adhoc

completed
2026-09-22T20:02:42.967947+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
305.8 s
total steps
217
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 away from the bases. Moving the left arm over the cap end of the leftmost bottle so I can check its position in the wrist camera.
move_to
left_x0.4500left_y-0.1500left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7937, 0.6086, -0.3767, -0.025, -0.0288, 0.9986, -0.0185, 0.7898, 0.6037, -0.3885, -0.0196, -0.0349, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.0021 left_z=0.1829 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9986 right_x=0.2933 right_y=0.0016 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0004 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.4034, -1.4154, 9.7026, 1.7509, 0.0122, 0.1001, -0.1587, -0.5675, -1.1966, 10.4, 1.8828, 0.0562, 0.1929, -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": 0.45, "left_y": -0.15, "left_z": 0.15, "left_gripper": 1}, "note": "Three bottles lie on their sides, caps pointing away from the bases. Moving the left arm over the cap end of the leftmost bottle so I can check its position in the wrist camera."})
tool
executing move_to over 14 steps (1.4s)
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 noteWrist cam shows the bottle cap slightly left of the jaw column and just ahead. Shifting left ~2.5 cm and lowering toward the neck.
move_to
left_x0.4500left_y-0.1200left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4706, 1.6424, 1.0058, -0.0399, -0.3866, -0.2893, 0.9988, -0.0208, 0.7937, 0.6033, -0.4042, -0.0231, -0.036, 0.9998] state[eef_state]: left_x=0.4364 left_y=-0.1432 left_z=0.1317 left_yaw=-0.0087 left_pitch=-0.0573 left_roll=0.0137 left_gripper=0.9988 right_x=0.2914 right_y=0.0016 right_z=0.1748 right_yaw=0.0014 right_pitch=-0.0202 right_roll=0.0012 right_gripper=0.9998 state[joint_eff]: [-0.2667, -8.0752, 9.1829, 1.8242, -0.3492, 0.105, -0.1343, 0.1436, -1.5385, 7.1726, 1.8828, 0.0171, -0.0562, -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": -0.12, "left_z": 0.1}, "note": "Wrist cam shows the bottle cap slightly left of the jaw column and just ahead. Shifting left ~2.5 cm and lowering toward the neck."})
tool
executing move_to over 3 steps (0.3s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteBottle neck/shoulder now roughly on the jaw column. Descending to neck height to grasp near the cap end.
move_to
left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4061, 1.6932, 0.8902, 0.136, -0.3565, -0.2615, 0.9985, -0.0208, 0.791, 0.588, -0.4034, -0.0231, -0.036, 0.9998] state[eef_state]: left_x=0.4399 left_y=-0.1181 left_z=0.0938 left_yaw=0.0162 left_pitch=-0.0571 left_roll=0.0154 left_gripper=0.9985 right_x=0.2894 right_y=0.0016 right_z=0.1687 right_yaw=0.0014 right_pitch=-0.032 right_roll=0.0015 right_gripper=0.9998 state[joint_eff]: [0.0752, -8.0342, 6.7761, 2.0342, -0.1294, 0.2515, -0.0513, -0.294, -2.2085, 6.8718, 2.0, -0.0122, -0.0513, -0.0122] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03}, "note": "Bottle neck/shoulder now roughly on the jaw column. Descending to neck height to grasp near the cap end."})
tool
executing move_to over 5 steps (0.5s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteJaws are straddling the bottle near its shoulder (descent stopped at ~4.7 cm). Closing to grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4118, 1.8496, 0.7616, 0.5018, -0.3588, -0.2703, 0.9984, -0.0208, 0.7769, 0.556, -0.3965, -0.0231, -0.036, 0.9998] state[eef_state]: left_x=0.444 left_y=-0.1223 left_z=0.0466 left_yaw=0.0163 left_pitch=0.0172 left_roll=-0.0241 left_gripper=0.9984 right_x=0.2853 right_y=0.0017 right_z=0.1593 right_yaw=0.0014 right_pitch=-0.043 right_roll=0.0017 right_gripper=0.9998 state[joint_eff]: [0.1299, -6.3111, 3.7538, 1.2772, -0.1832, 0.1001, -0.0269, -0.294, -1.8667, 6.9949, 1.9853, -0.0024, -0.0562, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Jaws are straddling the bottle near its shoulder (descent stopped at ~4.7 cm). Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteEmpty close – fingers were resting on top of the bottle. The bottle is now centred on the jaw column, so reopen before descending again.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4129, 1.8397, 0.7792, 0.5274, -0.3859, -0.2653, 0.013, -0.0208, 0.7544, 0.5167, -0.3767, -0.0231, -0.036, 0.9998] state[eef_state]: left_x=0.4528 left_y=-0.1219 left_z=0.0634 left_yaw=0.0359 left_pitch=0.0713 left_roll=-0.0293 left_gripper=0.013 right_x=0.2817 right_y=0.0018 right_z=0.1514 right_yaw=0.0014 right_pitch=-0.04 right_roll=0.0017 right_gripper=0.9998 state[joint_eff]: [-0.3487, -7.8154, 5.6, 1.0379, 0.0366, 0.0806, 1.1404, -0.1162, -1.7983, 6.8444, 2.0635, -0.0122, -0.0855, -0.0122] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "Empty close \u2013 fingers were resting on top of the bottle. The bottle is now centred on the jaw column, so reopen before descending again."})
tool
executing move_to over 10 steps (1.0s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteGripper open with the bottle centred between the jaws in the wrist view. Descending so the jaws straddle the bottle.
move_to
left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4126, 1.8378, 0.8314, 0.3664, -0.3824, -0.2695, 0.9945, -0.0208, 0.7319, 0.477, -0.3584, -0.0235, -0.036, 0.9998] state[eef_state]: left_x=0.4485 left_y=-0.1204 left_z=0.0522 left_yaw=0.0347 left_pitch=-0.0258 left_roll=0.0117 left_gripper=0.9945 right_x=0.2778 right_y=0.002 right_z=0.1429 right_yaw=0.0017 right_pitch=-0.0388 right_roll=0.0019 right_gripper=0.9998 state[joint_eff]: [-0.1436, -9.6752, 6.3795, 1.6972, -0.2222, -0.0659, -0.2027, -0.294, -1.3607, 7.0496, 2.0147, -0.0317, -0.0513, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02}, "note": "Gripper open with the bottle centred between the jaws in the wrist view. Descending so the jaws straddle the bottle."})
tool
executing move_to over 3 steps (0.3s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteJaws now straddle the bottle body at ~3.8 cm height. Closing to grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4126, 1.9102, 0.7971, 0.5259, -0.3828, -0.2733, 0.9961, -0.0208, 0.7113, 0.4419, -0.3428, -0.0231, -0.036, 0.9998] state[eef_state]: left_x=0.4538 left_y=-0.1227 left_z=0.0382 left_yaw=0.037 left_pitch=0.0218 left_roll=-0.0142 left_gripper=0.9961 right_x=0.2743 right_y=0.002 right_z=0.1354 right_yaw=0.0014 right_pitch=-0.0377 right_roll=0.0016 right_gripper=0.9998 state[joint_eff]: [-0.1983, -5.9829, 3.4393, 1.0183, -0.1441, 0.0366, 0.149, 0.0205, -1.347, 7.0222, 2.044, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Jaws now straddle the bottle body at ~3.8 cm height. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
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 noteSecond close was empty; the fingers seem to ride on the bottle rather than straddle it. Opening and lifting a bit to reposition.
move_to
left_gripper1.0000left_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4164, 1.8938, 0.8219, 0.5644, -0.4057, -0.2886, 0.0122, -0.0208, 0.6907, 0.4065, -0.3244, -0.0231, -0.036, 0.9998] state[eef_state]: left_x=0.4659 left_y=-0.1259 left_z=0.0631 left_yaw=0.0624 left_pitch=0.0982 left_roll=-0.0527 left_gripper=0.0122 right_x=0.2711 right_y=0.002 right_z=0.1282 right_yaw=0.0014 right_pitch=-0.0343 right_roll=0.0016 right_gripper=0.9998 state[joint_eff]: [0.2256, -8.1709, 5.094, 0.8571, 0.1392, 0.1685, 1.1209, -0.1573, -0.9915, 7.0222, 1.9853, -0.0073, -0.0806, -0.0073] 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_gripper": 1, "left_z": 0.08}, "note": "Second close was empty; the fingers seem to ride on the bottle rather than straddle it. Opening and lifting a bit to reposition."})
tool
executing move_to over 10 steps (1.0s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteBottle still centred between the open jaws; previous descent probably didn't finish. Going lower (z 0.01) so the fingers wrap the bottle near its equator, and re-parking the drifting right arm.
