adhoc

completed
2026-09-22T20:09:35.347613+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 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
261.8 s
total steps
205
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 mid-table, caps pointing away from the bases. Plan: grab each bottle by the neck, lift so it swings to hang vertically, then set its base down. Moving the left arm over the leftmost bottle's cap to localize it.
move_to
left_x0.4200left_y-0.1200left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.6086, -0.3763, -0.0227, -0.0288, 0.9988, -0.017, 0.7895, 0.6037, -0.3885, -0.0299, -0.0353, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1831 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9988 right_x=0.2933 right_y=0.0039 right_z=0.1793 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4444, -1.4427, 9.7162, 1.7314, -0.0708, 0.1392, -0.1343, -0.6769, -1.1829, 10.4137, 1.873, 0.0806, 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": 0.42, "left_y": -0.12, "left_z": 0.15, "left_gripper": 1}, "note": "Three bottles lie on their sides mid-table, caps pointing away from the bases. Plan: grab each bottle by the neck, lift so it swings to hang vertically, then set its base down. Moving the left arm over the leftmost bottle's cap to localize it."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteLeft wrist cam shows bottle 1's cap slightly ahead and left of the jaws, with the bottle running diagonally toward the base. Shifting over the neck and yawing 45° so the jaws close across the bottle axis.
move_to
left_x0.4400left_y-0.0900left_z0.1200left_yaw0.7850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4255, 1.4929, 0.8543, -0.0437, -0.342, -0.2546, 0.9989, -0.0193, 0.7921, 0.6033, -0.4038, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4045 left_y=-0.1143 left_z=0.1284 left_yaw=-0.0161 left_pitch=-0.0752 left_roll=0.0204 left_gripper=0.9989 right_x=0.2913 right_y=0.0033 right_z=0.1753 right_yaw=-0.0019 right_pitch=-0.0187 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.253, -7.0906, 8.7863, 1.7607, -0.2906, 0.1685, -0.1294, 0.0479, -1.4291, 7.1316, 1.873, -0.0611, -0.0269, -0.0073] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.09, "left_z": 0.12, "left_yaw": 0.785}, "note": "Left wrist cam shows bottle 1's cap slightly ahead and left of the jaws, with the bottle running diagonally toward the base. Shifting over the neck and yawing 45\u00b0 so the jaws close across the bottle axis."})
tool
executing move_to over 6 steps (0.6s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteBottle 1 now runs straight down the wrist image with its cap just ahead of the jaws, so the jaws are across the neck. Descending onto the neck with a small leftward correction.
move_to
left_x0.4500left_y-0.1000left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5392, 1.9362, 1.3624, -0.4484, -0.8597, -0.9527, 0.9985, -0.0193, 0.783, 0.5861, -0.4038, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4561 left_y=-0.1128 left_z=0.1179 left_yaw=0.6272 left_pitch=-0.0297 left_roll=-0.0386 left_gripper=0.9985 right_x=0.2886 right_y=0.0034 right_z=0.1699 right_yaw=-0.0019 right_pitch=-0.0267 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.1026, -10.7282, 5.8735, 0.4322, -0.7888, 0.0122, -0.0611, -0.3761, -1.4427, 6.8718, 1.9414, -0.0659, -0.0415, -0.0122] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.1, "left_z": 0.03}, "note": "Bottle 1 now runs straight down the wrist image with its cap just ahead of the jaws, so the jaws are across the neck. Descending onto the neck with a small leftward correction."})
tool
executing move_to over 6 steps (0.6s)
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 noteJaws are over the bottle's shoulder with the cap just ahead. Nudging ~2 cm toward the cap and lowering to neck height before closing.
move_to
left_x0.4600left_y-0.0870left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5343, 2.0533, 1.1633, -0.1631, -0.8959, -0.9241, 0.9984, -0.0193, 0.7719, 0.5583, -0.3965, -0.0299, -0.036, 0.9998] state[eef_state]: left_x=0.4444 left_y=-0.0985 left_z=0.0366 left_yaw=0.6362 left_pitch=-0.0131 left_roll=0.0259 left_gripper=0.9984 right_x=0.2854 right_y=0.0034 right_z=0.1617 right_yaw=-0.0022 right_pitch=-0.0362 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [0.1026, -9.1556, 4.7248, 1.0525, -0.3199, 0.0464, -0.022, -0.2803, -1.7846, 7.1179, 1.956, -0.0513, -0.0513, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.087, "left_z": 0.02}, "note": "Jaws are over the bottle's shoulder with the cap just ahead. Nudging ~2 cm toward the cap and lowering to neck height before closing."})
tool
executing move_to over 2 steps (0.2s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteDescent stopped at z≈0.037, likely resting on the bottle's upper body near the neck. Closing the gripper to grab it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5129, 2.0708, 1.1549, -0.0528, -0.8982, -0.9035, 0.9984, -0.0193, 0.7582, 0.5365, -0.3813, -0.0299, -0.036, 0.9998] state[eef_state]: left_x=0.4577 left_y=-0.095 left_z=0.0376 left_yaw=0.6481 left_pitch=0.0218 left_roll=-0.0333 left_gripper=0.9984 right_x=0.2839 right_y=0.0034 right_z=0.1585 right_yaw=-0.0022 right_pitch=-0.029 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [1.388, -7.5966, 4.547, 1.0867, -0.1099, 0.2466, -0.0171, -0.3897, -1.4564, 6.735, 2.0684, -0.0464, -0.0611, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Descent stopped at z\u22480.037, likely resting on the bottle's upper body near the neck. Closing the gripper to grab it."})
tool
executing move_to over 10 steps (1.0s)
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 noteGripper settled at 0.40 (~3.8 cm), so the bottle neck/shoulder is held. Lifting the cap end while moving back toward the bottle's base so it pivots upright on its bottom.
move_to
left_x0.4000left_y-0.1400left_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.511, 2.0739, 1.187, -0.0856, -0.944, -0.9161, 0.398, -0.0193, 0.7456, 0.5095, -0.3744, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4611 left_y=-0.0904 left_z=0.0479 left_yaw=0.6819 left_pitch=0.0551 left_roll=-0.0262 left_gripper=0.398 right_x=0.2806 right_y=0.0035 right_z=0.1509 right_yaw=-0.0019 right_pitch=-0.0366 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.212, -10.3453, 5.8462, 0.7497, 0.0904, 0.0659, 0.6813, -0.1573, -1.6889, 6.8991, 1.9902, -0.0659, -0.0562, -0.0122] 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": 0.4, "left_y": -0.14, "left_z": 0.16}, "note": "Gripper settled at 0.40 (~3.8 cm), so the bottle neck/shoulder is held. Lifting the cap end while moving back toward the bottle's base so it pivots upright on its bottom."})
tool
executing move_to over 8 steps (0.8s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteBottle appears held by the shoulder with the cap sticking forward. Raising higher and moving over the bottle's base so it rotates in the jaws and hangs vertically.
move_to
left_x0.3500left_y-0.1900left_z0.2600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6872, 1.9301, 1.4364, -0.7658, -0.9527, -1.2118, 0.3974, -0.0193, 0.7261, 0.4725, -0.3588, -0.0303, -0.0357, 0.9998] state[eef_state]: left_x=0.4103 left_y=-0.1459 left_z=0.1319 left_yaw=0.6637 left_pitch=-0.0231 left_roll=-0.0022 left_gripper=0.3974 right_x=0.2769 right_y=0.0036 right_z=0.1423 right_yaw=-0.0021 right_pitch=-0.0385 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.2667, -13.3402, 7.9111, 0.525, -0.7985, -0.0708, -0.0855, -0.0889, -1.5385, 7.1043, 2.0098, -0.0757, -0.0317, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.19, "left_z": 0.26}, "note": "Bottle appears held by the shoulder with the cap sticking forward. Raising higher and moving over the bottle's base so it rotates in the jaws and hangs vertically."})
tool
executing move_to over 9 steps (0.9s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe bottle is clamped rigidly and still horizontal (it looks unchanged in the wrist cam), so it won't swing on its own. Lowering to z≈0.20 so that if I loosen the grip and it pivots bottom-down, the base lands just about on the table.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8791, 1.9438, 1.9427, -1.4494, -0.9745, -1.5352, 0.3973, -0.0193, 0.704, 0.4385, -0.3431, -0.0303, -0.0357, 0.9998] state[eef_state]: left_x=0.3586 left_y=-0.1982 left_z=0.2497 left_yaw=0.6542 left_pitch=-0.0317 left_roll=-0.079 left_gripper=0.3973 right_x=0.2735 right_y=0.0037 right_z=0.1356 right_yaw=-0.0021 right_pitch=-0.0347 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.3214, -8.1436, 6.8308, 0.1294, -0.7888, 0.1294, -0.022, 0.0068, -1.3197, 6.8171, 2.0147, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "The bottle is clamped rigidly and still horizontal (it looks unchanged in the wrist cam), so it won't swing on its own. Lowering to z\u22480.20 so that if I loosen the grip and it pivots bottom-down, the base lands just about on the table."})
tool
executing move_to over 4 steps (0.4s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteBottle 1 is held (grip reading 0.40); the bottles in the wrist view are the other two on the table. Loosening the grip slightly so the held bottle can pivot bottom-down in the jaws and settle on its base.
move_to
left_gripper0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8886, 1.9751, 1.7813, -1.3834, -0.9878, -1.5486, 0.3973, -0.0193, 0.6846, 0.4061, -0.3309, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.3534 left_y=-0.1955 left_z=0.1993 left_yaw=0.656 left_pitch=-0.0225 left_roll=0.0369 left_gripper=0.3973 right_x=0.27 right_y=0.0037 right_z=0.1283 right_yaw=-0.0019 right_pitch=-0.0355 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1846, -10.1128, 6.2564, 0.3883, -0.7253, -0.0024, -0.0122, -0.3624, -1.2513, 6.9128, 2.0244, -0.0708, -0.0757, -0.0122] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.5}, "note": "Bottle 1 is held (grip reading 0.40); the bottles in the wrist view are the other two on the table. Loosening the grip slightly so the held bottle can pivot bottom-down in the jaws and settle on its base."})
tool
executing move_to over 2 steps (0.2s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteGripper opened freely to 0.5, so I'm unsure whether bottle 1 was held. Retracting the left arm to home to get a clear overhead view of where the bottles are.
move_to
left_x0.3000left_y0.0000left_z0.1800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8906, 1.9766, 1.7489, -1.327, -0.9886, -1.5524, 0.4951, -0.0193, 0.6697, 0.387, -0.3161, -0.0299, -0.0357, 0.9998] state[eef_state]: left_x=0.3558 left_y=-0.1995 left_z=0.1907 left_yaw=0.6556 left_pitch=-0.0211 left_roll=0.0113 left_gripper=0.4951 right_x=0.269 right_y=0.0037 right_z=0.1263 right_yaw=-0.0025 right_pitch=-0.0248 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.5675, -12.0957, 5.5179, 0.2222, -0.6716, -0.0757, -0.2613, -0.3761, -0.9504, 6.7761, 1.956, -0.0659, -0.0269, -0.0122] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.18, "left_gripper": 1}, "note": "Gripper opened freely to 0.5, so I'm unsure whether bottle 1 was held. Retracting the left arm to home to get a clear overhead view of where the bottles are."})
tool
executing move_to over 18 steps (1.8s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteOverhead shows bottle 1 barely moved, so the earlier shoulder grip slipped. New plan: pinch the cap itself so the bottle can swing to hang from it. Moving above bottle 1's cap end.
move_to
left_x0.4900left_y-0.0850left_z0.1200left_yaw0.6500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5007, 1.1896, 0.8497, -0.7082, -0.8955, -0.9585, 0.9975, -0.0189, 0.6579, 0.3672, -0.313, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.2985 left_y=-0.0021 left_z=0.1757 left_yaw=0.6878 left_pitch=-0.0112 left_roll=-0.0076 left_gripper=0.9975 right_x=0.2663 right_y=0.0039 right_z=0.1208 right_yaw=-0.0015 right_pitch=-0.0297 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.212, -4.3829, 6.3521, 1.3016, -0.3736, 0.2711, -0.0904, -0.0479, -1.0188, 6.9402, 1.956, -0.0611, -0.0611, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.49, "left_y": -0.085, "left_z": 0.12, "left_yaw": 0.65, "left_gripper": 1}, "note": "Overhead shows bottle 1 barely moved, so the earlier shoulder grip slipped. New plan: pinch the cap itself so the bottle can swing to hang from it. Moving above bottle 1's cap end."})
tool
executing move_to over 15 steps (1.5s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteBottle 1's cap sits centred on the jaw column just ahead of the fingertips, bottle aligned with the image vertical. Descending onto the cap with a ~1 cm forward nudge.
move_to
left_x0.4900left_y-0.0730left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4557, 1.9854, 1.3983, -0.3954, -0.8673, -0.8631, 0.9979, -0.0193, 0.6384, 0.3408, -0.3027, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4792 left_y=-0.0808 left_z=0.1146 left_yaw=0.6665 left_pitch=-0.0071 left_roll=0.0029 left_gripper=0.9979 right_x=0.2636 right_y=0.0039 right_z=0.1157 right_yaw=-0.0019 right_pitch=-0.0263 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [0.3487, -10.5641, 8.1436, 1.1306, -0.2662, 0.2759, -0.232, -0.3487, -0.7043, 7.1453, 1.9609, -0.0659, -0.0464, -0.0122] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.49, "left_y": -0.073, "left_z": 0.03}, "note": "Bottle 1's cap sits centred on the jaw column just ahead of the fingertips, bottle aligned with the image vertical. Descending onto the cap with a ~1 cm forward nudge."})
tool
executing move_to over 6 steps (0.6s)
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 noteCap is centred between the jaws at the convergence row. Closing on the cap.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.432, 2.1284, 1.2865, -0.1284, -0.8539, -0.8406, 0.9977, -0.0193, 0.6254, 0.3195, -0.2905, -0.0299, -0.0357, 0.9998] state[eef_state]: left_x=0.4866 left_y=-0.0738 left_z=0.0398 left_yaw=0.6705 left_pitch=-0.0118 left_roll=0.006 left_gripper=0.9977 right_x=0.262 right_y=0.0038 right_z=0.1116 right_yaw=-0.0025 right_pitch=-0.0225 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.3624, -9.0462, 4.588, 1.0769, -0.4274, 0.1148, -0.0366, -0.3624, -0.6906, 6.7761, 1.917, -0.0562, -0.0464, -0.0122] 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}, "note": "Cap is centred between the jaws at the convergence row. Closing on the cap."})
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 noteEmpty close (0.017): the jaws closed just above the cap, which is visible right in front of the closed fingers. Opening and raising slightly before retrying lower.
move_to
left_gripper1.0000left_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.432, 2.1239, 1.2835, -0.0532, -0.91, -0.8387, 0.0173, -0.0193, 0.614, 0.3016, -0.2901, -0.0299, -0.0357, 0.9998] state[eef_state]: left_x=0.4946 left_y=-0.0705 left_z=0.0552 left_yaw=0.7042 left_pitch=0.0622 left_roll=-0.0417 left_gripper=0.0173 right_x=0.2593 right_y=0.0039 right_z=0.1063 right_yaw=-0.0025 right_pitch=-0.0286 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1299, -10.947, 5.094, 0.7839, 0.0806, -0.0024, 0.8962, -0.212, -0.6085, 7.0085, 1.9609, -0.0611, -0.0366, -0.0122] 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_gripper": 1, "left_z": 0.07}, "note": "Empty close (0.017): the jaws closed just above the cap, which is visible right in front of the closed fingers. Opening and raising slightly before retrying lower."})
tool
executing move_to over 10 steps (1.0s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteWrist view shows the cap and neck right below the open jaws, slightly right of centre. Shifting ~1 cm right and descending lower so the jaws straddle the cap instead of closing above it.
move_to
left_x0.4940left_y-0.0760left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4255, 2.1242, 1.3514, -0.2447, -0.8749, -0.8715, 0.9945, -0.0193, 0.5945, 0.2768, -0.2878, -0.0299, -0.036, 0.9998] state[eef_state]: left_x=0.4877 left_y=-0.0682 left_z=0.0526 left_yaw=0.7056 left_pitch=-0.0162 left_roll=0.0303 left_gripper=0.9945 right_x=0.2558 right_y=0.0039 right_z=0.1001 right_yaw=-0.0022 right_pitch=-0.0316 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.0479, -12.9162, 8.7043, 0.9646, -0.4371, -0.0024, -0.2222, -0.3487, -0.4855, 7.1179, 1.9658, -0.0513, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.494, "left_y": -0.076, "left_z": 0.02}, "note": "Wrist view shows the cap and neck right below the open jaws, slightly right of centre. Shifting ~1 cm right and descending lower so the jaws straddle the cap instead of closing above it."})
tool
executing move_to over 3 steps (0.3s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteCap is centred between the open jaws at z≈0.03. Closing on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.432, 2.1822, 1.3411, -0.1524, -0.8764, -0.8749, 0.996, -0.0193, 0.5713, 0.2497, -0.2794, -0.0299, -0.0357, 0.9998] state[eef_state]: left_x=0.4938 left_y=-0.0742 left_z=0.0322 left_yaw=0.7015 left_pitch=-0.0048 left_roll=0.0062 left_gripper=0.996 right_x=0.253 right_y=0.004 right_z=0.0949 right_yaw=-0.0025 right_pitch=-0.0271 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.3077, -10.4274, 5.094, 1.0916, -0.398, -0.1587, 0.1441, -0.2256, -0.4171, 7.0632, 2.0, -0.0757, -0.0611, -0.0122] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Cap is centred between the open jaws at z\u22480.03. Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteSecond empty close on the cap: the round cap squirts out of the jaws. Opening and backing up to try the neck just behind the cap with a lighter grip.
move_to
left_gripper1.0000left_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4305, 2.1651, 1.3418, -0.0845, -0.9432, -0.8696, 0.017, -0.0193, 0.5518, 0.2291, -0.2714, -0.0303, -0.0357, 0.9998] state[eef_state]: left_x=0.5023 left_y=-0.0694 left_z=0.055 left_yaw=0.7412 left_pitch=0.0797 left_roll=-0.0455 left_gripper=0.017 right_x=0.2512 right_y=0.0041 right_z=0.0917 right_yaw=-0.0021 right_pitch=-0.0202 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4034, -10.4547, 5.3949, 0.7253, 0.2564, -0.0269, 1.2283, -0.3897, -0.2256, 6.8991, 1.8926, -0.0415, -0.0122, -0.0122] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.08}, "note": "Second empty close on the cap: the round cap squirts out of the jaws. Opening and backing up to try the neck just behind the cap with a lighter grip."})
tool
executing move_to over 10 steps (1.0s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteCap sits just under the fingertips slightly right of centre. Moving ~2 cm toward the base and 1 cm right to straddle the neck behind the cap, then descending.
move_to
left_x0.4870left_y-0.0880left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.421, 2.1654, 1.4464, -0.3374, -0.894, -0.9199, 0.9943, -0.0193, 0.54, 0.2138, -0.2695, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4964 left_y=-0.0674 left_z=0.0572 left_yaw=0.7463 left_pitch=-0.0161 left_roll=0.0319 left_gripper=0.9943 right_x=0.2493 right_y=0.0041 right_z=0.0878 right_yaw=-0.0019 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1709, -14.4752, 8.5128, 0.9744, -0.4469, 0.0611, -0.0952, -0.0615, -0.4444, 6.7761, 1.9023, -0.0708, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.487, "left_y": -0.088, "left_z": 0.025}, "note": "Cap sits just under the fingertips slightly right of centre. Moving ~2 cm toward the base and 1 cm right to straddle the neck behind the cap, then descending."})
tool
executing move_to over 3 steps (0.3s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe neck is now between the jaws with the cap just ahead. Closing partially (to ~1.4 cm target) to hold the neck lightly so the bottle can pivot in the grip.
move_to
left_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4603, 2.1971, 1.4075, -0.2756, -0.9062, -0.96, 0.9956, -0.0193, 0.5251, 0.197, -0.2684, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4903 left_y=-0.0839 left_z=0.0377 left_yaw=0.7345 left_pitch=-0.0089 left_roll=0.0105 left_gripper=0.9956 right_x=0.2472 right_y=0.0042 right_z=0.0838 right_yaw=-0.0019 right_pitch=-0.0225 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.335, -10.4821, 5.012, 1.1502, -0.3346, -0.3248, 0.1245, -0.2256, -0.294, 6.9265, 1.8877, -0.0855, -0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.15}, "note": "The neck is now between the jaws with the cap just ahead. Closing partially (to ~1.4 cm target) to hold the neck lightly so the bottle can pivot in the grip."})
tool
executing move_to over 9 steps (0.9s)
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 noteGripper reached 0.156 with the cap right at the jaws; unclear if held. Lifting 5 cm to test whether the neck is gripped and the bottle pivots up.
move_to
left_z0.1100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4641, 2.1838, 1.4017, -0.2092, -0.9768, -0.9691, 0.156, -0.0193, 0.5083, 0.1776, -0.268, -0.0303, -0.0357, 0.9998] state[eef_state]: left_x=0.4968 left_y=-0.081 left_z=0.0566 left_yaw=0.7736 left_pitch=0.0735 left_roll=-0.0458 left_gripper=0.156 right_x=0.2446 right_y=0.0042 right_z=0.0788 right_yaw=-0.0021 right_pitch=-0.0248 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [0.1573, -10.9607, 5.1624, 0.7253, 0.2466, 0.0757, 0.0952, -0.1709, 0.0889, 7.0359, 1.8632, -0.0562, -0.0415, -0.0122] 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_z": 0.11}, "note": "Gripper reached 0.156 with the cap right at the jaws; unclear if held. Lifting 5 cm to test whether the neck is gripped and the bottle pivots up."})
tool
executing move_to over 4 steps (0.4s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteOverhead suggests bottle 1 is now tilting up from the gripper toward its base end, so the neck seems held. Continuing to raise while moving toward the bottle's base so it swings toward vertical.
move_to
left_x0.4500left_y-0.1200left_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4545, 2.1685, 1.5604, -0.4698, -0.9333, -1.005, 0.1548, -0.0193, 0.4877, 0.1589, -0.2684, -0.0303, -0.0357, 0.9998] state[eef_state]: left_x=0.5013 left_y=-0.083 left_z=0.0853 left_yaw=0.7771 left_pitch=0.0093 left_roll=-0.0075 left_gripper=0.1548 right_x=0.2423 right_y=0.0043 right_z=0.0748 right_yaw=-0.0021 right_pitch=-0.0233 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1162, -15.5419, 8.8547, 0.9011, -0.4811, -0.0171, -0.1343, -0.0752, -0.1299, 6.7624, 1.8828, -0.0415, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.12, "left_z": 0.19}, "note": "Overhead suggests bottle 1 is now tilting up from the gripper toward its base end, so the neck seems held. Continuing to raise while moving toward the bottle's base so it swings toward vertical."})
tool
executing move_to over 7 steps (0.7s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteGripper reading equals the command (0.155), so nothing is held; bottle 1 is still lying just ahead with its cap on the jaw column. Opening and descending to re-acquire the neck.
move_to
left_gripper1.0000left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5797, 2.0804, 1.7706, -0.9306, -0.9485, -1.2003, 0.1547, -0.0193, 0.4683, 0.1444, -0.2684, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4625 left_y=-0.1269 left_z=0.1614 left_yaw=0.7634 left_pitch=-0.0228 left_roll=-0.0122 left_gripper=0.1547 right_x=0.2407 right_y=0.0043 right_z=0.0725 right_yaw=-0.0019 right_pitch=-0.0183 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.5538, -14.5573, 7.8701, 0.4908, -0.7009, 0.1587, -0.022, -0.3624, 0.0342, 6.6256, 1.8486, -0.0611, -0.0611, -0.0073] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.05}, "note": "Gripper reading equals the command (0.155), so nothing is held; bottle 1 is still lying just ahead with its cap on the jaw column. Opening and descending to re-acquire the neck."})
tool
executing move_to over 9 steps (0.9s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteA bottle lies right under the jaws with its cap ~5 cm ahead on the jaw column. Advancing ~5 cm along the bottle toward the cap so the neck sits between the jaws.
