adhoc

completed
2026-09-22T20:15:52.553581+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (70 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
244.1 s
total steps
245
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles lie on their sides, caps pointing forward. Plan: grab each near the cap, lift so it swings to hang vertically, then set it down on its base. Moving left arm above the left bottle to look.
move_to
left_x0.4000left_y-0.1700left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7925, 0.6079, -0.3771, -0.0227, -0.0288, 0.9986, -0.0166, 0.7883, 0.6025, -0.3874, -0.0299, -0.0349, 0.9998] state[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2932 right_y=0.004 right_z=0.1793 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.3897, -1.4154, 9.7573, 1.79, -0.0464, 0.0952, -0.1587, -0.7726, -0.8957, 10.359, 1.8291, 0.0464, 0.1734, -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": 0.4, "left_y": -0.17, "left_z": 0.15, "left_gripper": 1}, "note": "Three bottles lie on their sides, caps pointing forward. Plan: grab each near the cap, lift so it swings to hang vertically, then set it down on its base. Moving left arm above the left bottle to look."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteLeft wrist cam shows the left bottle's cap ahead of and slightly left of the jaws. Moving forward/left to hover over the bottle neck.
move_to
left_x0.4700left_y-0.1350left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6033, 1.523, 0.8989, -0.0841, -0.4881, -0.3687, 0.9988, -0.02, 0.7937, 0.6033, -0.4038, -0.0299, -0.0357, 0.9998] state[eef_state]: left_x=0.3892 left_y=-0.1632 left_z=0.1343 left_yaw=-0.0148 left_pitch=-0.0508 left_roll=0.0224 left_gripper=0.9988 right_x=0.2914 right_y=0.003 right_z=0.1749 right_yaw=-0.003 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.4444, -6.8171, 8.759, 1.6484, -0.3346, -0.0659, -0.1343, 0.0342, -1.6615, 7.1726, 1.8486, -0.0611, -0.0171, -0.0122] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.135, "left_z": 0.12}, "note": "Left wrist cam shows the left bottle's cap ahead of and slightly left of the jaws. Moving forward/left to hover over the bottle neck."})
tool
executing move_to over 7 steps (0.7s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteCap is still a few cm ahead and slightly left of the jaw column. Advancing to hover over the neck.
move_to
left_x0.5000left_y-0.1100left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4168, 1.7332, 0.9779, 0.0853, -0.3668, -0.2787, 0.9985, -0.02, 0.7891, 0.5842, -0.4034, -0.0299, -0.036, 0.9998] state[eef_state]: left_x=0.4537 left_y=-0.1276 left_z=0.1025 left_yaw=0.0254 left_pitch=-0.0569 left_roll=0.01 left_gripper=0.9985 right_x=0.2888 right_y=0.0031 right_z=0.1675 right_yaw=-0.0028 right_pitch=-0.0351 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.2393, -8.0752, 8.7179, 1.8632, -0.0073, 0.3785, -0.0513, -0.3897, -2.0718, 7.0222, 1.9512, -0.0366, -0.0415, -0.0073] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.11, "left_z": 0.1}, "note": "Cap is still a few cm ahead and slightly left of the jaw column. Advancing to hover over the neck."})
tool
executing move_to over 4 steps (0.4s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteBottle neck/shoulder is just ahead of the jaws, aligned along the jaw column. Descending to straddle it near the top of the bottle.
move_to
left_x0.5000left_y-0.1000left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3347, 1.8519, 1.0225, 0.1612, -0.3283, -0.2516, 0.9984, -0.02, 0.7712, 0.5507, -0.3882, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4821 left_y=-0.1036 left_z=0.0786 left_yaw=0.0614 left_pitch=-0.0652 left_roll=0.0094 left_gripper=0.9984 right_x=0.2855 right_y=0.0032 right_z=0.1601 right_yaw=-0.0025 right_pitch=-0.0355 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.1846, -9.4291, 9.4291, 1.9902, -0.0073, 0.2906, -0.022, -0.2667, -1.6752, 6.8991, 2.0147, -0.0757, -0.0708, -0.0073] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.1, "left_z": 0.02}, "note": "Bottle neck/shoulder is just ahead of the jaws, aligned along the jaw column. Descending to straddle it near the top of the bottle."})
tool
executing move_to over 4 steps (0.4s)
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 noteArm would not descend at x=0.49 (reach limit). Pulling back slightly to grasp the upper body of the bottle, which is within table reach.
move_to
left_x0.4600left_y-0.1050left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.321, 1.8645, 1.0374, 0.1757, -0.3206, -0.2356, 0.9983, -0.02, 0.7544, 0.5186, -0.374, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.489 left_y=-0.1002 left_z=0.081 left_yaw=0.0599 left_pitch=-0.0516 left_roll=0.0117 left_gripper=0.9983 right_x=0.2823 right_y=0.0033 right_z=0.1528 right_yaw=-0.0025 right_pitch=-0.0366 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.7453, -9.7983, 8.7726, 1.8486, 0.0122, 0.1587, -0.0171, -0.2393, -1.7983, 7.1316, 2.0244, -0.0806, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.46, "left_y": -0.105, "left_z": 0.02}, "note": "Arm would not descend at x=0.49 (reach limit). Pulling back slightly to grasp the upper body of the bottle, which is within table reach."})
tool
executing move_to over 4 steps (0.4s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteLeft arm is stuck at its reach limit; backing it up and raising to regain mobility. Re-parking the drifting right arm.
move_to
left_x0.4200left_y-0.1050left_z0.1200right_x0.2900right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.321, 1.8645, 1.0374, 0.1757, -0.3206, -0.2356, 0.9983, -0.02, 0.7364, 0.4843, -0.3584, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.489 left_y=-0.1002 left_z=0.081 left_yaw=0.0599 left_pitch=-0.0516 left_roll=0.0117 left_gripper=0.9983 right_x=0.279 right_y=0.0034 right_z=0.145 right_yaw=-0.0025 right_pitch=-0.0374 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.5812, -9.7026, 8.8957, 1.8535, 0.0269, 0.1929, -0.0122, -0.0342, -1.7026, 6.8991, 2.0244, -0.0464, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.105, "left_z": 0.12, "right_x": 0.29, "right_y": 0.0, "right_z": 0.18}, "note": "Left arm is stuck at its reach limit; backing it up and raising to regain mobility. Re-parking the drifting right arm."})
tool
executing move_to over 6 steps (0.6s)
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 bottle now runs straight along the jaw column, cap ahead. Descending onto its upper body (label area) to straddle it with the jaws.
move_to
left_x0.4500left_y-0.1100left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4145, 1.5959, 0.8242, 0.1432, -0.3702, -0.2699, 0.9983, -0.0353, 0.7677, 0.5541, -0.4072, -0.033, -0.0544, 0.9998] state[eef_state]: left_x=0.4245 left_y=-0.113 left_z=0.1102 left_yaw=0.0251 left_pitch=-0.0185 left_roll=0.0014 left_gripper=0.9983 right_x=0.2831 right_y=-0.0006 right_z=0.1587 right_yaw=-0.0055 right_pitch=-0.0474 right_roll=-0.0133 right_gripper=0.9998 state[joint_eff]: [0.1709, -8.212, 5.9966, 1.6532, -0.3541, -0.1783, -0.0171, -0.9504, -0.6085, 10.4, 1.7753, -0.2125, 0.0855, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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": 0.45, "left_y": -0.11, "left_z": 0.03}, "note": "Left bottle now runs straight along the jaw column, cap ahead. Descending onto its upper body (label area) to straddle it with the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteJaws are down around the bottle's upper body (descent stopped at z≈0.05). Closing to grip it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3843, 1.8626, 0.7731, 0.5236, -0.3546, -0.2813, 0.9983, -0.0406, 0.7383, 0.5056, -0.392, -0.0498, -0.0578, 0.9998] state[eef_state]: left_x=0.4523 left_y=-0.1129 left_z=0.0492 left_yaw=0.0487 left_pitch=0.0344 left_roll=-0.0428 left_gripper=0.9983 right_x=0.2773 right_y=0.0011 right_z=0.1476 right_yaw=0.0051 right_pitch=-0.0508 right_roll=-0.0061 right_gripper=0.9998 state[joint_eff]: [0.6222, -6.4068, 5.2718, 0.8913, 0.0122, 0.3639, -0.0122, -0.6085, -1.4564, 7.1179, 2.1026, -0.0317, 0.0415, -0.0122] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are down around the bottle's upper body (descent stopped at z\u22480.05). Closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteEmpty close — a jaw was likely resting on the bottle. The bottle slants right toward its base, so opening, lifting and shifting 2 cm right before retrying.
move_to
left_gripper1.0000left_z0.1000left_y-0.1350left_x0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3931, 1.8549, 0.8074, 0.5087, -0.3897, -0.2852, 0.0115, -0.0406, 0.7055, 0.4568, -0.3607, -0.057, -0.0582, 0.9998] state[eef_state]: left_x=0.4603 left_y=-0.1143 left_z=0.0635 left_yaw=0.0716 left_pitch=0.0667 left_roll=-0.0413 left_gripper=0.0115 right_x=0.2738 right_y=0.0025 right_z=0.1401 right_yaw=0.0114 right_pitch=-0.0353 right_roll=-0.003 right_gripper=0.9998 state[joint_eff]: [0.1026, -8.6496, 5.7504, 1.0232, 0.0073, 0.188, 0.9744, -0.5265, -1.2923, 6.9402, 2.0244, -0.0952, -0.0122, -0.0073] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.1, "left_y": -0.135, "left_x": 0.45}, "note": "Empty close \u2014 a jaw was likely resting on the bottle. The bottle slants right toward its base, so opening, lifting and shifting 2 cm right before retrying."})
tool
executing move_to over 10 steps (1.0s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteBottle body now sits between the open jaws in the wrist view. Descending to straddle it.
move_to
left_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4591, 1.7866, 0.9047, 0.1951, -0.4393, -0.3248, 0.9956, -0.0406, 0.6849, 0.4252, -0.347, -0.057, -0.0586, 0.9998] state[eef_state]: left_x=0.4441 left_y=-0.1317 left_z=0.0732 left_yaw=0.0667 left_pitch=-0.05 left_roll=0.0204 left_gripper=0.9956 right_x=0.2707 right_y=0.0027 right_z=0.1337 right_yaw=0.0116 right_pitch=-0.0327 right_roll=-0.0034 right_gripper=0.9998 state[joint_eff]: [-0.5949, -11.6444, 8.6222, 1.4774, -0.359, -0.0317, -0.188, -0.4444, -1.0872, 6.8444, 1.9658, -0.1294, 0.0122, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.0}, "note": "Bottle body now sits between the open jaws in the wrist view. Descending to straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteJaws at z≈0.04 with the bottle body between them. Closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4656, 1.9629, 0.8101, 0.6155, -0.4534, -0.3439, 0.9968, -0.0406, 0.6655, 0.3935, -0.3351, -0.057, -0.0582, 0.9998] state[eef_state]: left_x=0.4581 left_y=-0.1395 left_z=0.0394 left_yaw=0.0831 left_pitch=0.0826 left_roll=-0.0655 left_gripper=0.9968 right_x=0.2673 right_y=0.0028 right_z=0.1265 right_yaw=0.0114 right_pitch=-0.0331 right_roll=-0.0031 right_gripper=0.9998 state[joint_eff]: [0.3214, -5.094, 2.9197, 0.4567, -0.0904, 0.2564, 0.105, -0.3487, -1.0598, 7.0496, 1.9658, -0.149, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws at z\u22480.04 with the bottle body between them. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteSecond empty close; the bottle apparently is not under the fingertips. Opening and lifting to get a clear top-camera view of where the bottle really lies.
move_to
left_gripper1.0000left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4664, 1.9331, 0.8867, 0.4961, -0.4953, -0.3435, 0.0114, -0.0406, 0.6456, 0.3614, -0.3206, -0.057, -0.0582, 0.9998] state[eef_state]: left_x=0.4686 left_y=-0.1379 left_z=0.0591 left_yaw=0.1159 left_pitch=0.0833 left_roll=-0.0398 left_gripper=0.0114 right_x=0.2643 right_y=0.0029 right_z=0.1198 right_yaw=0.0114 right_pitch=-0.0308 right_roll=-0.0032 right_gripper=0.9998 state[joint_eff]: [-0.3624, -8.9231, 5.3812, 0.8523, 0.1294, 0.0904, 0.696, -0.5128, -0.9915, 7.0769, 1.917, -0.1001, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.1}, "note": "Second empty close; the bottle apparently is not under the fingertips. Opening and lifting to get a clear top-camera view of where the bottle really lies."})
tool
executing move_to over 10 steps (1.0s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe fingertips appear to be just behind the bottle's base end (bottle is farther out than it looks). Reaching slightly forward and down to catch the base end so I can drag the bottle closer.
move_to
left_x0.4750left_y-0.1350left_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4652, 1.8645, 0.9989, 0.157, -0.4942, -0.3679, 0.9947, -0.0406, 0.627, 0.3336, -0.3134, -0.057, -0.0582, 0.9998] state[eef_state]: left_x=0.4613 left_y=-0.1338 left_z=0.0704 left_yaw=0.1277 left_pitch=-0.0489 left_roll=0.0265 left_gripper=0.9947 right_x=0.261 right_y=0.0031 right_z=0.1131 right_yaw=0.0114 right_pitch=-0.0327 right_roll=-0.0031 right_gripper=0.9998 state[joint_eff]: [-0.1026, -12.7248, 8.6359, 1.5946, -0.1929, 0.0855, -0.2076, -0.6769, -0.8274, 6.9538, 1.9414, -0.1148, 0.0073, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.475, "left_y": -0.135, "left_z": 0.0}, "note": "The fingertips appear to be just behind the bottle's base end (bottle is farther out than it looks). Reaching slightly forward and down to catch the base end so I can drag the bottle closer."})
tool
executing move_to over 5 steps (0.5s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteGripper at x≈0.48, z≈0.04, bottle between jaws in wrist view with its cap visible ahead in the top view. Closing to catch the bottle.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4641, 2.0392, 0.9482, 0.5209, -0.4992, -0.3714, 0.996, -0.0406, 0.6056, 0.3073, -0.2977, -0.0574, -0.0586, 0.9998] state[eef_state]: left_x=0.4823 left_y=-0.1428 left_z=0.0366 left_yaw=0.1354 left_pitch=0.0674 left_roll=-0.0517 left_gripper=0.996 right_x=0.2592 right_y=0.0032 right_z=0.1094 right_yaw=0.0119 right_pitch=-0.022 right_roll=-0.0038 right_gripper=0.9998 state[joint_eff]: [0.9504, -5.7641, 4.7658, 0.5201, -0.0464, 0.1343, 0.1343, -0.4034, -0.7316, 6.7077, 1.9316, -0.0855, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Gripper at x\u22480.48, z\u22480.04, bottle between jaws in wrist view with its cap visible ahead in the top view. Closing to catch the bottle."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteGripper closed to 0.37 on the bottle's base end. Dragging the bottle back ~14 cm along the table so its cap end comes within reach.
move_to
left_x0.3400left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4664, 2.0232, 1.0145, 0.4385, -0.5243, -0.3866, 0.3721, -0.0406, 0.5934, 0.2905, -0.2947, -0.057, -0.0586, 0.9998] state[eef_state]: left_x=0.4921 left_y=-0.1447 left_z=0.0539 left_yaw=0.1616 left_pitch=0.0749 left_roll=-0.054 left_gripper=0.3721 right_x=0.2571 right_y=0.0032 right_z=0.1053 right_yaw=0.0116 right_pitch=-0.0235 right_roll=-0.0039 right_gripper=0.9998 state[joint_eff]: [0.0752, -10.0855, 5.4359, 0.8523, 0.0269, 0.1148, 0.2271, -0.5402, -0.6496, 6.7214, 1.9023, -0.1245, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_z": 0.05}, "note": "Gripper closed to 0.37 on the bottle's base end. Dragging the bottle back ~14 cm along the table so its cap end comes within reach."})
tool
executing move_to over 12 steps (1.2s)
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 noteThe bottle slipped out; its base is ~8 cm ahead of the gripper (about x≈0.43) and its cap is out of reach (~0.62). Opening and moving over the lower body to get a full-width grip for dragging it closer.
move_to
left_gripper1.0000left_x0.4400left_y-0.1500left_z0.0900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7227, 1.6562, 0.5869, 0.2729, -0.6914, -0.5762, 0.3709, -0.0406, 0.5804, 0.2699, -0.2897, -0.057, -0.0582, 0.9998] state[eef_state]: left_x=0.3447 left_y=-0.1491 left_z=0.0418 left_yaw=0.1313 left_pitch=-0.0217 left_roll=0.0131 left_gripper=0.3709 right_x=0.2547 right_y=0.0033 right_z=0.1 right_yaw=0.0114 right_pitch=-0.0262 right_roll=-0.0035 right_gripper=0.9998 state[joint_eff]: [-0.253, -7.8291, 5.3675, 1.3504, -0.4811, 0.0269, -0.1343, -0.5128, -0.3487, 6.9949, 1.9707, -0.1148, -0.0122, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). 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_gripper": 1.0, "left_x": 0.44, "left_y": -0.15, "left_z": 0.09}, "note": "The bottle slipped out; its base is ~8 cm ahead of the gripper (about x\u22480.43) and its cap is out of reach (~0.62). Opening and moving over the lower body to get a full-width grip for dragging it closer."})
tool
executing move_to over 8 steps (0.8s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteBottle's lower body is centred between the open jaws. Descending to grip it at mid-height.
move_to
left_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5468, 1.7718, 0.8989, 0.1806, -0.5842, -0.4629, 0.996, -0.0406, 0.5613, 0.2474, -0.2901, -0.057, -0.0582, 0.9998] state[eef_state]: left_x=0.4315 left_y=-0.1444 left_z=0.0829 left_yaw=0.1664 left_pitch=0.0002 left_roll=-0.0165 left_gripper=0.996 right_x=0.2514 right_y=0.0034 right_z=0.0941 right_yaw=0.0114 right_pitch=-0.03 right_roll=-0.0033 right_gripper=0.9998 state[joint_eff]: [0.4034, -7.9521, 7.8564, 1.453, -0.0952, 0.398, 0.0024, -0.5812, -0.212, 6.9128, 2.0195, -0.1001, -0.0415, -0.0122] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.015}, "note": "Bottle's lower body is centred between the open jaws. Descending to grip it at mid-height."})
tool
executing move_to over 5 steps (0.5s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteAt table level with the bottle filling the view between the jaws. Closing to grip its lower body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5503, 1.9606, 0.8242, 0.3744, -0.5838, -0.4484, 0.9969, -0.0406, 0.5377, 0.2234, -0.2893, -0.057, -0.0582, 0.9998] state[eef_state]: left_x=0.4238 left_y=-0.1416 left_z=0.0092 left_yaw=0.1562 left_pitch=-0.0531 left_roll=0.0408 left_gripper=0.9969 right_x=0.2482 right_y=0.0036 right_z=0.0888 right_yaw=0.0114 right_pitch=-0.0296 right_roll=-0.0033 right_gripper=0.9998 state[joint_eff]: [-0.253, -8.8, 4.7385, 1.8437, -0.3248, -0.1099, 0.0757, -0.5402, -0.2256, 6.8171, 2.0195, -0.0952, -0.0122, -0.0073] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "At table level with the bottle filling the view between the jaws. Closing to grip its lower body."})
tool
executing move_to over 10 steps (1.0s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteGripper settled at 0.51 (≈4.8 cm), so it is holding the bottle's lower end. Dragging it back along the table ~12 cm to bring the neck within reach.
move_to
left_x0.3000left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5503, 1.9778, 0.7784, 0.4995, -0.5911, -0.4484, 0.5059, -0.0406, 0.514, 0.1982, -0.2893, -0.057, -0.0582, 0.9998] state[eef_state]: left_x=0.4243 left_y=-0.1406 left_z=0.0085 left_yaw=0.1605 left_pitch=-0.0027 left_roll=0.004 left_gripper=0.5059 right_x=0.2448 right_y=0.0037 right_z=0.0827 right_yaw=0.0114 right_pitch=-0.0312 right_roll=-0.0032 right_gripper=0.9998 state[joint_eff]: [-0.4718, -9.2103, 4.2188, 1.6679, -0.2466, -0.0415, 0.8376, -0.7316, -0.2667, 7.0632, 2.0, -0.0904, -0.0269, -0.0122] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_z": 0.02}, "note": "Gripper settled at 0.51 (\u22484.8 cm), so it is holding the bottle's lower end. Dragging it back along the table ~12 cm to bring the neck within reach."})
tool
executing move_to over 10 steps (1.0s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteBottle was dragged back ~12 cm (cap now much closer in top view). Releasing the base so I can re-grip near the neck.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8272, 1.6779, 0.4347, 0.3679, -0.7422, -0.6678, 0.5088, -0.0406, 0.4835, 0.1711, -0.2901, -0.0574, -0.0578, 0.9998] state[eef_state]: left_x=0.3019 left_y=-0.1466 left_z=0.0082 left_yaw=0.1123 left_pitch=-0.0402 left_roll=0.0224 left_gripper=0.5088 right_x=0.2414 right_y=0.0039 right_z=0.077 right_yaw=0.0115 right_pitch=-0.0285 right_roll=-0.0028 right_gripper=0.9998 state[joint_eff]: [-0.253, -7.5282, 4.6701, 1.6728, -0.6374, -0.149, 0.6422, -0.7453, 0.5949, 6.9949, 1.9609, -0.1392, 0.022, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Bottle was dragged back ~12 cm (cap now much closer in top view). Releasing the base so I can re-grip near the neck."})
tool
executing move_to over 5 steps (0.5s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteBottle lies along the jaw direction between the open fingers; neck is still near the reach limit. Sliding forward along the bottle to its middle for a second drag.
move_to
left_x0.4000left_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8379, 1.6989, 0.4015, 0.4522, -0.7536, -0.6743, 0.9944, -0.0406, 0.4568, 0.1482, -0.2901, -0.0574, -0.0582, 0.9998] state[eef_state]: left_x=0.2997 left_y=-0.1469 left_z=0.0055 left_yaw=0.112 left_pitch=-0.0154 left_roll=-0.0024 left_gripper=0.9944 right_x=0.2388 right_y=0.004 right_z=0.0725 right_yaw=0.0117 right_pitch=-0.0247 right_roll=-0.0033 right_gripper=0.9998 state[joint_eff]: [-0.0068, -5.7368, 4.0821, 1.4237, -0.4664, 0.0659, -0.1734, -0.6906, 0.0889, 6.8308, 1.9316, -0.1538, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_z": 0.015}, "note": "Bottle lies along the jaw direction between the open fingers; neck is still near the reach limit. Sliding forward along the bottle to its middle for a second drag."})
tool
executing move_to over 8 steps (0.8s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteJaws straddle the bottle's middle at table level. Closing to grip for a second drag.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6018, 1.8828, 0.6495, 0.5091, -0.6147, -0.4889, 0.9955, -0.0406, 0.4335, 0.1299, -0.2901, -0.0574, -0.0582, 0.9998] state[eef_state]: left_x=0.389 left_y=-0.1392 left_z=0.01 left_yaw=0.1487 left_pitch=-0.0104 left_roll=-0.0022 left_gripper=0.9955 right_x=0.2369 right_y=0.0041 right_z=0.0692 right_yaw=0.0117 right_pitch=-0.0197 right_roll=-0.0036 right_gripper=0.9998 state[joint_eff]: [0.1983, -7.1453, 6.0239, 1.6532, -0.1245, 0.2369, 0.1099, -0.5538, 0.0615, 6.9265, 1.8877, -0.1343, -0.022, -0.0073] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws straddle the bottle's middle at table level. Closing to grip for a second drag."})
tool
executing move_to over 10 steps (1.0s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteHolding the bottle's middle (grip 0.53). Dragging it back ~11 cm so the neck lands well inside reach.
move_to
left_x0.2800left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6025, 1.8923, 0.6487, 0.5236, -0.6167, -0.4789, 0.5349, -0.0406, 0.416, 0.1131, -0.2905, -0.057, -0.0582, 0.9998] state[eef_state]: left_x=0.3896 left_y=-0.1396 left_z=0.0087 left_yaw=0.144 left_pitch=-0.0065 left_roll=0.0042 left_gripper=0.5349 right_x=0.2351 right_y=0.0041 right_z=0.0652 right_yaw=0.0113 right_pitch=-0.0193 right_roll=-0.0038 right_gripper=0.9998 state[joint_eff]: [-0.2667, -8.2256, 4.0274, 1.5653, -0.3443, -0.0952, 1.033, -0.4718, 0.1709, 7.0085, 1.8632, -0.105, -0.0122, -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_x": 0.28, "left_z": 0.02}, "note": "Holding the bottle's middle (grip 0.53). Dragging it back ~11 cm so the neck lands well inside reach."})
tool
executing move_to over 9 steps (0.9s)
step 184
top_cam
camera top_cam step 184
assistant
agent noteBottle is now well within reach (cap near image y≈95). Releasing and lifting to re-grip at the neck.
move_to
left_gripper1.0000left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8864, 1.6203, 0.3798, 0.3344, -0.7628, -0.7128, 0.5352, -0.0406, 0.3969, 0.0986, -0.2909, -0.057, -0.0582, 0.9998] state[eef_state]: left_x=0.2815 left_y=-0.1462 left_z=0.0078 left_yaw=0.0915 left_pitch=-0.0441 left_roll=0.0198 left_gripper=0.5352 right_x=0.2337 right_y=0.0042 right_z=0.0626 right_yaw=0.0113 right_pitch=-0.0152 right_roll=-0.004 right_gripper=0.9998 state[joint_eff]: [-0.253, -7.2957, 4.5197, 1.6044, -0.7985, -0.1538, 0.9841, -0.4718, 0.4171, 6.8855, 1.8046, -0.105, -0.0366, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.1}, "note": "Bottle is now well within reach (cap near image y\u224895). Releasing and lifting to re-grip at the neck."})
tool
executing move_to over 6 steps (0.6s)
step 190
assistant
agent noteWrist view shows the neck/cap ~8 cm ahead and slightly left. Moving over the neck before descending.
move_to
left_x0.3700left_y-0.1420left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.902, 1.2865, 0.4995, -0.0326, -0.7803, -0.7254, 0.9961, -0.0406, 0.3832, 0.0925, -0.2905, -0.0574, -0.0582, 0.9998] state[eef_state]: left_x=0.2832 left_y=-0.1522 left_z=0.0914 left_yaw=0.0931 left_pitch=0.0148 left_roll=-0.0556 left_gripper=0.9961 right_x=0.2336 right_y=0.0042 right_z=0.0628 right_yaw=0.0117 right_pitch=-0.0071 right_roll=-0.0043 right_gripper=0.9998 state[joint_eff]: [0.2393, -4.4513, 8.4034, 1.2772, -0.4127, 0.1587, -0.0073, -0.6085, 0.3214, 6.5162, 1.7753, -0.1294, -0.0366, -0.0073] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.142, "left_z": 0.1}, "note": "Wrist view shows the neck/cap ~8 cm ahead and slightly left. Moving over the neck before descending."})
tool
executing move_to over 7 steps (0.7s)
step 197
assistant
agent noteCap and neck are centred on the jaw column but still ~4 cm ahead of the fingertips. Advancing a bit more before descending.
move_to
left_x0.4050left_y-0.1330left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6415, 1.5013, 0.6685, 0.0738, -0.6338, -0.5152, 0.9969, -0.0406, 0.3782, 0.0921, -0.2909, -0.057, -0.0586, 0.9998] state[eef_state]: left_x=0.3573 left_y=-0.1318 left_z=0.0885 left_yaw=0.1377 left_pitch=-0.0263 left_roll=0.0091 left_gripper=0.9969 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0115 right_pitch=-0.003 right_roll=-0.005 right_gripper=0.9998 state[joint_eff]: [0.2256, -5.4496, 8.3077, 1.5263, -0.1001, 0.2564, 0.0708, -0.6496, 0.4718, 6.7761, 1.7656, -0.1197, -0.0464, -0.0122] 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": 0.405, "left_y": -0.133, "left_z": 0.1}, "note": "Cap and neck are centred on the jaw column but still ~4 cm ahead of the fingertips. Advancing a bit more before descending."})
tool
executing move_to over 4 steps (0.4s)
step 201
assistant
agent noteCap is centred just ahead of the jaws; the neck should be under the fingertips. Descending to neck height.
