adhoc

completed
2026-09-22T19:50:16.552731+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (70 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
249.8 s
total steps
204
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles lie on their sides, caps pointing forward. Plan: grab each by the neck, lift so it hangs vertically, set it down. Moving left arm above the estimated cap of the leftmost bottle.
move_to
left_x0.4200left_y-0.1000left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.609, -0.3767, -0.0189, -0.0284, 0.9986, -0.0158, 0.7891, 0.6037, -0.3862, -0.0132, -0.0246, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1832 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0013 right_z=0.1799 right_yaw=0.0001 right_pitch=-0.0004 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.4718, -1.3744, 9.7026, 1.7656, -0.0464, 0.1343, -0.1587, -0.8684, -1.0872, 10.2496, 1.9023, -0.1001, 0.1148, -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": -0.1, "left_z": 0.15, "left_gripper": 1}, "note": "Three bottles lie on their sides, caps pointing forward. Plan: grab each by the neck, lift so it hangs vertically, set it down. Moving left arm above the estimated cap of the leftmost bottle."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteLeft wrist cam shows bottle 1's cap slightly left and a few cm ahead of the jaws. Advancing to hover over its neck.
move_to
left_x0.4450left_y-0.0850left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3595, 1.4605, 0.8196, -0.0349, -0.2871, -0.2146, 0.9988, -0.0193, 0.7921, 0.6033, -0.4034, -0.0227, -0.0292, 0.9998] state[eef_state]: left_x=0.4028 left_y=-0.0941 left_z=0.1263 left_yaw=-0.0135 left_pitch=-0.0827 left_roll=0.02 left_gripper=0.9988 right_x=0.2914 right_y=0.002 right_z=0.1753 right_yaw=0.0072 right_pitch=-0.0209 right_roll=0.0024 right_gripper=0.9998 state[joint_eff]: [-0.1573, -7.1043, 8.9915, 1.8046, -0.2222, -0.0904, -0.1294, -0.0342, -1.3333, 7.2274, 1.9463, 0.0366, 0.0024, -0.0122] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.445, "left_y": -0.085, "left_z": 0.12}, "note": "Left wrist cam shows bottle 1's cap slightly left and a few cm ahead of the jaws. Advancing to hover over its neck."})
tool
executing move_to over 4 steps (0.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteBottle 1's neck is just forward-left of the jaws in the wrist view; shifting slightly left and forward before descending.
move_to
left_x0.4500left_y-0.0650left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2893, 1.5917, 0.8093, 0.1246, -0.2584, -0.1936, 0.9985, -0.0193, 0.7891, 0.5846, -0.403, -0.0235, -0.0334, 0.9998] state[eef_state]: left_x=0.4282 left_y=-0.0766 left_z=0.0987 left_yaw=0.0212 left_pitch=-0.0717 left_roll=0.0143 left_gripper=0.9985 right_x=0.2889 right_y=0.0022 right_z=0.1677 right_yaw=0.0101 right_pitch=-0.0361 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.3214, -7.4872, 9.5795, 1.9658, 0.0855, 0.1832, -0.0464, -0.0889, -2.1402, 6.8308, 1.9316, -0.0415, -0.0464, -0.0122] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.065, "left_z": 0.1}, "note": "Bottle 1's neck is just forward-left of the jaws in the wrist view; shifting slightly left and forward before descending."})
tool
executing move_to over 2 steps (0.2s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteArm fell short of the last target; neck still under the left jaw in wrist view. Commanding further left/forward.
move_to
left_x0.4600left_y-0.0500left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2867, 1.6085, 0.8223, 0.1524, -0.244, -0.1841, 0.9984, -0.0193, 0.7746, 0.5632, -0.3882, -0.0238, -0.0357, 0.9998] state[eef_state]: left_x=0.4353 left_y=-0.0801 left_z=0.102 left_yaw=0.0063 left_pitch=-0.0514 left_roll=0.0066 left_gripper=0.9984 right_x=0.2874 right_y=0.0023 right_z=0.1649 right_yaw=0.0117 right_pitch=-0.0281 right_roll=-0.0021 right_gripper=0.9998 state[joint_eff]: [-0.1026, -7.8154, 8.4855, 1.9316, -0.0171, 0.149, -0.022, -0.4308, -1.7162, 6.7897, 2.0195, -0.0806, -0.0122, -0.0122] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.05, "left_z": 0.1}, "note": "Arm fell short of the last target; neck still under the left jaw in wrist view. Commanding further left/forward."})
tool
executing move_to over 3 steps (0.3s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteLeft arm stopped tracking, possibly resting on a bottle. Raising while shifting left to free it.
move_to
left_x0.4500left_y-0.0500left_z0.1700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2863, 1.6093, 0.8246, 0.1528, -0.244, -0.1841, 0.9983, -0.0193, 0.7647, 0.5392, -0.3779, -0.0277, -0.036, 0.9998] state[eef_state]: left_x=0.436 left_y=-0.0801 left_z=0.1027 left_yaw=0.0066 left_pitch=-0.0496 left_roll=0.006 left_gripper=0.9983 right_x=0.2851 right_y=0.003 right_z=0.1587 right_yaw=0.0151 right_pitch=-0.0318 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.0752, -7.9248, 8.4034, 1.9463, -0.0024, 0.149, -0.0171, -0.4991, -1.7299, 6.7761, 1.956, -0.0171, -0.0317, -0.0122] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.05, "left_z": 0.17}, "note": "Left arm stopped tracking, possibly resting on a bottle. Raising while shifting left to free it."})
tool
executing move_to over 5 steps (0.5s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteLeft arm isn't responding to targets; trying a retract toward home to unstick it.
move_to
left_x0.3300left_y-0.0500left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2867, 1.61, 0.8261, 0.1524, -0.244, -0.1841, 0.9983, -0.0193, 0.7506, 0.5083, -0.366, -0.0299, -0.036, 0.9998] state[eef_state]: left_x=0.4363 left_y=-0.0804 left_z=0.1029 left_yaw=0.0063 left_pitch=-0.0492 left_roll=0.0059 left_gripper=0.9983 right_x=0.2818 right_y=0.0034 right_z=0.1508 right_yaw=0.017 right_pitch=-0.0367 right_roll=0.0013 right_gripper=0.9998 state[joint_eff]: [-0.3487, -7.9795, 8.212, 1.9023, -0.0415, 0.105, -0.0122, -0.3487, -1.7573, 7.1453, 1.9756, -0.0122, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.05, "left_z": 0.2}, "note": "Left arm isn't responding to targets; trying a retract toward home to unstick it."})
tool
executing move_to over 9 steps (0.9s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteLeft arm freed; bottle 1 (nudged earlier) lies ahead on the jaw column with its cap forward. Moving over its neck at hover height.
move_to
left_x0.4200left_y-0.0500left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2882, 1.0279, 0.7277, -0.2504, -0.2485, -0.1844, 0.9983, -0.0193, 0.7303, 0.4717, -0.35, -0.0303, -0.0364, 0.9998] state[eef_state]: left_x=0.3405 left_y=-0.0519 left_z=0.1968 left_yaw=0.0085 left_pitch=0.0289 left_roll=-0.0154 left_gripper=0.9983 right_x=0.2781 right_y=0.0036 right_z=0.1426 right_yaw=0.0175 right_pitch=-0.0371 right_roll=0.0012 right_gripper=0.9998 state[joint_eff]: [-0.7179, -3.0838, 9.1145, 1.79, -0.1832, -0.022, -0.0122, -0.2256, -0.9094, 7.241, 2.0391, -0.0415, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.05, "left_z": 0.15}, "note": "Left arm freed; bottle 1 (nudged earlier) lies ahead on the jaw column with its cap forward. Moving over its neck at hover height."})
tool
executing move_to over 7 steps (0.7s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteBottle 1's neck is on the jaw column a few cm ahead in the wrist view. Advancing and lowering toward it.
move_to
left_x0.4400left_y-0.0500left_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2077, 1.4059, 0.7734, -0.0376, -0.1951, -0.157, 0.9983, -0.0193, 0.7059, 0.4385, -0.3355, -0.0303, -0.0364, 0.9998] state[eef_state]: left_x=0.3998 left_y=-0.0456 left_z=0.125 left_yaw=0.0306 left_pitch=-0.0943 left_roll=0.0094 left_gripper=0.9983 right_x=0.2747 right_y=0.0037 right_z=0.1367 right_yaw=0.0175 right_pitch=-0.0314 right_roll=0.001 right_gripper=0.9998 state[joint_eff]: [0.4444, -5.9692, 9.6068, 1.917, -0.0024, 0.2515, -0.0122, -0.3624, -0.9231, 6.8991, 2.0, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.05, "left_z": 0.08}, "note": "Bottle 1's neck is on the jaw column a few cm ahead in the wrist view. Advancing and lowering toward it."})
tool
executing move_to over 4 steps (0.4s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteNeck is just ahead and slightly left of the jaw column; moving forward-left and lower to straddle it.
move_to
left_x0.4650left_y-0.0350left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.202, 1.6489, 0.7105, 0.2668, -0.1989, -0.1574, 0.9983, -0.0193, 0.6891, 0.4068, -0.3241, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4234 left_y=-0.0474 left_z=0.0618 left_yaw=0.0398 left_pitch=-0.0952 left_roll=0.0117 left_gripper=0.9983 right_x=0.2712 right_y=0.0037 right_z=0.1289 right_yaw=0.0173 right_pitch=-0.0348 right_roll=0.0015 right_gripper=0.9998 state[joint_eff]: [0.1436, -8.253, 6.4889, 2.044, -0.0952, 0.1197, -0.0171, -0.0889, -1.0598, 7.159, 1.9219, -0.0513, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.465, "left_y": -0.035, "left_z": 0.04}, "note": "Neck is just ahead and slightly left of the jaw column; moving forward-left and lower to straddle it."})
tool
executing move_to over 4 steps (0.4s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe jaws seem to be resting on the bottle's body; lifting and moving forward-left so I can drop onto the neck instead.
move_to
left_x0.4900left_y-0.0300left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1947, 1.713, 0.6552, 0.4656, -0.1951, -0.1574, 0.9983, -0.0193, 0.6682, 0.3748, -0.3126, -0.0303, -0.0364, 0.9998] state[eef_state]: left_x=0.4312 left_y=-0.0465 left_z=0.0536 left_yaw=0.0427 left_pitch=-0.0187 left_roll=-0.0093 left_gripper=0.9983 right_x=0.2676 right_y=0.0038 right_z=0.1218 right_yaw=0.0175 right_pitch=-0.0344 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [0.2393, -7.1179, 5.1761, 1.9316, -0.1197, 0.1441, -0.0171, -0.3214, -1.0462, 6.9128, 1.9512, -0.0415, -0.0708, -0.0122] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.49, "left_y": -0.03, "left_z": 0.13}, "note": "The jaws seem to be resting on the bottle's body; lifting and moving forward-left so I can drop onto the neck instead."})
tool
executing move_to over 5 steps (0.5s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe neck seems just past the left arm's reachable x (~0.44) and far targets get ignored. I'll grab the bottle body under the jaws and drag it back toward the base first.
move_to
left_x0.4300left_y-0.0450left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1947, 1.713, 0.6552, 0.4725, -0.1955, -0.1574, 0.9983, -0.0193, 0.6468, 0.342, -0.2974, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4321 left_y=-0.0466 left_z=0.055 left_yaw=0.043 left_pitch=-0.012 left_roll=-0.0107 left_gripper=0.9983 right_x=0.2646 right_y=0.0038 right_z=0.1153 right_yaw=0.0173 right_pitch=-0.0306 right_roll=0.0013 right_gripper=0.9998 state[joint_eff]: [0.1436, -7.1179, 5.2171, 1.8828, -0.0806, 0.1099, -0.0122, -0.1846, -0.9504, 7.0359, 1.9463, -0.0366, -0.0415, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.045, "left_z": 0.03}, "note": "The neck seems just past the left arm's reachable x (~0.44) and far targets get ignored. I'll grab the bottle body under the jaws and drag it back toward the base first."})
tool
executing move_to over 2 steps (0.2s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteArm is stuck again resting on the bottle; retracting up and back to free it and get a clearer view.
move_to
left_x0.3600left_y-0.0500left_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1947, 1.713, 0.6552, 0.4725, -0.1959, -0.1574, 0.9983, -0.0193, 0.6331, 0.3256, -0.2878, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4321 left_y=-0.0465 left_z=0.055 left_yaw=0.0433 left_pitch=-0.0119 left_roll=-0.0105 left_gripper=0.9983 right_x=0.2633 right_y=0.0039 right_z=0.1131 right_yaw=0.0173 right_pitch=-0.0238 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [0.3214, -6.9949, 5.3265, 1.8632, -0.1197, 0.0904, -0.0122, -0.335, -0.5265, 6.8718, 1.9951, -0.0806, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.05, "left_z": 0.16}, "note": "Arm is stuck again resting on the bottle; retracting up and back to free it and get a clearer view."})
tool
executing move_to over 7 steps (0.7s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteBottle 1 lies diagonally ahead, cap forward-left; its neck is beyond the left arm's usable reach. Descending over its body to grab it and drag it back.
move_to
left_x0.3900left_y-0.0600left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2756, 1.2022, 0.6315, 0.009, -0.2546, -0.186, 0.9983, -0.0193, 0.6197, 0.3073, -0.2893, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.3668 left_y=-0.0538 left_z=0.1482 left_yaw=0.027 left_pitch=0.0193 left_roll=-0.0104 left_gripper=0.9983 right_x=0.2603 right_y=0.0039 right_z=0.1077 right_yaw=0.0173 right_pitch=-0.0303 right_roll=0.0013 right_gripper=0.9998 state[joint_eff]: [-0.1299, -4.9436, 10.4, 1.7656, -0.2466, -0.0855, -0.0122, -0.0342, -0.6496, 6.7077, 2.0293, -0.0415, -0.0611, -0.0122] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.06, "left_z": 0.03}, "note": "Bottle 1 lies diagonally ahead, cap forward-left; its neck is beyond the left arm's usable reach. Descending over its body to grab it and drag it back."})
tool
executing move_to over 8 steps (0.8s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteDescent stopped on the bottle — the body sits under the right jaw. Lifting slightly and shifting right to centre the body between the jaws.
move_to
left_x0.3900left_y-0.0900left_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2752, 1.6463, 0.4885, 0.6151, -0.2687, -0.2016, 0.9983, -0.0193, 0.5999, 0.281, -0.2832, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.3979 left_y=-0.0599 left_z=0.051 left_yaw=0.0476 left_pitch=0.0396 left_roll=-0.0227 left_gripper=0.9983 right_x=0.2571 right_y=0.004 right_z=0.1017 right_yaw=0.0173 right_pitch=-0.0306 right_roll=0.0013 right_gripper=0.9998 state[joint_eff]: [-0.0889, -4.7932, 2.8513, 0.569, -0.0269, 0.4713, -0.0171, -0.1709, -0.6769, 6.8581, 1.917, -0.0464, -0.0024, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.09, "left_z": 0.08}, "note": "Descent stopped on the bottle \u2014 the body sits under the right jaw. Lifting slightly and shifting right to centre the body between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteBottle 1's body is now centred between the jaws. Descending to straddle it.
move_to
left_x0.3950left_y-0.0940left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3847, 1.5551, 0.561, 0.4595, -0.3363, -0.2489, 0.9983, -0.0193, 0.5797, 0.255, -0.2718, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.3974 left_y=-0.0941 left_z=0.0828 left_yaw=0.0199 left_pitch=0.0588 left_roll=-0.0345 left_gripper=0.9983 right_x=0.2548 right_y=0.004 right_z=0.0969 right_yaw=0.0173 right_pitch=-0.0249 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [0.9641, -6.5709, 7.0906, 1.4725, -0.359, -0.1001, -0.0073, -0.1709, -0.5265, 6.8034, 1.9072, -0.0757, -0.0757, -0.0122] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.395, "left_y": -0.094, "left_z": 0.02}, "note": "Bottle 1's body is now centred between the jaws. Descending to straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteJaws straddle bottle 1's body at ~4 cm height. Closing to grip it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3981, 1.7393, 0.5457, 0.6449, -0.3485, -0.2665, 0.9983, -0.0193, 0.5617, 0.2356, -0.268, -0.0303, -0.0364, 0.9998] state[eef_state]: left_x=0.4045 left_y=-0.1008 left_z=0.0436 left_yaw=0.0257 left_pitch=0.0481 left_roll=-0.0384 left_gripper=0.9983 right_x=0.2525 right_y=0.0041 right_z=0.093 right_yaw=0.0175 right_pitch=-0.0226 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [0.5538, -4.9573, 2.7419, 0.9695, -0.1001, 0.149, -0.0171, -0.335, -0.0615, 6.7624, 1.8877, -0.0464, -0.0806, -0.0122] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws straddle bottle 1's body at ~4 cm height. Closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteGripper settled at 0.53 (~5 cm), bottle 1 is held by the body. Dragging it back ~15 cm so its neck comes into reach.
move_to
left_x0.2500left_y-0.0970left_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4, 1.7405, 0.5697, 0.5373, -0.3603, -0.263, 0.5256, -0.0193, 0.5476, 0.2173, -0.2657, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.3988 left_y=-0.0971 left_z=0.0308 left_yaw=0.0313 left_pitch=-0.0262 left_roll=0.0057 left_gripper=0.5256 right_x=0.2502 right_y=0.0041 right_z=0.0884 right_yaw=0.0173 right_pitch=-0.0245 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [-0.4991, -8.8547, 6.4615, 1.536, -0.188, 0.0415, 1.0281, -0.335, -0.4718, 6.8308, 1.9414, -0.0269, -0.0757, -0.0122] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.097, "left_z": 0.06}, "note": "Gripper settled at 0.53 (~5 cm), bottle 1 is held by the body. Dragging it back ~15 cm so its neck comes into reach."})
tool
executing move_to over 12 steps (1.2s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteBottle 1 is now pulled back near the left arm. Releasing it so I can re-grip at the neck.
move_to
left_gripper1.0000left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7971, 1.0512, 0.1959, 0.0448, -0.5907, -0.5083, 0.5283, -0.0193, 0.5282, 0.1967, -0.2642, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.2437 left_y=-0.1036 left_z=0.0387 left_yaw=-0.0479 left_pitch=-0.0853 left_roll=0.0303 left_gripper=0.5283 right_x=0.2476 right_y=0.0042 right_z=0.0838 right_yaw=0.0176 right_pitch=-0.0241 right_roll=0.0013 right_gripper=0.9998 state[joint_eff]: [-0.1709, -2.8376, 7.4051, 2.3468, -0.8278, -0.1734, 0.7204, -0.212, 0.1709, 6.8581, 1.9365, -0.0317, -0.0757, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.05}, "note": "Bottle 1 is now pulled back near the left arm. Releasing it so I can re-grip at the neck."})
tool
executing move_to over 5 steps (0.5s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteGripper open, bottle lies straight ahead along the jaw column. Moving forward over its neck.
move_to
left_x0.3600left_y-0.1000left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8215, 0.9936, 0.128, 0.1078, -0.6296, -0.5167, 0.9951, -0.0193, 0.5095, 0.1772, -0.2642, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.2389 left_y=-0.0989 left_z=0.0394 left_yaw=-0.0412 left_pitch=-0.0282 left_roll=0.0068 left_gripper=0.9951 right_x=0.245 right_y=0.0042 right_z=0.0792 right_yaw=0.0173 right_pitch=-0.0249 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [-0.2803, -1.8256, 7.4462, 1.5604, -0.3834, 0.0855, -0.105, -0.2256, -0.1162, 6.8444, 1.8877, -0.0269, -0.022, -0.0122] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.1, "left_z": 0.1}, "note": "Gripper open, bottle lies straight ahead along the jaw column. Moving forward over its neck."})
tool
executing move_to over 10 steps (1.0s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteLeft arm ignored the last target; trying a mostly vertical lift first to get it tracking again.
move_to
left_x0.2600left_y-0.1000left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8215, 0.9886, 0.128, 0.1074, -0.6296, -0.5171, 0.9962, -0.0193, 0.4889, 0.1577, -0.2646, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.2391 left_y=-0.0991 left_z=0.0404 left_yaw=-0.0411 left_pitch=-0.0249 left_roll=0.0032 left_gripper=0.9962 right_x=0.2426 right_y=0.0043 right_z=0.0748 right_yaw=0.0176 right_pitch=-0.0241 right_roll=0.0013 right_gripper=0.9998 state[joint_eff]: [-0.3624, -1.9214, 7.4188, 1.536, -0.3687, 0.1392, 0.105, -0.2803, 0.0342, 6.8034, 1.8877, -0.0659, -0.0464, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.26, "left_y": -0.1, "left_z": 0.15}, "note": "Left arm ignored the last target; trying a mostly vertical lift first to get it tracking again."})
tool
executing move_to over 8 steps (0.8s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteArm tracking again; bottle 1's cap and neck are straight ahead on the jaw column. Advancing toward the neck.
move_to
left_x0.3200left_y-0.0950left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7364, 0.8173, 0.4641, -0.3164, -0.5678, -0.4477, 0.9964, -0.02, 0.4637, 0.1379, -0.2646, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.2602 left_y=-0.1028 left_z=0.1403 left_yaw=-0.0405 left_pitch=0.01 left_roll=-0.0243 left_gripper=0.9964 right_x=0.2404 right_y=0.0042 right_z=0.0714 right_yaw=0.0169 right_pitch=-0.0188 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [0.4171, -0.8821, 8.9094, 1.5018, -0.2076, 0.105, 0.0073, -0.1162, 0.3077, 6.8991, 1.8926, -0.0269, -0.0611, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.095, "left_z": 0.12}, "note": "Arm tracking again; bottle 1's cap and neck are straight ahead on the jaw column. Advancing toward the neck."})
tool
executing move_to over 5 steps (0.5s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteNeck is centred on the jaw column a few cm ahead. Advancing ~3 cm and descending to neck height.
move_to
left_x0.3450left_y-0.0870left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5163, 1.0828, 0.4774, -0.0879, -0.4301, -0.3283, 0.9964, -0.02, 0.4458, 0.1261, -0.2657, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.3071 left_y=-0.0855 left_z=0.1078 left_yaw=0.0076 left_pitch=-0.0591 left_roll=0.0177 left_gripper=0.9964 right_x=0.2391 right_y=0.0042 right_z=0.0697 right_yaw=0.0169 right_pitch=-0.0139 right_roll=0.0009 right_gripper=0.9998 state[joint_eff]: [0.1573, -3.1385, 7.159, 1.6532, -0.1343, 0.2515, -0.0122, 0.0479, 0.3761, 6.8581, 1.8193, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.345, "left_y": -0.087, "left_z": 0.03}, "note": "Neck is centred on the jaw column a few cm ahead. Advancing ~3 cm and descending to neck height."})
tool
executing move_to over 6 steps (0.6s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteJaws are around the bottle's shoulder; sliding forward ~3 cm to straddle the neck just below the cap.
move_to
left_x0.3720left_y-0.0850left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4507, 1.528, 0.3389, 0.5243, -0.3962, -0.292, 0.9964, -0.02, 0.4355, 0.1146, -0.2687, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.3366 left_y=-0.0832 left_z=0.0271 left_yaw=0.0258 left_pitch=-0.0446 left_roll=0.0149 left_gripper=0.9964 right_x=0.2373 right_y=0.0043 right_z=0.0661 right_yaw=0.0169 right_pitch=-0.018 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [0.6496, -3.7265, 4.4513, 0.9353, 0.0122, 0.1392, -0.0073, -0.1299, 0.0752, 6.9675, 1.8535, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.372, "left_y": -0.085, "left_z": 0.03}, "note": "Jaws are around the bottle's shoulder; sliding forward ~3 cm to straddle the neck just below the cap."})
tool
executing move_to over 3 steps (0.3s)
step 137
top_cam
camera top_cam step 137
assistant
agent noteThe palm seems to be pushing the bottle forward instead of sliding over it. Lifting up and moving ~5 cm forward to come down over the neck.
move_to
left_x0.4200left_y-0.0850left_z0.1100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.408, 1.6382, 0.4011, 0.6323, -0.3771, -0.2859, 0.9964, -0.02, 0.4187, 0.1036, -0.2691, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.3647 left_y=-0.0829 left_z=0.0305 left_yaw=0.0491 left_pitch=0.0038 left_roll=-0.0171 left_gripper=0.9964 right_x=0.2363 right_y=0.0043 right_z=0.0646 right_yaw=0.0169 right_pitch=-0.0127 right_roll=0.0009 right_gripper=0.9998 state[joint_eff]: [0.3487, -4.8479, 5.3812, 1.6484, -0.022, 0.2857, -0.0171, -0.1436, 0.253, 6.8444, 1.8193, -0.0806, -0.0513, -0.0122] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.085, "left_z": 0.11}, "note": "The palm seems to be pushing the bottle forward instead of sliding over it. Lifting up and moving ~5 cm forward to come down over the neck."})
tool
executing move_to over 6 steps (0.6s)
step 143
assistant
agent noteArm held position again; trying a pure vertical lift over the bottle.
move_to
left_x0.3650left_y-0.0820left_z0.1100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3977, 1.6547, 0.4171, 0.6315, -0.374, -0.279, 0.9964, -0.02, 0.4103, 0.0982, -0.2687, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.3692 left_y=-0.0812 left_z=0.0298 left_yaw=0.0533 left_pitch=0.002 left_roll=-0.0123 left_gripper=0.9964 right_x=0.236 right_y=0.0043 right_z=0.064 right_yaw=0.0169 right_pitch=-0.0093 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [-0.0752, -5.4496, 5.6274, 1.6728, 0.022, 0.2369, -0.0122, -0.1709, 0.1846, 6.5983, 1.8242, -0.0659, -0.0415, -0.0122] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.365, "left_y": -0.082, "left_z": 0.11}, "note": "Arm held position again; trying a pure vertical lift over the bottle."})
tool
executing move_to over 6 steps (0.6s)
step 149
assistant
agent noteJaws are around the bottle's upper shoulder/neck region. Closing to grip it near the top end.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4034, 1.5764, 0.4755, 0.4908, -0.3817, -0.2878, 0.9964, -0.02, 0.4095, 0.0978, -0.2691, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.3747 left_y=-0.0845 left_z=0.0508 left_yaw=0.0585 left_pitch=0.0001 left_roll=-0.014 left_gripper=0.9964 right_x=0.2359 right_y=0.0043 right_z=0.0639 right_yaw=0.0169 right_pitch=-0.0093 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [-0.5538, -9.8803, 10.0308, 2.6007, -0.1929, 0.105, -0.0171, -0.212, -0.1846, 6.4205, 1.7509, -0.0464, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are around the bottle's upper shoulder/neck region. Closing to grip it near the top end."})
tool
executing move_to over 10 steps (1.0s)
step 159
assistant
agent noteEmpty close — the cap is visible just ahead-right of the jaws, so the neck is right under them but lower. Opening and shifting ~1 cm right.
move_to
left_gripper1.0000left_x0.3850left_y-0.0930left_z0.0580
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4061, 1.5814, 0.4816, 0.5228, -0.4046, -0.2874, 0.0135, -0.02, 0.4046, 0.0978, -0.271, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.3802 left_y=-0.0839 left_z=0.0582 left_yaw=0.0746 left_pitch=0.0355 left_roll=-0.0173 left_gripper=0.0135 right_x=0.2359 right_y=0.0043 right_z=0.0646 right_yaw=0.0169 right_pitch=-0.0062 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.2803, -6.2154, 4.9573, 1.3114, -0.0708, 0.0366, 1.0916, -0.1162, 0.1709, 6.3932, 1.7949, -0.0757, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.385, "left_y": -0.093, "left_z": 0.058}, "note": "Empty close \u2014 the cap is visible just ahead-right of the jaws, so the neck is right under them but lower. Opening and shifting ~1 cm right."})
tool
executing move_to over 10 steps (1.0s)
step 169
assistant
agent noteBottle 1's neck is now centred between the open jaws with the cap just ahead. Descending onto the neck.
move_to
left_x0.3850left_y-0.0900left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4271, 1.5887, 0.5179, 0.4286, -0.4122, -0.3141, 0.995, -0.02, 0.4046, 0.0978, -0.2714, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.3773 left_y=-0.09 left_z=0.051 left_yaw=0.0739 left_pitch=-0.0201 left_roll=-0.0054 left_gripper=0.995 right_x=0.2358 right_y=0.0043 right_z=0.0645 right_yaw=0.0169 right_pitch=-0.0066 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.5538, -4.7111, 7.9111, 1.6435, -0.3297, 0.0952, -0.2076, 0.0479, 0.1162, 6.8718, 1.7411, -0.0708, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.385, "left_y": -0.09, "left_z": 0.02}, "note": "Bottle 1's neck is now centred between the open jaws with the cap just ahead. Descending onto the neck."})
tool
executing move_to over 2 steps (0.2s)
step 171
assistant
agent noteNeck is between the jaws at ~3.5 cm height. Closing on the neck.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.424, 1.6917, 0.5148, 0.5522, -0.4225, -0.3138, 0.9962, -0.02, 0.4026, 0.0978, -0.2714, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.3858 left_y=-0.0907 left_z=0.0358 left_yaw=0.085 left_pitch=-0.0018 left_roll=-0.0083 left_gripper=0.9962 right_x=0.2359 right_y=0.0043 right_z=0.0649 right_yaw=0.0169 right_pitch=-0.0047 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [0.3214, -6.2427, 2.8923, 1.3455, -0.2955, 0.1734, 0.1148, -0.1573, 0.3214, 6.7214, 1.79, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Neck is between the jaws at ~3.5 cm height. Closing on the neck."})
tool
executing move_to over 10 steps (1.0s)
step 181
assistant
agent noteSecond empty close — the cap sits just right of the jaw column. Opening and shifting ~1.5 cm right.