move_to
left_x0.4950left_y-0.0950left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5888, 2.1849, 1.5097, -0.5797, -0.9585, -1.2049, 0.995, -0.0193, 0.4534, 0.1314, -0.2687, -0.0299, -0.0357, 0.9998] state[eef_state]: left_x=0.4599 left_y=-0.129 left_z=0.0585 left_yaw=0.7601 left_pitch=-0.0168 left_roll=0.0002 left_gripper=0.995 right_x=0.2392 right_y=0.0043 right_z=0.0698 right_yaw=-0.0025 right_pitch=-0.0168 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [0.0615, -10.6462, 5.3538, 0.8181, -0.652, 0.0952, -0.1392, -0.3214, 0.0889, 6.8991, 1.8779, -0.0415, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.495, "left_y": -0.095, "left_z": 0.035}, "note": "A bottle lies right under the jaws with its cap ~5 cm ahead on the jaw column. Advancing ~5 cm along the bottle toward the cap so the neck sits between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
assistant
agent noteNeck is between the jaws just behind the cap. Closing to a moderate target (0.1) so the grip holds the neck but can let the bottle pivot.
move_to
left_gripper0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4889, 2.228, 1.4857, -0.4023, -0.9394, -1.0935, 0.9962, -0.0193, 0.4419, 0.1223, -0.2691, -0.0303, -0.0357, 0.9998] state[eef_state]: left_x=0.4875 left_y=-0.0937 left_z=0.041 left_yaw=0.7925 left_pitch=-0.0063 left_roll=-0.0173 left_gripper=0.9962 right_x=0.2382 right_y=0.0044 right_z=0.0681 right_yaw=-0.0021 right_pitch=-0.0149 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.8547, -10.441, 5.7231, 0.9353, -0.3687, 0.3199, 0.1197, -0.2256, -0.1162, 6.6803, 1.8046, -0.0904, -0.0611, -0.0122] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.1}, "note": "Neck is between the jaws just behind the cap. Closing to a moderate target (0.1) so the grip holds the neck but can let the bottle pivot."})
tool
executing move_to over 9 steps (0.9s)
step 185
assistant
agent noteEmpty again: closing lifts and pitches the tool ~1.5 cm, so the fingers slip over the neck. Reopening at the neck position; next I'll close while commanding a lower z.
move_to
left_gripper1.0000left_x0.4900left_y-0.0930left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4782, 2.2364, 1.4929, -0.3027, -1.01, -1.0245, 0.1059, -0.0193, 0.4309, 0.112, -0.2687, -0.0303, -0.0357, 0.9998] state[eef_state]: left_x=0.5021 left_y=-0.0877 left_z=0.0561 left_yaw=0.8016 left_pitch=0.0826 left_roll=-0.0338 left_gripper=0.1059 right_x=0.2371 right_y=0.0044 right_z=0.0658 right_yaw=-0.0021 right_pitch=-0.0137 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.4444, -11.2889, 5.3128, 0.6716, 0.3248, -0.0415, 0.2271, -0.1846, 0.4444, 6.8034, 1.7705, -0.0415, -0.0562, -0.0122] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.49, "left_y": -0.093, "left_z": 0.03}, "note": "Empty again: closing lifts and pitches the tool ~1.5 cm, so the fingers slip over the neck. Reopening at the neck position; next I'll close while commanding a lower z."})
tool
executing move_to over 9 steps (0.9s)
step 194
assistant
agent noteNeck and cap sit centred between the open jaws. Closing while pushing the target down so the fingers don't ride up over the neck.
move_to
left_gripper0.0000left_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4793, 2.2536, 1.5211, -0.3965, -0.9504, -1.1004, 0.9943, -0.0193, 0.4225, 0.1001, -0.2691, -0.0299, -0.0357, 0.9998] state[eef_state]: left_x=0.4962 left_y=-0.0919 left_z=0.0416 left_yaw=0.8104 left_pitch=0.0077 left_roll=-0.0353 left_gripper=0.9943 right_x=0.2356 right_y=0.0043 right_z=0.0622 right_yaw=-0.0025 right_pitch=-0.0175 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.8684, -10.8923, 4.8752, 0.8523, -0.442, 0.0464, -0.0952, -0.3077, -0.0752, 7.0496, 1.7949, -0.0562, -0.0611, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0, "left_z": 0.0}, "note": "Neck and cap sit centred between the open jaws. Closing while pushing the target down so the fingers don't ride up over the neck."})
tool
executing move_to over 10 steps (1.0s)
step 204
assistant
agent noteI didn't stand up any of the three bottles, and I don't think I can with the calls I have left (14 of 40). All three are still lying on their sides. With pitch and roll locked, the gripper can only point straight down, so the only way to stand a bottle up is to hold it by the neck or cap, lift it so it swings to hang from the grip, then set its base down. Holding it loosely enough to swing but tightly enough not to drop it didn't work: - Closing hard on the bottle's shoulder did hold it (gripper settled at 0.40, about 3.8 cm), but the bottle came up rigid and flat. When I loosened the grip to let it swing, it dropped back onto the table. - Five closes on the cap or neck all came up empty (readings 0.02, 0.02, 0.16, 0.11, 0.02). Each time the fingers stopped at about z 0.04, and closing lifted the grasp point about 1.5 cm and tipped the tool forward, so the jaws slid over the round cap or neck. The last try also pushed the z target down to 0 while closing, and it still rose.
give_up
hindsight- With pitch and roll locked, standing a lying bottle depends entirely on grabbing it by the neck. Here the bottles lay with caps pointing forward (+x), bottoms toward the bases, spread across the left half of the table. The left arm reached bottle 1's cap at about left x=0.49, y=-0.08 with yaw about +0.7, which lined the bottle up with the vertical axis of the wrist image. - Every close lifts the grasp point about 1.5–2 cm and tips the tool forward about 0.08–0.12 rad. Commanding a lower z while closing didn't stop this. Descents over a lying bottle stop at about z=0.04 (fingertips on the bottle's body or shoulder), so the jaws close above a neck or cap whose centre is at about z 0.03. A future attempt might try yaw 90° off the bottle axis so the fingers land on either side of the neck, or approach where the jaws can reach table level. - A firm close on the shoulder does hold the bottle (settled 0.40), but it lifts flat and doesn't swing. Loosening to 0.5 in mid-air just drops it. - A gripper reading equal to the partial-close command (e.g. 0.155 for 0.15) means nothing is between the jaws. - The wrist camera sees objects on the table under and ahead of the fingertips, and I several times took a table bottle for a held one. Always check the gripper reading. - The top camera does show which bottle moved. Left arm at home (0.3, 0) shows in the top image at about pixel (30,125); bottles were at image x about 55–80, 90–110 and 130–145.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4828, 2.278, 1.5326, -0.2943, -1.0603, -1.1011, 0.0182, -0.0193, 0.4072, 0.0917, -0.2691, -0.0299, -0.0357, 0.9998] state[eef_state]: left_x=0.5085 left_y=-0.0884 left_z=0.0559 left_yaw=0.8629 left_pitch=0.1241 left_roll=-0.0981 left_gripper=0.0182 right_x=0.2351 right_y=0.0043 right_z=0.0616 right_yaw=-0.0025 right_pitch=-0.0107 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.0615, -6.3521, 4.3966, 0.4518, 0.5885, -0.0024, 0.8571, -0.294, 0.1846, 6.5162, 1.8339, -0.0611, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I didn't stand up any of the three bottles, and I don't think I can with the calls I have left (14 of 40). All three are still lying on their sides. With pitch and roll locked, the gripper can only point straight down, so the only way to stand a bottle up is to hold it by the neck or cap, lift it so it swings to hang from the grip, then set its base down. Holding it loosely enough to swing but tightly enough not to drop it didn't work:\n- Closing hard on the bottle's shoulder did hold it (gripper settled at 0.40, about 3.8 cm), but the bottle came up rigid and flat. When I loosened the grip to let it swing, it dropped back onto the table.\n- Five closes on the cap or neck all came up empty (readings 0.02, 0.02, 0.16, 0.11, 0.02). Each time the fingers stopped at about z 0.04, and closing lifted the grasp point about 1.5 cm and tipped the tool forward, so the jaws slid over the round cap or neck. The last try also pushed the z target down to 0 while closing, and it still rose.", "hindsight": "- With pitch and roll locked, standing a lying bottle depends entirely on grabbing it by the neck. Here the bottles lay with caps pointing forward (+x), bottoms toward the bases, spread across the left half of the table. The left arm reached bottle 1's cap at about left x=0.49, y=-0.08 with yaw about +0.7, which lined the bottle up with the vertical axis of the wrist image.\n- Every close lifts the grasp point about 1.5\u20132 cm and tips the tool forward about 0.08\u20130.12 rad. Commanding a lower z while closing didn't stop this. Descents over a lying bottle stop at about z=0.04 (fingertips on the bottle's body or shoulder), so the jaws close above a neck or cap whose centre is at about z 0.03. A future attempt might try yaw 90\u00b0 off the bottle axis so the fingers land on either side of the neck, or approach where the jaws can reach table level.\n- A firm close on the shoulder does hold the bottle (settled 0.40), but it lifts flat and doesn't swing. Loosening to 0.5 in mid-air just drops it.\n- A gripper reading equal to the partial-close command (e.g. 0.155 for 0.15) means nothing is between the jaws.\n- The wrist camera sees objects on the table under and ahead of the fingertips, and I several times took a table bottle for a held one. Always check the gripper reading.\n- The top camera does show which bottle moved. Left arm at home (0.3, 0) shows in the top image at about pixel (30,125); bottles were at image x about 55\u201380, 90\u2013110 and 130\u2013145."})
tool
give_up: I didn't stand up any of the three bottles, and I don't think I can with the calls I have left (14 of 40). All three are still lying on their sides. With pitch and roll locked, the gripper can only point straight down, so the only way to stand a bottle up is to hold it by the neck or cap, lift it so it swings to hang from the grip, then set its base down. Holding it loosely enough to swing but tightly enough not to drop it didn't work: - Closing hard on the bottle's shoulder did hold it (gripper settled at 0.40, about 3.8 cm), but the bottle came up rigid and flat. When I loosened the grip to let it swing, it dropped back onto the table. - Five closes on the cap or neck all came up empty (readings 0.02, 0.02, 0.16, 0.11, 0.02). Each time the fingers stopped at about z 0.04, and closing lifted the grasp point about 1.5 cm and tipped the tool forward, so the jaws slid over the round cap or neck. The last try also pushed the z target down to 0 while closing, and it still rose.
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 · 16.13 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, 0.7933, 0.6086, -0.3763, -0.0227, -0.0288, 0.9988, -0.017, 0.7895, 0.6037, -0.3885, -0.0299, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1831 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9988 right_x=0.2933 right_y=0.0039 right_z=0.1793 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.4427, 9.7162, 1.7314, -0.0708, 0.1392, -0.1343, -0.6769, -1.1829, 10.4137, 1.873, 0.0806, 0.1734, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc53ac4f01c54ed97e625dc6832d6aa8c0282b5ceb1c454622c0ff12171dcfbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66d09539412483cbd0429ab81243943d41edafeee0d59bd1fd2ccd5ba109b2e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60f27d2b8c90d013089e40e94534ab300066bda1c06b2eeb097e4306dab1f37e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 11.94 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, 0.7933, 0.6086, -0.3763, -0.0227, -0.0288, 0.9988, -0.017, 0.7895, 0.6037, -0.3885, -0.0299, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1831 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9988 right_x=0.2933 right_y=0.0039 right_z=0.1793 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.4427, 9.7162, 1.7314, -0.0708, 0.1392, -0.1343, -0.6769, -1.1829, 10.4137, 1.873, 0.0806, 0.1734, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc53ac4f01c54ed97e625dc6832d6aa8c0282b5ceb1c454622c0ff12171dcfbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66d09539412483cbd0429ab81243943d41edafeee0d59bd1fd2ccd5ba109b2e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60f27d2b8c90d013089e40e94534ab300066bda1c06b2eeb097e4306dab1f37e",
        "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_01R91uAP4fc6by2FJSANBRRd",
      "input": {
        "note": "Three bottles lie on their sides mid-table, caps pointing away from the bases. Plan: grab each bottle by the neck, lift so it swings to hang vertically, then set its base down. Moving the left arm over the leftmost bottle's cap to localize it.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.42,
          "left_y": -0.12,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01R91uAP4fc6by2FJSANBRRd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4255, 1.4929, 0.8543, -0.0437, -0.342, -0.2546, 0.9989, -0.0193, 0.7921, 0.6033, -0.4038, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4045 left_y=-0.1143 left_z=0.1284 left_yaw=-0.0161 left_pitch=-0.0752 left_roll=0.0204 left_gripper=0.9989 right_x=0.2913 right_y=0.0033 right_z=0.1753 right_yaw=-0.0019 right_pitch=-0.0187 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.0906, 8.7863, 1.7607, -0.2906, 0.1685, -0.1294, 0.0479, -1.4291, 7.1316, 1.873, -0.0611, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1abcd99f2b6693aaecb0c7bb7c1641c81ac97b384e05800eeba248827633f385",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e94702d1664f1a60e5a8bcac0087c5336b0b248e3dbe330f9db938b02f8650c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ad6b28576190173e47bc3359f93624f2d455775769ddf360e2f5e640cf5b9c9",
        "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 · 6.998 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, 0.7933, 0.6086, -0.3763, -0.0227, -0.0288, 0.9988, -0.017, 0.7895, 0.6037, -0.3885, -0.0299, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1831 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9988 right_x=0.2933 right_y=0.0039 right_z=0.1793 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.4427, 9.7162, 1.7314, -0.0708, 0.1392, -0.1343, -0.6769, -1.1829, 10.4137, 1.873, 0.0806, 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]: [-0.4255, 1.4929, 0.8543, -0.0437, -0.342, -0.2546, 0.9989, -0.0193, 0.7921, 0.6033, -0.4038, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4045 left_y=-0.1143 left_z=0.1284 left_yaw=-0.0161 left_pitch=-0.0752 left_roll=0.0204 left_gripper=0.9989 right_x=0.2913 right_y=0.0033 right_z=0.1753 right_yaw=-0.0019 right_pitch=-0.0187 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.0906, 8.7863, 1.7607, -0.2906, 0.1685, -0.1294, 0.0479, -1.4291, 7.1316, 1.873, -0.0611, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1abcd99f2b6693aaecb0c7bb7c1641c81ac97b384e05800eeba248827633f385",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e94702d1664f1a60e5a8bcac0087c5336b0b248e3dbe330f9db938b02f8650c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ad6b28576190173e47bc3359f93624f2d455775769ddf360e2f5e640cf5b9c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013arhpSFo8E3o9kwRu4NxRx",
      "input": {
        "note": "Left wrist cam shows bottle 1's cap slightly ahead and left of the jaws, with the bottle running diagonally toward the base. Shifting over the neck and yawing 45° so the jaws close across the bottle axis.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.09,
          "left_yaw": 0.785,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_013arhpSFo8E3o9kwRu4NxRx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5392, 1.9362, 1.3624, -0.4484, -0.8597, -0.9527, 0.9985, -0.0193, 0.783, 0.5861, -0.4038, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4561 left_y=-0.1128 left_z=0.1179 left_yaw=0.6272 left_pitch=-0.0297 left_roll=-0.0386 left_gripper=0.9985 right_x=0.2886 right_y=0.0034 right_z=0.1699 right_yaw=-0.0019 right_pitch=-0.0267 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -10.7282, 5.8735, 0.4322, -0.7888, 0.0122, -0.0611, -0.3761, -1.4427, 6.8718, 1.9414, -0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0029901d237dc13f9190b2c1e2ab1bc3bbd0530b7c21decced494625b41777a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67d77d9b71335580751ccc18bd3e2803124d49f56773510af2a212a621bbaee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9179ed3a32a94aca2549d8640ddd77d59a1b5cf3548c3281dd0240803987c789",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 5.42 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, 0.7933, 0.6086, -0.3763, -0.0227, -0.0288, 0.9988, -0.017, 0.7895, 0.6037, -0.3885, -0.0299, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1831 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9988 right_x=0.2933 right_y=0.0039 right_z=0.1793 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.4427, 9.7162, 1.7314, -0.0708, 0.1392, -0.1343, -0.6769, -1.1829, 10.4137, 1.873, 0.0806, 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]: [-0.4255, 1.4929, 0.8543, -0.0437, -0.342, -0.2546, 0.9989, -0.0193, 0.7921, 0.6033, -0.4038, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4045 left_y=-0.1143 left_z=0.1284 left_yaw=-0.0161 left_pitch=-0.0752 left_roll=0.0204 left_gripper=0.9989 right_x=0.2913 right_y=0.0033 right_z=0.1753 right_yaw=-0.0019 right_pitch=-0.0187 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.0906, 8.7863, 1.7607, -0.2906, 0.1685, -0.1294, 0.0479, -1.4291, 7.1316, 1.873, -0.0611, -0.0269, -0.0073]",