move_to
left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5591, 1.6161, 0.7586, 0.1017, -0.598, -0.4706, 0.997, -0.0406, 0.3782, 0.0921, -0.2909, -0.0574, -0.0586, 0.9998] state[eef_state]: left_x=0.3895 left_y=-0.1221 left_z=0.0816 left_yaw=0.1696 left_pitch=-0.0416 left_roll=0.026 left_gripper=0.997 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0119 right_pitch=-0.0029 right_roll=-0.0048 right_gripper=0.9998 state[joint_eff]: [-0.1573, -6.9949, 8.5402, 1.7314, -0.1001, 0.2418, -0.0073, -0.6496, 0.5265, 6.8581, 1.7558, -0.1148, -0.0562, -0.0122] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.025}, "note": "Cap is centred just ahead of the jaws; the neck should be under the fingertips. Descending to neck height."})
tool
executing move_to over 4 steps (0.4s)
step 205
assistant
agent noteThe descent was clamped and the arm stayed at z≈0.09. Re-issuing the descent onto the bottle neck.
move_to
left_z0.0200left_x0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5499, 1.6241, 0.783, 0.1158, -0.5831, -0.4702, 0.997, -0.0406, 0.3786, 0.0921, -0.2913, -0.057, -0.0586, 0.9998] state[eef_state]: left_x=0.398 left_y=-0.1257 left_z=0.0888 left_yaw=0.1666 left_pitch=-0.0254 left_roll=-0.0014 left_gripper=0.997 right_x=0.2336 right_y=0.0042 right_z=0.0635 right_yaw=0.0115 right_pitch=-0.0037 right_roll=-0.005 right_gripper=0.9998 state[joint_eff]: [-0.4171, -7.1863, 8.0068, 1.6435, -0.1734, 0.3248, -0.0122, -0.5949, 0.5265, 6.8444, 1.7802, -0.0904, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02, "left_x": 0.4}, "note": "The descent was clamped and the arm stayed at z\u22480.09. Re-issuing the descent onto the bottle neck."})
tool
executing move_to over 5 steps (0.5s)
step 210
assistant
agent noteLeft arm refuses to descend from z≈0.09; yaw has drifted to 0.17. Commanding yaw back to 0 together with the descent to free the IK.
move_to
left_z0.0300left_x0.3900left_y-0.1300left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5503, 1.6241, 0.783, 0.1162, -0.5831, -0.4706, 0.997, -0.0406, 0.3786, 0.0921, -0.2913, -0.0574, -0.0582, 0.9998] state[eef_state]: left_x=0.398 left_y=-0.1258 left_z=0.0889 left_yaw=0.1664 left_pitch=-0.0251 left_roll=-0.002 left_gripper=0.997 right_x=0.2336 right_y=0.0042 right_z=0.0635 right_yaw=0.0117 right_pitch=-0.0037 right_roll=-0.0044 right_gripper=0.9998 state[joint_eff]: [-0.5675, -6.9949, 8.0205, 1.6044, -0.2125, 0.3297, -0.0122, -0.6632, 0.4581, 6.8171, 1.7363, -0.1392, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03, "left_x": 0.39, "left_y": -0.13, "left_yaw": 0.0}, "note": "Left arm refuses to descend from z\u22480.09; yaw has drifted to 0.17. Commanding yaw back to 0 together with the descent to free the IK."})
tool
executing move_to over 4 steps (0.4s)
step 214
assistant
agent noteDescended to z≈0.02 with the bottle neck between the jaws and the cap just ahead. Closing on the neck.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5209, 1.7386, 0.5972, 0.3801, -0.5011, -0.3847, 0.997, -0.0406, 0.3782, 0.0921, -0.2909, -0.057, -0.0582, 0.9998] state[eef_state]: left_x=0.3768 left_y=-0.1142 left_z=0.0194 left_yaw=0.0884 left_pitch=-0.0893 left_roll=0.0466 left_gripper=0.997 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0113 right_pitch=-0.003 right_roll=-0.0047 right_gripper=0.9998 state[joint_eff]: [0.6085, -6.6667, 5.2991, 0.735, 0.2613, 0.5397, -0.0171, -0.6632, 0.4718, 6.7897, 1.7656, -0.1245, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Descended to z\u22480.02 with the bottle neck between the jaws and the cap just ahead. Closing on the neck."})
tool
executing move_to over 10 steps (1.0s)
step 224
assistant
agent noteClose was empty — the arm rose to z≈0.06 during the close and passed over the neck. Opening and pressing lower (z −0.01) at the neck.
move_to
left_gripper1.0000left_z-0.0100left_x0.3850left_y-0.1200left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5228, 1.7447, 0.5381, 0.7048, -0.5476, -0.3817, 0.0116, -0.0406, 0.3786, 0.0921, -0.2909, -0.057, -0.0582, 0.9998] state[eef_state]: left_x=0.3967 left_y=-0.1184 left_z=0.0584 left_yaw=0.1258 left_pitch=0.137 left_roll=-0.0809 left_gripper=0.0116 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0113 right_pitch=-0.0033 right_roll=-0.0047 right_gripper=0.9998 state[joint_eff]: [-0.2803, -4.7932, 3.2068, 0.6813, 0.188, 0.0806, 0.9695, -0.5265, 0.5265, 7.0222, 1.7753, -0.1197, -0.0073, -0.0122] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": -0.01, "left_x": 0.385, "left_y": -0.12, "left_yaw": 0.0}, "note": "Close was empty \u2014 the arm rose to z\u22480.06 during the close and passed over the neck. Opening and pressing lower (z \u22120.01) at the neck."})
tool
executing move_to over 10 steps (1.0s)
step 234
assistant
agent noteDescent stopped at z≈0.044 on the bottle's neck/shoulder, which sits centred between the jaws. Closing to try to grip the neck.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4931, 1.8702, 0.5419, 0.8925, -0.4515, -0.3363, 0.9946, -0.0406, 0.3782, 0.0921, -0.2909, -0.0574, -0.0582, 0.9998] state[eef_state]: left_x=0.4106 left_y=-0.129 left_z=0.0443 left_yaw=0.0567 left_pitch=0.169 left_roll=-0.1126 left_gripper=0.9946 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0117 right_pitch=-0.003 right_roll=-0.0045 right_gripper=0.9998 state[joint_eff]: [0.294, -3.0017, 1.347, 0.2222, 0.2222, 0.3639, -0.1929, -0.5949, 0.4855, 6.8308, 1.746, -0.1392, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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": 0.0}, "note": "Descent stopped at z\u22480.044 on the bottle's neck/shoulder, which sits centred between the jaws. Closing to try to grip the neck."})
tool
executing move_to over 10 steps (1.0s)
step 244
assistant
agent noteI couldn't stand any of the bottles up, and there aren't enough calls left to finish three. All three were lying down with their caps pointing forward, around x≈0.43–0.62 in the left arm's frame. That's past where the gripper can reach the table (about x≈0.46–0.48), so the neck of each bottle was out of reach. Wrist pitch is locked, so the only way I had to stand a bottle up was to grip it just below the cap, lift so the bottle swings down to hang vertically, then set it on its base. I dragged the left bottle about 25 cm toward the base in two grab-and-pull moves, which worked (grip readings 0.51 and 0.53). But my three tries at gripping the narrow neck all closed on nothing. The arm either stopped at z≈0.04–0.09 or rose during the close and slid over the neck.
give_up
hindsight- The bottles in this scene start with their caps at x≈0.6, too far for the gripper to reach at table height. First drag each bottle back by gripping its body across the full width (a mid-body grip read about 0.5, and the body is about 6.5 cm wide). Pull it back along the table at z≈0.01–0.02. That worked every time. - Top camera: with the gripper about 5 cm up, a 14 cm move in x moved it about 40 px in the image, so roughly 2.9 px/cm in the upper half of the frame. - Past x≈0.45 the arm won't descend below z≈0.04–0.08. It stalls and the approver clamps it. Sometimes re-sending a target does nothing until you also command yaw 0, because yaw drifts up to about 0.17. - During a full close the grasp point often rises 1.5–4 cm (IK coupling with pitch), so the jaws can slide over a thin neck. Grip bodies, not necks, or press lower before closing. - Grabbing a lying bottle near the cap so it swings upright is hard with a parallel gripper and locked pitch. It also needs the neck within about 0.40 of the base. Drag the bottles back to x≈0.25 before trying. - The free-space sag is large: at x=0.45 a command of z=0.10 reads about 0.07. - The idle right arm drifts down steadily (z went from 0.18 to 0.06 over the trial), so re-park it now and then. - Budget: 40 calls isn't enough for three bottles with this approach. Plan about 8 calls per bottle and don't spend calls on exploratory re-grasps.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4984, 1.776, 0.6838, 0.5262, -0.487, -0.3428, 0.0113, -0.0406, 0.3782, 0.0921, -0.2909, -0.057, -0.0582, 0.9998] state[eef_state]: left_x=0.4198 left_y=-0.1303 left_z=0.0595 left_yaw=0.076 left_pitch=0.0678 left_roll=-0.0342 left_gripper=0.0113 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0113 right_pitch=-0.003 right_roll=-0.0047 right_gripper=0.9998 state[joint_eff]: [-0.1299, -7.7607, 5.3128, 0.9988, 0.0415, 0.0171, 0.9646, -0.6085, 0.5265, 6.9128, 1.7705, -0.0904, -0.0122, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I couldn't stand any of the bottles up, and there aren't enough calls left to finish three. All three were lying down with their caps pointing forward, around x\u22480.43\u20130.62 in the left arm's frame. That's past where the gripper can reach the table (about x\u22480.46\u20130.48), so the neck of each bottle was out of reach. Wrist pitch is locked, so the only way I had to stand a bottle up was to grip it just below the cap, lift so the bottle swings down to hang vertically, then set it on its base. I dragged the left bottle about 25 cm toward the base in two grab-and-pull moves, which worked (grip readings 0.51 and 0.53). But my three tries at gripping the narrow neck all closed on nothing. The arm either stopped at z\u22480.04\u20130.09 or rose during the close and slid over the neck.", "hindsight": "- The bottles in this scene start with their caps at x\u22480.6, too far for the gripper to reach at table height. First drag each bottle back by gripping its body across the full width (a mid-body grip read about 0.5, and the body is about 6.5 cm wide). Pull it back along the table at z\u22480.01\u20130.02. That worked every time.\n- Top camera: with the gripper about 5 cm up, a 14 cm move in x moved it about 40 px in the image, so roughly 2.9 px/cm in the upper half of the frame.\n- Past x\u22480.45 the arm won't descend below z\u22480.04\u20130.08. It stalls and the approver clamps it. Sometimes re-sending a target does nothing until you also command yaw 0, because yaw drifts up to about 0.17.\n- During a full close the grasp point often rises 1.5\u20134 cm (IK coupling with pitch), so the jaws can slide over a thin neck. Grip bodies, not necks, or press lower before closing.\n- Grabbing a lying bottle near the cap so it swings upright is hard with a parallel gripper and locked pitch. It also needs the neck within about 0.40 of the base. Drag the bottles back to x\u22480.25 before trying.\n- The free-space sag is large: at x=0.45 a command of z=0.10 reads about 0.07.\n- The idle right arm drifts down steadily (z went from 0.18 to 0.06 over the trial), so re-park it now and then.\n- Budget: 40 calls isn't enough for three bottles with this approach. Plan about 8 calls per bottle and don't spend calls on exploratory re-grasps."})
tool
give_up: I couldn't stand any of the bottles up, and there aren't enough calls left to finish three. All three were lying down with their caps pointing forward, around x≈0.43–0.62 in the left arm's frame. That's past where the gripper can reach the table (about x≈0.46–0.48), so the neck of each bottle was out of reach. Wrist pitch is locked, so the only way I had to stand a bottle up was to grip it just below the cap, lift so the bottle swings down to hang vertically, then set it on its base. I dragged the left bottle about 25 cm toward the base in two grab-and-pull moves, which worked (grip readings 0.51 and 0.53). But my three tries at gripping the narrow neck all closed on nothing. The arm either stopped at z≈0.04–0.09 or rose during the close and slid over the neck.
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 · 15.86 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, 0.7925, 0.6079, -0.3771, -0.0227, -0.0288, 0.9986, -0.0166, 0.7883, 0.6025, -0.3874, -0.0299, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2932 right_y=0.004 right_z=0.1793 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -1.4154, 9.7573, 1.79, -0.0464, 0.0952, -0.1587, -0.7726, -0.8957, 10.359, 1.8291, 0.0464, 0.1734, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59343fb512e7c02f91b6d9941c8db7e22bc0c62ea0191bdbed69c0b6a59be217",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4bddf7ee3f45c4378e8a51fbbb6f8b50f2fefd0e6f7802d3dc40299e8a03378",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:604bb065c278f3e7bc9a2115db1cc119b9a6d234f0cc4182fb7b896228963237",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 7.252 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, 0.7925, 0.6079, -0.3771, -0.0227, -0.0288, 0.9986, -0.0166, 0.7883, 0.6025, -0.3874, -0.0299, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2932 right_y=0.004 right_z=0.1793 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -1.4154, 9.7573, 1.79, -0.0464, 0.0952, -0.1587, -0.7726, -0.8957, 10.359, 1.8291, 0.0464, 0.1734, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59343fb512e7c02f91b6d9941c8db7e22bc0c62ea0191bdbed69c0b6a59be217",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4bddf7ee3f45c4378e8a51fbbb6f8b50f2fefd0e6f7802d3dc40299e8a03378",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:604bb065c278f3e7bc9a2115db1cc119b9a6d234f0cc4182fb7b896228963237",
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  "role": "user"
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{
  "content": [
    {
      "signature": "CAQSuhoKEAgSGAI4AUIIdGhpbmtpbmcSDNbJYg1Vyqsc7OfaxRoM3IwX9h2Gs5cVb9YuIjA0qdWf/k+qXIYUNAMnSobb6WaUHrIZ8ZPdsTq3hlzy/L+GBUXbmMgz13MDxnDAqb8q1xlVrf0I5PU+4uK1GpE6tOsKqtTCEkdpaBjMgP6e+ZC32cghpQ6cqo3cnaL8ckGQ7rUrZ+k8uzK7fpmLaf7SlzESn5HzCri9nA25IGYls1BYy6OZdnHarAKi88jZkunT0H6OHgRedqh8ocN0SxuN5eqCShZZoykPU2+ltjfGKrotKJ4rnuDCyoNkGHHPv0xIJQ6ahhUhXpADs4FdUalndkp/Ge71u3s1nXXC7bU+POqR0qs+AenH2BEIKOkegR7COF2HWtyrTk1RuLFKiRYIhTYPGow0u3yBe6ye4sOPyU4VnJeBv8YNDs+Md70uvAmDtv+SzSZxQMcOOQo+gWA3VHwOgVn+Nu2Bn1IxI0rsADYclkFS0J9fRCAr52Ud6s0bTW134zTQQlppz4PPGoL259n0U23FpQ1s2EuhiUVz3uFTpk8a7cMXOX+mNySZvmOQfaLOGckJjDZz6oykoy/HehBHxVXQRiFJcFRzP7N9zl+aNsVNqkwJwWblCARkxJq0BMTgedHy3g5FrcsN7G019KTz+kYluz65A1+6b1RTNp7pKAHUBU94iy2OIDJiBASd3vwiEvbO6gaSC+b5mYJdZOJyCoXaXO2Uhq65GIIr7YyHqVuZcie8OrxIYyYOe+9Ymm79MzOuALrrfCQX7wC8+QeMyoOGKr/DB9Td16FBxKeszyqQyD5M0Fm3Yj29v7CTcdN2oBvFgbdZ8UDcdLIX3vSPfaUlCYJsenwCBvoUjNu53b1sfVrJBdhKSP0JcJ8fMVXIQycALlARnl3ol0ME6e3UTvaiAs55qITTf3bNZyO0ONom03k44Po7NbsiSqdZzSSaOXPjGdyzyXFbCJsB4Q9R8pNL+5S2S7RL9XV+6kXtxnMLshoFloTManxCQDAI4iBwsV1BgAJV+246eSsS6XCyFbnDh3pIACb0BUW/pDFKmUvDRa1c8yHf7glyb6hQg6o0uW4iclefs219tJHPC5uR2CBVyDH+WDZaSdQJOznKUssmgllug0Zo3J5XqPhxMQnKUaGhhwlHrh2s7snNsu4EXvgVYttrNHOhqtCAzy+tMB+MYOl7PS2lfR4sKqGxgBlAjRXi2GD0V3/NxnQaIYyKgkZ9D7w2/ynmgqc9GOV2GNwcob35FdD5UhxwHoPrmvoRJFyGz91y5Bxv3yT6y/c8OEPWjE5fw9JS83FgoTANleLx0/mcts8jNU6QvojOTVpWZB+ZHzUVqKwW3NkcBfF3mzuAzsJrMg5RKgLV0PTajcwLS2Pv1mm81rnw0SDBs02cNrjSyJ+PPHdqTXBNs9iWOBz9DBZM7xvJyV9EZar36OSdMWmZaugouKVospQ8flnaTl+k9p6h14SEC4pyr1KzZ0WmowMvcoAlKTm1E+2+n7W06HIy6ZdJEUgrKeOinkLW96cGU/zcpzZN4hLVDs+T7nxLW5KEb4Pt42qY9DpIlegGg6GDdMBA7yTWrBzoj+RIGkilKjLESRnptrB/6O8kIG4+yV+lGuwl0Plj+ovoT0UMcr1qX13DAQWNZQ8u+83Uks/87L72+A4E6hlaPMIxSQzQfY7NfUa2Z/jqVhjmrkZzSKN28q41CH8+PwZSt2Xw8cvLLZCfY6gqORLLZ82G0j0gcx9CLZmPvRRb4K/IwvaB08i8HhBGtq7KvBCm8HXN2BnVV1+TTios+5QAd5AgYK63tzqpfD5bDj0M28a6kewIWOwoaLWeHn6wWsPMq/D6YtcQcO4KpJoAwRKpYTyFzmjaLrCdyYlpMKZlEfRHRGiCCrONKCu2E3/gFbpcVpiKUTHd26gohXJJSbivaSIHbz+Jl+Q3C3OHTrI8jNrBNAi8h1xBwXauDUqLJO4xDovc+pqhi0y+T7AXOSmQN14gIk8Vcegtxz0ZCFkgxED/6tk+OopeiI1rPF7OvVaQy++OghX9Kp9qkTZoaL/ve5rLtPNvkXQwiByn8Bm/VO+S1CGcUMk0Z/dYIZlP81mqfRJCKavuMXDggpHyNO4bqE02OEszGgmM+PB+/7gnhkcmaS+kycndt+V0bDRJwQnrPWkXe39yMzb+EyUjAB/TEwHm/VoM1yBviyZzXj167cxunIjZScLf0DdXojjYFmka0QX3SEdHqEl3Alv8uEMPDCTFfOUOMKN7g8t/xZNv6m8i8wgMWPdR0R1T1kDZKnRsYVazlIzJJCQBT5OKC+baIGVNFJtVopDfWDnCKDKnkfoPYebW9R4ToPM1nzQ/wWQUVdXzOKu+/fJE4OyhixVEo3burOhloW63GphDjb4jij+mRY4rA/s7o6FPg0lL2owHpufELUr/t3JCnWc+mxFWHo9k2C7Hf5NlTD4v3Pwk9HDuyRZBDMfNYrdgVtPocQ/KWzbpiLn7rOgsnAoBpy+2v78OY6Klpha8JLnFUBpFIW/x0hXuRsYbecofjRaYzys/DGOZbeLsSgSEN4UNZkjNQJmBQNH7E5wiWq2Lgklq0C4LrxKW7oS9MqIz3gwXExjQLcAJcs+8pi7qOoAZx2LuJzWWeQT2asprvLlQ7NrgXwavABkbVOxKR9FhKWW9GQ8Mf/k1KuvqvdsUN9N7LNUpdncWmWfQuV2fn5VGobHZ2E08Y53J0TDpMrIc+XyWDLsgrBZAdBnAT1xRq3zqVNao5AC7jshfaInCFTtPYgNql6ZeDcsz0HhSkW0UxH1EIkwmn3d6Ar94NG3NtncisqoJm4yUHlYhuOxuo0wxMt1HZQUVS33MItN9edlm2PK3li1pvwZALZqeUDmsVr4M4/iTvFRo3lfdk5zcQep1umJL5ihryrk6IOyz5Z76Y65s/LQfnLae3lZ+fyNXUG1Xns9Z24OzqWSFQSxyNaSDAiyf3bcHe3amH448az0Ec7TyMmrux79Kh9ZH6ZXnaYYHqzM+yXugbLlnnbaq83/QeN9Fuaz7Lewp9UuN78fvp/4FL5SLuVeGHtrn3dDX9smPlcYqFMHd2LC16NNWEihY8vVzk1oQ4+68V5EmgXJtAHbuUpNiBgw88TZnbY8LO1V5B4q+1ItSYBaoWMPIVMDObPTbhqD10dwmXtnIdDxPObvH1vF9HWLJ21Z4no+MlpFwYORew8X1CCui+tFnZOVqDZ/M+yeo5gfC+ztjy2LwZmTlPW35GjXKd8mGAJAvVzV6tyJyMlm+xPDq9QVpUOh7D2iOib+ow6hKw/5WoQeGwk+iPJToyI0uBeimTWRv/aX9GiL7F4rltWKMji9unDKPC0DK1YyZQI+SLZTsO8ESANPCcbeunxMFSTgaSC9XBzRsLOrlvrW23+/BFOkPbiPvG94t691g4C0lWjX0JQ3FU5uBfVbJbZIe6AWir2PXJlCij0BnijaQ7YGrHht2M6C/CwwgV4rTG3j4YdNL3rDGyPURon7MwN13Ugz2xvxi9sxM8zG39OmvXYwSvs7BmRRBaw8oYNcHZt4QjrCi9D7ybPh0TxMWpFCfXrbTtaw7/s+bzcCRTa9253GDbHjVxKT8E+P/h8dLTWtkS6aAH8lf32VZOOC0H+w1GJRYM5CK322NHLZ6Ya3PKOZ058ybsx3FTfP7qhQ5lfsYTjlai2yNtHumQJ59ttCeAnc1kLEp9KdHPhfYZ3UBriGjnkkAcJc+vRLlrqJWdW0ZEXYAzAXjRsNqMdk6qOHK3fqM1plc3UoMXwDsHWCoB9GC3w/p67n8Zu4DsRKK+59yAySXNWNPK/vIh9sbOgU/YX3yw84ckTKNYDsHSOwbuuJb4KTyD9q9uBhingKQZ7zgtc7RRbK7g1lsZ2AulliXiE/MoknTctb5nwrEs91knbz+1rhjgn793w623eoWyEh7noCWnyMdkKDKQw5sPyCdrzlowuWJqjGRb6LWnJ4gwdrPg7eACfxthBljou8PSs+zxfwymZbnboMrG/vGs5ExBMlrfFQofBGaYJesUmRzEp/EDgZt/IOGwrANxUDn4iP7aZPrQ2Mvdk2ypXzU+H0Ek85dcWRqa9PNYb+Yoy7BGZcQHwJ2XCydaUN281NYPohJF7Hn+cr2wqIyGLvw5FRg4wRi2dKyPSFc0TY/S5fZeGmg4A9Xl3b0NVB2SVHUXbbB5zzut5qB1Qw+/BuYvX1XPhWEqauB9g6D2F3VjsLlkDBWxRJtwrXmU1yuwooDiLEgbssmRU/EEVePK9VNaehRyp2ZWZ5t1gToGahnXfRex+M7XNGNQX+hTOMXfetCQiDikt/14iYLdpSqjVncZn3EiH2OXqSQVqZ3gQCPUVgBbyNS8w5WpGai+4LO9wCLEqF7OzHLfR+N4tDnu1Zqa4PadNDWQQa0/0zMzq9/RLK5n9GwPoqFYOGGT1/hh9O8CJNp3KQtI4IuLk5ap/ez9zQ/jQhQoCS6ynk8X+3V2UV07XrG8ITz/xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AJQ7r2tMQJZ5xqpSypVDGx",
      "input": {
        "note": "Three bottles lie on their sides, caps pointing forward. Plan: grab each near the cap, lift so it swings to hang vertically, then set it down on its base. Moving left arm above the left bottle to look.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.4,
          "left_y": -0.17,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01AJQ7r2tMQJZ5xqpSypVDGx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6033, 1.523, 0.8989, -0.0841, -0.4881, -0.3687, 0.9988, -0.02, 0.7937, 0.6033, -0.4038, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3892 left_y=-0.1632 left_z=0.1343 left_yaw=-0.0148 left_pitch=-0.0508 left_roll=0.0224 left_gripper=0.9988 right_x=0.2914 right_y=0.003 right_z=0.1749 right_yaw=-0.003 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -6.8171, 8.759, 1.6484, -0.3346, -0.0659, -0.1343, 0.0342, -1.6615, 7.1726, 1.8486, -0.0611, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06591e215379e79589a28a03b690c3905152df35068b555a5022890eb9c787c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80918cf455f333a1d19b7be7b12b41785c1e265ebf6c548ff5a762d4eff2cfbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb3b1aa1e46953ebf77291bab83060c094692b8b0f38cdfa3dcd9dc01b0d87ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 7.488 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, 0.7925, 0.6079, -0.3771, -0.0227, -0.0288, 0.9986, -0.0166, 0.7883, 0.6025, -0.3874, -0.0299, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2932 right_y=0.004 right_z=0.1793 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -1.4154, 9.7573, 1.79, -0.0464, 0.0952, -0.1587, -0.7726, -0.8957, 10.359, 1.8291, 0.0464, 0.1734, -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]: [-0.6033, 1.523, 0.8989, -0.0841, -0.4881, -0.3687, 0.9988, -0.02, 0.7937, 0.6033, -0.4038, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3892 left_y=-0.1632 left_z=0.1343 left_yaw=-0.0148 left_pitch=-0.0508 left_roll=0.0224 left_gripper=0.9988 right_x=0.2914 right_y=0.003 right_z=0.1749 right_yaw=-0.003 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -6.8171, 8.759, 1.6484, -0.3346, -0.0659, -0.1343, 0.0342, -1.6615, 7.1726, 1.8486, -0.0611, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06591e215379e79589a28a03b690c3905152df35068b555a5022890eb9c787c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80918cf455f333a1d19b7be7b12b41785c1e265ebf6c548ff5a762d4eff2cfbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb3b1aa1e46953ebf77291bab83060c094692b8b0f38cdfa3dcd9dc01b0d87ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015uZyNL9prouwpUtJ4m6yth",
      "input": {