move_to
left_z0.0100right_x0.2900right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4175, 1.8687, 0.9066, 0.2771, -0.4084, -0.2928, 0.9955, -0.0208, 0.6712, 0.3748, -0.313, -0.0235, -0.0357, 0.9998] state[eef_state]: left_x=0.4565 left_y=-0.1219 left_z=0.0509 left_yaw=0.064 left_pitch=-0.0585 left_roll=0.0269 left_gripper=0.9955 right_x=0.2676 right_y=0.0022 right_z=0.121 right_yaw=0.0015 right_pitch=-0.035 right_roll=0.0021 right_gripper=0.9998 state[joint_eff]: [-0.0205, -12.0547, 8.335, 1.6239, -0.2027, -0.0513, -0.1978, -0.212, -1.1419, 7.1453, 1.9658, -0.0122, -0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.01, "right_x": 0.29, "right_y": 0.0, "right_z": 0.18}, "note": "Bottle still centred between the open jaws; previous descent probably didn't finish. Going lower (z 0.01) so the fingers wrap the bottle near its equator, and re-parking the drifting right arm."})
tool
executing move_to over 4 steps (0.4s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe fingers keep stalling ~4 cm up and sliding off the wide body. Moving forward toward the narrow neck just behind the cap, which the jaws can wrap more easily.
move_to
left_x0.5200left_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4244, 1.9533, 0.8421, 0.5602, -0.4122, -0.2962, 0.9967, -0.0269, 0.7616, 0.5407, -0.3969, -0.0303, -0.0444, 0.9998] state[eef_state]: left_x=0.4669 left_y=-0.1294 left_z=0.0427 left_yaw=0.0622 left_pitch=0.0611 left_roll=-0.0363 left_gripper=0.9967 right_x=0.2825 right_y=0.0013 right_z=0.1563 right_yaw=0.0059 right_pitch=-0.0433 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [0.2667, -5.4496, 2.9744, 1.1648, -0.1538, 0.0366, 0.1148, -0.6085, -0.5949, 9.6068, 1.746, -0.0806, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_z": 0.08}, "note": "The fingers keep stalling ~4 cm up and sliding off the wide body. Moving forward toward the narrow neck just behind the cap, which the jaws can wrap more easily."})
tool
executing move_to over 5 steps (0.5s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteCap and neck are now centred just ahead/under the jaws. Descending to wrap the narrow neck.
move_to
left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3702, 1.9823, 1.1252, 0.279, -0.3981, -0.289, 0.9969, -0.0277, 0.7368, 0.495, -0.379, -0.0303, -0.0513, 0.9998] state[eef_state]: left_x=0.5169 left_y=-0.1233 left_z=0.0809 left_yaw=0.1003 left_pitch=0.0337 left_roll=-0.0242 left_gripper=0.9969 right_x=0.2776 right_y=0.0013 right_z=0.1456 right_yaw=0.0089 right_pitch=-0.0463 right_roll=-0.0064 right_gripper=0.9998 state[joint_eff]: [-0.1709, -9.6342, 8.0615, 1.7656, 0.0415, 0.2759, 0.0171, -0.3487, -1.5658, 7.3368, 2.0537, -0.0855, 0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02}, "note": "Cap and neck are now centred just ahead/under the jaws. Descending to wrap the narrow neck."})
tool
executing move_to over 4 steps (0.4s)
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 down around the bottle's neck/shoulder at ~3.5 cm. Closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3668, 2.0987, 1.1095, 0.3782, -0.3962, -0.292, 0.9969, -0.0284, 0.7094, 0.4519, -0.3573, -0.0307, -0.0513, 0.9998] state[eef_state]: left_x=0.5193 left_y=-0.1226 left_z=0.0348 left_yaw=0.1035 left_pitch=0.0039 left_roll=-0.0129 left_gripper=0.9969 right_x=0.2737 right_y=0.0012 right_z=0.1375 right_yaw=0.0085 right_pitch=-0.0402 right_roll=-0.0064 right_gripper=0.9998 state[joint_eff]: [-0.5128, -7.8701, 4.5197, 1.16, -0.1441, 0.0708, -0.0073, -0.6359, -1.347, 6.9675, 2.0391, -0.149, -0.0171, -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}, "note": "Jaws down around the bottle's neck/shoulder at ~3.5 cm. Closing."})
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 noteThird empty close; the gripper gets pushed up as it closes, meaning the jaws are pinching above the bottle's widest point. Reopening to go lower.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3706, 2.0869, 1.121, 0.4637, -0.4347, -0.2913, 0.0131, -0.0284, 0.6849, 0.4126, -0.3397, -0.0307, -0.0517, 0.9998] state[eef_state]: left_x=0.5325 left_y=-0.1233 left_z=0.0635 left_yaw=0.1339 left_pitch=0.1095 left_roll=-0.0452 left_gripper=0.0131 right_x=0.2698 right_y=0.0013 right_z=0.1293 right_yaw=0.0087 right_pitch=-0.0375 right_roll=-0.0068 right_gripper=0.9998 state[joint_eff]: [0.212, -9.853, 5.3675, 0.8327, 0.1978, 0.0611, 1.0867, -0.7043, -0.9368, 7.0769, 2.0, -0.1294, -0.0171, -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_gripper": 1}, "note": "Third empty close; the gripper gets pushed up as it closes, meaning the jaws are pinching above the bottle's widest point. Reopening to go lower."})
tool
executing move_to over 10 steps (1.0s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteBottle neck centred between the open jaws. Pressing down to table level so the fingers close below the bottle's widest point.
move_to
left_z-0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3695, 2.0869, 1.2114, 0.2264, -0.4274, -0.3149, 0.9945, -0.0284, 0.6605, 0.3786, -0.3241, -0.0307, -0.0517, 0.9998] state[eef_state]: left_x=0.5288 left_y=-0.1224 left_z=0.0526 left_yaw=0.1386 left_pitch=-0.021 left_roll=0.002 left_gripper=0.9945 right_x=0.2666 right_y=0.0014 right_z=0.1231 right_yaw=0.0087 right_pitch=-0.0314 right_roll=-0.007 right_gripper=0.9998 state[joint_eff]: [-0.1846, -12.2735, 6.8718, 1.6874, -0.2613, 0.0562, -0.1734, -0.7043, -0.9778, 6.8855, 1.9365, -0.1441, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": -0.02}, "note": "Bottle neck centred between the open jaws. Pressing down to table level so the fingers close below the bottle's widest point."})
tool
executing move_to over 5 steps (0.5s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe gripper palm bottoms out on the bottle at ~4 cm, so the short fingers can only pinch above its widest point and it pops out; the cap is too far out to reach low. Plan: close the jaws and use them as a pad to drag the bottle back toward the base, where I can grab the cap end.
move_to
left_gripper0.0000left_z0.0800left_x0.4800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3855, 2.2063, 1.1797, 0.5411, -0.4412, -0.3172, 0.9961, -0.0284, 0.6403, 0.35, -0.3134, -0.0307, -0.0544, 0.9998] state[eef_state]: left_x=0.5471 left_y=-0.1367 left_z=0.0389 left_yaw=0.1393 left_pitch=0.125 left_roll=-0.0744 left_gripper=0.9961 right_x=0.2636 right_y=0.0015 right_z=0.1172 right_yaw=0.0101 right_pitch=-0.0292 right_roll=-0.0093 right_gripper=0.9998 state[joint_eff]: [0.8274, -5.8051, 3.6581, 0.3736, 0.0904, 0.0464, 0.1441, -0.6769, -0.6359, 7.0085, 1.9512, -0.149, 0.0122, -0.0122] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0, "left_z": 0.08, "left_x": 0.48}, "note": "The gripper palm bottoms out on the bottle at ~4 cm, so the short fingers can only pinch above its widest point and it pops out; the cap is too far out to reach low. Plan: close the jaws and use them as a pad to drag the bottle back toward the base, where I can grab the cap end."})
tool
executing move_to over 10 steps (1.0s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteClosed jaws are above the bottle's label/body. Pressing down on the body to get friction before dragging it back.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4488, 1.9491, 1.0672, 0.2295, -0.4881, -0.3607, 0.0133, -0.0341, 0.6212, 0.3233, -0.3054, -0.0311, -0.0551, 0.9998] state[eef_state]: left_x=0.4874 left_y=-0.1388 left_z=0.0692 left_yaw=0.1323 left_pitch=-0.0045 left_roll=-0.0032 left_gripper=0.0133 right_x=0.2605 right_y=0.0002 right_z=0.1113 right_yaw=0.0051 right_pitch=-0.0288 right_roll=-0.0097 right_gripper=0.9998 state[joint_eff]: [-0.4718, -12.9436, 5.6957, 1.6581, -0.3883, -0.0073, 0.8376, -0.1573, -0.7043, 7.2821, 2.0049, -0.2027, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.035}, "note": "Closed jaws are above the bottle's label/body. Pressing down on the body to get friction before dragging it back."})
tool
executing move_to over 3 steps (0.3s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteJaws are pressing on the bottle body. Dragging it back toward the base so its cap end comes within low reach.
move_to
left_x0.3600left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4564, 2.0098, 1.0424, 0.3225, -0.487, -0.3672, 0.0163, -0.0399, 0.6018, 0.3008, -0.2977, -0.0311, -0.0551, 0.9998] state[eef_state]: left_x=0.4882 left_y=-0.1436 left_z=0.0475 left_yaw=0.1272 left_pitch=0.0015 left_roll=-0.0135 left_gripper=0.0163 right_x=0.2582 right_y=-0.0012 right_z=0.1073 right_yaw=-0.0006 right_pitch=-0.0242 right_roll=-0.0099 right_gripper=0.9998 state[joint_eff]: [0.4718, -8.8547, 4.9026, 1.619, -0.1538, 0.0562, 0.6276, -0.4991, -0.4581, 6.7487, 1.9463, -0.1783, 0.0073, -0.0122] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_z": 0.035}, "note": "Jaws are pressing on the bottle body. Dragging it back toward the base so its cap end comes within low reach."})
tool
executing move_to over 10 steps (1.0s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe drag stalled (arm stayed at x 0.48) while pressing; the bottle has rolled slightly to the left of the jaws. Easing the downforce a bit and retrying a shorter pull back.