      "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]: [-0.5392, 1.9362, 1.3624, -0.4484, -0.8597, -0.9527, 0.9985, -0.0193, 0.783, 0.5861, -0.4038, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4561 left_y=-0.1128 left_z=0.1179 left_yaw=0.6272 left_pitch=-0.0297 left_roll=-0.0386 left_gripper=0.9985 right_x=0.2886 right_y=0.0034 right_z=0.1699 right_yaw=-0.0019 right_pitch=-0.0267 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -10.7282, 5.8735, 0.4322, -0.7888, 0.0122, -0.0611, -0.3761, -1.4427, 6.8718, 1.9414, -0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0029901d237dc13f9190b2c1e2ab1bc3bbd0530b7c21decced494625b41777a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67d77d9b71335580751ccc18bd3e2803124d49f56773510af2a212a621bbaee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9179ed3a32a94aca2549d8640ddd77d59a1b5cf3548c3281dd0240803987c789",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzwsKEAgSGAI4AUIIdGhpbmtpbmcSDKT7X+W9CIskDTGb7RoMtazwOhpZsrSl7PFvIjCJlv7i/9NhHLziHXjKTXcU1501Uk7M0uK8zG/2IeStFdKebWZAq/4UM7GIdMEZNo8q7AoLO3bpclR2dPEKeeL5dOOkL5mturbak04DK41MKb8m3QiQZzTTHw8IWlEeJFdV6TFH1CrknbfxBRsp9FGqAZQQSSFW1QIU+huOigHlMqtCQSMeUg8BoNi1lBchYPIY7Vh/KRMs6//6+9n/gwQcyz+6xJMMqZRVB9zLDuK1xYvjdTrOw0Cm47JtRKT6GTnTDRFf+SBr7OZhiDEThMnoW6arYmOi4xkv02oSW94b2e44GUkLSKj70C420JoSqecJkTdBHVsgi/rl3JGN2B++UC6sMK8+ESxw9AeHUWK2YECt04BeR2LNUx4a6B7+VUletld/tfpT7zangCGlAB/vZqWmEBsoA31gV5NgXPLCGM/z7rukyrZi4RyMQx3/Jd0GzMdl/ycau0Ks2cKfF9Kz4SNw+HhpWv7OFH+olhhDiVqyeLP0QtlsY4jRW7iqbAiHWfhUxTUdxH4HyNyaBOW4DPzYB86bbMALpTfSzTRDRLJuxy4kTvWR2rBCKDbTzYNBfgqkZ7sAvpzUPBP8xgsQUScxON2T2dlYi7nBKyKK02aEoMm7PcUgAWyAOdUnRTjSpaa6vFB6MX8a+dObj/Rx9NAYrwTj3h6kO5cQynfQ88L1EURabkD4NmQ7gpR8Q5Xeg9MNn3UXlG95LOfKj/BOvVHrhDpFhZZGR8EqYcBD+140oniCPXSpjKeLa1NCVJ87FvpU/kiDXZAhRAre6BHcEUrVKKF6y04oX7Vij9+r58ZS5k/BpoLAvlP2qT58ml6hX38cy62+ruJANnMvMEL8UbphFW6aI67L61RU7JnrKoFHF/TxAuECULwhuD9predO3D4/oLGANneMNr1DXJnhh3rfhna4sM8DPA1AXmq3+9BxMRPDMGW0lJ4znMrMdXs5Kpo4+Ihiq5Qb5gfZfAszsBgTdQVp3UaV9vBelqrPlojHxL3quDAbicoz1jq1rXTqOoYw6slJFvYHgLWwc00c/fC57koZk9do34DWcJEbzPAG5BLzTQSCQMrbJs7Ef7r/L1dhH4FRXCG3SVrcAKxD1CUbmPu78ue/WJp5tdE18jOtQyBp80clfJwSuSNkCpx9A3rkTCePKJW9yEvC19f7s6+G7EpG9zP5OJ+UL01h2llO7FyAisB6/YoYUSSTubffn3jr+q6NnqToaXucw6HVIe8+qANgydwJiEwKmIU6JqsKcxKZbu9kHprLxm15x+QaErYFFqWjqx5vApzfkxHKA/JZJAMAC2rDERHOflrR4otS6P1GeQrkQoRznI117jYj0SQIy8IMcUnL0LOBlouV958HYEYkK+0gZr6WjazPDElY1Rd+rrEEUjx0OzozIlVWRmC50+IMLvN7pZKmURBfktkjRByR5wVhSs3IKmFuNQLwunz1irsdsI72Yfa6GOJgk9n81rVRm5re2pg/hUctSlrZ5J3j0z1JA2m3BTPs1d9KhgMaFwoJDIA3NBxURQqfRT09+k2n4Mrz1ScK4MNfk93X7dJlZWpEKQ9l7iSG9iJaC8x8MU5cSSToHCd4wDl6f7RU40QY8D6U6qnXjZK5Jc1T0+t4kw8SZCTj78K8b3zzUUhm8A4f6kKItRU7XwyAprJkECGGLbaTORnaPfgEXTcPx6KmFdZPHwpls7bJI1IjKeUEHJJQUqHJHrTTU6Edx+/xx10JKlwzX5u/SKlS7ohUbUs73DpXnleEShMdBVLk6TsmevoJWiOELtuvXNuTcYu4gzhZ94Cd8D7GT6ibAyrBWPSud0tdq7s/YjfTIMTWiHyRs3A2cTTCuJDiGJPNcrqm/uA4SDfZ8RtXk7Y6go7khh28+bg/j+l1E7fBS7yIWzHVqSXMuIRNLbjxnBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015r52jeqsRYUcrCbBE9SHKm",
      "input": {
        "note": "Bottle 1 now runs straight down the wrist image with its cap just ahead of the jaws, so the jaws are across the neck. Descending onto the neck with a small leftward correction.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.1,
          "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_015r52jeqsRYUcrCbBE9SHKm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5343, 2.0533, 1.1633, -0.1631, -0.8959, -0.9241, 0.9984, -0.0193, 0.7719, 0.5583, -0.3965, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4444 left_y=-0.0985 left_z=0.0366 left_yaw=0.6362 left_pitch=-0.0131 left_roll=0.0259 left_gripper=0.9984 right_x=0.2854 right_y=0.0034 right_z=0.1617 right_yaw=-0.0022 right_pitch=-0.0362 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -9.1556, 4.7248, 1.0525, -0.3199, 0.0464, -0.022, -0.2803, -1.7846, 7.1179, 1.956, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87bdcbff8b8938713b6ef2e74f7a3cbd368b91878e47ceffa44c435daa1b7481",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:539ad7f603c4825a0384be34a689ed6f2045c3bc6feb735a6e81f1763d9bcf8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:342a87c39e5b3d96c3ec07eef161b54ef53a2457789cfc039dd1ee58f58ebf29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 3.691 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]: [-0.4255, 1.4929, 0.8543, -0.0437, -0.342, -0.2546, 0.9989, -0.0193, 0.7921, 0.6033, -0.4038, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4045 left_y=-0.1143 left_z=0.1284 left_yaw=-0.0161 left_pitch=-0.0752 left_roll=0.0204 left_gripper=0.9989 right_x=0.2913 right_y=0.0033 right_z=0.1753 right_yaw=-0.0019 right_pitch=-0.0187 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.0906, 8.7863, 1.7607, -0.2906, 0.1685, -0.1294, 0.0479, -1.4291, 7.1316, 1.873, -0.0611, -0.0269, -0.0073]",
      "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]: [-0.5392, 1.9362, 1.3624, -0.4484, -0.8597, -0.9527, 0.9985, -0.0193, 0.783, 0.5861, -0.4038, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4561 left_y=-0.1128 left_z=0.1179 left_yaw=0.6272 left_pitch=-0.0297 left_roll=-0.0386 left_gripper=0.9985 right_x=0.2886 right_y=0.0034 right_z=0.1699 right_yaw=-0.0019 right_pitch=-0.0267 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -10.7282, 5.8735, 0.4322, -0.7888, 0.0122, -0.0611, -0.3761, -1.4427, 6.8718, 1.9414, -0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5343, 2.0533, 1.1633, -0.1631, -0.8959, -0.9241, 0.9984, -0.0193, 0.7719, 0.5583, -0.3965, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4444 left_y=-0.0985 left_z=0.0366 left_yaw=0.6362 left_pitch=-0.0131 left_roll=0.0259 left_gripper=0.9984 right_x=0.2854 right_y=0.0034 right_z=0.1617 right_yaw=-0.0022 right_pitch=-0.0362 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -9.1556, 4.7248, 1.0525, -0.3199, 0.0464, -0.022, -0.2803, -1.7846, 7.1179, 1.956, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87bdcbff8b8938713b6ef2e74f7a3cbd368b91878e47ceffa44c435daa1b7481",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:539ad7f603c4825a0384be34a689ed6f2045c3bc6feb735a6e81f1763d9bcf8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:342a87c39e5b3d96c3ec07eef161b54ef53a2457789cfc039dd1ee58f58ebf29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+AgKEAgSGAI4AUIIdGhpbmtpbmcSDMZcLtxHDWzo6MwCDBoMkowWxqw8EwAB7N8ZIjCSJAtVKzr+us4dvZ3MHTJz6OkwkWKZBCzM/lVSamke6JGYseN24jnS7f1aX3UeV6sqlQj6A64Xdtr5MlxiPliAz1GTVS6tE2pIu46BRlhlFzXfyf9zDNmf8GoG69uvtmvWlaqYuyw+zyoNbazhOQa2mOLXnzxopRBE3scIt+UI0kYGqNh4LmfFiQ4TVnWsk+XpYu9rmCQauQnjNjtExf/6KXhYuubu58xCA4Niy7hr4Gwm9H2jeIYS4P7zLifQnqepat8a/E5WsyQEFwSvJWIuIfQ1AY0B9ewnCXpV+8o7g7SKYpM7M7TvLorI5mYGtTVE+jTZBpW3OH93tkIHypFBhaJ3sSLOYltDfcEvaHVixBphR9ExlTK8KBm0eEmbLhQaTAnbj0x6hEhhnSsEY7XdtHmlmPLbTQ2iaaf9NGilB52khkeN1S3LpagyAv/Zj2ViDTzMIKHqqfGZmGXs2d3e0lLsuXop8eWNxR7tOrokYnGK/Usl3SZF2PSH5v8jMCZgRluQMiNfnSlWm8BU7aqF9a6kksdrlsD6fe7rF5pSasvDCxwKrOGx5RPbCyGs/39vNNGq6EundFHHnWOipriynwUEi3+d8Aei3MC7PyiSxvgQVfqHfUMw6mWI+pxJFiFFFkBexgOa9V3PxQaF7v+cB8koxAvkjNJgQP/AlL9bGD6csB0otr/zXFL2klD989cE4Nqx0fI+lkBYY4KhpBJqH9t0hS23ogvWFxnsW1PQIpQH7hNXyfG9w8v737TwhzByxbD4AYfMQCw5vSqoqu7OFger/qIbx/FrWqQ+9qPoJQYllfWcXtAO8XlLu1VFkti4CwdoKvsrOTORhRD4V1+DwNLxdv/dTGc35SQ7ke0c5t85pYrEFxcqpGxFajhOcW78ptnYHzEtTdHvNwmgximN3VSdmc1Wl/5t6ZfguvAARoYPkfkWIJLUg5uinM463UYbPDFtxq0CquKe+Ct7G4YuCWZ99H/ZhtCequ88fACVhS3iPzcg3KRNyunSRjFOHpPlKPH2AHPoOGv5f5bHxJ8g0zPTVWk1vRix5DL1G+vcOb8zg04+K1cbpptLG8uujpoSxPwC9w/GMLI8Hfi2m5CCwG7jxREKn5mZ32lowXO6wrbOUPXRUDK3WYfUqw7knTfzQo/BWPmknqBbJCyseDonDpDIwgyZSWht4M4ScJpqjcOH9EZYfpPr77U/nCBJCK/zubO0juKqEX6a4Egx/8JNGmyUKh/gX0QERf2bepRQVTXE9JbHeXBETMWplaNJpHQY0n1X2zFFTA6/7ESacBwaPILPTTLPP9VMqV7nsUHR1Eir1RSX5s+xjmpxKu6VV8Wf2OEdMsWee5oOPAXQOnNIQOs6izVLrTrAAeELpOiel0paNQoiLRMJRjgb98PQj1qfNbcX8pGXfPZDi0Qvcut4oRUh3ElF4aKPBRbblVcsnsWTiNQg4GeJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MjYhmihvV6vD9GfMkafznE",
      "input": {
        "note": "Jaws are over the bottle's shoulder with the cap just ahead. Nudging ~2 cm toward the cap and lowering to neck height before closing.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.087,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01MjYhmihvV6vD9GfMkafznE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5129, 2.0708, 1.1549, -0.0528, -0.8982, -0.9035, 0.9984, -0.0193, 0.7582, 0.5365, -0.3813, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4577 left_y=-0.095 left_z=0.0376 left_yaw=0.6481 left_pitch=0.0218 left_roll=-0.0333 left_gripper=0.9984 right_x=0.2839 right_y=0.0034 right_z=0.1585 right_yaw=-0.0022 right_pitch=-0.029 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [1.388, -7.5966, 4.547, 1.0867, -0.1099, 0.2466, -0.0171, -0.3897, -1.4564, 6.735, 2.0684, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d9d54a2774962fbbeebb9908a7c9cee9fad6627f6fa285458c0b93371be091b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22bc6498cbe0ffe9ab9d1248cd8c40464d9ee58bc6575e8e3fb6b20420e5e863",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77b25c705342ce5523c4c2c5f99a2b677f806e1e2af937c206e6261c0d4db288",
        "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 · 8.554 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]: [-0.5392, 1.9362, 1.3624, -0.4484, -0.8597, -0.9527, 0.9985, -0.0193, 0.783, 0.5861, -0.4038, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4561 left_y=-0.1128 left_z=0.1179 left_yaw=0.6272 left_pitch=-0.0297 left_roll=-0.0386 left_gripper=0.9985 right_x=0.2886 right_y=0.0034 right_z=0.1699 right_yaw=-0.0019 right_pitch=-0.0267 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -10.7282, 5.8735, 0.4322, -0.7888, 0.0122, -0.0611, -0.3761, -1.4427, 6.8718, 1.9414, -0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5343, 2.0533, 1.1633, -0.1631, -0.8959, -0.9241, 0.9984, -0.0193, 0.7719, 0.5583, -0.3965, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4444 left_y=-0.0985 left_z=0.0366 left_yaw=0.6362 left_pitch=-0.0131 left_roll=0.0259 left_gripper=0.9984 right_x=0.2854 right_y=0.0034 right_z=0.1617 right_yaw=-0.0022 right_pitch=-0.0362 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -9.1556, 4.7248, 1.0525, -0.3199, 0.0464, -0.022, -0.2803, -1.7846, 7.1179, 1.956, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5129, 2.0708, 1.1549, -0.0528, -0.8982, -0.9035, 0.9984, -0.0193, 0.7582, 0.5365, -0.3813, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4577 left_y=-0.095 left_z=0.0376 left_yaw=0.6481 left_pitch=0.0218 left_roll=-0.0333 left_gripper=0.9984 right_x=0.2839 right_y=0.0034 right_z=0.1585 right_yaw=-0.0022 right_pitch=-0.029 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [1.388, -7.5966, 4.547, 1.0867, -0.1099, 0.2466, -0.0171, -0.3897, -1.4564, 6.735, 2.0684, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d9d54a2774962fbbeebb9908a7c9cee9fad6627f6fa285458c0b93371be091b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22bc6498cbe0ffe9ab9d1248cd8c40464d9ee58bc6575e8e3fb6b20420e5e863",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77b25c705342ce5523c4c2c5f99a2b677f806e1e2af937c206e6261c0d4db288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSigcKEAgSGAI4AUIIdGhpbmtpbmcSDCnoQWtYpev1jRlVnBoM3PeK6Rc5QY5030+hIjDIWHf1ORiV+Pn0vY+9c8YIoDzxGOQvYhkHyRb94ZRXi+TPJVIB/udcvUu5j81Js90qpwZ/3P511HkWw00tAA5kVMYqsDPtFBrxP473BkAQKgGKGej5J21D4h4me23U4OfoFQbBkpvDiH4gTOR4PWvZT3FDjxPqrWu5zfgTjlol5l468CvmD1+qkNUOKyJGhMzdet8HCl7y4xWFVVVIjDZzm/LGrM9CRBV+M03g1WbGwwLOnAJoT4dFV84zfHhUsOaD36xAWy9Hgk9a6e/PPaLtrY9bUvWB+tu8c8OyOaPzf90g6Xp2Fy14VRLupZMfNIh+4GA1zeihRNtXNjoDQ3IqxZDwV4gKb/baOSYDA8G3u70y+lQwsm3KVPVGPhgQrkgZBq/MajIyVLX4IwjywjwIFpMDMWP0KznjcwElj2la7weBCo2NoPrIl0UpQXLEPYSQKEyblXopsZoj3MJTQUCzjTLrdke+379dMf4vTIUqrTj2S2YmI7Mow5AXXhNQiW9o+amxtl3Mwa4i7/E66nBq8habzt+duQAPW17jX+1lE7Elohgz8OL4Klz/hopZOJL8XSpCGsz2aPmfXV33Q3FY55Ce6si7XKC0EA1Bnw88/dJRpOgmPZ0j6z0w7ZymFKfMIa6CeH7ZVFyBO13a+ClsDWCaCwN9nLrsKOaWHOY/NF7Wz260J4OIv3fujmu3EeZf7YPziZxtynVSkn5aYkS82ivMpuhhccPTJUv2A9951fcfJZAxnVc6nXvFTi8B+dagRdCd4NSL/Mq4pi2eWtWlugtn4i+3dMcP4k6AJXXhE6zzUXf0QcyLdv4Mr/NgmwneHTqdlBc2He++z68nTK1PvqLs4+fx9rSo0Pr84oExJpVY88mta2MjoqMIxtPQgUcPj2JAvvL964Tc32MulHmIxsTPfjgwbq0If/6+jXzH7IP8xMYTFjTR9OGVqm5xGICspt5yRzBXHQlHwJF7HXe1qipCEImF9sZ845u00cxuYuGs/sKRCfasqKRB3JCuLUusa70L5xo8tBHE6Ig5hAT0jprPpT1rDLhArMqKfuCKF0jXxs3hae58Lst4/U7gwOHPDR5nI0vdnDWCJLVjJyIDhU2gbn0f3aBpVEj7qXCeN+oFckPJds8KXqgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DzGKUHyKksdnqNvnrb5yoU",
      "input": {
        "note": "Descent stopped at z≈0.037, likely resting on the bottle's upper body near the neck. Closing the gripper to grab it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DzGKUHyKksdnqNvnrb5yoU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.511, 2.0739, 1.187, -0.0856, -0.944, -0.9161, 0.398, -0.0193, 0.7456, 0.5095, -0.3744, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4611 left_y=-0.0904 left_z=0.0479 left_yaw=0.6819 left_pitch=0.0551 left_roll=-0.0262 left_gripper=0.398 right_x=0.2806 right_y=0.0035 right_z=0.1509 right_yaw=-0.0019 right_pitch=-0.0366 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -10.3453, 5.8462, 0.7497, 0.0904, 0.0659, 0.6813, -0.1573, -1.6889, 6.8991, 1.9902, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:974d97ec4b21946b026be3a88c2ef015dd07b15b60ce933d6dd08f8d8b1d3804",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fb688411ab8beacf64a946ab54929401b58c1f8768b00cd7c50634e3315519c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e47adfe611becd21c0621434d6bfaf9e169b3774469524786138e505ea2f4c3c",
        "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 · 9.814 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]: [-0.5343, 2.0533, 1.1633, -0.1631, -0.8959, -0.9241, 0.9984, -0.0193, 0.7719, 0.5583, -0.3965, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4444 left_y=-0.0985 left_z=0.0366 left_yaw=0.6362 left_pitch=-0.0131 left_roll=0.0259 left_gripper=0.9984 right_x=0.2854 right_y=0.0034 right_z=0.1617 right_yaw=-0.0022 right_pitch=-0.0362 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -9.1556, 4.7248, 1.0525, -0.3199, 0.0464, -0.022, -0.2803, -1.7846, 7.1179, 1.956, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5129, 2.0708, 1.1549, -0.0528, -0.8982, -0.9035, 0.9984, -0.0193, 0.7582, 0.5365, -0.3813, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4577 left_y=-0.095 left_z=0.0376 left_yaw=0.6481 left_pitch=0.0218 left_roll=-0.0333 left_gripper=0.9984 right_x=0.2839 right_y=0.0034 right_z=0.1585 right_yaw=-0.0022 right_pitch=-0.029 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [1.388, -7.5966, 4.547, 1.0867, -0.1099, 0.2466, -0.0171, -0.3897, -1.4564, 6.735, 2.0684, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.511, 2.0739, 1.187, -0.0856, -0.944, -0.9161, 0.398, -0.0193, 0.7456, 0.5095, -0.3744, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4611 left_y=-0.0904 left_z=0.0479 left_yaw=0.6819 left_pitch=0.0551 left_roll=-0.0262 left_gripper=0.398 right_x=0.2806 right_y=0.0035 right_z=0.1509 right_yaw=-0.0019 right_pitch=-0.0366 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -10.3453, 5.8462, 0.7497, 0.0904, 0.0659, 0.6813, -0.1573, -1.6889, 6.8991, 1.9902, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:974d97ec4b21946b026be3a88c2ef015dd07b15b60ce933d6dd08f8d8b1d3804",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fb688411ab8beacf64a946ab54929401b58c1f8768b00cd7c50634e3315519c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e47adfe611becd21c0621434d6bfaf9e169b3774469524786138e505ea2f4c3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1Q0KEAgSGAI4AUIIdGhpbmtpbmcSDLHrXbdkJGYiMPtUwRoM7vkjZqYySSDsM1icIjARqw+tkWJGGxolX17XgQbyjnA17ii//dI37l/5Qsi87IfyRVZY/kndK/qlfFRZWTMq8gwS7uMtt64WZYh33sv4qZ7oB8HwU3j625CCuVfdjs4tCWg9nzjwh8blds0h/N64ZLt4aZEtC0ZGt6n/Wd3n5oxqKOIVY/KtbrFN4vgs0jgNT58lXCl3RKTscCFIOKTKBM5sR1YRTwdblU8cislSfGMu5eoz8ljxbqpiRpyST7CmxyxdIIADutwqnOaFd6JzP8ayPWohs3AqYbaGmIH+dHj4TGVKlT8p43Owz7MKi5GRfPU2nVP9vKB+dEHlCv48FDGvYCxAJpmIUgWpvIN9+8B7TJ359veErWjkUOkW1yDttMfe+GWWSEHzSFhRTBgu4exrd/q52l/LTDO/yJamNFxS1EHNA+qwnDJ00QkOPShIQiyDOO5TE1xrQX78x4pxFigPbcOZHbeALhCX8nZNN0qeQ04QzMgeEbF3eH7OgEOAOAFKmkzmwpm/k5NhmmVRQl4wrI++NBa9+myhqygGcMXeDtN/zkurpCMYYif8e2monv9NHTmpGnCkSoMZHpLjj0z1NmmxTDUuSUre/Xw+uC84crzcgRV+RKy9FqkfvJfDfoOiO22H9N9X6ehg+Vor9Fnv/cg0AYwBLPjYOR0ftWSboqi7TNJ3anS7fHv6lI3H9grn3dponrjSkc+m3TiAb6spzOF/+svT5u07l/2FsRiBho2h/t11Itg+TZR2mze8DUbLgqXmsSV9j3Qy7FiHWJWTZaGWhEJJyv7PHdL/7GU/V8/RNgU61QnTP4QAIjF1xMzxvtsgqOhFUliLbZxWHGSztuOvIPb/eoUIMslDJba2ev+YR/Cna4845TL67pdOWToET69pjQqxqEe62YN8gYEVt/abA64WIZhyZDHl08jLMKISzcPQagS7HTtjEmWqizjPO0NwMFmQdxaxg001EqbZPnDAhX6pNJfNRNRHyP5v5vLKRB8zNwrD7Tey93vfwx+HyqVXTQet2/W3PwrgCf8LLwux7VdSS6ahDkrtOsemrKVbUeDOEWZnJ7mh9WqonjIr8BN6ArkRyYnBnRU0RFBHG0JMjeaGpr5lBULLyBDxnaGwxhmeU5Adl8TmY7xmvEH7DJVPUS2weO5D+Il2LFrdoLpUO/830HiJxXwTVPcKyRr6Zgl3dfgFSNvawV3oPJtyGVVAmimhmwa0cD2vHVP2UveG2D5L+XXVgsEkfySL51WfczEIYaN4/Xu95wkmKMiG4zYVvX26i7xK/qksi3JZwTxmHC1kkC/W13NNPUOQp7v7XYc8LIOE5BrxSKCy/34PxZ5HzckAI++3clQHXygR5ayMlbDRf5FB6MxQZ8HJJnM6rmzi6Rh7JxDtDXAwO+X/COW0t0s06qetC0XKIqpz3IrT/tZDo3fvmmZI2tsG58mIt8Ls/4F6IXhtz5cfjrPQwutCMnbphi/WuWsby8JwJ/7vi8p+m2SkXZMXIPBpKmiB5Ts7NiHAfc7ebcF/tGCRmt86w747TAsi5qBHZRn4zoYhhRlfcrb1/xFB8Jx/nFQbMJ/gI5sR0iCt7hP3YMMzn4Y5JZPakPiYG5LqSJ5QcSPs4BpLh9zS4ftJ436SxDw5vH140VQz8uj/5hzT/YxJwEDy4VFshBuClV6BuB9vIabWtOLSICcytZ26fty982nXE6lXsGdsSsEWlNGHnPSoZod4/bNV4l9SDQcj9VaOUgrwuSvi/LvcvQjVlutS3WTr9I075wGGMy+GKKp1YSjOWeg7tpRnAxcijN4ARxD9kCjZ4wnY13/yW6UKOprQNvvV+Qz20k34YWPN5G8eFe5sUiOFcvTMR1S0mSk8by7T/cFyobieQujJMhUl0FwpbxbjnDCo7D1XO0n3QE9ScvtI2Uoa5EmTSGaJQlxsvSoCHywWclFg6dT5MOCa6T9s5rpCjEMcIV3UzwmflqqQXVMz+rjLhzlHxIv6mphwlEo3pffU0Y4fnkf6ip6xNOW0eZtUFkZS9PohFIV2CG4lJ5Aw+GVTUeIhc8OQ5IIQgWOMydAy3fctnhZtyUEV0NOYlR9xYeQ5teBPed1Xy4GyGFgqU9R0rQB/TOovrkM4ofK+47oR3nFsSMsTAshFJSmMhHzrdRcBtWFkyZL23i8+gbKV7PvvjXtR5v0TvCMypbEiT/CT/mAcL4UJcwCPbZiDWzBSKDXj4cxyF1BzLiEnBjM6jrwPCwU2HEzICzZZtsoheaIOtSEfYTvIEu57eLuqdVQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HXPKcVGWbPxioYmKkTUjcx",
      "input": {
        "note": "Gripper settled at 0.40 (~3.8 cm), so the bottle neck/shoulder is held. Lifting the cap end while moving back toward the bottle's base so it pivots upright on its bottom.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.14,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01HXPKcVGWbPxioYmKkTUjcx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6872, 1.9301, 1.4364, -0.7658, -0.9527, -1.2118, 0.3974, -0.0193, 0.7261, 0.4725, -0.3588, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4103 left_y=-0.1459 left_z=0.1319 left_yaw=0.6637 left_pitch=-0.0231 left_roll=-0.0022 left_gripper=0.3974 right_x=0.2769 right_y=0.0036 right_z=0.1423 right_yaw=-0.0021 right_pitch=-0.0385 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -13.3402, 7.9111, 0.525, -0.7985, -0.0708, -0.0855, -0.0889, -1.5385, 7.1043, 2.0098, -0.0757, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3c3a242ba9d56b4cd709c0b7f1628843246e045081bc6c4d8d32a8d0cb61b56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2c914f43f6203cb03c035a06207f57334210539b770993e0b448aa375f09a57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1fdc4ecc298d7b3d294d7d3c186772c859b3a72f871afe6f9236cb48f99b0302",