        "note": "Left wrist cam shows the left bottle's cap ahead of and slightly left of the jaws. Moving forward/left to hover over the bottle neck.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.135,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015uZyNL9prouwpUtJ4m6yth",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4168, 1.7332, 0.9779, 0.0853, -0.3668, -0.2787, 0.9985, -0.02, 0.7891, 0.5842, -0.4034, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4537 left_y=-0.1276 left_z=0.1025 left_yaw=0.0254 left_pitch=-0.0569 left_roll=0.01 left_gripper=0.9985 right_x=0.2888 right_y=0.0031 right_z=0.1675 right_yaw=-0.0028 right_pitch=-0.0351 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -8.0752, 8.7179, 1.8632, -0.0073, 0.3785, -0.0513, -0.3897, -2.0718, 7.0222, 1.9512, -0.0366, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a88188b3821a57323a791a45fcc945b9cd57fce45f98d18a1237f6f01757a911",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07149114c43940d3a752f57e2b87376ce7e0c3275f5cb67d2937693fa114be4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6f7cdb8127f0169ac3d98012db00cc4ff9e6a0f73f17b6d5966cec2463f929a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 9.397 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, 0.7925, 0.6079, -0.3771, -0.0227, -0.0288, 0.9986, -0.0166, 0.7883, 0.6025, -0.3874, -0.0299, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2932 right_y=0.004 right_z=0.1793 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -1.4154, 9.7573, 1.79, -0.0464, 0.0952, -0.1587, -0.7726, -0.8957, 10.359, 1.8291, 0.0464, 0.1734, -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]: [-0.6033, 1.523, 0.8989, -0.0841, -0.4881, -0.3687, 0.9988, -0.02, 0.7937, 0.6033, -0.4038, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3892 left_y=-0.1632 left_z=0.1343 left_yaw=-0.0148 left_pitch=-0.0508 left_roll=0.0224 left_gripper=0.9988 right_x=0.2914 right_y=0.003 right_z=0.1749 right_yaw=-0.003 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -6.8171, 8.759, 1.6484, -0.3346, -0.0659, -0.1343, 0.0342, -1.6615, 7.1726, 1.8486, -0.0611, -0.0171, -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]: [-0.4168, 1.7332, 0.9779, 0.0853, -0.3668, -0.2787, 0.9985, -0.02, 0.7891, 0.5842, -0.4034, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4537 left_y=-0.1276 left_z=0.1025 left_yaw=0.0254 left_pitch=-0.0569 left_roll=0.01 left_gripper=0.9985 right_x=0.2888 right_y=0.0031 right_z=0.1675 right_yaw=-0.0028 right_pitch=-0.0351 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -8.0752, 8.7179, 1.8632, -0.0073, 0.3785, -0.0513, -0.3897, -2.0718, 7.0222, 1.9512, -0.0366, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a88188b3821a57323a791a45fcc945b9cd57fce45f98d18a1237f6f01757a911",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07149114c43940d3a752f57e2b87376ce7e0c3275f5cb67d2937693fa114be4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6f7cdb8127f0169ac3d98012db00cc4ff9e6a0f73f17b6d5966cec2463f929a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ErctjMFDjSKpwN5U2bwZEk",
      "input": {
        "note": "Cap is still a few cm ahead and slightly left of the jaw column. Advancing to hover over the neck.",
        "targets": {
          "left_x": 0.5,
          "left_y": -0.11,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01ErctjMFDjSKpwN5U2bwZEk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3347, 1.8519, 1.0225, 0.1612, -0.3283, -0.2516, 0.9984, -0.02, 0.7712, 0.5507, -0.3882, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4821 left_y=-0.1036 left_z=0.0786 left_yaw=0.0614 left_pitch=-0.0652 left_roll=0.0094 left_gripper=0.9984 right_x=0.2855 right_y=0.0032 right_z=0.1601 right_yaw=-0.0025 right_pitch=-0.0355 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -9.4291, 9.4291, 1.9902, -0.0073, 0.2906, -0.022, -0.2667, -1.6752, 6.8991, 2.0147, -0.0757, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f642c75fdeb52179f69fc9b7787b1e9ad38d8c440f3d9cd26ea6f7d5f0b5f53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c15c15f8e801c063f08246ac28c15caf049082dc9daa065b37a95e866b093e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c69d80e5993bb75fb7e358381960e55784c3b807149cf2eef3d350c0df234ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 5.093 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]: [-0.6033, 1.523, 0.8989, -0.0841, -0.4881, -0.3687, 0.9988, -0.02, 0.7937, 0.6033, -0.4038, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3892 left_y=-0.1632 left_z=0.1343 left_yaw=-0.0148 left_pitch=-0.0508 left_roll=0.0224 left_gripper=0.9988 right_x=0.2914 right_y=0.003 right_z=0.1749 right_yaw=-0.003 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -6.8171, 8.759, 1.6484, -0.3346, -0.0659, -0.1343, 0.0342, -1.6615, 7.1726, 1.8486, -0.0611, -0.0171, -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]: [-0.4168, 1.7332, 0.9779, 0.0853, -0.3668, -0.2787, 0.9985, -0.02, 0.7891, 0.5842, -0.4034, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4537 left_y=-0.1276 left_z=0.1025 left_yaw=0.0254 left_pitch=-0.0569 left_roll=0.01 left_gripper=0.9985 right_x=0.2888 right_y=0.0031 right_z=0.1675 right_yaw=-0.0028 right_pitch=-0.0351 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -8.0752, 8.7179, 1.8632, -0.0073, 0.3785, -0.0513, -0.3897, -2.0718, 7.0222, 1.9512, -0.0366, -0.0415, -0.0073]",
      "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]: [-0.3347, 1.8519, 1.0225, 0.1612, -0.3283, -0.2516, 0.9984, -0.02, 0.7712, 0.5507, -0.3882, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4821 left_y=-0.1036 left_z=0.0786 left_yaw=0.0614 left_pitch=-0.0652 left_roll=0.0094 left_gripper=0.9984 right_x=0.2855 right_y=0.0032 right_z=0.1601 right_yaw=-0.0025 right_pitch=-0.0355 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -9.4291, 9.4291, 1.9902, -0.0073, 0.2906, -0.022, -0.2667, -1.6752, 6.8991, 2.0147, -0.0757, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f642c75fdeb52179f69fc9b7787b1e9ad38d8c440f3d9cd26ea6f7d5f0b5f53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c15c15f8e801c063f08246ac28c15caf049082dc9daa065b37a95e866b093e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c69d80e5993bb75fb7e358381960e55784c3b807149cf2eef3d350c0df234ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HySwQW21Dnf1xDUYBUtbqe",
      "input": {
        "note": "Bottle neck/shoulder is just ahead of the jaws, aligned along the jaw column. Descending to straddle it near the top of the bottle.",
        "targets": {
          "left_x": 0.5,
          "left_y": -0.1,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HySwQW21Dnf1xDUYBUtbqe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.321, 1.8645, 1.0374, 0.1757, -0.3206, -0.2356, 0.9983, -0.02, 0.7544, 0.5186, -0.374, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.489 left_y=-0.1002 left_z=0.081 left_yaw=0.0599 left_pitch=-0.0516 left_roll=0.0117 left_gripper=0.9983 right_x=0.2823 right_y=0.0033 right_z=0.1528 right_yaw=-0.0025 right_pitch=-0.0366 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.7453, -9.7983, 8.7726, 1.8486, 0.0122, 0.1587, -0.0171, -0.2393, -1.7983, 7.1316, 2.0244, -0.0806, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a09ea781b17ebecf03153a4155d7ad46360281afc3e4d224b36524b250e4d0f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11a3c46c365f4dea96ba0bba9dc328fe6eeca97da256174901d6d749bc3daa53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:89df5d81d509bab286713464982aaa102cd5648a836d6ae9c796158f5a61d89e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 4.282 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]: [-0.4168, 1.7332, 0.9779, 0.0853, -0.3668, -0.2787, 0.9985, -0.02, 0.7891, 0.5842, -0.4034, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4537 left_y=-0.1276 left_z=0.1025 left_yaw=0.0254 left_pitch=-0.0569 left_roll=0.01 left_gripper=0.9985 right_x=0.2888 right_y=0.0031 right_z=0.1675 right_yaw=-0.0028 right_pitch=-0.0351 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -8.0752, 8.7179, 1.8632, -0.0073, 0.3785, -0.0513, -0.3897, -2.0718, 7.0222, 1.9512, -0.0366, -0.0415, -0.0073]",
      "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]: [-0.3347, 1.8519, 1.0225, 0.1612, -0.3283, -0.2516, 0.9984, -0.02, 0.7712, 0.5507, -0.3882, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4821 left_y=-0.1036 left_z=0.0786 left_yaw=0.0614 left_pitch=-0.0652 left_roll=0.0094 left_gripper=0.9984 right_x=0.2855 right_y=0.0032 right_z=0.1601 right_yaw=-0.0025 right_pitch=-0.0355 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -9.4291, 9.4291, 1.9902, -0.0073, 0.2906, -0.022, -0.2667, -1.6752, 6.8991, 2.0147, -0.0757, -0.0708, -0.0073]",
      "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]: [-0.321, 1.8645, 1.0374, 0.1757, -0.3206, -0.2356, 0.9983, -0.02, 0.7544, 0.5186, -0.374, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.489 left_y=-0.1002 left_z=0.081 left_yaw=0.0599 left_pitch=-0.0516 left_roll=0.0117 left_gripper=0.9983 right_x=0.2823 right_y=0.0033 right_z=0.1528 right_yaw=-0.0025 right_pitch=-0.0366 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.7453, -9.7983, 8.7726, 1.8486, 0.0122, 0.1587, -0.0171, -0.2393, -1.7983, 7.1316, 2.0244, -0.0806, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a09ea781b17ebecf03153a4155d7ad46360281afc3e4d224b36524b250e4d0f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11a3c46c365f4dea96ba0bba9dc328fe6eeca97da256174901d6d749bc3daa53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89df5d81d509bab286713464982aaa102cd5648a836d6ae9c796158f5a61d89e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQgKEAgSGAI4AUIIdGhpbmtpbmcSDCiOr1FebPghf+8TJxoMZ+6fM8qQeBPZMPlVIjBLECKUrTRDeWrSECY919w28zkLf4ocFLwvr0j8xYr5iTaCwuCriBagTnnXenxrKBkq5gdb946vt9Mzq1kWQFhs9SX4TjEshfoRYoOSEC0Z9BFbHsVrdoBVTFfgYhUhYNVB/l27ChvlQT18TTZUvaIZfRWxQy+9bt9iqrVybDMqg1z78xuzEBlZ675t6jGgChkpvwG+GulOOhEYZTeOo8esUc2wIeujdX37SVKE0YlDOZG8Wrc4NFgKzN4MB1cHWPtNDzMPeElfJMKwnD52tw8FRQegzEW5QZRIorfa9Fyk+QUXMAUEWGpclDXqr4yUWW6A2g9x7kAvsNR5GctBxS1FpGZBUh5qfj0EGJppHPtmoHHjUmq7PqGOcSwO3awkMZLgbWhflJpKKMzf8PJNO21idK/G2AeVYlNowkt+pDv+jjy17x/09rdgT8bJb/m0AEGXzQFyaiUS6E7E/x0KGsxDLKo5By+/M2yo0ZOCXFbPLWHx4sndBOSdkK7SfbN7upKp3poaZESDfgLHIRFT5jaQ0pKFmBPiLp0ygunX5Zj4qvFvPZ6uiSCipi9HW13ricp0Zv/IuV2L5xhWfEPD0yOl9z1+QYjCwzH7xDBSrcotMQaTzyMoTzoVtbHWFXxdXFwbmqZX2J4jWQMPHqhpYncQpnXAO/4EbpZ9tc+IFmlzD5LOnoAvQx3SOh45DHOCbfJ++YnJOcfHoD4ZaK6DZBRALx4OKxDGLgGXtuAq0YK7t50jyYckbmJ/ll+cCPjCugGux9hM+/xgTVkPc8Q7k0H2HPAmZ5hfXERaxCJRAaIzTLmpsatyShrrEr19ep0w+yiJOSfZ3nxZT88AD+/4alT8PC6AjOyTs7N3/YhI5JO+MuJrxtVXLyk5Pc/jjBk8qAGKhtPFXDi0fHisehAziIQJPQOELp6O0hci+aDqAWpioKIVGAWMmRPE+t4WICzLH7VxobbPXbCVlS+z0pTqxbODsrkwVNSJ9OfVk9RBrl9FglCJLQo2JcCETHGsi84X43zAHIUD/TjSpwpR7HNU9KvL2jfe7hrvyJ8y+fuEarhbQTJyhylMw3jnqZAS7deBZzh/nJMpEPCWZ/pJa3z24R0ZNUhlfBuM7EwGyb+BHHXuc5x+Fwe4nBRmoxLGMAa9OAV1qtjgwKqVOFhdUS0gQA51xvhbXPC/ztnInfpbhFPptYjDnDkPrEkJQ+KaBDZeg9Behx+G486XktDBfBVXsMgBWmmg3FZS1Ya53E7VMQ/m7Z1uwKQ//HKYsil6cLEKW18IeaoLvzDmIH+kYwSIevRfzH5RBLZll/YRe2ob3t2Kcm4tPB37XdSKW7loqH/vTlWuFZ4de6bULGDfYxh4UZPz28l8ZGhURA19jwedwGWxYHM+MqC0KVCsIRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0161smFdpJnh8XHvn22QE1Sp",
      "input": {
        "note": "Arm would not descend at x=0.49 (reach limit). Pulling back slightly to grasp the upper body of the bottle, which is within table reach.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.105,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0161smFdpJnh8XHvn22QE1Sp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.321, 1.8645, 1.0374, 0.1757, -0.3206, -0.2356, 0.9983, -0.02, 0.7364, 0.4843, -0.3584, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.489 left_y=-0.1002 left_z=0.081 left_yaw=0.0599 left_pitch=-0.0516 left_roll=0.0117 left_gripper=0.9983 right_x=0.279 right_y=0.0034 right_z=0.145 right_yaw=-0.0025 right_pitch=-0.0374 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -9.7026, 8.8957, 1.8535, 0.0269, 0.1929, -0.0122, -0.0342, -1.7026, 6.8991, 2.0244, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f5ff52703af2d8549f4c731971eea47a80484c51da01f9c46b415744454442b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0c906b678862636b4e893db7b55ab41064f151f7d52e3e4e380516533612865",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f457cb21677ab6159c4fb24924d02f79212f14c345f9f71399f9b8da65938910",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 5.897 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]: [-0.3347, 1.8519, 1.0225, 0.1612, -0.3283, -0.2516, 0.9984, -0.02, 0.7712, 0.5507, -0.3882, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4821 left_y=-0.1036 left_z=0.0786 left_yaw=0.0614 left_pitch=-0.0652 left_roll=0.0094 left_gripper=0.9984 right_x=0.2855 right_y=0.0032 right_z=0.1601 right_yaw=-0.0025 right_pitch=-0.0355 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -9.4291, 9.4291, 1.9902, -0.0073, 0.2906, -0.022, -0.2667, -1.6752, 6.8991, 2.0147, -0.0757, -0.0708, -0.0073]",
      "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]: [-0.321, 1.8645, 1.0374, 0.1757, -0.3206, -0.2356, 0.9983, -0.02, 0.7544, 0.5186, -0.374, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.489 left_y=-0.1002 left_z=0.081 left_yaw=0.0599 left_pitch=-0.0516 left_roll=0.0117 left_gripper=0.9983 right_x=0.2823 right_y=0.0033 right_z=0.1528 right_yaw=-0.0025 right_pitch=-0.0366 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.7453, -9.7983, 8.7726, 1.8486, 0.0122, 0.1587, -0.0171, -0.2393, -1.7983, 7.1316, 2.0244, -0.0806, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.321, 1.8645, 1.0374, 0.1757, -0.3206, -0.2356, 0.9983, -0.02, 0.7364, 0.4843, -0.3584, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.489 left_y=-0.1002 left_z=0.081 left_yaw=0.0599 left_pitch=-0.0516 left_roll=0.0117 left_gripper=0.9983 right_x=0.279 right_y=0.0034 right_z=0.145 right_yaw=-0.0025 right_pitch=-0.0374 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -9.7026, 8.8957, 1.8535, 0.0269, 0.1929, -0.0122, -0.0342, -1.7026, 6.8991, 2.0244, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f5ff52703af2d8549f4c731971eea47a80484c51da01f9c46b415744454442b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0c906b678862636b4e893db7b55ab41064f151f7d52e3e4e380516533612865",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f457cb21677ab6159c4fb24924d02f79212f14c345f9f71399f9b8da65938910",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqgcKEAgSGAI4AUIIdGhpbmtpbmcSDBLjLM9rneJuYdACyxoMVNglL8LpoEbJ4gfEIjCm6z6vvA4NKfzDJ37HHPRJxdYQWupFSaTZ0JRY/bF7T+l1q7rsrURGnGUonvSyjXsqxwZ5eVl+JTgFMh/B8Mf6lTMBODi4KRzDFnmDtOUQ6XdE6pNHcMoOIAZrBZgM42UEpqTDNX8aYgGdicCBQkG8j4PjC5UoykBH63t1lIJ62Z6Glaw0MsV1URE8DfsU1b/WRsn07NPTBj6L8TPWwhy3/QpDG5vxqF2RB6XgmG1lfC22xmwB5Dz5Hnc4OqNMO49tJUdTxzNbAcmPmKCFlriWNgUljK0cqfggzrG1Y0Ssn4gY3JeEDJrBmYratduJuANC3kn+fBBg0Abh5c1cGzK+VrPQ+QPpekVb0F8M8CrRM3MiqUzZHObkQmOh/kwQuzibDzUs0yrywAYZPFAhsCfPlWne9e67jGm9tMmibzo3h0ZPKO6dm/J7BfbtpbVEOi1TGr+GbVK9XRRX9C3WOjxH+0zR9kx88mEwtzspNXZ8og5t+Jf5/d/YrOVUrQU1teygc0nadVTRKYsJzSezzq/9A+Vw1AVFEHOztCXRsUl7AoeNvUGUFYTCA0Z7qwcTM/MK3l9hFt1iqZ6CMG9BLAQRbhl6gBvoPAahsRpJwhi/sSecnrTJNSikdmCZSFvviIa2/vUhMojySSMBRlTgH6rZN0YV43TRu0b/lnsUmLtuj2DsdHu8cZRctr2HJD7Aq8UrX/AmvG9PxrZtZiWuSxjM1TNvPyYs5MtpC+XxfNQ5FIGjB2/28pVQa0fSwxYJtBfsr7Pi+wqLRqZ2G0PQQ4840Rtiuz713OGP11O31sEiOLTogcO8ANhPTNtipjIiYRsQzqpE/b+qqv3menVxV5jnZ1ZlFb2Ai5hf33w/F6UQei45YuyUeJ1RPxouMumWNcRbr27unwqqEv6PD05LKUUWy+bEzvgf0x60ngM13LvUU+trAklY/3ZHPxShJgdoUu5Oa7v4IzfgqovpuCMYc98THVHLmCnE8Hr1s9hyC94C0yVMF4gp2mHZzrbIAkqp2vlRoFtq/j9CVDpynFuDTxoFOyyATVUX5MMoZfvDO1h2+pxekHCPjtph2SlaAaIlQ/n6vXc2ciddFx3PE9EP1QtPONGWrrOcChy+4sNgCTCq2gmilR1BkdHNwDpHl3bp3aIUeaU67HOS/JIjp8Wxk0S0qQVVQCS4rNp+RhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017Kc6xkrn8Bt8oxUanyxRUo",
      "input": {
        "note": "Left arm is stuck at its reach limit; backing it up and raising to regain mobility. Re-parking the drifting right arm.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.105,
          "left_z": 0.12,
          "right_x": 0.29,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_017Kc6xkrn8Bt8oxUanyxRUo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4145, 1.5959, 0.8242, 0.1432, -0.3702, -0.2699, 0.9983, -0.0353, 0.7677, 0.5541, -0.4072, -0.033, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.4245 left_y=-0.113 left_z=0.1102 left_yaw=0.0251 left_pitch=-0.0185 left_roll=0.0014 left_gripper=0.9983 right_x=0.2831 right_y=-0.0006 right_z=0.1587 right_yaw=-0.0055 right_pitch=-0.0474 right_roll=-0.0133 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -8.212, 5.9966, 1.6532, -0.3541, -0.1783, -0.0171, -0.9504, -0.6085, 10.4, 1.7753, -0.2125, 0.0855, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3088d055b0ff37c206fd937993ce5af1e63a034b5bd24d65de24718cee37ccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae9463ffcf112ea38b33efb90fcf7fad5a0b207bdfeb02ecab5ba0eba7ba2a96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b52c3b5e52fcf6050585a94546025eedb2144bf052362a5317dd51fd16c0e40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 4.084 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.321, 1.8645, 1.0374, 0.1757, -0.3206, -0.2356, 0.9983, -0.02, 0.7544, 0.5186, -0.374, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.489 left_y=-0.1002 left_z=0.081 left_yaw=0.0599 left_pitch=-0.0516 left_roll=0.0117 left_gripper=0.9983 right_x=0.2823 right_y=0.0033 right_z=0.1528 right_yaw=-0.0025 right_pitch=-0.0366 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.7453, -9.7983, 8.7726, 1.8486, 0.0122, 0.1587, -0.0171, -0.2393, -1.7983, 7.1316, 2.0244, -0.0806, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.321, 1.8645, 1.0374, 0.1757, -0.3206, -0.2356, 0.9983, -0.02, 0.7364, 0.4843, -0.3584, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.489 left_y=-0.1002 left_z=0.081 left_yaw=0.0599 left_pitch=-0.0516 left_roll=0.0117 left_gripper=0.9983 right_x=0.279 right_y=0.0034 right_z=0.145 right_yaw=-0.0025 right_pitch=-0.0374 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -9.7026, 8.8957, 1.8535, 0.0269, 0.1929, -0.0122, -0.0342, -1.7026, 6.8991, 2.0244, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4145, 1.5959, 0.8242, 0.1432, -0.3702, -0.2699, 0.9983, -0.0353, 0.7677, 0.5541, -0.4072, -0.033, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.4245 left_y=-0.113 left_z=0.1102 left_yaw=0.0251 left_pitch=-0.0185 left_roll=0.0014 left_gripper=0.9983 right_x=0.2831 right_y=-0.0006 right_z=0.1587 right_yaw=-0.0055 right_pitch=-0.0474 right_roll=-0.0133 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -8.212, 5.9966, 1.6532, -0.3541, -0.1783, -0.0171, -0.9504, -0.6085, 10.4, 1.7753, -0.2125, 0.0855, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3088d055b0ff37c206fd937993ce5af1e63a034b5bd24d65de24718cee37ccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae9463ffcf112ea38b33efb90fcf7fad5a0b207bdfeb02ecab5ba0eba7ba2a96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b52c3b5e52fcf6050585a94546025eedb2144bf052362a5317dd51fd16c0e40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjAkKEAgSGAI4AUIIdGhpbmtpbmcSDHr+ujp+hip0fQ4QMxoMsdag7WksfJfpomDqIjD1xwqTcsig1/6dtcNLzNkmr+58aJzhT5o0atblwTSw0j3b4ygoubSO2ksa3HH8qYcqqQihRB8x93FGVrrlSt/S3dai3LgZRhOARjcOe0LSzkY6xHLtvNtUVGmEWvKozEpKd05QGZLF4qC+LlNzPOnKg/6Ze8TNAabw9nlE0SWz11Jq3D/6RRUcEIhyvCmpTB7qZeThciUW8fyZknxNeFWDCHCRlvzLxmKwOoCVFYvKChbhfkuRrFjz5t/U3WpITUaJVygE07kURWh3HgMypi610HNT0vsHOuANRQRXmu/dM2IBB3DZcTIfakIijE/zGNSrzuXalxvqDH4aHHy9hmLH/ZGHP4j7C+mnl5zn3/HT6edA2pxmbH7HkXyT68j7Tn/A13tTFtFzLchlkGpMc9P4022/zb5l8KXzek0beODtV/Dhm4lqfTRKqDkR5ehHlsudtou/4gDQVK+vdOp67w4fBvjlFBMN4XdBuKJ/eDCVLXXYLNXqJN8HeTt5fuXVvGjkBZMfq6D0jusW92K/YPKC9Dbzzo7OKai15dIrz6exvoYd8mzinalyBXllqvY3B46PVrnjTxYmyFnyiGx51zSRJEQCc2GV3vsfp4jVg+CKzGT0jitPW86oESfvsdCnr7oYhGzaG5uGn6AcD/+H3Cmrkpr9C6T6fnHqy3nMATGt+/zATen7U2Ry6SvGjrtDk/jZ7hg/GaR57py6W0oUnQVaUu/4N59miapAI2l0l2w0NV3P12BSx4RQzERxcbJycIrjjKkkBAqs6+UNGpEk5uMWFaClvCE8de0GQGOyN8RWBFK0HZh0Dumg9NJqvsMRf0EUMOOKusHdynM4U+jq5uu1fQcHQPr1HbyecjkxvMMaJ3Q2w7IwHEaGzTp8FyL0LEdSPZaKKS1mp+h6CwitAmH6nEpXrMSuR9PzLKzP+w/fWA9CWrPWHgc+e6Zudb2cdLy28p8zq7M5n/bnrDkjOvqsSJ1lC4A7kDbofUhj8X9+yr6AIVegorXbWGG8pGFAFGJ6KznR+FB77bisRO2wrCW1IbRtU/IBdSMw+umjAUCHswn5DRu8LwyjKBj3xngFuseLhubUR7q3tA+FBmO1z0n6Kg++n6Ot12RgSKsZANrQqW/sg9k5qt49C0HpmoBVoNdjjShwHue1llwYI/+CzSTueponR5/MntWIfAJvyw/104KHHBk0mZXFegqYY1Wn9cpWyIoxHWPpTa+/lKe4A9Esa+Hdb9F+FXi+3MhvUTMbrW1E0oxjkHqef1xJqzILJRld1zoc53Eq42f+ka7VFZugfKRiD/iapN7iv+/Q5wznsJO/0FiaqdxPUdY7epwmHq2y7GmW/xHdhLLCkk8TPAgZ8ylLmJ1IrJQLqIecj93JSht3ONolpJ7yvGwt1esFp2clGtuzoOO/Fe1CdcCvr4OaPMEeD7uOXIO23tllbfZWb8BlIgr+ZOxWAYgG9EHFaVrMc/eJfHJawkG31E0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MZtAPXe1NxJNPCXpPYCKrt",
      "input": {