move_to
left_x0.4000left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4717, 2.0026, 1.0088, 0.3626, -0.5064, -0.3676, 0.0189, -0.0414, 0.588, 0.2813, -0.2905, -0.0311, -0.0547, 0.9998] state[eef_state]: left_x=0.4823 left_y=-0.1458 left_z=0.0468 left_yaw=0.1278 left_pitch=0.0194 left_roll=-0.0118 left_gripper=0.0189 right_x=0.2563 right_y=-0.0015 right_z=0.1031 right_yaw=-0.0023 right_pitch=-0.0227 right_roll=-0.0097 right_gripper=0.9998 state[joint_eff]: [-0.3077, -11.7675, 4.3556, 1.3162, -0.2369, -0.0464, 0.5592, -0.7453, -0.7043, 6.8034, 1.9023, -0.1636, -0.0073, -0.0073] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_z": 0.05}, "note": "The drag stalled (arm stayed at x 0.48) while pressing; the bottle has rolled slightly to the left of the jaws. Easing the downforce a bit and retrying a shorter pull back."})
tool
executing move_to over 7 steps (0.7s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteDrag failed (bottle didn't slide), but the gripper now sits just right of the bottle's lower half. Lifting, opening, and shifting left ~4 cm to centre over the body for another straddle grasp.
move_to
left_z0.1000left_y-0.1050left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5842, 1.8164, 0.7448, 0.3458, -0.5728, -0.4389, 0.0212, -0.0414, 0.5739, 0.2607, -0.2901, -0.0311, -0.0551, 0.9998] state[eef_state]: left_x=0.4032 left_y=-0.1475 left_z=0.0368 left_yaw=0.1055 left_pitch=-0.0305 left_roll=0.0181 left_gripper=0.0212 right_x=0.2533 right_y=-0.0014 right_z=0.0972 right_yaw=-0.0021 right_pitch=-0.0288 right_roll=-0.0097 right_gripper=0.9998 state[joint_eff]: [-0.5265, -9.9761, 5.4906, 1.5263, -0.442, 0.0464, 0.5641, -0.6632, -0.5265, 7.1043, 1.9365, -0.1685, -0.0464, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.1, "left_y": -0.105, "left_gripper": 1}, "note": "Drag failed (bottle didn't slide), but the gripper now sits just right of the bottle's lower half. Lifting, opening, and shifting left ~4 cm to centre over the body for another straddle grasp."})
tool
executing move_to over 10 steps (1.0s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteWrist view shows the bottle running diagonally with its bottom near the left fingertip; the jaw centre is ~4 cm right of the body. Shifting left and slightly forward to centre the jaws over the lower body.
move_to
left_y-0.0700left_x0.4300left_z0.0900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4656, 1.5917, 0.7151, 0.21, -0.4965, -0.3702, 0.9946, -0.0418, 0.5537, 0.2363, -0.2901, -0.0311, -0.0551, 0.9998] state[eef_state]: left_x=0.4018 left_y=-0.1037 left_z=0.0868 left_yaw=0.1274 left_pitch=-0.0133 left_roll=0.0009 left_gripper=0.9946 right_x=0.2497 right_y=-0.0014 right_z=0.0907 right_yaw=-0.0025 right_pitch=-0.033 right_roll=-0.0096 right_gripper=0.9998 state[joint_eff]: [0.1299, -8.2803, 7.0222, 1.6679, -0.1587, 0.0464, -0.1978, -0.9094, -0.335, 6.8718, 1.9658, -0.1734, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.07, "left_x": 0.43, "left_z": 0.09}, "note": "Wrist view shows the bottle running diagonally with its bottom near the left fingertip; the jaw centre is ~4 cm right of the body. Shifting left and slightly forward to centre the jaws over the lower body."})
tool
executing move_to over 3 steps (0.3s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteBottle body now nearly centred between the open fingertips. Small left correction and descend to table level to straddle the body low.
move_to
left_y-0.0520left_z-0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3424, 1.6257, 0.7162, 0.2325, -0.4278, -0.3176, 0.9961, -0.0463, 0.527, 0.2104, -0.2844, -0.0338, -0.0551, 0.9998] state[eef_state]: left_x=0.4142 left_y=-0.066 left_z=0.0747 left_yaw=0.1679 left_pitch=-0.0451 left_roll=0.0136 left_gripper=0.9961 right_x=0.247 right_y=-0.0019 right_z=0.0862 right_yaw=-0.0049 right_pitch=-0.0264 right_roll=-0.0083 right_gripper=0.9998 state[joint_eff]: [-1.0188, -6.694, 9.0325, 1.9756, 0.0122, 0.1343, 0.1392, -0.5675, -0.0205, 6.7897, 1.9756, -0.105, -0.0269, -0.0122] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.052, "left_z": -0.02}, "note": "Bottle body now nearly centred between the open fingertips. Small left correction and descend to table level to straddle the body low."})
tool
executing move_to over 7 steps (0.7s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe last move produced no motion (readback unchanged at z 0.075). Retrying with a pure descent to 2 cm over the centred bottle body.
move_to
left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.321, 1.6337, 0.7174, 0.2535, -0.3996, -0.2882, 0.9962, -0.0483, 0.5056, 0.1898, -0.2871, -0.0387, -0.0547, 0.9998] state[eef_state]: left_x=0.4185 left_y=-0.0629 left_z=0.0745 left_yaw=0.1505 left_pitch=-0.0414 left_roll=0.0157 left_gripper=0.9962 right_x=0.244 right_y=-0.0013 right_z=0.0811 right_yaw=-0.0028 right_pitch=-0.0282 right_roll=-0.0051 right_gripper=0.9998 state[joint_eff]: [-0.4855, -7.0769, 8.7179, 1.7656, -0.0806, 0.1001, 0.0073, -0.7726, -0.1573, 6.7897, 1.9658, -0.1441, -0.0024, -0.0122] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02}, "note": "The last move produced no motion (readback unchanged at z 0.075). Retrying with a pure descent to 2 cm over the centred bottle body."})
tool
executing move_to over 4 steps (0.4s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteArm is holding at z 0.075 and ignoring descents, possibly resting on the bottle. Trying a descent combined with a small pull-back to break out of it.
move_to
left_z0.0000left_x0.4000left_y-0.0550
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.321, 1.6337, 0.7189, 0.2562, -0.3996, -0.2878, 0.9963, -0.0483, 0.4812, 0.1661, -0.2897, -0.0387, -0.0551, 0.9998] state[eef_state]: left_x=0.4193 left_y=-0.0632 left_z=0.0756 left_yaw=0.1502 left_pitch=-0.0377 left_roll=0.0141 left_gripper=0.9963 right_x=0.2407 right_y=-0.0012 right_z=0.0753 right_yaw=-0.0026 right_pitch=-0.0301 right_roll=-0.0053 right_gripper=0.9998 state[joint_eff]: [-0.4991, -6.8718, 8.3624, 1.7998, -0.022, 0.1197, -0.0024, -0.6222, 0.0479, 6.9402, 1.9609, -0.1245, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.0, "left_x": 0.4, "left_y": -0.055}, "note": "Arm is holding at z 0.075 and ignoring descents, possibly resting on the bottle. Trying a descent combined with a small pull-back to break out of it."})
tool
executing move_to over 5 steps (0.5s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
assistant
agent noteFingertips are now at table level just behind the bottle's base, which fills the jaw gap. Sliding forward at table height so the jaws straddle the lower body below its widest point.
move_to
left_x0.4600left_y-0.0620left_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3161, 1.8477, 0.5236, 0.6678, -0.4049, -0.2901, 0.9964, -0.0483, 0.4503, 0.1444, -0.2897, -0.0391, -0.0555, 0.9998] state[eef_state]: left_x=0.3977 left_y=-0.053 left_z=0.0013 left_yaw=0.1607 left_pitch=-0.0341 left_roll=0.014 left_gripper=0.9964 right_x=0.2385 right_y=-0.001 right_z=0.0721 right_yaw=-0.0021 right_pitch=-0.0209 right_roll=-0.0059 right_gripper=0.9998 state[joint_eff]: [-0.0889, -5.7504, 3.1521, 1.1404, -0.0855, 0.022, -0.0073, -0.4991, 0.1983, 6.6667, 1.9658, -0.1734, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.062, "left_z": 0.0}, "note": "Fingertips are now at table level just behind the bottle's base, which fills the jaw gap. Sliding forward at table height so the jaws straddle the lower body below its widest point."})
tool
executing move_to over 5 steps (0.5s)
step 167
assistant
agent noteThe jaws are now at table level on both sides of the bottle's lower body. Closing to grip it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2871, 2.0006, 0.7231, 0.6884, -0.4034, -0.2874, 0.9964, -0.0483, 0.4309, 0.1299, -0.2905, -0.0387, -0.0578, 0.9998] state[eef_state]: left_x=0.4539 left_y=-0.058 left_z=0.0057 left_yaw=0.1869 left_pitch=0.0252 left_roll=-0.0152 left_gripper=0.9964 right_x=0.237 right_y=-0.001 right_z=0.0696 right_yaw=-0.0012 right_pitch=-0.0168 right_roll=-0.0082 right_gripper=0.9998 state[joint_eff]: [0.3487, -7.5419, 5.9829, 1.4432, 0.0708, 0.1685, -0.0122, -0.5538, 0.1299, 6.735, 1.8388, -0.1343, -0.0073, -0.0122] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The jaws are now at table level on both sides of the bottle's lower body. Closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 177
assistant
agent noteGot a firm grip on the bottle's lower body (gripper reads 0.53 ≈ 5 cm). Dragging the bottle back ~18 cm so its cap end comes within low reach for a cap-end grasp.