        "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 · 13.67 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]: [-0.5129, 2.0708, 1.1549, -0.0528, -0.8982, -0.9035, 0.9984, -0.0193, 0.7582, 0.5365, -0.3813, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4577 left_y=-0.095 left_z=0.0376 left_yaw=0.6481 left_pitch=0.0218 left_roll=-0.0333 left_gripper=0.9984 right_x=0.2839 right_y=0.0034 right_z=0.1585 right_yaw=-0.0022 right_pitch=-0.029 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [1.388, -7.5966, 4.547, 1.0867, -0.1099, 0.2466, -0.0171, -0.3897, -1.4564, 6.735, 2.0684, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.511, 2.0739, 1.187, -0.0856, -0.944, -0.9161, 0.398, -0.0193, 0.7456, 0.5095, -0.3744, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4611 left_y=-0.0904 left_z=0.0479 left_yaw=0.6819 left_pitch=0.0551 left_roll=-0.0262 left_gripper=0.398 right_x=0.2806 right_y=0.0035 right_z=0.1509 right_yaw=-0.0019 right_pitch=-0.0366 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -10.3453, 5.8462, 0.7497, 0.0904, 0.0659, 0.6813, -0.1573, -1.6889, 6.8991, 1.9902, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6872, 1.9301, 1.4364, -0.7658, -0.9527, -1.2118, 0.3974, -0.0193, 0.7261, 0.4725, -0.3588, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4103 left_y=-0.1459 left_z=0.1319 left_yaw=0.6637 left_pitch=-0.0231 left_roll=-0.0022 left_gripper=0.3974 right_x=0.2769 right_y=0.0036 right_z=0.1423 right_yaw=-0.0021 right_pitch=-0.0385 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -13.3402, 7.9111, 0.525, -0.7985, -0.0708, -0.0855, -0.0889, -1.5385, 7.1043, 2.0098, -0.0757, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3c3a242ba9d56b4cd709c0b7f1628843246e045081bc6c4d8d32a8d0cb61b56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2c914f43f6203cb03c035a06207f57334210539b770993e0b448aa375f09a57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fdc4ecc298d7b3d294d7d3c186772c859b3a72f871afe6f9236cb48f99b0302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+xIKEAgSGAI4AUIIdGhpbmtpbmcSDN+g1WEQiz8Kyp8ChhoMlP/bWaYmXBzYmo53IjA28Oi09tZGL59OyiyG6cJVHnzNJOUciDitvWQZWbZ9QVYYVSdKtP+oexveYGpVXG4qmBJcGW/v0AtZ6lpHeKLOpzjwIktZbpW+YExGMqyHQQ6r8GWICNhssEWLapmv3E3WR4BdLyZtc8ifs4nj8bpsOrZa3POToGlLuOFTNSfZEvkgYbYgbQDHuDz6HSIVl5J5ILAG0d5kumSqnNYHJVCmNalAvQSUhNYWa+cqNrBJ3veIAqiy6TtNrQLLbbcAndV0zBRGZYMN95BRcEVULZ8BDsTJjr9TwIAqMafzw50zPt7RnMM0xid2wHk3LiqpdDswx3OqzWmbwntdV9Azeak0T/HEYH/8J49+dX3J47/AuU6qhSpxSVk2Oit2i+5B2m0KkvHh0waW1oEqNMUzQOOvbFVWBrBPMkrbN0o68Vo7om2q4XNrOdRtUyAEQUVxpyC2/Gu9cY509uivf5qU8p9OByOwhrlEllltuZRZvabIRjbsemwcNnHr8haiXhLSFfrwSnmyEvUNtKUTAfXBfd6cCe9mRiOi0mJupIi/c8+Gz9Rk2g1VnXWjmq2zaiRSrCQWe9DmjbDAbFuJXYDl0/eFt5YjrSwS5jVrai7OqYRj0FlFAUNsrNvfUBBpZNmTYtKZ00FsHOvTiL9AbFhmAITZstGaFsxho/LNCRjhc7bWheUxzrjL5N0vvZpf7dnFiaMkBxjYmm8ibHLo+6GvC7vraMrv1b0CaZIxh8nSHVLf9Z5rN1ZSswFB00kvxEjfVB3y3UaStPyo898x7QkqadNgO56xKSl5QQzADAEfiEGyKWuRPf5D3Mg9UImUKCBbXU6ug4wi+YeNdmWrzXTkirgNUTCsZx4h2ikQHtQrcM9hbDhOm3W4mkuJo1Z0UGUaQ2STXJRf1cFcqYKXo3hOMLhyStYCINHZsk1RCk57tLiWiBD29zOZ9RuJRiuvyinVzYq8ax3BBkf/Htci0oEKVwIeb1QrEfZfxM1WyVyPTpLNkiB2vnZNg/ELA2Dgce5WdJ1WlTWIngRJaJwrppBtFJhXljLPeIySN06NZ1b8xelfd99mCTa/5HxzrLtBX/8cPOzTh7yRAxWuks7OXVFIWdV+8DWarsYE5ew21WhjBjs38SRAGWYIDPLrDc0BEddo4HsrEERjnXFBm5y3gEuSa9GSIj7kpE+DQWiplh4k75kudiouO1i/x0CYJWtv/Tq7kCCcUgrj3ME5X3YxbW1r5odL23gv/8gQczgWGdA7gSVKIrVBbqgk3Xtv00swuIAFijdxPP+Z/Viga8aXBMEjH8i6FJtFp428FkxkRnUkr2FqEu5frkWt81C2MXkDOBxyhgifIISbdIofjCgq9yZ/wDoXQxR2wvKoppYtGlojisON/cUfwbHFa9OMxq6OaeGTLWDuKYyjueiRyqKd4UmNlSXmp7NLE/rfdGdEt5jV74fXRXUFLM25pwhFlrJTid4u6TzoACG8DvuVTYDd6CvQTe1Ewv6KOtpoY9BBT541ZSjFxem4PG2X+Wmalg0vPFbV7pRIIQQTTWHVVwcpFSsTAs60tQHCRj9yXonzIa/CwsqklhGxS64jO4RuIZ8Y/Rq5Ov6M28RluEVtgM1xMQv1fIi7SeOl6GBr8U/L2AVNqWZCw/1NJzMjhNzSOpi76vnsS3TyCd89mE6yQv48+Wf8OthYPkoslsRIHWZItmLCmkzc3+Co3ZGmQrrxVo+jLherF+7i29Wm02kBh43EUmGE1bl15MHyRtqfIz2xZ4+4om76HUSe+LOAtHDgioBr8iI/Fx34xkaGxLWlcmJJsRFzUEaUDklQH8xV9JEDwjU/wG3vWMbfNZTOW8h6AyM6pjMUfLUCAcXAUk6It0epzVi85IMG1bNui/kyUqvXAo2P8po0qjn05FAnXTrJx9UUd4FEDdZAQvoWlzjPyXyi7feWzFpE29vcPZtf7W2AKWiprTHm4dupBqovVJIDtddLHxzurnVVxkvZ3T8GS/Oq/+89qa9Qu4qZOutiofS8Waquo5Df4T+LhWTQcheKabRgqmdKXf0TGizvAHgjj+tuY0UUs1Y96BjppYyaeNZ6+u6Vv0kuxF0jEANP+Ca55bmOKW84Nbr/4df5yXiGWi53qURx1ChPJAhpnTSdj37GdBBnKqc3QmyuEd1WBAVgy2slUcxDEHyGIMbkDyGLweMcrdezTIsA0FkdxdbsMJaEWShyLhUN4wKnwfV0d3xvEqiHKrYU7cZd/7i+Csu4yZMziqQP7sX9qD1HHRndZNsx6EI3RkNN1gin3+JlnZoXFL/d7mk4oTRiSNH7wBO1rjBg645oCiQGrhlN1pDjZnoZgJveOPduuoMw919SGYLVztvwxeOLMeIsc74XiX8yVHqB2Np53JYh+4uQrE0140Xy7NFsVM0bwaAHhTqEyqSyfo+5JR6ust99mtszOYKS323N+aqjybx3qBnCzWz135m9SN6MLP6ZNoE5mQkSNsj7Ld3vAUxXncJ9RH/OpEOQDRScWhRp7qhuoGBDMeFjSNdIiT9LFiZUnUBI73o1Wkf1+lirvRHuPfaHHk/P6Q1WFVmBkv3pJcFdLjF7wFfjUOly2oIlY5F87ELe41QZCRWyEKUAHNsXYIerw9khcboQ5ke9bqJlZcn/ua4qk2NynGtbrNVp7Y6LxTPinLuUKWj1ZTYoFZDH7jwN4dYV2ZvSHn4ln7V0FjZ4//eZ3e+eqR22DsZVnwnRoXJGQoh5rvON+DnQNcT6uGVYkJNSH+QUE33CWLhNfLnjP5rO+gdZygerctdYvDfG92AUouoGwP7/1h41V0sSjG3UjuNJvTc+ziI4BAVYz6Nuxvzfw5g264XQJZ3ieJloZZuMkSN2Iml7DBFp6XMi4y11y3F1d6KW4rp4x722AxmgxGRq1pSe27yOZctBZxCWsHI+5LqdwmQaN4U4d/rIpz1JwvWhGOI4UzV0OyGJxMHCTZ1JiJyWOofs2gkEL/0g0kZWapViG/nRFuKKIOfcZ3BwTdE2Q3ikgFeWwS5f8OgiBxDkuSdbAC+g6iSV+Z0Kx5l62OIm0Na4fQRRAG7W6xrCLEmTZ4UdxuSNUjjP8T83UB3cmM2FPmtH9ZBjWtPFFKwbQ/1fDD5k/lP2NUBEWhvHM15a2fKj/5DJ/w9CReVMufuPJohw4qouXK0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ahz4Bo8aNLKfPV4ZU71JwU",
      "input": {
        "note": "Bottle appears held by the shoulder with the cap sticking forward. Raising higher and moving over the bottle's base so it rotates in the jaws and hangs vertically.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.19,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Ahz4Bo8aNLKfPV4ZU71JwU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8791, 1.9438, 1.9427, -1.4494, -0.9745, -1.5352, 0.3973, -0.0193, 0.704, 0.4385, -0.3431, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3586 left_y=-0.1982 left_z=0.2497 left_yaw=0.6542 left_pitch=-0.0317 left_roll=-0.079 left_gripper=0.3973 right_x=0.2735 right_y=0.0037 right_z=0.1356 right_yaw=-0.0021 right_pitch=-0.0347 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.1436, 6.8308, 0.1294, -0.7888, 0.1294, -0.022, 0.0068, -1.3197, 6.8171, 2.0147, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a2a032a916612ced6fe543b4c17f734cca5cfd66731b87161ac23e9fffb20a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59f33b489cf15a3ae82d44af7138710a9173cb02721006c4f7090b0ad777e225",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7de5b83f36ea71e182958880b3a756be0216dd3f709ad80b070ab87da07f394",
        "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 · 8.324 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]: [-0.511, 2.0739, 1.187, -0.0856, -0.944, -0.9161, 0.398, -0.0193, 0.7456, 0.5095, -0.3744, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4611 left_y=-0.0904 left_z=0.0479 left_yaw=0.6819 left_pitch=0.0551 left_roll=-0.0262 left_gripper=0.398 right_x=0.2806 right_y=0.0035 right_z=0.1509 right_yaw=-0.0019 right_pitch=-0.0366 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -10.3453, 5.8462, 0.7497, 0.0904, 0.0659, 0.6813, -0.1573, -1.6889, 6.8991, 1.9902, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6872, 1.9301, 1.4364, -0.7658, -0.9527, -1.2118, 0.3974, -0.0193, 0.7261, 0.4725, -0.3588, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4103 left_y=-0.1459 left_z=0.1319 left_yaw=0.6637 left_pitch=-0.0231 left_roll=-0.0022 left_gripper=0.3974 right_x=0.2769 right_y=0.0036 right_z=0.1423 right_yaw=-0.0021 right_pitch=-0.0385 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -13.3402, 7.9111, 0.525, -0.7985, -0.0708, -0.0855, -0.0889, -1.5385, 7.1043, 2.0098, -0.0757, -0.0317, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8791, 1.9438, 1.9427, -1.4494, -0.9745, -1.5352, 0.3973, -0.0193, 0.704, 0.4385, -0.3431, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3586 left_y=-0.1982 left_z=0.2497 left_yaw=0.6542 left_pitch=-0.0317 left_roll=-0.079 left_gripper=0.3973 right_x=0.2735 right_y=0.0037 right_z=0.1356 right_yaw=-0.0021 right_pitch=-0.0347 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.1436, 6.8308, 0.1294, -0.7888, 0.1294, -0.022, 0.0068, -1.3197, 6.8171, 2.0147, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a2a032a916612ced6fe543b4c17f734cca5cfd66731b87161ac23e9fffb20a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59f33b489cf15a3ae82d44af7138710a9173cb02721006c4f7090b0ad777e225",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7de5b83f36ea71e182958880b3a756be0216dd3f709ad80b070ab87da07f394",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015oahytitzKUD3R6u8sAjaP",
      "input": {
        "note": "The bottle is clamped rigidly and still horizontal (it looks unchanged in the wrist cam), so it won't swing on its own. Lowering to z≈0.20 so that if I loosen the grip and it pivots bottom-down, the base lands just about on the table.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015oahytitzKUD3R6u8sAjaP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8886, 1.9751, 1.7813, -1.3834, -0.9878, -1.5486, 0.3973, -0.0193, 0.6846, 0.4061, -0.3309, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3534 left_y=-0.1955 left_z=0.1993 left_yaw=0.656 left_pitch=-0.0225 left_roll=0.0369 left_gripper=0.3973 right_x=0.27 right_y=0.0037 right_z=0.1283 right_yaw=-0.0019 right_pitch=-0.0355 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -10.1128, 6.2564, 0.3883, -0.7253, -0.0024, -0.0122, -0.3624, -1.2513, 6.9128, 2.0244, -0.0708, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cde797287418d65a6f7613004c89f7120c3f603d7b3a1a6dfb00c3fd92ba3947",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee2ce4fa36d0a9bdf2640895e4651abc753a1db1885b0981f625d82c8f139ca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b009407d370f76107814af78c9351642e2fd1e787ecd9eb36fb04b3bedaef183",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 7.258 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]: [-0.6872, 1.9301, 1.4364, -0.7658, -0.9527, -1.2118, 0.3974, -0.0193, 0.7261, 0.4725, -0.3588, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4103 left_y=-0.1459 left_z=0.1319 left_yaw=0.6637 left_pitch=-0.0231 left_roll=-0.0022 left_gripper=0.3974 right_x=0.2769 right_y=0.0036 right_z=0.1423 right_yaw=-0.0021 right_pitch=-0.0385 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -13.3402, 7.9111, 0.525, -0.7985, -0.0708, -0.0855, -0.0889, -1.5385, 7.1043, 2.0098, -0.0757, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.8791, 1.9438, 1.9427, -1.4494, -0.9745, -1.5352, 0.3973, -0.0193, 0.704, 0.4385, -0.3431, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3586 left_y=-0.1982 left_z=0.2497 left_yaw=0.6542 left_pitch=-0.0317 left_roll=-0.079 left_gripper=0.3973 right_x=0.2735 right_y=0.0037 right_z=0.1356 right_yaw=-0.0021 right_pitch=-0.0347 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.1436, 6.8308, 0.1294, -0.7888, 0.1294, -0.022, 0.0068, -1.3197, 6.8171, 2.0147, -0.0464, -0.0464, -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]: [-0.8886, 1.9751, 1.7813, -1.3834, -0.9878, -1.5486, 0.3973, -0.0193, 0.6846, 0.4061, -0.3309, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3534 left_y=-0.1955 left_z=0.1993 left_yaw=0.656 left_pitch=-0.0225 left_roll=0.0369 left_gripper=0.3973 right_x=0.27 right_y=0.0037 right_z=0.1283 right_yaw=-0.0019 right_pitch=-0.0355 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -10.1128, 6.2564, 0.3883, -0.7253, -0.0024, -0.0122, -0.3624, -1.2513, 6.9128, 2.0244, -0.0708, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cde797287418d65a6f7613004c89f7120c3f603d7b3a1a6dfb00c3fd92ba3947",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee2ce4fa36d0a9bdf2640895e4651abc753a1db1885b0981f625d82c8f139ca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b009407d370f76107814af78c9351642e2fd1e787ecd9eb36fb04b3bedaef183",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H1qRa1YEUhKs1TEm5q37vB",
      "input": {
        "note": "Bottle 1 is held (grip reading 0.40); the bottles in the wrist view are the other two on the table. Loosening the grip slightly so the held bottle can pivot bottom-down in the jaws and settle on its base.",
        "targets": {
          "left_gripper": 0.5
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01H1qRa1YEUhKs1TEm5q37vB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8906, 1.9766, 1.7489, -1.327, -0.9886, -1.5524, 0.4951, -0.0193, 0.6697, 0.387, -0.3161, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3558 left_y=-0.1995 left_z=0.1907 left_yaw=0.6556 left_pitch=-0.0211 left_roll=0.0113 left_gripper=0.4951 right_x=0.269 right_y=0.0037 right_z=0.1263 right_yaw=-0.0025 right_pitch=-0.0248 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -12.0957, 5.5179, 0.2222, -0.6716, -0.0757, -0.2613, -0.3761, -0.9504, 6.7761, 1.956, -0.0659, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc4ed49d2ae04a0fed0ef94419cb793e89c32595e7eb0d594e03671059dac42e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9f86a6c77f3d0c959437364848a81178a85776175b7a286d47426e734a65b9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:098c3aab64a2c35dd2f89c9f69c0ef87343f877f4e2fdfdae81c1d69fdd6556c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 14.53 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]: [-0.8791, 1.9438, 1.9427, -1.4494, -0.9745, -1.5352, 0.3973, -0.0193, 0.704, 0.4385, -0.3431, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3586 left_y=-0.1982 left_z=0.2497 left_yaw=0.6542 left_pitch=-0.0317 left_roll=-0.079 left_gripper=0.3973 right_x=0.2735 right_y=0.0037 right_z=0.1356 right_yaw=-0.0021 right_pitch=-0.0347 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.1436, 6.8308, 0.1294, -0.7888, 0.1294, -0.022, 0.0068, -1.3197, 6.8171, 2.0147, -0.0464, -0.0464, -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]: [-0.8886, 1.9751, 1.7813, -1.3834, -0.9878, -1.5486, 0.3973, -0.0193, 0.6846, 0.4061, -0.3309, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3534 left_y=-0.1955 left_z=0.1993 left_yaw=0.656 left_pitch=-0.0225 left_roll=0.0369 left_gripper=0.3973 right_x=0.27 right_y=0.0037 right_z=0.1283 right_yaw=-0.0019 right_pitch=-0.0355 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -10.1128, 6.2564, 0.3883, -0.7253, -0.0024, -0.0122, -0.3624, -1.2513, 6.9128, 2.0244, -0.0708, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8906, 1.9766, 1.7489, -1.327, -0.9886, -1.5524, 0.4951, -0.0193, 0.6697, 0.387, -0.3161, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3558 left_y=-0.1995 left_z=0.1907 left_yaw=0.6556 left_pitch=-0.0211 left_roll=0.0113 left_gripper=0.4951 right_x=0.269 right_y=0.0037 right_z=0.1263 right_yaw=-0.0025 right_pitch=-0.0248 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -12.0957, 5.5179, 0.2222, -0.6716, -0.0757, -0.2613, -0.3761, -0.9504, 6.7761, 1.956, -0.0659, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc4ed49d2ae04a0fed0ef94419cb793e89c32595e7eb0d594e03671059dac42e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9f86a6c77f3d0c959437364848a81178a85776175b7a286d47426e734a65b9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:098c3aab64a2c35dd2f89c9f69c0ef87343f877f4e2fdfdae81c1d69fdd6556c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0145gqsjnNfr62nAsmopzKJr",
      "input": {
        "note": "Gripper opened freely to 0.5, so I'm unsure whether bottle 1 was held. Retracting the left arm to home to get a clear overhead view of where the bottles are.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_0145gqsjnNfr62nAsmopzKJr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5007, 1.1896, 0.8497, -0.7082, -0.8955, -0.9585, 0.9975, -0.0189, 0.6579, 0.3672, -0.313, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2985 left_y=-0.0021 left_z=0.1757 left_yaw=0.6878 left_pitch=-0.0112 left_roll=-0.0076 left_gripper=0.9975 right_x=0.2663 right_y=0.0039 right_z=0.1208 right_yaw=-0.0015 right_pitch=-0.0297 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.212, -4.3829, 6.3521, 1.3016, -0.3736, 0.2711, -0.0904, -0.0479, -1.0188, 6.9402, 1.956, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76c26e98c96e8f6afd0f2a4a11cc354173a2771e57c7b61d7228edb28accaf20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24f41bca368e7f8ebba43aeacd4bb5316c90191fc98466c4485b3ca1be098faf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:858ecc847fe74c4a7402c275c7da81a200febf14d98b753ea155d08dde596d98",
        "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 · 5.85 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]: [-0.8886, 1.9751, 1.7813, -1.3834, -0.9878, -1.5486, 0.3973, -0.0193, 0.6846, 0.4061, -0.3309, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3534 left_y=-0.1955 left_z=0.1993 left_yaw=0.656 left_pitch=-0.0225 left_roll=0.0369 left_gripper=0.3973 right_x=0.27 right_y=0.0037 right_z=0.1283 right_yaw=-0.0019 right_pitch=-0.0355 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -10.1128, 6.2564, 0.3883, -0.7253, -0.0024, -0.0122, -0.3624, -1.2513, 6.9128, 2.0244, -0.0708, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8906, 1.9766, 1.7489, -1.327, -0.9886, -1.5524, 0.4951, -0.0193, 0.6697, 0.387, -0.3161, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3558 left_y=-0.1995 left_z=0.1907 left_yaw=0.6556 left_pitch=-0.0211 left_roll=0.0113 left_gripper=0.4951 right_x=0.269 right_y=0.0037 right_z=0.1263 right_yaw=-0.0025 right_pitch=-0.0248 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -12.0957, 5.5179, 0.2222, -0.6716, -0.0757, -0.2613, -0.3761, -0.9504, 6.7761, 1.956, -0.0659, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5007, 1.1896, 0.8497, -0.7082, -0.8955, -0.9585, 0.9975, -0.0189, 0.6579, 0.3672, -0.313, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2985 left_y=-0.0021 left_z=0.1757 left_yaw=0.6878 left_pitch=-0.0112 left_roll=-0.0076 left_gripper=0.9975 right_x=0.2663 right_y=0.0039 right_z=0.1208 right_yaw=-0.0015 right_pitch=-0.0297 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.212, -4.3829, 6.3521, 1.3016, -0.3736, 0.2711, -0.0904, -0.0479, -1.0188, 6.9402, 1.956, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76c26e98c96e8f6afd0f2a4a11cc354173a2771e57c7b61d7228edb28accaf20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24f41bca368e7f8ebba43aeacd4bb5316c90191fc98466c4485b3ca1be098faf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:858ecc847fe74c4a7402c275c7da81a200febf14d98b753ea155d08dde596d98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XfNZ5Wgnd5WBp5Us1QWZ8c",