move_to
left_gripper1.0000left_x0.3900left_y-0.1050left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4248, 1.6863, 0.5194, 0.6319, -0.4568, -0.3145, 0.0126, -0.02, 0.4026, 0.0978, -0.2718, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.3969 left_y=-0.0901 left_z=0.0561 left_yaw=0.1146 left_pitch=0.0852 left_roll=-0.0375 left_gripper=0.0126 right_x=0.2359 right_y=0.0043 right_z=0.0649 right_yaw=0.0169 right_pitch=-0.0051 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.0205, -6.106, 4.7385, 1.0037, 0.0952, 0.0122, 1.0769, 0.1162, 0.4171, 6.735, 1.7265, -0.0464, -0.0611, -0.0122] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.39, "left_y": -0.105, "left_z": 0.05}, "note": "Second empty close \u2014 the cap sits just right of the jaw column. Opening and shifting ~1.5 cm right."})
tool
executing move_to over 10 steps (1.0s)
step 191
assistant
agent noteCap is centred on the jaw column just ahead; neck lies right in front of the fingertips. Advancing ~2.5 cm and descending to neck height.
move_to
left_x0.4100left_y-0.1030left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4778, 1.6714, 0.5789, 0.429, -0.4839, -0.3676, 0.9942, -0.02, 0.4026, 0.0978, -0.2718, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.3867 left_y=-0.1037 left_z=0.0454 left_yaw=0.1094 left_pitch=-0.0158 left_roll=-0.0018 left_gripper=0.9942 right_x=0.2359 right_y=0.0042 right_z=0.0649 right_yaw=0.0165 right_pitch=-0.0051 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.5675, -6.4205, 6.0376, 1.6337, -0.2418, 0.0513, 0.0904, -0.2256, 0.3214, 6.8171, 1.7265, -0.0562, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.103, "left_z": 0.025}, "note": "Cap is centred on the jaw column just ahead; neck lies right in front of the fingertips. Advancing ~2.5 cm and descending to neck height."})
tool
executing move_to over 2 steps (0.2s)
step 193
assistant
agent noteCap is right ahead of the fingertips, neck between the jaws at ~3 cm. Closing on the neck.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4599, 1.7588, 0.6041, 0.4976, -0.4866, -0.3595, 0.9956, -0.02, 0.4007, 0.0978, -0.2718, -0.0307, -0.0364, 0.9998] state[eef_state]: left_x=0.3989 left_y=-0.1014 left_z=0.0335 left_yaw=0.1251 left_pitch=-0.0095 left_roll=0.0027 left_gripper=0.9956 right_x=0.236 right_y=0.0043 right_z=0.0653 right_yaw=0.0171 right_pitch=-0.0032 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [0.4444, -7.0222, 5.1761, 1.536, 0.0562, -0.0269, 0.1197, -0.212, 0.5265, 6.7214, 1.746, -0.0415, -0.0708, -0.0122] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Cap is right ahead of the fingertips, neck between the jaws at ~3 cm. Closing on the neck."})
tool
executing move_to over 10 steps (1.0s)
step 203
assistant
agent noteI didn't stand any of the three bottles up. I got a good grip on bottle 1's body once and dragged it about 15 cm back toward the left arm. After that, three tries at grabbing it by the neck all closed on nothing: each time the arm rose about 2 cm while closing and slid off the rounded neck. With pitch and roll fixed, the tool can only point straight down, so the only way I could see to right a bottle was to grip the neck, lift, and let it swing down to vertical. I ran out of call budget before I could make that work.
give_up
hindsight- The bottles start lying flat with their caps pointing forward, at roughly x ≈ 0.45–0.52 (arm frame). That is right at the arm's usable reach for low targets. - The IK stopped responding to targets with x above about 0.43 at z ≤ 0.13. The arm held completely still (joint readings unchanged) instead of moving part of the way. Unstick it with a move that reduces x and raises z (e.g. x 0.33, z 0.2). A forward-and-up move from a low pose also stalled several times; a pure vertical lift first worked better. - Don't slide forward at low z with the jaws around a lying bottle: the palm hits the bottle's shoulder and pushes it forward, which looks like being stuck or like no progress. - Grabbing the body works well. Descend onto the 6.5 cm body and it stops at about z 0.045 on contact; a full close settles at about 0.53 and holds the bottle firmly. Dragging it back 15 cm at z about 0.05 worked. So first pull each bottle back to x ≈ 0.25 by its body so the neck is within x < 0.40. - Closing on the neck (about 3 cm, sitting about 3 cm high when the bottle lies flat) failed 3 times out of 3. During the close the arm rises from z 0.035 to 0.055 and the jaws slip over the neck. For a neck grasp, command z −0.01 to −0.02 so the jaws are pressed down firmly before closing, or grip at the shoulder instead. - In the wrist cam, the cap appearing at row 150–185 on the jaw column meant the neck was about under the fingertips. - Top-cam positions of the gripper body are misleading: the grasp point projects several cm right of and below the visible gripper housing. The wrist view was more reliable for fine alignment. - The idle right arm sags from z 0.18 to 0.065 over the trial; re-park it at home now and then. - Budget: this task (3 bottles, each needing a grab-and-lift to swing it upright) needs efficient calls. Don't spend calls on small correction moves.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4576, 1.7573, 0.6136, 0.5884, -0.5137, -0.3637, 0.013, -0.02, 0.4007, 0.0978, -0.2718, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4127 left_y=-0.1025 left_z=0.0554 left_yaw=0.1536 left_pitch=0.0833 left_roll=-0.0456 left_gripper=0.013 right_x=0.236 right_y=0.0042 right_z=0.0653 right_yaw=0.0165 right_pitch=-0.0032 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1162, -6.9538, 3.5897, 1.0379, 0.0952, 0.0611, 1.0916, -0.0479, 0.5265, 6.8581, 1.7949, -0.0562, -0.0562, -0.0122] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I didn't stand any of the three bottles up. I got a good grip on bottle 1's body once and dragged it about 15 cm back toward the left arm. After that, three tries at grabbing it by the neck all closed on nothing: each time the arm rose about 2 cm while closing and slid off the rounded neck. With pitch and roll fixed, the tool can only point straight down, so the only way I could see to right a bottle was to grip the neck, lift, and let it swing down to vertical. I ran out of call budget before I could make that work.", "hindsight": "- The bottles start lying flat with their caps pointing forward, at roughly x \u2248 0.45\u20130.52 (arm frame). That is right at the arm's usable reach for low targets.\n- The IK stopped responding to targets with x above about 0.43 at z \u2264 0.13. The arm held completely still (joint readings unchanged) instead of moving part of the way. Unstick it with a move that reduces x and raises z (e.g. x 0.33, z 0.2). A forward-and-up move from a low pose also stalled several times; a pure vertical lift first worked better.\n- Don't slide forward at low z with the jaws around a lying bottle: the palm hits the bottle's shoulder and pushes it forward, which looks like being stuck or like no progress.\n- Grabbing the body works well. Descend onto the 6.5 cm body and it stops at about z 0.045 on contact; a full close settles at about 0.53 and holds the bottle firmly. Dragging it back 15 cm at z about 0.05 worked. So first pull each bottle back to x \u2248 0.25 by its body so the neck is within x < 0.40.\n- Closing on the neck (about 3 cm, sitting about 3 cm high when the bottle lies flat) failed 3 times out of 3. During the close the arm rises from z 0.035 to 0.055 and the jaws slip over the neck. For a neck grasp, command z \u22120.01 to \u22120.02 so the jaws are pressed down firmly before closing, or grip at the shoulder instead.\n- In the wrist cam, the cap appearing at row 150\u2013185 on the jaw column meant the neck was about under the fingertips.\n- Top-cam positions of the gripper body are misleading: the grasp point projects several cm right of and below the visible gripper housing. The wrist view was more reliable for fine alignment.\n- The idle right arm sags from z 0.18 to 0.065 over the trial; re-park it at home now and then.\n- Budget: this task (3 bottles, each needing a grab-and-lift to swing it upright) needs efficient calls. Don't spend calls on small correction moves."})
tool
give_up: I didn't stand any of the three bottles up. I got a good grip on bottle 1's body once and dragged it about 15 cm back toward the left arm. After that, three tries at grabbing it by the neck all closed on nothing: each time the arm rose about 2 cm while closing and slid off the rounded neck. With pitch and roll fixed, the tool can only point straight down, so the only way I could see to right a bottle was to grip the neck, lift, and let it swing down to vertical. I ran out of call budget before I could make that work.
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 · 14.17 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, 0.609, -0.3767, -0.0189, -0.0284, 0.9986, -0.0158, 0.7891, 0.6037, -0.3862, -0.0132, -0.0246, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1832 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0013 right_z=0.1799 right_yaw=0.0001 right_pitch=-0.0004 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.3744, 9.7026, 1.7656, -0.0464, 0.1343, -0.1587, -0.8684, -1.0872, 10.2496, 1.9023, -0.1001, 0.1148, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fb6aef4089cb505def3e67705f39822c7735b41e08c82c117388f1abf0e94c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5defa191913fdecff5ea04fc04f0aa920693b0a4403dddd44c3d2d8331aceaad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0ebee3d463df058d0e18cefb6d9593eaf9e8d3ebd7f9f4c9b8bff77cfe6fd9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 6.731 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, 0.609, -0.3767, -0.0189, -0.0284, 0.9986, -0.0158, 0.7891, 0.6037, -0.3862, -0.0132, -0.0246, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1832 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0013 right_z=0.1799 right_yaw=0.0001 right_pitch=-0.0004 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.3744, 9.7026, 1.7656, -0.0464, 0.1343, -0.1587, -0.8684, -1.0872, 10.2496, 1.9023, -0.1001, 0.1148, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fb6aef4089cb505def3e67705f39822c7735b41e08c82c117388f1abf0e94c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5defa191913fdecff5ea04fc04f0aa920693b0a4403dddd44c3d2d8331aceaad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0ebee3d463df058d0e18cefb6d9593eaf9e8d3ebd7f9f4c9b8bff77cfe6fd9e",
        "media_type": "image/png",
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  "role": "user"
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{
  "content": [
    {
      "signature": "CAQS/hcKEAgSGAI4AUIIdGhpbmtpbmcSDIUBP/4sq7j3tFdO4BoMIKbfKhEHzif1OFFGIjBaViC39N8TjyPj8VDz2tDbsSHTZaNn5aw+o2wvmIce4tYDA6E54gJG16ExXRJcj2EqmxcJQHGi0XHAbygxAiEfLaa8N61a0SfndAsB+Cp9ENbSwUDVmGXAtvbOawB0Jg/kt/Ve14y0hwstotispxftDeEWpyLRQi9ke31q/u6KITjwmxXSDoSOd7+fvWa6cYUHuayPYZJHUKxiH5ggB9Ci1BPD9MzpfUGpE1c7sj6mR0NQV85Yen95+b/WSNMjfrz4e+FYx15woDmRPG5/vmBxZoPA/KChFqItR8QoYCbXuk1eHdCxfbCL8rwY6zq4YokWiY3YQUUO8AUuD247Xbr5QfeDMAeGrI84AIQ3Z+U52RH+j2+CRQylU1EciH2+fe4+PwKOHWIVxr0ITzKJGKTikCCaBNh+4WlEiOlnSwwtBAVe9dhrSjBmG+Q8gc6ELRvS2IG5oiiDwp9+CcRSUz4pypmVrSzSMWQL8VvmYCtLXNYkwRkSrqS/Io8iphBbRZPAAExVbLlu0OQd8ZM/220gi6TAZrVEnQt53Gg8USwyEaTNgHXTMfKirW68p1mVLi7Y20cZJ9Lwou6JKN+6IxebqV68uxOkRJBilbNr7KpR7+vl7rzvUCYY/gxl4+nXPVuf4tpyuAU0rgpdYA/0k0seIf5mn6EnDK5nkujXKjEZ1HBX5Sxsk66R+8dCK+zCSxvNmYRyCJwVumJiYO/ZSqySVtELISDhWJhXj3wqgszGfaVOEVREJ4AorWR9Lx9+D1JNXfqYakdLMW5+wjqIByeq+/H6WgDc59g6qbrUrQ3Z0ISEs4x1I91tFnDea7W9dHavLQn8eD+hMlh4FOLTNqnK76hnNPvRxWBWHY/HjlcmPpzoiZrVbOeAuhNivOeizA4zSnHnAPEmJMnc1hAgJMte66mlJQVYKvkNKktTq6OFhQrpcMe31J9rUmXnofcb+FOY+GLZbpxKZARM8OBS/77mNAOgFOggcOC5Wlr5wlikeY2s17IvkOE8kkLXIX/RkLDEjw0RDPcJEDwtveizPeKZrrzY/EJR05duqAoycHfgIaQJgyXzV1dQfPfaM5n6TODahVkKZpvnDZ5ei0XyqODgWtrFVHnckdFLokMHAqgYfCubLoD2FWjosPvkuWbhrDMZaAjyoMEJfDswXsOqKitMzWVA/Yjf2XrePQg+6NBk/s1x9SyBE9xOkB6SJqKm+eBn/x6l1EzQ2f98cf4VXIXgtJqmDd7Y5mQT88PZnLt09opfdrysrw7F1ylZKbYWUEq+sCkPZD6XGPECzk4eOd0DsgBiV7wiBO1Vy6EyoHemYeOmIVIhnBYvndx7baLFBataxzzQm9Ra9rFI3J/ryWtO50Dtsq2WkS6xWnOWyZ+wiZ/5OEKzxw7gs0+YnknDKa0AGURm3+CdT+HijNwD3hwzaGXZ5iS5n759wX6d69HM4V6OBBM1R2KAnVIdXQe4Rnt928FPcvxTj4Z3E8sCPpkdiqAQk8iMUdR9t2//BaoUgkGCA9t7XKqXICxLRvMWmbGziIrwAUHtSM0ivRxBcdH0tArHfXIogItNeT2SABWu/x8nXJr+E3dn310E3tyCZz5G+It2hs9ycBUS/djiHVHGWgSv0F2XfdcwzPN4+Wvw3OD0q0FYV/QPqxDoK/c+EpdzK8FUHqrMeqwEI4E7TnAh6z07CVL4UrqNe/rQwXT/bWal86AiBRa5b4rWhzKVVTblmBR1BvGFkESHQZFvir/rHREpuEzPlDzxplInz0Kgr8W9kxgEQodOigFHyYb8g4Qfd6tR60iVwZO/xp8RupBK2zeG2AxoQU8Y/1cN49f3nqWns2yxtaUgyFON1Eh4oylWtWPoiF/n2mvrk2+fEN+HJ54X4P2CW62nRBwIcYXaY9EGjo2n0KSH47d23tJly+V3hRqYedSiH4YAjPkPsQqnItcAXgQdF8R9jTAbXKu/yWv7u8GaEqz0QPS1MQv7vQtd/cH1ntva4KUSY3Hn0CeYgRofBOZ4iE2i2rD95DDhDtSR7+GPQVetrptyW9HO5lN+HQRxmqnjeJPAw4snBLpzORKHy5XOLwrv6Nl9i6Fvw3Fe5hkiGv98tcspkjFV/75w0QUY+7KFW+2eqdu/ipXgcx5rkUh+yWLk9ahYYpjSaGUKS2PZT3fhug1YFnpOoSEyGhFcmNEKPKLRGwedOYVU0YGcWZNtRBqVnozVDL9IXA6HZ0+HlNz6jSUssFV2qp9hyS7ePSQllSt6wIZ7tvagpSS9R6vmdH2OpPCQHYln72AT65TB9A2tsTt3qPo/eIhrnyyQ+wdyKO2/X4LFdYjCDQYwFLk4PxKrayxhFzc8McJl3ZrD2rRDc0yqCMRq9G9z/xC95+AXLVbkEDc9sR+1SjkD1776hTkH2wpS1N/AiDt6iKP5guHMsvV3MonecUyoJxcj/fvC52EWeqKRV6gvyCdXVQZPh2wCxyY3OxTBsS8J0FF/2Y0BWZs7so26Hj+1gGKnUWUFsBnjFkqe9wDtQT7wv1RelyHkDSXDQ0jvqGJfX5DUaL1jQmVCwh/Yf8PR1TVHYnfe8SRFs31Onoorcn/h7dXNiAB2HOgvGV7F9iz+tN64Ozrq+7aC05q9uRZcVHo/LytCRQ2iiHqWdNL+tLewAfLzMcgPdPTR3O27khZnPnEJ0m/ExtoUdFvtltn6XqNF+a8ZEO7UfNZfpdezuLjFECR1Z/N5DaR30AC4SoSkGJld0uhTy3v8EHSqNnCD0YXeDXJRrg847NPZ3Bpb0O6bVDs92cwLXvCmClGLnSa5p4Zo5AvqffEzzBzDiogZJwoTS9zhyc1H7jr6IL2KhKgIdlWYWWGFZbpPI+zQvPAFcjfYYnej1tZTM7oMrz5ataUw4LlaWZ4HuMLMN8HFVnOp5rQsElPkcORjO2t0/yfspp+teFALrIMlJuvVB94dPIER7ciapw/a55P1RLiz2VclcxIyjBVsY0hFresFCluNgF5sxWr+263qkhb3yyebO3RqU4ulR89WUE+HaFkveeUSYxP+4H7icsTmO0Tn+UQbsBrB+lTddIuKgy7d2v68GYEX569FujdImY8ErE3LXWJBj9HUDpFbZ9+GolyFZHl6Z5Up0vnCCe/J+7BFf2hBkboeGnXfk5Hwx7Zy5kbnxs1kd5Ahdy2AtuZBpCNYMINmn2J1XfoH5AuUqI5grETk81M/7OCSvF6f/B/OFwmmbpzv8ELfEHL0gzuOQMcwiys1lZQGd+nKKuXOqlZQi+vhBt4em4Kjjz0N0fxHGlEHwzWN1yswaAsgnxFOO2LnOhKFMAjIk14xH3jcfJLGQ4w3lFTpl7oBYJipMAjWiOI4uFxrOpkMGGVdupMr2vJ9H0MGjIF0AmIfeDt1Oxdr5OROCWo9hGf1vtXQp+30Vr4uWUTNKIrkBEA4MTiQ6zz1QsMjX1tD2v+X5Rxgsx94YLsR/Zqboia+qZU3xh0O4qeqBhmk4x7q0vAS1Phqu5/HB2arP8qHzjIHG56TdpSrJ0zgrDI7XEWAX18h5rvr0lDiNL8evczfJL05bpLQINFmRuVDOVElE1gTwYneo0tPGrfDEyT5xkXeRn+R5+c9VgIqabZDLrLtLuHxwfl3H/GCpe0mnHNw8U49Bzp96mZb8X6zGxTydOBKHJ5T5rWxF1QhdWPCytN8tEb8rSiiCosLqHwatChn//cTOrcyZ5cl6yVFTGF8D8b8LIEVfKqKrwYcMJRPa+POPKqFgQNocqI8BPAeP4H16R+D6s8XzHClbgGW/BPMPsE4t47B7tfNxzzo+4Nf1OocAEkUf4NkNGPhSql1fqOUBeJD5/wZ1A0lgzfEQHA/vqBPaCsqwUDRhfZcL9aQKEnO6drcv2jSM48hCSV9kNt/+7V1VSkovkQdoUpEUu7k1rn+LWJ+rCCC7BxQ+kkkTt7syouOW3xe6ps77PkKTkQpT3I2ny3bZ+NhAcPnUlR0iYdXfYUewYi2yXyUjdmYROw9LqcOxWPEtc2dE7UQV4EtUbW/Yv5m8kChGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QH8QV4nguQkdiZg8cwHh5H",
      "input": {
        "note": "Three bottles lie on their sides, caps pointing forward. Plan: grab each by the neck, lift so it hangs vertically, set it down. Moving left arm above the estimated cap of the leftmost bottle.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.42,
          "left_y": -0.1,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QH8QV4nguQkdiZg8cwHh5H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3595, 1.4605, 0.8196, -0.0349, -0.2871, -0.2146, 0.9988, -0.0193, 0.7921, 0.6033, -0.4034, -0.0227, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4028 left_y=-0.0941 left_z=0.1263 left_yaw=-0.0135 left_pitch=-0.0827 left_roll=0.02 left_gripper=0.9988 right_x=0.2914 right_y=0.002 right_z=0.1753 right_yaw=0.0072 right_pitch=-0.0209 right_roll=0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.1043, 8.9915, 1.8046, -0.2222, -0.0904, -0.1294, -0.0342, -1.3333, 7.2274, 1.9463, 0.0366, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fff07299ae37af2d0488e276e1eda8222fe8756c8210940a9abf8865f18c2aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa12cfc523bc528afa7c8189d9182f3a654ce689c711a460f620d0b1fa9291b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:22185c9c683491f21bd69a39d8599df132656cc172b9902dc1e53719b200f6b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 7.697 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, 0.609, -0.3767, -0.0189, -0.0284, 0.9986, -0.0158, 0.7891, 0.6037, -0.3862, -0.0132, -0.0246, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1832 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0013 right_z=0.1799 right_yaw=0.0001 right_pitch=-0.0004 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.3744, 9.7026, 1.7656, -0.0464, 0.1343, -0.1587, -0.8684, -1.0872, 10.2496, 1.9023, -0.1001, 0.1148, -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]: [-0.3595, 1.4605, 0.8196, -0.0349, -0.2871, -0.2146, 0.9988, -0.0193, 0.7921, 0.6033, -0.4034, -0.0227, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4028 left_y=-0.0941 left_z=0.1263 left_yaw=-0.0135 left_pitch=-0.0827 left_roll=0.02 left_gripper=0.9988 right_x=0.2914 right_y=0.002 right_z=0.1753 right_yaw=0.0072 right_pitch=-0.0209 right_roll=0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.1043, 8.9915, 1.8046, -0.2222, -0.0904, -0.1294, -0.0342, -1.3333, 7.2274, 1.9463, 0.0366, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fff07299ae37af2d0488e276e1eda8222fe8756c8210940a9abf8865f18c2aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa12cfc523bc528afa7c8189d9182f3a654ce689c711a460f620d0b1fa9291b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22185c9c683491f21bd69a39d8599df132656cc172b9902dc1e53719b200f6b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuQsKEAgSGAI4AUIIdGhpbmtpbmcSDCw3DGTi0p3NIYMCdRoMqOLINqtB4IAzzRrFIjD+4wywSTLaehIVeKUWxFUO66dL0C+OdHCoasUSWs/9Q177xCTeMxBRbVFOAIQIFUYq1gqInVflwo+yLtdETx5uyUa318G3LkqnhZxFy5DUzRRQxRFTRVXHO7p5LIKVzDPSHYpxIVo4AzLcDhdcWDsrxmwxav8Fa/PTQfFUksa+Y8wyG1/Op4PEoPD4cqHbkQUqyD3O4O0Nzzy11VS7s74IgTyiGe9kncrZrfnsrg8BXpMIFvfUG7TWAFTKBCjxcrR1SRRh5M+RRyENxp7+PJgz1xuOBXUXQskpyb+bbqXRFz0OLBce6p/betmW2UuWRaamuqWyWEGoPtyyQt4loyxQICrVhiXNdRW89BKAfByy3kd82m1ELLhOy6cHjGWPSdN4EXnUmxzvuDgaCX09F8UT8uqpTVNUbO35Pfq7DM7+DcZJbbAI5YvmVqmBXWuRzqqF33lstcFFfg8N3g7hGuxeK+8INmwzpriUelWsr2RYI+dK/nYAk41/qHcH+Csrftx2rlbJaMvrLWkzzeQMhXHUyXvcHuT+xwrM6uooT1ML/FWxs7ovX5SHq3msEJsjuaWfu+NoXeED4HuSjXi22YNrtI9ECZiv60FOOC8onNrpWXsDdgWvWOv+PcxxiE96hqYWzRCwgXz1SNpOywOZ05qtgYvNd4qROsiEfvayZ/uDJqQ3lxapwNZp7GM2fEH7O0bP3EI7W8d7bDZqRtysatAGi4BoW2A4EIlogyARLcTNig9RCF6a4M45iEWxFRGhh5mKC+wO07UwT7gVaIOg6L+He/0dzEZXAKgSnttvN9hseTT5M0d248R8lLtgcX0ZMecMcDWH3jrTOcHZNx6TOhzGXrYI7KH+pjd6b8ERronlAEqHOWExxqtLItu+WCwF1veH4SelZEA0bsf3m2kTfFNlzYSkPXBm2prqTFlwicbJOVEt5+3M66rZugDNPqJ1rvsoU5VFUkEdU2oaJcnQd4sitWUKj4bPTABQyeNschErgHOrVIWMQ6yNjEalYq5wYuWhbYpIVEKLxIfJNPlwEKEw8FBTYJwrv1ZFfgJRFch24DasjBDsxBn36rPqnuUoUyZM+gbcbLhEUwR26upb8TaJTWeBp4N1MNB2U0sGV9MBDYyIfuoUIWmvEKxJC373aKevz0ks5kbk1FleywQbxvcFjJlg58q7weLfw9LWpbzT1ky4vo3xvF8ysccjl0+bSjrvqp9X4YBN5LGi/HQYM2AyB2ymn9VR5PUr8GJ2k8mHj+uSTfWcc30vDPqCu7G/1L2ITmvQgel4vEq6TEdVjnvABGWG8deUZE8L2+C3IWkNP/dOjBVsWBvBM41rvMWlWuKnSIt08XuiJGNkZiwkT6mRcoeWubtWmuDI5+7pVrr9YesfBcGBn9GpPQ26kTXv3rPukSWGFxeIswg/tGcPDC0/Lb1SkUlkmFjNAs+rqjwGTGuoUdnjOOQEAP5oWgHfGmiKRONEisEOW/k6dj1+AUucP2IxWg91zUXDvblQbPXnB7mXfC7ou/XsUORwCFtZs0Ukzd2p1is/AUGYM3HDYy21SkykfNmlui3ttCGuuVGY6ibdseW/ksPl1qvEalpewSMtVONU9n9mUURixQ+/EPKO5dK2sKWq2YwOd5HF+xgBXeSGKTNajnoqw6Y5CY5YvTqZaBlXmjdsBKTesiPOi8DapcrJMfbuN+JMKF+XMAfnmju3byNPi2PUh1ui8NrJcCKAr9Nmm/j3HVEZwbbudFNNwSL3jrsfzjCeHtVnbZL4UBdnNcJ/z8qWd2b+81AB4JfyyugCnMUF5m2rz1KV945BlmZO11GE6Ernv2uH57TpYR6+ChxEoga596p6gJuhCg7mChc3yZa6bT2nEaQ237dlBilp/kX3w4e6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013CG3hw9cdgPXUXLMAkmWWm",
      "input": {
        "note": "Left wrist cam shows bottle 1's cap slightly left and a few cm ahead of the jaws. Advancing to hover over its neck.",
        "targets": {
          "left_x": 0.445,
          "left_y": -0.085,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013CG3hw9cdgPXUXLMAkmWWm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2893, 1.5917, 0.8093, 0.1246, -0.2584, -0.1936, 0.9985, -0.0193, 0.7891, 0.5846, -0.403, -0.0235, -0.0334, 0.9998]\nstate[eef_state]: left_x=0.4282 left_y=-0.0766 left_z=0.0987 left_yaw=0.0212 left_pitch=-0.0717 left_roll=0.0143 left_gripper=0.9985 right_x=0.2889 right_y=0.0022 right_z=0.1677 right_yaw=0.0101 right_pitch=-0.0361 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.4872, 9.5795, 1.9658, 0.0855, 0.1832, -0.0464, -0.0889, -2.1402, 6.8308, 1.9316, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65e3105613f00681c941021208b349d99babdab21dd683260b1a80f366a3cfc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99b960fb99bdd8b93f860467d0da7f6daa18118bc9ddba6b64947f67347d8564",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b91c3815d09b291a683eda4b9191e7e9866cc53cca40ef0524c4c0c2de0e6dc5",