move_to
left_x0.2700left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2874, 2.0045, 0.7452, 0.6571, -0.411, -0.2909, 0.5264, -0.0547, 0.4168, 0.1177, -0.2909, -0.0498, -0.0578, 0.9998] state[eef_state]: left_x=0.4569 left_y=-0.0577 left_z=0.0055 left_yaw=0.1944 left_pitch=0.0156 left_roll=-0.0084 left_gripper=0.5264 right_x=0.2357 right_y=-0.0005 right_z=0.067 right_yaw=0.0016 right_pitch=-0.0149 right_roll=-0.0021 right_gripper=0.9998 state[joint_eff]: [-0.1162, -10.3179, 4.2051, 1.3944, -0.1538, -0.0269, 1.033, -0.4308, 0.1299, 6.8444, 1.8242, -0.0952, -0.0073, -0.0122] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.27, "left_z": 0.02}, "note": "Got a firm grip on the bottle's lower body (gripper reads 0.53 \u2248 5 cm). Dragging the bottle back ~18 cm so its cap end comes within low reach for a cap-end grasp."})
tool
executing move_to over 15 steps (1.5s)
step 192
assistant
agent noteBottle is now dragged back so its cap end sits around x≈0.47. Releasing and moving above the neck to grab it there; lifting by the neck should let the base swing down so the bottle ends up upright.
move_to
left_gripper1.0000left_z0.1000left_x0.4400left_y-0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6258, 1.3689, 0.1303, 0.4564, -0.6167, -0.5095, 0.5293, -0.0547, 0.4034, 0.1112, -0.2977, -0.054, -0.0582, 0.9998] state[eef_state]: left_x=0.2692 left_y=-0.0641 left_z=0.0078 left_yaw=0.136 left_pitch=-0.0515 left_roll=0.0199 left_gripper=0.5293 right_x=0.2344 right_y=0.0003 right_z=0.0656 right_yaw=0.0054 right_pitch=-0.0148 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.2393, -3.9316, 5.3402, 2.1026, -0.6862, -0.1441, 0.6178, -0.6222, 0.759, 6.5573, 1.9219, -0.0562, -0.0317, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.1, "left_x": 0.44, "left_y": -0.06}, "note": "Bottle is now dragged back so its cap end sits around x\u22480.47. Releasing and moving above the neck to grab it there; lifting by the neck should let the base swing down so the bottle ends up upright."})
tool
executing move_to over 14 steps (1.4s)
step 206
assistant
agent noteWrist view shows the cap and neck slightly left and just ahead of the fingertips. Shifting ~2 cm forward and ~2 cm left to centre the jaws on the neck.
move_to
left_x0.4500left_y-0.0350left_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2916, 1.6226, 0.7483, 0.2558, -0.3874, -0.2871, 0.9975, -0.0547, 0.3904, 0.0998, -0.2985, -0.0544, -0.0582, 0.9998] state[eef_state]: left_x=0.4295 left_y=-0.0555 left_z=0.0909 left_yaw=0.1689 left_pitch=-0.0052 left_roll=-0.0098 left_gripper=0.9975 right_x=0.2332 right_y=0.0004 right_z=0.0629 right_yaw=0.0057 right_pitch=-0.014 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.4991, -6.6393, 8.3487, 1.7656, 0.0513, 0.3687, -0.0171, -0.2393, 0.2393, 6.9812, 1.8046, -0.1001, -0.022, -0.0122] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.035, "left_z": 0.08}, "note": "Wrist view shows the cap and neck slightly left and just ahead of the fingertips. Shifting ~2 cm forward and ~2 cm left to centre the jaws on the neck."})
tool
executing move_to over 2 steps (0.2s)
step 208
assistant
agent noteNeck still ~2 cm left of the jaw centre and just ahead. Correcting and descending in one move so the jaws straddle the neck low.
move_to
left_x0.4550left_y-0.0220left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2481, 1.6691, 0.7734, 0.2779, -0.3546, -0.268, 0.9976, -0.0544, 0.3817, 0.0959, -0.2981, -0.0536, -0.0582, 0.9998] state[eef_state]: left_x=0.4407 left_y=-0.0447 left_z=0.0846 left_yaw=0.1753 left_pitch=-0.0127 left_roll=-0.0113 left_gripper=0.9976 right_x=0.2331 right_y=0.0004 right_z=0.0631 right_yaw=0.0054 right_pitch=-0.0087 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [0.8137, -6.3795, 6.7624, 1.5604, 0.022, 0.0073, -0.0073, -0.1436, 0.4991, 6.6256, 1.7705, -0.022, -0.0611, -0.0073] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.455, "left_y": -0.022, "left_z": 0.02}, "note": "Neck still ~2 cm left of the jaw centre and just ahead. Correcting and descending in one move so the jaws straddle the neck low."})
tool
executing move_to over 5 steps (0.5s)
step 213
assistant
agent noteCap is now centred but the descent stalled at 7 cm with the fingertips over the shoulder. Advancing ~2.5 cm so the jaws sit over the neck, and descending again.
move_to
left_x0.4700left_y-0.0280left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2096, 1.7149, 0.7734, 0.3096, -0.3439, -0.2577, 0.9976, -0.0547, 0.3782, 0.094, -0.2981, -0.054, -0.0582, 0.9998] state[eef_state]: left_x=0.445 left_y=-0.0301 left_z=0.071 left_yaw=0.1997 left_pitch=-0.0281 left_roll=-0.0027 left_gripper=0.9976 right_x=0.233 right_y=0.0004 right_z=0.063 right_yaw=0.0054 right_pitch=-0.0072 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.2667, -8.4034, 6.4615, 1.8535, -0.0464, 0.2076, -0.0122, -0.1162, 0.1162, 6.6393, 1.79, -0.0904, -0.0464, -0.0122] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.028, "left_z": 0.03}, "note": "Cap is now centred but the descent stalled at 7 cm with the fingertips over the shoulder. Advancing ~2.5 cm so the jaws sit over the neck, and descending again."})
tool
executing move_to over 3 steps (0.3s)
step 216
assistant
agent noteI ran out of call budget and didn't stand up any of the three bottles. On the first (left) bottle, four grasps from above came up empty: the descent kept stopping at about 4–7 cm, above the bottle's widest point, and each time the closing jaws squeezed the bottle out. A low side-on grasp (sliding in at table height from behind the bottle's base) did hold, and I used it to drag the bottle about 18 cm back so its cap came within reach. My follow-up grasp on the neck failed because the arm stopped responding at x≈0.445, z≈0.07. With 5 calls left, I couldn't flip even one bottle, let alone three.