      "input": {
        "note": "Overhead shows bottle 1 barely moved, so the earlier shoulder grip slipped. New plan: pinch the cap itself so the bottle can swing to hang from it. Moving above bottle 1's cap end.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.49,
          "left_y": -0.085,
          "left_yaw": 0.65,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01XfNZ5Wgnd5WBp5Us1QWZ8c",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4557, 1.9854, 1.3983, -0.3954, -0.8673, -0.8631, 0.9979, -0.0193, 0.6384, 0.3408, -0.3027, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4792 left_y=-0.0808 left_z=0.1146 left_yaw=0.6665 left_pitch=-0.0071 left_roll=0.0029 left_gripper=0.9979 right_x=0.2636 right_y=0.0039 right_z=0.1157 right_yaw=-0.0019 right_pitch=-0.0263 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -10.5641, 8.1436, 1.1306, -0.2662, 0.2759, -0.232, -0.3487, -0.7043, 7.1453, 1.9609, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6175bb8a75cee31b84f635192e1a77854f410eeb1307666d5d5ec5e3515b7dc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e7fc17164980af5e163a2c956a312a2a6bac2526d0d74d2d27ea0da892d0528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b7c5a43bbb2ab509020e962fd4da4e3c38bb09099fdacc5b483ba9359c6f0ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 3.659 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]: [-0.8906, 1.9766, 1.7489, -1.327, -0.9886, -1.5524, 0.4951, -0.0193, 0.6697, 0.387, -0.3161, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3558 left_y=-0.1995 left_z=0.1907 left_yaw=0.6556 left_pitch=-0.0211 left_roll=0.0113 left_gripper=0.4951 right_x=0.269 right_y=0.0037 right_z=0.1263 right_yaw=-0.0025 right_pitch=-0.0248 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -12.0957, 5.5179, 0.2222, -0.6716, -0.0757, -0.2613, -0.3761, -0.9504, 6.7761, 1.956, -0.0659, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5007, 1.1896, 0.8497, -0.7082, -0.8955, -0.9585, 0.9975, -0.0189, 0.6579, 0.3672, -0.313, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2985 left_y=-0.0021 left_z=0.1757 left_yaw=0.6878 left_pitch=-0.0112 left_roll=-0.0076 left_gripper=0.9975 right_x=0.2663 right_y=0.0039 right_z=0.1208 right_yaw=-0.0015 right_pitch=-0.0297 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.212, -4.3829, 6.3521, 1.3016, -0.3736, 0.2711, -0.0904, -0.0479, -1.0188, 6.9402, 1.956, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4557, 1.9854, 1.3983, -0.3954, -0.8673, -0.8631, 0.9979, -0.0193, 0.6384, 0.3408, -0.3027, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4792 left_y=-0.0808 left_z=0.1146 left_yaw=0.6665 left_pitch=-0.0071 left_roll=0.0029 left_gripper=0.9979 right_x=0.2636 right_y=0.0039 right_z=0.1157 right_yaw=-0.0019 right_pitch=-0.0263 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -10.5641, 8.1436, 1.1306, -0.2662, 0.2759, -0.232, -0.3487, -0.7043, 7.1453, 1.9609, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6175bb8a75cee31b84f635192e1a77854f410eeb1307666d5d5ec5e3515b7dc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e7fc17164980af5e163a2c956a312a2a6bac2526d0d74d2d27ea0da892d0528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b7c5a43bbb2ab509020e962fd4da4e3c38bb09099fdacc5b483ba9359c6f0ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoAkKEAgSGAI4AUIIdGhpbmtpbmcSDN7pOduVradKZeUdwhoM7obMkbP3Es4iDvinIjC1OtryNSSZnUDKkB06cA3UW0APg7L5OD2eoRoVKBGZPm/HFALsWliR2YfknsLO36QqvQjpJY0/aRa29RlRMJG2kmOXqm8tqXPZ5qMbART5UhTH1AVHO2IgSEWpWeAuWVXbSo175UKe+chdlwbFvu84vrFQOmmcGQ5oNPd56kf9forSV1XV3mDjeejEfs3vV2MVQ1cal9OUMsGtNVQlx4JS4sEjCsAYGaZujF7Geg/aO/nTgNbbNejyajW/k7jpCWb4GTqIwXCBoPEvNgwt8nam7PVnc56hixFpA3yZN74YT/+PFTQIVYxkIAxH9bm0SAtiA/Y1dHM1xFLJfcLwp5EmXrRbWlIyzZZVtJWJq2YaauhdOH0o8Pe7F2cy8KZwC6r8dzKbUZT28P/qllSmrhC0BMQZIBoDZOOBSIyKQUARXbcB/XBAaMsEQoAcroU+3hVb5hw6EBPNEkKV3IXCjY4NUHzpu478hJWCTJja+8l7wPDiS38vqfxzcvuPhS7dH9eYXICdvl5ao9yYpRhXl7AjLp5m4OLkKBkEa1kVfiPwt/HtP+lBx3iCK41VL6pgQVw7gDkY7CvXlgDmhrO54I4oibDMv9sxxLWCKJioBDUpFqgKlr7QKax4LgVvIbp78Ml0fcCzypjQw6Hb9VxWRlIII+91BM4J9TNFh5QFDT56rT0M6R+a0/YdScNezcNfyybbEyKlNyXVV/qoKeMVJmx9PwGN/jtIfTbvB9n6p/TbKUZ2POcyzxMO6Z+nv3JyvTY0KftE/Ahms+kzDYg5D43jZugIy9tFmDH6FMXP/EoPIySLSVTTHxtGDeZNphNzXWBtVITU0e0xkeRtL8fC23T+/yCX/NN4yHD6MvomUTK+Eod/0OwASye2iOAnzxxMRx5kDO0QRTz+g61uqzTJ6iNx024mjbd5SbsIUK/ABDteVsl94iNuJ1Q3kGEhux8mfR1kNWZK4ngOsCQ6Ucd/ogdgxCNg9DvFjJmmtOThj3Y/aFQAF1pB+H4p4RuY7J82Ny1adehjYFn9tscLCrzHQI3J48DCHgbTMy74TDCM5yu+3cN8kUP2GUlGtAOL+EvSkzVeNeZYXlTUeFsIp/oMZaPhyav4rwLJgE/pW4JyaGx7sS1lHoo3jjUsGhbioiJP/Ul4jLgxAKcSztZYW4Rk1I0FyWyOl9L0ceE7NKORqFpi3s4SO1iOsvzFdL0PXNrw2g1+02x5VzgOFUbSSHoEbBQt/gre9Uy52COFg04W+Sk4veAbfot4sxAMfABaNFk2FHskCuPS6j8Tc11fk8DHDjAKG4cYMIt8Xwl/Mbn6wJkGC4XVHl4JP4EVTXOdOJbB0pZkPQ6v5iVc9d51ncUgwHF4aqc8YWKUFCsnU904sbEenShz5JGDMkpoixDFErmQHq+DRYcN5opd3TDLHUY50o/XNAJz+NrnpoPthg0Zu7bicZqzf0EaOtlBdntFe7GiTe1BTI06s10WvvnPtvn4SYiTUbGT4zr8ndyTbY5wYHQeBxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MKZCrxRSp2BXr37mwFsucN",
      "input": {
        "note": "Bottle 1's cap sits centred on the jaw column just ahead of the fingertips, bottle aligned with the image vertical. Descending onto the cap with a ~1 cm forward nudge.",
        "targets": {
          "left_x": 0.49,
          "left_y": -0.073,
          "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_01MKZCrxRSp2BXr37mwFsucN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.432, 2.1284, 1.2865, -0.1284, -0.8539, -0.8406, 0.9977, -0.0193, 0.6254, 0.3195, -0.2905, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4866 left_y=-0.0738 left_z=0.0398 left_yaw=0.6705 left_pitch=-0.0118 left_roll=0.006 left_gripper=0.9977 right_x=0.262 right_y=0.0038 right_z=0.1116 right_yaw=-0.0025 right_pitch=-0.0225 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -9.0462, 4.588, 1.0769, -0.4274, 0.1148, -0.0366, -0.3624, -0.6906, 6.7761, 1.917, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c0af7c9b01789de38ca9955c5bed5ae8ff1e68995d09f3d5414c9283732ed5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0f024e33de7d3c89d4503e76b2d9757e75ce95b7598cc6f54e10705935bc6de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:112be5dde2e248c2071df0052901b338b2c56fb308dc9d031f792a3d56f149cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 5.19 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]: [-0.5007, 1.1896, 0.8497, -0.7082, -0.8955, -0.9585, 0.9975, -0.0189, 0.6579, 0.3672, -0.313, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2985 left_y=-0.0021 left_z=0.1757 left_yaw=0.6878 left_pitch=-0.0112 left_roll=-0.0076 left_gripper=0.9975 right_x=0.2663 right_y=0.0039 right_z=0.1208 right_yaw=-0.0015 right_pitch=-0.0297 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.212, -4.3829, 6.3521, 1.3016, -0.3736, 0.2711, -0.0904, -0.0479, -1.0188, 6.9402, 1.956, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4557, 1.9854, 1.3983, -0.3954, -0.8673, -0.8631, 0.9979, -0.0193, 0.6384, 0.3408, -0.3027, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4792 left_y=-0.0808 left_z=0.1146 left_yaw=0.6665 left_pitch=-0.0071 left_roll=0.0029 left_gripper=0.9979 right_x=0.2636 right_y=0.0039 right_z=0.1157 right_yaw=-0.0019 right_pitch=-0.0263 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -10.5641, 8.1436, 1.1306, -0.2662, 0.2759, -0.232, -0.3487, -0.7043, 7.1453, 1.9609, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.432, 2.1284, 1.2865, -0.1284, -0.8539, -0.8406, 0.9977, -0.0193, 0.6254, 0.3195, -0.2905, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4866 left_y=-0.0738 left_z=0.0398 left_yaw=0.6705 left_pitch=-0.0118 left_roll=0.006 left_gripper=0.9977 right_x=0.262 right_y=0.0038 right_z=0.1116 right_yaw=-0.0025 right_pitch=-0.0225 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -9.0462, 4.588, 1.0769, -0.4274, 0.1148, -0.0366, -0.3624, -0.6906, 6.7761, 1.917, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c0af7c9b01789de38ca9955c5bed5ae8ff1e68995d09f3d5414c9283732ed5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0f024e33de7d3c89d4503e76b2d9757e75ce95b7598cc6f54e10705935bc6de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:112be5dde2e248c2071df0052901b338b2c56fb308dc9d031f792a3d56f149cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0AcKEAgSGAI4AUIIdGhpbmtpbmcSDJudQ6DWUrsOREn3GxoML8ElCXh+kLwa7QFEIjCytGDd3nScV4y5KttIOlX7w+wvAg5x5DtibpXrKc/rquDAcHEhGkHOulKPbfCB2lcq7QaVYrgMxZwdbYVI3uUiPgRtfvoOvL88x6k+EWgx1BtuA2v0/E0uFOWdp4CLbVxfaPgYWZSVnEkVaEqtiVZEMpLvV/9xCLtCbXohAJGGUgyrqSa4FOYzqGrRqJJEijIGqughID/uNbs+N7YIQ8hZofOwIuVMxxHgBs4K+v2VOi8a0pskywACZwstciucUGDH68xq8BAZZUKa+OR+QR37FTd8oVVFYQvSyXxs8CWmIDurv0IeLm/TiPhh+2kQeseTx+1WfMBu5dT7BncKMt4K6YOjBxVFn//B82+TCF++hgiHls8MWvXsnyj06u08Rnsl5N2QHP86sLpJmPWQKyFOpwO2O0VFBf38S6YzvL7xYKq1aOHBru823Cot4hTSVIjVVrBBDpNx6zhtpo1sFvv7humriLQvGS/MO6l6l1Nup+cnIlvY3HE407Nw/W71pqV4wAx0ec2EHQoISwArv990+2qWvxHE8CcjRC1ecJ9kuqJRsvTg7zfeN9Z5UUfQ1Qw4Du7N0d/aa50tFDPU2VxPUhemirexFCbcKTO4WTX1+eUSR8Nr1OtrZ7LVuIZqrkDpghmvFLJSUh06XIXf45LYkFOQ6M7jh8FF9im4EvOwQzkOdON0gI75uXaC7BH5whJXTieYFJD5QOW3kW1pq8HFKBzFJx6hWv5GSZzHbW79nScNBPNortMJdCbj1xpnLaSOgizh20nHuOMjB6+cErY5uOz7Ox8UZkossTqjXdB3/vKYjNtlEBXdtJ5fCqdoYXykRwHNz8MwfdJfAm/4HesYkMia9jUDoXQi2EB4KiOHKyYdD1CC2AujMru9dbVNLMATelrCUDy7UIOcwK+M0T6XOTtPZu/FLfNVDvMctS5PBhhNkEILG7eClXbQREGTXIIOG1QYnG3/sWnbM3r6UZ/SFsG4F8XtNoQaiyaoVCI5QjXJ6/nKd4FZ6L5UHtleCIDkHGZjMeouQVqqhjPEZM0b2IAxbtgollY0PZO29josQaDghiYpRKeUR9xtZa8g63j1XH0YCdLT2LF+1bv2CQOmYlxLTX/TAgL9bGx9XTcPwLd1FPzft8gaFwM5cMgUU+J6vo9v/T0uSLPQBTH1SyGl/exgZeEe1OCHEjflOqu6qeujadVTRkxpFwN0oMpW3rkEONkpw2H8LEi4Cmmp10gXGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VxUMPBoA9VEGFuFw6ZqvAh",
      "input": {
        "note": "Cap is centred between the jaws at the convergence row. Closing on the cap.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VxUMPBoA9VEGFuFw6ZqvAh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.432, 2.1239, 1.2835, -0.0532, -0.91, -0.8387, 0.0173, -0.0193, 0.614, 0.3016, -0.2901, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4946 left_y=-0.0705 left_z=0.0552 left_yaw=0.7042 left_pitch=0.0622 left_roll=-0.0417 left_gripper=0.0173 right_x=0.2593 right_y=0.0039 right_z=0.1063 right_yaw=-0.0025 right_pitch=-0.0286 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -10.947, 5.094, 0.7839, 0.0806, -0.0024, 0.8962, -0.212, -0.6085, 7.0085, 1.9609, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0796cea41cb5a81af2fb621355da709da638becca39c873dcc6f150a27e2388c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:315cc19fcb6ccee63be79a55e824b234dec10f10e56d0bc74eee7d6f25e065de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cfb02e6a6d7edc3a5eb27da06cb3faa5dd520a91ddd7d895e2324e0f9acf5b53",
        "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 · 7.76 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]: [-0.4557, 1.9854, 1.3983, -0.3954, -0.8673, -0.8631, 0.9979, -0.0193, 0.6384, 0.3408, -0.3027, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4792 left_y=-0.0808 left_z=0.1146 left_yaw=0.6665 left_pitch=-0.0071 left_roll=0.0029 left_gripper=0.9979 right_x=0.2636 right_y=0.0039 right_z=0.1157 right_yaw=-0.0019 right_pitch=-0.0263 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -10.5641, 8.1436, 1.1306, -0.2662, 0.2759, -0.232, -0.3487, -0.7043, 7.1453, 1.9609, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.432, 2.1284, 1.2865, -0.1284, -0.8539, -0.8406, 0.9977, -0.0193, 0.6254, 0.3195, -0.2905, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4866 left_y=-0.0738 left_z=0.0398 left_yaw=0.6705 left_pitch=-0.0118 left_roll=0.006 left_gripper=0.9977 right_x=0.262 right_y=0.0038 right_z=0.1116 right_yaw=-0.0025 right_pitch=-0.0225 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -9.0462, 4.588, 1.0769, -0.4274, 0.1148, -0.0366, -0.3624, -0.6906, 6.7761, 1.917, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.432, 2.1239, 1.2835, -0.0532, -0.91, -0.8387, 0.0173, -0.0193, 0.614, 0.3016, -0.2901, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4946 left_y=-0.0705 left_z=0.0552 left_yaw=0.7042 left_pitch=0.0622 left_roll=-0.0417 left_gripper=0.0173 right_x=0.2593 right_y=0.0039 right_z=0.1063 right_yaw=-0.0025 right_pitch=-0.0286 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -10.947, 5.094, 0.7839, 0.0806, -0.0024, 0.8962, -0.212, -0.6085, 7.0085, 1.9609, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0796cea41cb5a81af2fb621355da709da638becca39c873dcc6f150a27e2388c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:315cc19fcb6ccee63be79a55e824b234dec10f10e56d0bc74eee7d6f25e065de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfb02e6a6d7edc3a5eb27da06cb3faa5dd520a91ddd7d895e2324e0f9acf5b53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiQoKEAgSGAI4AUIIdGhpbmtpbmcSDLif54FZHn7t7+YKlhoM4eE8YfnRIjXqYYxVIjAD7A9BfYFL380Vr6Pm9iVJ1oh/hXJwcwAaqaEvaB3jwTYl3hQqCnFXCCT0tuobh3YqpgljVmLpDXnip8yAM3J0zGMFrAZxuZ0bNhfxGIiukCfjfF78+eyUksgntdkCXkzg8v3awh91RwM5w/HAJSlUVFugzKD7MA4xC6jlmuNKnfbmP0H83Z7nSIa7eVso+4YpKYlOBlv3TSlk7MJzOMxTfPY+t4G2r008O3y7YxPZLuxZHRGmFz7Z/rLxR3fgCAqrAg7tpUduAPE36+FcKOofKEK6CLdGRnJxoOrQbfZzPpK6M4HjywsSttbDcko5OMQJb2GPgu3kPeaeeE9j0pBxgplEQCa8VEFonITKVrSezZcvNh6J5hlcawFC0eQ9qUvUVQfrUjpe09XaPXNUO4BZXdwRHUZgFlrAjEKNF+f+NdQsNNizRIfmcvY4EXe0DTkXdbx9t7yjOT9m9QiQgn7Bjfy2KT0ypbULxyL7PugT2sVATgoI0aUBX4/fSVkDvh8dbfAtnxQfMbDcxfrNh5ia0UtGa6du3XUrBSkp25JfP7EgaGfwMWr57COUUHeNzC05a1RClJ2GaVCB25Y1KVwjdGqGfyQSzvdKIckc9p324+gs0D8hJwucHnSL0JrtnsEd1NTzG054iV5HNVY9t5xADj45OTueWO6yDo2n5+hitfVL7mDh2pL8Uv9V4MmRDS1FMeg3Z3omUfyyoPUj/3ZYGVbcDg/QOiQpKe71Chq5XnxKzwBr1oeWAlqbbrBdQucdcL6dtsj2vHp0Pia72pGaG5fvxB/4JdbYMdWZbFlbn7FcdfA+ndbaRCMIksL1ODr7Srt6/BC7T9t1TlemRPlcLK1VWTq/iP3U/ebB02jcDPWMzxom14lOHW0+d3Xms1Y8fpFYiQdipGZQsMf9u0s3BZUGoVJCfABa3M5rEgG0XR3uzR+iOalXk/qEAJk1Y2a2Op/Yps8ROVGl8t5cpERk7Wn2enKjYqSxhclQieWsjqTMUZQNAPaK4KMD0LAYXrLZFvl1Clu/d8VrtI4a7q2bdGiqjYVMvqaLYlLx8K0rmKEJB/hC/h1/eNXfSXQXbDgK+ES7eXU4T/H8gV4SuNnw9jdHZIFMcaiz0guFa9+5e624lyzXO1YOYAYTSiQqgZjHxsYJGHQDDFkQxpztTuNBhCY3rMjpHDuOySaQApho+/FDD8swTRIce4iS4afQdSZFMDwU5xHZ2Kt4z35AzxPb9+pfC1TEOAhmjAbNQQv1AvC2hUr9DocShQmbT73oHcr43UzoTxC/KYUu/nFHYOylXSuzIAE/k69lJwA7zU7b0ZAreZ4I/+9attrUKOEUWTB+x1k+5eCRhED2irE7QriDMaD3ll9q6Z6yV0H3Z6irfb4xhlmDBCN5FZoYT1JEqEa9quSIPOPkazSBfSQJKdt1rWeennz6CJW5C/sup4drxAuIQ8NUSfNeibZpD8OplQXsmCW2bjcjhdG2uGNLAkWRrrblPPkNG6yuJGVZ+bOzGO5SZw/QnXyMAP82swHMraX4IPSit9iyftfxxx9TM8IxwMdItengHyknLO6R9dVHr6aQwrzIln32FgYbVuUTPMSlthfAinWg/wFKPlF0TnPXyVLy0LOvDsf2tZzU+ZfcrDBrmHgRQYuU2hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F7mYe5tPDKixLriXWnUDFh",
      "input": {
        "note": "Empty close (0.017): the jaws closed just above the cap, which is visible right in front of the closed fingers. Opening and raising slightly before retrying lower.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01F7mYe5tPDKixLriXWnUDFh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4255, 2.1242, 1.3514, -0.2447, -0.8749, -0.8715, 0.9945, -0.0193, 0.5945, 0.2768, -0.2878, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4877 left_y=-0.0682 left_z=0.0526 left_yaw=0.7056 left_pitch=-0.0162 left_roll=0.0303 left_gripper=0.9945 right_x=0.2558 right_y=0.0039 right_z=0.1001 right_yaw=-0.0022 right_pitch=-0.0316 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -12.9162, 8.7043, 0.9646, -0.4371, -0.0024, -0.2222, -0.3487, -0.4855, 7.1179, 1.9658, -0.0513, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5d94fc72eed05937fa7017309f6e170162e564392bc717b27a645244b5bcf23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2be4885feab569c27d8bb3a3aa9252d7254d1088dc6e4c0d0035cebf91996ec6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92cc5b4edd1ae53f6d0082dc06c5e60e702c6ac1786a6235c5179c59ed0f3bb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 3.486 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]: [-0.432, 2.1284, 1.2865, -0.1284, -0.8539, -0.8406, 0.9977, -0.0193, 0.6254, 0.3195, -0.2905, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4866 left_y=-0.0738 left_z=0.0398 left_yaw=0.6705 left_pitch=-0.0118 left_roll=0.006 left_gripper=0.9977 right_x=0.262 right_y=0.0038 right_z=0.1116 right_yaw=-0.0025 right_pitch=-0.0225 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -9.0462, 4.588, 1.0769, -0.4274, 0.1148, -0.0366, -0.3624, -0.6906, 6.7761, 1.917, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.432, 2.1239, 1.2835, -0.0532, -0.91, -0.8387, 0.0173, -0.0193, 0.614, 0.3016, -0.2901, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4946 left_y=-0.0705 left_z=0.0552 left_yaw=0.7042 left_pitch=0.0622 left_roll=-0.0417 left_gripper=0.0173 right_x=0.2593 right_y=0.0039 right_z=0.1063 right_yaw=-0.0025 right_pitch=-0.0286 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -10.947, 5.094, 0.7839, 0.0806, -0.0024, 0.8962, -0.212, -0.6085, 7.0085, 1.9609, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4255, 2.1242, 1.3514, -0.2447, -0.8749, -0.8715, 0.9945, -0.0193, 0.5945, 0.2768, -0.2878, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4877 left_y=-0.0682 left_z=0.0526 left_yaw=0.7056 left_pitch=-0.0162 left_roll=0.0303 left_gripper=0.9945 right_x=0.2558 right_y=0.0039 right_z=0.1001 right_yaw=-0.0022 right_pitch=-0.0316 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -12.9162, 8.7043, 0.9646, -0.4371, -0.0024, -0.2222, -0.3487, -0.4855, 7.1179, 1.9658, -0.0513, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5d94fc72eed05937fa7017309f6e170162e564392bc717b27a645244b5bcf23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2be4885feab569c27d8bb3a3aa9252d7254d1088dc6e4c0d0035cebf91996ec6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92cc5b4edd1ae53f6d0082dc06c5e60e702c6ac1786a6235c5179c59ed0f3bb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JdUH5WKXWp1tpvm25crdPf",
      "input": {
        "note": "Wrist view shows the cap and neck right below the open jaws, slightly right of centre. Shifting ~1 cm right and descending lower so the jaws straddle the cap instead of closing above it.",
        "targets": {
          "left_x": 0.494,