        "note": "Left bottle now runs straight along the jaw column, cap ahead. Descending onto its upper body (label area) to straddle it with the jaws.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.11,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01MZtAPXe1NxJNPCXpPYCKrt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3843, 1.8626, 0.7731, 0.5236, -0.3546, -0.2813, 0.9983, -0.0406, 0.7383, 0.5056, -0.392, -0.0498, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4523 left_y=-0.1129 left_z=0.0492 left_yaw=0.0487 left_pitch=0.0344 left_roll=-0.0428 left_gripper=0.9983 right_x=0.2773 right_y=0.0011 right_z=0.1476 right_yaw=0.0051 right_pitch=-0.0508 right_roll=-0.0061 right_gripper=0.9998\nstate[joint_eff]: [0.6222, -6.4068, 5.2718, 0.8913, 0.0122, 0.3639, -0.0122, -0.6085, -1.4564, 7.1179, 2.1026, -0.0317, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a47aa8f0b21ffc3d9640f28791413e341046416f8b0472d06bd25ad78eedb57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:477476ebd849a7c57bf45d9fd2dec3d36fd44fbe9b2984260fd4acff79d9d7a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa2830c93fe6b24949c4505a26a1de802114ce85270bdb3a06e9af9792fca977",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 10.38 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]: [-0.321, 1.8645, 1.0374, 0.1757, -0.3206, -0.2356, 0.9983, -0.02, 0.7364, 0.4843, -0.3584, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.489 left_y=-0.1002 left_z=0.081 left_yaw=0.0599 left_pitch=-0.0516 left_roll=0.0117 left_gripper=0.9983 right_x=0.279 right_y=0.0034 right_z=0.145 right_yaw=-0.0025 right_pitch=-0.0374 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -9.7026, 8.8957, 1.8535, 0.0269, 0.1929, -0.0122, -0.0342, -1.7026, 6.8991, 2.0244, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4145, 1.5959, 0.8242, 0.1432, -0.3702, -0.2699, 0.9983, -0.0353, 0.7677, 0.5541, -0.4072, -0.033, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.4245 left_y=-0.113 left_z=0.1102 left_yaw=0.0251 left_pitch=-0.0185 left_roll=0.0014 left_gripper=0.9983 right_x=0.2831 right_y=-0.0006 right_z=0.1587 right_yaw=-0.0055 right_pitch=-0.0474 right_roll=-0.0133 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -8.212, 5.9966, 1.6532, -0.3541, -0.1783, -0.0171, -0.9504, -0.6085, 10.4, 1.7753, -0.2125, 0.0855, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3843, 1.8626, 0.7731, 0.5236, -0.3546, -0.2813, 0.9983, -0.0406, 0.7383, 0.5056, -0.392, -0.0498, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4523 left_y=-0.1129 left_z=0.0492 left_yaw=0.0487 left_pitch=0.0344 left_roll=-0.0428 left_gripper=0.9983 right_x=0.2773 right_y=0.0011 right_z=0.1476 right_yaw=0.0051 right_pitch=-0.0508 right_roll=-0.0061 right_gripper=0.9998\nstate[joint_eff]: [0.6222, -6.4068, 5.2718, 0.8913, 0.0122, 0.3639, -0.0122, -0.6085, -1.4564, 7.1179, 2.1026, -0.0317, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a47aa8f0b21ffc3d9640f28791413e341046416f8b0472d06bd25ad78eedb57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:477476ebd849a7c57bf45d9fd2dec3d36fd44fbe9b2984260fd4acff79d9d7a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa2830c93fe6b24949c4505a26a1de802114ce85270bdb3a06e9af9792fca977",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5AcKEAgSGAI4AUIIdGhpbmtpbmcSDDV2PGWI2Mw+8zc2bBoMFR47HPhzQnBR1wCZIjAp9OGF6qGIZD0peyIl3x0trwimssLZLc1lztOqZB/U6o7SRfl36F8JzVBjabOQpHwqgQfcPaLgZYq/sXIIYVr+/uJSttegDtSEZuV2042zM74zGedEy8EnJwE4TbicSY3La9tv4Umrrk9vzM0PQkKQbyNMJIUMl3MbDoVfhuGztQ8KXi+3DphhoPFRGW2Ih6LD7vMg8xxZaFg7VNDaWwouhBq7QqbTKPwB2zbC3514hIP7yq4Srb5rLLvdwPv3ouPqmJu6LwRko7eS080LVad0+joFm2PcXccjsYOvsmrlv0HHR8spvCMPtnHojbhlhRAOTzt82/4AFuhVtME0igwFj5zZWhSRZTmoL7HckiFc6okeLsHnWbBT4mqBylfT2RustD05ytOG5ITFIHedDvz84smtQ4MsEiY9WrShUF2Bz7RJU4rnjXdMHbl+7POgfh2gl5MD3Hdvpjd4jQ8uVQWj+C4lWJxAmws2gFznEXJnGXMvHdpPW0BNQHOnMzeM4dGFtTIYinI6DVm9IoRKSbJKGy5jzwWxYVv42SxQgsWu4GEUiWZa7UoaN9lRiNSdSqLO5EML1EmaMB1ScdH1JN90c4B77CO6kGcsP/sYmqcKP+RMSi1Ae7bR3hronoruRgCL5/0Tu7zQV604V9i7PQT4mad4VtpG/jwsNI6C90LDBDOucodm45Wqo8qBV21tUxTYOd4HJ1OcC4dR4dkLBVDC/NqqRAKolgH9w9F0XR7F59coopaE8FSzAIA2dPrqnpDvKK/V4dBypdiep7emGyKLjbkfeCYxqX73GBvPonOqWJbjbpx8a04JOWsvwrLYVQwvycn9GYB1oFqnsbysPNOyYnUK1dE66c8WcmZTbl9lvTwKOgbg+u3htSIgFVcBA6w+B1W0bwlypTCjBfQAT7XmKmI0GUwYsbDR+CtP4qEj3JaCzbNUZQyeQUCfrc/Z3XtD0MYgIOGbUk1sGRmybV8wNftAZ+pOfkSjukgNLHz7zU3pEAt8kR0hEtDcNlHvCxEiMo2JdtlM8KocUFzYFyaOoQCaJktrW2lYdAq+mps1hWIbCyk/pgDYI/NymiAZ7MNbrfQcJvrz9T4SiXSPAKki7NUBJmDR38nzIvem7XUcvzLZAGcmMghwQlNBShg/NJpQkhXsXtR919qzVA0283K202EUPEUqfi2l8yMRrD1q3UrlOSbkQxCYolPgPj2aMfrcJ5rzBZcfoZcdQ5ZkAp7zu+sz8RXAuNU9rvulkElDt2d6dJ8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017wG7DVUEDa8oh9Lcgkj8Ua",
      "input": {
        "note": "Jaws are down around the bottle's upper body (descent stopped at z≈0.05). Closing to grip it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017wG7DVUEDa8oh9Lcgkj8Ua",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3931, 1.8549, 0.8074, 0.5087, -0.3897, -0.2852, 0.0115, -0.0406, 0.7055, 0.4568, -0.3607, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4603 left_y=-0.1143 left_z=0.0635 left_yaw=0.0716 left_pitch=0.0667 left_roll=-0.0413 left_gripper=0.0115 right_x=0.2738 right_y=0.0025 right_z=0.1401 right_yaw=0.0114 right_pitch=-0.0353 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -8.6496, 5.7504, 1.0232, 0.0073, 0.188, 0.9744, -0.5265, -1.2923, 6.9402, 2.0244, -0.0952, -0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:461df40b2565a047c7afc0f951c742317a99ab451f48d0429cfef05b3095e680",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fa871667ce6cb837561ce3307e6e1a0ffdd3c5d860d0618b7fefa9b1ec61253",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab552e980776c29bcab5b1704dca595032c04bd829b07700e1ab90ce97602811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 4.276 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]: [-0.4145, 1.5959, 0.8242, 0.1432, -0.3702, -0.2699, 0.9983, -0.0353, 0.7677, 0.5541, -0.4072, -0.033, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.4245 left_y=-0.113 left_z=0.1102 left_yaw=0.0251 left_pitch=-0.0185 left_roll=0.0014 left_gripper=0.9983 right_x=0.2831 right_y=-0.0006 right_z=0.1587 right_yaw=-0.0055 right_pitch=-0.0474 right_roll=-0.0133 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -8.212, 5.9966, 1.6532, -0.3541, -0.1783, -0.0171, -0.9504, -0.6085, 10.4, 1.7753, -0.2125, 0.0855, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3843, 1.8626, 0.7731, 0.5236, -0.3546, -0.2813, 0.9983, -0.0406, 0.7383, 0.5056, -0.392, -0.0498, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4523 left_y=-0.1129 left_z=0.0492 left_yaw=0.0487 left_pitch=0.0344 left_roll=-0.0428 left_gripper=0.9983 right_x=0.2773 right_y=0.0011 right_z=0.1476 right_yaw=0.0051 right_pitch=-0.0508 right_roll=-0.0061 right_gripper=0.9998\nstate[joint_eff]: [0.6222, -6.4068, 5.2718, 0.8913, 0.0122, 0.3639, -0.0122, -0.6085, -1.4564, 7.1179, 2.1026, -0.0317, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3931, 1.8549, 0.8074, 0.5087, -0.3897, -0.2852, 0.0115, -0.0406, 0.7055, 0.4568, -0.3607, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4603 left_y=-0.1143 left_z=0.0635 left_yaw=0.0716 left_pitch=0.0667 left_roll=-0.0413 left_gripper=0.0115 right_x=0.2738 right_y=0.0025 right_z=0.1401 right_yaw=0.0114 right_pitch=-0.0353 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -8.6496, 5.7504, 1.0232, 0.0073, 0.188, 0.9744, -0.5265, -1.2923, 6.9402, 2.0244, -0.0952, -0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:461df40b2565a047c7afc0f951c742317a99ab451f48d0429cfef05b3095e680",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fa871667ce6cb837561ce3307e6e1a0ffdd3c5d860d0618b7fefa9b1ec61253",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab552e980776c29bcab5b1704dca595032c04bd829b07700e1ab90ce97602811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GX2qdUG3PPDgGGURfiJm9B",
      "input": {
        "note": "Empty close — a jaw was likely resting on the bottle. The bottle slants right toward its base, so opening, lifting and shifting 2 cm right before retrying.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.45,
          "left_y": -0.135,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GX2qdUG3PPDgGGURfiJm9B",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4591, 1.7866, 0.9047, 0.1951, -0.4393, -0.3248, 0.9956, -0.0406, 0.6849, 0.4252, -0.347, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4441 left_y=-0.1317 left_z=0.0732 left_yaw=0.0667 left_pitch=-0.05 left_roll=0.0204 left_gripper=0.9956 right_x=0.2707 right_y=0.0027 right_z=0.1337 right_yaw=0.0116 right_pitch=-0.0327 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -11.6444, 8.6222, 1.4774, -0.359, -0.0317, -0.188, -0.4444, -1.0872, 6.8444, 1.9658, -0.1294, 0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b607aa4e7ffd34ee88557153db370e1df769b5c44d37f7f9dde1fb9176bec6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47a0b08ec43ad7a82c7d7226a95ed9216c9a452390117576a8e69253338ae4a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d1ba456d1940589a83313ebdc7f9e35370da1b818d5ae40078138de50562183",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 3.71 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]: [-0.3843, 1.8626, 0.7731, 0.5236, -0.3546, -0.2813, 0.9983, -0.0406, 0.7383, 0.5056, -0.392, -0.0498, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4523 left_y=-0.1129 left_z=0.0492 left_yaw=0.0487 left_pitch=0.0344 left_roll=-0.0428 left_gripper=0.9983 right_x=0.2773 right_y=0.0011 right_z=0.1476 right_yaw=0.0051 right_pitch=-0.0508 right_roll=-0.0061 right_gripper=0.9998\nstate[joint_eff]: [0.6222, -6.4068, 5.2718, 0.8913, 0.0122, 0.3639, -0.0122, -0.6085, -1.4564, 7.1179, 2.1026, -0.0317, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3931, 1.8549, 0.8074, 0.5087, -0.3897, -0.2852, 0.0115, -0.0406, 0.7055, 0.4568, -0.3607, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4603 left_y=-0.1143 left_z=0.0635 left_yaw=0.0716 left_pitch=0.0667 left_roll=-0.0413 left_gripper=0.0115 right_x=0.2738 right_y=0.0025 right_z=0.1401 right_yaw=0.0114 right_pitch=-0.0353 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -8.6496, 5.7504, 1.0232, 0.0073, 0.188, 0.9744, -0.5265, -1.2923, 6.9402, 2.0244, -0.0952, -0.0122, -0.0073]",
      "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]: [-0.4591, 1.7866, 0.9047, 0.1951, -0.4393, -0.3248, 0.9956, -0.0406, 0.6849, 0.4252, -0.347, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4441 left_y=-0.1317 left_z=0.0732 left_yaw=0.0667 left_pitch=-0.05 left_roll=0.0204 left_gripper=0.9956 right_x=0.2707 right_y=0.0027 right_z=0.1337 right_yaw=0.0116 right_pitch=-0.0327 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -11.6444, 8.6222, 1.4774, -0.359, -0.0317, -0.188, -0.4444, -1.0872, 6.8444, 1.9658, -0.1294, 0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b607aa4e7ffd34ee88557153db370e1df769b5c44d37f7f9dde1fb9176bec6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47a0b08ec43ad7a82c7d7226a95ed9216c9a452390117576a8e69253338ae4a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d1ba456d1940589a83313ebdc7f9e35370da1b818d5ae40078138de50562183",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwcKEAgSGAI4AUIIdGhpbmtpbmcSDOwG07yXPTApgTynvRoMjMtU6NuX0PqKc99nIjAF9qoYqVmieC0TUTIYmVx3CVhvJmSTDkNEtiiCKTCa+vJxXtB9M9vuaVjk90R1XFcqyAZc7HqkS4EUfdKD9XFHwkP47R3taLXW5anWLsS0xyLtUuXeOaSEwY+3gX8Z3VAlzObfnXAh9DzPc3tgsqQIGgnKykkDbfr+OBa5Eyz9KfJWQl7TWfYO1xORpHV6y+aGVj6n3ik4eNpHAxlokPfsXkAwoBERZ44gpM/5hF6gqWwd8wRTExHpBGXoLRXwILfQY0BXjgwWYlSKv1JwuIaFnBUVKQm85hj7pnWmRXFb9BMkuoKoHnXzCnwm2cAquKAUcSHm8Gm6vdY5kp7v3IIKsrC78WIMqa3txBAVWQqWAkK25/PRcjDjPlvkb1Qpbz8NxA0/X016P3bXJNX72F8z3hN2xomWR17cHUwrJOfkVHM8fpKiZC1vYlClVRXj0jIs/k/d0iWJ4bWVBtrgZhWgeQ/RcxVhWxfOd5FNbxpb2lhGsGFLjmGDYC5lsE34Oc3ihHr+grGlvjENDLIANE3qntbVNYY1Wg9OulrEku5agMSEKaLYrsTp/Q1r0a8EN7bYX5EwVbe58jAoCRwqrdH9fs40rnwqHRxQT1ffVATC9NBUQk+Qms+5xzYnUfufBvqKJD0NikjBVKAv4jp/k5QYTsUyKrzdnOK3DgFSHDrelSuzPNVlvZNVccSwH1YNzbjv58DFxvsfqRi6Z/kYmpzUMGkQIVmv5d0BonowkREdlsEDpFV/TY06a8JCOp6ukMlMHrMzLXjEKMmu68XxUHr1WLkis3vLBOA46QS3YWlD4pjzHsQxGkHaaRS1s+ZGjGNnGBLKsqyMYxKFUqXssLbI6qOt2qjZVVT0SGNS79AxVpqqFIpZMyZH/RiGVdjVkWo6UFqm2B1GYVGbKgyNYEk3WTMvX1u6q4ugDHqCeM/voOh158Fr1t0u86oFeFL78cMXTQciovvb/1qD3os1t0A8C+8lRD32CpsMZ8DGK4QGRZxGhRhgoXe8NGaDKkCufn6Ks2wyx4Sd3XlK4e+sW2n5gdrSI3zYVUdP/vKBCh/SzBrAUGyZQ+fYfaE+PzbkOf2oJApLfZC+f1AzVxsL+KC67bJWQ6Ru2hwGRdTeF2i1i+BW5JRHXKRS8iwegNvsG6e6Dkp4YGMOxjaTgIPEyf0TG7dXD4OLAoE9qN4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018PNi8J8DrGfRnZNVpkh2re",
      "input": {
        "note": "Bottle body now sits between the open jaws in the wrist view. Descending to straddle it.",
        "targets": {
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_018PNi8J8DrGfRnZNVpkh2re",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4656, 1.9629, 0.8101, 0.6155, -0.4534, -0.3439, 0.9968, -0.0406, 0.6655, 0.3935, -0.3351, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4581 left_y=-0.1395 left_z=0.0394 left_yaw=0.0831 left_pitch=0.0826 left_roll=-0.0655 left_gripper=0.9968 right_x=0.2673 right_y=0.0028 right_z=0.1265 right_yaw=0.0114 right_pitch=-0.0331 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -5.094, 2.9197, 0.4567, -0.0904, 0.2564, 0.105, -0.3487, -1.0598, 7.0496, 1.9658, -0.149, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b8605b5b643ba0b65d95f2f6eb3547e5626c9fb46a7f0098e89aaa161551102",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63b2226bbe879ae1d0bf3cb505b20a8c286b41d905117ee1ce4ed4ec9dce1118",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c35ccc4bd410cb3c6cb456f3330c02fc3bf1f847f64bef326d45c949eea5aca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 12.67 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]: [-0.3931, 1.8549, 0.8074, 0.5087, -0.3897, -0.2852, 0.0115, -0.0406, 0.7055, 0.4568, -0.3607, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4603 left_y=-0.1143 left_z=0.0635 left_yaw=0.0716 left_pitch=0.0667 left_roll=-0.0413 left_gripper=0.0115 right_x=0.2738 right_y=0.0025 right_z=0.1401 right_yaw=0.0114 right_pitch=-0.0353 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -8.6496, 5.7504, 1.0232, 0.0073, 0.188, 0.9744, -0.5265, -1.2923, 6.9402, 2.0244, -0.0952, -0.0122, -0.0073]",
      "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]: [-0.4591, 1.7866, 0.9047, 0.1951, -0.4393, -0.3248, 0.9956, -0.0406, 0.6849, 0.4252, -0.347, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4441 left_y=-0.1317 left_z=0.0732 left_yaw=0.0667 left_pitch=-0.05 left_roll=0.0204 left_gripper=0.9956 right_x=0.2707 right_y=0.0027 right_z=0.1337 right_yaw=0.0116 right_pitch=-0.0327 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -11.6444, 8.6222, 1.4774, -0.359, -0.0317, -0.188, -0.4444, -1.0872, 6.8444, 1.9658, -0.1294, 0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4656, 1.9629, 0.8101, 0.6155, -0.4534, -0.3439, 0.9968, -0.0406, 0.6655, 0.3935, -0.3351, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4581 left_y=-0.1395 left_z=0.0394 left_yaw=0.0831 left_pitch=0.0826 left_roll=-0.0655 left_gripper=0.9968 right_x=0.2673 right_y=0.0028 right_z=0.1265 right_yaw=0.0114 right_pitch=-0.0331 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -5.094, 2.9197, 0.4567, -0.0904, 0.2564, 0.105, -0.3487, -1.0598, 7.0496, 1.9658, -0.149, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b8605b5b643ba0b65d95f2f6eb3547e5626c9fb46a7f0098e89aaa161551102",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63b2226bbe879ae1d0bf3cb505b20a8c286b41d905117ee1ce4ed4ec9dce1118",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c35ccc4bd410cb3c6cb456f3330c02fc3bf1f847f64bef326d45c949eea5aca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2gcKEAgSGAI4AUIIdGhpbmtpbmcSDHE0FRK6Rp7X0qSVtRoM0hceA9bVEd5qRX8NIjATYiAS1qxv+0NnQM4UBqclk1+VJ/cdzWoQ1ZzptAIIIqimzsSsviwFnDnL3dK0ZHUq9wZW0MsPJ7J4ddiSlHbsN3zf/3yrwZINm/D8fNMF1jPTSHusUsgbOjTKl6U10yLabzCd0g9Tqjp3f0DU08vKRojvMN+SdDYCuxGEJp73TjDXI5+sDLbvuBBIJrHg9y3ybLIGfUVDxOV7EWzUvf2ahokYbNpD8dp9a81k0lqKWwz5Xzy7Ytvff9E8Tjvt7lKtkfmSoJYm1KvV6RIlduZvOz8+z1a62590ufpWONc+A2jydHQsF3wmGvVmvGeAQDJ68MhRbMcmcUzWdM4dzjAxa6yOgA1nlHygXVEoARqdZ94J7eKg4JE6HszxRLJtQWN2SHc0gcHohb7pSRMXm780KsR3b943yhKqQQloBZjIfTdB+5sdyhGQPn66az4ChXgYdhRfLp4sLuWatCUlHimOmo7Gx++kNFuLtBx5xNzNFt32qMeRZWB9pMVw5hZm5iMoCZzCVX69hBdntbNc/7EGLCbiGFj8a6lEUy54OLmAjdIjDA95e/UjCcCpTL1AzGCnE0JnFqwoRsL6R+5l5Rrxz6S5rbiEgQmWxeflDY6p7OmphOME7jHrN/CIGaGaPNhCBCXvhtudHuL8ecQrg5crQHooATQF3/ZSY/KUIBodf8Mx9auhccRfryFmyWb3r+3n1GWwmuXF43ChHUmF+E/GSbGKiHrn36HOj/aT5z5bnwQ469w3zF9bBlsAdoy5LjT8nWS3ErPkEDHSMEv9fNmo0rSdvfv6ntw63Em2Syh2TAAfcUcMoMgwqDsKA8h/s4F+Ru2ACzkVmW4ghEtpPgB9ofA7mSbIuu8AvyqBs8wv4xjdpMzbQYBmg2WNZsUifv5Ku7OZ70tM425AtfkUa65q4+I0vw5/cegfAwhVczcS/vpPEV+3FHvR1TTDOMDtBcT/HtOyNXdmCerHPJi2QiQjmZBMfbeFjiJHw/up/8mh47XuXhNMCj9IaTzjyMausezTTfP54wDR6RmGyR7e+1SHZOIolkDFP8adH+fkKWLespjosgjFCpOuivg2DY/Advn/MwejVmYI37PQm5HPYCk8OBPT0sdqYpAfuZuqy9jDbe8zrD/ho9pGSbhUyToIeFgk/qi/iOQIFX94mHxAHAjoOG/Q0/OIJUpYGNFQUfIwQFvtrDf4NudEAwHLhapo0GCsaYsPFoFTjo+9saENLLIP/DsKaI3tYg18BBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RbbqHzX5wEgubNeLP6uZPH",
      "input": {
        "note": "Jaws at z≈0.04 with the bottle body between them. Closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RbbqHzX5wEgubNeLP6uZPH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4664, 1.9331, 0.8867, 0.4961, -0.4953, -0.3435, 0.0114, -0.0406, 0.6456, 0.3614, -0.3206, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4686 left_y=-0.1379 left_z=0.0591 left_yaw=0.1159 left_pitch=0.0833 left_roll=-0.0398 left_gripper=0.0114 right_x=0.2643 right_y=0.0029 right_z=0.1198 right_yaw=0.0114 right_pitch=-0.0308 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -8.9231, 5.3812, 0.8523, 0.1294, 0.0904, 0.696, -0.5128, -0.9915, 7.0769, 1.917, -0.1001, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:239d88fc3a8b4f4d2e1ca4e7ec52a6c5c65123395e8471ddb8c500c6bac8f7b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50d651cc3c92dcc5bbdbe7c49ced225b2d46864b4ec91136e2f72b9492bd31f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2569dfe739a0eab968da68e0539e29bace547ea26eb86a0128c33f8a59985a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 11.7 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]: [-0.4591, 1.7866, 0.9047, 0.1951, -0.4393, -0.3248, 0.9956, -0.0406, 0.6849, 0.4252, -0.347, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4441 left_y=-0.1317 left_z=0.0732 left_yaw=0.0667 left_pitch=-0.05 left_roll=0.0204 left_gripper=0.9956 right_x=0.2707 right_y=0.0027 right_z=0.1337 right_yaw=0.0116 right_pitch=-0.0327 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -11.6444, 8.6222, 1.4774, -0.359, -0.0317, -0.188, -0.4444, -1.0872, 6.8444, 1.9658, -0.1294, 0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.4656, 1.9629, 0.8101, 0.6155, -0.4534, -0.3439, 0.9968, -0.0406, 0.6655, 0.3935, -0.3351, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4581 left_y=-0.1395 left_z=0.0394 left_yaw=0.0831 left_pitch=0.0826 left_roll=-0.0655 left_gripper=0.9968 right_x=0.2673 right_y=0.0028 right_z=0.1265 right_yaw=0.0114 right_pitch=-0.0331 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -5.094, 2.9197, 0.4567, -0.0904, 0.2564, 0.105, -0.3487, -1.0598, 7.0496, 1.9658, -0.149, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4664, 1.9331, 0.8867, 0.4961, -0.4953, -0.3435, 0.0114, -0.0406, 0.6456, 0.3614, -0.3206, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4686 left_y=-0.1379 left_z=0.0591 left_yaw=0.1159 left_pitch=0.0833 left_roll=-0.0398 left_gripper=0.0114 right_x=0.2643 right_y=0.0029 right_z=0.1198 right_yaw=0.0114 right_pitch=-0.0308 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -8.9231, 5.3812, 0.8523, 0.1294, 0.0904, 0.696, -0.5128, -0.9915, 7.0769, 1.917, -0.1001, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:239d88fc3a8b4f4d2e1ca4e7ec52a6c5c65123395e8471ddb8c500c6bac8f7b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50d651cc3c92dcc5bbdbe7c49ced225b2d46864b4ec91136e2f72b9492bd31f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2569dfe739a0eab968da68e0539e29bace547ea26eb86a0128c33f8a59985a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F897sSPBPLzuEGtZH5qZsa",
      "input": {
        "note": "Second empty close; the bottle apparently is not under the fingertips. Opening and lifting to get a clear top-camera view of where the bottle really lies.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01F897sSPBPLzuEGtZH5qZsa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4652, 1.8645, 0.9989, 0.157, -0.4942, -0.3679, 0.9947, -0.0406, 0.627, 0.3336, -0.3134, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4613 left_y=-0.1338 left_z=0.0704 left_yaw=0.1277 left_pitch=-0.0489 left_roll=0.0265 left_gripper=0.9947 right_x=0.261 right_y=0.0031 right_z=0.1131 right_yaw=0.0114 right_pitch=-0.0327 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -12.7248, 8.6359, 1.5946, -0.1929, 0.0855, -0.2076, -0.6769, -0.8274, 6.9538, 1.9414, -0.1148, 0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d7433a85ab0ddd4269d9547447ed5b3e87fed208dae6776d2e1587e571e95e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e46dafbae05267dfd3ae52386b226d8fd8e7ecc457e0d0db54c245ca58846b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d022a31dee0efe498550fc6c18f433610e08afc16e68971c4d405a8efe3b9a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 4.084 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]: [-0.4656, 1.9629, 0.8101, 0.6155, -0.4534, -0.3439, 0.9968, -0.0406, 0.6655, 0.3935, -0.3351, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4581 left_y=-0.1395 left_z=0.0394 left_yaw=0.0831 left_pitch=0.0826 left_roll=-0.0655 left_gripper=0.9968 right_x=0.2673 right_y=0.0028 right_z=0.1265 right_yaw=0.0114 right_pitch=-0.0331 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -5.094, 2.9197, 0.4567, -0.0904, 0.2564, 0.105, -0.3487, -1.0598, 7.0496, 1.9658, -0.149, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4664, 1.9331, 0.8867, 0.4961, -0.4953, -0.3435, 0.0114, -0.0406, 0.6456, 0.3614, -0.3206, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4686 left_y=-0.1379 left_z=0.0591 left_yaw=0.1159 left_pitch=0.0833 left_roll=-0.0398 left_gripper=0.0114 right_x=0.2643 right_y=0.0029 right_z=0.1198 right_yaw=0.0114 right_pitch=-0.0308 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -8.9231, 5.3812, 0.8523, 0.1294, 0.0904, 0.696, -0.5128, -0.9915, 7.0769, 1.917, -0.1001, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4652, 1.8645, 0.9989, 0.157, -0.4942, -0.3679, 0.9947, -0.0406, 0.627, 0.3336, -0.3134, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4613 left_y=-0.1338 left_z=0.0704 left_yaw=0.1277 left_pitch=-0.0489 left_roll=0.0265 left_gripper=0.9947 right_x=0.261 right_y=0.0031 right_z=0.1131 right_yaw=0.0114 right_pitch=-0.0327 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -12.7248, 8.6359, 1.5946, -0.1929, 0.0855, -0.2076, -0.6769, -0.8274, 6.9538, 1.9414, -0.1148, 0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d7433a85ab0ddd4269d9547447ed5b3e87fed208dae6776d2e1587e571e95e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e46dafbae05267dfd3ae52386b226d8fd8e7ecc457e0d0db54c245ca58846b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d022a31dee0efe498550fc6c18f433610e08afc16e68971c4d405a8efe3b9a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WY81Pxj73T5gAduvXWoP1r",