give_up
hindsight- The bottles (about 6.5 cm across, about 20 cm long, empty plastic) lie with caps pointing forward. The cap ends start at x≈0.55–0.62, which is past the x≈0.49 limit for reaching the table, so plan to drag each bottle back first. - Grasping a lying bottle from above fails. The descent stops at z≈0.035–0.07, above the bottle's widest point. Closing then squeezes the bottle out and pushes the gripper up about 2.5 cm, and the gripper reads ≈0.013 (empty). - What worked: open the jaws, go to z≈0 just behind the bottle's base (e.g. x 0.40), then slide forward at z=0 so the jaws straddle the lower body, and close. The reading was 0.53, a firm grip, and the bottle could then be dragged back along the table. - Pressing on the bottle with closed jaws to drag it by friction doesn't work: the arm stalls and the bottle rolls sideways. - The left arm repeatedly stops responding to any target near x≈0.42–0.45, z≈0.07 (the readback doesn't change). It worked again after a move that lowered z to 0 and pulled x back by a few cm together. - Short moves (2–5 steps) often don't finish, so check the readback. - In the left wrist camera at pitch 0, the fingertips show at the bottom corners around row 190; the gap between them (about 140 px) is 9.5 cm. - The idle right arm drifts down about 1 cm per few calls. - Budget: to right a bottle, drag it back with a low grasp, then grasp at the neck and lift so the base swings down. That takes about 10 calls per bottle, so three bottles in 40 calls leaves no room for the calibration I spent early on.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2096, 1.7149, 0.7734, 0.3099, -0.3439, -0.2577, 0.9976, -0.0547, 0.3775, 0.094, -0.2981, -0.0544, -0.0582, 0.9998] state[eef_state]: left_x=0.445 left_y=-0.0301 left_z=0.0711 left_yaw=0.1997 left_pitch=-0.0278 left_roll=-0.0028 left_gripper=0.9976 right_x=0.2331 right_y=0.0004 right_z=0.0632 right_yaw=0.0057 right_pitch=-0.0064 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.2393, -8.3897, 6.2974, 1.8339, -0.0366, 0.2271, -0.0122, -0.1983, 0.1026, 6.5573, 1.7705, -0.0806, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I ran out of call budget and didn't stand up any of the three bottles. On the first (left) bottle, four grasps from above came up empty: the descent kept stopping at about 4\u20137 cm, above the bottle's widest point, and each time the closing jaws squeezed the bottle out. A low side-on grasp (sliding in at table height from behind the bottle's base) did hold, and I used it to drag the bottle about 18 cm back so its cap came within reach. My follow-up grasp on the neck failed because the arm stopped responding at x\u22480.445, z\u22480.07. With 5 calls left, I couldn't flip even one bottle, let alone three.", "hindsight": "- The bottles (about 6.5 cm across, about 20 cm long, empty plastic) lie with caps pointing forward. The cap ends start at x\u22480.55\u20130.62, which is past the x\u22480.49 limit for reaching the table, so plan to drag each bottle back first.\n- Grasping a lying bottle from above fails. The descent stops at z\u22480.035\u20130.07, above the bottle's widest point. Closing then squeezes the bottle out and pushes the gripper up about 2.5 cm, and the gripper reads \u22480.013 (empty).\n- What worked: open the jaws, go to z\u22480 just behind the bottle's base (e.g. x 0.40), then slide forward at z=0 so the jaws straddle the lower body, and close. The reading was 0.53, a firm grip, and the bottle could then be dragged back along the table.\n- Pressing on the bottle with closed jaws to drag it by friction doesn't work: the arm stalls and the bottle rolls sideways.\n- The left arm repeatedly stops responding to any target near x\u22480.42\u20130.45, z\u22480.07 (the readback doesn't change). It worked again after a move that lowered z to 0 and pulled x back by a few cm together.\n- Short moves (2\u20135 steps) often don't finish, so check the readback.\n- In the left wrist camera at pitch 0, the fingertips show at the bottom corners around row 190; the gap between them (about 140 px) is 9.5 cm.\n- The idle right arm drifts down about 1 cm per few calls.\n- Budget: to right a bottle, drag it back with a low grasp, then grasp at the neck and lift so the base swings down. That takes about 10 calls per bottle, so three bottles in 40 calls leaves no room for the calibration I spent early on."})
tool
give_up: I ran out of call budget and didn't stand up any of the three bottles. On the first (left) bottle, four grasps from above came up empty: the descent kept stopping at about 4–7 cm, above the bottle's widest point, and each time the closing jaws squeezed the bottle out. A low side-on grasp (sliding in at table height from behind the bottle's base) did hold, and I used it to drag the bottle about 18 cm back so its cap came within reach. My follow-up grasp on the neck failed because the arm stopped responding at x≈0.445, z≈0.07. With 5 calls left, I couldn't flip even one bottle, let alone three.
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 · 29.88 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6086, -0.3767, -0.025, -0.0288, 0.9986, -0.0185, 0.7898, 0.6037, -0.3885, -0.0196, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0021 left_z=0.1829 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9986 right_x=0.2933 right_y=0.0016 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0004 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.4154, 9.7026, 1.7509, 0.0122, 0.1001, -0.1587, -0.5675, -1.1966, 10.4, 1.8828, 0.0562, 0.1929, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:610a9d5f04198f909b496a21f07db436ef61a54a4e7a8acd03ca9101adc551e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ea1178fc20da7ac12acd1f46002fb95b60c90f0818f538f49707dab1b27df14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:568f62e4f7fc8404df009dd0224e62afbc83484ff00f3758c79d48ab1e136d71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 7.676 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6086, -0.3767, -0.025, -0.0288, 0.9986, -0.0185, 0.7898, 0.6037, -0.3885, -0.0196, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0021 left_z=0.1829 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9986 right_x=0.2933 right_y=0.0016 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0004 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.4154, 9.7026, 1.7509, 0.0122, 0.1001, -0.1587, -0.5675, -1.1966, 10.4, 1.8828, 0.0562, 0.1929, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:610a9d5f04198f909b496a21f07db436ef61a54a4e7a8acd03ca9101adc551e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ea1178fc20da7ac12acd1f46002fb95b60c90f0818f538f49707dab1b27df14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:568f62e4f7fc8404df009dd0224e62afbc83484ff00f3758c79d48ab1e136d71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gr1DurT3FqoQziwHzrCPVN",
      "input": {
        "note": "Three bottles lie on their sides, caps pointing away from the bases. Moving the left arm over the cap end of the leftmost bottle so I can check its position in the wrist camera.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.45,