          "left_y": -0.076,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01JdUH5WKXWp1tpvm25crdPf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.432, 2.1822, 1.3411, -0.1524, -0.8764, -0.8749, 0.996, -0.0193, 0.5713, 0.2497, -0.2794, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4938 left_y=-0.0742 left_z=0.0322 left_yaw=0.7015 left_pitch=-0.0048 left_roll=0.0062 left_gripper=0.996 right_x=0.253 right_y=0.004 right_z=0.0949 right_yaw=-0.0025 right_pitch=-0.0271 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -10.4274, 5.094, 1.0916, -0.398, -0.1587, 0.1441, -0.2256, -0.4171, 7.0632, 2.0, -0.0757, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b1939fec666c65f3b0538b54f3ff51491c87ad7a7622c481f60f9e800f28434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d99a837508a7d4efb2ce2f510b08805e5f0b367ac95b7ede69426f8b25493259",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66f0a70bd1a605036e7c177c8d3d6e2d8418fcc2a8848c8289a102c3253215da",
        "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 · 19.34 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]: [-0.432, 2.1239, 1.2835, -0.0532, -0.91, -0.8387, 0.0173, -0.0193, 0.614, 0.3016, -0.2901, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4946 left_y=-0.0705 left_z=0.0552 left_yaw=0.7042 left_pitch=0.0622 left_roll=-0.0417 left_gripper=0.0173 right_x=0.2593 right_y=0.0039 right_z=0.1063 right_yaw=-0.0025 right_pitch=-0.0286 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -10.947, 5.094, 0.7839, 0.0806, -0.0024, 0.8962, -0.212, -0.6085, 7.0085, 1.9609, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4255, 2.1242, 1.3514, -0.2447, -0.8749, -0.8715, 0.9945, -0.0193, 0.5945, 0.2768, -0.2878, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4877 left_y=-0.0682 left_z=0.0526 left_yaw=0.7056 left_pitch=-0.0162 left_roll=0.0303 left_gripper=0.9945 right_x=0.2558 right_y=0.0039 right_z=0.1001 right_yaw=-0.0022 right_pitch=-0.0316 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -12.9162, 8.7043, 0.9646, -0.4371, -0.0024, -0.2222, -0.3487, -0.4855, 7.1179, 1.9658, -0.0513, -0.0611, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.432, 2.1822, 1.3411, -0.1524, -0.8764, -0.8749, 0.996, -0.0193, 0.5713, 0.2497, -0.2794, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4938 left_y=-0.0742 left_z=0.0322 left_yaw=0.7015 left_pitch=-0.0048 left_roll=0.0062 left_gripper=0.996 right_x=0.253 right_y=0.004 right_z=0.0949 right_yaw=-0.0025 right_pitch=-0.0271 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -10.4274, 5.094, 1.0916, -0.398, -0.1587, 0.1441, -0.2256, -0.4171, 7.0632, 2.0, -0.0757, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b1939fec666c65f3b0538b54f3ff51491c87ad7a7622c481f60f9e800f28434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d99a837508a7d4efb2ce2f510b08805e5f0b367ac95b7ede69426f8b25493259",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66f0a70bd1a605036e7c177c8d3d6e2d8418fcc2a8848c8289a102c3253215da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgQcKEAgSGAI4AUIIdGhpbmtpbmcSDBZEt38xXn+yZVkOzhoMS9jtjGe0IgSMU9UpIjDUOT5CD92qtzsIMFlpAjvde17qe8z9wN9kO9bZS78G+843XZrEowQzD1K/M4xkEwkqngYxFnf37qcmah/Mc1vCZFVOhgAxqLlY6/BWdwR23bmd0dQoRE3wY45fnd6aLj9eKksZlv7QSdsVoPMV0do2wWrAWfX9FGG9TEn8BSGIDBAcEWeFUFfgv2o5jPxC11K/7aZjcD8md+gW0tlAOoyY3AwnY47HfBBkoqDCXVJDO0viWyVMD+Y5WOOKqkfsxFUnPKZz6cbDLETkequWs2ts2cubY3Ac/CyW1YB3tXGiGE1HUjlVfs/UoFX5dydN3y+Qiw5kBmyxgXRyL0R18Tkx1htrraEYqv9O6d9gmMKBORqAHTd2jJq9/qf9rpy5FH6eeItwLIFoVmRooywYjLOsYgyWUFMImHgunFMRPgZmgPFsSfo5dPHlUin4GCxrzBL8eDpurvMT39St5mMg+LKLZx17NVyah46riz0wXzZTPHFcKWLVWlCHS2bn2+hGOZLNQh5xhuhfGVdHQBEjX2RYbzWACe1juiHaysEnGW8Xm++ruqZpNB4DaX9/FvjxCEVEYPf+HPayKT7ign//O7tioiZeJKpXPMmSRoW4K2M7dRKflveaN0XxIxKwzJJ4Eh7VuWpJitFLNfBJVDiPpr96TzsPiBrcTMM879VsH7iRlUgJ8MUD7OdydyaQT6ZwOEtA99i9A8+tadGaOc5VTCTWv3yS1kZcAxltx0iUroOINhoXLT+RolIkSWKt2s9FozocCbfKMleEDc77zd4bx0brJgFMOow+dLjyiwZzulPZ3PZqN9UtNEEmCh4zCcardHzCqoqxy1uV+ch9uWM79NPrkwBpGDpwLh9wa3ekMGUPV7tr9zS/GwCVTht9l8m7SObKjBeGDoHj8S3c4a5Hi71wGSqz5c9VGEyBtHrGUzipmrpHiMr4jcbM2htqu9jGgD2vYmNABkSMEtLcfmd3HJinqBelKlAIi/EiPOKorSMvszDAeCA2kKAsOma+TgpFmjhivijHeThN6qjV6F+d+WVHinvItL41/lFJVERbW4bz/g5xKFPRFfjI2IpmOSI73MFCzugyRLa3/LY8xF8pLR2N+Ef+wDDjTtnWg38NvzfzOPoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AjVNborSJpZS1rjFr4aBbR",
      "input": {
        "note": "Cap is centred between the open jaws at z≈0.03. Closing on it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AjVNborSJpZS1rjFr4aBbR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4305, 2.1651, 1.3418, -0.0845, -0.9432, -0.8696, 0.017, -0.0193, 0.5518, 0.2291, -0.2714, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.5023 left_y=-0.0694 left_z=0.055 left_yaw=0.7412 left_pitch=0.0797 left_roll=-0.0455 left_gripper=0.017 right_x=0.2512 right_y=0.0041 right_z=0.0917 right_yaw=-0.0021 right_pitch=-0.0202 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -10.4547, 5.3949, 0.7253, 0.2564, -0.0269, 1.2283, -0.3897, -0.2256, 6.8991, 1.8926, -0.0415, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cc000c7bce414d6df5de8329a370418efd8b93855d02fb7b9c2040f32a3e24b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5baba15d31ea7012e856a079b05606fc9fd9d751962d7a96618ed3898562fb96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5209ced87c5cab5aa62f6c4db30e03bd0ecfffc0f48de109b33e033cc5fa6ed6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 10.47 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]: [-0.4255, 2.1242, 1.3514, -0.2447, -0.8749, -0.8715, 0.9945, -0.0193, 0.5945, 0.2768, -0.2878, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4877 left_y=-0.0682 left_z=0.0526 left_yaw=0.7056 left_pitch=-0.0162 left_roll=0.0303 left_gripper=0.9945 right_x=0.2558 right_y=0.0039 right_z=0.1001 right_yaw=-0.0022 right_pitch=-0.0316 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -12.9162, 8.7043, 0.9646, -0.4371, -0.0024, -0.2222, -0.3487, -0.4855, 7.1179, 1.9658, -0.0513, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.432, 2.1822, 1.3411, -0.1524, -0.8764, -0.8749, 0.996, -0.0193, 0.5713, 0.2497, -0.2794, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4938 left_y=-0.0742 left_z=0.0322 left_yaw=0.7015 left_pitch=-0.0048 left_roll=0.0062 left_gripper=0.996 right_x=0.253 right_y=0.004 right_z=0.0949 right_yaw=-0.0025 right_pitch=-0.0271 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -10.4274, 5.094, 1.0916, -0.398, -0.1587, 0.1441, -0.2256, -0.4171, 7.0632, 2.0, -0.0757, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4305, 2.1651, 1.3418, -0.0845, -0.9432, -0.8696, 0.017, -0.0193, 0.5518, 0.2291, -0.2714, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.5023 left_y=-0.0694 left_z=0.055 left_yaw=0.7412 left_pitch=0.0797 left_roll=-0.0455 left_gripper=0.017 right_x=0.2512 right_y=0.0041 right_z=0.0917 right_yaw=-0.0021 right_pitch=-0.0202 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -10.4547, 5.3949, 0.7253, 0.2564, -0.0269, 1.2283, -0.3897, -0.2256, 6.8991, 1.8926, -0.0415, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cc000c7bce414d6df5de8329a370418efd8b93855d02fb7b9c2040f32a3e24b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5baba15d31ea7012e856a079b05606fc9fd9d751962d7a96618ed3898562fb96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5209ced87c5cab5aa62f6c4db30e03bd0ecfffc0f48de109b33e033cc5fa6ed6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSziAKEAgSGAI4AUIIdGhpbmtpbmcSDCWXtTEThNBDYXQ5DBoMRz/jy+KFg+gk3SwdIjBqCn2Ni9+wZ7y6uDjpA7CX+nvCeEazXYPiQRSQ0OVk6nwcm8OvpO6hX5q+0Mw/T3Qq6x/j9oket33rc/0clx50fH2cGGiAzJ0ugNMWPPDiJ99pkz7QsF6XW1TeWXLHiFJ1uh3RTLGDY7vtRlGzvOAHdFCb1ktszohDdWkhECeYanaF+vPYI+mAJJZoDk7KGrt0CXhgGYiuhxadhQAgSE/AT4/pxsxS5kv5/jZg86s5v5NHHaE/i8Lflrp26QaHymA5kQN+eVE7oxAlNUlbCvqh33qmvafVIMyhYHav27/mgDWh4elURKtuA6sPRSvD9pSnq7iT2N/KOCdi7oAO8uj/liD/vOeIlVepkOtWHL6oppa6UU+UAnOT0lAFQFUdE4QGX0e2ET3c/edwoVVpWq425r5ZAVdXS+1BSEjt1IZ0kYwdrFLJtASQ0ipPdwaP07CyDFdP0QVosSFgBUK2Vlk7Mxpr913aKSeBpiVVwcFRlJPz2wRDLmJmjB1mdUvUeLyquvCbnwlXgzNy3nAr6+kC+pIyc36sez4Yt/L6Q5JVAD5eCJwYSX3pn08yHPd9E+5k6Dil/PSF/WOd6YYcQXbr/3xvcsUV0fk0HZlnmmW5HneQ4PrMTfB/MpznTj+uX2ImjejpNWaGpj3KI9QZQx+Q8ZyKsUHrpO1bOuhfAFvPJ0VpfN+akMWzhlCaaHQimWjy8qvneJf79NarHDjT2NroIiCN3m62YAALsnXjeUiwHXMx5RU2PLefTgNyzOoo92C1lH5gtTD4g2KR8Ur/DAswogFCZe6JlOO2LpJbWNhvQ6SZPZkCSKWq6YPtgYeHuasaqTlxXpdaG8NqKW7sIA5uJSrs4zBS7zf5RT+KWAKtZbXW82dObLQ4RYOoGzDqcFWhkjIeYe2a1Ki8s7fyGM8wF7nAE00t8O8HF3evQJRJJFRFNvHaFBld00hB+u0XfE1wBlMe27BAMO2/OhuPEA9Uar7v7+deJlk6866ZncXzeSTGHz21uPNZOSQ0Wl0E9fJNBoq7SdjNVtIlxtJ7F+7Ci4ABFwmXxlYrbKGHiIx+8n/y3Nnwvwhvyx4LL5KcpN40wE/HJlDkhXEc0kVuIu9IwklozrYzwvvUeX0GrgZVvqXl7Ef3Ka0HbcCpK3ZL7Kk1EU44JlVN8RWKn5NW1uhNFrFA49qLuclTLxbhQb+S392/PUN0Y5WBRzEnt7ZbtKv5V6FlfX5rZ4cjWAiAc478VPKH8a5dYOzyhFL5wlBHZpKLsf9yYCoFCL4diy777/OinnhMKO/KKaFYEoqY6GAvs8FBUyPtHYBdGs/SnklpgiwFNoCs8Dim3Y86w+k9XBcOK2iTWqevwc4T74nCAJW38jHXf3HJWC5a0YVoD2e/pyloqtDGQmeWp19LcuA0KTgjO9s7M7KS/gP1zhXeJpDFhpWQucw0Gqong3qUh7x/S4i5amrh2ZemNtzE5TNzor11EGE7TnlnZL0vjGr/7/D31X+sTdHVkzfSjUDXC4Ne5w1sJv5tvDQFgixa0Anyivx7gSdO0jQbQcblypuS5VY4gip7oZWlQYAwMQ75lX7NrK/Lbu4xWMYRiaONHV8/isM0UYnomps6pzCANznIdRrIYIr8SQfeEqMMHwa0TflyP3co/DWSi67f+ByqU8LEtYC7nOEgwKMdMm+evS4yXARekf/wxx0NdqXZWiLo7kiJC0LtW1BP6RWfRcx4zxts+PoqXMR3IdB8bjxt5MVpIclEyqmIVbJO+NRPP7rN4f+sgV7fwEW6Raen7OKjJHmfIEnKz0XINkUttzvvnicOgBpxibKGx9ijVrlDH2D0UfhZG9NpFzCXIEO8lt5WYefe+RX0Aya51J22O+zSK0Bwp7zl0ERnngBQWPPCpq0/5jxwuB+Oea7buu7vTw+Bd5TXQWQpM64ZvLGwvWFawVhNph2tB7EG3FpF2URmUYOzEiuaEGVhkLBNAJpzqoqJqfrfDzjKn61Cn0kbAPxJyVNFREFbP3AzKmIFK11ygp2hACKKgGUKRfkauKa2hO/TOJSqjk3pN+xchX2ZFIYhudNCynKD+qs4fHRMLdeB+ez/Ip2u0NsjzMhV4INmvbkgyCgyLGRplj5/NWjhZWrRNpskP9GjLM6HTVpIeR/54iNE825fhp53Epu4u8oX2F32fNucoJNMqxhYEbKVSkjvXAuiEX2bOwC099cLe02INQijPvWaZ7fToJkDbg19enUHCldzFbdPNftqHTbPy8RnjTfHqciCS+uGV3ad2VJv4fOEiu+b8nQacNWOxR6qN0o4Ei8Nan11DJA1MYXkHQ4tlZ8oKtZaemEEeu2bF7o0VanzhFmXAgTvX/Lwt5xoLFA98qlWfuuedmvgvQHCWvDh1QBSoX8ZC4poMvyE5qPNFf1wMYfGNmsiNwvGxbz3RuenR2o/KLjLe3b3h/B9S8McASecVpdb4aJ95LzkfnyN+y4AXfupCkGRiE5ihpDXoF8SiPqqF8ri5Xp74oPDennydvedM0DeZda+S+0r3/dNhmPd78k3A6F+vOukaktg34dR3DO4yYTkoTlgMUy4pGTVzmhRofa4QKt4cJia9saMHnfnXm2vH+OzidRaFmUqDLZc2XQU17tZL2bUUpDQFcl1yfj1FcH0pDXXCRrZSW4NO2LahzBNEffRnV7lliz+XcFqxxAH++il3V0lA5UrycNLgJ5fZTgBCiZ6ikFBrL99yTA49LOwVyIAU0m6UInomOFsuZmlPkKQXhVVJ5G9UNDcRuG3J5zYtfeoYntGxgdA4secGWZICiOqOniF1TYv5KEfQtgvIwVpoWY6v6SUDdz7+IujUMBdiEzPAUmscob7eaATJJWEvpMht6QLPeQyGjBOGK5MBTDvvqVX5rmdCgZsFa1R0kKjLOpKo+oeK7OFw5uLDU7ryTRv9J/MPnfJ66FRa0pmScg6vl7OamQ8dlE4DsSVX1c1FR9/zjiB3s/2QeDYFTiMrUmEicqTOsEWEdpmqfTACNo6l76pb1K0vRGQuBPiCMb41pbMYWaqKAZ8eXmyZ8OlCi1MdFxt7rt10VdqNrrMrApTJzY/PHxWPxF58z+FaLQts3UjU12GhE3Yn0U407d3kw4RUeDXvxpScbMlczsBqGVsL8M9jU7uFPSdUBRbinYpy+eI6n3+hS9up4C+oudwoY+2tbWo0yFb4qyVEzVjFWcN0Tcu4coo/byOIpUzMMi61hpypMHdFE2Tud1ZhhTANkTknWLZ6WODdL+FLQjjajNZENVDkOe5eOfx/jdr+Cs912BwhLZfHzn+UIwyD1hB/KS5Gq4v1nHkQK29yAaAbl8ehuH50qWkq9iRdhEJTLnsfSHX24lO2Enhp3Es6f9Q9n/nITUvAJVuUIxF74dVbyT/+Y/3DmQWOAyOinOwc/ldX5khCwHAbpevdhpg7eDbcAcnF+lvAOUE5guuV8jYHv0Gtrf/RBlPhVu0T0xFnmrAyWu5C/MUX26iaNsqHUBMuiFIwk7HKVWw9lEOcYCbAbkImsihqy2amblnAnr71/tQlKC5od2fsFl5pRIqAcat+0/AJHrHsQJsO7g7bavfWq+Aud0+RISbsW0v9MRHYpfJuF9ZYsqk0CdaZGdmqULQSOj4M+mitQaB3HDKvLVfLwbKW4N3h9qdLpjI5aJDGBORPhCWQSI1hD9/TptQYizy2JTZ/2cqEbeirBIYNOri9/KFI52wtH0Ve3bjmQ8zCJQK86jxocsWqNgVM8b/wrxnDuc8E7qsXwfDS0wvJHmdXUqFgxmvR78XgnmO0dVLjLsvMlhMbV4GvR6XaUOTH/5+iiocjKce7x1FNxvIfo13mWMlg7cPwl4rozChO8X/IrLZp8qVeSEpMEC40ycKIS6gumLhAp7yDFAhg11LOsB6+Z59bALIcrCTu5qs0NgFtlNMzeE8CoKlOtpRmmU9VpIr3Ti95tPuzWSq+8EUDsNQQgwIL+x+sGsY1E1F6Rh2R3TO4n2nF0q/zcVnURpk7anzBmv2I+BmbXv/6bBpZUUywcNfalrMU26qQAXwMT/2VXfUQR0ygY9V+8+j2TyfVIfvtUBT+KC9pxq/KEnVTDloPSc/8GrgSQTaOUTdoc2AMUeHGiwfpRrbD/eVXU6Aga/Vul4Y9ENos2HgYzlSGCEUOWfXNKMttjhb3NM6FcBcLu7O/G8nihTXHxZb9aXR1e49dzBDRKZ1D95IxXvTZPmEISZOmj7JmQYZ8ey4EBsS7q2gVPMaWZlxj5v3QmOwcNKoozCM/FrLWnLGnoXvWYoQSFN90ByVyWWnw3Vr1Guy65drLEHtkBQlcNWIdHUTlTpGuNJrXkHvPfFNDhBCDNMQxDZgibGcF4EetgMrtTJNer3XEJn9yguXyN7D5rdP/rktCwii8aZf1meYt8FFz8EzQtkP+qNIoEf4K6qo1b0f8t4zPjsFhgO7PWYs6S/W4rHgQHaTUwsEZpDQ6DSoST/DZm/Af+0WeSyhHifODrNwpIWIO2yaK63fa2/GhfZF4hlysKKbfUZAep/NP8Iwa7e+RGbTrlVaeS1hG39ION1AMxYIVT8x9iYGjOzY9e1Am4rHmZrGWhAhqAKiLF7RQQOFkVtPOT1xmXJxLcqqiO58CbC5eOmNUp1Iu/h/ijtg0pgc5iOKdLSNVaUowqAgd8K24x6AJqZO95sKMn4SlOoEBdxmlgnVtHxBbfKtypriD/slAIapHQntHkUQpo2eMBjOlvGrOAIhWvHHQcI/ul2aCckax0wk890lW7d+b1HZueneizUg2nEm76Yy4h0DlOpVXrxuOymI0d8XM02jLsRhzCNrSIA84uje1X4A3UFDTcGkAYfD3/cGeyDXqpGEO5rmDJcVR8uSVpN3dmJ4/7wgDwSVJlVOC3mrxvSMwmdZoyN6Ge6rxEdxo486KDL6OeBuGyFxSxKotBC4RdfrLU3b/xr+fU19rhAI8LDTAmTVBCPBoejC9xu5SrGAH+cfaO3YAHKLVgemrpc0FRcwjZZNni3Ythzk0ZWF+/ZppTQnLfOxJY0gwR3qhgD/ZrGBb+ivXo2UTmXWq91uZVJLRLw1Y4xe/As15LZadxdFjxtwWALmpxHRh1ARGe5+bRe67waSJIpCG0TC3ivj5YCfLL7SNcX9KHvIEp5pSNA6jUk4Y4pPa953J4CFzlA5Sv+c/IuUyhWEFpu3Qo8UXEihS40gTC9R7FX2XTY3sNoEcmj84USJXk1RlvviwoRwGdbzBV6qClmRkGJSVvJ6PUCxiyFf/UlNI36gHCQmt4cvfyQwAEQPuyqOpOJde6mNwzvmz0kDrPQ4K7urESZaQntQrCBDAYmBbATi6raCiIRRoIswlzpxiqs3je2gsmkqJ+5wEsnD55HswzaZ8+IADo5tirqR/w3iGcgn6DqjYeTkD0G3SDffcyP8Vt249X2H7bov1qjBTs4O80hIn0Eus+1hOMY436QzpRNTqnfHto0VYhVM19+zy1lnTiR43/OxlRVIA3upGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AvXwQ6nAMmFKgPC5r9qjeV",
      "input": {
        "note": "Second empty close on the cap: the round cap squirts out of the jaws. Opening and backing up to try the neck just behind the cap with a lighter grip.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AvXwQ6nAMmFKgPC5r9qjeV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.421, 2.1654, 1.4464, -0.3374, -0.894, -0.9199, 0.9943, -0.0193, 0.54, 0.2138, -0.2695, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4964 left_y=-0.0674 left_z=0.0572 left_yaw=0.7463 left_pitch=-0.0161 left_roll=0.0319 left_gripper=0.9943 right_x=0.2493 right_y=0.0041 right_z=0.0878 right_yaw=-0.0019 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -14.4752, 8.5128, 0.9744, -0.4469, 0.0611, -0.0952, -0.0615, -0.4444, 6.7761, 1.9023, -0.0708, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61333e27c0139100ead3283c7389bdf79ed471c439ecaae1ccb67edef27e925a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:120371258c289d8c75dbd72cb9474dc74443d13a1e9a2294678e4851ae5d6c6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:593f854b9314f9c3b4c4d6bda6dbe0058c9acbc1d751662488896e91012cb0f8",
        "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 · 4.17 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]: [-0.432, 2.1822, 1.3411, -0.1524, -0.8764, -0.8749, 0.996, -0.0193, 0.5713, 0.2497, -0.2794, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4938 left_y=-0.0742 left_z=0.0322 left_yaw=0.7015 left_pitch=-0.0048 left_roll=0.0062 left_gripper=0.996 right_x=0.253 right_y=0.004 right_z=0.0949 right_yaw=-0.0025 right_pitch=-0.0271 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -10.4274, 5.094, 1.0916, -0.398, -0.1587, 0.1441, -0.2256, -0.4171, 7.0632, 2.0, -0.0757, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4305, 2.1651, 1.3418, -0.0845, -0.9432, -0.8696, 0.017, -0.0193, 0.5518, 0.2291, -0.2714, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.5023 left_y=-0.0694 left_z=0.055 left_yaw=0.7412 left_pitch=0.0797 left_roll=-0.0455 left_gripper=0.017 right_x=0.2512 right_y=0.0041 right_z=0.0917 right_yaw=-0.0021 right_pitch=-0.0202 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -10.4547, 5.3949, 0.7253, 0.2564, -0.0269, 1.2283, -0.3897, -0.2256, 6.8991, 1.8926, -0.0415, -0.0122, -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]: [-0.421, 2.1654, 1.4464, -0.3374, -0.894, -0.9199, 0.9943, -0.0193, 0.54, 0.2138, -0.2695, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4964 left_y=-0.0674 left_z=0.0572 left_yaw=0.7463 left_pitch=-0.0161 left_roll=0.0319 left_gripper=0.9943 right_x=0.2493 right_y=0.0041 right_z=0.0878 right_yaw=-0.0019 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -14.4752, 8.5128, 0.9744, -0.4469, 0.0611, -0.0952, -0.0615, -0.4444, 6.7761, 1.9023, -0.0708, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61333e27c0139100ead3283c7389bdf79ed471c439ecaae1ccb67edef27e925a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:120371258c289d8c75dbd72cb9474dc74443d13a1e9a2294678e4851ae5d6c6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:593f854b9314f9c3b4c4d6bda6dbe0058c9acbc1d751662488896e91012cb0f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DikF5q9DCRkbEHdSukhMyy",
      "input": {
        "note": "Cap sits just under the fingertips slightly right of centre. Moving ~2 cm toward the base and 1 cm right to straddle the neck behind the cap, then descending.",
        "targets": {
          "left_x": 0.487,