        "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 · 8.633 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, 0.609, -0.3767, -0.0189, -0.0284, 0.9986, -0.0158, 0.7891, 0.6037, -0.3862, -0.0132, -0.0246, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1832 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0013 right_z=0.1799 right_yaw=0.0001 right_pitch=-0.0004 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.3744, 9.7026, 1.7656, -0.0464, 0.1343, -0.1587, -0.8684, -1.0872, 10.2496, 1.9023, -0.1001, 0.1148, -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]: [-0.3595, 1.4605, 0.8196, -0.0349, -0.2871, -0.2146, 0.9988, -0.0193, 0.7921, 0.6033, -0.4034, -0.0227, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4028 left_y=-0.0941 left_z=0.1263 left_yaw=-0.0135 left_pitch=-0.0827 left_roll=0.02 left_gripper=0.9988 right_x=0.2914 right_y=0.002 right_z=0.1753 right_yaw=0.0072 right_pitch=-0.0209 right_roll=0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.1043, 8.9915, 1.8046, -0.2222, -0.0904, -0.1294, -0.0342, -1.3333, 7.2274, 1.9463, 0.0366, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2893, 1.5917, 0.8093, 0.1246, -0.2584, -0.1936, 0.9985, -0.0193, 0.7891, 0.5846, -0.403, -0.0235, -0.0334, 0.9998]\nstate[eef_state]: left_x=0.4282 left_y=-0.0766 left_z=0.0987 left_yaw=0.0212 left_pitch=-0.0717 left_roll=0.0143 left_gripper=0.9985 right_x=0.2889 right_y=0.0022 right_z=0.1677 right_yaw=0.0101 right_pitch=-0.0361 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.4872, 9.5795, 1.9658, 0.0855, 0.1832, -0.0464, -0.0889, -2.1402, 6.8308, 1.9316, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65e3105613f00681c941021208b349d99babdab21dd683260b1a80f366a3cfc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99b960fb99bdd8b93f860467d0da7f6daa18118bc9ddba6b64947f67347d8564",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b91c3815d09b291a683eda4b9191e7e9866cc53cca40ef0524c4c0c2de0e6dc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wzx9gxtqbqsBdLMW5Jkn9R",
      "input": {
        "note": "Bottle 1's neck is just forward-left of the jaws in the wrist view; shifting slightly left and forward before descending.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.065,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Wzx9gxtqbqsBdLMW5Jkn9R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2867, 1.6085, 0.8223, 0.1524, -0.244, -0.1841, 0.9984, -0.0193, 0.7746, 0.5632, -0.3882, -0.0238, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4353 left_y=-0.0801 left_z=0.102 left_yaw=0.0063 left_pitch=-0.0514 left_roll=0.0066 left_gripper=0.9984 right_x=0.2874 right_y=0.0023 right_z=0.1649 right_yaw=0.0117 right_pitch=-0.0281 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -7.8154, 8.4855, 1.9316, -0.0171, 0.149, -0.022, -0.4308, -1.7162, 6.7897, 2.0195, -0.0806, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bf57411b997df2f4a752fd9a5edb7f1da63c231c3ff2882ce04d9e5406816d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb21099dacf4d24cba2c007e03cb78aca9193fd73e7948007c7d1abb64e40f31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:62cfc914e2bde95139e359c84f28cb4c6a07a50ec2ce8b00818892e194be7259",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 5.469 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]: [-0.3595, 1.4605, 0.8196, -0.0349, -0.2871, -0.2146, 0.9988, -0.0193, 0.7921, 0.6033, -0.4034, -0.0227, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4028 left_y=-0.0941 left_z=0.1263 left_yaw=-0.0135 left_pitch=-0.0827 left_roll=0.02 left_gripper=0.9988 right_x=0.2914 right_y=0.002 right_z=0.1753 right_yaw=0.0072 right_pitch=-0.0209 right_roll=0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.1043, 8.9915, 1.8046, -0.2222, -0.0904, -0.1294, -0.0342, -1.3333, 7.2274, 1.9463, 0.0366, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2893, 1.5917, 0.8093, 0.1246, -0.2584, -0.1936, 0.9985, -0.0193, 0.7891, 0.5846, -0.403, -0.0235, -0.0334, 0.9998]\nstate[eef_state]: left_x=0.4282 left_y=-0.0766 left_z=0.0987 left_yaw=0.0212 left_pitch=-0.0717 left_roll=0.0143 left_gripper=0.9985 right_x=0.2889 right_y=0.0022 right_z=0.1677 right_yaw=0.0101 right_pitch=-0.0361 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.4872, 9.5795, 1.9658, 0.0855, 0.1832, -0.0464, -0.0889, -2.1402, 6.8308, 1.9316, -0.0415, -0.0464, -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]: [-0.2867, 1.6085, 0.8223, 0.1524, -0.244, -0.1841, 0.9984, -0.0193, 0.7746, 0.5632, -0.3882, -0.0238, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4353 left_y=-0.0801 left_z=0.102 left_yaw=0.0063 left_pitch=-0.0514 left_roll=0.0066 left_gripper=0.9984 right_x=0.2874 right_y=0.0023 right_z=0.1649 right_yaw=0.0117 right_pitch=-0.0281 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -7.8154, 8.4855, 1.9316, -0.0171, 0.149, -0.022, -0.4308, -1.7162, 6.7897, 2.0195, -0.0806, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bf57411b997df2f4a752fd9a5edb7f1da63c231c3ff2882ce04d9e5406816d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb21099dacf4d24cba2c007e03cb78aca9193fd73e7948007c7d1abb64e40f31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62cfc914e2bde95139e359c84f28cb4c6a07a50ec2ce8b00818892e194be7259",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018GyRP6Xs6feAcTescpNY8Z",
      "input": {
        "note": "Arm fell short of the last target; neck still under the left jaw in wrist view. Commanding further left/forward.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.05,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_018GyRP6Xs6feAcTescpNY8Z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2863, 1.6093, 0.8246, 0.1528, -0.244, -0.1841, 0.9983, -0.0193, 0.7647, 0.5392, -0.3779, -0.0277, -0.036, 0.9998]\nstate[eef_state]: left_x=0.436 left_y=-0.0801 left_z=0.1027 left_yaw=0.0066 left_pitch=-0.0496 left_roll=0.006 left_gripper=0.9983 right_x=0.2851 right_y=0.003 right_z=0.1587 right_yaw=0.0151 right_pitch=-0.0318 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -7.9248, 8.4034, 1.9463, -0.0024, 0.149, -0.0171, -0.4991, -1.7299, 6.7761, 1.956, -0.0171, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0082e8e8b08b459e114bf4fe1d365eecba73a075b0fafe8d2676f5133c59d3a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c06a306f54fd4c839d6743801f5d3a8bc767264f990e973e052a204abb8e3542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2cf61e802a136068f1dd0ddc6e4391120cec6821ac1bf09366e4087b0eb6e8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.865 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]: [-0.2893, 1.5917, 0.8093, 0.1246, -0.2584, -0.1936, 0.9985, -0.0193, 0.7891, 0.5846, -0.403, -0.0235, -0.0334, 0.9998]\nstate[eef_state]: left_x=0.4282 left_y=-0.0766 left_z=0.0987 left_yaw=0.0212 left_pitch=-0.0717 left_roll=0.0143 left_gripper=0.9985 right_x=0.2889 right_y=0.0022 right_z=0.1677 right_yaw=0.0101 right_pitch=-0.0361 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.4872, 9.5795, 1.9658, 0.0855, 0.1832, -0.0464, -0.0889, -2.1402, 6.8308, 1.9316, -0.0415, -0.0464, -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]: [-0.2867, 1.6085, 0.8223, 0.1524, -0.244, -0.1841, 0.9984, -0.0193, 0.7746, 0.5632, -0.3882, -0.0238, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4353 left_y=-0.0801 left_z=0.102 left_yaw=0.0063 left_pitch=-0.0514 left_roll=0.0066 left_gripper=0.9984 right_x=0.2874 right_y=0.0023 right_z=0.1649 right_yaw=0.0117 right_pitch=-0.0281 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -7.8154, 8.4855, 1.9316, -0.0171, 0.149, -0.022, -0.4308, -1.7162, 6.7897, 2.0195, -0.0806, -0.0122, -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]: [-0.2863, 1.6093, 0.8246, 0.1528, -0.244, -0.1841, 0.9983, -0.0193, 0.7647, 0.5392, -0.3779, -0.0277, -0.036, 0.9998]\nstate[eef_state]: left_x=0.436 left_y=-0.0801 left_z=0.1027 left_yaw=0.0066 left_pitch=-0.0496 left_roll=0.006 left_gripper=0.9983 right_x=0.2851 right_y=0.003 right_z=0.1587 right_yaw=0.0151 right_pitch=-0.0318 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -7.9248, 8.4034, 1.9463, -0.0024, 0.149, -0.0171, -0.4991, -1.7299, 6.7761, 1.956, -0.0171, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0082e8e8b08b459e114bf4fe1d365eecba73a075b0fafe8d2676f5133c59d3a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c06a306f54fd4c839d6743801f5d3a8bc767264f990e973e052a204abb8e3542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2cf61e802a136068f1dd0ddc6e4391120cec6821ac1bf09366e4087b0eb6e8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkgkKEAgSGAI4AUIIdGhpbmtpbmcSDKIyrow7gP9ydQAEchoM7o8ptP042KQmQavRIjDlIlkstJxWWkOa+mJrnKKJZZ1ds227Gn1QuoncebmkN80bC3TuP1Sn0xtp11N3IFoqrwgO2luaC/kDv0YlzsgV7C4EveY01t2LRIHL4QR8fwOYS5dKk33RPZDCkH5Ze+1UUOh6o/6VQPmXlq9YsrymLfiZcVntZYwjYGrjppXQTtTFVfiGku9TdHGlxKBEhCB1axWsDvZaOLgzHttLEu3QqKjzDWE/2QO0k7pICXd7yM5hEbpwl2GZ503DUpTktldF8079CXIFha3GQsDlLjRBVHxTRUtJhFA55Z+ZByYUfUxJAXTPTOPapcE6r+Queu4Slh+/wN3CayEI/lQ+po9mtmjTHODsAwRh0PuBLdg/CXw7jh7nKYiwlyoqZ8Y5FfF4c1xAvMcCpNcj4UiNsl3WzEPL/eoJ2HjdjhPj6IujprgQQqZ2MrXvhCPATYvljmaRXy0Bci0WUAbi5MN9M4k9TP/5dcVANUH/yIeGMwppgyj/HwHGa3fuK05wkpU6LmQHPSALg5nOayLBtWZkQsf76KsgC95MpO6CHZYxa7JCxBclbEDk4FAzPHpeNutLsj98dHVxhJHC2b1pPC8FNwL8THgm1fX5e8Xz/MnsEc7yT0U/hv9pniikZFKGW87NPwaNG/JzkMzfmlsWmKjl+qzvSWHpkFa7qxcbaynkwKmSCf5/iW0LiNpcu2nvBfZS/27SMxuoxBYvfCicsFqZJn/k73sqdKcHA5hkQBw9TTO9TcZE1hEZbsdw/epN+mM18rr4aaV0x9y1rndo4UL98jtDLGM/Luo03+zz+6qvl8Oz3455mqP4SCDnZ6RlERs0zspk32bbSy1nmJ05BoLmU6+88QFg+19Ebr0RXMPR+TBw4P7609IQBJJkQMwAd6DK/QYK8d1yUrb+83PyaWp6Cn7T9wV0qoVutePol8cxNN62ClaWPIv93b3zZLxIIhztmss9kn0XsUNfRsa0IxfDs/9TluZVAgvbVKBeVMeAAOLYOXPLhqKOo40quhOU3A22XZjrFM4/3e/GT1oaMEOsD6mxsuRJo8fx0iGv+J1W9vyMMNgQKZIhNTuAykb5ZFx0vOTldUvBp+MJ/mGjiGW22z2Q865cutcy4jOnf/qSn9gM138nFHQ/YNJ0eImPPnEHztcpURUAx3e1V3U0VjShGtY10zfHPJCu/65Yioz+ySTeOdGO7zriTE2CWWoyhULIcMGA56/sYLo1O5kzc3EYtVwWdUEy2xqBexw7YzFf8APzu1KrR+7Z9vw/j6ndxdzSvB8UNbx1omHXq3HITTPEdE6MMGx2jYfRhAQ+hzkGB1Vcm5jBkpd4oiby9YFLR7iTnEh7S3dna+atMzl7oNmKemamMXe++1/wfyFLKytCsv7MKrIx+3s3nKVu9E56foLGLw1KyPvkBT0NOfvAEhT7NFCL9vVsM8CcGUZ8qinkO36zHXqNlzu1cE5JwWVWDaVT5CdqtuSs9XdkP2CXg+ZGDFgmOO4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012EFLo1WuqrAkcdc8ygPwrp",
      "input": {
        "note": "Left arm stopped tracking, possibly resting on a bottle. Raising while shifting left to free it.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.05,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_012EFLo1WuqrAkcdc8ygPwrp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2867, 1.61, 0.8261, 0.1524, -0.244, -0.1841, 0.9983, -0.0193, 0.7506, 0.5083, -0.366, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4363 left_y=-0.0804 left_z=0.1029 left_yaw=0.0063 left_pitch=-0.0492 left_roll=0.0059 left_gripper=0.9983 right_x=0.2818 right_y=0.0034 right_z=0.1508 right_yaw=0.017 right_pitch=-0.0367 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.9795, 8.212, 1.9023, -0.0415, 0.105, -0.0122, -0.3487, -1.7573, 7.1453, 1.9756, -0.0122, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b70497ad41c629bd34536fc7d139602129f27722751fa8f461f0f4612bfae16d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9136761f4ed5cf618424ad18c32dc4fc96a54670f64a9853a41397a16841fc55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92acc3b5efb2142f6e886b82640edf479c08f9eaf42067dc90fdebe5f4e4ee03",
        "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 · 8.671 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]: [-0.2867, 1.6085, 0.8223, 0.1524, -0.244, -0.1841, 0.9984, -0.0193, 0.7746, 0.5632, -0.3882, -0.0238, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4353 left_y=-0.0801 left_z=0.102 left_yaw=0.0063 left_pitch=-0.0514 left_roll=0.0066 left_gripper=0.9984 right_x=0.2874 right_y=0.0023 right_z=0.1649 right_yaw=0.0117 right_pitch=-0.0281 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -7.8154, 8.4855, 1.9316, -0.0171, 0.149, -0.022, -0.4308, -1.7162, 6.7897, 2.0195, -0.0806, -0.0122, -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]: [-0.2863, 1.6093, 0.8246, 0.1528, -0.244, -0.1841, 0.9983, -0.0193, 0.7647, 0.5392, -0.3779, -0.0277, -0.036, 0.9998]\nstate[eef_state]: left_x=0.436 left_y=-0.0801 left_z=0.1027 left_yaw=0.0066 left_pitch=-0.0496 left_roll=0.006 left_gripper=0.9983 right_x=0.2851 right_y=0.003 right_z=0.1587 right_yaw=0.0151 right_pitch=-0.0318 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -7.9248, 8.4034, 1.9463, -0.0024, 0.149, -0.0171, -0.4991, -1.7299, 6.7761, 1.956, -0.0171, -0.0317, -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]: [-0.2867, 1.61, 0.8261, 0.1524, -0.244, -0.1841, 0.9983, -0.0193, 0.7506, 0.5083, -0.366, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4363 left_y=-0.0804 left_z=0.1029 left_yaw=0.0063 left_pitch=-0.0492 left_roll=0.0059 left_gripper=0.9983 right_x=0.2818 right_y=0.0034 right_z=0.1508 right_yaw=0.017 right_pitch=-0.0367 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.9795, 8.212, 1.9023, -0.0415, 0.105, -0.0122, -0.3487, -1.7573, 7.1453, 1.9756, -0.0122, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b70497ad41c629bd34536fc7d139602129f27722751fa8f461f0f4612bfae16d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9136761f4ed5cf618424ad18c32dc4fc96a54670f64a9853a41397a16841fc55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92acc3b5efb2142f6e886b82640edf479c08f9eaf42067dc90fdebe5f4e4ee03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlggKEAgSGAI4AUIIdGhpbmtpbmcSDEqdjHJs0V24ZK8A4BoMd9uO3A5DJpLpiIEpIjA/3kxA0/gvqUgxb0LDngXGS/8J88hXuprkYCuYOP0V5tKl43WR1gar4gxMt4XFFVoqswemX+QLp+J4kjCPHSNEluNgVhOi6TjGba88j78feknIy2dcdbUfJgfU1RxoMlGOAtXhs0wtaJYrUzpLJn+HivtK9EV6ZowonlEkieFQhXks7rhrNYIt3cvyZm86xEEHAywRg+WWoEq9UIWIBG0Y8B6d6rb7N07rSlTHpLIUEyiT5bZ/+/wNlgmCFW4prNHLTDdrs1ekYIMUmUYITf4vwQu7OEq8vqvlwk3/J17RDU29DpNkswNxxGLj+QVsXpMts2pcMBgUT7L782WYMh39MJktgH0fB/6d6YL+BsF3U0Fop2fRkNlXJn6QsR2pYhR3fOw//waDGoTh1BGLO9yn6NVyJqUjYYaLPugPuAp4EHzjIpzGUWo6j7nTzaeioHHBC8N3soQYmUGtYsdDiyUlKIy/bfySOGwsZqVWy6gg1gLwVf40McAbFRG1AKsBfLRMXs+8IIP86EKriYx+UAyaHaj+H+mZXsF1JcYA7lxmYUUv8M+V4J8yPhAPStkPLjgpgmnpg2+DW3xOqb4Tn1ALD0sW1BomwELWXKFep0WVVChWxb65/SJwlkKg1Omz+B/XBJBflKGaxv85G1VdJd1xZllMd/26fRPaUyPlcDjuRzLc4w7uuhaMLzE1iq8EcStc7pXnHnM181oyPgdXhf8ejiwSYuxEzlhvjiweaKAqZORq+fcPnu5v4lXqJsdhZS78wsfylWxZv4Gp43GMuobncpQky+YB8IQQeFcWNEnM6YjTxd1blqnpV9VRb3w+NfixB5PWaX/G4uO7Emoy/3Q8Sn06jN4r5HlpyOy5VClsq3wVVMtlc9x04OcV9aRKMXQgH81+LzB4nkIlSCtHZbmTVJdldv0y/qMm/SfbaqzXQK+Mk0ntF4LN0JGZslqGei2oJ+1WpaGIft+9BV7qy8t5BBqiw9Nd1DH2DW/XvMCGzkLo2bBRCeEKuRNE0QKWkmgetHGmqkLJKT7cE8tOE8xfQLS6RkMfRxd5dB1x0qQkBGULR1+4FDDZsWBJ6Cm1scf0j4ypXaZ/0BgYT6t74XoBBMd+iBDkv1B5LGPg47xVT2QUEDwiHegtAZUtaTdHKX58NYQcdZXPR1rJIFC6Nd1OcCT0WG7TEYCgKlpuREaV3X0FQ2Qe4niBUKPxxQZFqKIfv9VMe8S1BHlo4vv0PTHorPBCPa4bFFNFOftc0tftiF4PIfH1/7rndpJ2QKumeMdV6J5EH7rs4JHwknLePkwavdnKYtSO/sdsrEFvA3d98187M9A+uxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015CH9XJSmLLUpWL5tPiXAHC",
      "input": {
        "note": "Left arm isn't responding to targets; trying a retract toward home to unstick it.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.05,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_015CH9XJSmLLUpWL5tPiXAHC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2882, 1.0279, 0.7277, -0.2504, -0.2485, -0.1844, 0.9983, -0.0193, 0.7303, 0.4717, -0.35, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3405 left_y=-0.0519 left_z=0.1968 left_yaw=0.0085 left_pitch=0.0289 left_roll=-0.0154 left_gripper=0.9983 right_x=0.2781 right_y=0.0036 right_z=0.1426 right_yaw=0.0175 right_pitch=-0.0371 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.7179, -3.0838, 9.1145, 1.79, -0.1832, -0.022, -0.0122, -0.2256, -0.9094, 7.241, 2.0391, -0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44661c58cc3505521791b152e1b7d8e09f70cf2b4b8745ffc41169881beae984",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1920aa077826a1657b1f72c838ed0a60472fac848456d8351663d7f7790ff59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:864a5c9ff5b10974b41807c1bf58ad26803232936dc505dbe43127729d5d8a6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 6.015 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]: [-0.2863, 1.6093, 0.8246, 0.1528, -0.244, -0.1841, 0.9983, -0.0193, 0.7647, 0.5392, -0.3779, -0.0277, -0.036, 0.9998]\nstate[eef_state]: left_x=0.436 left_y=-0.0801 left_z=0.1027 left_yaw=0.0066 left_pitch=-0.0496 left_roll=0.006 left_gripper=0.9983 right_x=0.2851 right_y=0.003 right_z=0.1587 right_yaw=0.0151 right_pitch=-0.0318 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -7.9248, 8.4034, 1.9463, -0.0024, 0.149, -0.0171, -0.4991, -1.7299, 6.7761, 1.956, -0.0171, -0.0317, -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]: [-0.2867, 1.61, 0.8261, 0.1524, -0.244, -0.1841, 0.9983, -0.0193, 0.7506, 0.5083, -0.366, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4363 left_y=-0.0804 left_z=0.1029 left_yaw=0.0063 left_pitch=-0.0492 left_roll=0.0059 left_gripper=0.9983 right_x=0.2818 right_y=0.0034 right_z=0.1508 right_yaw=0.017 right_pitch=-0.0367 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.9795, 8.212, 1.9023, -0.0415, 0.105, -0.0122, -0.3487, -1.7573, 7.1453, 1.9756, -0.0122, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2882, 1.0279, 0.7277, -0.2504, -0.2485, -0.1844, 0.9983, -0.0193, 0.7303, 0.4717, -0.35, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3405 left_y=-0.0519 left_z=0.1968 left_yaw=0.0085 left_pitch=0.0289 left_roll=-0.0154 left_gripper=0.9983 right_x=0.2781 right_y=0.0036 right_z=0.1426 right_yaw=0.0175 right_pitch=-0.0371 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.7179, -3.0838, 9.1145, 1.79, -0.1832, -0.022, -0.0122, -0.2256, -0.9094, 7.241, 2.0391, -0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44661c58cc3505521791b152e1b7d8e09f70cf2b4b8745ffc41169881beae984",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1920aa077826a1657b1f72c838ed0a60472fac848456d8351663d7f7790ff59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:864a5c9ff5b10974b41807c1bf58ad26803232936dc505dbe43127729d5d8a6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011iJaqJwMYvnfeMcCHsj8qN",
      "input": {
        "note": "Left arm freed; bottle 1 (nudged earlier) lies ahead on the jaw column with its cap forward. Moving over its neck at hover height.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.05,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_011iJaqJwMYvnfeMcCHsj8qN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2077, 1.4059, 0.7734, -0.0376, -0.1951, -0.157, 0.9983, -0.0193, 0.7059, 0.4385, -0.3355, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3998 left_y=-0.0456 left_z=0.125 left_yaw=0.0306 left_pitch=-0.0943 left_roll=0.0094 left_gripper=0.9983 right_x=0.2747 right_y=0.0037 right_z=0.1367 right_yaw=0.0175 right_pitch=-0.0314 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [0.4444, -5.9692, 9.6068, 1.917, -0.0024, 0.2515, -0.0122, -0.3624, -0.9231, 6.8991, 2.0, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6cbcfc1e5ab19d98f094d6d3c8683c3b851605ff8116d0a37d9f2f90587a611",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e27f42c5afe14c4a534aefe751f88be8dfda765c26991dbcdfcefd5ebccafd21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:697e953b983d9072bfb35e31ce387bc531f2db31edd90cc012bbbcee71038de3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 6.531 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]: [-0.2867, 1.61, 0.8261, 0.1524, -0.244, -0.1841, 0.9983, -0.0193, 0.7506, 0.5083, -0.366, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4363 left_y=-0.0804 left_z=0.1029 left_yaw=0.0063 left_pitch=-0.0492 left_roll=0.0059 left_gripper=0.9983 right_x=0.2818 right_y=0.0034 right_z=0.1508 right_yaw=0.017 right_pitch=-0.0367 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.9795, 8.212, 1.9023, -0.0415, 0.105, -0.0122, -0.3487, -1.7573, 7.1453, 1.9756, -0.0122, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2882, 1.0279, 0.7277, -0.2504, -0.2485, -0.1844, 0.9983, -0.0193, 0.7303, 0.4717, -0.35, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3405 left_y=-0.0519 left_z=0.1968 left_yaw=0.0085 left_pitch=0.0289 left_roll=-0.0154 left_gripper=0.9983 right_x=0.2781 right_y=0.0036 right_z=0.1426 right_yaw=0.0175 right_pitch=-0.0371 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.7179, -3.0838, 9.1145, 1.79, -0.1832, -0.022, -0.0122, -0.2256, -0.9094, 7.241, 2.0391, -0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2077, 1.4059, 0.7734, -0.0376, -0.1951, -0.157, 0.9983, -0.0193, 0.7059, 0.4385, -0.3355, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3998 left_y=-0.0456 left_z=0.125 left_yaw=0.0306 left_pitch=-0.0943 left_roll=0.0094 left_gripper=0.9983 right_x=0.2747 right_y=0.0037 right_z=0.1367 right_yaw=0.0175 right_pitch=-0.0314 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [0.4444, -5.9692, 9.6068, 1.917, -0.0024, 0.2515, -0.0122, -0.3624, -0.9231, 6.8991, 2.0, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6cbcfc1e5ab19d98f094d6d3c8683c3b851605ff8116d0a37d9f2f90587a611",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e27f42c5afe14c4a534aefe751f88be8dfda765c26991dbcdfcefd5ebccafd21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:697e953b983d9072bfb35e31ce387bc531f2db31edd90cc012bbbcee71038de3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSmQsKEAgSGAI4AUIIdGhpbmtpbmcSDPZdWGNxm2aob7MbXRoMyK8Be5nPRZf3hthhIjBuVHlsj/g5DeMPUak7tP8fIG4tefyeVrI7T1eJS2ZaYnIJg9NQ5830OWlqa1QhXYMqtgoBcVzq0fpyIOGpV30P6Fl1wd+Pu+1A/Cs2K+mWuJ4GRHg91O2sB+0wfcPIAw4DIEaQD3tAzDmoFJIPit8Rl9IoJdquEW6vnP933QBe7FdBunV5JS/o2wGggae/Fyl2fELn4wIKZmPJ7cydEcEN021AUZFA/XwLpIOP96GHJyQ8R+I0e0UDFjuaQeJIlmWk28rUUxph9LFGnHAwW3G4ZqzjpIuG+BgpF6lqob3TOKfV2K75o44g1chrQY9M2/OsjYjBVE397twglztB21BapAS2LMhxn18BX52UoWJl6sZVKRB6G2rSVi1oKwgqoyRjSR8PJRNsjpPWIB3sy5vCxDigqehWqgcXPqk/0S3tYZN+WwvJmyniaAwxa3J87hS0Kj7OWE229jvoZVMnh0XLduskCewlbEftzV6vjNHbIUoxZksAHF4TBI11yjrJi/M2qi+m4PKGKqkmsffHbHnUR2P/wEmozUB/tWS1OUKVNcqNUufVE1kdAc8B9cpE39rtEYO77AO00VIWk15HWrWCOmPyscNy4b1cOPLdySxYUyg+dXFQ8pdRSHl+BLPYH48wZLqHOkGAMix5GBWEuz+LcJXdAMzTqxt4PChdIhSzo145IlaAkE6oANz4LYkFa01dxVFbaZYixuhGfKmt8N2acjpAOPNVjU+DtsjVxzajG5p7F7O3MTInVzyVZXwYjYNw3EZcGhsfbpLTu3fJ0FFXFTazAQfmRg0IkXzsHTWgrthnOIWLjTtNUCO2eWlBkoUar/Hqsk9tAnR01t3RWWFdU6yw8Fni+Fz9D24uglRlf+LhzpoYXzsWseMpDNIjYeaTp6DJr+5jqDt2WcXN8tQNUhiMlda9hI1DaEy2kvraYkH/ln1bWujxPLPUfmhFdY+5ytwFYZ0Gi1lCep3baT+XfK2DudMi8bBNwQ4hVF+DwFfC/NpTadBLdDgL5nIylEy8bXdxUWUo8VYcJlmBP+MNYOSwdk/PvKGXIzmNxhNrClmVgURwOqpGPDZKnJ2vhKQ6hMPeVhLwIGAqHHrmvaeexZpAcMf6TnwKYclM0WeP31j+YIWRXGMUE/hqTI9gGRhnmBNNegAbkH2DU8qtfC7QOERTQ9RA3bp6PtzvH6VEZ0x5yLGsY7KU8YNwxNbSijRi1mE9ZZrMPaYPjdUfFdzLBQwpjfRi5yCA01LIX4+Fnce15NvgLWw0niS6ap3vIMjULLG+HsN60y8rmRvy3H1pLWvJdmuoPV2OMKH7lMUHVl5A37aNPkjNocB78kY5IoJG9vt353Ef6WOgSnyvDaq0OeSYngjoqELzTOlrMX9TM8WzdFZWghJB0HqT7QSIMCbSovlVUaZjG6nbDnyibQJ7kd2uJ2hC2zBwacSEUv8Vj/EfSGN0FEwkQEDCDmQ5Nm4k+Syj9ZYAI++7Roxqm57PL+Asrh9sYNs3F1WJIyeRnDWMzvFBVkOKk0kAGeUtGy+kNOxeiqJLFqlZXCbXpxFXhmiZVcISV6UactVAnFOe6Hlj1D/Etqr2nb1XpuJioTUipZ+6R8QEgUBM5psQ3k6mcgVHJww69l4I3txd9xfD8/mIQ8deHpdLPt/up9mUGGRXHNO3xJzM0kxLzctUDnpbW/1mF7yooDTsrmvddX4ECTfJJHr9aQJNTeisf2DXGS/ooVRmCrxUwKW99lYDc+4p1AjSJsVj1670evQo43QtZ7RH+xZt/H+flwQ4ivvUqhjmRiCfe7Wel5P2zI0k7mjaKlUvJJsT6EaPGq9a0+I8l783H4q8iYnBJBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014PcyN2xfBBuLMMYE3EPvVY",