          "left_y": -0.15,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01Gr1DurT3FqoQziwHzrCPVN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4706, 1.6424, 1.0058, -0.0399, -0.3866, -0.2893, 0.9988, -0.0208, 0.7937, 0.6033, -0.4042, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4364 left_y=-0.1432 left_z=0.1317 left_yaw=-0.0087 left_pitch=-0.0573 left_roll=0.0137 left_gripper=0.9988 right_x=0.2914 right_y=0.0016 right_z=0.1748 right_yaw=0.0014 right_pitch=-0.0202 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -8.0752, 9.1829, 1.8242, -0.3492, 0.105, -0.1343, 0.1436, -1.5385, 7.1726, 1.8828, 0.0171, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65b45725c4852119568212a5fcdf1d72da18534ffe4ba1a65fd3c2bf1a316911",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eecb48ea111092d2e190fcdf74af2c02ef201a32c430821279e25bba4442c2bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40341fc400c94695bf573025e4aee08774ffb654c67e834b1ccb0f8d7c323e09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.305 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6086, -0.3767, -0.025, -0.0288, 0.9986, -0.0185, 0.7898, 0.6037, -0.3885, -0.0196, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0021 left_z=0.1829 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9986 right_x=0.2933 right_y=0.0016 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0004 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.4154, 9.7026, 1.7509, 0.0122, 0.1001, -0.1587, -0.5675, -1.1966, 10.4, 1.8828, 0.0562, 0.1929, -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]: [-0.4706, 1.6424, 1.0058, -0.0399, -0.3866, -0.2893, 0.9988, -0.0208, 0.7937, 0.6033, -0.4042, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4364 left_y=-0.1432 left_z=0.1317 left_yaw=-0.0087 left_pitch=-0.0573 left_roll=0.0137 left_gripper=0.9988 right_x=0.2914 right_y=0.0016 right_z=0.1748 right_yaw=0.0014 right_pitch=-0.0202 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -8.0752, 9.1829, 1.8242, -0.3492, 0.105, -0.1343, 0.1436, -1.5385, 7.1726, 1.8828, 0.0171, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65b45725c4852119568212a5fcdf1d72da18534ffe4ba1a65fd3c2bf1a316911",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eecb48ea111092d2e190fcdf74af2c02ef201a32c430821279e25bba4442c2bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40341fc400c94695bf573025e4aee08774ffb654c67e834b1ccb0f8d7c323e09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwAsKEAgSGAI4AUIIdGhpbmtpbmcSDCa7Y4Kqyhe9khSCOxoMIt5Vj6FwIdAokGAbIjC9QcBrR2xzIl3pqO4TBY/+uAjZGQtK3u89LwSro/x4Op/BOrcjAg0sBPN4/HKluxcq3QrYAWYIBKnsWoTMVEuPS8kz/af/U7QmAnEF/4Mo4OgpfrEb6QC/WaOBwWgXUt859m7oQLTQ4CI6xyHZSaVuNappXG59E/IO0xTKGddf6ghE01t8MElTiRlGWM2eYBSFpPauekZMwCCG33gFz2dmzbOzUQrhLZAzGXcIuxPKjRDlm/1puNel2EPdG13sZ4BpIClBBbocugcl3plzSgsdX6/fRfdAJt8TOjumnOyMFDNAiKYLdrFxEU0/aODI1lDZWoEo5ehgKz5rXIyZCOTFBcAMJEQyo3QFndjZ7IRauszDD4yiVRXCJ+s/rwTfW22av62gXmRBr9YnyGL4hUol5rU5CRLmskCPTlqwUf2f7ztWczh81TdA/Q3BF151uD3APlDf1tGOVnYnlary3qxRxmFvpukmhdrITSXUkeI7bpXizhR5otly8d5C+ndty45Y2t46wSdDS09Y3Y+lzkcu1pOQFgB1wW9FphIJ7DhQZ0CXdRjA8nRXztz3EM9NTmUQdTD6G8PIZgablgdkT9fBbQ1sOkEGeQ77DsvS8Ya8sitxh/wqf99S6E59flaDkk3dhbIJqC/MTJKO7nWkv6IL49WlWapq2OaI7+XyTAdJUahIJjrznCWo5KiumCxd2WKuRf0XPiEMPn9WauIHshzCv2nzmbCS7CD4UA7gaKwon2fUhAQsVeHzkgTV3BsF8JwAXxpOEUD17BPqQvwQdes0QqD6dvwC/fV6mqcGl67AXZWcvi9+C5eqyZ+AW2wskGJ/RHPnEiEEktS7nfz27RtswxZk8yB+2sT3vTRRGyZWcSklL3eCCyYrX9h+C6rmiax36k8Bnl3zj1x3aoRm1qCEhMckmgCyy5A45GDxPrre7oRFarMwinu51JS0sq5AnApVvEmtyinc/vuEWJyJA8u5wdYjI4jdSi8LE6Hqu5lZJyhV8KML/V52dBKV/Zch9aLs0O8WEXWvV8ezOj/GRZVM6dq7FnD4vz/fQk88qrL/J9v9cbnvzcVE5XKNoPYtCpXwHHQPOoyMG2JeAom3J8/6RLON5yu2r/iW6bWTBUUyBtydQKZYDecwkQE9gX4MxczUO01+WgHAvzC7sRUyELqBSjTxl2Dk6JL8TfsGY9DDNQGBBFyONDl40qMEGwCV02WP5Mrf42SbZGkqBcoSlHJBDLI98jBuxJ4alDusbdPAHyeGasRkWciM0pk/rKiABebXPT9T54xXmSwAzE1IRX4Mg+hka7bkDMM2gWaBqFa4sGmDM/JtBmTWHyBMTuIkWUMHyG2vvCwzjyU3F63TQXb6gMVEScEFBP/ifCbOSCwCb2tXAB/Y+k6gmyK/m+l66iGBGt3s4tkL5cIS6Hq0yPYZgATvcnhA4xG+nv+jKuxmRpF4w+V3cQYLFUHh4vxCGGRMUMxkff9ov/kV9Y26jWs2+gUKUriJ2AaSGQvQYimDF9IMD7LsnVF7zmfqfMOx2+l5HP7HBJj7jTFIXqz+sqkzclmBmo+JKpSKWhgkZgoVK/MpnUcq+7xO98H/jktGc5iGk/N0d6UCueXv+hQ4Dkyodz4mjkeZVH36FZ5gPuLdmTseKdCp9yAZwO8RT/TX3T/MTCch9dBqiUJRGDC7yyHrfJaBcWcI8JqLrCm0jVpcX05/NlXeYmpWkzYRi6RFAxFTws8mmXIH02z2O5h/mCLEeBrQQPr2sivaDSK/jWM4vHe78WGQSnSuA5CO7vSo72yrL/c2mY0W9WDptiezQMCKILsKiJ+xfX/wfO/QjqVM3FCs1D/Ytuj7aA2pB6zZ6yR42nXX6ZkMgmnuKnIuL/6JodJRp/ZTrdxIahOuKlejNxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0195i1sZSAY9jUpjv7n7pcB9",
      "input": {
        "note": "Wrist cam shows the bottle cap slightly left of the jaw column and just ahead. Shifting left ~2.5 cm and lowering toward the neck.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.12,
          "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_0195i1sZSAY9jUpjv7n7pcB9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4061, 1.6932, 0.8902, 0.136, -0.3565, -0.2615, 0.9985, -0.0208, 0.791, 0.588, -0.4034, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4399 left_y=-0.1181 left_z=0.0938 left_yaw=0.0162 left_pitch=-0.0571 left_roll=0.0154 left_gripper=0.9985 right_x=0.2894 right_y=0.0016 right_z=0.1687 right_yaw=0.0014 right_pitch=-0.032 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -8.0342, 6.7761, 2.0342, -0.1294, 0.2515, -0.0513, -0.294, -2.2085, 6.8718, 2.0, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08702548e3b5824cc97c0038e98248a397eaec9d39f2d2065e117003356537be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d06f295cf962057eade5f9a9e7674f7820c12fc7a1b5b9fd27956ecef13ca38a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:de97e6fba30213df0c80d96707bc549274f02068c4b26f5005e7c06927733df2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 5.945 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6086, -0.3767, -0.025, -0.0288, 0.9986, -0.0185, 0.7898, 0.6037, -0.3885, -0.0196, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0021 left_z=0.1829 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9986 right_x=0.2933 right_y=0.0016 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0004 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.4154, 9.7026, 1.7509, 0.0122, 0.1001, -0.1587, -0.5675, -1.1966, 10.4, 1.8828, 0.0562, 0.1929, -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]: [-0.4706, 1.6424, 1.0058, -0.0399, -0.3866, -0.2893, 0.9988, -0.0208, 0.7937, 0.6033, -0.4042, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4364 left_y=-0.1432 left_z=0.1317 left_yaw=-0.0087 left_pitch=-0.0573 left_roll=0.0137 left_gripper=0.9988 right_x=0.2914 right_y=0.0016 right_z=0.1748 right_yaw=0.0014 right_pitch=-0.0202 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -8.0752, 9.1829, 1.8242, -0.3492, 0.105, -0.1343, 0.1436, -1.5385, 7.1726, 1.8828, 0.0171, -0.0562, -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]: [-0.4061, 1.6932, 0.8902, 0.136, -0.3565, -0.2615, 0.9985, -0.0208, 0.791, 0.588, -0.4034, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4399 left_y=-0.1181 left_z=0.0938 left_yaw=0.0162 left_pitch=-0.0571 left_roll=0.0154 left_gripper=0.9985 right_x=0.2894 right_y=0.0016 right_z=0.1687 right_yaw=0.0014 right_pitch=-0.032 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -8.0342, 6.7761, 2.0342, -0.1294, 0.2515, -0.0513, -0.294, -2.2085, 6.8718, 2.0, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08702548e3b5824cc97c0038e98248a397eaec9d39f2d2065e117003356537be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d06f295cf962057eade5f9a9e7674f7820c12fc7a1b5b9fd27956ecef13ca38a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de97e6fba30213df0c80d96707bc549274f02068c4b26f5005e7c06927733df2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0QcKEAgSGAI4AUIIdGhpbmtpbmcSDHlhZzfh+dTRlCgNchoMtSKRfOOdmOA6ut+DIjDpSYjTQQ+Z918LiDb2e5ksxjPXRr865e4VRr1O/Q/qmUYZ61qEjdWSR4u71G7aJGYq7gYUSUx7du6JoLyR12UVT9ittPx952+UjUghfd8prTdSSFIiADdTeVXuCQcYVADVz2gquV3muehUVvPjlU58lTVDQOwMbTgtnY23KeLyLeg+3xEYxbZl8RVvxf/MxoSgvl406ACfOmUIBy+wuCdGOLYBXWXw95dOgAfjsHC5Wk5AR1lHejvDqJJBcIN1x75w0pBzDdhVEaSM6/b0VDrUH0dsGiZ7GnYz1tQbsI3BzzA014iOfG3o5eslTUiHY63TXMnGNMpQsUo5FAXzBuWmeJstZbwgIQ0e77jm4o7coWurl0QIA8LDoS0Bmxsrgpo+tOL78trxbhZtHkPI/rCmOjrZtdRVx/jgZ2W7dyO2n1JqEOkv94oh2QFslfe30MS2Ep9NHqqO6iiQpaCxDH5cISQUbSUJ9kqeZkkewZJkZflihqmyQ7okLb9KfV84FvzbiyYRUzQdWq4ery9MkL7VJQHktB2gAVgTovf0cmXcmyjIFxbx7ouHn8iPlIAzGmT9RK2n+ET4QA6eXY5NuQ3NlxLHLGDaG5b+VJUtSGVK2ZozuSQhXCtS5hpxkBXwU0+tjEIppqIXMFHS6X5tiRuq3GrKDNgLDA2+0PtEFLcMvIty0wT9jK/1qZ2vFuah+nQ0Kclg6BzIPl6W4uUNI3gSlJOHVYOC8iu3+cZX2+sj45Z6iDlZGVJik7SZIi7aWpQgyfsBHcL2+Q4zjvI7/5+at9YB0txPNhvmuHH4urx/dl6x5Zui4IWEBoIpZ/STD1gkf+L1Z7oQ9M4A0VIm1ZcWX9e4fcGB8wcqgDCubhrtsWf06hLtWsumNLKvkCcSyMAU1/v+9Y4frCfgXW54YSW5jnuaB7IGXwiXOR1mcfxB+eVICz6fL1+GGQHEWgqSl4YcG7+pOaho/Ch2w9S4A4aQgbLM7AxLqQBOe4B8Wl4KFbsZrraEtKx0mmvCDzyQPqsJ4znBm0jLlrPAgmHRk0u9v+qmtRHbJuIKj0/usQVbKIKmXibYFEB70GNMYR3w4IcK7ipG93XPvyQERp7kd6sNXgdumzdwCG+p7i6Yp5pShlUanwQfBOfJNMLLcnKAJxy0945OD2rVv3hYN/wQ2yjRlrci3I/SRYw7jxDkVpC5ocwC0ltxMpckLv965rhsA6pyEWiYAVrudmn5v/fdmR7VqxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0154Zo8kwAyx8Jn395ACrkaG",