      "input": {
        "note": "The fingertips appear to be just behind the bottle's base end (bottle is farther out than it looks). Reaching slightly forward and down to catch the base end so I can drag the bottle closer.",
        "targets": {
          "left_x": 0.475,
          "left_y": -0.135,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01WY81Pxj73T5gAduvXWoP1r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4641, 2.0392, 0.9482, 0.5209, -0.4992, -0.3714, 0.996, -0.0406, 0.6056, 0.3073, -0.2977, -0.0574, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4823 left_y=-0.1428 left_z=0.0366 left_yaw=0.1354 left_pitch=0.0674 left_roll=-0.0517 left_gripper=0.996 right_x=0.2592 right_y=0.0032 right_z=0.1094 right_yaw=0.0119 right_pitch=-0.022 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [0.9504, -5.7641, 4.7658, 0.5201, -0.0464, 0.1343, 0.1343, -0.4034, -0.7316, 6.7077, 1.9316, -0.0855, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7569037c4c6372573114bee2ca47358a40a6c748a49d86638bd07c8ba8ccf821",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0ba06ced8d495658dedf2be34624a4ce2bdcda2fbc560899fadf00e16ff4bf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f686cb037f63563528f21a48a50cd507db2822ed4f6624625a176849ba82574",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 5.448 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]: [-0.4664, 1.9331, 0.8867, 0.4961, -0.4953, -0.3435, 0.0114, -0.0406, 0.6456, 0.3614, -0.3206, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4686 left_y=-0.1379 left_z=0.0591 left_yaw=0.1159 left_pitch=0.0833 left_roll=-0.0398 left_gripper=0.0114 right_x=0.2643 right_y=0.0029 right_z=0.1198 right_yaw=0.0114 right_pitch=-0.0308 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -8.9231, 5.3812, 0.8523, 0.1294, 0.0904, 0.696, -0.5128, -0.9915, 7.0769, 1.917, -0.1001, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4652, 1.8645, 0.9989, 0.157, -0.4942, -0.3679, 0.9947, -0.0406, 0.627, 0.3336, -0.3134, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4613 left_y=-0.1338 left_z=0.0704 left_yaw=0.1277 left_pitch=-0.0489 left_roll=0.0265 left_gripper=0.9947 right_x=0.261 right_y=0.0031 right_z=0.1131 right_yaw=0.0114 right_pitch=-0.0327 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -12.7248, 8.6359, 1.5946, -0.1929, 0.0855, -0.2076, -0.6769, -0.8274, 6.9538, 1.9414, -0.1148, 0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4641, 2.0392, 0.9482, 0.5209, -0.4992, -0.3714, 0.996, -0.0406, 0.6056, 0.3073, -0.2977, -0.0574, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4823 left_y=-0.1428 left_z=0.0366 left_yaw=0.1354 left_pitch=0.0674 left_roll=-0.0517 left_gripper=0.996 right_x=0.2592 right_y=0.0032 right_z=0.1094 right_yaw=0.0119 right_pitch=-0.022 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [0.9504, -5.7641, 4.7658, 0.5201, -0.0464, 0.1343, 0.1343, -0.4034, -0.7316, 6.7077, 1.9316, -0.0855, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7569037c4c6372573114bee2ca47358a40a6c748a49d86638bd07c8ba8ccf821",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0ba06ced8d495658dedf2be34624a4ce2bdcda2fbc560899fadf00e16ff4bf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f686cb037f63563528f21a48a50cd507db2822ed4f6624625a176849ba82574",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSugcKEAgSGAI4AUIIdGhpbmtpbmcSDO3bjqUfKfGULMlzOBoM/kZOV52CExSr0KpyIjD3tgoKJIAWt0o86Zyw8KYu4nT4UT+ZBUWolVcC+pLD4f8sOrLXKXcmCIlkQ1wOMUMq1wYz74lnyIPjmNk2h4HNK6fdu8oAkLpvFqHd46+HdgZizLo3rsQBs0SaLb0VhwQNNmtr9FDIwQ91PWxAHjcQMmGcFZIeBGLqdmu7iUyOOEK3ZdWRPUzxLeI7BDha8eo8A5t07vMqpnyoVw6SSuIIOP6RGR/CpQfOqFbpPi+hvR7O78rHRQbrbjAkIxltKdLD5XW7vOmzYnlNusEkxC+AuDUsavqghGW4uuX3Npz3xiFEFHDC7wnBfVuySx5abqzI3TAHGls8GvCNbeyb1tU5R8JHz/DLuukvl8aTbp+X1A/nSNPIBGJD28IJE3YwTYlWuHMxMsiFb5rh0thwQd0YRJLQ5e2wbaRNStKHdIMQUZA3NmRZortUjCMxzc1z1NnynUD40jDhk5XNKiT/2AJC/5tjd3ARO2Wkc2qJ5JGMlDElI6G6K+DyI+icgTIam5nuVs+l39M+t08ugrdE5KHVWpoUfYKBwfeOgFcrWoYqizNipfwteED/UMgeuGVb8a1QAya+n1dweiQQ3ARrRGS+qr2y7MGklEUGCjsmfSKL9yjOmyo36OYUmM6IvNPyF8VxTiBp8hhza0MejUuABZbvKRtqSN94fP5q4nifopUiDiazQpImTeS6nXso+zFSrNojxXEJviwfowRnvVi37kMhZdM3XSXoyTVvj2ReOS2pMa37qgM/jNzuizI+iauj/AgVppwcVzYIObaP0Az808Wj5IaLvrB5UqAqUJ9JGcPrzDRm4DHonQmGFJMztFcAnxHBh262QNzq3mrAVR9kk4xfeXxbgY72X8qwKuG196t3Vh7wCu0Rhnjzsh66JDDT9/u+uc/pNnWxoeeYcAPmCLVP+fECrDAjqhr0QER/EdqZObCHdcUl36EURknLdYwZDn6DLrU3Jc6mW7m1PisqDsHXTFKW7hL9SIRsn19HQw/HlaMrb68xk2uyXm4ljhBt5lhalBISMu640YXH3pxqQwlhRFtEPIMkj7tT2m4yZCd3o21uofuK6hQqZg5DAYhWjfRqoY05z93yG9uhgcvqmK9PSbX1tJmEg3zaKNOoUeDSivGwIE0qrnQePDzovH5TIjTdC/72sD5KeRiGkdh8LKNjcUshj5bm7vdhp8wyM5UqB7jU8F6VdsIJ3dgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GhvQ8DQEBYbjVMjby7yXgs",
      "input": {
        "note": "Gripper at x≈0.48, z≈0.04, bottle between jaws in wrist view with its cap visible ahead in the top view. Closing to catch the bottle.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GhvQ8DQEBYbjVMjby7yXgs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4664, 2.0232, 1.0145, 0.4385, -0.5243, -0.3866, 0.3721, -0.0406, 0.5934, 0.2905, -0.2947, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4921 left_y=-0.1447 left_z=0.0539 left_yaw=0.1616 left_pitch=0.0749 left_roll=-0.054 left_gripper=0.3721 right_x=0.2571 right_y=0.0032 right_z=0.1053 right_yaw=0.0116 right_pitch=-0.0235 right_roll=-0.0039 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -10.0855, 5.4359, 0.8523, 0.0269, 0.1148, 0.2271, -0.5402, -0.6496, 6.7214, 1.9023, -0.1245, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41f935d4e67a910c025635f94bfcde87b865e05251f2f23ce50d0c689f047ea8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af66a429c9a648a8ea359bf4635d27abd2c80b4a2d1602c9e553563484c06be0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1fc24d6c8f6487bae0da90b58b1471fee8d273d83fbe3d774d34555b0dbf481",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 10.37 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]: [-0.4652, 1.8645, 0.9989, 0.157, -0.4942, -0.3679, 0.9947, -0.0406, 0.627, 0.3336, -0.3134, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4613 left_y=-0.1338 left_z=0.0704 left_yaw=0.1277 left_pitch=-0.0489 left_roll=0.0265 left_gripper=0.9947 right_x=0.261 right_y=0.0031 right_z=0.1131 right_yaw=0.0114 right_pitch=-0.0327 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -12.7248, 8.6359, 1.5946, -0.1929, 0.0855, -0.2076, -0.6769, -0.8274, 6.9538, 1.9414, -0.1148, 0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.4641, 2.0392, 0.9482, 0.5209, -0.4992, -0.3714, 0.996, -0.0406, 0.6056, 0.3073, -0.2977, -0.0574, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4823 left_y=-0.1428 left_z=0.0366 left_yaw=0.1354 left_pitch=0.0674 left_roll=-0.0517 left_gripper=0.996 right_x=0.2592 right_y=0.0032 right_z=0.1094 right_yaw=0.0119 right_pitch=-0.022 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [0.9504, -5.7641, 4.7658, 0.5201, -0.0464, 0.1343, 0.1343, -0.4034, -0.7316, 6.7077, 1.9316, -0.0855, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4664, 2.0232, 1.0145, 0.4385, -0.5243, -0.3866, 0.3721, -0.0406, 0.5934, 0.2905, -0.2947, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4921 left_y=-0.1447 left_z=0.0539 left_yaw=0.1616 left_pitch=0.0749 left_roll=-0.054 left_gripper=0.3721 right_x=0.2571 right_y=0.0032 right_z=0.1053 right_yaw=0.0116 right_pitch=-0.0235 right_roll=-0.0039 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -10.0855, 5.4359, 0.8523, 0.0269, 0.1148, 0.2271, -0.5402, -0.6496, 6.7214, 1.9023, -0.1245, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41f935d4e67a910c025635f94bfcde87b865e05251f2f23ce50d0c689f047ea8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af66a429c9a648a8ea359bf4635d27abd2c80b4a2d1602c9e553563484c06be0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1fc24d6c8f6487bae0da90b58b1471fee8d273d83fbe3d774d34555b0dbf481",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwkKEAgSGAI4AUIIdGhpbmtpbmcSDIDa5j+Ni49fd/hKoxoMUuR5ZMBj2JkoHvlGIjBNSjCifCeEk4Ltzz9q1SCMoKgsAnBAiwHBGVmmle1RrMt9ztp1YxAuEVQmP0fKcxEq1AgttNECSZNQYaF2c8x6dQ8IXuUdQxq9aeDjhVTO+x1Ze+z5D8iildKNMCxJVkWp3aUC4qRRBfauVawmNpO1vqWzAw2BjsoRQjETT3pXj3UbyNWUPk42NdaGKPhmdieEqpHVWr/vDhIbsGAiGAXon/7Z0TTBm/klGq7ur/G03v0of+8erPpKNbnhcGm/RQfA3Bz7rS3Um6nPZfgyUdbm9zLLbzZkZorJs4u+NM0XtVLaeyTemP7stpSqvpTVEs5Bsb7meu6y4DwK09LpIMFksYBwu303L4ylWkXZiopdnwBUGf356I+lbNdk2yMpYgia5YP1s9kYP4GcbLviGdvgqYzEenPjwhtmLaMtl67oTn92vEM8xfXtQ9K9Sx9Wk2BZG9FTjurkqRplFA1wVWxFQOqSSv5OiH59YRLMWYdMc02EJ7yHnfZPwE5wqZ/jT/4R3aSlD7AKXKN5t+CAEOlsLFZr0hP+5vsnKu9/qHKo36AXNVsFcVpE0ahIWQAANtAaVB09ZWbyEz74R4/JKy0wncrcaIczfrO3DdSSK7ZD4qA4TZXnSTt2F6Qb9+lJN14yrqsQMbTHzD4aSM2GnNquhh7DNjuKYT3NCMCqEhUUAbTRMlaSXRWXnDyNeMd20PDQwZ8H3qN5rp218UC3Pzkpp3nKqOS5MXDcXWouUHcf+2w1w6MTdBaDXbuXVFK4Iluxxy3veUpt5xLTpWnlJrcnY3ksx4XChrBbFOhmK8dQVcPfIUmsIyfYCqbol6o9ndbkuaHlpSGZP/UQyeODuzSH5/ljhfy4KFU3HPmA5zGREBd1nVTOSkg1yFnPMOQvvBZFp/S7YjVumCbm7pK/MTdr47iUYRN2hpNsccMtzhRHDaRE8jKb6KMcgjiRrCI8JuQeXsLh/tAAqoV9UI3XuJ8KMsfFslkx7gEXn41G5z8cJmUThcK/s+zhQYC762k99PM8WzmuI04bdqDZvj3h8tKBd96eTCyfX5hOHTkWn/dZZeLb2Duwq+D6LLNHZW7CSVyMloC51H60hm8YNoHvY1TaFFo20Uw6XxSfExeQkutVp5+4yjYcKi/+3qmRJ9SGcd2X2ijcgss68fHHNswjljsNdHCv3f7QJpHTPV1jC1K5mQioGkHw94kvstEetLDv43Bc97YJRy2xyWaAQZChDGPDuyP75JLX9qc0l+sL9ghiqHDamYZM4XK46A3BXfApZQIUJTnPWOfinANSYUdUodrsNoLQxVyGBXFsX2fG7sZ0f1x+8PbFNKSvsVZyIu0bJLGccBpxpzM/Ok/7bLgmwC/KyQ2W/jrS7vVx0FBvpB1GULVg23pUmJJoMROBiqKJrTU5LnCUD/AWtkbgmwJ5uMdqv9bvQplAZNzqV9aM+xfdhp12j1LoTTDpbwXAngMtU/8NuYr55eu80DWmONJ/lsgfxi6t6boovT2QIchoGkYVpBTiNRWTfXPKBAshKOykx/dG1JJZ0gafGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018DaXK2fijQFNwURZcDgj8A",
      "input": {
        "note": "Gripper closed to 0.37 on the bottle's base end. Dragging the bottle back ~14 cm along the table so its cap end comes within reach.",
        "targets": {
          "left_x": 0.34,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_018DaXK2fijQFNwURZcDgj8A",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7227, 1.6562, 0.5869, 0.2729, -0.6914, -0.5762, 0.3709, -0.0406, 0.5804, 0.2699, -0.2897, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3447 left_y=-0.1491 left_z=0.0418 left_yaw=0.1313 left_pitch=-0.0217 left_roll=0.0131 left_gripper=0.3709 right_x=0.2547 right_y=0.0033 right_z=0.1 right_yaw=0.0114 right_pitch=-0.0262 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.8291, 5.3675, 1.3504, -0.4811, 0.0269, -0.1343, -0.5128, -0.3487, 6.9949, 1.9707, -0.1148, -0.0122, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca4693996fa90d58ef14e833f2b5cf0461deabf2b537b152723da08a30819508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d74568f619761ef96cdfc6092adaec903a7834133b9f7213c1c6381845e134cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:815cd1abcc560aa701289dc6fe409f4a76a6b5c8379a2779a4c6d7c5f87fe659",
        "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 · 3.863 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]: [-0.4641, 2.0392, 0.9482, 0.5209, -0.4992, -0.3714, 0.996, -0.0406, 0.6056, 0.3073, -0.2977, -0.0574, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4823 left_y=-0.1428 left_z=0.0366 left_yaw=0.1354 left_pitch=0.0674 left_roll=-0.0517 left_gripper=0.996 right_x=0.2592 right_y=0.0032 right_z=0.1094 right_yaw=0.0119 right_pitch=-0.022 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [0.9504, -5.7641, 4.7658, 0.5201, -0.0464, 0.1343, 0.1343, -0.4034, -0.7316, 6.7077, 1.9316, -0.0855, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4664, 2.0232, 1.0145, 0.4385, -0.5243, -0.3866, 0.3721, -0.0406, 0.5934, 0.2905, -0.2947, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4921 left_y=-0.1447 left_z=0.0539 left_yaw=0.1616 left_pitch=0.0749 left_roll=-0.054 left_gripper=0.3721 right_x=0.2571 right_y=0.0032 right_z=0.1053 right_yaw=0.0116 right_pitch=-0.0235 right_roll=-0.0039 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -10.0855, 5.4359, 0.8523, 0.0269, 0.1148, 0.2271, -0.5402, -0.6496, 6.7214, 1.9023, -0.1245, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7227, 1.6562, 0.5869, 0.2729, -0.6914, -0.5762, 0.3709, -0.0406, 0.5804, 0.2699, -0.2897, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3447 left_y=-0.1491 left_z=0.0418 left_yaw=0.1313 left_pitch=-0.0217 left_roll=0.0131 left_gripper=0.3709 right_x=0.2547 right_y=0.0033 right_z=0.1 right_yaw=0.0114 right_pitch=-0.0262 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.8291, 5.3675, 1.3504, -0.4811, 0.0269, -0.1343, -0.5128, -0.3487, 6.9949, 1.9707, -0.1148, -0.0122, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca4693996fa90d58ef14e833f2b5cf0461deabf2b537b152723da08a30819508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d74568f619761ef96cdfc6092adaec903a7834133b9f7213c1c6381845e134cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:815cd1abcc560aa701289dc6fe409f4a76a6b5c8379a2779a4c6d7c5f87fe659",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pu2n5uviQFqw8xhqcHKy3q",
      "input": {
        "note": "The bottle slipped out; its base is ~8 cm ahead of the gripper (about x≈0.43) and its cap is out of reach (~0.62). Opening and moving over the lower body to get a full-width grip for dragging it closer.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.44,
          "left_y": -0.15,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Pu2n5uviQFqw8xhqcHKy3q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5468, 1.7718, 0.8989, 0.1806, -0.5842, -0.4629, 0.996, -0.0406, 0.5613, 0.2474, -0.2901, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4315 left_y=-0.1444 left_z=0.0829 left_yaw=0.1664 left_pitch=0.0002 left_roll=-0.0165 left_gripper=0.996 right_x=0.2514 right_y=0.0034 right_z=0.0941 right_yaw=0.0114 right_pitch=-0.03 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -7.9521, 7.8564, 1.453, -0.0952, 0.398, 0.0024, -0.5812, -0.212, 6.9128, 2.0195, -0.1001, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66accf870affeeaf2bce3784d0182a45dedcf6a7bac4347703d79bab813debf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b89455b260f5609072cb9a5f71f67819c15424562f01f73ae977a47e540c1221",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b1e575105d5bead306b4a5c351ca4ba7ddd2d04f64dd159b1a1093349ce30ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 4.107 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]: [-0.4664, 2.0232, 1.0145, 0.4385, -0.5243, -0.3866, 0.3721, -0.0406, 0.5934, 0.2905, -0.2947, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4921 left_y=-0.1447 left_z=0.0539 left_yaw=0.1616 left_pitch=0.0749 left_roll=-0.054 left_gripper=0.3721 right_x=0.2571 right_y=0.0032 right_z=0.1053 right_yaw=0.0116 right_pitch=-0.0235 right_roll=-0.0039 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -10.0855, 5.4359, 0.8523, 0.0269, 0.1148, 0.2271, -0.5402, -0.6496, 6.7214, 1.9023, -0.1245, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7227, 1.6562, 0.5869, 0.2729, -0.6914, -0.5762, 0.3709, -0.0406, 0.5804, 0.2699, -0.2897, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3447 left_y=-0.1491 left_z=0.0418 left_yaw=0.1313 left_pitch=-0.0217 left_roll=0.0131 left_gripper=0.3709 right_x=0.2547 right_y=0.0033 right_z=0.1 right_yaw=0.0114 right_pitch=-0.0262 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.8291, 5.3675, 1.3504, -0.4811, 0.0269, -0.1343, -0.5128, -0.3487, 6.9949, 1.9707, -0.1148, -0.0122, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5468, 1.7718, 0.8989, 0.1806, -0.5842, -0.4629, 0.996, -0.0406, 0.5613, 0.2474, -0.2901, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4315 left_y=-0.1444 left_z=0.0829 left_yaw=0.1664 left_pitch=0.0002 left_roll=-0.0165 left_gripper=0.996 right_x=0.2514 right_y=0.0034 right_z=0.0941 right_yaw=0.0114 right_pitch=-0.03 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -7.9521, 7.8564, 1.453, -0.0952, 0.398, 0.0024, -0.5812, -0.212, 6.9128, 2.0195, -0.1001, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66accf870affeeaf2bce3784d0182a45dedcf6a7bac4347703d79bab813debf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b89455b260f5609072cb9a5f71f67819c15424562f01f73ae977a47e540c1221",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b1e575105d5bead306b4a5c351ca4ba7ddd2d04f64dd159b1a1093349ce30ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6QYKEAgSGAI4AUIIdGhpbmtpbmcSDHStfru0S6Gv7gno3xoMSGnkmglWZPshQErjIjCyuTAgkcfHXnNgu2RdbnD2AjZ85Bm3fH6FAp45YOBdLOwBXRbZsJlRZqNK8Xt6X+AqhgZH6IyUgyrrMVK3LSMMZp7cJ8FzESj63AY9qdbYmp8QUfsR/egHI4CZ9ioJBYZd7CElk9U9rLJ6Ex/8NHBvpIEWlcS9vfdG8iADDpzR3kNhNAXgwBZGWck0E63CWtZKFnbO0aRoVYsw4Jlmiwu1U8qXPpwDydR8/LZPGgCLIgSsUJwlTh2PFLG5DMOQhk5BiP+9QN/1ohUGNflpZ8X96FVN38F4nU9V+a+NdHZWrSzp4TSvUwA398tMqEEicfSVeni1N0Pi0kMQHiyEGVrb/aiVuUu/0uPB6KQb2ijn7jL9zjMGIlpNVidIDSlv94d98OXj4w9TPUNKJdAbrVR4xWMfSsW/10ZSyyEMH1PKlKplm8WlQlL+hcrXY8ikTPEvQnWJqHRJy06MpB2AtKikN6C/mfB+GlP9GqqrdYY8jNXUHf6eV+tlkEliSone4Qz2uqZqhrkery0KWAzb270B70nmQONP7p1hHgmt0iicXfCwVdvEtM6N9xaFZdFCV1GZX3F/xoiATUiyEREiFtthBbHDtK6xSawdd5bl6UnB4FFoCXQqwLHFurTj5/Q8jWXd2Ia/Ox4IFUtjXSbIVVOROT/uU/h3T60pEVKP1213keTwmJ9+ulapdmbAj9JM4wvWiqcZvfNpGT3Rq0lQKZaffXle48r5/rkdZqDmkikB2yDp9RRUC6Cb1MM+yBcnJe2FYfCEVUf5/pAIAZxsyKAiEw5oPchRADFQrnEw2x7SrOaV393+RM+p+kjVStkzQ6lqj0zmlP7TObD47aZVS0LEmqlJeVCb5eoFL040T+V65hrbXqWv9dScSrFQX0OsBxbJ0KeOyvKTfZ9GenqETNMFWN/RIRo6y/6v/Azz69fZJZWVCTMnk/CIPXSHHSgN3FLrOFkwpiwtL26LWh27aAulluQ/QiwiiWcu4o1PNQs7YfIrt9ckWEsOXpzZ28xuDq59BsjkXyU9Fb5ToNRwJuf9PVw245VPOo5gzaTLZ+BWYjCipAmZrMbrQMBmFXKmcaMejYDO+Dy4zC0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XjmG46dZRazRPfuSmX98UR",
      "input": {
        "note": "Bottle's lower body is centred between the open jaws. Descending to grip it at mid-height.",
        "targets": {
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XjmG46dZRazRPfuSmX98UR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5503, 1.9606, 0.8242, 0.3744, -0.5838, -0.4484, 0.9969, -0.0406, 0.5377, 0.2234, -0.2893, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4238 left_y=-0.1416 left_z=0.0092 left_yaw=0.1562 left_pitch=-0.0531 left_roll=0.0408 left_gripper=0.9969 right_x=0.2482 right_y=0.0036 right_z=0.0888 right_yaw=0.0114 right_pitch=-0.0296 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -8.8, 4.7385, 1.8437, -0.3248, -0.1099, 0.0757, -0.5402, -0.2256, 6.8171, 2.0195, -0.0952, -0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:203928f930a7d52eb30f222b9bfc05c65bdda98e532ee0a9d6f8264799e4c2fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a68224f242948d18c7ba820aa0a8e97fe9dcb339199315047839fa4c6a956045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f449249f08b8bdf76cf31e50790bf9e9bc6c3b3c140926b61a39649f159e52e",
        "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 · 4.21 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]: [-0.7227, 1.6562, 0.5869, 0.2729, -0.6914, -0.5762, 0.3709, -0.0406, 0.5804, 0.2699, -0.2897, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3447 left_y=-0.1491 left_z=0.0418 left_yaw=0.1313 left_pitch=-0.0217 left_roll=0.0131 left_gripper=0.3709 right_x=0.2547 right_y=0.0033 right_z=0.1 right_yaw=0.0114 right_pitch=-0.0262 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.8291, 5.3675, 1.3504, -0.4811, 0.0269, -0.1343, -0.5128, -0.3487, 6.9949, 1.9707, -0.1148, -0.0122, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.5468, 1.7718, 0.8989, 0.1806, -0.5842, -0.4629, 0.996, -0.0406, 0.5613, 0.2474, -0.2901, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4315 left_y=-0.1444 left_z=0.0829 left_yaw=0.1664 left_pitch=0.0002 left_roll=-0.0165 left_gripper=0.996 right_x=0.2514 right_y=0.0034 right_z=0.0941 right_yaw=0.0114 right_pitch=-0.03 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -7.9521, 7.8564, 1.453, -0.0952, 0.398, 0.0024, -0.5812, -0.212, 6.9128, 2.0195, -0.1001, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5503, 1.9606, 0.8242, 0.3744, -0.5838, -0.4484, 0.9969, -0.0406, 0.5377, 0.2234, -0.2893, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4238 left_y=-0.1416 left_z=0.0092 left_yaw=0.1562 left_pitch=-0.0531 left_roll=0.0408 left_gripper=0.9969 right_x=0.2482 right_y=0.0036 right_z=0.0888 right_yaw=0.0114 right_pitch=-0.0296 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -8.8, 4.7385, 1.8437, -0.3248, -0.1099, 0.0757, -0.5402, -0.2256, 6.8171, 2.0195, -0.0952, -0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:203928f930a7d52eb30f222b9bfc05c65bdda98e532ee0a9d6f8264799e4c2fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a68224f242948d18c7ba820aa0a8e97fe9dcb339199315047839fa4c6a956045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f449249f08b8bdf76cf31e50790bf9e9bc6c3b3c140926b61a39649f159e52e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQgKEAgSGAI4AUIIdGhpbmtpbmcSDIcVrxNaV1s0uXRWvxoMn9/klYPK8qNJO/jLIjCM/ZZhFDVKIK0teXQXS65sD/33zo0yCCsUbYff7/HFdaRP8MoBoyK26vJWHA41S3AqogfGZnYfmqOQmE74j2Qv4SiWA045kkRig+TI9dZLlma6HFG26xmUz4WM2xJHGcWS3tS5d5wR4a7Umbwo8zv1SDylsQGzQGHBj6N2pp+0KF62qKimjnBVDHyNbFVOYkMvd/2+YviBnZ6apcEu6KBRFgAyCKFu+r8/HVXTAH9zlc6YPJkE8ZoqdbP78slctjya7GTQBbvRV8RXJ4OwSe34tRCSUjUyXdkzcm9QYxTCSrHpQvHKOufEgR6ovdNbsGn/W43OQA5XG/C5/Ftr5jXt9gEGa8TlcOW1K/EAJTF4KryC0sK+lKc98PssTJoAcQW9kesq4cF9u2dDtW8O+RyoO69uNkRL2ow3+qevraAuTwyWM/EcpOlmVUspAWIw92OYUdzSwY9dJ6V2qAHw+kDetfLJmdnbgOZwWWWD1+xvYmj0T9PvPB5gjUZaOdAo8AYVcOuGmg4x2HXQ/c3QcbwQOxfoQdWEOOSfHcqsXj7osOxaK7nz5P6hhSSL/jyzAqPg5P23/ZIuj8rNnRt+XN+QEDFWyjjf3P5SOBu7tfA2n6hnR408N7lnJ3LMnuismD7LzSAqiRA7Hm0R+/ciDYrMR2KBwBAz8+9uK9pFPlHNXSQyToXXm5f2PZ1Y4nABEXsEUQeyUTCyrsMy3aYGpz/hE/TwkrzOLakl7QL7kA7+oTOlDYoOJ0LnxX2n+Wpt2RAFGxzmI7VT983I3E9TgprwxmgK7JGlAI61BfHd3jz1w/BLFLs9UfePOpGRngAot+eV4RE09h4WcIOWiFAXfwHl5tkKKbUbM5sDxalYzHBrN+uY0DksxMM2r3H9WlWr9+r2r5p1+JeXElwvfvXIYYDssj+VWcon+uaiaqkP/tGXAdXLOUJ5jSHOdwUqESQUUfCy6UUqSBotJhj2dMdvEaR/gbTOwwLqe2NEviThZ4VGRxLqIQz9YmacHOM9On/r0oRqzWCrL1XbJilIK4JLRJ4EXnZuqQKOQB3Gh64gQbyCpUUGBPnyFCkM6MdWWM4r0GdF3FpeyMo4mwOmmOCm1mHRYQSfhtiS5IzfivNT2CdxJH3suJTCkwOSvdVv2FQQRClvc6t5emiZwRr/bpZQVV0pDToCMf+W4rQGXeahxIdsdzne6fEc0cwvWAc9dT+oB7QmTg1yRkN0CKoKelQFIymycrptmteYpfFDE8lNOr+P2IXS+Im5+sodpzyXhenZnRUmxEGmVY9XMNMvE3seb71dCHg/m1kYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KwKbQhWCpNdAjLdZ4D6ibZ",
