right_y=0.004 right_z=0.0603 right_yaw=0.0127 right_pitch=-0.0066 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -10.0308, 4.0821, 1.1551, -0.2711, 0.0073, 0.4127, -0.212, 0.0889, 6.5436, 1.8144, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9302, 1.7355, 1.7405, -0.8532, -0.7719, -0.7189, 0.471, -0.0212, 0.4091, 0.0792, -0.2462, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3635 left_y=-0.2755 left_z=0.2863 left_yaw=0.0559 left_pitch=-0.006 left_roll=-0.0299 left_gripper=0.471 right_x=0.2361 right_y=0.0041 right_z=0.0602 right_yaw=0.013 right_pitch=-0.0074 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -8.3897, 8.3077, 1.1844, -0.5788, 0.0562, 0.0122, -0.4171, 0.0068, 6.7487, 1.8095, -0.1148, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9302, 1.7378, 1.2675, -0.429, -0.7788, -0.7242, 0.471, -0.0212, 0.4046, 0.0792, -0.2462, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3601 left_y=-0.2695 left_z=0.1616 left_yaw=0.0639 left_pitch=-0.0296 left_roll=0.0112 left_gripper=0.471 right_x=0.2364 right_y=0.004 right_z=0.0612 right_yaw=0.0127 right_pitch=-0.0028 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.8, -7.788, 6.9265, 1.4139, -0.4518, 0.1685, -0.0122, -0.1983, 0.4034, 6.5846, 1.7802, -0.0806, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb1cbe961188d100ee63402867edaa98498594dce1f26fcdf64bd756a6b7f25a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55930c4f7776a447d7e21bc30653c7a51a8e28d79cf48f522a2120adc58cc7a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e11debe6d678cafee432deb68a9165fcccce58ae9977e2c7e6b42a20c1fffe5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wcKEAgSGAI4AUIIdGhpbmtpbmcSDKlRLFcV9UOrbRt2wRoMyfPlQUDYma8cvVQAIjDI/JOXMr3mIVniUM6YgxmLujwbKgP5CLz5M+j0X0Y0Xowmc1JtOJUL6coQJnG1m9Yq+AbK6ylUpiNDa1zioAJAThhHnpJVmSo09ll1R/K6Og0d1aQVuc6DwXpXpOu9bznGXJQc2gYvPzLxl9SgDG/Zc9Gq5PFGXtkiLYk93FpUaeplbXrB0pHfN4mFgQ4K9wIprrbnzWiDR+IbZQslDWdmuNosUag4q2LSlNS2FHy6JDLh98bD4Ry9Ds9rvtPVE3DKHEDiTzqaYTMokDnXRuj53T9oMQRpNIvL2TeqBsI080co8YgeBBu/gDq6jPQfgUHTGECpRDAnke8XIW3XcKnMVBWI1OhBKXUp1my9k8tpNY0Owbg6VSVvRjYzq3nKPh2I9ZEJx9UfGabZ+3t63lZtU02Q1Hf0qdtla6f9jdKoVuV7Hz1N1jFUgO1Y+y2EufqY+rSj6Ys5f+VpLTic3+Z+9nSqrgHA1U/QNlANI/bK09hzsIc2gVRaIkwmk/FKTlzNYzFIinJ0T7kHk7lRws3pwkxv0RY2M5kooYN8fpDYShHHWzVfD85ZrcfR2yNnLSDaFmNwWZyRNwrCg9kR+k9iVW9drQ0UU9gQTKzh2z+V1A6t6pzw6l/MDmm3hNTrw/rWf+WS21KqsKT0g833pca0BBehXkmphowE9H8Hfcv/aTdpWjzxANdf373kCKySZZzqw8H9dA297+i6ba6p5foIYIfE+Rke7GSeYEx0K9ufwhk8xh5nd0MbN+25OYDfY75gzF8eUApRzE+SKM2+JdKXYnz0k0MvQJ5l/bpXNSpd3pgY2RP77/HMdSy/nYj0t0Vb+KX0+pTOE7aXcd1EiWZNNtUAz/HdpdiBYFqhlP6fgmrjjJO9dGId+Tx3kwjH7vO1Mb9tETsktSsJFXrXo20kuRcUg6i5qdsDrOOq4zYS40HiqGlmhrOtuBtACKbGVWUvHS4iVQc3Y/5jFeWJFbMOKFWWWy5/hI+j40/M6vU0GkatxW6s/0m5OEvuHuYXzj22TnQv483/a5t/s59JzcRllNsRuq7gLpTd9KkVrpJLieqYpxxwUv15OqvH6enZ/zmwsJ0rVL0yKsYgB767G9iBX4QSJPG619HA4Zgvk++AMUmtjOe1yCAXlO3muc8EUam1y/7LCqoD8FFZ2LfG9aGplIZFZcP8Vi7jDatnxXF3a5164Qog8+4/dn9mA5lJwdUyE5QLy4lIeGGACb67Tmjr4lm9Lk4a2NQyvRIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017G5uYrBzhGVax51JX65abv",
      "input": {