      "input": {
        "note": "Bottle neck/shoulder now roughly on the jaw column. Descending to neck height to grasp near the cap end.",
        "targets": {
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0154Zo8kwAyx8Jn395ACrkaG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4118, 1.8496, 0.7616, 0.5018, -0.3588, -0.2703, 0.9984, -0.0208, 0.7769, 0.556, -0.3965, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.444 left_y=-0.1223 left_z=0.0466 left_yaw=0.0163 left_pitch=0.0172 left_roll=-0.0241 left_gripper=0.9984 right_x=0.2853 right_y=0.0017 right_z=0.1593 right_yaw=0.0014 right_pitch=-0.043 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -6.3111, 3.7538, 1.2772, -0.1832, 0.1001, -0.0269, -0.294, -1.8667, 6.9949, 1.9853, -0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd00db900827bc0b6eda712b5fbf86f5a6ce0bec03ed421bf93b888b30e8a8c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47cf08e6aa0ccc0e6e20e8ae7b0918cbfdf83cc6acf0b2c48c55da1469f8c09c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9936f6d9eb21b81c8b674f85d54d50a4df9dbf5705bf6a0e9934136e92ba977d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 7.478 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]: [-0.4706, 1.6424, 1.0058, -0.0399, -0.3866, -0.2893, 0.9988, -0.0208, 0.7937, 0.6033, -0.4042, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4364 left_y=-0.1432 left_z=0.1317 left_yaw=-0.0087 left_pitch=-0.0573 left_roll=0.0137 left_gripper=0.9988 right_x=0.2914 right_y=0.0016 right_z=0.1748 right_yaw=0.0014 right_pitch=-0.0202 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -8.0752, 9.1829, 1.8242, -0.3492, 0.105, -0.1343, 0.1436, -1.5385, 7.1726, 1.8828, 0.0171, -0.0562, -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]: [-0.4061, 1.6932, 0.8902, 0.136, -0.3565, -0.2615, 0.9985, -0.0208, 0.791, 0.588, -0.4034, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4399 left_y=-0.1181 left_z=0.0938 left_yaw=0.0162 left_pitch=-0.0571 left_roll=0.0154 left_gripper=0.9985 right_x=0.2894 right_y=0.0016 right_z=0.1687 right_yaw=0.0014 right_pitch=-0.032 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -8.0342, 6.7761, 2.0342, -0.1294, 0.2515, -0.0513, -0.294, -2.2085, 6.8718, 2.0, -0.0122, -0.0513, -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]: [-0.4118, 1.8496, 0.7616, 0.5018, -0.3588, -0.2703, 0.9984, -0.0208, 0.7769, 0.556, -0.3965, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.444 left_y=-0.1223 left_z=0.0466 left_yaw=0.0163 left_pitch=0.0172 left_roll=-0.0241 left_gripper=0.9984 right_x=0.2853 right_y=0.0017 right_z=0.1593 right_yaw=0.0014 right_pitch=-0.043 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -6.3111, 3.7538, 1.2772, -0.1832, 0.1001, -0.0269, -0.294, -1.8667, 6.9949, 1.9853, -0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd00db900827bc0b6eda712b5fbf86f5a6ce0bec03ed421bf93b888b30e8a8c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47cf08e6aa0ccc0e6e20e8ae7b0918cbfdf83cc6acf0b2c48c55da1469f8c09c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9936f6d9eb21b81c8b674f85d54d50a4df9dbf5705bf6a0e9934136e92ba977d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0wgKEAgSGAI4AUIIdGhpbmtpbmcSDPNJR4PRYK8LWNBvthoMhnNMj8lLXfLrqo3mIjDqR8QOrAUDQxlZRen4PvHqgGecXx85HmjQrO8B/9qh5RSV4Xqb5ZDMiUfQY5L7980q8AcI1i5x9jkUHrPd2lqmO4bs9WbOu9SwOlXP7SZltPErwYw1FzTuxz+jvoO0geQaeWxwUcFDhYtq1yVBdVP98p8vrOVGmTYCsT6qCRECvdeZjpJOpDkIQgMscaAjCTn9bA36migXyDIpipjS2iDBPm+ZiK1G4Iprbgbex9pAzFkc+3Tm8QbF4REsGDwelX9OF0Hx/KtUjfus4rYcYAzIH1xrF6fGRlBv/d+xF8CJWMGsUJ8nw8LApi9WA7s9X5IFfCrH72fgow/qP6RvrXFQP5PUtfk2JhDaqTHpPsAzVFwF+35wf6dppR7Iz8TOGgwAsJ4xZeAwH1sxLLlLlVelBlOivPmlf0/5kO+kFEwVX2EIBqzg+7SwTmeDaqt1O+ZgnkAPs2105fOzl/ZHu/a/qhGThL/EN4yRmYXxnEbwae5Vfib98csXuCiemxjCzQxy42T1QO1g6q8ikWQuCkFecmVlHIqZNlam8fmoP6FQYb8yfHBFUGBTuL1Sgvw9XZZ89BMENyL+LnlA4lYFfLsr6VM06Cf3cXjNsV1nvkKvmQkQ3qv6Lcaqsyhi9XtleDbn8BKZByTTWWF1wNEvJMwElws1jintwm/2bfEhQKbrsPEMfba6JHJm7ypwo8mqpQcrzD3VMcxcqxkUuhEoRDSWZl4Jk9KWzsTV1c8N2GTNx3NoqmMgr0yS72yVScbofpl/NjxyTYBb08RcZbjQPVvNUDcu1qiTY9ac7kn05Pyhg/9Op9wtQl3bYIk60182hDqhXaq8FOwKPNmlWeslzprA6tcwdHkYktt+vnenHJ6km8c12nbY7mDXt6WJPhafQmrA2x86oRjyoNHyBtxNO9ViWqYxy9CazZpZERJQSZb5cxJjX2iaaZopKizLngpyJNqvJW475uDZFVPSVTzHzOxi3bn6FDeIjo2h1aNTetO+jb9pqC0cuA+L7xtTvdfraGfgjqo8wyWafFjVcqV2y3XbNQPqbZtbL98p0XRBEs9r1+EYWBa6JtIxGLnrTrctOlBbDmriemeAzMvOYbuLVpwYaiomzV8gnqVA02CQSYbOkEbmiwT4jHZKgcsvG0mErkBgV9DI6xyjrl3ssGPKjLCNHlAP9v88JkqRurXpOYo7lScLMc3yt0piMDIMDIKcN+yIsK6Fj0iuJEqBFu2Dgh0mSgATtdafHbENSLtKKywN2uxVBG+YTHMfuOnV9Sh/eFZGCRMwfDI6tMzZ8LLbsLgWunFCUZuWhZzNd5k33IEjtersqMiYwEreJ6v0ePb6J5nl5x4kUuqIIXgmyKlLy//sIASRxW1oKn/boUmGHjyatAu4QSvfTkUUR/Kvx6D4Sv0giTsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SjidpTmKKBTekWoBZW9BYQ",
      "input": {
        "note": "Jaws are straddling the bottle near its shoulder (descent stopped at ~4.7 cm). Closing to grasp.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SjidpTmKKBTekWoBZW9BYQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4129, 1.8397, 0.7792, 0.5274, -0.3859, -0.2653, 0.013, -0.0208, 0.7544, 0.5167, -0.3767, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4528 left_y=-0.1219 left_z=0.0634 left_yaw=0.0359 left_pitch=0.0713 left_roll=-0.0293 left_gripper=0.013 right_x=0.2817 right_y=0.0018 right_z=0.1514 right_yaw=0.0014 right_pitch=-0.04 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.8154, 5.6, 1.0379, 0.0366, 0.0806, 1.1404, -0.1162, -1.7983, 6.8444, 2.0635, -0.0122, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f13cbbb1090d9508bf12073a7a09b3cce25d8e4a75db57e4f93c6ec021a20ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb7530cd55b3ce1abafe5c92a12d63e9b33a93d8fdfeb09cc4b1fc103cda1246",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f31f770685ede66a2ea9f4f3a6c55ed0afbf2bc3c28bb41280522887145ac57e",