      "input": {
        "note": "At table level with the bottle filling the view between the jaws. Closing to grip its lower body.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KwKbQhWCpNdAjLdZ4D6ibZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5503, 1.9778, 0.7784, 0.4995, -0.5911, -0.4484, 0.5059, -0.0406, 0.514, 0.1982, -0.2893, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4243 left_y=-0.1406 left_z=0.0085 left_yaw=0.1605 left_pitch=-0.0027 left_roll=0.004 left_gripper=0.5059 right_x=0.2448 right_y=0.0037 right_z=0.0827 right_yaw=0.0114 right_pitch=-0.0312 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -9.2103, 4.2188, 1.6679, -0.2466, -0.0415, 0.8376, -0.7316, -0.2667, 7.0632, 2.0, -0.0904, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:805d2ec79470dc2949a3d5b3f3f84798a3d2f4e1f8df2e8b24ed06bd9f6609b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:369d8f1186b07b080cc7c31d9edda68a83380f3d0755a8f773a2ca93fdf16d55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bc9088eaf98edad80fa2367b486e08c17067e78d68c0a1025b67bb3988261bdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 6.243 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]: [-0.5468, 1.7718, 0.8989, 0.1806, -0.5842, -0.4629, 0.996, -0.0406, 0.5613, 0.2474, -0.2901, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4315 left_y=-0.1444 left_z=0.0829 left_yaw=0.1664 left_pitch=0.0002 left_roll=-0.0165 left_gripper=0.996 right_x=0.2514 right_y=0.0034 right_z=0.0941 right_yaw=0.0114 right_pitch=-0.03 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -7.9521, 7.8564, 1.453, -0.0952, 0.398, 0.0024, -0.5812, -0.212, 6.9128, 2.0195, -0.1001, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5503, 1.9606, 0.8242, 0.3744, -0.5838, -0.4484, 0.9969, -0.0406, 0.5377, 0.2234, -0.2893, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4238 left_y=-0.1416 left_z=0.0092 left_yaw=0.1562 left_pitch=-0.0531 left_roll=0.0408 left_gripper=0.9969 right_x=0.2482 right_y=0.0036 right_z=0.0888 right_yaw=0.0114 right_pitch=-0.0296 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -8.8, 4.7385, 1.8437, -0.3248, -0.1099, 0.0757, -0.5402, -0.2256, 6.8171, 2.0195, -0.0952, -0.0122, -0.0073]",
      "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]: [-0.5503, 1.9778, 0.7784, 0.4995, -0.5911, -0.4484, 0.5059, -0.0406, 0.514, 0.1982, -0.2893, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4243 left_y=-0.1406 left_z=0.0085 left_yaw=0.1605 left_pitch=-0.0027 left_roll=0.004 left_gripper=0.5059 right_x=0.2448 right_y=0.0037 right_z=0.0827 right_yaw=0.0114 right_pitch=-0.0312 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -9.2103, 4.2188, 1.6679, -0.2466, -0.0415, 0.8376, -0.7316, -0.2667, 7.0632, 2.0, -0.0904, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:805d2ec79470dc2949a3d5b3f3f84798a3d2f4e1f8df2e8b24ed06bd9f6609b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:369d8f1186b07b080cc7c31d9edda68a83380f3d0755a8f773a2ca93fdf16d55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc9088eaf98edad80fa2367b486e08c17067e78d68c0a1025b67bb3988261bdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiQcKEAgSGAI4AUIIdGhpbmtpbmcSDGWDr7rMoI7tFMNBeBoM3qI1YxOy1S3u5SrlIjDezigEarrTwc6Ssc5FJLRx0dsYFy9g9N8RrrKr8ADAZWCeJlRuhege9QL/gQP7s9AqpgZrk+wktMHvagkXiDDv0WCqRyEs0IINHG+1p8mxrUE7klv6KN+nbc7xKcQyEGaxKkO9LfTtizEO/1CemNpaAo9bidntx/P3datafpBpQ6zwB7hoS++XnI6RnnSUQg7IZ3q6Kie7XkmudeIxP8vQTMP4rB4nRWZzxyw/4de5986zTfVM7ZVd1HSOPBF0dueH87wQdokpwf7QSaGMbkn81DcP8OdKiR4YEHo4YCeLIy5YMX0whrQnpGKcBULzbmDjnHoxFnMnIa9lwlDRglVMkDXYtGxYG7JwEpcJhTRtmc50TYdkWCJ08YNHbkWKOQvWs1NYKkZprp2Y33/ymJTIMO9MHMt9sogRrbO/3tzksK4BHJavrH8FOkVKL5KAYyBnu1YTEMgtCpFl6J7UYI6oTvbUcVQqwN6+Uz7s0TKs116pMEUTN8c5ifYKle5bIHXd4bnX6ywjN9GpIkI2zapPE6FQ6rJmF7TWYbM+hzfHRemenGA81mpBRr8q2j1zIjo8fmxT+1ejUKS6iEL7IoBdc3oRyC09YolVbur/KtvURA4WXF/hKnQQdR4cCZlhYDUf7RelxWdZ8a8mACNgVW55DTJvcwc7RqEzUp863VmKUOizoIUb3K1LjPjrPdOPZYWBMia9LlGMpTdx4yQJHo7j4qkxDmLr31RstQOtRSz6OntOCiuvDy5Mvvg5oyPY/JPhQZf2DvL/skLI5JcOC3xz2xRGw5Znja/xTyKpRFiiD8RZMFc9yE31rZOJ5OXP5U6dTPVW2cf75g14a1mECdxHlCqFr9Oncuu8MSI4mqilFRJQMoD4ARdaEyZU121dynE9dGktQHoWBz3XvFnTo+fvxuQQ2uBW97Aw9TRXRHwtQwY9teVJPF5GfZNPHtPhDTnNbLjzbTPDqW0MWLyWtGxkqRJlIEADfSr7vJmIH6OiN4C6El7OO4xSLIqM3wkGzs1UCuwASerAKGJex+0/Q1EluUZUCI2D/ADv6/4ZRQDXdaNdKy0PULD4i6Rd1FND68jyblZN0GoeZd1KrsEEl/Is0qwk0Zh70Xm0X/lX50g2rvGzgY2h80ZSMBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BXiH5acuJp7SS3QLjVSyJs",
      "input": {
        "note": "Gripper settled at 0.51 (≈4.8 cm), so it is holding the bottle's lower end. Dragging it back along the table ~12 cm to bring the neck within reach.",
        "targets": {
          "left_x": 0.3,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BXiH5acuJp7SS3QLjVSyJs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8272, 1.6779, 0.4347, 0.3679, -0.7422, -0.6678, 0.5088, -0.0406, 0.4835, 0.1711, -0.2901, -0.0574, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.3019 left_y=-0.1466 left_z=0.0082 left_yaw=0.1123 left_pitch=-0.0402 left_roll=0.0224 left_gripper=0.5088 right_x=0.2414 right_y=0.0039 right_z=0.077 right_yaw=0.0115 right_pitch=-0.0285 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.5282, 4.6701, 1.6728, -0.6374, -0.149, 0.6422, -0.7453, 0.5949, 6.9949, 1.9609, -0.1392, 0.022, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:228f23f32191d230ed83868538b2a5a89b590571bad870c85ab1db17fb3c75a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7144676cf98d2153d35df3acefdcfc62ffc39033ce9fa4450e88550f06956b32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:452354f281b35eb693ed584e8c5dd71e2290601de9c679c19862b3a49bb984fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 7.206 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]: [-0.5503, 1.9606, 0.8242, 0.3744, -0.5838, -0.4484, 0.9969, -0.0406, 0.5377, 0.2234, -0.2893, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4238 left_y=-0.1416 left_z=0.0092 left_yaw=0.1562 left_pitch=-0.0531 left_roll=0.0408 left_gripper=0.9969 right_x=0.2482 right_y=0.0036 right_z=0.0888 right_yaw=0.0114 right_pitch=-0.0296 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -8.8, 4.7385, 1.8437, -0.3248, -0.1099, 0.0757, -0.5402, -0.2256, 6.8171, 2.0195, -0.0952, -0.0122, -0.0073]",
      "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]: [-0.5503, 1.9778, 0.7784, 0.4995, -0.5911, -0.4484, 0.5059, -0.0406, 0.514, 0.1982, -0.2893, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4243 left_y=-0.1406 left_z=0.0085 left_yaw=0.1605 left_pitch=-0.0027 left_roll=0.004 left_gripper=0.5059 right_x=0.2448 right_y=0.0037 right_z=0.0827 right_yaw=0.0114 right_pitch=-0.0312 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -9.2103, 4.2188, 1.6679, -0.2466, -0.0415, 0.8376, -0.7316, -0.2667, 7.0632, 2.0, -0.0904, -0.0269, -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]: [-0.8272, 1.6779, 0.4347, 0.3679, -0.7422, -0.6678, 0.5088, -0.0406, 0.4835, 0.1711, -0.2901, -0.0574, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.3019 left_y=-0.1466 left_z=0.0082 left_yaw=0.1123 left_pitch=-0.0402 left_roll=0.0224 left_gripper=0.5088 right_x=0.2414 right_y=0.0039 right_z=0.077 right_yaw=0.0115 right_pitch=-0.0285 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.5282, 4.6701, 1.6728, -0.6374, -0.149, 0.6422, -0.7453, 0.5949, 6.9949, 1.9609, -0.1392, 0.022, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:228f23f32191d230ed83868538b2a5a89b590571bad870c85ab1db17fb3c75a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7144676cf98d2153d35df3acefdcfc62ffc39033ce9fa4450e88550f06956b32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:452354f281b35eb693ed584e8c5dd71e2290601de9c679c19862b3a49bb984fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSvQsKEAgSGAI4AUIIdGhpbmtpbmcSDCPXHOOAw/aDpiRmbBoMCDU8eoVqVxvKsJtrIjBtFcOUwmP36Z+STXYBDQZlCzNlRlxORFxlNPSORzcq0OG6uQbHS/ygfYTUnOd9VLsq2gpoVOsCJbVx/1Cra5sJ3O4BHL9O74lYPl7taBVFzZYixJv0khjIH+04KcvXWdd6ppdgJHfOdT1fyPMzs0pKufS9gF3CN5sjTwYN6ZOzEotitDMBS7dbPO2hxyJVDuXObdSTVhW7/se7O18uSoqtmX+GGLtt8KBST28fK8tJN7Tr5VgIxKYClknPIIk2etOdvhdGGTG2rTUFL1BuouXgv5+IqAeJuedj5JaU7+fL/sXVhIRU/E9J4a0Sg+3SDfcFvF2oGAtlEDp+A/LpcTEb+LK7Apj3dvYrvQ8EiWZh98ZX8cizvMHIwd7ChvPgLE0BeiOQVT3tEPNmSo7Yg+ZiAZnCLTnD6gMo2Ru28FtMX0s0HeLAGJI1vsGFaMqkq80cm+8cF6n38LwnBr/d2hRf3iBfNRF5EHdt7kanV9Qb1UaR5L69vdTuSWy7eDAHrduGY8RXAuyEWztOItiK8bNCPyQEH86Bten20AWZTPnEwngefGISvAFBXEDY22/t4lJgwJdEz2AvlZ9HH2WCHAdstvYQuHZ0UVBKsaS4D+XgtSvaE6dvtfwcP+BsBBYH6uGq06upQSDsoyZ6y2kT0eI105aRUkPAfpdxbc7b3iyZd9mE0v77bgMa7SFV6x3ul/bf3mVsAdXy3MtWtWTpdqjYfUiQPzlCAIr20YVBYzf9i3DuExObpxVZ5JW2vTFq+Mz5JsOViPdFRU+AhGLuiFADoN9i4ZuotkI/Swm7dxRb0AbheHs3p+D03YjPibVGGM+wwzcpo5/iqML0qmVaqOxo8I9CttaMf5tJ1yCnEXuuEPFNCH2JlgTva4Di4DpxdrfPG/fO2GWCG6hCHSI45tZIvnhkStg4mE128detw9xHzykFEifTw4lkjgHdUxI7FxxUolzTiS7RLIMhEDxYmtXtQhoV+5cAmFpAvF5tpipun//wLdfVzZdhXxB8z8AgssZNxexVULcrOM3sPByktphVmqBd2LNOubJcAKuXT2XkPMlC3jjYtLVkbjH46l3Yi/ai4nCbXMQtAdm7D+Vk2eXuVnPXGsqERntZCcGprmX0m0oZMpdMNrohIZlIOFPm7L2/HN9i/DFal/bk0AyMJWG9i/v622YnqjWxfynAbNiYX603nNIeHmA87f5j9CAorJbGNwVfmG2V6H0U7exlmTDgENrAeXZaR+dxOmwTOs+y6RA5jKgtxO4UDG00F0irCGkFJlk0b+fankTHyXzrHSppgVSoxK8huHZH9xHy4LZhvLO0oLSIbEkOseMgIyO1/x2JItFDrDQlYh9OrkyDXOknyKqvre78qek7urFfXvF827K+6VK428KeuBzCt1Jyr7K0iF7EfDa/7e2YZ+h+Veh2u39leDa+vqjz0/nLRqN84M2lcCYtDo9+J8qfm3n6APVjeKkGHE6RcEGkaqm+jDmziVtoqP0hOJq9hfRHTE215Q5mOEV06qtCBUldVuBeRT+8bLDggsR6VfjzEBYr5AlJrhzrFSiy7Nb4EO90ZAIMyHzOcWZIC81dX+A5BWgekKeQ0fpJMXPZ+UohXMc6qFd/j8aNG6ZBaw91uyXV8AuhnT4e8cjXLimrlfrBneyUopxve+s7cL3mbiu7RtTYqtNqKYEHBI9tgLnBVITHUzz5kto98DeDvGH+n13y+CENs5lUrthk8d8Ip8a5BEdc4bsOYxUxnTG6zBm73ZAwpXKd5DcpwnkSI6I2OiIhvscqLCfP5ADRdOjlRCHbmF40h7H4uRMgMv1V1PBhXIkBGwJRWEYjFk0qHsydwQ5wVz7b3DPkDGVs7SqLXz7Tua1j9H5ZxO/hzz/61lVUUBT8DRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nn5k32eKKG2HCZ9TPLs6rC",
      "input": {
        "note": "Bottle was dragged back ~12 cm (cap now much closer in top view). Releasing the base so I can re-grip near the neck.",
        "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_01Nn5k32eKKG2HCZ9TPLs6rC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8379, 1.6989, 0.4015, 0.4522, -0.7536, -0.6743, 0.9944, -0.0406, 0.4568, 0.1482, -0.2901, -0.0574, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.2997 left_y=-0.1469 left_z=0.0055 left_yaw=0.112 left_pitch=-0.0154 left_roll=-0.0024 left_gripper=0.9944 right_x=0.2388 right_y=0.004 right_z=0.0725 right_yaw=0.0117 right_pitch=-0.0247 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -5.7368, 4.0821, 1.4237, -0.4664, 0.0659, -0.1734, -0.6906, 0.0889, 6.8308, 1.9316, -0.1538, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28efdec354f8b05c79f27cce3af763d77e7775661ef0ed7caaeb1628b068b6cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc45d2745691e31f12406d52d76ff64dfc4b1e1e2a376f5955f511d0943bb17a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a8f7d4000ce2fce32ff617e05f8087a6a7443452f623a35aa97c122f04caf08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 3.52 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]: [-0.5503, 1.9778, 0.7784, 0.4995, -0.5911, -0.4484, 0.5059, -0.0406, 0.514, 0.1982, -0.2893, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4243 left_y=-0.1406 left_z=0.0085 left_yaw=0.1605 left_pitch=-0.0027 left_roll=0.004 left_gripper=0.5059 right_x=0.2448 right_y=0.0037 right_z=0.0827 right_yaw=0.0114 right_pitch=-0.0312 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -9.2103, 4.2188, 1.6679, -0.2466, -0.0415, 0.8376, -0.7316, -0.2667, 7.0632, 2.0, -0.0904, -0.0269, -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]: [-0.8272, 1.6779, 0.4347, 0.3679, -0.7422, -0.6678, 0.5088, -0.0406, 0.4835, 0.1711, -0.2901, -0.0574, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.3019 left_y=-0.1466 left_z=0.0082 left_yaw=0.1123 left_pitch=-0.0402 left_roll=0.0224 left_gripper=0.5088 right_x=0.2414 right_y=0.0039 right_z=0.077 right_yaw=0.0115 right_pitch=-0.0285 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.5282, 4.6701, 1.6728, -0.6374, -0.149, 0.6422, -0.7453, 0.5949, 6.9949, 1.9609, -0.1392, 0.022, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.8379, 1.6989, 0.4015, 0.4522, -0.7536, -0.6743, 0.9944, -0.0406, 0.4568, 0.1482, -0.2901, -0.0574, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.2997 left_y=-0.1469 left_z=0.0055 left_yaw=0.112 left_pitch=-0.0154 left_roll=-0.0024 left_gripper=0.9944 right_x=0.2388 right_y=0.004 right_z=0.0725 right_yaw=0.0117 right_pitch=-0.0247 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -5.7368, 4.0821, 1.4237, -0.4664, 0.0659, -0.1734, -0.6906, 0.0889, 6.8308, 1.9316, -0.1538, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28efdec354f8b05c79f27cce3af763d77e7775661ef0ed7caaeb1628b068b6cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc45d2745691e31f12406d52d76ff64dfc4b1e1e2a376f5955f511d0943bb17a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a8f7d4000ce2fce32ff617e05f8087a6a7443452f623a35aa97c122f04caf08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017rKUwFMM9KoFVvB6z14PG3",
      "input": {
        "note": "Bottle lies along the jaw direction between the open fingers; neck is still near the reach limit. Sliding forward along the bottle to its middle for a second drag.",
        "targets": {
          "left_x": 0.4,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_017rKUwFMM9KoFVvB6z14PG3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6018, 1.8828, 0.6495, 0.5091, -0.6147, -0.4889, 0.9955, -0.0406, 0.4335, 0.1299, -0.2901, -0.0574, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.389 left_y=-0.1392 left_z=0.01 left_yaw=0.1487 left_pitch=-0.0104 left_roll=-0.0022 left_gripper=0.9955 right_x=0.2369 right_y=0.0041 right_z=0.0692 right_yaw=0.0117 right_pitch=-0.0197 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -7.1453, 6.0239, 1.6532, -0.1245, 0.2369, 0.1099, -0.5538, 0.0615, 6.9265, 1.8877, -0.1343, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb6805204e9ee0805977d4151615547ddf1e6eedc5dd46c62b8ccf63aefd4285",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4efb24401885bb9638e258864b0c9db5aa2da683cf68cc5fd411c0a22d4e41cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f79f0f8a088b59a85e6c3e22aae0dbf84b3957535eb70adf0306f9c89a86c658",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 3.636 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]: [-0.8272, 1.6779, 0.4347, 0.3679, -0.7422, -0.6678, 0.5088, -0.0406, 0.4835, 0.1711, -0.2901, -0.0574, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.3019 left_y=-0.1466 left_z=0.0082 left_yaw=0.1123 left_pitch=-0.0402 left_roll=0.0224 left_gripper=0.5088 right_x=0.2414 right_y=0.0039 right_z=0.077 right_yaw=0.0115 right_pitch=-0.0285 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.5282, 4.6701, 1.6728, -0.6374, -0.149, 0.6422, -0.7453, 0.5949, 6.9949, 1.9609, -0.1392, 0.022, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.8379, 1.6989, 0.4015, 0.4522, -0.7536, -0.6743, 0.9944, -0.0406, 0.4568, 0.1482, -0.2901, -0.0574, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.2997 left_y=-0.1469 left_z=0.0055 left_yaw=0.112 left_pitch=-0.0154 left_roll=-0.0024 left_gripper=0.9944 right_x=0.2388 right_y=0.004 right_z=0.0725 right_yaw=0.0117 right_pitch=-0.0247 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -5.7368, 4.0821, 1.4237, -0.4664, 0.0659, -0.1734, -0.6906, 0.0889, 6.8308, 1.9316, -0.1538, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6018, 1.8828, 0.6495, 0.5091, -0.6147, -0.4889, 0.9955, -0.0406, 0.4335, 0.1299, -0.2901, -0.0574, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.389 left_y=-0.1392 left_z=0.01 left_yaw=0.1487 left_pitch=-0.0104 left_roll=-0.0022 left_gripper=0.9955 right_x=0.2369 right_y=0.0041 right_z=0.0692 right_yaw=0.0117 right_pitch=-0.0197 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -7.1453, 6.0239, 1.6532, -0.1245, 0.2369, 0.1099, -0.5538, 0.0615, 6.9265, 1.8877, -0.1343, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb6805204e9ee0805977d4151615547ddf1e6eedc5dd46c62b8ccf63aefd4285",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4efb24401885bb9638e258864b0c9db5aa2da683cf68cc5fd411c0a22d4e41cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f79f0f8a088b59a85e6c3e22aae0dbf84b3957535eb70adf0306f9c89a86c658",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GzBRe2P4C4YzHwshurTMyL",
      "input": {
        "note": "Jaws straddle the bottle's middle at table level. Closing to grip for a second drag.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GzBRe2P4C4YzHwshurTMyL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6025, 1.8923, 0.6487, 0.5236, -0.6167, -0.4789, 0.5349, -0.0406, 0.416, 0.1131, -0.2905, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3896 left_y=-0.1396 left_z=0.0087 left_yaw=0.144 left_pitch=-0.0065 left_roll=0.0042 left_gripper=0.5349 right_x=0.2351 right_y=0.0041 right_z=0.0652 right_yaw=0.0113 right_pitch=-0.0193 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -8.2256, 4.0274, 1.5653, -0.3443, -0.0952, 1.033, -0.4718, 0.1709, 7.0085, 1.8632, -0.105, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2349023cb5b5541147bafcf7052156d6889ca47ecc6df762dba9f02c52fa58bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d3e6b1ed198e707712abfeacb1775c5389370737fb39e1c09f58684ae146a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b6b971181701a9c2fda01eefd194fb92cfb9e68506b1d7ce82901a0122f09de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 6.125 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]: [-0.8379, 1.6989, 0.4015, 0.4522, -0.7536, -0.6743, 0.9944, -0.0406, 0.4568, 0.1482, -0.2901, -0.0574, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.2997 left_y=-0.1469 left_z=0.0055 left_yaw=0.112 left_pitch=-0.0154 left_roll=-0.0024 left_gripper=0.9944 right_x=0.2388 right_y=0.004 right_z=0.0725 right_yaw=0.0117 right_pitch=-0.0247 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -5.7368, 4.0821, 1.4237, -0.4664, 0.0659, -0.1734, -0.6906, 0.0889, 6.8308, 1.9316, -0.1538, -0.0122, -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]: [-0.6018, 1.8828, 0.6495, 0.5091, -0.6147, -0.4889, 0.9955, -0.0406, 0.4335, 0.1299, -0.2901, -0.0574, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.389 left_y=-0.1392 left_z=0.01 left_yaw=0.1487 left_pitch=-0.0104 left_roll=-0.0022 left_gripper=0.9955 right_x=0.2369 right_y=0.0041 right_z=0.0692 right_yaw=0.0117 right_pitch=-0.0197 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -7.1453, 6.0239, 1.6532, -0.1245, 0.2369, 0.1099, -0.5538, 0.0615, 6.9265, 1.8877, -0.1343, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6025, 1.8923, 0.6487, 0.5236, -0.6167, -0.4789, 0.5349, -0.0406, 0.416, 0.1131, -0.2905, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3896 left_y=-0.1396 left_z=0.0087 left_yaw=0.144 left_pitch=-0.0065 left_roll=0.0042 left_gripper=0.5349 right_x=0.2351 right_y=0.0041 right_z=0.0652 right_yaw=0.0113 right_pitch=-0.0193 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -8.2256, 4.0274, 1.5653, -0.3443, -0.0952, 1.033, -0.4718, 0.1709, 7.0085, 1.8632, -0.105, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2349023cb5b5541147bafcf7052156d6889ca47ecc6df762dba9f02c52fa58bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d3e6b1ed198e707712abfeacb1775c5389370737fb39e1c09f58684ae146a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b6b971181701a9c2fda01eefd194fb92cfb9e68506b1d7ce82901a0122f09de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7wYKEAgSGAI4AUIIdGhpbmtpbmcSDNqDpi2w8rEn48hTARoMkqvpCbgd/qmzh2HQIjCipRRyrOoViyS5pWIuiyY3py0YNO0b88uJnKCcLL3PKugP5HeXld7DHot77BE5urAqjAZ7JrPOq+0WLKP4vn7ImNijh+MFoO+UD8K8FISDjJ5lyqAEHG7rAQc1BxkmY+aRCPCDrIMoybV3Eb7peBdKZmpjBVj/hNJVhXuJyS/T0wnJzP1wa19Rns8ENrZk52G3tTOxl6011aQjIYqQR7NtdfBnLpom08kerCqZM+MpchCDa9ZorkkieGAfeA/uPAA3/B2zkx4AJgWTL/cBFEd+aGuJwXFItrux1bBW1Li75nA2CqzgEDvbv32nBK7uoHmZlYonhDK7N4RqLO3QbtcgJKV2dPmyrEaQDAKOT4+xSajKiDUSUJwtA5D1+C37jeX5u5R8esjE+zuTUOGmd4l5JjcFM720OHqZw9ednMuyANgRXFLVK/fxBHeidNaWiHyVh7Qle+s3zXieZMqeMQSJSd9YYDuhpBNlgM/rautIPWubldxwUIaAGdg5QZEZ5ySdSJW6Ad7CQZ0EobwtzRvo/5NvN6gBGC6xkaBACy9FsyECgnqdMZCFPuBpsbr8jMfddcl7L9NJ1buuAexX4i1lddeBQzLSM0W/9hZByvhwFkjO0cWMPWePKE5CHM6nILdt4Z8UMBGIEFxT+4zCo90d4o/U+zn+lNqr1fimDcjvgFcF6KCUhYBma5eIpVOO21RmbuOCO9qP8gEDaRQsI6I6MCUfi6Q9nwicfVdWJeddZFSaQP6RhvLFtOZMpOFigX42xhHKKhr4YCsInrwEi+iZeVdunAXPFmY5TvELgmZKkL3mQvfBe/v1Y3jac5Z3Ih14rpmxHjpr7u3puDEXnSta3xKj+VhPE4BWCD72GWQwo40e20hNm0RAC0qXyinTbDPMdGM6S44G6nh7sRPm/7JGZ9aQ+5UbLF/bjHIUOqz3atw4M1SHox6oEJtDxAB8zLDioUFLq8Zr2aC80IXWF9R4E9AoHfmgOL8pGd0Ull2iuHvviqinUAyBp+/qLDMNTKpvs0NWvqP0TGTDxHjyuA0v+HPquV2AGxxpSdiKmn4DJwHUdU7l/bNS/5VmH1y4CVn4sA+fxcObGQG2azP4ipIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019nSfr7A4EfpdVr3Ak34jvf",
      "input": {
        "note": "Holding the bottle's middle (grip 0.53). Dragging it back ~11 cm so the neck lands well inside reach.",
        "targets": {