      "input": {
        "note": "Bottle 1's neck is on the jaw column a few cm ahead in the wrist view. Advancing and lowering toward it.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.05,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_014PcyN2xfBBuLMMYE3EPvVY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.202, 1.6489, 0.7105, 0.2668, -0.1989, -0.1574, 0.9983, -0.0193, 0.6891, 0.4068, -0.3241, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4234 left_y=-0.0474 left_z=0.0618 left_yaw=0.0398 left_pitch=-0.0952 left_roll=0.0117 left_gripper=0.9983 right_x=0.2712 right_y=0.0037 right_z=0.1289 right_yaw=0.0173 right_pitch=-0.0348 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -8.253, 6.4889, 2.044, -0.0952, 0.1197, -0.0171, -0.0889, -1.0598, 7.159, 1.9219, -0.0513, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b33360816a5c20aacd859de74ec82ae0b9c5e4d3ad82dc600e84b0ee2a48efe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5793bc23b9c2283e46b810c0f809e01aa4d05f46d385337bc57e8b67ba46388",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6436ee6789227b61e2c57f1912bf4c5cc40e29c7a763de528d76fb1c2e83ae79",
        "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 · 7.429 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]: [-0.2882, 1.0279, 0.7277, -0.2504, -0.2485, -0.1844, 0.9983, -0.0193, 0.7303, 0.4717, -0.35, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3405 left_y=-0.0519 left_z=0.1968 left_yaw=0.0085 left_pitch=0.0289 left_roll=-0.0154 left_gripper=0.9983 right_x=0.2781 right_y=0.0036 right_z=0.1426 right_yaw=0.0175 right_pitch=-0.0371 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.7179, -3.0838, 9.1145, 1.79, -0.1832, -0.022, -0.0122, -0.2256, -0.9094, 7.241, 2.0391, -0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2077, 1.4059, 0.7734, -0.0376, -0.1951, -0.157, 0.9983, -0.0193, 0.7059, 0.4385, -0.3355, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3998 left_y=-0.0456 left_z=0.125 left_yaw=0.0306 left_pitch=-0.0943 left_roll=0.0094 left_gripper=0.9983 right_x=0.2747 right_y=0.0037 right_z=0.1367 right_yaw=0.0175 right_pitch=-0.0314 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [0.4444, -5.9692, 9.6068, 1.917, -0.0024, 0.2515, -0.0122, -0.3624, -0.9231, 6.8991, 2.0, -0.0464, -0.0562, -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]: [-0.202, 1.6489, 0.7105, 0.2668, -0.1989, -0.1574, 0.9983, -0.0193, 0.6891, 0.4068, -0.3241, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4234 left_y=-0.0474 left_z=0.0618 left_yaw=0.0398 left_pitch=-0.0952 left_roll=0.0117 left_gripper=0.9983 right_x=0.2712 right_y=0.0037 right_z=0.1289 right_yaw=0.0173 right_pitch=-0.0348 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -8.253, 6.4889, 2.044, -0.0952, 0.1197, -0.0171, -0.0889, -1.0598, 7.159, 1.9219, -0.0513, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b33360816a5c20aacd859de74ec82ae0b9c5e4d3ad82dc600e84b0ee2a48efe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5793bc23b9c2283e46b810c0f809e01aa4d05f46d385337bc57e8b67ba46388",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6436ee6789227b61e2c57f1912bf4c5cc40e29c7a763de528d76fb1c2e83ae79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4AoKEAgSGAI4AUIIdGhpbmtpbmcSDM0KOiZdOpV6fuvKmRoM1RShvF9ydPfnI3Q3IjCT01k/ySUhACnVbtd0slCvqliy7zDmoFzTQ90tYDyd9dGUpyM5ZZpYMS2W3Xu6np8q/QmwaLsHTlKzescbUlBOz17z+juUEArshQ4d9baTZyGPjhrB6ykRowp1gxkm1+2LUPFOjWUUL/PioCKg/cnbtijHp43UodZzx5vE4aEdmKYDpyq+nusFn+wVNOVFqEuKDMRaxtTWH68GPD3qvd2ANJGL0nJ9mtBJhl9Tf/xiBbUp78POCIUwo5Z1K+e3OckN8rO9RYAJzST3vIZ9SHcOiJ0YImXBCyFYxj0C/QkYUkyuN0MI4Ssed3G7saQgzztwHSuduq/vh31BLenTH3wiriQeczqfC3kGmxIe6lwXsdtnFYbaLCn50JzKCx6ZAsaiFZS50snRn8pSCWGZT8UohyAJn0BwsUdUHbsm6Rqyn491KLg3H0aJerG/KHyMXPV7asACxs+CIVvjg28aTu7nSRNAwyowEL8HNa7xHztNV4yE/TRUSyOSFNemKjp4YBlRcuTGqzGmFw60tLJqrVsuFJXVtQ7oLFKHesbIlEiZoHqla9++3eZ3qx8gWV1AMwnh9XofOjRlWceoz4mRK5lq2bSHwalQ1X7OwNGLIT3s1h5tHRofsZmB2ptnOL3nrQsXFBpX3MT+/CcgCrvaPQ9t2wD0633DzqHy7qF+bSHVAkBignJm6CIWI52DJ1x7AqZpTzYYO7fbJjbGDQCxXvpTAI9fU6Dpf0El/PrlJblzCWW4K9Gt2XQUxExsfuxiAJ1pYgXSPKYdG0eZ13D3LJ5dVL/ltapcN5+lZDiu7GoXyefej33cNOocGC9ZnZ3wZ5KBit8OyaPq5DSv4+2pP+xnTrjGZdvUgW+cYt3YquwoEVD3fJ+fyR3Jx8+tCOssuqt7+mzTBDOUESHaL6+OmEYSLvUzfkoVM2Lc0HU4rleOUImr6i2gIjVdHvBUTdjVM8pwUs3CaryoRRF2jwSnYKkhppKxeR+gn+/WkjF8uvupyRO1UliDpIg0/gsWbpXAz1nk21J6dmaQivCEv45jmSn2KNvc/hpcCEoTNUeECT326nhcQ/hom/cqWMOLcmL0DweF/YolD1+2U5vACjgfzSBV+1o6rRkXGuNK+xpW1UTRWTyvEqqrbWuiw90S/bx0QxJmM/e6tmTdg/UyIVE1Sr0nNp7+ZQg4w5UfQl/BJvwyCJqVowk92YVe2fs+AZ1ZKaCvK7szgTutVK+enXGnqCxVfby7AeSHG5v3ij3A4PiRlH7YXatEnINpqjYO9cAyixvRREaYLAJzEJuRMoiH3QNLoDLmfn8qbEKpro+d3hpZdJ75H9K5/5aAtYHwkj0pOOoe1ZKUFsOOSNQOqqFAi2Rd1J/6EzgKjsSSVC1LVDLzuQsAc/egx1I2gX/W5fReFfXj9Rhd6HJ0evMcqIGLVIA+JcGQc1c5s7HaUUxNlT3/4YQSlqveHJr25aCAFcAEAI9FC4+i2jS3p2b4lHJ4H0zY/LLPyhe9pJs45xSkXRqliHk+ewQ4WQpbOHPkdgf+4UlhNkKoWuvu/5fTPo48Uzg7UI2CVQ+V0TQuJ/mlyqe1kJlwPzhXoZ3y9Ij0W/4l5fVQZ2nFhQ/nmuRBC1wROxeh27+kQNIouQBZEI/6uNdsO0etWNiVmb2ekqNQywnshCVuvgFVyP+u+dJnnvPydY4wDoPVwrA7fa30nhbJYM4ZulhRnTFHfJTRWoxYWVgXQUgNZlwqUfWLowdK0sbw/bxkY2VUBNriQb3ES00XlujCcRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0125X5JA5BkZC3fLu3CEgH3t",
      "input": {
        "note": "Neck is just ahead and slightly left of the jaw column; moving forward-left and lower to straddle it.",
        "targets": {
          "left_x": 0.465,
          "left_y": -0.035,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0125X5JA5BkZC3fLu3CEgH3t",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1947, 1.713, 0.6552, 0.4656, -0.1951, -0.1574, 0.9983, -0.0193, 0.6682, 0.3748, -0.3126, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4312 left_y=-0.0465 left_z=0.0536 left_yaw=0.0427 left_pitch=-0.0187 left_roll=-0.0093 left_gripper=0.9983 right_x=0.2676 right_y=0.0038 right_z=0.1218 right_yaw=0.0175 right_pitch=-0.0344 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -7.1179, 5.1761, 1.9316, -0.1197, 0.1441, -0.0171, -0.3214, -1.0462, 6.9128, 1.9512, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83980a39097119e01369cc9961950194022e357335f857de207b376c27249496",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54c71df0a6cb29ef5a82e94a7a297393bda71e896076a91d2a508ff316785086",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a02f7b8a8fd19c1544de4e02f699055253bf1c29d5a465067feda0c5b178b244",
        "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 · 10.45 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]: [-0.2077, 1.4059, 0.7734, -0.0376, -0.1951, -0.157, 0.9983, -0.0193, 0.7059, 0.4385, -0.3355, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3998 left_y=-0.0456 left_z=0.125 left_yaw=0.0306 left_pitch=-0.0943 left_roll=0.0094 left_gripper=0.9983 right_x=0.2747 right_y=0.0037 right_z=0.1367 right_yaw=0.0175 right_pitch=-0.0314 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [0.4444, -5.9692, 9.6068, 1.917, -0.0024, 0.2515, -0.0122, -0.3624, -0.9231, 6.8991, 2.0, -0.0464, -0.0562, -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]: [-0.202, 1.6489, 0.7105, 0.2668, -0.1989, -0.1574, 0.9983, -0.0193, 0.6891, 0.4068, -0.3241, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4234 left_y=-0.0474 left_z=0.0618 left_yaw=0.0398 left_pitch=-0.0952 left_roll=0.0117 left_gripper=0.9983 right_x=0.2712 right_y=0.0037 right_z=0.1289 right_yaw=0.0173 right_pitch=-0.0348 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -8.253, 6.4889, 2.044, -0.0952, 0.1197, -0.0171, -0.0889, -1.0598, 7.159, 1.9219, -0.0513, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1947, 1.713, 0.6552, 0.4656, -0.1951, -0.1574, 0.9983, -0.0193, 0.6682, 0.3748, -0.3126, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4312 left_y=-0.0465 left_z=0.0536 left_yaw=0.0427 left_pitch=-0.0187 left_roll=-0.0093 left_gripper=0.9983 right_x=0.2676 right_y=0.0038 right_z=0.1218 right_yaw=0.0175 right_pitch=-0.0344 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -7.1179, 5.1761, 1.9316, -0.1197, 0.1441, -0.0171, -0.3214, -1.0462, 6.9128, 1.9512, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83980a39097119e01369cc9961950194022e357335f857de207b376c27249496",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54c71df0a6cb29ef5a82e94a7a297393bda71e896076a91d2a508ff316785086",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a02f7b8a8fd19c1544de4e02f699055253bf1c29d5a465067feda0c5b178b244",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S83rm2JPXawuYAG1FhMxmY",
      "input": {
        "note": "The jaws seem to be resting on the bottle's body; lifting and moving forward-left so I can drop onto the neck instead.",
        "targets": {
          "left_x": 0.49,
          "left_y": -0.03,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01S83rm2JPXawuYAG1FhMxmY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1947, 1.713, 0.6552, 0.4725, -0.1955, -0.1574, 0.9983, -0.0193, 0.6468, 0.342, -0.2974, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4321 left_y=-0.0466 left_z=0.055 left_yaw=0.043 left_pitch=-0.012 left_roll=-0.0107 left_gripper=0.9983 right_x=0.2646 right_y=0.0038 right_z=0.1153 right_yaw=0.0173 right_pitch=-0.0306 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -7.1179, 5.2171, 1.8828, -0.0806, 0.1099, -0.0122, -0.1846, -0.9504, 7.0359, 1.9463, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9162ce4a5c66f780e438f7ee8fbbb7b104c44d78e305ae5cbb45a4af37dceb1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:523edb2fdeda6dfc7eee54da85dc71e5305b118179fbb7e12abc8e77f123b26e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc72a5865ae0f038950f6198638e0e9d023c359c499c6ceab9d9dafe550cc037",
        "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 · 9.719 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]: [-0.202, 1.6489, 0.7105, 0.2668, -0.1989, -0.1574, 0.9983, -0.0193, 0.6891, 0.4068, -0.3241, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4234 left_y=-0.0474 left_z=0.0618 left_yaw=0.0398 left_pitch=-0.0952 left_roll=0.0117 left_gripper=0.9983 right_x=0.2712 right_y=0.0037 right_z=0.1289 right_yaw=0.0173 right_pitch=-0.0348 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -8.253, 6.4889, 2.044, -0.0952, 0.1197, -0.0171, -0.0889, -1.0598, 7.159, 1.9219, -0.0513, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1947, 1.713, 0.6552, 0.4656, -0.1951, -0.1574, 0.9983, -0.0193, 0.6682, 0.3748, -0.3126, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4312 left_y=-0.0465 left_z=0.0536 left_yaw=0.0427 left_pitch=-0.0187 left_roll=-0.0093 left_gripper=0.9983 right_x=0.2676 right_y=0.0038 right_z=0.1218 right_yaw=0.0175 right_pitch=-0.0344 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -7.1179, 5.1761, 1.9316, -0.1197, 0.1441, -0.0171, -0.3214, -1.0462, 6.9128, 1.9512, -0.0415, -0.0708, -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]: [-0.1947, 1.713, 0.6552, 0.4725, -0.1955, -0.1574, 0.9983, -0.0193, 0.6468, 0.342, -0.2974, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4321 left_y=-0.0466 left_z=0.055 left_yaw=0.043 left_pitch=-0.012 left_roll=-0.0107 left_gripper=0.9983 right_x=0.2646 right_y=0.0038 right_z=0.1153 right_yaw=0.0173 right_pitch=-0.0306 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -7.1179, 5.2171, 1.8828, -0.0806, 0.1099, -0.0122, -0.1846, -0.9504, 7.0359, 1.9463, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9162ce4a5c66f780e438f7ee8fbbb7b104c44d78e305ae5cbb45a4af37dceb1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:523edb2fdeda6dfc7eee54da85dc71e5305b118179fbb7e12abc8e77f123b26e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc72a5865ae0f038950f6198638e0e9d023c359c499c6ceab9d9dafe550cc037",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7xEKEAgSGAI4AUIIdGhpbmtpbmcSDFW34/KkVpSckj//1BoMTf12F1TcOxXc1qbIIjA2sQtLoRDAJA0CBgBBXiPQ2uzbAM2jJb+Oz+chl1zYB0sMZsd1xXdeNfNcA9Ms5mEqjBFDLZ/Idyul5ekPKfjbzYhJY+q31FiKB4Ya3tXcjU944CTxmtyNDjWYaKXxJLZcaEh19dMRbjkbrMyV0jmx07rCdhSXBCk4scC1ALgEvbGweqf6U/ZFO12lwhbSUzsl9PyuluL+NimIYkfqrJNb3JfZkhRPxaYlv4LFjk/nlKf5Z8arAgzN5/axd7Zbrr8c4hCGrBtoDpA4z5UsDD3qLQQDahhBDcJnkXa08bnaSXnZu9l550yMT5sJOtcYnjHyWeay46ka7WYF5J3uBCJkbbaJ+SAJgRcCtYXYj7vRVXcLWaI/emdWiJ0SjNAP2eH9AveTuNrtUoicuGcaBT05UXBDjUqjR0xZpA+999X1z/nvOUL4vu1ZI0OWwFaJLWCNwtKkZJTA3JATmAbuQ63wirMl6p/9e/r6bDDA8Q18bqupvnhd7cs8MKOZ5AP/yIt24giRweCV+lBc2D1ONIdl+G9oBrK8VSCSwixFiE7X+lW6s+lcRzdGwvbiINWMaJEJREVEcWEDWkh0KXZlstKxaBQnGwOS/8wa1nZRO+Z/FdsHFL1KGe74A3XPbmNhSdrzKEExM4YiivHkGUf7oWBXCMgBzGmruHqzFkokbuk0IvcKQXHaimwJP8s69Y84w4YtWnyYhgfnwLJViyha9DXG6hUFlUlidFiJ1Ib6KL+Zwfb2uWK0JyijUVyNUFy1CGvbW/NIp6hH+IDYLyzb/q8guR5Z5qVLkYDq3lmr/xzKp0QwnBWV4O43Jg82LrRLNLaCUTX5+df+jcmZXMB/xToRPhhxXyq1lFlOmG0SAIVvFSEEqy0z5wDY8En8sCrQy8a+ZKgor6StIUWzvidwVcM/f68x2AEKl2nMn6/KNUrI1yD92dsfdYgPzjbhICbQQFpN6tGEu7UYyIXEO8cMszx6Adtwu+MSROS/kh7zut84ZhhZ3GNym3tjXGuH4M4Ja45MyQCrUqyb3J+JGOJrYJZskLz11O+mKCPrr+xSL6h6Ct2His7RAg68wpULY4xIhY8S3jLnLtiBCC6H75hGr6IwPLmjpYHHR50OIhB12XeHSfFAoA0OPzEM3hlOPihOxinm59HxyZvBBSGczuZlh80xhdpmmuLblvz2vHTbJRdOxwaf5bdcEfsxQEbE3u293AwAtMyTnX+oVdwvDzT5bz4peell0RASiU5lzPW7sigpIn/bHMShYWYHLnsF9y90J4us8w4+YBmjyRDK82dLwYNiAYLCm/WdWNPnqOUe+y9IbzRgW9nS79+yEnrg2tlhgHHkeEDwelneCdewJExjeDLcblsqSpVybOrKd1xTgzDVLH879FkXObGIIU0DVmPHHz6MPrQkxLMs31k7aPPS0uygFWgHdDG6/Qzamc557sJZtPH73/Ku4L+Z1P/c4v8BGSUzJdFyxhsHIanZnGFBJu6ixCRXtlZ3FrDWWoCsBdrpVwLwU8Xy+Nt3xscL6oqsucjg+zHk23ndzMnZjBfD3RPVZSaNlnG96s2n4vNPb+0YDxAEkUDGySYHCoZmpNOn3yO8h6/o7r1r8HO9Oagl6jxXkZkuPHXbRtQDMHke+4KVXLmxIScUDwZ5YJKrVMnNhC/4fJ+TqQepSPSKbjXO7/mfPOY3Id9yh0pmzBse63i9y55glIOGPqKTK4LSWlaCgNSFma6SPslba8y44glj+7YxfExEf6dOCamRQVXqKJqFHOJgIxgaVI3OYDXkQ+Hn1g3hIlc5q5v2q1dsB80e2Jz5Wec8HQXmUT9flmqwI2eJrOJLVp8+ybEsCH2k8d/b5EVb1SZ/CMZIRuZ7LRHZh6jnhx1ELoWffibG9d8AurFaATWcuXZi9yj/5KJwbeE0Q8sWM3zRDwtxheggrh2VFMNZplzonEKnHuHDHiCEds+fP5VPA9uyE2XCN0rsS/yzbKdl4/ItDKyMwyws9FtetmQWd2FVHHnocykVK+i8zmZI3/3L381Jd59szlXlrUyxHluqw7OIFzZZOkRa+++pjRbsaB6I2KIDQ7FLQuxB9PNo11vOJ2HqvOKdxIvT3lYKvBC73cHmFJM3Ia8Lgdxt4ORIIIIZlW/yGj4iQkiPgUzc1TX/PZ1Akevpmc18GRO7Jw3yCbtvRvxL21QE8PotW/uwX+0+tlobS9jy2uLrP7w+NU1XTViZ43NlI4U6QgMhgj+C2L8zGzGq/uWdGPVyhRfq+sXtrFcXzgwPcyoHaZffrmbbNooPzMWRoIQiZekZUtDwH3AM30L2Xk0Cy42Bxb21s/BOyvcmP3IQQaOGWWxQMxqM4CSX/rJ4p/dlte5iIhOLvTX2a/beayRiM16mumLbaJTKNarCidw2E93DshQ5mT9/tRb+najVpnSN1z65czwY0Fokyfj5xuMmMCvp7pxQMB2iME2Rujv4O0X6vRKNSVWf3ElKUgio6txXo26LsyaOSV0ItO0g1vS1sSzUvwL1zwz4tjXcGG6SznvttnsddGsjDmohHm3yvZpOeTWWXgv/t2472Mm2I66o26EtoqobNueJm6LJXKdgNuWC+muhBadVw4dH6xW/uRNyxLx+Xi3hkcud1wCaC7PxFViamluDXHbOHCUhHz3PAY9ldzp/97NOt+PHr2IWNzG816DXkW7khLEIgWOfunuqaUGFpSLbBBs08LEwLmB8koIAKtQXZgdHcqP69GNh7l02x8y2NDqqz9R1khBhoojjgP1jdlWd+vXPZWxlPLbIOcktQuKqhMeHAc4EL7hopeHe5b1kfGTtXM7+87xtqJbTJk8766dXKu7h7XrWf2L8CoFs7pt4f3lD6TrCqN0DGhVeJcTv6CiLq8KKbUylmGZu7BmSw9ls54+9Tde3OShw7a6sRpOPyqrqEHjQjK3NI0PzZDFuGbiWK55HplfW+oU4tWN3CWiwXOMgZaLPrBs7W7pCUTscGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q3JpYBnwSnafKoGeoBhyDc",
      "input": {
        "note": "The neck seems just past the left arm's reachable x (~0.44) and far targets get ignored. I'll grab the bottle body under the jaws and drag it back toward the base first.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.045,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Q3JpYBnwSnafKoGeoBhyDc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1947, 1.713, 0.6552, 0.4725, -0.1959, -0.1574, 0.9983, -0.0193, 0.6331, 0.3256, -0.2878, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4321 left_y=-0.0465 left_z=0.055 left_yaw=0.0433 left_pitch=-0.0119 left_roll=-0.0105 left_gripper=0.9983 right_x=0.2633 right_y=0.0039 right_z=0.1131 right_yaw=0.0173 right_pitch=-0.0238 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -6.9949, 5.3265, 1.8632, -0.1197, 0.0904, -0.0122, -0.335, -0.5265, 6.8718, 1.9951, -0.0806, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e6d83b009db1656eab9ee79a14b7a7e92b1be622787b64f45d186d812e32cf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf2e8a0a994e2214e71ed952749315cd860c3b2807442975d0e026840823ff6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1d2b86f30dee6a7de53dcf9b3382ddfb901f55605374b8c6c2b6338ac449b88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 13.17 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]: [-0.1947, 1.713, 0.6552, 0.4656, -0.1951, -0.1574, 0.9983, -0.0193, 0.6682, 0.3748, -0.3126, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4312 left_y=-0.0465 left_z=0.0536 left_yaw=0.0427 left_pitch=-0.0187 left_roll=-0.0093 left_gripper=0.9983 right_x=0.2676 right_y=0.0038 right_z=0.1218 right_yaw=0.0175 right_pitch=-0.0344 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -7.1179, 5.1761, 1.9316, -0.1197, 0.1441, -0.0171, -0.3214, -1.0462, 6.9128, 1.9512, -0.0415, -0.0708, -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]: [-0.1947, 1.713, 0.6552, 0.4725, -0.1955, -0.1574, 0.9983, -0.0193, 0.6468, 0.342, -0.2974, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4321 left_y=-0.0466 left_z=0.055 left_yaw=0.043 left_pitch=-0.012 left_roll=-0.0107 left_gripper=0.9983 right_x=0.2646 right_y=0.0038 right_z=0.1153 right_yaw=0.0173 right_pitch=-0.0306 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -7.1179, 5.2171, 1.8828, -0.0806, 0.1099, -0.0122, -0.1846, -0.9504, 7.0359, 1.9463, -0.0366, -0.0415, -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]: [-0.1947, 1.713, 0.6552, 0.4725, -0.1959, -0.1574, 0.9983, -0.0193, 0.6331, 0.3256, -0.2878, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4321 left_y=-0.0465 left_z=0.055 left_yaw=0.0433 left_pitch=-0.0119 left_roll=-0.0105 left_gripper=0.9983 right_x=0.2633 right_y=0.0039 right_z=0.1131 right_yaw=0.0173 right_pitch=-0.0238 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -6.9949, 5.3265, 1.8632, -0.1197, 0.0904, -0.0122, -0.335, -0.5265, 6.8718, 1.9951, -0.0806, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e6d83b009db1656eab9ee79a14b7a7e92b1be622787b64f45d186d812e32cf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf2e8a0a994e2214e71ed952749315cd860c3b2807442975d0e026840823ff6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1d2b86f30dee6a7de53dcf9b3382ddfb901f55605374b8c6c2b6338ac449b88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018akeobcBLKcQewpSB5FLRd",
      "input": {
        "note": "Arm is stuck again resting on the bottle; retracting up and back to free it and get a clearer view.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.05,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_018akeobcBLKcQewpSB5FLRd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2756, 1.2022, 0.6315, 0.009, -0.2546, -0.186, 0.9983, -0.0193, 0.6197, 0.3073, -0.2893, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3668 left_y=-0.0538 left_z=0.1482 left_yaw=0.027 left_pitch=0.0193 left_roll=-0.0104 left_gripper=0.9983 right_x=0.2603 right_y=0.0039 right_z=0.1077 right_yaw=0.0173 right_pitch=-0.0303 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.9436, 10.4, 1.7656, -0.2466, -0.0855, -0.0122, -0.0342, -0.6496, 6.7077, 2.0293, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1b9144d133269e21206322ed245d4464fc8ec25a380cdd6481581823c6b8b5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d5b81380345a9b57ef7952d6188fcf068b6a63b448e4a94da4400788eda9118",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd7473aff1e0fd9f2bec9ea0dc782dba46247e63c7484cbe1e1d49c94f881f08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 6.078 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]: [-0.1947, 1.713, 0.6552, 0.4725, -0.1955, -0.1574, 0.9983, -0.0193, 0.6468, 0.342, -0.2974, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4321 left_y=-0.0466 left_z=0.055 left_yaw=0.043 left_pitch=-0.012 left_roll=-0.0107 left_gripper=0.9983 right_x=0.2646 right_y=0.0038 right_z=0.1153 right_yaw=0.0173 right_pitch=-0.0306 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -7.1179, 5.2171, 1.8828, -0.0806, 0.1099, -0.0122, -0.1846, -0.9504, 7.0359, 1.9463, -0.0366, -0.0415, -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]: [-0.1947, 1.713, 0.6552, 0.4725, -0.1959, -0.1574, 0.9983, -0.0193, 0.6331, 0.3256, -0.2878, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4321 left_y=-0.0465 left_z=0.055 left_yaw=0.0433 left_pitch=-0.0119 left_roll=-0.0105 left_gripper=0.9983 right_x=0.2633 right_y=0.0039 right_z=0.1131 right_yaw=0.0173 right_pitch=-0.0238 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -6.9949, 5.3265, 1.8632, -0.1197, 0.0904, -0.0122, -0.335, -0.5265, 6.8718, 1.9951, -0.0806, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2756, 1.2022, 0.6315, 0.009, -0.2546, -0.186, 0.9983, -0.0193, 0.6197, 0.3073, -0.2893, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3668 left_y=-0.0538 left_z=0.1482 left_yaw=0.027 left_pitch=0.0193 left_roll=-0.0104 left_gripper=0.9983 right_x=0.2603 right_y=0.0039 right_z=0.1077 right_yaw=0.0173 right_pitch=-0.0303 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.9436, 10.4, 1.7656, -0.2466, -0.0855, -0.0122, -0.0342, -0.6496, 6.7077, 2.0293, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1b9144d133269e21206322ed245d4464fc8ec25a380cdd6481581823c6b8b5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d5b81380345a9b57ef7952d6188fcf068b6a63b448e4a94da4400788eda9118",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd7473aff1e0fd9f2bec9ea0dc782dba46247e63c7484cbe1e1d49c94f881f08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WGk2z2BHPoaZ6fE77QKbC2",