          "left_y": -0.088,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DikF5q9DCRkbEHdSukhMyy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4603, 2.1971, 1.4075, -0.2756, -0.9062, -0.96, 0.9956, -0.0193, 0.5251, 0.197, -0.2684, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4903 left_y=-0.0839 left_z=0.0377 left_yaw=0.7345 left_pitch=-0.0089 left_roll=0.0105 left_gripper=0.9956 right_x=0.2472 right_y=0.0042 right_z=0.0838 right_yaw=-0.0019 right_pitch=-0.0225 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -10.4821, 5.012, 1.1502, -0.3346, -0.3248, 0.1245, -0.2256, -0.294, 6.9265, 1.8877, -0.0855, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e378433d346c4bbe3a38e57ff4367df234463dc66ba1d6ce203fa5138c685f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dba4fa8053677ec38605e6f8f9a5b29bfe6f53babb730eea9999c9fa77141461",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0dd4ab78f745d337fd832bee4807a1a14fcd5da0877a67b082fcdc5aa895203",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 6.764 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]: [-0.4305, 2.1651, 1.3418, -0.0845, -0.9432, -0.8696, 0.017, -0.0193, 0.5518, 0.2291, -0.2714, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.5023 left_y=-0.0694 left_z=0.055 left_yaw=0.7412 left_pitch=0.0797 left_roll=-0.0455 left_gripper=0.017 right_x=0.2512 right_y=0.0041 right_z=0.0917 right_yaw=-0.0021 right_pitch=-0.0202 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -10.4547, 5.3949, 0.7253, 0.2564, -0.0269, 1.2283, -0.3897, -0.2256, 6.8991, 1.8926, -0.0415, -0.0122, -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]: [-0.421, 2.1654, 1.4464, -0.3374, -0.894, -0.9199, 0.9943, -0.0193, 0.54, 0.2138, -0.2695, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4964 left_y=-0.0674 left_z=0.0572 left_yaw=0.7463 left_pitch=-0.0161 left_roll=0.0319 left_gripper=0.9943 right_x=0.2493 right_y=0.0041 right_z=0.0878 right_yaw=-0.0019 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -14.4752, 8.5128, 0.9744, -0.4469, 0.0611, -0.0952, -0.0615, -0.4444, 6.7761, 1.9023, -0.0708, -0.0708, -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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4603, 2.1971, 1.4075, -0.2756, -0.9062, -0.96, 0.9956, -0.0193, 0.5251, 0.197, -0.2684, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4903 left_y=-0.0839 left_z=0.0377 left_yaw=0.7345 left_pitch=-0.0089 left_roll=0.0105 left_gripper=0.9956 right_x=0.2472 right_y=0.0042 right_z=0.0838 right_yaw=-0.0019 right_pitch=-0.0225 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -10.4821, 5.012, 1.1502, -0.3346, -0.3248, 0.1245, -0.2256, -0.294, 6.9265, 1.8877, -0.0855, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e378433d346c4bbe3a38e57ff4367df234463dc66ba1d6ce203fa5138c685f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dba4fa8053677ec38605e6f8f9a5b29bfe6f53babb730eea9999c9fa77141461",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0dd4ab78f745d337fd832bee4807a1a14fcd5da0877a67b082fcdc5aa895203",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQgKEAgSGAI4AUIIdGhpbmtpbmcSDDWo+bR57AoycVBZoBoMwH4D2Gd6uyGsFZ4NIjBke2z+4m2NOhU9Z3Xgfy4qIjNBaBnJky8L6GNEHZlEFUi3jWL/M5yIQ1tUWcS7sisqogcXN1UBxTuGjZ4qNQIsFKT1tQdFrLAKBjXmq045NaSZPoMoI/jNtYSu57/mSeZvmInIWh7r2dAqOiNQwsgItj7qy3scPcsphY8WrBF3R5dzbJhPwN/lH0n0anULRblMXtQvzKJyQ0yszDQiRDBl3QYUfHlDeyAsJar9HbRewXD299GQWIsmWubJEAs7DQbFfgFlnKL7VqqfkCXwV9HJaWk94coC466EwbzKoI/b6Uox0DCIj+sieqwZZTAMNJ6F230OzpIDY/WletAtrE3AMiF+iJJ5TyRXnL68Ef4c6FsUg0U5pQ79f3ABRM4CY34CdXKi5DQacVl5I2GpkaA+PUn2xoU1A2nHDIEvFlv89QjF/BiM1UspFFjXr9pWXY4+Rf5oJEp6lr8tbrQ//8cn+/ZXJOeXr95uvAnR0fvT1Vx45JYq14LqxgUjhpW1G/ae1zxPXurnuqllEGetcqOoVhO1FbShofWJl2j7IxZuhLagAaWqDlomqEfy1AG1qONh2sxZybBUFU2p2LEaZD+do4/hZ9+kQgRYp5LV0j8FG9Tw3DJJcsPumXYqWYyEHSKdyqXn6qQr2xqRge4JMMpgunq7wqGKVjxmsaGP33lWFx4mnLZWoST2SZHYzhxWfJ5MCCmN4FagaTpBM6G7CJ36Uv67IQtzAJ90Z1Loxys1wqaE0Nn1PjIJmPgKCFwJ0TqvClT80ADF0mQlpsWaPBjcyjAf0e6R8PtHLSG6Ea+xFgrPjVZlB9f0kJUcQzyeEKhqbjaxgQb8z60xf0Xu/9g6zZ8srxPiSClk1gLElrXeNaPQmA5r/7pwP4urN7p7t2xGjhsjI1sWz55vmOQ6XAFON/ESq0Kos/UjzSiyKBZauIYubFs7RyXU0NuXjyaut8cu7CjZ0ozfwpuC2+WO9T3rskYiHVwkiF+7a9pgyGbc0fCz+pdlW4auWwtXzLk1k4+w7gzS+f+wPAjrs4CtgMzDkuC84s1H+2vDOaFBjJSTWJJJ74HGndJL08HGRDqz7iB2wcGIb0IwHtfFrXcZKBpeUORueJUbpgkp7el06/uZTYb+C0nILAN8Q89RZOeH4pOZQBCQUmZGr0K7JvCizgqGn8NPlUKQxFNB3rqeZHxhO395kdtgXCn8F5tnldOVmhmkyiQ0OmcdysB30ewIS2wVFenFjUPWk1L8vhU4+v+DauzIzWrSrNMQaX5nj2Mi3bKiOU2iU+vtNMnovZ9Sf45JB6D5BWsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W2db1BX6nQLgpNLpjssf3k",
      "input": {
        "note": "The neck is now between the jaws with the cap just ahead. Closing partially (to ~1.4 cm target) to hold the neck lightly so the bottle can pivot in the grip.",
        "targets": {
          "left_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01W2db1BX6nQLgpNLpjssf3k",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4641, 2.1838, 1.4017, -0.2092, -0.9768, -0.9691, 0.156, -0.0193, 0.5083, 0.1776, -0.268, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4968 left_y=-0.081 left_z=0.0566 left_yaw=0.7736 left_pitch=0.0735 left_roll=-0.0458 left_gripper=0.156 right_x=0.2446 right_y=0.0042 right_z=0.0788 right_yaw=-0.0021 right_pitch=-0.0248 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -10.9607, 5.1624, 0.7253, 0.2466, 0.0757, 0.0952, -0.1709, 0.0889, 7.0359, 1.8632, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a04f7a1549294041c1c1c828d655f510cae2aa550aa8f64f8fec88a486b06cfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:617427eec18de5e364dd02e8bd3f97f6af56e54c057cd227c1e99ac2ebfdfc0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:852008241b92c678c999727fd690020f0e9d449ed347e75f9f17e73c3dd80604",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 6.035 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]: [-0.421, 2.1654, 1.4464, -0.3374, -0.894, -0.9199, 0.9943, -0.0193, 0.54, 0.2138, -0.2695, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4964 left_y=-0.0674 left_z=0.0572 left_yaw=0.7463 left_pitch=-0.0161 left_roll=0.0319 left_gripper=0.9943 right_x=0.2493 right_y=0.0041 right_z=0.0878 right_yaw=-0.0019 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -14.4752, 8.5128, 0.9744, -0.4469, 0.0611, -0.0952, -0.0615, -0.4444, 6.7761, 1.9023, -0.0708, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.4603, 2.1971, 1.4075, -0.2756, -0.9062, -0.96, 0.9956, -0.0193, 0.5251, 0.197, -0.2684, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4903 left_y=-0.0839 left_z=0.0377 left_yaw=0.7345 left_pitch=-0.0089 left_roll=0.0105 left_gripper=0.9956 right_x=0.2472 right_y=0.0042 right_z=0.0838 right_yaw=-0.0019 right_pitch=-0.0225 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -10.4821, 5.012, 1.1502, -0.3346, -0.3248, 0.1245, -0.2256, -0.294, 6.9265, 1.8877, -0.0855, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4641, 2.1838, 1.4017, -0.2092, -0.9768, -0.9691, 0.156, -0.0193, 0.5083, 0.1776, -0.268, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4968 left_y=-0.081 left_z=0.0566 left_yaw=0.7736 left_pitch=0.0735 left_roll=-0.0458 left_gripper=0.156 right_x=0.2446 right_y=0.0042 right_z=0.0788 right_yaw=-0.0021 right_pitch=-0.0248 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -10.9607, 5.1624, 0.7253, 0.2466, 0.0757, 0.0952, -0.1709, 0.0889, 7.0359, 1.8632, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a04f7a1549294041c1c1c828d655f510cae2aa550aa8f64f8fec88a486b06cfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:617427eec18de5e364dd02e8bd3f97f6af56e54c057cd227c1e99ac2ebfdfc0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:852008241b92c678c999727fd690020f0e9d449ed347e75f9f17e73c3dd80604",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzgsKEAgSGAI4AUIIdGhpbmtpbmcSDL6ls4Lm6UJdo2w+6xoMwWN/PDujb4v/UE17IjCmY5M5zUxMsrfmQt7RWWz/2b9JOL5CKD22j093kwr70zA/JkVgzhpivGGcxY68dJcq6wp9iVXuL4YQVNuiOjJIp7ZOAlSpICgp+1Nxnk62eTuMk+OM5vYevxONGdCM1Os40fa6SiO4hIV1wunWbn4GstuJu1E+v5fdgQv1lKRoxR+LKjrWxlXIWTWhUOvH/Vg3sTY+V8BxPK1Gc70aPGohJUH/elWLE8IUej41ZM5QvHanBzcjx7tbtjVpxiolb+N4bKceSZHbkpGFaRIX3P9KOZXG9o51dE1ZJzj8NNDZDD0sarO/0rjxhPVn0iCFZS1ACyYoJWdpxzn9H6kh8Oq4rfx0sBE9wBLfD7fPnJoDOfJYbdrBDNtPHbNNNjujo/tefb2qvzjwkOuMMv+jf80+zSBDnUZqEVnvOqwAXHkFUJeIwjREclGN8xTvZQ2M9+9TkJ1duY0vRVLkfnT30ozGQ3G6FHmRctxl0JxRE4xAIzSf5INTR6uhR98X8Xm4rux1rAzDkxheBYwhZXcYLbkSNVyC5YW65EUciXxOfRBjE73aeRbjEw530zIm3cBEcoYa7mnHEChXHZcb+EQ2I3fOFgbx7D8f3qWVfiIcTjG/DQ2LjciyzOIGUbjjp6Upvr5d1gDAqxSSFw/PKB+uG3dk+RiIRUe5eczCoujchzFKQwHpCL5KN7PoM1dXs2u0iic4pFDGt+5Y5Y6Y0PueiYrV4dmXyVbkZ+HjczX9FSf1mpY6kyITYSZX69rfMEtvF53w1T+aXYNptqZYcjrbROvJE0jrBsbVOUVKgtK/RfCqxq3yAhKADeq0xo36hHOMWYYT9JqS5kzvbOJgSUyqOl3PE74jw1lzLLrPxxwGb6lqI/rVvlpJgM16VAD/IWd/t+mnWDNtaZIcGw6vA9krEjCiYX3WGBAMDdzjlXxWLjVY3YtR0g1al5OPKaoJXry4fpHEcWwpfHGk7rjcNLz784Ue56qQyCaog9dbKTlebu8qW4rOGRU1ntNYXsDP/fIivdU5cUFIJeJ5HNi42EMG6tjHgk2GIJFXuhZkhm1PfilcB1rMJ2eMaxkDdYwp0GRlimvY5+lU2BeQE974MI95Lcl08k6RZrSvFrTAKAMa6rX9YS+rj/WQ/VjymcYl6KzOESwWjIwXxzGveLJktytmq54YZd4v4AYAUMIlWPgRoXIR2BaYfsnOZqAQxp4wTAnNj/PtrbQUtRE+CkiXMEbi20aZWeKcZor+E4nOBWd/9XQwAOzNbUcUjMJqUQV1C5iirfaUCPI2veGMY+4+qQXL2SUj9f4SkumiOo0fPQxqguJcfrKEGJ44qUWny+SeE+pZLG/dXlR5KSx9fup9tCvS+Mz2jaXXy0TYKUvi4CAKVzW1I0WbaXYusdhDyXOW76JTIGLj/Fd7lu6JMC8W5jgc7aNxwpUuf0cvvsv5fXLoPsp2orJbD6GkfbsOXju6plwgDnprG9gNgPwA5Dhj8SGQWVsGE11wj2lBGicGRIDvauVU/7WULw+3boW0rNOqHak75cTvgZGNe4CtWDlA0l0jbX7hfDWxAcwb4p8s0hp5YE37UlSyWHntCMnnv6bfjv6yr11sqaH++C908a7dV0E6+RbdyS26qWiYhpoHtarxZKOMvUPNy8PJNv/jZCotDM5hA5rLWIyDUebl6j3Cma6uGm3/5m5S8Kzsk98ycQCHBfyvvMyocZTf+wiEDhe2AE6nPCpt6/AfkWKeg0miw603jJdhGjPYLp463BLYpQ6gG2uBb3LYgA7wTxPqiQZDTM+22G1MAdC8U+uC6OX4+8fwqh2QOYmesJwbFRuEUQtUvZs4mN8yGTKlXb18wsZcX6A+OhSJisnTWhgMUluqeHRXGSiAKGo4I0/60F+6hed0LhBkEJ6QGahgcZueDBRmWeuCGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UEQ4tosMXheNYyd6WKvCc4",
      "input": {
        "note": "Gripper reached 0.156 with the cap right at the jaws; unclear if held. Lifting 5 cm to test whether the neck is gripped and the bottle pivots up.",
        "targets": {
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01UEQ4tosMXheNYyd6WKvCc4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4545, 2.1685, 1.5604, -0.4698, -0.9333, -1.005, 0.1548, -0.0193, 0.4877, 0.1589, -0.2684, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.5013 left_y=-0.083 left_z=0.0853 left_yaw=0.7771 left_pitch=0.0093 left_roll=-0.0075 left_gripper=0.1548 right_x=0.2423 right_y=0.0043 right_z=0.0748 right_yaw=-0.0021 right_pitch=-0.0233 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -15.5419, 8.8547, 0.9011, -0.4811, -0.0171, -0.1343, -0.0752, -0.1299, 6.7624, 1.8828, -0.0415, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6f69d340a382b984b8579774ccf0ce006dda8cb3079294e3b7aa4e0fb5f1320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ff7fc4933e282c0b17a7a2508734d6743f610c965b1fed768c863d92bc1877c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be46f9adc3af95f65a2a0261930056e7540ac27de5c83af6d83f0139d9840949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 13.75 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]: [-0.4603, 2.1971, 1.4075, -0.2756, -0.9062, -0.96, 0.9956, -0.0193, 0.5251, 0.197, -0.2684, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4903 left_y=-0.0839 left_z=0.0377 left_yaw=0.7345 left_pitch=-0.0089 left_roll=0.0105 left_gripper=0.9956 right_x=0.2472 right_y=0.0042 right_z=0.0838 right_yaw=-0.0019 right_pitch=-0.0225 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -10.4821, 5.012, 1.1502, -0.3346, -0.3248, 0.1245, -0.2256, -0.294, 6.9265, 1.8877, -0.0855, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4641, 2.1838, 1.4017, -0.2092, -0.9768, -0.9691, 0.156, -0.0193, 0.5083, 0.1776, -0.268, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4968 left_y=-0.081 left_z=0.0566 left_yaw=0.7736 left_pitch=0.0735 left_roll=-0.0458 left_gripper=0.156 right_x=0.2446 right_y=0.0042 right_z=0.0788 right_yaw=-0.0021 right_pitch=-0.0248 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -10.9607, 5.1624, 0.7253, 0.2466, 0.0757, 0.0952, -0.1709, 0.0889, 7.0359, 1.8632, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4545, 2.1685, 1.5604, -0.4698, -0.9333, -1.005, 0.1548, -0.0193, 0.4877, 0.1589, -0.2684, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.5013 left_y=-0.083 left_z=0.0853 left_yaw=0.7771 left_pitch=0.0093 left_roll=-0.0075 left_gripper=0.1548 right_x=0.2423 right_y=0.0043 right_z=0.0748 right_yaw=-0.0021 right_pitch=-0.0233 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -15.5419, 8.8547, 0.9011, -0.4811, -0.0171, -0.1343, -0.0752, -0.1299, 6.7624, 1.8828, -0.0415, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6f69d340a382b984b8579774ccf0ce006dda8cb3079294e3b7aa4e0fb5f1320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ff7fc4933e282c0b17a7a2508734d6743f610c965b1fed768c863d92bc1877c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be46f9adc3af95f65a2a0261930056e7540ac27de5c83af6d83f0139d9840949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmQsKEAgSGAI4AUIIdGhpbmtpbmcSDFbfGmTd6uA6STMJthoMi1tjOs47AtVQIVhpIjB5x33Wsq6w2i1lsrp3skf91PqBCxsgS4/w9VvvJRjKCRI5X71j/V9VvE+rtXQJ/a4qtgpEyPDwy/R9dnuSvwNWrJxoMwppLI0e7Uhr/NoVT+RvS0kyuQjbx2kg9omfztYfiSy8+oq0DaidWl/4JFtUrvZmaF/PdaPAgyTnQ7x3/cnMVZ+m1JYnz1GpjLkXj+pHnm4dcBOukmM6GcexSB4SI7oCnzdffDJ4Y6fhnvwIuvD3y1emLEtNMaMKpy15S1yNb8F2mk4QOKLvUqAqQC34BVoe7KrFgJ6RpzqoOTXUyDHIq+B8I456VO/KnZZRT4AkghmczieESOnXM06aXjM6AIlraFf94zFziR+LF2YUq6XDs1QLEFtcrk0+aRxgS1Yv/vQ2Y5uDGriju0Qstbgv9CA3pRv7JpGxtlXWSkBg52bmbMShA5+Sol58sxiGtWd2SO2gQAzR9rB7zeYd0ByjiuMqOOCzFdRqSc9uJ9VO04NTQ8m+uP1CTyZTjj+/y1lGA8Aesq3qLMWARGmtOdTaQT5iDuGG28IWH1nCBaT6xYdYZJYTOqd4ddn/m/wVxuApzzNIsLpi425rdkHOjqxtvpdcfBddS8lrsBNHAgRrP4q1uP5+/tjJ/NiPBnA0m2jMcplk9hbtGwJ5OAicEVak0Q2MEgLuWFLKieiXyuucnAkTI1GNAy0TE4TRRthWBDXaDU7GqHwEuoJGK0p+/8xoNVdP/X4Xc2Qf9NK56T5hUuZOjsRNWWu/6LGNaqw3vKnw6YUIXIQ9Y0rk0cxetVhu0S3g0AuUddyebg2fLDYeAHu1tw4hA83VVoWRABsV1+ERXp0/jMJlpn3SwnZyOG+YJdRNXq1l81LH7iShOCB5WnEy0wVbIulBVPn4F4+n6xukIk4ZcI2mZte/VneLT5r/kImuCNtOVhVgI6Sn1XBoSuzHPAM/Uxwepi5xNIkIlGMpUbUvJBpKaBLaMcMsq9NyZk9awDxzw+3RVYD5bZgpN5hGHd1YddkPhN0lFbThr45sNvynDl/+Pt9oWfLO/vD0q8p3hB10zMdYseA3/MUuOCEv7sBvjK9Nk60dnfDoPmzZyKupfKG5u98ld+PGiSfS5UDSFaluTM+UZVzMks/UEkqvxhXmI0XcQij81oeF642ttco2dCEJ67kpogP41ZTqEocAr2bT8Z1WERGcNw8I4bc1dTt/HSPdN0COoOLfWzwuWONgHFoWkBviChWRbS9r8dbOOjIFzedMjpyceq5GYcSe7vDIJkR15vtd8fGSHqS0QMrBwjU6u2uuIs7ak8MAE+y45sUsGJvqzvP6kK6d+qz/n5PNBjUrjTrtbfjx/yJCImGg+YMKQZPQnoYjdl8illrcVtjPQcTVpfBpz2+quWJtmiQiEdjPB0/cioTNt2PalYiRes72ZvokV5jajlJuPVLUYpEzDdyQNP4IzLM7DdSVifun+1ouGqKZFUdHrxBnA/+PEotfZ/YRF/fcGQthVKT8Rh1jgdgXU0Be81Ar6rHRb80YwdpImI9IE3iQ2NW7ZTQBvA6V4lyoQQFbaICF1VZ5HA1jzD7GRb6gwJeFHUO+wvgBcKofh2APFyShjL2u5g790/ugkYLcczOPbc0i2kPNtMIue0hO1YkEP5IR/794hrgjWhwtZnFpFYUjTD1kXdp2+GdGQ5KMCHOgUxBtGB4HJpe3lnjpqj7oXkTDXrbEFNPqpT50r2CdMd40rmpfAF7+JAiJepSs+g+FsrYcOXDsO4TPxiVi5zMKMMXETlKzP8FYtMaM+i/ClDA9XS2hpwh3aZAJG4pNUsAdsZICzLhtx3P+cC+WbT8t1a1obn2R0Zvtbg2QbBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CeKvv1EJjYn2gXUS6fsYtC",
      "input": {
        "note": "Overhead suggests bottle 1 is now tilting up from the gripper toward its base end, so the neck seems held. Continuing to raise while moving toward the bottle's base so it swings toward vertical.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.12,
          "left_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01CeKvv1EJjYn2gXUS6fsYtC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5797, 2.0804, 1.7706, -0.9306, -0.9485, -1.2003, 0.1547, -0.0193, 0.4683, 0.1444, -0.2684, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4625 left_y=-0.1269 left_z=0.1614 left_yaw=0.7634 left_pitch=-0.0228 left_roll=-0.0122 left_gripper=0.1547 right_x=0.2407 right_y=0.0043 right_z=0.0725 right_yaw=-0.0019 right_pitch=-0.0183 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -14.5573, 7.8701, 0.4908, -0.7009, 0.1587, -0.022, -0.3624, 0.0342, 6.6256, 1.8486, -0.0611, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a51446a5a8c0a48f1512568ed3dc3f3f9769e4122aea0b1656d39536cbbce76f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e4c513b7445d3112875cd1d2e4b852e24875eb11e4a88d4a112e501af644a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d58c4d63c35728f042584b9f8b2dbfb30e3e484c46083f0550cfaa903cfffdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 7.238 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]: [-0.4641, 2.1838, 1.4017, -0.2092, -0.9768, -0.9691, 0.156, -0.0193, 0.5083, 0.1776, -0.268, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4968 left_y=-0.081 left_z=0.0566 left_yaw=0.7736 left_pitch=0.0735 left_roll=-0.0458 left_gripper=0.156 right_x=0.2446 right_y=0.0042 right_z=0.0788 right_yaw=-0.0021 right_pitch=-0.0248 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -10.9607, 5.1624, 0.7253, 0.2466, 0.0757, 0.0952, -0.1709, 0.0889, 7.0359, 1.8632, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4545, 2.1685, 1.5604, -0.4698, -0.9333, -1.005, 0.1548, -0.0193, 0.4877, 0.1589, -0.2684, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.5013 left_y=-0.083 left_z=0.0853 left_yaw=0.7771 left_pitch=0.0093 left_roll=-0.0075 left_gripper=0.1548 right_x=0.2423 right_y=0.0043 right_z=0.0748 right_yaw=-0.0021 right_pitch=-0.0233 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -15.5419, 8.8547, 0.9011, -0.4811, -0.0171, -0.1343, -0.0752, -0.1299, 6.7624, 1.8828, -0.0415, 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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5797, 2.0804, 1.7706, -0.9306, -0.9485, -1.2003, 0.1547, -0.0193, 0.4683, 0.1444, -0.2684, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4625 left_y=-0.1269 left_z=0.1614 left_yaw=0.7634 left_pitch=-0.0228 left_roll=-0.0122 left_gripper=0.1547 right_x=0.2407 right_y=0.0043 right_z=0.0725 right_yaw=-0.0019 right_pitch=-0.0183 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -14.5573, 7.8701, 0.4908, -0.7009, 0.1587, -0.022, -0.3624, 0.0342, 6.6256, 1.8486, -0.0611, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a51446a5a8c0a48f1512568ed3dc3f3f9769e4122aea0b1656d39536cbbce76f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e4c513b7445d3112875cd1d2e4b852e24875eb11e4a88d4a112e501af644a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d58c4d63c35728f042584b9f8b2dbfb30e3e484c46083f0550cfaa903cfffdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PsMUbWV5yUsZ8SWB1HuE6V",
      "input": {