          "left_x": 0.28,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_019nSfr7A4EfpdVr3Ak34jvf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8864, 1.6203, 0.3798, 0.3344, -0.7628, -0.7128, 0.5352, -0.0406, 0.3969, 0.0986, -0.2909, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.2815 left_y=-0.1462 left_z=0.0078 left_yaw=0.0915 left_pitch=-0.0441 left_roll=0.0198 left_gripper=0.5352 right_x=0.2337 right_y=0.0042 right_z=0.0626 right_yaw=0.0113 right_pitch=-0.0152 right_roll=-0.004 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.2957, 4.5197, 1.6044, -0.7985, -0.1538, 0.9841, -0.4718, 0.4171, 6.8855, 1.8046, -0.105, -0.0366, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03c02c466693bfe0474485402a3e613c66bad79a5b952d580aa3a8dec4987fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e1a331a29d33661a6d3698618ee296f509582d9afd4053d1442e4f73c4fa775",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35583ad212547bb91e51e81562f75147f1800e3e18b4aab3a2d145896d872162",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 4.747 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]: [-0.6018, 1.8828, 0.6495, 0.5091, -0.6147, -0.4889, 0.9955, -0.0406, 0.4335, 0.1299, -0.2901, -0.0574, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.389 left_y=-0.1392 left_z=0.01 left_yaw=0.1487 left_pitch=-0.0104 left_roll=-0.0022 left_gripper=0.9955 right_x=0.2369 right_y=0.0041 right_z=0.0692 right_yaw=0.0117 right_pitch=-0.0197 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -7.1453, 6.0239, 1.6532, -0.1245, 0.2369, 0.1099, -0.5538, 0.0615, 6.9265, 1.8877, -0.1343, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6025, 1.8923, 0.6487, 0.5236, -0.6167, -0.4789, 0.5349, -0.0406, 0.416, 0.1131, -0.2905, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3896 left_y=-0.1396 left_z=0.0087 left_yaw=0.144 left_pitch=-0.0065 left_roll=0.0042 left_gripper=0.5349 right_x=0.2351 right_y=0.0041 right_z=0.0652 right_yaw=0.0113 right_pitch=-0.0193 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -8.2256, 4.0274, 1.5653, -0.3443, -0.0952, 1.033, -0.4718, 0.1709, 7.0085, 1.8632, -0.105, -0.0122, -0.0122]",
      "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]: [-0.8864, 1.6203, 0.3798, 0.3344, -0.7628, -0.7128, 0.5352, -0.0406, 0.3969, 0.0986, -0.2909, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.2815 left_y=-0.1462 left_z=0.0078 left_yaw=0.0915 left_pitch=-0.0441 left_roll=0.0198 left_gripper=0.5352 right_x=0.2337 right_y=0.0042 right_z=0.0626 right_yaw=0.0113 right_pitch=-0.0152 right_roll=-0.004 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.2957, 4.5197, 1.6044, -0.7985, -0.1538, 0.9841, -0.4718, 0.4171, 6.8855, 1.8046, -0.105, -0.0366, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03c02c466693bfe0474485402a3e613c66bad79a5b952d580aa3a8dec4987fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e1a331a29d33661a6d3698618ee296f509582d9afd4053d1442e4f73c4fa775",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35583ad212547bb91e51e81562f75147f1800e3e18b4aab3a2d145896d872162",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkgsKEAgSGAI4AUIIdGhpbmtpbmcSDArJP1gPDs2cfSEIsRoMCNLd5qicEpYSpLyTIjB5/8eh1QZVQoElbcuRu0OYdurfWnVg8tFz8G4rRbkrpXY7j74yJd5PMwQwjQq8eyEqrwr4SfainRF6CmhduiJ0tRfdiH2rOvAgAyJFMd0mXV8elOqZ+ILMLXIcxFI7zj5clfYeN2cI2GJAWvzJ8ZLx8XQQWKi2roJ0JMLqOqIppahEC+Qfp4BgLHtoRK2GbGH6MO9xph6jrLXXiR692ptscTRL3iOGvblyTlKybFoYxbQ9LXtyXizSgJw8eEVnLiw2J3M3q2knRVrxGGzXrO7nxVl6X6fPIa15UrI6iuyeDZ/qjPNDohkggK1rUfVILeHsFozIGAzZPd6qXvtPAYTV3mYiZk8Rh4UlZj2QRosAUSesaxr/ee4Y4VJDZ3++AI6mW6wu+Bg3uWb8v35Eq05RiQaXuaf0FdPJSdB3Lpc4h54BP24c5hp93fV13DD9VrbN3iNrIBV92A5DkDhfsozEie1zY42pSn/SysWauuLyOzJd4+QPo/nD8ywD+Q3JwW1LFlf6N22LrJZTs063NXdPmroHoK+GIaNc3s/f5o7QyDfcQSfemJiRSWYPcAEedVWHNIQ+IGb/rnrDvHrwH08uOjHTGPx+9vj6xGRfQ/z5RKE238Ti17DyrVGdH3q/ZjzQCAEdeP+XxIebz5sQC5c8s5Laq6L7TMyQbLd2AqYclDO3KxWMpg5nvZ/pbIQEQnewidvNa1zJNUs/W1VaowmF5VF4IpzeMGQYjQQBrGmDnSBv8B7C0rv+tz6BrPTOROuK3I23rq4kRmebNLLrmy5AQWbE44puOSNuYh/BU2lKvyzQ1jxLlprLhnv4nlGKYCFgUU2V4GEK5m2rB4VSrLSCzCHpuh5ah8szXKACSlgTHY5TQWXBAYYu/A1VlHwYSXApaO7c1ZA7OS4EulQrxDb3O2ZM9+nN1QFIZsetiqN9YOpTPUPNzr7COkMP9zDufzAnnBmJE6vrj9dIv+ORfGqaUq8rFPDOqifMasXj2MFdWFzxKU2X7Q+SHiekjOb+eoxg7j54c/oDggEE4Yz8vrVlpt1Er4/wy0qnKSv6xr4l56ltlCUqwepjt7khvnCRXmIs6mdRrSRWo0pIHV7mDG4ayD75k2Q8PTT/udQnmtiZ0rsepwVQK6Hu+U9xnuZ25rXzZzljTRQmQB77ho1oxMPc9svyX7pZNx/kuHajtYRCpu2vhGNle80fUg0z/Pfdon7PQPRJD30gDHYtgSsPsw/HtEZuQHmaQPnTWTiACJcS0pmHmSzkgJSTA22ZqHTdn4gjqhGr6oR/c067G2DN29RWvpfidC4cPfA3QAQmbAtRFC+vsBFUeDBeYCT9uSSZa2kbgqVlpxKFkIdeoRzXMQcnKAEDquAE3UVFd+HSZNMHWcUw0Ca/Ag76EGWUKSFjLmZbR4SeGyP0L6z8fp2o7pNH/kTU//UGUAHPXExd2gNcgyddUk/3H+br/e8GvZEOBrROnXymeMLt8tYcpN67dmITATIgushEVDSKMHLY5Huo8vj4xbAJKvppJR2FbpkDspb5GTV7qUlNkfeut/iAsuInO4nzy9UwntpZLP0xjsaOtO3CWByufcPc0VkzsLY5KEPcceVuz/Du/psKV0bsjN5V2pYWKXxzbKOPBMWxcY5MCt1qkQKDTdb1hczM2zaErsH8nmoN9PLOUQeiUDT5vZtUiYIK/yPV8K7YxsQ1hiVjj9QAoyBZx9XdNWQw7bXxsnCVtsROQdzuT+4HoWsPCNb4ris9AsaQ/PFGcJASnBvb/VO7suPbwZzSGNQQRJR7q0RDMnlbDbSBZYlCclUdACqUX1CY7Il07DcTLecV1VZN62iBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DTBmcBCUMCUrj9xeWVF9ZD",
      "input": {
        "note": "Bottle is now well within reach (cap near image y≈95). Releasing and lifting to re-grip at the neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01DTBmcBCUMCUrj9xeWVF9ZD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.902, 1.2865, 0.4995, -0.0326, -0.7803, -0.7254, 0.9961, -0.0406, 0.3832, 0.0925, -0.2905, -0.0574, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.2832 left_y=-0.1522 left_z=0.0914 left_yaw=0.0931 left_pitch=0.0148 left_roll=-0.0556 left_gripper=0.9961 right_x=0.2336 right_y=0.0042 right_z=0.0628 right_yaw=0.0117 right_pitch=-0.0071 right_roll=-0.0043 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -4.4513, 8.4034, 1.2772, -0.4127, 0.1587, -0.0073, -0.6085, 0.3214, 6.5162, 1.7753, -0.1294, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:135d0e571390bb3635ddd36ce825d2505740a18ebe0dc98981786fdb06931060",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46f420112479cf6209babe78665a8ee0bd8acb2e7cd6d20cb6163377b4d0ef1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19ae7b7720e323c0db85d7ad268a35165731a3305d1b06c442a8e77f6650da2b",
        "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 · 4.624 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]: [-0.6025, 1.8923, 0.6487, 0.5236, -0.6167, -0.4789, 0.5349, -0.0406, 0.416, 0.1131, -0.2905, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3896 left_y=-0.1396 left_z=0.0087 left_yaw=0.144 left_pitch=-0.0065 left_roll=0.0042 left_gripper=0.5349 right_x=0.2351 right_y=0.0041 right_z=0.0652 right_yaw=0.0113 right_pitch=-0.0193 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -8.2256, 4.0274, 1.5653, -0.3443, -0.0952, 1.033, -0.4718, 0.1709, 7.0085, 1.8632, -0.105, -0.0122, -0.0122]",
      "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]: [-0.8864, 1.6203, 0.3798, 0.3344, -0.7628, -0.7128, 0.5352, -0.0406, 0.3969, 0.0986, -0.2909, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.2815 left_y=-0.1462 left_z=0.0078 left_yaw=0.0915 left_pitch=-0.0441 left_roll=0.0198 left_gripper=0.5352 right_x=0.2337 right_y=0.0042 right_z=0.0626 right_yaw=0.0113 right_pitch=-0.0152 right_roll=-0.004 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.2957, 4.5197, 1.6044, -0.7985, -0.1538, 0.9841, -0.4718, 0.4171, 6.8855, 1.8046, -0.105, -0.0366, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.902, 1.2865, 0.4995, -0.0326, -0.7803, -0.7254, 0.9961, -0.0406, 0.3832, 0.0925, -0.2905, -0.0574, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.2832 left_y=-0.1522 left_z=0.0914 left_yaw=0.0931 left_pitch=0.0148 left_roll=-0.0556 left_gripper=0.9961 right_x=0.2336 right_y=0.0042 right_z=0.0628 right_yaw=0.0117 right_pitch=-0.0071 right_roll=-0.0043 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -4.4513, 8.4034, 1.2772, -0.4127, 0.1587, -0.0073, -0.6085, 0.3214, 6.5162, 1.7753, -0.1294, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:135d0e571390bb3635ddd36ce825d2505740a18ebe0dc98981786fdb06931060",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46f420112479cf6209babe78665a8ee0bd8acb2e7cd6d20cb6163377b4d0ef1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19ae7b7720e323c0db85d7ad268a35165731a3305d1b06c442a8e77f6650da2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpAgKEAgSGAI4AUIIdGhpbmtpbmcSDNHon9QhcrXFL2s70BoMj9PBFa1qWpqnlmDlIjAQV1XTGMajwDjumbzyqHYgOahbkVarpiNcwPvq818QO+BpcBU9nvl+e4Yr2nEqnpUqwQcWVsDV3J5Id+/Pwx8gDFWx03R82XoI+vHpFNUer+reFcOuu2xdR6VIkNsPFqjsHCUQjDByCrY6S3xxHBmSvGIiP3PU71yaX2ArBS2YmRgbc7MakMQrTM+S0Wkyt3aOpvdhWgYJrt1ZTytJWpQm35R8ppaCNEkMQuwCb8Irrhc1uWafJi0HMfNs3I3h9q/WVUjFnrDetyj1hzfHe+qlxbaXv6QcadxOjdKQWpsHJyaxPeazdHHTJE6X4/g7qz9o0/Ex/1Ftc4VLXMxUfK/FmBa+Ilb9LbSxKMj//BP9qMcC6TFedc87NU0b3Kii1YLGBMVOhR3lLXDxVGIhCUQL21hi+mEfnJktp0sNL811ecUhwwTBgOmJOOyVNhePdiEXQSk5q3KLkH5HRX0hnNlsW7mnGSm/C6WtOfHIg+Qa471v22ZokEMptlgx+Nye+hf9kYA3Ky6kO15m9zWOw/zMI2JF+FBRPTGdfApw9/bA+LDohSf21on7K4TpmttKE1fcTTXL9bI3n6ey32uK9bHRDUTO/nqjm7HpRoDOXPjwfmJ7T2BZOt6jdPvFfZJSC3uUTOr0MNAWD/TjJxl3m/ZQmtCps+mKCv0vWdVeDh0AHHa5Z9t2SX1tZjCClYo1cTHv+QttUidBN6NZ8v/OhIg6Zfka/TeUNJ1nAyrwrMmSWZxkwJl/F7/SvU3ZZ4/kVt+MMFHcPZwjWMDtFE040G7DYDijZ0/5Ry7MiCg+4rOrDk2SytKELLwqahrC4LoGlD9ql7flJBi6dTWETbyWkfE9quYI6r3h7O/iTUpl9hFpK2ZdFzcXoNbZTUBjmacCB2OFlGis9KZg27BctXe2aVpEWMcOVdzPKd/KMUS8g1fZ5sejiojv5tFQfcU5+S81UIh2JBxJtznE6xkyLktRxvhJ3XDciotBr58vxuLr8CQmlR79eNcEG2pv/0ef0TxoH/wkiwvseHu1jxNbceUeB7APlw8c4ucQsNLTBdSw9VmmfLPcktEDvcV61Q88wbwXRVoWcxQLHfk+qruYN3WQX/Jx+94YTIM47k5B+AD4GgsaDxzBwffyRPmBVv914cl1hCnQ7ngzmfzoyZtYNwg4+fn7PL6L9EFN8m1wMvJgEWuGOkoJycztM6n0/Xx7qhFyJ7W6ZhcBTiTc+4ssLwFBF502h+2X7sOrX728ggJ0EB1jVpO3KVfx55nCLDQXqI1K8AJhLxkruQAq0jr7kU/JQNsPp6ispohwD/Q4fGLJEdOmOfrnDvcBGINZ6f4VQJo6/Ud1FKChGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016mf3BbvTNoM1GsCb3y9Nas",
      "input": {
        "note": "Wrist view shows the neck/cap ~8 cm ahead and slightly left. Moving over the neck before descending.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.142,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_016mf3BbvTNoM1GsCb3y9Nas",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6415, 1.5013, 0.6685, 0.0738, -0.6338, -0.5152, 0.9969, -0.0406, 0.3782, 0.0921, -0.2909, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.3573 left_y=-0.1318 left_z=0.0885 left_yaw=0.1377 left_pitch=-0.0263 left_roll=0.0091 left_gripper=0.9969 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0115 right_pitch=-0.003 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -5.4496, 8.3077, 1.5263, -0.1001, 0.2564, 0.0708, -0.6496, 0.4718, 6.7761, 1.7656, -0.1197, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41818a564ee92b261c3e0a578ec80675e606d95f932560e6c031115c940bbf1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f2c5712c278e121d9738586eb3b5f73c45532d19890d37dfb7f9a6142fecb8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00d56af1e7a5f9a2cbf77e4572679a913459fd4a760682094a4449e736791231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 3.775 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]: [-0.8864, 1.6203, 0.3798, 0.3344, -0.7628, -0.7128, 0.5352, -0.0406, 0.3969, 0.0986, -0.2909, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.2815 left_y=-0.1462 left_z=0.0078 left_yaw=0.0915 left_pitch=-0.0441 left_roll=0.0198 left_gripper=0.5352 right_x=0.2337 right_y=0.0042 right_z=0.0626 right_yaw=0.0113 right_pitch=-0.0152 right_roll=-0.004 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.2957, 4.5197, 1.6044, -0.7985, -0.1538, 0.9841, -0.4718, 0.4171, 6.8855, 1.8046, -0.105, -0.0366, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.902, 1.2865, 0.4995, -0.0326, -0.7803, -0.7254, 0.9961, -0.0406, 0.3832, 0.0925, -0.2905, -0.0574, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.2832 left_y=-0.1522 left_z=0.0914 left_yaw=0.0931 left_pitch=0.0148 left_roll=-0.0556 left_gripper=0.9961 right_x=0.2336 right_y=0.0042 right_z=0.0628 right_yaw=0.0117 right_pitch=-0.0071 right_roll=-0.0043 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -4.4513, 8.4034, 1.2772, -0.4127, 0.1587, -0.0073, -0.6085, 0.3214, 6.5162, 1.7753, -0.1294, -0.0366, -0.0073]",
      "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]: [-0.6415, 1.5013, 0.6685, 0.0738, -0.6338, -0.5152, 0.9969, -0.0406, 0.3782, 0.0921, -0.2909, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.3573 left_y=-0.1318 left_z=0.0885 left_yaw=0.1377 left_pitch=-0.0263 left_roll=0.0091 left_gripper=0.9969 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0115 right_pitch=-0.003 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -5.4496, 8.3077, 1.5263, -0.1001, 0.2564, 0.0708, -0.6496, 0.4718, 6.7761, 1.7656, -0.1197, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41818a564ee92b261c3e0a578ec80675e606d95f932560e6c031115c940bbf1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f2c5712c278e121d9738586eb3b5f73c45532d19890d37dfb7f9a6142fecb8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00d56af1e7a5f9a2cbf77e4572679a913459fd4a760682094a4449e736791231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSowgKEAgSGAI4AUIIdGhpbmtpbmcSDFnykujvmM55O0NypxoMSG1+6x5Ypz5iV+ROIjBcEbU8WmEv+kAcskuLk8xljzWKuOXC7BK0ygFZTkRatZG9nQ++6Y7YUMVO/yAN4I4qwAdElMXeWwUplhByeYTvH6QtsvqMRtlA68oUFLj5c06c6zr0pEQXb8sHcx08ossuz4XeyC6lWFgvaZo3g+bOJgtROriuSVbYzOY7idQsWbHJwDY+Rk/sWJDF9j468m7iekzFdwHeZlhwu1PjveqVXAmRjxFqiHfZHSARHKwS/G3yF//4jS8u8wnYXBZLMtQiA0DKiMp0TSLEdxCFeYiNfhbQiboN3tRNAlzQdsOAAB5TdfqeMN0oX/rNCBgIU1QXiB5fa+kivGWQRo4Jmv1lxMGUkHRClMRxSyj80Mvb9zI4Vj15WazPXSq2bcaZiyxlXgnBfDDoPgYOmdZxv3fZ66aL9fgk1CRzaSl26FwROIEzWS7mcIWZVW6zm9cRjYFrvg6vxlXBbTje1nnRcywZMQYixptL/dH7L4u8vlAI79s9veXuZOQSxvxXJZXM4kqQ2v6JtT87dhbGTJn2eDBfV9wmm3hPYgA1m5zz+SsWPojPMe6waetir5N0L4dypW+q4ghggOp9o6MlOVpFbqw74R9w/epHkzErxUP/xKg9t+uTRlXDCdIQznJyW1Hv370y+zjgmZh1W5BucVhBJN31ZKhdNa8PzdRsdE4gG05uOH+xPDozrh9x1EjRmysMtHHlGF6rP0v+ud1R7xzwjDnbNm8KAoZNYJy34DxOgjOABJcjgXfCO4UTv6eojnlB1o/WQtGVRf1PksHtRKJug8fROuJb+IPsgbLWWYeRkpjgEGM1PFBT7UBR+HlIi63Jxaoktl4VJIj+ledlE7st0kvwZEN1vJT8DVatsyZNo/rxRrMpli3oDOG7TYk4m+l1g2VN/JLwsOQ9WAZdHa7q9Z0TN/Sw64lximPYKzilOeM/MOwRy4bWnaUNSM7ci1WMrrEm7KjerA7YWbZhM6zupeRc4pgEc9G4MosT1Dad7jf75GoilyI+YS+Z/cQ33o8nqA4/bsww5r/0cZWy5AxOOZUNVJLcfeusD9ef+Yl9S4vKgfQ49+pIItKNxa4nLbpWucTfdJIK2OeCqy5Lc5KDGDMZwPy2Z6X02wXrEV61EtGpwdFnvT8AiFSEEgxkBDkJIV2lC5a9/sUNwBOEG/wEz5jB8qYijdWJ6oeiHvSAvUtxtyHqDkfrwA9kAlmGp0dCif+zhu5M7e3kTv7sUixkIPCbqC/yXld0S3ZKcBsEPR9K0IMZV7fjaqlP+B4EP6yOvVol6zQpt/F7Z1G83pelyvA6zEdRMZ4ypqyLr7WRbuLiZk/xEDNWTYt1s9/bUfVQnm5lkpgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014PrLDci1Cbq7qNKG9DWr9x",
      "input": {
        "note": "Cap and neck are centred on the jaw column but still ~4 cm ahead of the fingertips. Advancing a bit more before descending.",
        "targets": {
          "left_x": 0.405,
          "left_y": -0.133,
          "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_014PrLDci1Cbq7qNKG9DWr9x",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5591, 1.6161, 0.7586, 0.1017, -0.598, -0.4706, 0.997, -0.0406, 0.3782, 0.0921, -0.2909, -0.0574, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.3895 left_y=-0.1221 left_z=0.0816 left_yaw=0.1696 left_pitch=-0.0416 left_roll=0.026 left_gripper=0.997 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0119 right_pitch=-0.0029 right_roll=-0.0048 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -6.9949, 8.5402, 1.7314, -0.1001, 0.2418, -0.0073, -0.6496, 0.5265, 6.8581, 1.7558, -0.1148, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:557d6ef873d29aba8351d8b56497800523e7ba0c5411d732c7ef5344ab38d578",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3eb2e94a9254ee02bc777d118958b4104f0682e41d705ae7f444935455b46193",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d23eebfe7b2ca45d0e3bd8e708b53559e961bc2484e756fca6d4d177b5700167",
        "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 · 4.769 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]: [-0.902, 1.2865, 0.4995, -0.0326, -0.7803, -0.7254, 0.9961, -0.0406, 0.3832, 0.0925, -0.2905, -0.0574, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.2832 left_y=-0.1522 left_z=0.0914 left_yaw=0.0931 left_pitch=0.0148 left_roll=-0.0556 left_gripper=0.9961 right_x=0.2336 right_y=0.0042 right_z=0.0628 right_yaw=0.0117 right_pitch=-0.0071 right_roll=-0.0043 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -4.4513, 8.4034, 1.2772, -0.4127, 0.1587, -0.0073, -0.6085, 0.3214, 6.5162, 1.7753, -0.1294, -0.0366, -0.0073]",
      "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]: [-0.6415, 1.5013, 0.6685, 0.0738, -0.6338, -0.5152, 0.9969, -0.0406, 0.3782, 0.0921, -0.2909, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.3573 left_y=-0.1318 left_z=0.0885 left_yaw=0.1377 left_pitch=-0.0263 left_roll=0.0091 left_gripper=0.9969 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0115 right_pitch=-0.003 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -5.4496, 8.3077, 1.5263, -0.1001, 0.2564, 0.0708, -0.6496, 0.4718, 6.7761, 1.7656, -0.1197, -0.0464, -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]: [-0.5591, 1.6161, 0.7586, 0.1017, -0.598, -0.4706, 0.997, -0.0406, 0.3782, 0.0921, -0.2909, -0.0574, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.3895 left_y=-0.1221 left_z=0.0816 left_yaw=0.1696 left_pitch=-0.0416 left_roll=0.026 left_gripper=0.997 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0119 right_pitch=-0.0029 right_roll=-0.0048 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -6.9949, 8.5402, 1.7314, -0.1001, 0.2418, -0.0073, -0.6496, 0.5265, 6.8581, 1.7558, -0.1148, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:557d6ef873d29aba8351d8b56497800523e7ba0c5411d732c7ef5344ab38d578",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3eb2e94a9254ee02bc777d118958b4104f0682e41d705ae7f444935455b46193",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d23eebfe7b2ca45d0e3bd8e708b53559e961bc2484e756fca6d4d177b5700167",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzQcKEAgSGAI4AUIIdGhpbmtpbmcSDCYcDSxfXLzkucMrpRoMtIumieJSSYUjkEBmIjD8OC1mueqFHq2xoZHFX/sCG3tvI/nll49gQ72T8LMy6GmR9uMcRDL4MKO3eXEO0tMq6ga+3hTrJeKgZBjF7yaGlN/cGiiBZPUz4wqk2DQnpJ6e6jlCBZf49vEoLPe/AbNvAVTbZDuQWsRTGNM7HxgD5c1D64ArugDiH1HcdtD3OPVZrhLJd8RMJDHx0SeamFTpXCMOaSJaH/I4touzPifgCz2O1UqlGk4/gRfnXRtVfl35Nz77gFnIlO066OgYKoKVo833FBl+N7f9fLrt8g6N7f8/YOD9V7bToAZ8/fN3Vd5xSpS5hWi/v8Z3wW2lSl+mSXLv+LLQCxZcpWjMG4nV0GThAC6aRfTV64104SoTnAzdD/buMmVaX8D8BvdExPhlDayN84oWoG7emR9YrHQTgJqYQTRbau0Op1csllOqlhdvaImIlWbEv6bMvOStQySNrWvvADJFCam8tyWzCKLgP1N5uZOYTVGNI6CCYpiSi9eEgT9Yabt5qnqIbERdnzPqi+4PBbUD2o5Mlj7NbtdqSc6yl0Z0CfwNriBIVz0CtjZVdRHvGwnMKDfLpeams/+gcNhC52PKs0Ft+1RilOC9g73Wc6IODH+Fq4WOMzP0bsXXSOZkxgQLYVvqMB0CwV7c5rKq3/JW/EY45GRrsScZeusW9t0kcKXyq8I/kf9XpWI4iUcPHmKqzW4M2h4Y/8rvZwNGWw9NWSbduZwCsUImD+BQRia/o/f6Hc/IYWzL47APqUCpx8V2SZtvKnVloexc2eSUNp7jy3k15JV/ztZVBsvdxI/YrJBqNaUKhPBOoouQLhBTwz7yTFreQ4l9es9XObGPS4VewNPZSjiiV0Hp96eMdIdLKUm0BbcZlX8If0PMsM8Dk3UM5qNacuzTpjbu6QYWTQpdGo2RGIpF1O65WEGkGgWiWmsBcnSR/0eycFpIK9OUsEGkhBm8+BSmtxffWZQSP9Bjc2VCfJfLL11ygQVvCmid/v+h3KH1WNmODzIVJkIBq26yEwHU9djgYMyq1WjCjaE7cSC1j5X+8FFjVMvtxUgfKrPKm9ckyXrM47LHBYE1LH97gZ6SImgAwWF+9GvWpetDkt5jHem95nRoV4mZ4LcSHciq50/Htsy5Td9tfG7OpdgNK2YuYYI0CESuA6oh9Dm1O02tFKNitxcymUAr/CopLIweLYKVlxpvo9SjUsrJyVPkaCVWPZyoOx7KSTnqvJQsHk2ZRR07GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C7PkTDQBgHCeoCkcu1iQxi",
      "input": {
        "note": "Cap is centred just ahead of the jaws; the neck should be under the fingertips. Descending to neck height.",
        "targets": {
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01C7PkTDQBgHCeoCkcu1iQxi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5499, 1.6241, 0.783, 0.1158, -0.5831, -0.4702, 0.997, -0.0406, 0.3786, 0.0921, -0.2913, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.398 left_y=-0.1257 left_z=0.0888 left_yaw=0.1666 left_pitch=-0.0254 left_roll=-0.0014 left_gripper=0.997 right_x=0.2336 right_y=0.0042 right_z=0.0635 right_yaw=0.0115 right_pitch=-0.0037 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.1863, 8.0068, 1.6435, -0.1734, 0.3248, -0.0122, -0.5949, 0.5265, 6.8444, 1.7802, -0.0904, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d140b62cdcacd739acfde20f139c16d08fa7ef2df086cf350f69beeb1d1bbea2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4a5fb8d4b4f5a8ed84bdc2b4595d5ac26420c7f137b8241996b8ab65bff7e23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d13d90544edaa3b84005b35e2f6f94eb78041199172bfa70b45ec152a859b13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 6.004 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]: [-0.6415, 1.5013, 0.6685, 0.0738, -0.6338, -0.5152, 0.9969, -0.0406, 0.3782, 0.0921, -0.2909, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.3573 left_y=-0.1318 left_z=0.0885 left_yaw=0.1377 left_pitch=-0.0263 left_roll=0.0091 left_gripper=0.9969 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0115 right_pitch=-0.003 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -5.4496, 8.3077, 1.5263, -0.1001, 0.2564, 0.0708, -0.6496, 0.4718, 6.7761, 1.7656, -0.1197, -0.0464, -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]: [-0.5591, 1.6161, 0.7586, 0.1017, -0.598, -0.4706, 0.997, -0.0406, 0.3782, 0.0921, -0.2909, -0.0574, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.3895 left_y=-0.1221 left_z=0.0816 left_yaw=0.1696 left_pitch=-0.0416 left_roll=0.026 left_gripper=0.997 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0119 right_pitch=-0.0029 right_roll=-0.0048 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -6.9949, 8.5402, 1.7314, -0.1001, 0.2418, -0.0073, -0.6496, 0.5265, 6.8581, 1.7558, -0.1148, -0.0562, -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]: [-0.5499, 1.6241, 0.783, 0.1158, -0.5831, -0.4702, 0.997, -0.0406, 0.3786, 0.0921, -0.2913, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.398 left_y=-0.1257 left_z=0.0888 left_yaw=0.1666 left_pitch=-0.0254 left_roll=-0.0014 left_gripper=0.997 right_x=0.2336 right_y=0.0042 right_z=0.0635 right_yaw=0.0115 right_pitch=-0.0037 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.1863, 8.0068, 1.6435, -0.1734, 0.3248, -0.0122, -0.5949, 0.5265, 6.8444, 1.7802, -0.0904, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d140b62cdcacd739acfde20f139c16d08fa7ef2df086cf350f69beeb1d1bbea2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4a5fb8d4b4f5a8ed84bdc2b4595d5ac26420c7f137b8241996b8ab65bff7e23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d13d90544edaa3b84005b35e2f6f94eb78041199172bfa70b45ec152a859b13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwAcKEAgSGAI4AUIIdGhpbmtpbmcSDP0kepncrdwsSqA6dxoMkfXEdnwq2Ij9fdNsIjAL5yfHuH6nPJDuOlJF0teH1xEh4+wWeXMfkBKCdR9YkWIx4pg+VInJkeHw9HzVU+gq3QYDVk7YM7YIL7JWUf8osbIiui5g8ySniekr3kA6Y3s7CIm8XzRePrBQcYY5sbp6/49GJQwlYOPItt20qfewR+W/2H+hqdNoyO95HupCeKhl6iJtu0hah+MZ5A+P1Cu7WzL6kF5fiPCUJDcmNoDpFd8NJZeRf9/mi3SFCc3LNHtKgN4HHviIYPrid4TpUltFo6jtsaBpkIcvDc3j+WvacCRTX5ZwHVoLfT5JLmRJEYjPgkOzFengMimKHgHUMT5tUWj4jQsU2Sm4mOpQbTVH05wjWMwoIwp2v5IU59uIvF0YTF8tQuJhbdVfHCk+K+yOfZG7RLBsA2LpnEUNsVPkDydZzXfDLB9sV62yrJmKEc9IFM6I2oV/x4vonCWO2MlEKhipbC3zRYrXa6GhlWpCUeTiQSbhFK82YmK2HhV3oDH0zTnCbCf1fOwFYWIRUwOQY5jNWqtZetowvmDkcDOyumWW9e13cR3bHbfzbVHeiR750e9fjsnVrgM2VpV7A8yiB8V+qycfldOf5sDTqsacWRoP00k4/FDWlvKyyDa6wtP1YHgLw3lm4tmuAhB1ibIqJTVNdyQb+TMioctUfDv3qSqONPxThC+ff0t1wVPCqokNUUZEQUlYf9s4O/xjJ5xFWNNHi83st4EmFUYKIYIdk/tNsbnwqkTwYV2IPLfEQjBbjElbZzpMHPCNOQlU9bIaMiaaUNfHJgvMUkxRWS0eLs9G/9fzIzRBwvwxhZFNLAnNNnEQIfj9qY8dAQnLC2dfBSEQsb7gbU9SbN69s+EpUgtWjMxr6jK+3UV9n7zCYsv5e0FT52JsRXHYe6ZhYwYWR3R5sG4ZomYxhq+nOv2szC2GpjP0zijzFFeo30GYaK08TtcsoOUKkUnPc6IBKnzylGT1gAwvNHgIFKaxP7mqVZ4vH/dJ1lm3DQVx9qDBEfYcISFunSZsmvGW223yGyU1wG7I1Xgt6HSZlUFkGsG5klFjd56pws68bigvaUOT43l/2Jp5dZnbmMNh23ANjVFJyWqjlKulA8YYp6gatltsbUxlLRqLBbIPvQL4Nd9G5jxMPh3Cdu4cXLl8Whe+v/RYAfIA2lUdNr4xPV5p55CtKeOzkeXY0ejKGjUuqZCr8fm80C2z1//nev2LsGuL2l8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LDe17oytUymHw5tyzeCkc2",