      "input": {
        "note": "Bottle 1 lies diagonally ahead, cap forward-left; its neck is beyond the left arm's usable reach. Descending over its body to grab it and drag it back.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.06,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01WGk2z2BHPoaZ6fE77QKbC2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2752, 1.6463, 0.4885, 0.6151, -0.2687, -0.2016, 0.9983, -0.0193, 0.5999, 0.281, -0.2832, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3979 left_y=-0.0599 left_z=0.051 left_yaw=0.0476 left_pitch=0.0396 left_roll=-0.0227 left_gripper=0.9983 right_x=0.2571 right_y=0.004 right_z=0.1017 right_yaw=0.0173 right_pitch=-0.0306 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -4.7932, 2.8513, 0.569, -0.0269, 0.4713, -0.0171, -0.1709, -0.6769, 6.8581, 1.917, -0.0464, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3062dc9cae281186a0923008f442a9142cd7385ae0505753f31e2dbfbccef1ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bcec08b189267c5ab34f5830a240c8c8e8a92fe1e430751d5abe67bcbd7c99a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ff88ef2aba57c2018006e739bc6d81a4d193ee61d0414de4e3b123e4cbefad8",
        "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 · 3.447 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]: [-0.1947, 1.713, 0.6552, 0.4725, -0.1959, -0.1574, 0.9983, -0.0193, 0.6331, 0.3256, -0.2878, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4321 left_y=-0.0465 left_z=0.055 left_yaw=0.0433 left_pitch=-0.0119 left_roll=-0.0105 left_gripper=0.9983 right_x=0.2633 right_y=0.0039 right_z=0.1131 right_yaw=0.0173 right_pitch=-0.0238 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -6.9949, 5.3265, 1.8632, -0.1197, 0.0904, -0.0122, -0.335, -0.5265, 6.8718, 1.9951, -0.0806, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.2756, 1.2022, 0.6315, 0.009, -0.2546, -0.186, 0.9983, -0.0193, 0.6197, 0.3073, -0.2893, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3668 left_y=-0.0538 left_z=0.1482 left_yaw=0.027 left_pitch=0.0193 left_roll=-0.0104 left_gripper=0.9983 right_x=0.2603 right_y=0.0039 right_z=0.1077 right_yaw=0.0173 right_pitch=-0.0303 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.9436, 10.4, 1.7656, -0.2466, -0.0855, -0.0122, -0.0342, -0.6496, 6.7077, 2.0293, -0.0415, -0.0611, -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]: [-0.2752, 1.6463, 0.4885, 0.6151, -0.2687, -0.2016, 0.9983, -0.0193, 0.5999, 0.281, -0.2832, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3979 left_y=-0.0599 left_z=0.051 left_yaw=0.0476 left_pitch=0.0396 left_roll=-0.0227 left_gripper=0.9983 right_x=0.2571 right_y=0.004 right_z=0.1017 right_yaw=0.0173 right_pitch=-0.0306 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -4.7932, 2.8513, 0.569, -0.0269, 0.4713, -0.0171, -0.1709, -0.6769, 6.8581, 1.917, -0.0464, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3062dc9cae281186a0923008f442a9142cd7385ae0505753f31e2dbfbccef1ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bcec08b189267c5ab34f5830a240c8c8e8a92fe1e430751d5abe67bcbd7c99a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ff88ef2aba57c2018006e739bc6d81a4d193ee61d0414de4e3b123e4cbefad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShAsKEAgSGAI4AUIIdGhpbmtpbmcSDFu9XuOsZf9LxQIC9xoMnzdRMsE0e6XlJ8Y1IjDTdCM+XNof07rqUyvpAEl2IBOX1c5QP7hFN0nxC4H5MvtG/WceQ+Mb9Nd/JhvVupYqoQqCv/DCywdF3xGmfm3SOKNYtzNOUgBmlCS09QYGLfBaXm5Up5S8wkjfz3BTUfFnWe6PQ/JGY8Bg8AiVDPNOZhQzLVL0eHiHF40uytZIi2roGEJW8TjeY2vhtAJGoP+PWzQ78BqFrmbpWBhmO9bGCjhkJeHesIyGOiM+b/MKrnQKdlPnzA2kxJ2FgSsYAUCSIJz8hJ8r4UPS2QQXxRC4iOTwrOcpbCOkjHww8OJ0oxg8HpmFVdIrY/+4kt+IAXsgX4uLyEtGAaBiQpw1aPu1H2ipfeOZj7DIYSBw0ycf3DBb2IfjBBapNZzKqL8Ag7xqIVjVNYM4maYLEcWwxql7OeJuOHhx5wKji9hY0IDXOI0WTWLhS2nnD75ArX6L1F8CX3Isee1ltht0I0wJLZYGuLSYl+BAW5OXsKM6BOWnIZ4gGTlkGGDV6HBXSJlNDjAJ19GZF5f1u1YXMOS2yjQ7OQ9tSYz7MkFBpncxNIWBYy8SzUlJYPhbwjdDQL837AavgULsSTlOKGsHub4kTRxhCKd0s3tseUgRauTWhS1BeuiE97ZVVhPE7TvmypcZEQl1c809JfVy7+wBlJ60z0dxY2+hDc0SKLeQGkbdcwAkweXzZy9bOo7ZYoQiLbjagVMJFrJFVC9+7p2YYJLg/pr/v/nXH4w6u005oG1coGTiBqeIY7zH7rBVe2puXZgb5D14zkVtnWKzUgVl225mX+nocbjQpicyPPruD0X1nMHBmftmOTeEp1Pb0u576oP7XJ2X3zL//2ceCb0vlitx99tesJdXCDkoWs0A6XoPLtgYcV4dOs5XJ1+eaueuIjImkGMJLxOBHFwcidohtWdqreog22wP0gidDdivOQUuckUJYfw6RheTDlg8pGzZvjJrXc+hIoszdy8LZwWJ0WrvZV1sQHjyktOh0IpdethMaOb8FDo0/sN4Y6Q+TKlYzX6DqR+Tjn0SHxeqhvuhkn2wgv+bSKnkp42cPCAzHz10A6+b1TJ2Lr7KT9tro5mRjsmx+50nI4f/BYvD1bAD/nI7FoWME5I93CoUpqx3H747MABR9fv7B4aBz33IV1WRAj4lVfk8KmV6yew3O80tW8CSlf+/0kvRA3zIwutBqK9DvnlnTEYAf5cvjt9adDL8su+fo+dozZMOk4p+KWh2PFgSavFq33h1yOeybRAEuSbRqMFUgyF/w7UJW5OQpAjVob/t0AFoVmH6ZJh0Qrh8Y99gMgoEIFs4i3gNSkeaLv48M0qIXNwlph8hT6hkeE3sHyi5xY269gFhdUhsXuKKluIJ6PsoPKOVG/2kcfDqvQgJfcgcn6jZE2sC5bqYEeS/XqDj4MiG1rtJfsLpBjfMk5lOLkQ0SE5nwQt21EdU3xGH2yeXy1HeufF2USqun1q9MfTDd8ewKZsgqSBCOExKNVuARGwA8k4rJSPgPlNujFW/nvjp7kLpQdadWA2vlnUFk89jmVylkvRpDuujZXFAfGNm/JWX5G/aa0Q1wqdxmMPCCRVZMU8VJpOtSR9jdjV1Q2nM+PtctUVBYZxEZQxa1QIVoQs3oQ4bqzFcVctJ6gIsvOP/SwToGX4lBiMcV1aEdvk2Nq9YE+jK31FxLk+/qd5N4vPuKvQbjoqUKafawsz++iqBYzAz1Ks0c6aD9lsATm+YCBlsWvnRA1Xy1XtyIufSV5TvWFecafwM8pC9/p2rVxhHR36tJLcrEak+S7APqQU+TwyDhrYnEwePdMMzRI4HMyO7f/9kXhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FV69FGmmb51ckaetNtWjGS",
      "input": {
        "note": "Descent stopped on the bottle — the body sits under the right jaw. Lifting slightly and shifting right to centre the body between the jaws.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.09,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FV69FGmmb51ckaetNtWjGS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3847, 1.5551, 0.561, 0.4595, -0.3363, -0.2489, 0.9983, -0.0193, 0.5797, 0.255, -0.2718, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3974 left_y=-0.0941 left_z=0.0828 left_yaw=0.0199 left_pitch=0.0588 left_roll=-0.0345 left_gripper=0.9983 right_x=0.2548 right_y=0.004 right_z=0.0969 right_yaw=0.0173 right_pitch=-0.0249 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.9641, -6.5709, 7.0906, 1.4725, -0.359, -0.1001, -0.0073, -0.1709, -0.5265, 6.8034, 1.9072, -0.0757, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dc7aaf4bd0afa7a0a67310274f2ad9397645fe1e59fd9116ed57bbab9a1069c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4be7d9cc6a16759e8a657cec3b64b5d751c1b7525d5deef76fafc1e2381af571",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c6ff383bf04625cc22a436dc8a0c0ed172ea996ebfecd3c09a7c6caf2fab77d",
        "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 · 3.757 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]: [-0.2756, 1.2022, 0.6315, 0.009, -0.2546, -0.186, 0.9983, -0.0193, 0.6197, 0.3073, -0.2893, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3668 left_y=-0.0538 left_z=0.1482 left_yaw=0.027 left_pitch=0.0193 left_roll=-0.0104 left_gripper=0.9983 right_x=0.2603 right_y=0.0039 right_z=0.1077 right_yaw=0.0173 right_pitch=-0.0303 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.9436, 10.4, 1.7656, -0.2466, -0.0855, -0.0122, -0.0342, -0.6496, 6.7077, 2.0293, -0.0415, -0.0611, -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]: [-0.2752, 1.6463, 0.4885, 0.6151, -0.2687, -0.2016, 0.9983, -0.0193, 0.5999, 0.281, -0.2832, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3979 left_y=-0.0599 left_z=0.051 left_yaw=0.0476 left_pitch=0.0396 left_roll=-0.0227 left_gripper=0.9983 right_x=0.2571 right_y=0.004 right_z=0.1017 right_yaw=0.0173 right_pitch=-0.0306 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -4.7932, 2.8513, 0.569, -0.0269, 0.4713, -0.0171, -0.1709, -0.6769, 6.8581, 1.917, -0.0464, -0.0024, -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]: [-0.3847, 1.5551, 0.561, 0.4595, -0.3363, -0.2489, 0.9983, -0.0193, 0.5797, 0.255, -0.2718, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3974 left_y=-0.0941 left_z=0.0828 left_yaw=0.0199 left_pitch=0.0588 left_roll=-0.0345 left_gripper=0.9983 right_x=0.2548 right_y=0.004 right_z=0.0969 right_yaw=0.0173 right_pitch=-0.0249 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.9641, -6.5709, 7.0906, 1.4725, -0.359, -0.1001, -0.0073, -0.1709, -0.5265, 6.8034, 1.9072, -0.0757, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dc7aaf4bd0afa7a0a67310274f2ad9397645fe1e59fd9116ed57bbab9a1069c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4be7d9cc6a16759e8a657cec3b64b5d751c1b7525d5deef76fafc1e2381af571",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c6ff383bf04625cc22a436dc8a0c0ed172ea996ebfecd3c09a7c6caf2fab77d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmgcKEAgSGAI4AUIIdGhpbmtpbmcSDMrAmyCpCsmx+mohexoMT5ohr+iq8g7X2ClOIjBbo1CKOm8QZFSpM30TUsPaHhQo0EKq8FmJl6jKjqA0JQOH6s/y7iETPXDBbHiOaq0qtwaCxcIVTClXjcDbphSvcCpK6wcBGVw3ns2o9RaqkXQzKsmgXmVqT3aciNNPQFge4LRQL19nCYnvK1vjTdTLnR1A0dbU5Z8Gq8/bdR0/LK2SCIT87UXoeEDJxD80ejoSVA01IbYxR5sAq1q+WtbGVD4MqljOwFzDH8CyoviDZl4u/kkIX98hpQNZagAZ8aHcUY/1H87AA0SQeoNb5V2dD7wQ7bRY9APig+rIWNRetIiB+CmxC0qGk2RysxQPs8N/j0LNxmVBwyqPnab0/IspF1QBLxWB+f5O01j21TId4fKUNPzfNoJl4d0H6CKgwvpqRtHSiYiy4EPtvMuiQAqc0AcsqwSKJbdR+qVBMNdunwjrjJYLBC1l9K3evVu2mhB0rBWNHmMgu4z0lsSX3oZssPDU291L89AHUD9LsAMeFFwXXDtq5rXaGIOdGGNJNtZHfK0UV2dlTVOe3AJuCVG+IWAmlnDxeBOgpdoQaOmEL5RS+DdtWMbSEufDTl1HDVv7ikGvc9+SPOeMjPg0/8RkS5ye5UDCwLtb4mz3vFwqRTw0xN/Kmca8UQaluNcZ4ZIz2dlzpH0ZKi//si6H3KXEJ1onMznyk2O51b7ZUx980vBVy78yFQ6xv0wcPs8XoV2fPSVtXcalMtftCVbGm39UrBsL3EtfxYvb3D8AOhvRzLO5NXcFeSRIFS7vW0pjXJijEOwNgMeiW2CJD1NETPdcp6lJO2MtRU0C8WDzDMlawVml44IktqCI4Z1ZE5Ryj+PZC/d00Ffqo1jhbMH+samlmYIk5D247GSs1DadX60w2+zVwt/G++oqUNDFJp1VI2ub3FMpWfI5EvaSTA3sBAH7ii3qF32pHvfg3dMTw91zNMFHta7F53zghgS2lGC0ESrQSzNTRmj/nliYcZMp+JpIAdqcKnRv8kEb82nSNKGD6fzxfJyFh+Vl9w1FpDs2PDODSy1T3a9aEKTJ3gmrEvxuj7YrIIkI7FtTZ8//d+8c8Ttgbh+qzGbHiOD/pV5rroA2SdEaH/3ADKbBFCgGEg4uyybhDoRY9FrUuj9dYXmAh0RJPYveWjvfgE/D7wUZaPo6nb67NZtrqOMgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q21g8j2kvaEufnzZtzdfWs",
      "input": {
        "note": "Bottle 1's body is now centred between the jaws. Descending to straddle it.",
        "targets": {
          "left_x": 0.395,
          "left_y": -0.094,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Q21g8j2kvaEufnzZtzdfWs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3981, 1.7393, 0.5457, 0.6449, -0.3485, -0.2665, 0.9983, -0.0193, 0.5617, 0.2356, -0.268, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4045 left_y=-0.1008 left_z=0.0436 left_yaw=0.0257 left_pitch=0.0481 left_roll=-0.0384 left_gripper=0.9983 right_x=0.2525 right_y=0.0041 right_z=0.093 right_yaw=0.0175 right_pitch=-0.0226 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -4.9573, 2.7419, 0.9695, -0.1001, 0.149, -0.0171, -0.335, -0.0615, 6.7624, 1.8877, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27067fe4f7ac4688d2157750ea0ec9f7c0ebf04761c36aa531a2f3d989255818",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b52cf0717f75a06e9376cb7239f4b864fe3cd7818684f3aaa49e1d9e17dc749a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:222b5922a57a3fbd9c603afa7da9d405c4a4508c7e3a5b6f6de270faedcef2ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 5.854 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]: [-0.2752, 1.6463, 0.4885, 0.6151, -0.2687, -0.2016, 0.9983, -0.0193, 0.5999, 0.281, -0.2832, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3979 left_y=-0.0599 left_z=0.051 left_yaw=0.0476 left_pitch=0.0396 left_roll=-0.0227 left_gripper=0.9983 right_x=0.2571 right_y=0.004 right_z=0.1017 right_yaw=0.0173 right_pitch=-0.0306 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -4.7932, 2.8513, 0.569, -0.0269, 0.4713, -0.0171, -0.1709, -0.6769, 6.8581, 1.917, -0.0464, -0.0024, -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]: [-0.3847, 1.5551, 0.561, 0.4595, -0.3363, -0.2489, 0.9983, -0.0193, 0.5797, 0.255, -0.2718, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3974 left_y=-0.0941 left_z=0.0828 left_yaw=0.0199 left_pitch=0.0588 left_roll=-0.0345 left_gripper=0.9983 right_x=0.2548 right_y=0.004 right_z=0.0969 right_yaw=0.0173 right_pitch=-0.0249 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.9641, -6.5709, 7.0906, 1.4725, -0.359, -0.1001, -0.0073, -0.1709, -0.5265, 6.8034, 1.9072, -0.0757, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3981, 1.7393, 0.5457, 0.6449, -0.3485, -0.2665, 0.9983, -0.0193, 0.5617, 0.2356, -0.268, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4045 left_y=-0.1008 left_z=0.0436 left_yaw=0.0257 left_pitch=0.0481 left_roll=-0.0384 left_gripper=0.9983 right_x=0.2525 right_y=0.0041 right_z=0.093 right_yaw=0.0175 right_pitch=-0.0226 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -4.9573, 2.7419, 0.9695, -0.1001, 0.149, -0.0171, -0.335, -0.0615, 6.7624, 1.8877, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27067fe4f7ac4688d2157750ea0ec9f7c0ebf04761c36aa531a2f3d989255818",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b52cf0717f75a06e9376cb7239f4b864fe3cd7818684f3aaa49e1d9e17dc749a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:222b5922a57a3fbd9c603afa7da9d405c4a4508c7e3a5b6f6de270faedcef2ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QcKEAgSGAI4AUIIdGhpbmtpbmcSDAV3y0DJkOcqWHMNxBoMds8ar2pRdSBggjzuIjBCBDmAdp9wD8ID5v14eJuc8AcvarZ0PcEIUMy3EztSRXYTi1+x1RFNg9CZWVG/bZYqggefUwdf9EG2I9GD0e6HCuo3ZEopjwKHJicYxXLf1utx1KhcUNko4thl42fw2MqBuTJ/Trg+CYNGxzbhdOLYCXEakCfK7MmVbyZd975YEujSIWozWHxY5q1tyeIXu0RqVzfN20dieENbqgry14GKOfZDUsIhK2IlMLGgfKLdVdxgL+c19MgRbpCMQ+E4oc0WeD/qj/9xCxvraNfOuUDGarnEUG3cQQlYe6or2YmgmFmytUWV2ZBsWr7NQBDvAF7ha4MRhBS38rhwfVg50pSda1PPx4crsPB6hCMRjaQfdgasDYshZ7OnXp0k0/m8k/oC57BowxCWhtv7BpCIO8Ocq2IrXarp4XhYkKRMm0Vs2VloFeVaN2h80TZBrrpA2+WvhiDgsv8vVTT0kEUfyYHwjx2Ct+snskyOruzFADfZTFl/oQbv0B/hQWHu/xbesQk3psAqQmjrp6XSmm2GIdIjvobgEnZBrQ9zv+e+8rOKNQZ28DwjhOhWjo5C5GA8qUf8oPmmFeN2TKB/r51/GSdIqj1/mRZSFVv6tgspBk76wq6xgFQtL7UrhvRckPdu0TAfp37ZRKM4JoM4S/n+j6N1MmpiHefuTm786COS9RyFoJQEBMGP6sTGnaYO8vcMTeciVi+DeUkHSHlmT/hI5gxGrS+2qLMZmttV1cCAWm8RiHj4Q1uxPMBBepDDVcA8BnEHAPbpBUNzuXWGCGpXG4KDSHjLd4gZgM7qKlGKUz4Tpf8i+KhdXKFOfq8XbHCstPH4f4rlTlG02JAlJYuU5FgihxRIXt4WL7HfZ0ehpy5Y3+W4sayF7PaRkWv0udCCE7yYqSfYm40AoE6Cg1hQpB2nSdjzm/h1/RWmRSLapxL4MU9OX7QMsbwQ0wk2UlM77+bpeL8fFhLwCvPJjX5MxiIdhd0k2V+c88Xlyp5qI7ebQ5iuAkaEg9fmTYP5AvIROQ0yLx0TPph8wTiTSsF+bG08Nj++oLr0qErzzUtVxP3hihaAhyW/UW8g4PO9qIOOeK9nqFdkGSMWXZeNiM71aBUhTSth+z5eNMmO2QoXpP06tdjQLvOnXDpm4ycgtQ7pAV1UIk0WoT3mSdAWNJgmJVh8ilwqOzqAOYBs1Pg+mkhUBjSZMZHltMOc8EIAbjVD2wQtL6e0UU0EUdZIYe/uNZsvYY9AxzIzjbjzeHgDXrm6SwMxsU3qGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QQh1rBSKiB8ULh4R95Jiyt",
      "input": {
        "note": "Jaws straddle bottle 1's body at ~4 cm height. Closing to grip it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QQh1rBSKiB8ULh4R95Jiyt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4, 1.7405, 0.5697, 0.5373, -0.3603, -0.263, 0.5256, -0.0193, 0.5476, 0.2173, -0.2657, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3988 left_y=-0.0971 left_z=0.0308 left_yaw=0.0313 left_pitch=-0.0262 left_roll=0.0057 left_gripper=0.5256 right_x=0.2502 right_y=0.0041 right_z=0.0884 right_yaw=0.0173 right_pitch=-0.0245 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -8.8547, 6.4615, 1.536, -0.188, 0.0415, 1.0281, -0.335, -0.4718, 6.8308, 1.9414, -0.0269, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:112320c9bc36e09cb25226d8b1511e77f13d29374890b8bad26f21b22503e811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6a3203cc9b1acf2bb0b737d0dce7f328d0ba0d8f60e23b5807fda49415fe5a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:005c3c48e98103e216fb453b19c92aa0ec1cd574bac1ef341b3c89913a2448e8",
        "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 · 6.276 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]: [-0.3847, 1.5551, 0.561, 0.4595, -0.3363, -0.2489, 0.9983, -0.0193, 0.5797, 0.255, -0.2718, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3974 left_y=-0.0941 left_z=0.0828 left_yaw=0.0199 left_pitch=0.0588 left_roll=-0.0345 left_gripper=0.9983 right_x=0.2548 right_y=0.004 right_z=0.0969 right_yaw=0.0173 right_pitch=-0.0249 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.9641, -6.5709, 7.0906, 1.4725, -0.359, -0.1001, -0.0073, -0.1709, -0.5265, 6.8034, 1.9072, -0.0757, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3981, 1.7393, 0.5457, 0.6449, -0.3485, -0.2665, 0.9983, -0.0193, 0.5617, 0.2356, -0.268, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4045 left_y=-0.1008 left_z=0.0436 left_yaw=0.0257 left_pitch=0.0481 left_roll=-0.0384 left_gripper=0.9983 right_x=0.2525 right_y=0.0041 right_z=0.093 right_yaw=0.0175 right_pitch=-0.0226 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -4.9573, 2.7419, 0.9695, -0.1001, 0.149, -0.0171, -0.335, -0.0615, 6.7624, 1.8877, -0.0464, -0.0806, -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]: [-0.4, 1.7405, 0.5697, 0.5373, -0.3603, -0.263, 0.5256, -0.0193, 0.5476, 0.2173, -0.2657, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3988 left_y=-0.0971 left_z=0.0308 left_yaw=0.0313 left_pitch=-0.0262 left_roll=0.0057 left_gripper=0.5256 right_x=0.2502 right_y=0.0041 right_z=0.0884 right_yaw=0.0173 right_pitch=-0.0245 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -8.8547, 6.4615, 1.536, -0.188, 0.0415, 1.0281, -0.335, -0.4718, 6.8308, 1.9414, -0.0269, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:112320c9bc36e09cb25226d8b1511e77f13d29374890b8bad26f21b22503e811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6a3203cc9b1acf2bb0b737d0dce7f328d0ba0d8f60e23b5807fda49415fe5a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:005c3c48e98103e216fb453b19c92aa0ec1cd574bac1ef341b3c89913a2448e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuAoKEAgSGAI4AUIIdGhpbmtpbmcSDND3QRR/9BSob+IiARoM+HjH20tPtpOFHLb4IjAYwXlu+arn2WbXWFa3up1Y8Pr3htRhvOuxeAEadA1IJF9uAaIjg2XwkRx1Dlu7Wksq1QlOWxOqWZUA7KiahWSIfZzOqskjuw5fr9+dT68be1xnS/5tGZ09J7gXyvsbsk4IbgxLIZLQy561sFsoSeYkRpFRYfwaZ4pbgMZ66v4k7/togIRr1p2izy+lAFjWLOGbdDaufva02bUjGA2YlXPTsw9JkB7IE8YyRkynkOfhUESslFJgX75h+TtMfWg8Ya7NyojMuSsKD8fbkVivTbWnj1fT9h8tCAaqshEMKCmZ3OWT73CWQmqQRBF7N9WglGaPhGO51HNAtRc5owEQnDBnoYaFqj7cfp+kvSPXs7bs/Lgfo4wk8p35zL1G2rYFrK25szTulRAZ1P9X4dRt3w49abCXDTWunZoaEKapEhCkgFyn9/zjPnsJNRacPqs9sALhAMmt1gCJvjuZRwyK3H7Y49uStj2ARwD8BZ49gm35R2crXlGi6SqKOmsKML/jbhy9DFN9Y3e/Z2FUnRrk8bHQonmLzYB8MgRI9FEBLpPGKHQACdeHohjjLZXuB5R9O3aoL1KyUGamOyzhxDQedf3u8xVNuCQIcKGTe5zWVCA9DJNUqR53UPNwu+4KfIi7CTSb9+2qveaX2u/6odFCv5aE05uQMqpeSXYDY0rE8xPAA47WEHCQfaOtLUXwtTcK72G3Vf1KiPKiy59Ww8yEcspYPNcixI5sJduOEs3GotwTP8FE6XwG/Sbuuhbynwj7LbA98qgEJQr0Q1xlB5hoARaejqqPxJZGt5wX30KYsqSnm3Wa3m+QxdKkwGrOdBvUEHre8yEMHXN0Cg18dimavIC/kTgnqAte/nhuR9JNZkKEuXNSKr0Ii+eDdbbISEJyxKPswafl98kv+t7N3UnJHaoFbvcy3FZ92tILn6SHS3GCBGSCqynbwYdPcNuzJRb9gz9ulx9QUkp+pIDkUBeUx0G3gJTVMdHWo0tzU5hJpRuFrYj47mHozV1KTnDfBDGlkZCy9QU9qRZ04mvYCyE7sW+jrw4ioV3DqFdxbGOCx2hu5HoaIrIuWvQ8EvOR4xdbssBtpcOnwsx5pDJAT1iTCgjwABJdFL7UvmGckRquO3X4HuCRzv6RKTPDczu0MNo95OsF4Bmkh9f1rETFisg4g6kZjlwO6R3gzR1f/Gao9pq2opTrOCtKvbUwr7B5g27Gh30+3zorSGL0s/3qsZxFDoGhYTu3NJ1sKVRC0tI8M/vHOUOR613/F4i7CNqIouao5BezAnUaRVVo16YSBOotyYq3CbQkvLygqyDe0OxlEYfyTfJ5qUcYMfT6w5rzzTAJgruH0jtf6Jlort9W0iOs0AcZhdYEG0IDYi8fnjyss3OYDE2cQ634aBuL9tyWw/YsU8tVProBBDsiRzs9+oiKqBxjrPAUC2cAx9oYDdbrAE/xHxCZ18WtGIh+g/g6MKgYBReAKr6RN7a0xR+XxxjxfpZfRc92xJR7Yv6BbP/StIPm80iEOJtAhoNpTS6DAS4W+lSD+vfscXnNVznyMDsZqRA/G9qOVDwJNr/0jXVEoExpWG2NGfabi3Uuc4DhlaJmrqKuMiLMEKbusUSxb2/Oh/uPBmjjWj/7ybzz6muK9h9rHqzo59ieR4kBleVN1TxX1UZg6zYJQw4xxeXMnWe/5PIj0GmgrJ+yuH8wng71bnuBD7w6aPBh78ChGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NekhBHrCzbdxVwJHechJbF",
      "input": {