        "note": "Gripper reading equals the command (0.155), so nothing is held; bottle 1 is still lying just ahead with its cap on the jaw column. Opening and descending to re-acquire the neck.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01PsMUbWV5yUsZ8SWB1HuE6V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5888, 2.1849, 1.5097, -0.5797, -0.9585, -1.2049, 0.995, -0.0193, 0.4534, 0.1314, -0.2687, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4599 left_y=-0.129 left_z=0.0585 left_yaw=0.7601 left_pitch=-0.0168 left_roll=0.0002 left_gripper=0.995 right_x=0.2392 right_y=0.0043 right_z=0.0698 right_yaw=-0.0025 right_pitch=-0.0168 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -10.6462, 5.3538, 0.8181, -0.652, 0.0952, -0.1392, -0.3214, 0.0889, 6.8991, 1.8779, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8984b99c8ad3311f46c6ce14afbb752bd795baf287a76b7d683b925f665cdc25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8691936d0e1b4e3ea172207726b5a0fae51fc7449e560d18a4b10494200f083b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4703c5001f46d211161f9921f887e82c673dc9787a6742af41f48a1c148eac55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 5.266 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]: [-0.4545, 2.1685, 1.5604, -0.4698, -0.9333, -1.005, 0.1548, -0.0193, 0.4877, 0.1589, -0.2684, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.5013 left_y=-0.083 left_z=0.0853 left_yaw=0.7771 left_pitch=0.0093 left_roll=-0.0075 left_gripper=0.1548 right_x=0.2423 right_y=0.0043 right_z=0.0748 right_yaw=-0.0021 right_pitch=-0.0233 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -15.5419, 8.8547, 0.9011, -0.4811, -0.0171, -0.1343, -0.0752, -0.1299, 6.7624, 1.8828, -0.0415, 0.0024, -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]: [-0.5797, 2.0804, 1.7706, -0.9306, -0.9485, -1.2003, 0.1547, -0.0193, 0.4683, 0.1444, -0.2684, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4625 left_y=-0.1269 left_z=0.1614 left_yaw=0.7634 left_pitch=-0.0228 left_roll=-0.0122 left_gripper=0.1547 right_x=0.2407 right_y=0.0043 right_z=0.0725 right_yaw=-0.0019 right_pitch=-0.0183 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -14.5573, 7.8701, 0.4908, -0.7009, 0.1587, -0.022, -0.3624, 0.0342, 6.6256, 1.8486, -0.0611, -0.0611, -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]: [-0.5888, 2.1849, 1.5097, -0.5797, -0.9585, -1.2049, 0.995, -0.0193, 0.4534, 0.1314, -0.2687, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4599 left_y=-0.129 left_z=0.0585 left_yaw=0.7601 left_pitch=-0.0168 left_roll=0.0002 left_gripper=0.995 right_x=0.2392 right_y=0.0043 right_z=0.0698 right_yaw=-0.0025 right_pitch=-0.0168 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -10.6462, 5.3538, 0.8181, -0.652, 0.0952, -0.1392, -0.3214, 0.0889, 6.8991, 1.8779, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8984b99c8ad3311f46c6ce14afbb752bd795baf287a76b7d683b925f665cdc25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8691936d0e1b4e3ea172207726b5a0fae51fc7449e560d18a4b10494200f083b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4703c5001f46d211161f9921f887e82c673dc9787a6742af41f48a1c148eac55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzQsKEAgSGAI4AUIIdGhpbmtpbmcSDHZKyNIrniWrKjTCWhoMGd9tUMhCEGTg0cUNIjA0c3Sv4OtXKaU71ppJ+dlnk2Ksxrqrr0u7MdALMHsOr8zFjdTnihJ2UKptcdHGDmoq6gppV7cW/hP88X1sgqYkePRu+ydTTC2/34wve0SLVO9qRy6RXXfHxNH6sDxE94ODChH93yfp5UiQ0Y7WHCWVmGHVgl+ohp8NOafeChydIzhS6Ab4BCaCz2Yj84lUqUzwWckVvB1ghRCcdM8knx4gmc6VYBH+RGGlD5BlLDj0hpivBTvObem6tDGghMLLSqMZs/ND/5mf9/snBRoCwEYDSbjVEq/3M2usAmLMYDxvBSi1vbbVIR7gMT8IVGnFOlpO8RIXZkzN0jBZwnyzxjQSrwfK4fg8U/j5kkKYUlFhr5S/x7t9YnkkaYUIMTMahfH434KCTz/gNTgWjVxg5Sq1q34Roldtu4v8Y4L/Szww+bhwE/CNL5gcsV+LVUHHleTZ+SAJDGTiXRmUToC3c66Kcobq6pliN2NahdC7btsyTjQMKvJl5bVqpmx63FGijxI+AFkKiBuyfq4wp5fM5YWnC1ufj+BSqEMnv1Yh/5PGW0vaLhgEw6L3q72wWIfBqEXo8+OgO8ZWzyGARWXJU/NF2SMG1RQxvuSgK1Y3cTHvSI7KJbRYH5MaX8GX+HYfyh9K5H7wwt0WnbK0iWPLVT67ylGdG95uKCkwjPLwuvFz+Jhimiyo6jd8Y4ZEiTOLX8wMU23P5WYK6kSz3nm50G6/LNA2dlMfsTWBbDlKkbN/wviMGPPGPssZliKHGyqOtWEJrPAOBzK84vuhFWpocYD02KpO5VgyaoTPlytS2gndbbaz25XoJUbwrBC3KoPv/zcdBydftDy82KL8lqNMBu0DS9TuuK5vzMg79jjqC0UPbz941/t/2gGYaGA6fFye0TzI53+rET9Y2W7RwTBYc8g6GysHlySgNLBmP2QpEjqpQSk0tkvnUUZHN65aTzQi/E64qnPd/dF/Fn2RJEWv6oYcLuOJ9Mgn76SKDQ+NL40BZ2DB0sFSxX9MFkhiEKvWjTUshpUi/NDJnyphJbQ0fbNSblXWc2UnfRZqf2V9z6qAiqx7cIEU38X8JwGTiI1FmHlKnn3KKuZz6HBLLxkWdsSzF2KNuMomfN15bEByvRcwkixUte3Ya2Es1CSvcyodswT3YEdB/IB+WtGU8cVkjVMlMQzJFSuiSMYZKwjR7m84DOChFYC7ACenVQeQ1TYDiePRE9YPYgO1XXs1n0oUrQ/DfJOyfnjWz02kvax7wyTLx42w43sqzMwbJqMaZ0RXEQDvweLsKttMjOIb0HvlGtBzWwUDE/qfa2NA1t1rxLXK2lQoXYmMIpQJNGdyI2GiFv7RlGQb6fpAwG1PdFx+x7ZZIkL2gdTPtdVnAd7HdHzvvwzfoRuDu/Hypfwck1ikBAKwHPDNy899StkUnMqZSSwquWjuTriappDkhl3wY8ifererRlZPhw12uuO4x0s2eeb7euFWmrhW8q6DUvge1JlsRupTnsfuBGirX8CRGNO1pWkOYIvTTIyph9AvKewSPelmXJJq8hKRMOb4PmNv35qiROOeWlwwhvsVKU+x1m1Nk/6RqTT+0JLDDkPaGcCDrLYaSE5gkhHncXlJwXsG/DPAktrZULIl295rW8P+Ilt4WE9UWOVJGmA6Q2u5aVercYezdOGqjrU6QS486px6cQ/lQCtQ+oQT4MocD3YrUeHuTBWS75uJgu3dGGJ+gwRyLG/afmN0yKQf7dGXcNMd6A4TYVBUZJNdhXvSXz8GNlKCIq7oqCSWGBciHXZiWvKKtD7iPuQtafGVSmO2sEipYoJXuD2HW006Gy1ICzbQT2J7xuKZRQadQj9OlQVJHOqJK7rav59WsJ+2i72yxRMiu85uhBUKXekfjjg2LtrokZncs5tSj8fhV6SK6YZpbUUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PVoXH8cbQ5eEBv1cc4Ejh7",
      "input": {
        "note": "A bottle lies right under the jaws with its cap ~5 cm ahead on the jaw column. Advancing ~5 cm along the bottle toward the cap so the neck sits between the jaws.",
        "targets": {
          "left_x": 0.495,
          "left_y": -0.095,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01PVoXH8cbQ5eEBv1cc4Ejh7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4889, 2.228, 1.4857, -0.4023, -0.9394, -1.0935, 0.9962, -0.0193, 0.4419, 0.1223, -0.2691, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4875 left_y=-0.0937 left_z=0.041 left_yaw=0.7925 left_pitch=-0.0063 left_roll=-0.0173 left_gripper=0.9962 right_x=0.2382 right_y=0.0044 right_z=0.0681 right_yaw=-0.0021 right_pitch=-0.0149 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -10.441, 5.7231, 0.9353, -0.3687, 0.3199, 0.1197, -0.2256, -0.1162, 6.6803, 1.8046, -0.0904, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b91b60732ed59c0060f8e84f6d9c30fd72939759224f66d1238658c388acc620",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0752dfabbd0e49dd560b2cb0e9789ecf5efbaacb8d9f9aeb8357ea71fc141b4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aff721ac1d16b0e0f4152ed1098be5e6cf1f96c1d724b3343fb0e4b9d5f63fc8",
        "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 · 7.443 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]: [-0.5797, 2.0804, 1.7706, -0.9306, -0.9485, -1.2003, 0.1547, -0.0193, 0.4683, 0.1444, -0.2684, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4625 left_y=-0.1269 left_z=0.1614 left_yaw=0.7634 left_pitch=-0.0228 left_roll=-0.0122 left_gripper=0.1547 right_x=0.2407 right_y=0.0043 right_z=0.0725 right_yaw=-0.0019 right_pitch=-0.0183 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -14.5573, 7.8701, 0.4908, -0.7009, 0.1587, -0.022, -0.3624, 0.0342, 6.6256, 1.8486, -0.0611, -0.0611, -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]: [-0.5888, 2.1849, 1.5097, -0.5797, -0.9585, -1.2049, 0.995, -0.0193, 0.4534, 0.1314, -0.2687, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4599 left_y=-0.129 left_z=0.0585 left_yaw=0.7601 left_pitch=-0.0168 left_roll=0.0002 left_gripper=0.995 right_x=0.2392 right_y=0.0043 right_z=0.0698 right_yaw=-0.0025 right_pitch=-0.0168 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -10.6462, 5.3538, 0.8181, -0.652, 0.0952, -0.1392, -0.3214, 0.0889, 6.8991, 1.8779, -0.0415, -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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4889, 2.228, 1.4857, -0.4023, -0.9394, -1.0935, 0.9962, -0.0193, 0.4419, 0.1223, -0.2691, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4875 left_y=-0.0937 left_z=0.041 left_yaw=0.7925 left_pitch=-0.0063 left_roll=-0.0173 left_gripper=0.9962 right_x=0.2382 right_y=0.0044 right_z=0.0681 right_yaw=-0.0021 right_pitch=-0.0149 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -10.441, 5.7231, 0.9353, -0.3687, 0.3199, 0.1197, -0.2256, -0.1162, 6.6803, 1.8046, -0.0904, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b91b60732ed59c0060f8e84f6d9c30fd72939759224f66d1238658c388acc620",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0752dfabbd0e49dd560b2cb0e9789ecf5efbaacb8d9f9aeb8357ea71fc141b4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aff721ac1d16b0e0f4152ed1098be5e6cf1f96c1d724b3343fb0e4b9d5f63fc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQkKEAgSGAI4AUIIdGhpbmtpbmcSDKbtExFBnu6r95wV+hoMkFRNcfYuznFy357iIjBuN3eAU8yIiKaigx+pXC5w27S73okB3ug0tfv4A2RcSBWaObfRjZPXwtctivQsVJ8qsgg5jrwzung5+dAUTFge4EmL02IuleQraHpVF532gmMhoaigkJy/1qhdyQRi22xc2MVT3fL1RD4UnDAF6wjctQhkzUv0DExJ+EZdwbEkUZpHzK0D/DBmFLoU5roZw0P0UXb06yum1o2ffp2omTP96ci85emmXkWs/fNe42mtKKRs9YFlLzZdDP4v+Qh4yYKADnTueks3TYnQX2Sgz1qRyDYIwpB2WUIe/6CO1fWwche4xHT7kjJ1o2Gisl5L4i9vhPD1ipVmoe20Wi39GFKAEhC89f+B5xvlUrlYw/4iymcKP/MQOEY9GcvcPRX+spLydPe9JYfFMk1xfYZoaiPDL5hh8R19okEHJiCeLAZ5T7CCh92xXQgKNnvWTe5dco6YfNdC2XsUf9Y0lodaacVro7yRhMjAHkd2qtUsEmDfGEyuU7aLHpbzuIlpGiLl+eQoyZEQm1viDrf2cMWm0GF/EjR+KpzoNMTfAm/etIuTkssXEkibgUNqfWvUfh58xBs3I9Hc/tiFQJO/ctprhThUTH/JqTGfoOrBYyi3jnklpAN66JyJFox4eAB5dOGSL2X7b9zMgHqM+A96QfR/fgAK+0f/z+O0A5NAIF10MKztr/PVsNNTWbEvFFRL2Aont3SUxqZa4ENtNgbgz2KsBw5jgpgN6r0/jlnW1wXdbifl6/XC8C2RvqlHebe59ed9TxBJERc8USM+OvuNnEAM0XSkLnzqm5ovNv42POVQGWGeDIRTNHhotZDyA06wupNns4RwhNGk/txmx3nztygIU16y+fItO8ElMaCl/QfvPsVWvuIxGKBbWV++CWCI7ZRhKXELn8rVlHybU39q+PrapPIiLpsjh03CXNwkFv/GJOONq9EsPxztSBCX6kVrbTa+PnUE2FLcRnMi6LLtLJNttkZd9g/4Ksp4wF7XGXcymUTClUWgvon3Zbp3opaYekUvjxA6RyNnxgL20lNg52Iulhkx0d7VOeEJwUtTJy9ZlMT2YMuUvXaCmbQjz2+mUDynUQJIIpqyiI0wfGCbkFY7t/KazWZ5wp9MuTn9micTRg+SG0yK1NAy1moIBf0GrN4i1TqAQQX1na9n16cHJgIwx+dkNkH0DvuJYtwENoKDWDegZJE4SVKn5mr7C5/ucCOpgWP2nQDHcssOOPGkyu3L/hmdTcne+eHpFv7q2Lu0u5bQVEksahVahV8X9RwMyutO/tVopuQkNcn1ybqzY8JA/KjIDxSFzJgxiGBjWMnvXAiatDmMtfndQuffq8ik9oFKZC9sKovr74lllTgVeEHx6adPaYfBEIbloqpK6p+dzsCkiN63g1t8LhZHJPaKaS5xl9hbNVOEbGdC3s86hJZh/SFDAQGw7I5YY0lIzQEYabfE6FBSvbb+n+vKeWBVor+lHO/JCk33dO9qepDv9IuvYJ9DwdYw6z4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0148bJGp9ABwtYDJkA9vwwYT",
      "input": {
        "note": "Neck is between the jaws just behind the cap. Closing to a moderate target (0.1) so the grip holds the neck but can let the bottle pivot.",
        "targets": {
          "left_gripper": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0148bJGp9ABwtYDJkA9vwwYT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4782, 2.2364, 1.4929, -0.3027, -1.01, -1.0245, 0.1059, -0.0193, 0.4309, 0.112, -0.2687, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.5021 left_y=-0.0877 left_z=0.0561 left_yaw=0.8016 left_pitch=0.0826 left_roll=-0.0338 left_gripper=0.1059 right_x=0.2371 right_y=0.0044 right_z=0.0658 right_yaw=-0.0021 right_pitch=-0.0137 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -11.2889, 5.3128, 0.6716, 0.3248, -0.0415, 0.2271, -0.1846, 0.4444, 6.8034, 1.7705, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46337b4fc83761688255d8bc7ddb01bb8dde708a17315c4aeb6fa3e585fcfff7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f39bdacf669fe352877697a3887f0ab075007a312ec6d23862269612a48ccf48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:37f32c4ff67b2185f266a0953c2c638385bd994173af58cf770aea0c191d3fd7",
        "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 · 6.007 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]: [-0.5888, 2.1849, 1.5097, -0.5797, -0.9585, -1.2049, 0.995, -0.0193, 0.4534, 0.1314, -0.2687, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4599 left_y=-0.129 left_z=0.0585 left_yaw=0.7601 left_pitch=-0.0168 left_roll=0.0002 left_gripper=0.995 right_x=0.2392 right_y=0.0043 right_z=0.0698 right_yaw=-0.0025 right_pitch=-0.0168 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -10.6462, 5.3538, 0.8181, -0.652, 0.0952, -0.1392, -0.3214, 0.0889, 6.8991, 1.8779, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4889, 2.228, 1.4857, -0.4023, -0.9394, -1.0935, 0.9962, -0.0193, 0.4419, 0.1223, -0.2691, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4875 left_y=-0.0937 left_z=0.041 left_yaw=0.7925 left_pitch=-0.0063 left_roll=-0.0173 left_gripper=0.9962 right_x=0.2382 right_y=0.0044 right_z=0.0681 right_yaw=-0.0021 right_pitch=-0.0149 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -10.441, 5.7231, 0.9353, -0.3687, 0.3199, 0.1197, -0.2256, -0.1162, 6.6803, 1.8046, -0.0904, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4782, 2.2364, 1.4929, -0.3027, -1.01, -1.0245, 0.1059, -0.0193, 0.4309, 0.112, -0.2687, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.5021 left_y=-0.0877 left_z=0.0561 left_yaw=0.8016 left_pitch=0.0826 left_roll=-0.0338 left_gripper=0.1059 right_x=0.2371 right_y=0.0044 right_z=0.0658 right_yaw=-0.0021 right_pitch=-0.0137 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -11.2889, 5.3128, 0.6716, 0.3248, -0.0415, 0.2271, -0.1846, 0.4444, 6.8034, 1.7705, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46337b4fc83761688255d8bc7ddb01bb8dde708a17315c4aeb6fa3e585fcfff7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f39bdacf669fe352877697a3887f0ab075007a312ec6d23862269612a48ccf48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37f32c4ff67b2185f266a0953c2c638385bd994173af58cf770aea0c191d3fd7",
        "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_01NZovmEBExm1t2Q66f8b2ng",
      "input": {
        "note": "Empty again: closing lifts and pitches the tool ~1.5 cm, so the fingers slip over the neck. Reopening at the neck position; next I'll close while commanding a lower z.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.49,
          "left_y": -0.093,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01NZovmEBExm1t2Q66f8b2ng",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4793, 2.2536, 1.5211, -0.3965, -0.9504, -1.1004, 0.9943, -0.0193, 0.4225, 0.1001, -0.2691, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4962 left_y=-0.0919 left_z=0.0416 left_yaw=0.8104 left_pitch=0.0077 left_roll=-0.0353 left_gripper=0.9943 right_x=0.2356 right_y=0.0043 right_z=0.0622 right_yaw=-0.0025 right_pitch=-0.0175 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.8684, -10.8923, 4.8752, 0.8523, -0.442, 0.0464, -0.0952, -0.3077, -0.0752, 7.0496, 1.7949, -0.0562, -0.0611, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86810649acdba14a6004d4f7f478b7ca2f6ba5948ec30e778a97c361c419affc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd111753bb787bb59b3124c2d98027b4972b5453ff7f8bf8a64e68d83edf3f69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a94ec9bac0d8c8f01c3a0839cca555674606a9550b43841ca217f14223bf54a9",
        "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 · 16.69 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]: [-0.4889, 2.228, 1.4857, -0.4023, -0.9394, -1.0935, 0.9962, -0.0193, 0.4419, 0.1223, -0.2691, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4875 left_y=-0.0937 left_z=0.041 left_yaw=0.7925 left_pitch=-0.0063 left_roll=-0.0173 left_gripper=0.9962 right_x=0.2382 right_y=0.0044 right_z=0.0681 right_yaw=-0.0021 right_pitch=-0.0149 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -10.441, 5.7231, 0.9353, -0.3687, 0.3199, 0.1197, -0.2256, -0.1162, 6.6803, 1.8046, -0.0904, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4782, 2.2364, 1.4929, -0.3027, -1.01, -1.0245, 0.1059, -0.0193, 0.4309, 0.112, -0.2687, -0.0303, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.5021 left_y=-0.0877 left_z=0.0561 left_yaw=0.8016 left_pitch=0.0826 left_roll=-0.0338 left_gripper=0.1059 right_x=0.2371 right_y=0.0044 right_z=0.0658 right_yaw=-0.0021 right_pitch=-0.0137 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -11.2889, 5.3128, 0.6716, 0.3248, -0.0415, 0.2271, -0.1846, 0.4444, 6.8034, 1.7705, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4793, 2.2536, 1.5211, -0.3965, -0.9504, -1.1004, 0.9943, -0.0193, 0.4225, 0.1001, -0.2691, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4962 left_y=-0.0919 left_z=0.0416 left_yaw=0.8104 left_pitch=0.0077 left_roll=-0.0353 left_gripper=0.9943 right_x=0.2356 right_y=0.0043 right_z=0.0622 right_yaw=-0.0025 right_pitch=-0.0175 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.8684, -10.8923, 4.8752, 0.8523, -0.442, 0.0464, -0.0952, -0.3077, -0.0752, 7.0496, 1.7949, -0.0562, -0.0611, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86810649acdba14a6004d4f7f478b7ca2f6ba5948ec30e778a97c361c419affc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd111753bb787bb59b3124c2d98027b4972b5453ff7f8bf8a64e68d83edf3f69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a94ec9bac0d8c8f01c3a0839cca555674606a9550b43841ca217f14223bf54a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgwsKEAgSGAI4AUIIdGhpbmtpbmcSDATBg+9NCulz/CBO9hoM39+yQKGxyI0zqn7IIjAgU2RoJbr/hDXHkq2PuUbSACbGnkZ1gqtDPoZ9ftg08oRDELqVzp5Qf2DIDrgSuLUqoAoqr03wclhjYbGsnT8+DcERPqu17uXCr3gVXIuMqx0/ss2Au48+Ix43PK4PRY+8mxNGMSM6qBpSc5qjBMHXfDCGgccFFkKdphMsNd4UqFNF+3lrbipeAJNfOazs5wZdHBYuZt48F3232wtaxh4s+xDxhzfsMUB+LLDDibh7Q8n3QKF6bGrSogswzPrOckaGWg4BvDAAy4OjzwgvtRg+mBj9ZuI1tyeTCaO4nKvnj7HwjaWBiezgDz0D7yPmQZDrb1v0wWg+Y+Gm9U11/sRJzOGnpFpG99mtkfHE5/BOZjoM29AHlQbKevjl5yF7cpOKpIov1Zi5zlBgvRUxStO9EWgJSeRJ1F7QKaR8BWqtyrGVr0zl9sw4EqsLXamlQ0XMFZjFcHE65FXEUVjA49x+ynV0ODPaW3ex5+EDpfG1ux8cWI6TDQ+KVk5kKaSfzTVIPzo8ujFc2o2By2sgbuKpWtpBxtl2vUlLhL70gSeMvn6PkjypU9/VVnJ+y463eU46oyrqDZtGWWySsnV7i/N5bU3R3rjKQEOADqr00F8h7U03tNFlBUUoTpfu1BjvfODvwZT/oaTgrHzDalaSnz5FYBzI3L156maG91zT97Fr4RNGc+wq4PaxjTnKfkokLYujoYf4YjGzfJ9PjiwJgLZd6Ggh5hjOO7O7ckFjtiWuUCNs/dgO+yuACJP7PFp7s6tXNNzKTIXECdTNQKYTUhtyGH0n0ZQHUCVBEwDFMEvhkydXzhjWd0mMHmAv+ufs7oPqqFbU8TAP8ltnUVhriUQ9fh9GLl/u/1WOO/39aN4iYVJepFHOM/AB0tR1W/mYq7ucY6xTqbpKihztEng0RYf3DkYZRqsxTL1mM73OTQSjjzD45jOjjl6VogWINAnJrE60PXdZfgV11ubAzRBQW9ftV7GjBx1f72afTbYYeEJuaoAz4Q9Gk0nrMjt8x/AtfN16/O8Sgu6OadXdPN9WZpEJMFJI5vcRLWcE+EoqcgFJVkJyGe7VEus10r9rdzHTPR9AG8skPxdiw3ag2Z7mfcs5QINeMHURF2Qqq3aDFf4bTC/q6nve4guJHqPHCi7NcFfnu1a29li6AqNJw+nLBbqVP6wNqCnIjco6w4CwucwecVX2lsC4gPNxZ/XXbA8MRzg5IQd/6mr2RaiSAm1q1JDuvwA9OXR1aOHdS808sxcobHT7MN50X+YcFvuXvE4zRl5iEOoAbSWzbbOSM3eOHeDy2i636JeJMyXdlbRViGP491JqhSeCJcMTrQmXjE6sw8wjMtvs2XI3vDmuiXzGDZdNHo2f5KzD/wi54esHjq4IXqY+Rf2rK4NiCiERbgYttDERcsA3qroykYsXfOavDo72kfNV5GMRpIVj9QFtF67tcjVKPoLXQ9CAxnaxrFZ9jLQIwbunc64GOAdYhBNPkWPFskoJHydfUc0DEEXdK2+bDPIqpAAVhbfwpxllNZS1LmWfBc1gzzVWAiJ0TN9v9eGLDQcqKgNQUK02+2CQMRJXlUTsZt6PaWWo5+avhL+h5ZYOd6j6QxuthS1nXOhCY2RtXqNA03pUXlcbUEzvCKim3Ve/UGy1RCIlNpMWK4aiiotehyqu9NGldQffIZOzDeYU7e590kAL3il2QY+juSdhDC54M5/BtsodZ784wXuakl8hcAi5uHnq/QLpYLtNzyXoI5z5boNEkgE0+o6Zvy4cInwL09wkpzuSQNhwDc7RBQ+I6Ugin3Z/PwDonfw+E6SotRMtGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BqQ6czBniQ3M528hp78GUD",
      "input": {
        "note": "Neck and cap sit centred between the open jaws. Closing while pushing the target down so the fingers don't ride up over the neck.",
        "targets": {
          "left_gripper": 0,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BqQ6czBniQ3M528hp78GUD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4828, 2.278, 1.5326, -0.2943, -1.0603, -1.1011, 0.0182, -0.0193, 0.4072, 0.0917, -0.2691, -0.0299, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.5085 left_y=-0.0884 left_z=0.0559 left_yaw=0.8629 left_pitch=0.1241 left_roll=-0.0981 left_gripper=0.0182 right_x=0.2351 right_y=0.0043 right_z=0.0616 right_yaw=-0.0025 right_pitch=-0.0107 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -6.3521, 4.3966, 0.4518, 0.5885, -0.0024, 0.8571, -0.294, 0.1846, 6.5162, 1.8339, -0.0611, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99562975edecce2c298526b8f42a12b11ebd21432feba24df58af40fa433194e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d538fa412ebbfc65330aadf698f81ef81465b65f907db532d2d5349d2952295",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c6a87d8c3217e614a6cf99773daa3027cff6a9e0d84b6d9b8e56e68e68159da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]