      "input": {
        "note": "The descent was clamped and the arm stayed at z≈0.09. Re-issuing the descent onto the bottle neck.",
        "targets": {
          "left_x": 0.4,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LDe17oytUymHw5tyzeCkc2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5503, 1.6241, 0.783, 0.1162, -0.5831, -0.4706, 0.997, -0.0406, 0.3786, 0.0921, -0.2913, -0.0574, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.398 left_y=-0.1258 left_z=0.0889 left_yaw=0.1664 left_pitch=-0.0251 left_roll=-0.002 left_gripper=0.997 right_x=0.2336 right_y=0.0042 right_z=0.0635 right_yaw=0.0117 right_pitch=-0.0037 right_roll=-0.0044 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -6.9949, 8.0205, 1.6044, -0.2125, 0.3297, -0.0122, -0.6632, 0.4581, 6.8171, 1.7363, -0.1392, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afe3dbbf384fa013b694f4bab6b3b83a523e5698a6b8d8e38f7599bfdc7ec2e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9ccc3acedceabd709f2ba45e586765ae690d217800915a6963ca4a3157938c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d603b02ce6dce0f339a63b31bbd930b5f9f2246770bb7efec4cde634aeb6d1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /messages · status 200 · 4.187 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]: [-0.5591, 1.6161, 0.7586, 0.1017, -0.598, -0.4706, 0.997, -0.0406, 0.3782, 0.0921, -0.2909, -0.0574, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.3895 left_y=-0.1221 left_z=0.0816 left_yaw=0.1696 left_pitch=-0.0416 left_roll=0.026 left_gripper=0.997 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0119 right_pitch=-0.0029 right_roll=-0.0048 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -6.9949, 8.5402, 1.7314, -0.1001, 0.2418, -0.0073, -0.6496, 0.5265, 6.8581, 1.7558, -0.1148, -0.0562, -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]: [-0.5499, 1.6241, 0.783, 0.1158, -0.5831, -0.4702, 0.997, -0.0406, 0.3786, 0.0921, -0.2913, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.398 left_y=-0.1257 left_z=0.0888 left_yaw=0.1666 left_pitch=-0.0254 left_roll=-0.0014 left_gripper=0.997 right_x=0.2336 right_y=0.0042 right_z=0.0635 right_yaw=0.0115 right_pitch=-0.0037 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.1863, 8.0068, 1.6435, -0.1734, 0.3248, -0.0122, -0.5949, 0.5265, 6.8444, 1.7802, -0.0904, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5503, 1.6241, 0.783, 0.1162, -0.5831, -0.4706, 0.997, -0.0406, 0.3786, 0.0921, -0.2913, -0.0574, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.398 left_y=-0.1258 left_z=0.0889 left_yaw=0.1664 left_pitch=-0.0251 left_roll=-0.002 left_gripper=0.997 right_x=0.2336 right_y=0.0042 right_z=0.0635 right_yaw=0.0117 right_pitch=-0.0037 right_roll=-0.0044 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -6.9949, 8.0205, 1.6044, -0.2125, 0.3297, -0.0122, -0.6632, 0.4581, 6.8171, 1.7363, -0.1392, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afe3dbbf384fa013b694f4bab6b3b83a523e5698a6b8d8e38f7599bfdc7ec2e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9ccc3acedceabd709f2ba45e586765ae690d217800915a6963ca4a3157938c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d603b02ce6dce0f339a63b31bbd930b5f9f2246770bb7efec4cde634aeb6d1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSugoKEAgSGAI4AUIIdGhpbmtpbmcSDIiM5wC0qVDFTAsx8xoMr2IvEljHevCrZCf9IjBbZYptD8yaghlDTOZBIQoLw1MoNbAEAqDI9UdDpvDFRIea1dQo1nxsJ9wXIeKoZwUq1wlrOSKC9UOTpmS3PjQ1L769oevXuvRVTMo7VDp/WQKN4N2vvX8NSiHMm6n/PBNL3U8AJh0ekbAD1m1g31DxnTxGJnqKto9Q4c+cjJWiq7gyVPbyN28xeLOzg8GQDUtXj9FUz0XKrnU6kHlD61t+YlpzfWzmpO5SmW5GpQBtwC27kTr2RvptFTj5wWsz6XhK4toaoSu/ekYhDy6Jgr3fY82zm+H/0ogwfbjFUmaFStluAduxaBgJ4AEqTw24kXspuCUuPUwiq0Vo9XNuTikoyXu291Boqb0QXC7JmF6t6TDfGgP/mWXsI+j6xmyw/5+soKB7LNI7AhsUXvEL21Ylcu80aZjazKSLkKg1+F7ULM5W/6xyhiQ2I01MbC43QxeX06oaqwg96scCuLQnC7T9dymp9cRYVNU90QBhMU0RirwKdYnlvRZxSmu2Z+57vR1lYIlukhm3EM4II2CG3lSAmvMmO5OBFllH4kd+pS0tcQhrr5kCtCrqRxMyJDuXsSmqIvAp22gaiM9T7zVat9+3em2zKCdZOP2X1ZxmjdeqcmUirn55/lWhym/D02gegojztBua9IMwi7QV4eSru5MoGsiCoOxFq6Y30Z80okL5RqYhZb91LDqvXWlzhV1WLrRZWWWpMRFIo6H49c06Tua9vjOmwTVZiE4BBUHl8uOnFxL7+OoL3kjnuXTDUPBh91WcScNCmPKIbaeIyBA+e7m1Bo3hOkRKuEfe/B4OmaJTEHWsuiD3Sg8+7GoartI7tNV5uW93NtavhWOTXkwQsqpSR/JTZ49aQub6SSbECalNJ2oA66Uh5T4eu5U9SrwYMHiVFgIQ7p9irESy97JdMgDX9cDyN2RhU1NkYhCYBcfOM2jJgT6E79WE4BsbPnMujWvUBLmAC7WBQV2/YIxO0eZyUplNxgEJOx0nCLF+oDEhiw39EZ9bGULDepVp1I4G1aIYxSFMDheGYkLPU3KIaqliwQBQhm9//PxNOi6jrFER/4TZCBcEipqPV+Q+vu+BBTCgSiayukbz4aabXsudOcrCAwAgs9GvY5+xLo6H3GM7hEdO01mp1B8ocpDy3WoD/R09B5PavkHtf8uur+VT6Dnb3PLg013RRtlztnKnYYEqXkbNFKNTB2pVHSlTLrMDE/yzUXOgXDWA3Zsa2mti0GKFlEiDjN+jSzLWIAvoarpXDkEQRwyPoTIFSfMUEiJSMrugaGbzOMZdw70m39Deew3TwO8Pbw2g+T4ZMDv9hi90gpuCjnXzN0pmEV0ziDwY/xmx7JLKIl0hpPNjIm6NsoLtQtIUq+KKSatCYPlVxkS7V6R6w9SDoWSjFY1ft5BUwn8uwbFsbGOPlNE3D+NzeJo8tVtQV2O2PsycxkV94sWf/q/zVuOhd4qmwcKWrvPjjvKol/libjyccgM3BqousOSgg5d2gOECtWNUiEWyJMJR2n/v76wEy28CCYeY7q9le1ZCUs4cWCSD+GkmwFy9Ozm/b4lNXFYM6Y1mhNe1WqTchAEG6e6auZVXT2oz2X2RkhPOglSSCnGZpmjI/Tuk2UgTfanqQr2CacrcT8O2lVouu2aYxc6fKVG4VjNmGCQwWisvgqtLtHoSIdDhFgoRqHEAWxB3soCPwrrJAw79WWpWFDJChcoR8eWARYcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017fi6FV2A4B5veRv1iYg8sW",
      "input": {
        "note": "Left arm refuses to descend from z≈0.09; yaw has drifted to 0.17. Commanding yaw back to 0 together with the descent to free the IK.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.13,
          "left_yaw": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_017fi6FV2A4B5veRv1iYg8sW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5209, 1.7386, 0.5972, 0.3801, -0.5011, -0.3847, 0.997, -0.0406, 0.3782, 0.0921, -0.2909, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3768 left_y=-0.1142 left_z=0.0194 left_yaw=0.0884 left_pitch=-0.0893 left_roll=0.0466 left_gripper=0.997 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0113 right_pitch=-0.003 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [0.6085, -6.6667, 5.2991, 0.735, 0.2613, 0.5397, -0.0171, -0.6632, 0.4718, 6.7897, 1.7656, -0.1245, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b335b7def85c6c6ff847cb145c797a23355e66448131bb94e4c949a67fe4528d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee328f391ea5237744340e427fd6402b4a66c8a34383977a0b82decf0e581fd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:87a1dbba8a8f4cc6cd76328df103458682a291c7759328045b3c19e9bffd623c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 6.239 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]: [-0.5499, 1.6241, 0.783, 0.1158, -0.5831, -0.4702, 0.997, -0.0406, 0.3786, 0.0921, -0.2913, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.398 left_y=-0.1257 left_z=0.0888 left_yaw=0.1666 left_pitch=-0.0254 left_roll=-0.0014 left_gripper=0.997 right_x=0.2336 right_y=0.0042 right_z=0.0635 right_yaw=0.0115 right_pitch=-0.0037 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.1863, 8.0068, 1.6435, -0.1734, 0.3248, -0.0122, -0.5949, 0.5265, 6.8444, 1.7802, -0.0904, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5503, 1.6241, 0.783, 0.1162, -0.5831, -0.4706, 0.997, -0.0406, 0.3786, 0.0921, -0.2913, -0.0574, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.398 left_y=-0.1258 left_z=0.0889 left_yaw=0.1664 left_pitch=-0.0251 left_roll=-0.002 left_gripper=0.997 right_x=0.2336 right_y=0.0042 right_z=0.0635 right_yaw=0.0117 right_pitch=-0.0037 right_roll=-0.0044 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -6.9949, 8.0205, 1.6044, -0.2125, 0.3297, -0.0122, -0.6632, 0.4581, 6.8171, 1.7363, -0.1392, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5209, 1.7386, 0.5972, 0.3801, -0.5011, -0.3847, 0.997, -0.0406, 0.3782, 0.0921, -0.2909, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3768 left_y=-0.1142 left_z=0.0194 left_yaw=0.0884 left_pitch=-0.0893 left_roll=0.0466 left_gripper=0.997 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0113 right_pitch=-0.003 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [0.6085, -6.6667, 5.2991, 0.735, 0.2613, 0.5397, -0.0171, -0.6632, 0.4718, 6.7897, 1.7656, -0.1245, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b335b7def85c6c6ff847cb145c797a23355e66448131bb94e4c949a67fe4528d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee328f391ea5237744340e427fd6402b4a66c8a34383977a0b82decf0e581fd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87a1dbba8a8f4cc6cd76328df103458682a291c7759328045b3c19e9bffd623c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wcKEAgSGAI4AUIIdGhpbmtpbmcSDElyU/DrdQ7PKpPNVRoM9WztCjhAMrkK/VjVIjCtLeoxL8ViR6tpEho637sIrEbWnuYVUKR05CPKE7bEWxkstvjp6ElsaTn8lyEqQSsqlAczbnxMtdsQd1JzU7yzT3l6ynkiKnSb2QnkO0tE1aGd5JUoZPKLU1599zJOLkVB45ZoInFOnon69imI7dwMCCGcHRceUzwWCJWqvFHOpf/OvscoqPj5LcGHL3925bVSbucBZGgq1clySkDrWqAyENmWIdQAnob9o9Izc6CboUAYtveIHMqOSis+dL1xMO6Tcj5Cvp6lU4Uv0jb8bGnDRYEU0a47LL4tlVP1faNGNH/bGZdEx/ylvDRvA/PStwL4g23mOAoofRAXIUi5PtvsNfbrsqnGJoy040fODO7KY1CamYrcc8Ls19HapvmSYeBddO9/yziHbgMc94vMsnk1G0qKpbIhDiTmZP0T6aoQo599QTYYIRSiUM6+0446ImnmgXbl2E1Ko3mXRWTTKS+IEUngg7ng4OJQhYdHTAUlkhKYHjhYk8lVTMyCHdqDKAGQgaS/ak/Utdso7xy16gVztQNqCT+jNoPf/6UCFC2eky1rUsJJHbZ1uJyVfeXc+qEK3k8SO94yzUYhueTP8Mvsr3TIdbDjQKKUV9+K2VMHjjG6BPYqi9CNs4XFpW4ahHLkrLCV+0vhqPqtj8u8iM1U5Tu0r3CRMDv7TaLHQGZZ4Ng0wmAM6OGyCzTT18ZwDcEVcHTN8FVFZeUFI1OqvPH/wGv5pPXB4lE7e4f/oP2SzGiVVT7jQnFQ5AbWO+cHFsAmpLl/3l832yjitpiQodmFFvhIej/JcQrFPtmHqh26FmlSyic8ALFtCnSvmnd//7MEjMF1/zB7njHvG9tA631bZMU14iIFz05TiTHjDMXB+pmsnGFO8Kc9ILYiRMAb8mC6x8csAdZSgjZEyZmXWcDzIb3Ikye89OxlIMjt6ltcz8ZLECHFXP7jw3cVy0yfsUvIlkqEPHtCUEbgKEwbb2c4+J01i6+4mhEFpiaQTJSn4tuueSpP66zjkIXYDjyfLD6Eecv25k7uWqZ/mAppjMh0Wy8vlxn/L8KsseDC+PwhE09qHlOf7zVMUg/CJ23KNbWxMFR+hhEGbPpRTggt2x+UmNoISFcXlcklBw1b8rBYnLqzSz04HISFkKVo49xMKfHcHKmiwf/gEWeYLPFFD72eAzq1mUH5Jsk3NxVJdnteXNMgDL4gEvmiFJ1WpMkU3zreWrhfvjHn33H+sSnFrOHXl8otc1qa7vYebQ68lyTMIn1zyLj7BIv1oqcQRUcZsNPm9XqhGpedGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018KeEMDkgK3wsnTEYt9v3wV",
      "input": {
        "note": "Descended to z≈0.02 with the bottle neck between the jaws and the cap just ahead. Closing on the neck.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018KeEMDkgK3wsnTEYt9v3wV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5228, 1.7447, 0.5381, 0.7048, -0.5476, -0.3817, 0.0116, -0.0406, 0.3786, 0.0921, -0.2909, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3967 left_y=-0.1184 left_z=0.0584 left_yaw=0.1258 left_pitch=0.137 left_roll=-0.0809 left_gripper=0.0116 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0113 right_pitch=-0.0033 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -4.7932, 3.2068, 0.6813, 0.188, 0.0806, 0.9695, -0.5265, 0.5265, 7.0222, 1.7753, -0.1197, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1d3e78148284d8e6b11de86328ab4f1ff7226b29f07c3ce18a4ea2547f0860b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e2da342843cd9e9bda372a3fc65c28f848f7fa210fe6b8b384953ae09b4adff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a0ef7abb024cd548844b14aa0559877286a4177584fba59c0c9e8f3ff48294d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 6.34 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]: [-0.5503, 1.6241, 0.783, 0.1162, -0.5831, -0.4706, 0.997, -0.0406, 0.3786, 0.0921, -0.2913, -0.0574, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.398 left_y=-0.1258 left_z=0.0889 left_yaw=0.1664 left_pitch=-0.0251 left_roll=-0.002 left_gripper=0.997 right_x=0.2336 right_y=0.0042 right_z=0.0635 right_yaw=0.0117 right_pitch=-0.0037 right_roll=-0.0044 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -6.9949, 8.0205, 1.6044, -0.2125, 0.3297, -0.0122, -0.6632, 0.4581, 6.8171, 1.7363, -0.1392, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5209, 1.7386, 0.5972, 0.3801, -0.5011, -0.3847, 0.997, -0.0406, 0.3782, 0.0921, -0.2909, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3768 left_y=-0.1142 left_z=0.0194 left_yaw=0.0884 left_pitch=-0.0893 left_roll=0.0466 left_gripper=0.997 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0113 right_pitch=-0.003 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [0.6085, -6.6667, 5.2991, 0.735, 0.2613, 0.5397, -0.0171, -0.6632, 0.4718, 6.7897, 1.7656, -0.1245, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5228, 1.7447, 0.5381, 0.7048, -0.5476, -0.3817, 0.0116, -0.0406, 0.3786, 0.0921, -0.2909, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3967 left_y=-0.1184 left_z=0.0584 left_yaw=0.1258 left_pitch=0.137 left_roll=-0.0809 left_gripper=0.0116 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0113 right_pitch=-0.0033 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -4.7932, 3.2068, 0.6813, 0.188, 0.0806, 0.9695, -0.5265, 0.5265, 7.0222, 1.7753, -0.1197, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1d3e78148284d8e6b11de86328ab4f1ff7226b29f07c3ce18a4ea2547f0860b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e2da342843cd9e9bda372a3fc65c28f848f7fa210fe6b8b384953ae09b4adff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a0ef7abb024cd548844b14aa0559877286a4177584fba59c0c9e8f3ff48294d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSwgoKEAgSGAI4AUIIdGhpbmtpbmcSDClkiQ99jzd9pBVknxoMk3/IXlEgjexqZAUDIjATZRv4K6NbQpjKwyLvXdfzMsOw3pp2sNjisDueqdesvKMDJVB+OcWYHpBO3y75CZ8q3wnxw87STUEEKDc34dHeuR5ijtPTOuGL62muX6w+lyUGO2LjVG3auU83hmr5x1yp8O5bhtUcbFCMNtQ2IjZv7vXGnwTpDse4ju56rIO/vPPfOMPkfQNV9xfhmN7sDjZmjZzTFJk7kOT2/djNm7fj+q8gdjOW9mVM3GGAWf3JjNNEW2DzdG0PbOGPTTqQTZekxmQp3QKf3nkx24ryirDhkYhWUVfZeBS1k5uX/6QywPR8UbbK9kSpYSLpYRr3y3HtngNoelzOnZh2as+1LU1x9iMbxl/76VcEwym9xHUg0hDph634zsaA22AbZBd65YdxvocMHdOSXo2EHiUxwg1NhjmAPfzOUBGu+DPEOz21ApZY25tCVUVnKR73myUrwIX+QZPHzyXIx07+GE+aRvpoznA09klVov2xYYoHobfv2zFXQt7rvg59pTgSoJUmb6UPR2UgBrSdCAiZMX/yzwDrO7GqlkSTYtNKBdTi7IYygTg/cdozbjELLemIx8ptHmsIUh+MLSuV4xtGlhKt1mY5oLFJzuaHSB+A46vs3XMm47FAqNoLX3o1RkCo+mF7Ck1h4DXpy+HwRjNpQd2aiZC0SjMuW8kiADdrWz1dpT+5byQI7sy3p6GtpCOAx+FZAS9XF+8e0Yg/agg30ujGV8mozuSFA6XuwxAAxbh6+A0558beacQFhWN+IbVs8fjevS3M5vbEXRya5Z4bCom41Llc5jRRjVyBdSDtVSyQAeKtp9D6dE9y7GckscvmarZlG38clU6dr2t3C1bMxEeIosvoRM+GhxTYfZePNp8QqTrcDrrU0WBGh3JhJA0hPuc8V3hin28ZXHygt0cNMAaiGo5jnNLqMX4uZghoeK2sWy5RJ4VMBTYLsV6Fa2h0eD+OzsJ7o9WbMB76zhdg0CRdPhX6k9UaDQw00M3+7nZOhqo/yAZBoiPMHMTB0vudnvjOXmjIF85i3zEIN0UjxQxWtKjVIWYUS4FKsvmuSOK+u0K+J+S+41/N1fkOSWzJ8EFLFR6bXR1tFFA7vEQb8RceYRlgUvJyygy20q5eq4T/C5LUm9zQTI2wovUOX6iNsOKxMyiw7lqhMzQyrg07+PCs0miS+TVLaCoOXHOOE2o2LajGxZM3EAaAdWIVK6SIPJyEUu/uXZp1ukhvCQ/+twTAhOizpdjt5n14LNX9iTnSxF5eTiWsBbKkiaOOAEH8TVe6bKXFdTdeSty3kSVaddGW2OzOLdwSfgu55umVAvswXqUEok2YhcIo8LM3PrGgEkmeNrPmeWqdpMz8h1EPvWAVYmX8f9zAW1V69Qb0NHaG6Jv+MKNR6tL/s6lLCo7/fF3BNSop71lDgw70TWNXqioPjQMVCMgbVs/1tXf7TW3H1tADnwRtVSFdqq837rlyHIn8sfsefTX1ttJOHTLxjJbVvUBIREr/uCc57uxbpdOGwsfA/LM5U5Z44uVKECybEg/UxqStGw5NihC7mQoyL1gPQAA3Hm6MLDY03DRCsV9nF0iwyLdMZ5Tl6gzvhMivJO/xS9sWLSdUNVARAzPema7ZsOmhhbMdAmUnSpeBBXSJLhWNU67gGz3t8n+WjERAofb602/2KHiFoOewJrXskU0nE9gcWNoE94TCXDONE+4Gs+9QAu+uWDVhL3QGVJBaylK9xQ7OIRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019LJS9SygYBvghn8qDMbbfg",
      "input": {
        "note": "Close was empty — the arm rose to z≈0.06 during the close and passed over the neck. Opening and pressing lower (z −0.01) at the neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.385,
          "left_y": -0.12,
          "left_yaw": 0.0,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019LJS9SygYBvghn8qDMbbfg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4931, 1.8702, 0.5419, 0.8925, -0.4515, -0.3363, 0.9946, -0.0406, 0.3782, 0.0921, -0.2909, -0.0574, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4106 left_y=-0.129 left_z=0.0443 left_yaw=0.0567 left_pitch=0.169 left_roll=-0.1126 left_gripper=0.9946 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0117 right_pitch=-0.003 right_roll=-0.0045 right_gripper=0.9998\nstate[joint_eff]: [0.294, -3.0017, 1.347, 0.2222, 0.2222, 0.3639, -0.1929, -0.5949, 0.4855, 6.8308, 1.746, -0.1392, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14a366aee9d3c02d520bdc4ab14c874aa88e028c61487df9591b6090d6b2ba49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:621d4c4bbafe8b69b92098e3318fb927f818f6f944911242b8b984a3a2110b95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:45e64b2878c83b2be3b0ba62f655020625e98a515f65c44d869d8be82e529b04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 12.51 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5209, 1.7386, 0.5972, 0.3801, -0.5011, -0.3847, 0.997, -0.0406, 0.3782, 0.0921, -0.2909, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3768 left_y=-0.1142 left_z=0.0194 left_yaw=0.0884 left_pitch=-0.0893 left_roll=0.0466 left_gripper=0.997 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0113 right_pitch=-0.003 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [0.6085, -6.6667, 5.2991, 0.735, 0.2613, 0.5397, -0.0171, -0.6632, 0.4718, 6.7897, 1.7656, -0.1245, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5228, 1.7447, 0.5381, 0.7048, -0.5476, -0.3817, 0.0116, -0.0406, 0.3786, 0.0921, -0.2909, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3967 left_y=-0.1184 left_z=0.0584 left_yaw=0.1258 left_pitch=0.137 left_roll=-0.0809 left_gripper=0.0116 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0113 right_pitch=-0.0033 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -4.7932, 3.2068, 0.6813, 0.188, 0.0806, 0.9695, -0.5265, 0.5265, 7.0222, 1.7753, -0.1197, -0.0073, -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]: [-0.4931, 1.8702, 0.5419, 0.8925, -0.4515, -0.3363, 0.9946, -0.0406, 0.3782, 0.0921, -0.2909, -0.0574, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4106 left_y=-0.129 left_z=0.0443 left_yaw=0.0567 left_pitch=0.169 left_roll=-0.1126 left_gripper=0.9946 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0117 right_pitch=-0.003 right_roll=-0.0045 right_gripper=0.9998\nstate[joint_eff]: [0.294, -3.0017, 1.347, 0.2222, 0.2222, 0.3639, -0.1929, -0.5949, 0.4855, 6.8308, 1.746, -0.1392, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14a366aee9d3c02d520bdc4ab14c874aa88e028c61487df9591b6090d6b2ba49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:621d4c4bbafe8b69b92098e3318fb927f818f6f944911242b8b984a3a2110b95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45e64b2878c83b2be3b0ba62f655020625e98a515f65c44d869d8be82e529b04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U9pLahgH3F4CVqkJrLjJw2",
      "input": {
        "note": "Descent stopped at z≈0.044 on the bottle's neck/shoulder, which sits centred between the jaws. Closing to try to grip the neck.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01U9pLahgH3F4CVqkJrLjJw2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4984, 1.776, 0.6838, 0.5262, -0.487, -0.3428, 0.0113, -0.0406, 0.3782, 0.0921, -0.2909, -0.057, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4198 left_y=-0.1303 left_z=0.0595 left_yaw=0.076 left_pitch=0.0678 left_roll=-0.0342 left_gripper=0.0113 right_x=0.2337 right_y=0.0042 right_z=0.0636 right_yaw=0.0113 right_pitch=-0.003 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -7.7607, 5.3128, 0.9988, 0.0415, 0.0171, 0.9646, -0.6085, 0.5265, 6.9128, 1.7705, -0.0904, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a81eab3c368724f07172b3783a025d8a39206fdb6ff3ffd3d70e9f493c1d603",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5882b3e7e3a8e8931dae465d7cfad43a82910d25909ec786ffcd5c820b2491ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a9e388abb03219041cbacecdfd17e9c12dcfbb04edbfa9f1cd1f9630cc60ae18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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