        "note": "Gripper settled at 0.53 (~5 cm), bottle 1 is held by the body. Dragging it back ~15 cm so its neck comes into reach.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.097,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01NekhBHrCzbdxVwJHechJbF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7971, 1.0512, 0.1959, 0.0448, -0.5907, -0.5083, 0.5283, -0.0193, 0.5282, 0.1967, -0.2642, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2437 left_y=-0.1036 left_z=0.0387 left_yaw=-0.0479 left_pitch=-0.0853 left_roll=0.0303 left_gripper=0.5283 right_x=0.2476 right_y=0.0042 right_z=0.0838 right_yaw=0.0176 right_pitch=-0.0241 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -2.8376, 7.4051, 2.3468, -0.8278, -0.1734, 0.7204, -0.212, 0.1709, 6.8581, 1.9365, -0.0317, -0.0757, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8305c6af7d0052af1b749a45b28fc7024164065d6f84067a0f639e954dc0c91c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e99d5027b8a628b462b7d1f4bf55139b0e06569c69b9b12ff5f6e8eed4d1d71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:effbfbe221800eed8d173349f38abd572b0eda749cf67f20cf91fd286e3b844d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 3.265 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]: [-0.3981, 1.7393, 0.5457, 0.6449, -0.3485, -0.2665, 0.9983, -0.0193, 0.5617, 0.2356, -0.268, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4045 left_y=-0.1008 left_z=0.0436 left_yaw=0.0257 left_pitch=0.0481 left_roll=-0.0384 left_gripper=0.9983 right_x=0.2525 right_y=0.0041 right_z=0.093 right_yaw=0.0175 right_pitch=-0.0226 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -4.9573, 2.7419, 0.9695, -0.1001, 0.149, -0.0171, -0.335, -0.0615, 6.7624, 1.8877, -0.0464, -0.0806, -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]: [-0.4, 1.7405, 0.5697, 0.5373, -0.3603, -0.263, 0.5256, -0.0193, 0.5476, 0.2173, -0.2657, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3988 left_y=-0.0971 left_z=0.0308 left_yaw=0.0313 left_pitch=-0.0262 left_roll=0.0057 left_gripper=0.5256 right_x=0.2502 right_y=0.0041 right_z=0.0884 right_yaw=0.0173 right_pitch=-0.0245 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -8.8547, 6.4615, 1.536, -0.188, 0.0415, 1.0281, -0.335, -0.4718, 6.8308, 1.9414, -0.0269, -0.0757, -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]: [-0.7971, 1.0512, 0.1959, 0.0448, -0.5907, -0.5083, 0.5283, -0.0193, 0.5282, 0.1967, -0.2642, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2437 left_y=-0.1036 left_z=0.0387 left_yaw=-0.0479 left_pitch=-0.0853 left_roll=0.0303 left_gripper=0.5283 right_x=0.2476 right_y=0.0042 right_z=0.0838 right_yaw=0.0176 right_pitch=-0.0241 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -2.8376, 7.4051, 2.3468, -0.8278, -0.1734, 0.7204, -0.212, 0.1709, 6.8581, 1.9365, -0.0317, -0.0757, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8305c6af7d0052af1b749a45b28fc7024164065d6f84067a0f639e954dc0c91c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e99d5027b8a628b462b7d1f4bf55139b0e06569c69b9b12ff5f6e8eed4d1d71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:effbfbe221800eed8d173349f38abd572b0eda749cf67f20cf91fd286e3b844d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9QoKEAgSGAI4AUIIdGhpbmtpbmcSDNdZrnLeZ79YRZjnRxoMezRsaB9O+K9sQVjSIjC5DZInJ1ILa9rrF6cGxwIT+5OvFn18IuDr09ovil11zTl0NLZXOqcbAZmWXSqLTRMqkgpM0B449FL+vQHZpadQq08wKr8m8hM+slYQqDUsJ2JVbGdOrtR7Zq0as/XFP2OmYNnVAJUnYflRfoqmZy7a91urGkSLlFPHckRdBrhJ4BRQPHJEgOMa8kdNGJGjx2Hjs6S5En7EpMeuJpMrUeT5yPSGueFwQ2KWgj/ym6Ijicg5GKI0fUMRWfKqp0ImiQHKi/2IqGBApXSKwYWCmgg/I4HtU/xaD58OrZxNQc1YiYogohEb2p5K/xmz1FbP/WS7jM1O0wHDuUDpsnH/VAI/GUKbqdYGU4wCoxzAmu1cvlIXB4HokuhDVOBP02XebTtoO6E4IKe+b6x3y9b/n/3LuYRGlN5PBMmuYoc+GJXJhb2UserP5XGp3G8cODikS8AcxcRnxTY/t9uQ4VweEGk64N91ebWFiC5cvkKxoq9Mz18Lb/uXzaZOIJ5L0VwOc3bu7IYK7LPljqeCxxofDpalLjlIjJKh8ScTcwpHHcyyjvIvgNMqjFP9qeqHVHnxfba1+Lcm4XmEz67NfJsDntRI0kjKthmxIVrZcGj6/qPZqmTst3fcO7L9uczaHh2e9a4LBkVyCKLRKsQP7a2s8E0FwGp8dJ93u6Q14TTFuQbKfNeJntLroppfup1WHd/zaQz7OfHdh5ub7imZ91VBgLUtckd+qqocCbaNw7/LsNnZ3dB7WIYpmubryiQayJGBxYfT4szgp21ZazV0UpPfZe9FUMcf4ilTqZIWHqkCkBRWML8DXStRGS9Y8TQ54WOesZ/9h2V3a5sEOTNAhUFrnCtx0Um18tbQ/b7PmjSPCxQVYZaU5C8K5YN+d2zFqqTPW1Fs9w6xkTw4OnaIL+SSiTiUfBdef19dXW7rdxK2ypOXDlb27jNAb7r05dpxCYPpkqd7xfJYEto8hMct0geEdj97yXvv6AWnMpntiA/Q1pWBK5/r0Uy/fsHo6Vd6zBvUeteP8k4qHGxeoLth3LZnhZGxDffNXt0N0QTgzr4JWarcdMhdzf38pnBwKtHnMBvYVcexZidfnDkin6zCg9MbIj5hIYqm7zz09Q9mC83B/zhn2mT12qbRurI4TnP+8R4THoQ/w+52k/POU5mSUmmxNPJDWbaXcHILelK5FRGP+tAx+y+SJJUQFEUdJT5huHPuDTFAnZHl1pLkmNZhUOiDS2ZwsOBTDYWBFK4Ju6cYpZ6dq9OEfOijCOnlZ2E5zjtvU9mvISrrPT5mivJAyy3LGABBS3NtxyT4HOYkjlGqm7yxSK2WySCpL2smPew+xE8SdSFvAYZXfGIg5Z9x7LOgMBJvZOjwofHr5H7fUgUIiNX6VRDu+bEXN0XeslZX0TmQUhwuaLWkVmZFMvvRoK3/PmrnoqvLV+k4nwIzDrQGznxFDPfdKCUQGr6pqbs54G92+xzbH7fGYmzMSnEFa4DU99NiJDdN0SN+pFO+nVJpFSt7K3p5MOAdsVTf9UK3aqRrOXJ3iNAEE9ioqP3XQmQ25uGjzae4uh2OykrQydnzoOi62nqNWPkodhzrgsTW0NJwQH4rClOwi+80NOQN/XsBt4vmQrmz/bEZ6dPGrFI38KQXBCZ7U/gYM5qse9VcIrbS/yAWsIvMYmOwL9BOf13kOAGvbGgaCNhmV3IY64il+1SOTXv9ybvfjEv7AmNQZ+vgH5uOQuM82eoM7SAvKXpKVfnMXDcD7ntRyqnKJLux39Luaiip92Rh9Dr7zC+FF2k1JXGWJV3k+RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SsdzkboGEDKndn249VFnTd",
      "input": {
        "note": "Bottle 1 is now pulled back near the left arm. Releasing it so I can re-grip at the neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01SsdzkboGEDKndn249VFnTd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8215, 0.9936, 0.128, 0.1078, -0.6296, -0.5167, 0.9951, -0.0193, 0.5095, 0.1772, -0.2642, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2389 left_y=-0.0989 left_z=0.0394 left_yaw=-0.0412 left_pitch=-0.0282 left_roll=0.0068 left_gripper=0.9951 right_x=0.245 right_y=0.0042 right_z=0.0792 right_yaw=0.0173 right_pitch=-0.0249 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.8256, 7.4462, 1.5604, -0.3834, 0.0855, -0.105, -0.2256, -0.1162, 6.8444, 1.8877, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33c3ccbf26b10857b2755c17e438a96192d5b96cc56fb7652aad36f9f664c8e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd2ad8a2b74e9219484775b84fbe3ba6a5f57f2d8e7a29c46de1021dc70dc41c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:581affab33520dfd0aca6351e7b1e032d938c55ef7d49a8aa17cc8aaf7c5538f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 4.367 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]: [-0.4, 1.7405, 0.5697, 0.5373, -0.3603, -0.263, 0.5256, -0.0193, 0.5476, 0.2173, -0.2657, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3988 left_y=-0.0971 left_z=0.0308 left_yaw=0.0313 left_pitch=-0.0262 left_roll=0.0057 left_gripper=0.5256 right_x=0.2502 right_y=0.0041 right_z=0.0884 right_yaw=0.0173 right_pitch=-0.0245 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -8.8547, 6.4615, 1.536, -0.188, 0.0415, 1.0281, -0.335, -0.4718, 6.8308, 1.9414, -0.0269, -0.0757, -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]: [-0.7971, 1.0512, 0.1959, 0.0448, -0.5907, -0.5083, 0.5283, -0.0193, 0.5282, 0.1967, -0.2642, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2437 left_y=-0.1036 left_z=0.0387 left_yaw=-0.0479 left_pitch=-0.0853 left_roll=0.0303 left_gripper=0.5283 right_x=0.2476 right_y=0.0042 right_z=0.0838 right_yaw=0.0176 right_pitch=-0.0241 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -2.8376, 7.4051, 2.3468, -0.8278, -0.1734, 0.7204, -0.212, 0.1709, 6.8581, 1.9365, -0.0317, -0.0757, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8215, 0.9936, 0.128, 0.1078, -0.6296, -0.5167, 0.9951, -0.0193, 0.5095, 0.1772, -0.2642, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2389 left_y=-0.0989 left_z=0.0394 left_yaw=-0.0412 left_pitch=-0.0282 left_roll=0.0068 left_gripper=0.9951 right_x=0.245 right_y=0.0042 right_z=0.0792 right_yaw=0.0173 right_pitch=-0.0249 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.8256, 7.4462, 1.5604, -0.3834, 0.0855, -0.105, -0.2256, -0.1162, 6.8444, 1.8877, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33c3ccbf26b10857b2755c17e438a96192d5b96cc56fb7652aad36f9f664c8e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd2ad8a2b74e9219484775b84fbe3ba6a5f57f2d8e7a29c46de1021dc70dc41c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:581affab33520dfd0aca6351e7b1e032d938c55ef7d49a8aa17cc8aaf7c5538f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013UwPV97BEVn4wCFpSzizWe",
      "input": {
        "note": "Gripper open, bottle lies straight ahead along the jaw column. Moving forward over its neck.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.1,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013UwPV97BEVn4wCFpSzizWe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8215, 0.9886, 0.128, 0.1074, -0.6296, -0.5171, 0.9962, -0.0193, 0.4889, 0.1577, -0.2646, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2391 left_y=-0.0991 left_z=0.0404 left_yaw=-0.0411 left_pitch=-0.0249 left_roll=0.0032 left_gripper=0.9962 right_x=0.2426 right_y=0.0043 right_z=0.0748 right_yaw=0.0176 right_pitch=-0.0241 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.9214, 7.4188, 1.536, -0.3687, 0.1392, 0.105, -0.2803, 0.0342, 6.8034, 1.8877, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae0e8f4e7f3d34c4bf2acb8f64a5911172383d641ed7829c3cf2cd1ff36234ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58890fcd664a7222100ffde03631478678c259c39a9c85fd5c17b876914d355f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1e87f081e4a0e66f80ea87b2c0f69a994493a3d2bda515331ccaf5bdbc89f95",
        "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 · 5.472 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]: [-0.7971, 1.0512, 0.1959, 0.0448, -0.5907, -0.5083, 0.5283, -0.0193, 0.5282, 0.1967, -0.2642, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2437 left_y=-0.1036 left_z=0.0387 left_yaw=-0.0479 left_pitch=-0.0853 left_roll=0.0303 left_gripper=0.5283 right_x=0.2476 right_y=0.0042 right_z=0.0838 right_yaw=0.0176 right_pitch=-0.0241 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -2.8376, 7.4051, 2.3468, -0.8278, -0.1734, 0.7204, -0.212, 0.1709, 6.8581, 1.9365, -0.0317, -0.0757, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.8215, 0.9936, 0.128, 0.1078, -0.6296, -0.5167, 0.9951, -0.0193, 0.5095, 0.1772, -0.2642, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2389 left_y=-0.0989 left_z=0.0394 left_yaw=-0.0412 left_pitch=-0.0282 left_roll=0.0068 left_gripper=0.9951 right_x=0.245 right_y=0.0042 right_z=0.0792 right_yaw=0.0173 right_pitch=-0.0249 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.8256, 7.4462, 1.5604, -0.3834, 0.0855, -0.105, -0.2256, -0.1162, 6.8444, 1.8877, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8215, 0.9886, 0.128, 0.1074, -0.6296, -0.5171, 0.9962, -0.0193, 0.4889, 0.1577, -0.2646, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2391 left_y=-0.0991 left_z=0.0404 left_yaw=-0.0411 left_pitch=-0.0249 left_roll=0.0032 left_gripper=0.9962 right_x=0.2426 right_y=0.0043 right_z=0.0748 right_yaw=0.0176 right_pitch=-0.0241 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.9214, 7.4188, 1.536, -0.3687, 0.1392, 0.105, -0.2803, 0.0342, 6.8034, 1.8877, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae0e8f4e7f3d34c4bf2acb8f64a5911172383d641ed7829c3cf2cd1ff36234ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58890fcd664a7222100ffde03631478678c259c39a9c85fd5c17b876914d355f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1e87f081e4a0e66f80ea87b2c0f69a994493a3d2bda515331ccaf5bdbc89f95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3AcKEAgSGAI4AUIIdGhpbmtpbmcSDNarGch1Gb9ZNeOnwhoMOnDqI9Z8IBCnMIQfIjBNSJP9++7BVG2bYyjbHzFFmw2MNM/wCCNLFhJ5BwvN8QZozY5sakl0RLd0HLhXhNUq+QbEq9iaYWbI8YWqap+JnI3QC/SKEZpibLYA/MTRqFnEhj8+DEUy6SnzyV144axQEqYxuo2AWr/P5r9emezH0YfwrxZ6GiTdpiwUhHMvLttqv7beZiNvSIbwWkpfFm9CMNgS1UXXm159UMrMbwEL1sF2CWqF2Ni3fRXosEtDkxUUzc80AVQ3Zcks71rqRRcO1xvdHyeZC+02S2Y+LjKqAFTHtBXQa+BwB+hbHdu4msbP5RVjtGFnKLyTIW6nWM5UIpUdMLS90guZGuAl3w9qxJ+uUlITvrHnoYjjGEJFIzjn3KoPJ8RSZK1D+CGFBO0zouuSdGMPNSQiXeIRufC3mKiVCWwDwymq5Od61djIyNEDPmBFaumYfEDMMAjcjIX1B/a7FIN+vT/Qb2zvWe9PC7VYJpx3mvdcgX+lr36X/TiAwBzJB2yP37K3GQ+CRbuivyffaiQ0TW+YaUIZI5EOfifUEroLNxyAwoZMndLiO170jSdDNubPD2WHrEuNkEb4+m9WmI0c0pe4QV90IwctLomLKXM2rigkQh7VmPOWWe4q9GtrE28H9Bg+UWFX9UO3xQ+B5pv4QEYYp9C5Xm9cmnCSDexpBd0rA/aO6lgmxu9Z9SNGZlwR6ANYgZ1IfXanUaKSKxZ3DZ4cdLMyKfqUE0kyKSRMwE8S8asJFVuzp193OHYJJQUfbh8xaWonbaXFzTqJsdfatSSP35QvTzwMJKYMTXkXM4HfjA13d3PiMQCvQ0BxpCFwrqD4b/3OzKG/d+qZA1w6fUeH7iRLwMKcClcqEzwzliihTxzfRoCqu8/JaV1ajhl6VRZej4lf6sVyFpV0G+M2Bb+ok/CevMOq8jRY6n48Fcf1otKAtzbnuznERKsbAPL55N35oGiGdkFNM5CizIe6IF22D3Jn5p1Iv0BOS2tv4XFW/jHZH4cAfvBSaWv0BKMvndT+iW2TtCK9ALEoiA2ur9UlAkeo/mDUn05fCbUNMVqglj2ofEY0KLPc8oAGlu6kF9wmV6/BLJU6WhnfBaGz+PGPThQb/dZAGIZ3TGstZK75h0xbRBTOroLcX1MGBKZCjQ2Za87aQ372uzzTmPnl/CC3Ct+l1iqj6Uw7jesSurSYra+x6MjOsLYupo+YR8qRJj7XYCTZqgJ3UIWeP6Ns/KHTKbcD3CMXNFbM04tRQWp5ERxrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019gFH6ekz73SBnqZ5DxrJdC",
      "input": {
        "note": "Left arm ignored the last target; trying a mostly vertical lift first to get it tracking again.",
        "targets": {
          "left_x": 0.26,
          "left_y": -0.1,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_019gFH6ekz73SBnqZ5DxrJdC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7364, 0.8173, 0.4641, -0.3164, -0.5678, -0.4477, 0.9964, -0.02, 0.4637, 0.1379, -0.2646, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2602 left_y=-0.1028 left_z=0.1403 left_yaw=-0.0405 left_pitch=0.01 left_roll=-0.0243 left_gripper=0.9964 right_x=0.2404 right_y=0.0042 right_z=0.0714 right_yaw=0.0169 right_pitch=-0.0188 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -0.8821, 8.9094, 1.5018, -0.2076, 0.105, 0.0073, -0.1162, 0.3077, 6.8991, 1.8926, -0.0269, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0584d9590e91f698912b4b411c6cd9e390ca927a10d0e3e5d07de22a2a7d89b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9010d0d8f524c8829b6fa07f8af4f0a2b890ec32e9227b48086ddd5f889e6f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e7efab9197d900f7a63c01a5b432a89951e38b90ddde195fbd9d9210c44b62a",
        "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 · 4.452 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]: [-0.8215, 0.9936, 0.128, 0.1078, -0.6296, -0.5167, 0.9951, -0.0193, 0.5095, 0.1772, -0.2642, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2389 left_y=-0.0989 left_z=0.0394 left_yaw=-0.0412 left_pitch=-0.0282 left_roll=0.0068 left_gripper=0.9951 right_x=0.245 right_y=0.0042 right_z=0.0792 right_yaw=0.0173 right_pitch=-0.0249 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.8256, 7.4462, 1.5604, -0.3834, 0.0855, -0.105, -0.2256, -0.1162, 6.8444, 1.8877, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8215, 0.9886, 0.128, 0.1074, -0.6296, -0.5171, 0.9962, -0.0193, 0.4889, 0.1577, -0.2646, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2391 left_y=-0.0991 left_z=0.0404 left_yaw=-0.0411 left_pitch=-0.0249 left_roll=0.0032 left_gripper=0.9962 right_x=0.2426 right_y=0.0043 right_z=0.0748 right_yaw=0.0176 right_pitch=-0.0241 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.9214, 7.4188, 1.536, -0.3687, 0.1392, 0.105, -0.2803, 0.0342, 6.8034, 1.8877, -0.0659, -0.0464, -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]: [-0.7364, 0.8173, 0.4641, -0.3164, -0.5678, -0.4477, 0.9964, -0.02, 0.4637, 0.1379, -0.2646, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2602 left_y=-0.1028 left_z=0.1403 left_yaw=-0.0405 left_pitch=0.01 left_roll=-0.0243 left_gripper=0.9964 right_x=0.2404 right_y=0.0042 right_z=0.0714 right_yaw=0.0169 right_pitch=-0.0188 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -0.8821, 8.9094, 1.5018, -0.2076, 0.105, 0.0073, -0.1162, 0.3077, 6.8991, 1.8926, -0.0269, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0584d9590e91f698912b4b411c6cd9e390ca927a10d0e3e5d07de22a2a7d89b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9010d0d8f524c8829b6fa07f8af4f0a2b890ec32e9227b48086ddd5f889e6f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e7efab9197d900f7a63c01a5b432a89951e38b90ddde195fbd9d9210c44b62a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSnAkKEAgSGAI4AUIIdGhpbmtpbmcSDC5xi9K6ZZaltTW73BoMXZbIRQjOsTiSfR/sIjBEXM3LvWr+u17n08qWOJOeZsxbbCKiWI6fo72Dai+bCW7yVEaOVWComULINPZPD2squQhqFxdv3YxWzI9QjpycWKQLxbPlzgDrjNoQszwktSP2NgXh/B/31JJINesWenRfZHMg7nc4WrKvfmkxaDg0x3E9gnZuPcIA3ZuAIH5hijb+gwrTILY0XkOkm0BxUXsD1A3OPDt8Hb4mu6BXJ37Qr8rwxfTQcWv42tqeLAppmapfE/ONFG4BNbnPx6rqIz/pHs4smkcbQ09rrudRAcO0RoOILo1QQeuAcohbE4rbqndfoCNEKzhh/ZJ7bEpRw2p51LjnCJp6hxV7O/jsbgIgazm3cD/cJtbYw5dsiqlsixzQNUV9IEU0Uu5wAkxu3C82YBs6iui+UTeKc3lklJEyPOox8WdyV+2xlZtKRzE/GO8qPksv0E0+Ym+7ZqiWfZlrYcOpBt9L/lxieA9jdPDwD2RLkgxWVt/m0GmQTr/8ezyheBZoQU2Jg7S0PYbvJjmqLPHUkLAmrZZjLD6jAmGH3GVE6h2rr4vEssYg8m+1o1b1HNhV8hRm/VLvgcoOOVH1VaCr7l6bg+rWXG22NsdXx19laA0z2eVfoYYfSNPGYQjqPRlx+mxjrZJPQva39/JG9AQhXtnKe/PjC7AaJtwFg4qBX0RX82Tt/GTfcJY3+gKB8Ku2pQ75G6RH0K9lX9CQS8X6HI2c/ynVGN8YV3GT90DposuNQDIrbDAI9LH8E4MpWAaj3EApvZcn0EFqD5l0x3OcdkRYwsU6Cs8jL7OzB1DHrZ6aF6qtIjQxR900J2WPNR8lDXkEH9IttUaOH02leUQ0qpOAeupwrYaWhqkq+HULYeDqAvRLSYdbI2+5jUeVe0wB0tPJMkBQi/eyDXjF4N5zaW9bZ9ro/p8ynO9kc5ASxGfq7U6rueSu4WNO9GaU5HfsSRW8sVSV2bCBARqPSAvZw/eMloUhrD531Z/FUn3ymjNEiAj8hv0sAozCYv3OFNOfPq3puH1sQ8vWtdiQ58qYwOTubG5e+mTMbI8AVseswpOtL5Za2jB242rEAhr46Svm4JU/mGeMFI+o/ng32YL6J5ECdWdUgdBOQiwfR0cSFX2YjitCJjAhVkVEWfO6qR4i8OaLyQGMbdu075lBCz/PDLdT0dXnZcMH/Hy61ttZGfs5ao5utfBuDUQtOkd2qLrcggCptNxZlkBzujlzJ7mGpw9cwmLmyx5FtS/rx5W5rNCrEcvX2wH3BIeAWVOPKdUm0tpAoDjTmRAcE16d/RhDgLPHNRr+KDI1jXxdO1oMzME7NGZ3MaHstur0gakLMKC+ahYHymKjsO2aMuo/ZOakEVCVAgOzNB5mX/z6k9Og+rs4cmzsjqijKPnF5iU6QV9RtbmwIcIBqo6LGkqPgAU4SGwjXn45V7Pw9VHOOuK0bNQKTnUuoRNT4LDelMQAo7TUTsvarGIv/Q/NCYXsNTEhkFG1IIDlF5jNJoEV50WaI9tRgaxJ4zPnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UsAqxZ1kBVsxLxGUQnXEw9",
      "input": {
        "note": "Arm tracking again; bottle 1's cap and neck are straight ahead on the jaw column. Advancing toward the neck.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.095,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01UsAqxZ1kBVsxLxGUQnXEw9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5163, 1.0828, 0.4774, -0.0879, -0.4301, -0.3283, 0.9964, -0.02, 0.4458, 0.1261, -0.2657, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3071 left_y=-0.0855 left_z=0.1078 left_yaw=0.0076 left_pitch=-0.0591 left_roll=0.0177 left_gripper=0.9964 right_x=0.2391 right_y=0.0042 right_z=0.0697 right_yaw=0.0169 right_pitch=-0.0139 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -3.1385, 7.159, 1.6532, -0.1343, 0.2515, -0.0122, 0.0479, 0.3761, 6.8581, 1.8193, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b8bde0a46ae2748f83772d93a7892cb78600ab9dfd6722fbbd730cc2a44a519",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dfeb44c7d0ad1bd629f674de5de0b1d0beced88a2b90e0bdd29acd4b10cf27d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2974c6d4fd1c58c0a81ebc94527ea08e51dee666496064847c95683b7adac653",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 5.985 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]: [-0.8215, 0.9886, 0.128, 0.1074, -0.6296, -0.5171, 0.9962, -0.0193, 0.4889, 0.1577, -0.2646, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2391 left_y=-0.0991 left_z=0.0404 left_yaw=-0.0411 left_pitch=-0.0249 left_roll=0.0032 left_gripper=0.9962 right_x=0.2426 right_y=0.0043 right_z=0.0748 right_yaw=0.0176 right_pitch=-0.0241 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.9214, 7.4188, 1.536, -0.3687, 0.1392, 0.105, -0.2803, 0.0342, 6.8034, 1.8877, -0.0659, -0.0464, -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]: [-0.7364, 0.8173, 0.4641, -0.3164, -0.5678, -0.4477, 0.9964, -0.02, 0.4637, 0.1379, -0.2646, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2602 left_y=-0.1028 left_z=0.1403 left_yaw=-0.0405 left_pitch=0.01 left_roll=-0.0243 left_gripper=0.9964 right_x=0.2404 right_y=0.0042 right_z=0.0714 right_yaw=0.0169 right_pitch=-0.0188 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -0.8821, 8.9094, 1.5018, -0.2076, 0.105, 0.0073, -0.1162, 0.3077, 6.8991, 1.8926, -0.0269, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5163, 1.0828, 0.4774, -0.0879, -0.4301, -0.3283, 0.9964, -0.02, 0.4458, 0.1261, -0.2657, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3071 left_y=-0.0855 left_z=0.1078 left_yaw=0.0076 left_pitch=-0.0591 left_roll=0.0177 left_gripper=0.9964 right_x=0.2391 right_y=0.0042 right_z=0.0697 right_yaw=0.0169 right_pitch=-0.0139 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -3.1385, 7.159, 1.6532, -0.1343, 0.2515, -0.0122, 0.0479, 0.3761, 6.8581, 1.8193, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b8bde0a46ae2748f83772d93a7892cb78600ab9dfd6722fbbd730cc2a44a519",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dfeb44c7d0ad1bd629f674de5de0b1d0beced88a2b90e0bdd29acd4b10cf27d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2974c6d4fd1c58c0a81ebc94527ea08e51dee666496064847c95683b7adac653",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSiggKEAgSGAI4AUIIdGhpbmtpbmcSDDA3fi6WwVJXFY6lWBoMbg55LnaIyfbTskO8IjDV86EyyC7OBNt4s9DZ4NBsivZfus4/dxjj09jPFq5Amc7dtfOLhIzHH8B3Yq4qw58qpwegfopH35Dc6VRjFDWG6aF5ZM9jZwKrlHL+wbJL9JXUEeXHelvSPl38jeLj25zamDWPU2gTCA4U9uUj+LHd9i2uOBh7BLOSVW8iqxqhTSnxHkLDgBhDFu03lnj8E5fted4VTsy4vanhFQQVL1Srw89oefHGj/c8oMdo7nql8g8ARUKYcLXEEOFB/AKWaCwNVjHWM15kzT89qiXlKlPot0jNlnfrwX4Yi9br3jTizW6TzVxnQInfICYu+SqPbcGuLYoxjOTDyvY1USl10KYdR1yNMiLb6PATrK8vMn9lIxKEDw2fBWI+5mDmAUigCsLN7RNsOKp+9JDYYCazwUfb9qJseZ2sQVTxUpGEa+yr7iCgdPWhPtiLDEe9cxhLGbN8vECuOAXXbFqtuzuZ6wea9hICZs2YkbHtvpSE9T9iRkG8b/BOr98kPPaMKeuHbpFvC6VR40N1fk0Sx8a0TlGebcZMREMNOit6tcF65e9wH/dUdGDVNCHe47K1lujKqYyN5JqOjO0oI1hDNU6D+oX1DkFPhfULHpmmktPRCGNXnuuoNoGP2LHC0iDFs8vEdVAvwh7CmXH5MuFgN+A2y8K5uo8HQXMfKfO9L8z/Mb138W3S/r4Puir0By1cZPFStHaLzlkGrN4Xk3Mv61jApSNeuPQ9d2ZmCr6lNhZo3I3gLJHGshnR3qHtWMk0SKYp++r2PI3NSrNG+OpBeCtDONMsWrjYcCR6ktrT01mXXCV0260c2H3TXLIQ2PAckTF+J5xI+M2AhzHiNSe+BO0ql+qkMhwqlHUu2G/lFI874PDSBqjfkgD0BJF59v+OdQKkOYlcKQvUK1QxX0+UkwuGmmUf5NeS+ME1lJKFOr9CHtfZ12dMSJcIhE9Ty++o33EXu+jj9GXVY11Gcn47sP79p4xwV+mTptp9QTbYLD6NQOeV1FwukhjuW6s7kNm/wGR6VYLBay4wrK9DS/zCCkbf6iBSWrfSoyz5fmu9ul8JQY+yS/rEAwHfHmT8InfYCSm8x7qDbHlc9U2mVkDfMyTDKGXtOpFI3EorJK/Fxt3Kcs+etmoVwaMWn6eQMZwWk1zEf7uw6Erio03SU1DBklc/z7G1IwZqpovo9lAQVnYcjiUgHgwI5bD4Zo4lvtK7qtLRd7qXDq7iikjMvwe4NQE4WffXU7JmZQmM39W0CxzjM1v/E6hH6IhLHmz4aBoM2py+WJQlZxaHN1SiX0CTBdDYaA1HheyFsa+AgMkjmhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KyAnJ7GN44WzNGN6AC8z5f",
      "input": {
        "note": "Neck is centred on the jaw column a few cm ahead. Advancing ~3 cm and descending to neck height.",
        "targets": {
          "left_x": 0.345,
          "left_y": -0.087,
          "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_01KyAnJ7GN44WzNGN6AC8z5f",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4507, 1.528, 0.3389, 0.5243, -0.3962, -0.292, 0.9964, -0.02, 0.4355, 0.1146, -0.2687, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3366 left_y=-0.0832 left_z=0.0271 left_yaw=0.0258 left_pitch=-0.0446 left_roll=0.0149 left_gripper=0.9964 right_x=0.2373 right_y=0.0043 right_z=0.0661 right_yaw=0.0169 right_pitch=-0.018 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.6496, -3.7265, 4.4513, 0.9353, 0.0122, 0.1392, -0.0073, -0.1299, 0.0752, 6.9675, 1.8535, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc8b90112f44619d5210c0f8361779605714d82dcba9faae229c8040102ad3e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:394763f0c7eebe6c71c3b580251fb61c967b4836c122f3a2796dcdd6efa016fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e995d011a2d2217cc21282fcedb360d1e94f0d41295a72e24198b6b60399532b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 7.751 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]: [-0.7364, 0.8173, 0.4641, -0.3164, -0.5678, -0.4477, 0.9964, -0.02, 0.4637, 0.1379, -0.2646, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2602 left_y=-0.1028 left_z=0.1403 left_yaw=-0.0405 left_pitch=0.01 left_roll=-0.0243 left_gripper=0.9964 right_x=0.2404 right_y=0.0042 right_z=0.0714 right_yaw=0.0169 right_pitch=-0.0188 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -0.8821, 8.9094, 1.5018, -0.2076, 0.105, 0.0073, -0.1162, 0.3077, 6.8991, 1.8926, -0.0269, -0.0611, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.5163, 1.0828, 0.4774, -0.0879, -0.4301, -0.3283, 0.9964, -0.02, 0.4458, 0.1261, -0.2657, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3071 left_y=-0.0855 left_z=0.1078 left_yaw=0.0076 left_pitch=-0.0591 left_roll=0.0177 left_gripper=0.9964 right_x=0.2391 right_y=0.0042 right_z=0.0697 right_yaw=0.0169 right_pitch=-0.0139 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -3.1385, 7.159, 1.6532, -0.1343, 0.2515, -0.0122, 0.0479, 0.3761, 6.8581, 1.8193, -0.0269, -0.0513, -0.0122]",