        "note": "Bottle base is at the table under the gripper; opening to leave it standing.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_017G5uYrBzhGVax51JX65abv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9302, 1.7515, 1.2053, -0.3382, -0.7792, -0.7254, 0.9958, -0.0212, 0.4046, 0.0792, -0.2462, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3606 left_y=-0.2701 left_z=0.1444 left_yaw=0.0645 left_pitch=-0.0213 left_roll=-0.002 left_gripper=0.9958 right_x=0.2364 right_y=0.004 right_z=0.0612 right_yaw=0.0127 right_pitch=-0.0028 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -9.5795, 6.2154, 1.4139, -0.4713, 0.105, -0.1148, -0.3624, 0.4991, 6.8581, 1.7851, -0.0708, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0d3ccd09db2f5684c13fc7e974d78279bd84839adc7e01559b60ff75c30495e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80425bf4ce1e706044d58c0cfa8360d2ba4e1b6a4964542e20ff8df3d0cbb42f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f845f5d59b04a549fa7e52938de211a10b0e9bae82c00f871a4d8bd73e978fda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /messages · status 200 · 12.31 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9302, 1.7355, 1.7405, -0.8532, -0.7719, -0.7189, 0.471, -0.0212, 0.4091, 0.0792, -0.2462, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3635 left_y=-0.2755 left_z=0.2863 left_yaw=0.0559 left_pitch=-0.006 left_roll=-0.0299 left_gripper=0.471 right_x=0.2361 right_y=0.0041 right_z=0.0602 right_yaw=0.013 right_pitch=-0.0074 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -8.3897, 8.3077, 1.1844, -0.5788, 0.0562, 0.0122, -0.4171, 0.0068, 6.7487, 1.8095, -0.1148, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9302, 1.7378, 1.2675, -0.429, -0.7788, -0.7242, 0.471, -0.0212, 0.4046, 0.0792, -0.2462, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3601 left_y=-0.2695 left_z=0.1616 left_yaw=0.0639 left_pitch=-0.0296 left_roll=0.0112 left_gripper=0.471 right_x=0.2364 right_y=0.004 right_z=0.0612 right_yaw=0.0127 right_pitch=-0.0028 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.8, -7.788, 6.9265, 1.4139, -0.4518, 0.1685, -0.0122, -0.1983, 0.4034, 6.5846, 1.7802, -0.0806, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9302, 1.7515, 1.2053, -0.3382, -0.7792, -0.7254, 0.9958, -0.0212, 0.4046, 0.0792, -0.2462, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3606 left_y=-0.2701 left_z=0.1444 left_yaw=0.0645 left_pitch=-0.0213 left_roll=-0.002 left_gripper=0.9958 right_x=0.2364 right_y=0.004 right_z=0.0612 right_yaw=0.0127 right_pitch=-0.0028 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -9.5795, 6.2154, 1.4139, -0.4713, 0.105, -0.1148, -0.3624, 0.4991, 6.8581, 