      "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]: [-0.4507, 1.528, 0.3389, 0.5243, -0.3962, -0.292, 0.9964, -0.02, 0.4355, 0.1146, -0.2687, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3366 left_y=-0.0832 left_z=0.0271 left_yaw=0.0258 left_pitch=-0.0446 left_roll=0.0149 left_gripper=0.9964 right_x=0.2373 right_y=0.0043 right_z=0.0661 right_yaw=0.0169 right_pitch=-0.018 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.6496, -3.7265, 4.4513, 0.9353, 0.0122, 0.1392, -0.0073, -0.1299, 0.0752, 6.9675, 1.8535, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc8b90112f44619d5210c0f8361779605714d82dcba9faae229c8040102ad3e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:394763f0c7eebe6c71c3b580251fb61c967b4836c122f3a2796dcdd6efa016fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e995d011a2d2217cc21282fcedb360d1e94f0d41295a72e24198b6b60399532b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQShwoKEAgSGAI4AUIIdGhpbmtpbmcSDPzRhB2Htr9cY9+pbxoMh2zGpWCkSW03PnkXIjD2vNwLJGsl2ctd90sV42sLFepptrHgawTlizlcx//at/1Nbdn4tkllMvkcM8wATpgqpAkO/yCUvP0/+VAkbjSNnHGdBCLWrkQKi2bbMexshyGP2e3bo8agdYVAYgY5Z1TEDHYNVUo4yLQVnHWdDiyTTvT9bvjCZEbVzawtsRerfh2QEM8iiNfzMFBFg3Vip0Nt4kb9OmfPY9HNIL/MaVszs4+3NJnXYdYFAsJmO7miqFHxbAWagNvYQ984T3jM6un616/DWp2tQIN1OjYMcX6wwBl+6fqPH+FMseWXKJ7tfdI47uLOwkz4L9u7db/nWnrjJHsaHTEhc2OW9Y9Xok5pN9xTwWno9ZnQl2cPd8ilkDWWVv4V4cj0TIThcxQUmZsWfTgR/vRrCs/5gaH7niNSJLO75IRZUrs6BPQUj25jUP0kSpdIsDvZP6xmqKWQcN7wrTVTVTpUABhqm+j0Nfrw31+6uqqxWnfWoGZBnaJlsJ8gxTtvvvFT2OPUA9lx3ayou4yg/DC5RkZMaDHHp9RqiEG2+Cb6g3MmRw9Ln800X4+w1bG6PuGqkPmfY8gRI1r8xGj2CO+0n3W/bHcAWpQJpCT8zbRI+chxmLsQxfvuz3Ok0dbjU+46v33NEtbBfCvobDiHKFiFsLubJktG32o4D2VLaxZ5Jf3NJFBdiZcABVNn+y5QKKB8nywqAYqNTub7uion2LoK8gVNEfThsMTeMLFQ/b1D49wjYh3+4qfZv4NtZV+tpzErl6bNaH2nJD8ZhTi7TlFraCPFvhirxJp8koxzmWhrZUv+YK1CnLrpx/Efqmm448FmpDt3mAlGzRiJxiOK6/53Qeequ8x+H2t0TFH0t7cionziaCK2yncIYvZ8PlSCXEC4D/9W57uCFfsgvxHL6swyt3mycX5gxS6Dt437KETICzyBzEyi5dJL6h4eIonv/W5jH3oLqW9pmTtQaxY828BIXB3nOeIl6gvsRZ622IXIzegjipEAUHJsr5fMFhAiUkmLn8bdw3nO8OHhOpDdAE4LRLecdPRBqiLaxWgW3IItwGncF2O3ybgVRXWQT9Clv82qIDssFFJlJPA2mHGBuAwa2+AxwxX8VQdNi+svVPmbohIXdg9iNol0HbFjbZFGCIIhPGv4AvokcLtidsixnp44kfvgEnx9M1ZztvEAZnrmaLKf0gDUf2+KOr4P937lz4AXU4L143J11VxhTXfXedzc3188aCheqGxwsmZIZczMHsSH+nlPN7C9MP5fewBg1uUhNqIRWmvCdMK0hDJuFHihZFnWNqtuvS7/Zvo5EWTyK/P1Md2y1x3eWpug6cK5H67f/pMRfcAkttDp5NLkzO4AfeYBbnM0I0jCl7iqVIof0pnikX+dLxOPshWDHLRCJgBi/iGbbCJROeswcVnZuypBT/C+lpPuAYwzub0sTpFdUUdGBuQc0IBBzLqXUHiNhDMWBsRcJIJXlMdeHzGBR/obYdOd6+OVO/3b9tMfcpCvnSnMGULa/1gY20yheFPgDpZlCXTqjUX7qf0Cn2UsW7wlIqve76uTQ1Q329J/ZwrdTEbsADU/HWqsDU2QVcvH1u5If0PSRV0PR3ReEM4VgnPpHhRJAGJ86u7482Eu/Ce1dsVBKAOtOMuJfcAklP1TPj0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015DKN7GYynp79qWkFxGwfpa",
      "input": {
        "note": "Jaws are around the bottle's shoulder; sliding forward ~3 cm to straddle the neck just below the cap.",
        "targets": {
          "left_x": 0.372,
          "left_y": -0.085,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015DKN7GYynp79qWkFxGwfpa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.408, 1.6382, 0.4011, 0.6323, -0.3771, -0.2859, 0.9964, -0.02, 0.4187, 0.1036, -0.2691, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3647 left_y=-0.0829 left_z=0.0305 left_yaw=0.0491 left_pitch=0.0038 left_roll=-0.0171 left_gripper=0.9964 right_x=0.2363 right_y=0.0043 right_z=0.0646 right_yaw=0.0169 right_pitch=-0.0127 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -4.8479, 5.3812, 1.6484, -0.022, 0.2857, -0.0171, -0.1436, 0.253, 6.8444, 1.8193, -0.0806, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99cdd4ca7ee0d8f2f5bdb5321fbe6e6f9101d849561757fae948914322212962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82361b6df288e16f3f99e8dbef479c0b5110f2fb809fcd4c22fd750b9750bba9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83a036fc5a70930ec50c8ce4eb0d6b64004921bcdb4ef3357178db3793644b02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 4.031 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]: [-0.5163, 1.0828, 0.4774, -0.0879, -0.4301, -0.3283, 0.9964, -0.02, 0.4458, 0.1261, -0.2657, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3071 left_y=-0.0855 left_z=0.1078 left_yaw=0.0076 left_pitch=-0.0591 left_roll=0.0177 left_gripper=0.9964 right_x=0.2391 right_y=0.0042 right_z=0.0697 right_yaw=0.0169 right_pitch=-0.0139 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -3.1385, 7.159, 1.6532, -0.1343, 0.2515, -0.0122, 0.0479, 0.3761, 6.8581, 1.8193, -0.0269, -0.0513, -0.0122]",
      "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]: [-0.4507, 1.528, 0.3389, 0.5243, -0.3962, -0.292, 0.9964, -0.02, 0.4355, 0.1146, -0.2687, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3366 left_y=-0.0832 left_z=0.0271 left_yaw=0.0258 left_pitch=-0.0446 left_roll=0.0149 left_gripper=0.9964 right_x=0.2373 right_y=0.0043 right_z=0.0661 right_yaw=0.0169 right_pitch=-0.018 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.6496, -3.7265, 4.4513, 0.9353, 0.0122, 0.1392, -0.0073, -0.1299, 0.0752, 6.9675, 1.8535, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.408, 1.6382, 0.4011, 0.6323, -0.3771, -0.2859, 0.9964, -0.02, 0.4187, 0.1036, -0.2691, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3647 left_y=-0.0829 left_z=0.0305 left_yaw=0.0491 left_pitch=0.0038 left_roll=-0.0171 left_gripper=0.9964 right_x=0.2363 right_y=0.0043 right_z=0.0646 right_yaw=0.0169 right_pitch=-0.0127 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -4.8479, 5.3812, 1.6484, -0.022, 0.2857, -0.0171, -0.1436, 0.253, 6.8444, 1.8193, -0.0806, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99cdd4ca7ee0d8f2f5bdb5321fbe6e6f9101d849561757fae948914322212962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82361b6df288e16f3f99e8dbef479c0b5110f2fb809fcd4c22fd750b9750bba9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83a036fc5a70930ec50c8ce4eb0d6b64004921bcdb4ef3357178db3793644b02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NLgJim8XRBbNRYqfAWiH4P",
      "input": {
        "note": "The palm seems to be pushing the bottle forward instead of sliding over it. Lifting up and moving ~5 cm forward to come down over the neck.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.085,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01NLgJim8XRBbNRYqfAWiH4P",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3977, 1.6547, 0.4171, 0.6315, -0.374, -0.279, 0.9964, -0.02, 0.4103, 0.0982, -0.2687, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3692 left_y=-0.0812 left_z=0.0298 left_yaw=0.0533 left_pitch=0.002 left_roll=-0.0123 left_gripper=0.9964 right_x=0.236 right_y=0.0043 right_z=0.064 right_yaw=0.0169 right_pitch=-0.0093 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -5.4496, 5.6274, 1.6728, 0.022, 0.2369, -0.0122, -0.1709, 0.1846, 6.5983, 1.8242, -0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13a84732d5ef1723ab7183cdd732ce97575164bb43813b081f7bfb86629fe1d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6d0fcd4697f56d9b5f8eb264e3559f0924c4e97628232a92abcb39bfa48ff03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69d8e93bb1094bafbe3c2a68da82c0f3b1aa41854e5bc7d080bea01419fc61dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 8.526 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]: [-0.4507, 1.528, 0.3389, 0.5243, -0.3962, -0.292, 0.9964, -0.02, 0.4355, 0.1146, -0.2687, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3366 left_y=-0.0832 left_z=0.0271 left_yaw=0.0258 left_pitch=-0.0446 left_roll=0.0149 left_gripper=0.9964 right_x=0.2373 right_y=0.0043 right_z=0.0661 right_yaw=0.0169 right_pitch=-0.018 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.6496, -3.7265, 4.4513, 0.9353, 0.0122, 0.1392, -0.0073, -0.1299, 0.0752, 6.9675, 1.8535, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.408, 1.6382, 0.4011, 0.6323, -0.3771, -0.2859, 0.9964, -0.02, 0.4187, 0.1036, -0.2691, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3647 left_y=-0.0829 left_z=0.0305 left_yaw=0.0491 left_pitch=0.0038 left_roll=-0.0171 left_gripper=0.9964 right_x=0.2363 right_y=0.0043 right_z=0.0646 right_yaw=0.0169 right_pitch=-0.0127 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -4.8479, 5.3812, 1.6484, -0.022, 0.2857, -0.0171, -0.1436, 0.253, 6.8444, 1.8193, -0.0806, -0.0513, -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]: [-0.3977, 1.6547, 0.4171, 0.6315, -0.374, -0.279, 0.9964, -0.02, 0.4103, 0.0982, -0.2687, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3692 left_y=-0.0812 left_z=0.0298 left_yaw=0.0533 left_pitch=0.002 left_roll=-0.0123 left_gripper=0.9964 right_x=0.236 right_y=0.0043 right_z=0.064 right_yaw=0.0169 right_pitch=-0.0093 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -5.4496, 5.6274, 1.6728, 0.022, 0.2369, -0.0122, -0.1709, 0.1846, 6.5983, 1.8242, -0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13a84732d5ef1723ab7183cdd732ce97575164bb43813b081f7bfb86629fe1d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6d0fcd4697f56d9b5f8eb264e3559f0924c4e97628232a92abcb39bfa48ff03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69d8e93bb1094bafbe3c2a68da82c0f3b1aa41854e5bc7d080bea01419fc61dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQgKEAgSGAI4AUIIdGhpbmtpbmcSDNoNF2XFvtTMvXlhBRoM2oqjb3XhzVQ5luMDIjDb/fkAz933sbgWk2ijDt2VvnpWlf5ac3aCLz1LiJOogGADDAy/BkEo5LjN1GULwxsqzgf8nWb8NvuMoYufGsJPypEONXlXsh7pQvrfasJ4THQLIqGoSSasG2zmwXlbFk/f17QWnb9LV11zqB+iuDw30NaA8lcuipRh3ZlswALLYGC+N3KU/+554gsEbNPdiVV4WRSQh1X8WM/uh6j95Mc3Q36VR1cFhwOiw4xH1H+scr4fZEpx1edDJXB5Tc9mF27nTxNeamoipwar1rd0CdiORLfn3hrDRc8R/tQq97P8q/zCH4HnwBiErnzbS+F4y7yOSGY6QS4mUMvvuW8vs50arvNxz/EK1s7k+A+PoXn8H9pKkPZls2HL5hPReTY+gmqd8s++LIh/oG0DBswKylU9ML5VxFjKr4YvDAH63C5FnWsQq+We6yFkqUueofSSiS0PzDdRDnKBbKYynfs943KkKpe7WA0xOAtosIZP9PuGiyTv+IkxE7NZjpi67lq4beCoSfEPM3rB/gzopP7yVgIeB1K88vr+EPJvEU71DCkwk8BjZt1u2rPXBVuyny5ABre7fXyWfxSOvR4ujXwc83eG8K6GL2rFOZFyHFkjRSQD9e4sYqu3Ovz5K9tae6ecX2jyJC4lngZ4pPfaUPF1FTzI2W6GNmZK79E7d78iluM23EMLMcI5EmtNMSCEV9PzSD0ADLUPvX4skUVvYPNt/RHLOGrJe9kXaxuDiGJx0yiatIyvtTGs60Xt5NRf2FmMsxYtx1kYs4wmXfuLmlHt9nU02bOGnxeBqrfIj/0tV4McKnaOrgvHFZLZsxyYP34wiNRxKIs6oJ40QaUfvxJvl9xIpO+D5BQpDkRFcR43elpbrU5NnF7o8Kkund+jnFJrb87O7O7zt2Zt1ejAq1qOB2DHDSZvfMPLTF2DQ62zF75Cs0yVzg0a3x2AT1AcGcV4peYWSNW44S9q2YyvPWIFEWSTuYj0zTC+Yvs+B92UU0U4i04yyFhdsp1OJ6MECumosUL4GjQH5iPh4KXJDkvvHH7QGb2UlBkJPF5FO1fHICPqbMxxs3BvLzjCkQFLlw2Jf36bZBCVwL/0O6Wh0GgHMq8zbKfqewj2OOPigGP9IlsejAEltYFinu/pce3RAXGK7+m8/6Xd4OXmzoXQy7lm/YKqxqzroGy0c/SAwyJcBHepVUAb8+g3ZuKsXHnXo8tFBsTVOZt35kqFqlodhVWFfpu+7XH+ELK7jgeSVzs4Y1M0LLkzt/wEXP3Uf1teTy2AssAtYTPFhgFhMdj2C8Y0HfDYwhpxbPFcHx/Bp2nm7aqribgmejlugC5/PepfgDgLoJr3lETKnGGDPWu5K6KhJMqiAxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013BmBejPM5w5wjQaqZ98d9k",
      "input": {
        "note": "Arm held position again; trying a pure vertical lift over the bottle.",
        "targets": {
          "left_x": 0.365,
          "left_y": -0.082,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_013BmBejPM5w5wjQaqZ98d9k",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4034, 1.5764, 0.4755, 0.4908, -0.3817, -0.2878, 0.9964, -0.02, 0.4095, 0.0978, -0.2691, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3747 left_y=-0.0845 left_z=0.0508 left_yaw=0.0585 left_pitch=0.0001 left_roll=-0.014 left_gripper=0.9964 right_x=0.2359 right_y=0.0043 right_z=0.0639 right_yaw=0.0169 right_pitch=-0.0093 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -9.8803, 10.0308, 2.6007, -0.1929, 0.105, -0.0171, -0.212, -0.1846, 6.4205, 1.7509, -0.0464, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13cbafd3c3886ee383d847a4c08739269ca7029d113e2017295f0a7be10cdf6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a23264581554fb43abf6cbc5e3dc1a6bd724c13cba48fe41008ef51892c728d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f5e80e02ed58f4e252872921ddb7ba708c3f338701816b55f0085e4010dcd840",
        "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 · 7.144 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]: [-0.408, 1.6382, 0.4011, 0.6323, -0.3771, -0.2859, 0.9964, -0.02, 0.4187, 0.1036, -0.2691, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3647 left_y=-0.0829 left_z=0.0305 left_yaw=0.0491 left_pitch=0.0038 left_roll=-0.0171 left_gripper=0.9964 right_x=0.2363 right_y=0.0043 right_z=0.0646 right_yaw=0.0169 right_pitch=-0.0127 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -4.8479, 5.3812, 1.6484, -0.022, 0.2857, -0.0171, -0.1436, 0.253, 6.8444, 1.8193, -0.0806, -0.0513, -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]: [-0.3977, 1.6547, 0.4171, 0.6315, -0.374, -0.279, 0.9964, -0.02, 0.4103, 0.0982, -0.2687, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3692 left_y=-0.0812 left_z=0.0298 left_yaw=0.0533 left_pitch=0.002 left_roll=-0.0123 left_gripper=0.9964 right_x=0.236 right_y=0.0043 right_z=0.064 right_yaw=0.0169 right_pitch=-0.0093 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -5.4496, 5.6274, 1.6728, 0.022, 0.2369, -0.0122, -0.1709, 0.1846, 6.5983, 1.8242, -0.0659, -0.0415, -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]: [-0.4034, 1.5764, 0.4755, 0.4908, -0.3817, -0.2878, 0.9964, -0.02, 0.4095, 0.0978, -0.2691, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3747 left_y=-0.0845 left_z=0.0508 left_yaw=0.0585 left_pitch=0.0001 left_roll=-0.014 left_gripper=0.9964 right_x=0.2359 right_y=0.0043 right_z=0.0639 right_yaw=0.0169 right_pitch=-0.0093 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -9.8803, 10.0308, 2.6007, -0.1929, 0.105, -0.0171, -0.212, -0.1846, 6.4205, 1.7509, -0.0464, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13cbafd3c3886ee383d847a4c08739269ca7029d113e2017295f0a7be10cdf6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a23264581554fb43abf6cbc5e3dc1a6bd724c13cba48fe41008ef51892c728d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5e80e02ed58f4e252872921ddb7ba708c3f338701816b55f0085e4010dcd840",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014HRu3xDW2V78ExwJ472PMK",
      "input": {
        "note": "Jaws are around the bottle's upper shoulder/neck region. Closing to grip it near the top end.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014HRu3xDW2V78ExwJ472PMK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4061, 1.5814, 0.4816, 0.5228, -0.4046, -0.2874, 0.0135, -0.02, 0.4046, 0.0978, -0.271, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3802 left_y=-0.0839 left_z=0.0582 left_yaw=0.0746 left_pitch=0.0355 left_roll=-0.0173 left_gripper=0.0135 right_x=0.2359 right_y=0.0043 right_z=0.0646 right_yaw=0.0169 right_pitch=-0.0062 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -6.2154, 4.9573, 1.3114, -0.0708, 0.0366, 1.0916, -0.1162, 0.1709, 6.3932, 1.7949, -0.0757, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e6a71f8ffa1df9362b29423d86c40b5b2cbcf08b21e35d7a47985d09d5da44b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42e2acaad5775d3e3eb55ec16d3b5c1972a066ee88fa2a80d2629a7dfc826692",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5c4f316e45c4ab3e1467b4ee02c43bd74470465bca1f9c29f402d11e803c99d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 5.14 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3977, 1.6547, 0.4171, 0.6315, -0.374, -0.279, 0.9964, -0.02, 0.4103, 0.0982, -0.2687, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3692 left_y=-0.0812 left_z=0.0298 left_yaw=0.0533 left_pitch=0.002 left_roll=-0.0123 left_gripper=0.9964 right_x=0.236 right_y=0.0043 right_z=0.064 right_yaw=0.0169 right_pitch=-0.0093 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -5.4496, 5.6274, 1.6728, 0.022, 0.2369, -0.0122, -0.1709, 0.1846, 6.5983, 1.8242, -0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4034, 1.5764, 0.4755, 0.4908, -0.3817, -0.2878, 0.9964, -0.02, 0.4095, 0.0978, -0.2691, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3747 left_y=-0.0845 left_z=0.0508 left_yaw=0.0585 left_pitch=0.0001 left_roll=-0.014 left_gripper=0.9964 right_x=0.2359 right_y=0.0043 right_z=0.0639 right_yaw=0.0169 right_pitch=-0.0093 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -9.8803, 10.0308, 2.6007, -0.1929, 0.105, -0.0171, -0.212, -0.1846, 6.4205, 1.7509, -0.0464, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4061, 1.5814, 0.4816, 0.5228, -0.4046, -0.2874, 0.0135, -0.02, 0.4046, 0.0978, -0.271, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3802 left_y=-0.0839 left_z=0.0582 left_yaw=0.0746 left_pitch=0.0355 left_roll=-0.0173 left_gripper=0.0135 right_x=0.2359 right_y=0.0043 right_z=0.0646 right_yaw=0.0169 right_pitch=-0.0062 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -6.2154, 4.9573, 1.3114, -0.0708, 0.0366, 1.0916, -0.1162, 0.1709, 6.3932, 1.7949, -0.0757, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e6a71f8ffa1df9362b29423d86c40b5b2cbcf08b21e35d7a47985d09d5da44b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42e2acaad5775d3e3eb55ec16d3b5c1972a066ee88fa2a80d2629a7dfc826692",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5c4f316e45c4ab3e1467b4ee02c43bd74470465bca1f9c29f402d11e803c99d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LQxxp5gEBPcRM2fk62aKdN",
      "input": {
        "note": "Empty close — the cap is visible just ahead-right of the jaws, so the neck is right under them but lower. Opening and shifting ~1 cm right.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.385,
          "left_y": -0.093,
          "left_z": 0.058
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LQxxp5gEBPcRM2fk62aKdN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4271, 1.5887, 0.5179, 0.4286, -0.4122, -0.3141, 0.995, -0.02, 0.4046, 0.0978, -0.2714, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3773 left_y=-0.09 left_z=0.051 left_yaw=0.0739 left_pitch=-0.0201 left_roll=-0.0054 left_gripper=0.995 right_x=0.2358 right_y=0.0043 right_z=0.0645 right_yaw=0.0169 right_pitch=-0.0066 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -4.7111, 7.9111, 1.6435, -0.3297, 0.0952, -0.2076, 0.0479, 0.1162, 6.8718, 1.7411, -0.0708, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c69e8abaf4e0587395963c1461875fd6cb2c61c55e51d19253e0f216d4f1083b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ecd173d4b66e2df9c6ca554f58f4e72346652bac56ec3dfdf1bb830ddc5cc36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d0cbed1c43ff51778b6f2aaeb1adfcc92570d1d8481fb5c70aafea26d85498a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 4.504 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4034, 1.5764, 0.4755, 0.4908, -0.3817, -0.2878, 0.9964, -0.02, 0.4095, 0.0978, -0.2691, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3747 left_y=-0.0845 left_z=0.0508 left_yaw=0.0585 left_pitch=0.0001 left_roll=-0.014 left_gripper=0.9964 right_x=0.2359 right_y=0.0043 right_z=0.0639 right_yaw=0.0169 right_pitch=-0.0093 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -9.8803, 10.0308, 2.6007, -0.1929, 0.105, -0.0171, -0.212, -0.1846, 6.4205, 1.7509, -0.0464, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4061, 1.5814, 0.4816, 0.5228, -0.4046, -0.2874, 0.0135, -0.02, 0.4046, 0.0978, -0.271, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3802 left_y=-0.0839 left_z=0.0582 left_yaw=0.0746 left_pitch=0.0355 left_roll=-0.0173 left_gripper=0.0135 right_x=0.2359 right_y=0.0043 right_z=0.0646 right_yaw=0.0169 right_pitch=-0.0062 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -6.2154, 4.9573, 1.3114, -0.0708, 0.0366, 1.0916, -0.1162, 0.1709, 6.3932, 1.7949, -0.0757, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4271, 1.5887, 0.5179, 0.4286, -0.4122, -0.3141, 0.995, -0.02, 0.4046, 0.0978, -0.2714, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3773 left_y=-0.09 left_z=0.051 left_yaw=0.0739 left_pitch=-0.0201 left_roll=-0.0054 left_gripper=0.995 right_x=0.2358 right_y=0.0043 right_z=0.0645 right_yaw=0.0169 right_pitch=-0.0066 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -4.7111, 7.9111, 1.6435, -0.3297, 0.0952, -0.2076, 0.0479, 0.1162, 6.8718, 1.7411, -0.0708, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c69e8abaf4e0587395963c1461875fd6cb2c61c55e51d19253e0f216d4f1083b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ecd173d4b66e2df9c6ca554f58f4e72346652bac56ec3dfdf1bb830ddc5cc36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d0cbed1c43ff51778b6f2aaeb1adfcc92570d1d8481fb5c70aafea26d85498a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzQkKEAgSGAI4AUIIdGhpbmtpbmcSDNkUkehZYvKP/yIsKRoMRFT583UHAMwzy2gnIjCIp7di0YjJODn1LRnkwSogZ5rIskCLEcN82BQUUJn3HcsD1CVAX9/eWxFK6FFs7X8q6ghUJOdU62gNgl2x6REKRGIJUyLXI+sA9BuHG14GuIRHforEWK6xqDjvsvoYDclj208+3Bkh3MHFPGLMi75BlASgpj/dV7xQXeYab/ZMzWIfG2QEWxuuUiOLPJq2dVgbejC37uLtv3UV+MHdz7g538uTYHPAzj93JEIx8WAMukiOoI/ttZLrUGf4DGzFQTPi4k4lVzlNzMuVCmzD6D92rihSqhSe8SIgwNNJDZypc4p8rDDL7AHWzafgUhGky8bLPklX9ZMfplB6qvAFGVugxrSTR0+YGEKNeC9uFD/bs6MHjllCwwNgYtjvzdKiSvtZw7w3vk78U9QsMiQtBM/cRwGSURYFKR3pKKK3LRfwtD5MQO9QVfOlxFVumC8XkjAONjuDXK/HkoMmBGhCiT3CFtZITcExAptZE7GP1J34aCUsrlfr8x+WbHCZppc2RsnajGmS4365QaKVIPOD+0dzcZ8GCSem8m3GpIQ4PmSzNqLE1HsoO0Hrtl7/22mKYQeZqCQFTjXaO6OZJCQq25c9OrfWJ9InrlO9fyzJijVcBVKsr6aATko4o3Io8cwrGIZR2AmxMgmUTe44Xt+93eXzuuLiRKxnAPEq21gSox/4KUb2WwxLWSR9gbwtS6955QxVo3Di1mzM06V4IUfJuF/o65rNJP2fXq8DOK09UiLKzYWfQA6FZA+49thI+8RauPOQrMoN/WY6z6xG1mqRXkxp/7vqZjxdg9CHwAmAX1PwsGwwRUNSv9T0oy9t+69je4QSSS3Rp2hvXgNeBc9Gy5luikjM2mBS1FWs7SUglrm4EEnCH3utdTWHMT7iILokjZGBMQs1zo25Lor7933EIx+3/rFYpGgLD09NjY80Dmh77KwFasnpBlZDh1bUvJAIX9akIW7acixgMW2u8wcnZCycMr/9BwSp6c4Cfafsy6u0h5fod7kkvIIX10kBRWKJm6PFZSjpcDhph/oPUsHvutpfxBKtm8jbk3cQmGZIRfKPqPXdiz/IqikAI8jXyYv0hWqFjPCdBvLXMDWMLpSxkqX+0AQwh3nMpfs4hgr5q4vq9YxXR3nKqBhmeuJIOc9XeT7FfRgz8Kc2IYZTB2cS1T5Sj6t4XGKDjmtgDCskAISHdYMpq8fs7NgVtFrYzm9LJ7LbwaCWTTigq1s+E7zrgcWLUlRk6zhKyDatHQpYraj+BNUHH5duNNr4KpPJJ4B1i/jeCU5BTrHkRZu4GjXDk0Dw1glKWkI0TLrefdQGgh3pNOZh8oXr4yWJ9wo0EEZ5JKTXE660ZvJo7EGrMV86vNhYzrFRTISL2sERH5CDjy064olwUMI9qh2mn1sk8Hrw/n7xnXTM2LSDCbT/8W4+58OlTyRSCr1kcibH76sMX5sItwmhgJe4N4wxRre9W9VtkGQxgdgtt7BQj8FaFGIfxIdshq7Tw4yZ4I9Poh2TtiQraxEUWRJYBtW1GJuTfLl3wOFYaoQqyAIqVoHmpuDyDiFJ2N3dQKn5TkYEw1+vZRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XSif13Jtn6Teuy3pVMWmqk",