1.7851, -0.0708, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0d3ccd09db2f5684c13fc7e974d78279bd84839adc7e01559b60ff75c30495e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80425bf4ce1e706044d58c0cfa8360d2ba4e1b6a4964542e20ff8df3d0cbb42f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f845f5d59b04a549fa7e52938de211a10b0e9bae82c00f871a4d8bd73e978fda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsAoKEAgSGAI4AUIIdGhpbmtpbmcSDHX3AbYLrrIV9l2ktBoMhHOn5/TewTZMUH1cIjC/KSFuidqPavyxElv2+cekKf12CLnWZ0X4fF+TY8VdrgYs5aBejg3k6KNe/OqHkfwqzQmCIHLGu3iIbAY4XWdFhCE88RamfTwsgI8VhKLpK0x3vNCa4HFQ9jibSZPDxqU4urFPGa92zBw0reJqSuumZhUC3CprsbcJ4gcczTAYDWZlSgd8ma21SCbsRPoFtCw0BRSQK9qiYoJiTm1VcogrYJodMWz5dLyBj7oGukwS1thisbw3n5aWjJB5Y9uDt4ILfIYmQB8SU1FyV9z3TfqS4VsUDNuq1ejiPRV8RoCR1NMRrbjV9WSPLEqFxrnXHp7XZOmQ1o5bhUkkA17CE4AM9NWZiXL7dlgWoaJIzBbGeg5RT7Ycp7/uA3gL+kZFeMY3dacRYHqUiBTSWDgZECUyjjT4ta4ItjPJQgEHqxkVrDOE/+qbe5zQj6ARoR1wo63mQA7YZ+bedK4VYufIWsgELrEAIoU/+GdheYpDbdkixuyVZiAd2m1yQc7aETW1kM5FXJ3GT16GvRmJpKny7cM1S6owhgz+7D8GlR1mz6J+X8pEUoo8O/Whal0l317ykz63L9VAwaIifvpiSdPzsyMhMSUL0LTOzXPadyv5/htyA+iSsG5Y403TQNcihQT5QnVWGi/ANOUUiO3HfNVqj4fVVSZJaDUHVAvshfixsOoOF1l5PkZyISQ4m8Hnl3eJdwMwqg7eIgpaNFuMD8KMaeSdXzauKcat79RB3HLdAxOS1GXXWxHAJ14IXWki00O3e7A+qApBtpBS/08waA9V3KM2PmO07uT4F8smjveJ/hNWBf009hiaNx+rqQEcmsTMqIOtuyQHYAB48e2MnzT5EOJZci1ubWs8FI68S9qjOtm54YjMt+yBKNLQO3Jtu3l3EBwgjKXS2pKMgYkKlN0yMdtWh7oxYvgaghdROf4+pFLyCmPH6qzlycEtxhyAOc/TtD6GYCf7qWCMJjD8Ob4EicdcQEVwCYp0PWEibPHfBYm9W+Ve5paCUbEanC8WJC2QOg2zjxDew9x/R9erPpNq1ytd+9ZeZBKkHmmBXpXNKWepFgrGkYy2tjEfOrnMBGYTLXWVDh96a6kQ7Yo2uvYPJ1tahFZcoBearMZAG89MTWsOzszpWKPQxpmP8KLkTpX7iNZG3HaRo1paC9yz/3xstYmZnRy9FNOL1q5I87SR7Pi7Nt8liIVu8v7T6kBs5wkhz8y4KZPw3aiY9i1U77DSUcBvuy7X9kMLxf44n1qgNnadovvoj7loyoyK12r53OS+cARxTsqLmbwh188Ok3TYvMvmN5gygY4nJaIKvYgcLcITTdzzKAHZarklPZvBMbFEkf9vRPiqcLyW7mAlNpgzPk+ejYaP/bFBbtPoraeHC2OoAYnf4Nh8xyhquYjLOsE+ym8dzLflHDUQ7ZkCrsb//Y6aotxDN7dq4ffFma+y/ylr2Ma/yevdc2QGNtlo85ZpWR5omqvnF70/7cTmT/zcJNM2omsmza3Ee3laIvGe0Li9WQFY4TPqwAQKTG7VTY9pB3CMwXi4UKITP4p8LJ6GPCgbSRvou5mq10YYGfEBqbikARjT/S3jR3ak5KXo+hFerjF0ppWDSrsS4TFSt055urE8aNH1xeM5vAWr5yfIOCfQlVpao5hJrE+kctoDszG0rrf/VI2CJqJLT8isERi6B0UhSx/7nvl9Y/PI4OK7bMucvhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013m6Gbpot9k4a6BEP969dr4",
      "input": {
        "note": "Middle bottle released and standing (cap up in wrist view). Lifting the arm clear so the bottles are not disturbed.",
        "targets": {
          "left_x": 0.25,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_013m6Gbpot9k4a6BEP969dr4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.2247, 1.6238, 1.6657, -1.1515, -0.91, -1.0821, 0.9968, -0.0212, 0.4046, 0.0792, -0.2466, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2552 left_y=-0.286 left_z=0.2862 left_yaw=0.0376 left_pitch=-0.0208 left_roll=-0.0494 left_gripper=0.9968 right_x=0.2363 right_y=0.004 right_z=0.0611 right_yaw=0.0127 right_pitch=-0.0032 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.159, 7.8017, 0.7839, -0.8327, 0.0171, 0.0952, -0.2803, 0.759, 6.8444, 1.7753, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a871366738584655ad4273dd761488dc0f917bdcf72ee9315e0546a418e5ca6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:911aa06a3bbd8121f548fd2d7c625c2bbda2d2e8819fc6012bcab0ca59c8e50a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70bb433afe7996ccd7c1a6c7d557e74e2fdb074ca9ca77ad07c4874acfafacde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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