      "input": {
        "note": "Bottle 1's neck is now centred between the open jaws with the cap just ahead. Descending onto the neck.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.09,
          "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_01XSif13Jtn6Teuy3pVMWmqk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.424, 1.6917, 0.5148, 0.5522, -0.4225, -0.3138, 0.9962, -0.02, 0.4026, 0.0978, -0.2714, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3858 left_y=-0.0907 left_z=0.0358 left_yaw=0.085 left_pitch=-0.0018 left_roll=-0.0083 left_gripper=0.9962 right_x=0.2359 right_y=0.0043 right_z=0.0649 right_yaw=0.0169 right_pitch=-0.0047 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -6.2427, 2.8923, 1.3455, -0.2955, 0.1734, 0.1148, -0.1573, 0.3214, 6.7214, 1.79, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd835c45474ffb890ecd9d11f0795e26fdad2a3c9a733169b104865c0379d763",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d69667ce7e431b399ce99e42a9c859f8d964ab0a5322ac34a6707038d6265de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a5622ba5945361fcee45be0c1bd2fa0b5de16d3f7f1f1417295d9ca7b742577e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 5.7 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4061, 1.5814, 0.4816, 0.5228, -0.4046, -0.2874, 0.0135, -0.02, 0.4046, 0.0978, -0.271, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3802 left_y=-0.0839 left_z=0.0582 left_yaw=0.0746 left_pitch=0.0355 left_roll=-0.0173 left_gripper=0.0135 right_x=0.2359 right_y=0.0043 right_z=0.0646 right_yaw=0.0169 right_pitch=-0.0062 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -6.2154, 4.9573, 1.3114, -0.0708, 0.0366, 1.0916, -0.1162, 0.1709, 6.3932, 1.7949, -0.0757, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4271, 1.5887, 0.5179, 0.4286, -0.4122, -0.3141, 0.995, -0.02, 0.4046, 0.0978, -0.2714, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3773 left_y=-0.09 left_z=0.051 left_yaw=0.0739 left_pitch=-0.0201 left_roll=-0.0054 left_gripper=0.995 right_x=0.2358 right_y=0.0043 right_z=0.0645 right_yaw=0.0169 right_pitch=-0.0066 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -4.7111, 7.9111, 1.6435, -0.3297, 0.0952, -0.2076, 0.0479, 0.1162, 6.8718, 1.7411, -0.0708, -0.0415, -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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.424, 1.6917, 0.5148, 0.5522, -0.4225, -0.3138, 0.9962, -0.02, 0.4026, 0.0978, -0.2714, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3858 left_y=-0.0907 left_z=0.0358 left_yaw=0.085 left_pitch=-0.0018 left_roll=-0.0083 left_gripper=0.9962 right_x=0.2359 right_y=0.0043 right_z=0.0649 right_yaw=0.0169 right_pitch=-0.0047 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -6.2427, 2.8923, 1.3455, -0.2955, 0.1734, 0.1148, -0.1573, 0.3214, 6.7214, 1.79, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd835c45474ffb890ecd9d11f0795e26fdad2a3c9a733169b104865c0379d763",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d69667ce7e431b399ce99e42a9c859f8d964ab0a5322ac34a6707038d6265de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5622ba5945361fcee45be0c1bd2fa0b5de16d3f7f1f1417295d9ca7b742577e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShgkKEAgSGAI4AUIIdGhpbmtpbmcSDDDzbo/XhvvNPz0TzBoMnRBPCX9OeUjJc4y+IjAcUfqAuQ7yXiLYDN2/s3wYGlJQBVZVa/l9Sna19NTBsD057dQkHLcvAsqgAkVi87UqowjRdr/+i1/gdEcjl2JLEEf+JSQHQ8L572XMqWd6qG73OMtpbxkY6Dta8wR4htNMJGDtKcFNtnMkK1bexLQ03LCh5F+5qilJYVwQRwodoDidivRGukUqOdvvqZbMRlleNp9a3+Ge0TMmPXN3nKmRG/m9n9julSXOmthj1AR8JW+5ToLWVTJIGJo5bSrf7ZHYg5GBOrPN13QimwKWz/d2d46OJuPKNqN8GiqpPBIEQijesOWd/ECVIE8NF1FrLFgk9qWE5duCK7XS4g9vfWAyylLizSaPurIxLCe4p1fXQEPMmhVKu3fC6hLRYV4Diuxi7Ck3PLArLccoGgL5s14P7fC4lX0tmGTpsoGetUzoFWqYrwT0rZ+f8F67pf2lFwtj4uMWitIs1d627goEIG0hDp8j8bhxjrZtxyH/Sy82IddshyGDqO8UUs8XTRA5R+mJdSQzasnV7WKlPDnF4OREWxhhBWMTBese5HE6FRVqaTb6r/8O6BMN/DpC5PehXtQbFpJmH8OphuhURl+zPA/PtgyiKJEAnVHQubZN/hoxjoo8mDQuY6MP7aPU9ExWAI95meR+/GaZBpTYZJKUmvgcj2r+v57rt0+qPRMkoG1NA9wOdkdFj331ApuXkO9cLVdcJAW9K4+ptd312AhTRzDM4c+Z4E9+emAfpcqAQRiAKKdIQ8yiMyXxpuOvYLEHrB3doQpZlz0PT05P7YxVkMbSmqoW70ZUzV98s+4gXnnzDZzneHzZPFZM/IRg57k+csjmaEdrQwCsu3s5R8xmMeU8IAX8tCV71KZGIJAFJA5PKisNB5VesAg2jgSLRbXjdrD33yUFhZ8aeb54xafH+JPE++G7h+pXo65F33emA/kG9kwObtRCcTmj0srTXsCE8pmKfQxHichSNYcGtrzC6AJx39ENO+l682PLyGC9JouDxAIlOyqJQ2fGjQmZcd3imOpktQtqR6/8XEsJIpOVUFawl75w3YuY8bYgMAHLnCx0hCpe3gm1E7kaG2aa+iXPxlPfJpDGZjYcAlU0WNVET0wXabTncoWVC7RBncDvLrJvKylFbC0u9r9e4NPzPD1wdXro8cjQIK7g3/FcHrH4OhmbrCwr8PQXeynrvLqjTA0qa+Stf35HbC6DMT2ROIIcSY3Nwg3ELCfOjz3NYHnk0rljG1NvaFK755loFDamzWJ70hleSo8UgYQ2cSfXkb5oNyJHEI+U6JBizJre1kDHEmpQXV6CZmkqD6IEC57Wcz9q9DRnet5MMPEdNIIYZNNhAintIHl0bNvFXWtn+0fq7fTkPRkA3Sy4DTNj1kkA5AG/virgLAAM5PXILhvPW+XPWBviky/IH8wI3j1eyeUF3L3PPR6s3hb3thAKCXfGaECpLR6EET+Ufdm8eBqEx9wwQcsVvkQKL3AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rrz4Hi14JtyCiMV8PFz2Ps",
      "input": {
        "note": "Neck is between the jaws at ~3.5 cm height. Closing on the neck.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Rrz4Hi14JtyCiMV8PFz2Ps",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4248, 1.6863, 0.5194, 0.6319, -0.4568, -0.3145, 0.0126, -0.02, 0.4026, 0.0978, -0.2718, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3969 left_y=-0.0901 left_z=0.0561 left_yaw=0.1146 left_pitch=0.0852 left_roll=-0.0375 left_gripper=0.0126 right_x=0.2359 right_y=0.0043 right_z=0.0649 right_yaw=0.0169 right_pitch=-0.0051 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -6.106, 4.7385, 1.0037, 0.0952, 0.0122, 1.0769, 0.1162, 0.4171, 6.735, 1.7265, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ba6c5452e2510921eae6483cd4df8f07d6262bc3850b42afcd715a661fb1f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75c940cf4618311c538ed8112f0b4fe040a19d51d1dc80628b190517556a9a0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:99b58a74ec2fc3f4a29d7edb5bfa0cf61f5453276f73b8271ce4078e049f9fc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 6.266 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4271, 1.5887, 0.5179, 0.4286, -0.4122, -0.3141, 0.995, -0.02, 0.4046, 0.0978, -0.2714, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3773 left_y=-0.09 left_z=0.051 left_yaw=0.0739 left_pitch=-0.0201 left_roll=-0.0054 left_gripper=0.995 right_x=0.2358 right_y=0.0043 right_z=0.0645 right_yaw=0.0169 right_pitch=-0.0066 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -4.7111, 7.9111, 1.6435, -0.3297, 0.0952, -0.2076, 0.0479, 0.1162, 6.8718, 1.7411, -0.0708, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.424, 1.6917, 0.5148, 0.5522, -0.4225, -0.3138, 0.9962, -0.02, 0.4026, 0.0978, -0.2714, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3858 left_y=-0.0907 left_z=0.0358 left_yaw=0.085 left_pitch=-0.0018 left_roll=-0.0083 left_gripper=0.9962 right_x=0.2359 right_y=0.0043 right_z=0.0649 right_yaw=0.0169 right_pitch=-0.0047 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -6.2427, 2.8923, 1.3455, -0.2955, 0.1734, 0.1148, -0.1573, 0.3214, 6.7214, 1.79, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4248, 1.6863, 0.5194, 0.6319, -0.4568, -0.3145, 0.0126, -0.02, 0.4026, 0.0978, -0.2718, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3969 left_y=-0.0901 left_z=0.0561 left_yaw=0.1146 left_pitch=0.0852 left_roll=-0.0375 left_gripper=0.0126 right_x=0.2359 right_y=0.0043 right_z=0.0649 right_yaw=0.0169 right_pitch=-0.0051 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -6.106, 4.7385, 1.0037, 0.0952, 0.0122, 1.0769, 0.1162, 0.4171, 6.735, 1.7265, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ba6c5452e2510921eae6483cd4df8f07d6262bc3850b42afcd715a661fb1f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75c940cf4618311c538ed8112f0b4fe040a19d51d1dc80628b190517556a9a0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99b58a74ec2fc3f4a29d7edb5bfa0cf61f5453276f73b8271ce4078e049f9fc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShAsKEAgSGAI4AUIIdGhpbmtpbmcSDHasJzyHrQHJ0MOe9RoMPDuMzOyFmmPF7LRFIjA6TaZfcqC27rB9c1FYVbE3xG1HfbZf2W28+omcptBkQNA8w98aKwcqXP5/NAg7MXcqoQrthcdYRfBI2+tBYufDGg5B1jaKjD9PudJYvYCFrLOm25alSNEfW3mFBamLe1quZkrTOnJhCJyXII2oh3aQleFt31clNed1zW72uixsX2FURD8L+7u7d5QCI3EEgHbjt+26PATG6hD85y1xmoXpi+cojuCS8NM2FlZF8Fg5XyVd+oyayLZiqFXVXSNYo1vXlvfTmt8mWdVRC7UXDZRUVl771+nhkp9F9WZtQpBi48vJKiM5IVzkbRg/1WWxEQzKRBPlzqe4Ss/EgQRjguLxVozSiw60GRXEEQvNRIOfJqe32Yy7+zaXx0x76dBoW3MJAtA9hCePONk3xJevVTrzCHZ6elVhW+yn2ZZCoQjQwQJePXI/iyP93MoyW0qZt01jbGrBKYqVlI8aCZkzhD/TotZ6p7gNLtZhVqTU0X46/QkM3Eol1qvpaFhyL/keR86TrCzCGJsUukMS4uSGUtCytac3m2Ak4Jo9HpnXYGr+WjBYKn9+zcX7VjS+3SMg9RhOeHAGcnbUiXXsbRbYcDaGJ+rZsXjHXZqZUY2YUJGd8WF/ssOwmzPmqypjoig7Y7KPmhP12a/Bv9rPU+QSQQuYvp+h0/gvGlzgkYic+8jWbjyhZmwSRDlbAApL6UWihFFYogEqZUOeEagXl40Y6DliY8UzBqsSVo4G5Et6MKxWsG7mg7TfmD/CyMdcyzl1DAHIGnx2dL8dZ60Nh5yCDf9xuq7y3BAa1Q7ptag7BVXprRh6+tiFHdUnECGQQ+u2V9Ad5g/RjniABqJPmswjR97TekWRtote3sf49XK5FApZJ58qrJPsMpjSlcSSU278gycFCgP028dcFKsAlhTgdMyVb+ud26MwjROsKsrxF5L1btLM8ArFwJOIprjENKzSmLvZo++Oac1tQ4AIg9l+QhP2oBhG+JBQ2eLcI/Z4CHRUVpzvA+ETisk1Qtx+QZ3stZ8g0kkxGchyz5uQ5E78Qm2HZxTzR+9/UibP++9rZlRzj9DnkHBJDxn5GHTx1IfEwuiH0VHNoyCeGfg0rn26RSq+LCjDFviBdSq1uenbdjxzhiV9d1gU/1zue4qrtqeiVMBzRQH0EH9lVRAg1yk+d7zpRXo7wXSMzUiEONL/n1aYnhHojTdsO8hpMvcPJj05VLHOKiJjGmVONgEMjK9svWhfh7hl73Xo6AMi2qIfw65JqTSJf6TxwBeQetzcsV/8QqSSkJz4SjkrD3+4a1lzIkruTj8nO3HaA0k8IKaScXmtnZNHlm/4GlKVHZD35DCpdbahL8guDbdmi1gPEEBoBaDTRjkO8Bqs0ggJ3ydUUWYi0nVFX6SopBIN1wUOfJq0aYGNcosASCnd8wnDeaZPMPkBByfcHRM3otOKvbVE115bYl/f3SBv8g5womKBeoDUZKmWJkw5kbeDAORsaSLhz8VjZaQf+/R0zsI4Fmzmzzm4mMrStDTJO7MTVWFsY4oSuI03qjMZYRvEIEIwQqmy/SYzqId7Ce0AMMak4ERZfd0EfRmjhzxX5nNFkDA1uBqUgUKV6cgiK/LL42gUzCLdPy/0I5wXXi6zgeR7thY5mPUR87VgIj1xUZbgx5slx6S8KKBSpblE2123rRN9NSAL6+ja89Yptaz+vQSBcVTnGDUUo2jEzw5Bc9PZug8Oe4Xvljii+DDNMYjTnp2wCu9waHBC53ms3FWCqt5asNKAyQMPCHkcIeqnpZYvkrZ7MWOiVj75D05oly59EleT/8NOUlv6p6z16BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VwPATW6UW64vNwwseq1ta1",
      "input": {
        "note": "Second empty close — the cap sits just right of the jaw column. Opening and shifting ~1.5 cm right.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.39,
          "left_y": -0.105,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VwPATW6UW64vNwwseq1ta1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4778, 1.6714, 0.5789, 0.429, -0.4839, -0.3676, 0.9942, -0.02, 0.4026, 0.0978, -0.2718, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3867 left_y=-0.1037 left_z=0.0454 left_yaw=0.1094 left_pitch=-0.0158 left_roll=-0.0018 left_gripper=0.9942 right_x=0.2359 right_y=0.0042 right_z=0.0649 right_yaw=0.0165 right_pitch=-0.0051 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -6.4205, 6.0376, 1.6337, -0.2418, 0.0513, 0.0904, -0.2256, 0.3214, 6.8171, 1.7265, -0.0562, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a62757dc4e1cabf9bf050ad6f154044a21663f04795a16ef33aac0dc76cf6a25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a74c72b27ab44ed08d95a3efa4770ba71493cafddb27a67cbe35dbdd0f6afe6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a262d293da78ea5a31198c09cc3faccc86e11b188b65cd70f36bdebf60002b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 3.375 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.424, 1.6917, 0.5148, 0.5522, -0.4225, -0.3138, 0.9962, -0.02, 0.4026, 0.0978, -0.2714, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3858 left_y=-0.0907 left_z=0.0358 left_yaw=0.085 left_pitch=-0.0018 left_roll=-0.0083 left_gripper=0.9962 right_x=0.2359 right_y=0.0043 right_z=0.0649 right_yaw=0.0169 right_pitch=-0.0047 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -6.2427, 2.8923, 1.3455, -0.2955, 0.1734, 0.1148, -0.1573, 0.3214, 6.7214, 1.79, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4248, 1.6863, 0.5194, 0.6319, -0.4568, -0.3145, 0.0126, -0.02, 0.4026, 0.0978, -0.2718, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3969 left_y=-0.0901 left_z=0.0561 left_yaw=0.1146 left_pitch=0.0852 left_roll=-0.0375 left_gripper=0.0126 right_x=0.2359 right_y=0.0043 right_z=0.0649 right_yaw=0.0169 right_pitch=-0.0051 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -6.106, 4.7385, 1.0037, 0.0952, 0.0122, 1.0769, 0.1162, 0.4171, 6.735, 1.7265, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4778, 1.6714, 0.5789, 0.429, -0.4839, -0.3676, 0.9942, -0.02, 0.4026, 0.0978, -0.2718, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3867 left_y=-0.1037 left_z=0.0454 left_yaw=0.1094 left_pitch=-0.0158 left_roll=-0.0018 left_gripper=0.9942 right_x=0.2359 right_y=0.0042 right_z=0.0649 right_yaw=0.0165 right_pitch=-0.0051 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -6.4205, 6.0376, 1.6337, -0.2418, 0.0513, 0.0904, -0.2256, 0.3214, 6.8171, 1.7265, -0.0562, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a62757dc4e1cabf9bf050ad6f154044a21663f04795a16ef33aac0dc76cf6a25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a74c72b27ab44ed08d95a3efa4770ba71493cafddb27a67cbe35dbdd0f6afe6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a262d293da78ea5a31198c09cc3faccc86e11b188b65cd70f36bdebf60002b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5AoKEAgSGAI4AUIIdGhpbmtpbmcSDJx5boSldImzmxPJKxoMYHxTsAv+ll0NAbUMIjAJsVlp7SVDL+U2NQnMR5zAo1gf/uukHGIi94ksRkMnyg+Q2FeLKTVQCDaD0YKvL0IqgQq58vm0mrZNtT6sIH8C7hmIGNVO8MWQPW8z0P6iiVPBaZjmwPHIPhvypLU9FjAu2iWs4GO2Mz7tuyxnLyRibjhdjFteT+ZA/NNCatcrNtGD80RVCgzC5niudd0RsVNWN3NwgOkyXRRj7PzgraFMGnA5+/mLMoqwMjqXtUMCLEzqKWxMZFpo/Y5w5od6y1boyfqo23N+eXPHyoA1qxzyXouM79UdxIlGCDnjlnkEEccS1REbTXaSupvJ+SUL88soZpiJnkeTSSg6Glr5h32TyUvvoNKmgTD0Fgl/4MENeZ9CEU/7hO7TVuEYOd53YK5RMnfkYR+qCqi6r77MEOnTzTf6D0XD6dFIiGJfVozSrMOUPwW8WQjI/Eoqb8gH2a+XcEOZ16/NMMPN910gtPAXxe5AdnJ9f0NuPmTF3g/Z7Ne6FyofdugWvk6f6uU8BLyzDznx7ArEB6PcqlSP9HUMyRH0gOyekE+M0F7ftS5z/WDkWUHX8ZiwKZLR8yW9QFkxtZK64LX+hPHNbIAf9loFxE57tiwKOHJ8xhO30zy8WjgrIZcXoEWFJIuITMugjaaC50Km3gshSFUfX1hFu5VxU4Xq4DFFYGQ2aEoKpFC+cS/wuA6MX8SSVn9GXc9mQxnixjL4SZgggxLOFcdF8Dwum3ISLDph8/qEdNMmbqMpzQ+qNzpCla4CKpbom++urhXQQeQVoVhroDtA4bP32p6LI/NbJ0AePZb2ULOurXYjDK06Y3e3POPA0pZJXijFvTKkS8QMk5azOJvfTDynG2UH0v321cl+MaiNifW+wJBkyLgi6Q1QbYnAY3dYt3Odz4VQKDnoNgehfiphbd8qOBi9zGG3PjCoLQeALcLePYgq2UtIWk6VNiwQ5VMqtzKLX3xEvkyKqV/fdsppskkW53nCj6OJvMaY2lgm4bTCKv+LAe9j1xqAKIXcnGSFh082oMPvXfJkFhyDb2EP7yPt/VHbN6qvOPdJCPG9xQxN0fkv0+bips01wYGg2Rp706iNHyqzMdZ7c6UGCxbM0EQqRmwXuf91mHhD6WNd8hBJgz+pFPSOl+AwQzkfXdI55nGBTvvUtp+Eoe2Q8Bh/7t+UyAzgyzoV9pG07j7l3l7dkZYFvW4TyPoqxgyJXLWyt9qf61Cnd78xtoTJwRQqcqygs9fdXtLz9/bG6+QVmzPo62bpEdG9E+d3q7+OrvvxvNkw6+1dT96o0aawGQTsgV1uuYeOHhbIXjTwUSqWUsWCKfhueVwlT7KaJI6hFeJIjvLnAvvWwdSfb5HGe2b0lVCWnkf4ejo1wbJwssCJ3yTcJ4+95JJtyjakR/R0FAfkmRRxlgso731HOCzdZ+I+x1IoF1CpNbakH/a4L0RqQ5B+w9GVtKqDIdtXiuu3X2/IGt0uxi936fc9hFYWAjYkbs6SxSOjKgHuuHDYmZCsmR+K8cBTQ4BSJlUW7LDvbq7oQjLfk07r+D/U9t2fwwZsW4uYuabSRuTPgPs2Yx4iNhfVCc9sL1WbJXgLaJjvZEORirJwTTffX7PBHwyXeFsvCPXZy3maM4EHyyw/gb7w1juADzmpeCL0AMsnzy6afjgawwe/Ci879twwg88Jv2njyWIiRnQu/B7tTUms0LKSO1jOXuFk1fsJVxxiAkbCn6DeLcj+/3reZFRWzrtdiL2sWOofoZYDGYqfyqFOQTIsHkiEwRQ+nK/DHAYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L2t5tWRfdTXFmJChmMPgXf",
      "input": {
        "note": "Cap is centred on the jaw column just ahead; neck lies right in front of the fingertips. Advancing ~2.5 cm and descending to neck height.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.103,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01L2t5tWRfdTXFmJChmMPgXf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4599, 1.7588, 0.6041, 0.4976, -0.4866, -0.3595, 0.9956, -0.02, 0.4007, 0.0978, -0.2718, -0.0307, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3989 left_y=-0.1014 left_z=0.0335 left_yaw=0.1251 left_pitch=-0.0095 left_roll=0.0027 left_gripper=0.9956 right_x=0.236 right_y=0.0043 right_z=0.0653 right_yaw=0.0171 right_pitch=-0.0032 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4444, -7.0222, 5.1761, 1.536, 0.0562, -0.0269, 0.1197, -0.212, 0.5265, 6.7214, 1.746, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b28fea8c371e8ce49ddc4c2062b1c0c287c5fff31ef028fcd1625c4172dd61e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddfff7e012c31a954d3b20955556083b5da22221db38845cad053d82f6883fd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aacaf769bad7f1ae0275655ebbe8bd57a2046509acb15ed3249ce5c09f17202c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 13.88 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4248, 1.6863, 0.5194, 0.6319, -0.4568, -0.3145, 0.0126, -0.02, 0.4026, 0.0978, -0.2718, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3969 left_y=-0.0901 left_z=0.0561 left_yaw=0.1146 left_pitch=0.0852 left_roll=-0.0375 left_gripper=0.0126 right_x=0.2359 right_y=0.0043 right_z=0.0649 right_yaw=0.0169 right_pitch=-0.0051 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -6.106, 4.7385, 1.0037, 0.0952, 0.0122, 1.0769, 0.1162, 0.4171, 6.735, 1.7265, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4778, 1.6714, 0.5789, 0.429, -0.4839, -0.3676, 0.9942, -0.02, 0.4026, 0.0978, -0.2718, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3867 left_y=-0.1037 left_z=0.0454 left_yaw=0.1094 left_pitch=-0.0158 left_roll=-0.0018 left_gripper=0.9942 right_x=0.2359 right_y=0.0042 right_z=0.0649 right_yaw=0.0165 right_pitch=-0.0051 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -6.4205, 6.0376, 1.6337, -0.2418, 0.0513, 0.0904, -0.2256, 0.3214, 6.8171, 1.7265, -0.0562, -0.0513, -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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4599, 1.7588, 0.6041, 0.4976, -0.4866, -0.3595, 0.9956, -0.02, 0.4007, 0.0978, -0.2718, -0.0307, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3989 left_y=-0.1014 left_z=0.0335 left_yaw=0.1251 left_pitch=-0.0095 left_roll=0.0027 left_gripper=0.9956 right_x=0.236 right_y=0.0043 right_z=0.0653 right_yaw=0.0171 right_pitch=-0.0032 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4444, -7.0222, 5.1761, 1.536, 0.0562, -0.0269, 0.1197, -0.212, 0.5265, 6.7214, 1.746, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b28fea8c371e8ce49ddc4c2062b1c0c287c5fff31ef028fcd1625c4172dd61e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddfff7e012c31a954d3b20955556083b5da22221db38845cad053d82f6883fd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aacaf769bad7f1ae0275655ebbe8bd57a2046509acb15ed3249ce5c09f17202c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSgQcKEAgSGAI4AUIIdGhpbmtpbmcSDIuuTk4l5aCLtd3XbhoMCky2Wy57Pdq5oEs9IjBpDysHvPrLU8pukL+kLDuRbc+UcriiqgYtCBFzl7iA3H2ZqJrq93Cnl6QFjnjuMugqngaWQGMmhpRSJlTbv26tLMP6U6eWDsYR1yBtQcer8GUsrThx1I0G/ZacaETCSzEeQviISzw3R9o+17ayAgLSff1Y+/Nwf0VkLlPHFO50C5gSNk45IOAXMt6suo34xFAT0SE9UMz2sGAX9n+5DuYWau4fi4v7jRXG8yDTVjssdSUaN3lDEyo9ckHTP8oGCyLtG2JOrqeT7D/o1QuYxIrxlpgLSA4xFOemC/A/8Nk8J8GI29sIT/W/jFHAoUff0iH2btVo6C0PxjR9H3DYs76nYyQXI+zlmk3oMDNfL7ICWw5OYPjWOz1Wh8Mv7oCS7u3t7/dQc3vDN34MFLdL+0W4ME/2vus7syPcu7fWPgUYKCIUOOIbokcC9uh948ra+x4vsdzW8WlsGaI8u4klVRSWQrOUZC7qs4phH9JuZmDrqp2RoxDS3X2gPId6YLt7Qhk5kCP25NvIJefk/DJHUthZqx3piPOWuq4LJ93d3FsDSplsvF8rHXBCi4dAtG6lRmGzdEX+PUeDhUHbmIiy4S6b8X3btAP4xK/lBxpe5Z+TH7iY1vrpKhTP47rWoEZyr7JpJKkK35v64lpPDV44cMPmJ0pBwFDJJx1ArD1u+YCw7BcB698TDyBbo4Ng0hRz8N2jFjaTPOoXng3qHueZVe+fvshWDpVrbfIxi/k/jwkmoyIeyxgvFFb2VDiO0nrNd08Nx+JcBiG/CiRSREJovhSwswzN28fbMuLDQhB9Q5Xh6lFdgfh9AQq8VENJPJtCF27kApYXoxXdU7P8zdx0JGMO2K6lCffMwKATczWMjwhMTs92djwK8Er2AaJRy4xSq0DWi5Qpv1QYyvbxWibJ+XN2pwLLzRwiDGwvUgGcFR8bu5eqssnG/wGKS9v3PCuBKR+1XlGmBRn7X5/65j7bWHmAvmeVo3111bkJucAAucZDLZEzvabQW/ABxIRyj0a2PsR1jdkSkqT9jza52Y+axdhaF0eB8LtiECitEDCW/NUx9cMfkX3jPCFVSLKoJ59XyhuR0oGrb8BNJ3osmA6TjjKOt9myFQley0eoddmrB1ecDOkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RywUiyiaVdnPeYZ4sEJUCU",
      "input": {
        "note": "Cap is right ahead of the fingertips, neck between the jaws at ~3 cm. Closing on the neck.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RywUiyiaVdnPeYZ4sEJUCU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4576, 1.7573, 0.6136, 0.5884, -0.5137, -0.3637, 0.013, -0.02, 0.4007, 0.0978, -0.2718, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4127 left_y=-0.1025 left_z=0.0554 left_yaw=0.1536 left_pitch=0.0833 left_roll=-0.0456 left_gripper=0.013 right_x=0.236 right_y=0.0042 right_z=0.0653 right_yaw=0.0165 right_pitch=-0.0032 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -6.9538, 3.5897, 1.0379, 0.0952, 0.0611, 1.0916, -0.0479, 0.5265, 6.8581, 1.7949, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:991342db6a351804b6895e9321f0f60c73ad17b975fdbfdc6f8c1b156b0f829e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8866b1d9539021210f858ca397736864dc46b2212e58c2988c69f75bb10c9b4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08f0545bfc94950093f65eb576110ffa1cabc5476ed7d54251e7ae9c226b05cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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