        "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 · 3.613 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]: [-0.4061, 1.6932, 0.8902, 0.136, -0.3565, -0.2615, 0.9985, -0.0208, 0.791, 0.588, -0.4034, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4399 left_y=-0.1181 left_z=0.0938 left_yaw=0.0162 left_pitch=-0.0571 left_roll=0.0154 left_gripper=0.9985 right_x=0.2894 right_y=0.0016 right_z=0.1687 right_yaw=0.0014 right_pitch=-0.032 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -8.0342, 6.7761, 2.0342, -0.1294, 0.2515, -0.0513, -0.294, -2.2085, 6.8718, 2.0, -0.0122, -0.0513, -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]: [-0.4118, 1.8496, 0.7616, 0.5018, -0.3588, -0.2703, 0.9984, -0.0208, 0.7769, 0.556, -0.3965, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.444 left_y=-0.1223 left_z=0.0466 left_yaw=0.0163 left_pitch=0.0172 left_roll=-0.0241 left_gripper=0.9984 right_x=0.2853 right_y=0.0017 right_z=0.1593 right_yaw=0.0014 right_pitch=-0.043 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -6.3111, 3.7538, 1.2772, -0.1832, 0.1001, -0.0269, -0.294, -1.8667, 6.9949, 1.9853, -0.0024, -0.0562, -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]: [-0.4129, 1.8397, 0.7792, 0.5274, -0.3859, -0.2653, 0.013, -0.0208, 0.7544, 0.5167, -0.3767, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4528 left_y=-0.1219 left_z=0.0634 left_yaw=0.0359 left_pitch=0.0713 left_roll=-0.0293 left_gripper=0.013 right_x=0.2817 right_y=0.0018 right_z=0.1514 right_yaw=0.0014 right_pitch=-0.04 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.8154, 5.6, 1.0379, 0.0366, 0.0806, 1.1404, -0.1162, -1.7983, 6.8444, 2.0635, -0.0122, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f13cbbb1090d9508bf12073a7a09b3cce25d8e4a75db57e4f93c6ec021a20ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb7530cd55b3ce1abafe5c92a12d63e9b33a93d8fdfeb09cc4b1fc103cda1246",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f31f770685ede66a2ea9f4f3a6c55ed0afbf2bc3c28bb41280522887145ac57e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018nSLj7XqGo3MxqpEWCfEQH",
      "input": {
        "note": "Empty close – fingers were resting on top of the bottle. The bottle is now centred on the jaw column, so reopen before descending again.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018nSLj7XqGo3MxqpEWCfEQH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4126, 1.8378, 0.8314, 0.3664, -0.3824, -0.2695, 0.9945, -0.0208, 0.7319, 0.477, -0.3584, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4485 left_y=-0.1204 left_z=0.0522 left_yaw=0.0347 left_pitch=-0.0258 left_roll=0.0117 left_gripper=0.9945 right_x=0.2778 right_y=0.002 right_z=0.1429 right_yaw=0.0017 right_pitch=-0.0388 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.6752, 6.3795, 1.6972, -0.2222, -0.0659, -0.2027, -0.294, -1.3607, 7.0496, 2.0147, -0.0317, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0cd40d919b6ab4e3a5ede75b2626c1638aaafd487e0b451bd1f80267b77f1cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:074d6064e3625a2eaae5a2d75c7757fab4af66ae5907815d4ff8c32554209f5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d9ea168677db809c0ce5561f9f909f42f1424918ff93398111073ac0ace7c31",
        "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 · 3.577 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]: [-0.4118, 1.8496, 0.7616, 0.5018, -0.3588, -0.2703, 0.9984, -0.0208, 0.7769, 0.556, -0.3965, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.444 left_y=-0.1223 left_z=0.0466 left_yaw=0.0163 left_pitch=0.0172 left_roll=-0.0241 left_gripper=0.9984 right_x=0.2853 right_y=0.0017 right_z=0.1593 right_yaw=0.0014 right_pitch=-0.043 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -6.3111, 3.7538, 1.2772, -0.1832, 0.1001, -0.0269, -0.294, -1.8667, 6.9949, 1.9853, -0.0024, -0.0562, -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]: [-0.4129, 1.8397, 0.7792, 0.5274, -0.3859, -0.2653, 0.013, -0.0208, 0.7544, 0.5167, -0.3767, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4528 left_y=-0.1219 left_z=0.0634 left_yaw=0.0359 left_pitch=0.0713 left_roll=-0.0293 left_gripper=0.013 right_x=0.2817 right_y=0.0018 right_z=0.1514 right_yaw=0.0014 right_pitch=-0.04 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.8154, 5.6, 1.0379, 0.0366, 0.0806, 1.1404, -0.1162, -1.7983, 6.8444, 2.0635, -0.0122, -0.0855, -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]: [-0.4126, 1.8378, 0.8314, 0.3664, -0.3824, -0.2695, 0.9945, -0.0208, 0.7319, 0.477, -0.3584, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4485 left_y=-0.1204 left_z=0.0522 left_yaw=0.0347 left_pitch=-0.0258 left_roll=0.0117 left_gripper=0.9945 right_x=0.2778 right_y=0.002 right_z=0.1429 right_yaw=0.0017 right_pitch=-0.0388 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.6752, 6.3795, 1.6972, -0.2222, -0.0659, -0.2027, -0.294, -1.3607, 7.0496, 2.0147, -0.0317, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0cd40d919b6ab4e3a5ede75b2626c1638aaafd487e0b451bd1f80267b77f1cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:074d6064e3625a2eaae5a2d75c7757fab4af66ae5907815d4ff8c32554209f5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d9ea168677db809c0ce5561f9f909f42f1424918ff93398111073ac0ace7c31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0QYKEAgSGAI4AUIIdGhpbmtpbmcSDFdXWQbCSK1xrDpBBhoMn9g/59DHqL46/LW9IjD8ho4UXVnetHnSJDXPFC2n6lXjTyaqVgQ4ZmgBLW7hOnHsq7nK5NhfkXVQswOrJrsq7gWPb580O2WAg8lVNq4qI9lDdrk7hGmqCRu1dtdQ9GwuInB+aq0xlXabzwwyPoX5AgGLcREjvgkr4AfizKarigXY3/vKrzvBWR58unzvTkz4eM0Y+S9/CAh1kf4Y3mobZwFp94JFp+lMb/V+dvDoi/LecN8OuhHD64EZyVhWFpimTuZ9Cy0yA9uqHkO9ct0d839ViXZtonYkMkw3LZ+wQiVTS6ogdINvtw6pMGRpvOa8GGXB8Y8PNrWjOAnMOW1+WcYdWdl7sAzYxzmfM5R5Lpg8o9wBz0ROG2bHGnzM9/76aB57nnA8GjCootpya74xSkut1GbiC86yw30L1ht6CTo9RtKsk/N+TCLLszXyiTYosaWusIyfGf6XkuQjiZQR1Q7d6ssUFFPceJ1+1/c84VdC14R4Q6zkJdY/uN+cAX8JZ/ota3sfW/awvhXnOkbFNOF8Dhl0kXwr/ZKdGHP/NqHJt9JtAjYv7z064NzWQ5pJDZ5dLT1CCPZizgjKbR/bEXZVX+JQL+yXgnbQPyJlhreG2c4nr7WPXJ69a7mS1F1OFSaETXpk9R8m3J47aU0NN+YZ8avKCr+TGirwBTKK+qcH4D1iZPBzSqXE20OtIMRAz5AoEAX5p2gq8xOZyjSbj6V7FMc+q+26w9EmHf2Ooq74NQNDNyPJErJopphCdXq+j0hDsgZ89pymABWAJ9GcE7DtOUXj3sc51xg6gMcMn6SeV9weO15J6s3NBGuHHKDn+vkwXamXf6S8kHh3TRiKt9uR18v2UZU92XxOLJNO+xT2QHvzqIYRfJl0UB6cIPppt9oKxU42/YKvmSML8+ab+ioLHWJ4FOaiQ0gvZKnyfn6uWM0BhkqsfPbtIWJBy/w+XiGhlkdEfD3g3aidHJVlrUS0sV+j+R2o4T8T8skudJvu9aUbSCBOjMs0y0Nq+qrtGKS8i8TxzWbSU346oI5qEzShdqJsJiAaiV955dQ9gLLhYmL3HmQ3CG/0CPBaQPwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H3b6qTokUR8uoQbLVfkXGY",
      "input": {
        "note": "Gripper open with the bottle centred between the jaws in the wrist view. Descending so the jaws straddle the bottle.",
        "targets": {
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01H3b6qTokUR8uoQbLVfkXGY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4126, 1.9102, 0.7971, 0.5259, -0.3828, -0.2733, 0.9961, -0.0208, 0.7113, 0.4419, -0.3428, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4538 left_y=-0.1227 left_z=0.0382 left_yaw=0.037 left_pitch=0.0218 left_roll=-0.0142 left_gripper=0.9961 right_x=0.2743 right_y=0.002 right_z=0.1354 right_yaw=0.0014 right_pitch=-0.0377 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.9829, 3.4393, 1.0183, -0.1441, 0.0366, 0.149, 0.0205, -1.347, 7.0222, 2.044, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b17f792b316825e966473ee7df51068c8d0f0e5bd39c9907381e136804440bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca55d2af58396a09fda0edebace574650f358bb67209a9a072cdc5795c8c19c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ed3f99b5f286f90671a5b289087b2f27d766a02071e29f463a3d39c8bb73f78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 10.64 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]: [-0.4129, 1.8397, 0.7792, 0.5274, -0.3859, -0.2653, 0.013, -0.0208, 0.7544, 0.5167, -0.3767, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4528 left_y=-0.1219 left_z=0.0634 left_yaw=0.0359 left_pitch=0.0713 left_roll=-0.0293 left_gripper=0.013 right_x=0.2817 right_y=0.0018 right_z=0.1514 right_yaw=0.0014 right_pitch=-0.04 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.8154, 5.6, 1.0379, 0.0366, 0.0806, 1.1404, -0.1162, -1.7983, 6.8444, 2.0635, -0.0122, -0.0855, -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]: [-0.4126, 1.8378, 0.8314, 0.3664, -0.3824, -0.2695, 0.9945, -0.0208, 0.7319, 0.477, -0.3584, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4485 left_y=-0.1204 left_z=0.0522 left_yaw=0.0347 left_pitch=-0.0258 left_roll=0.0117 left_gripper=0.9945 right_x=0.2778 right_y=0.002 right_z=0.1429 right_yaw=0.0017 right_pitch=-0.0388 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.6752, 6.3795, 1.6972, -0.2222, -0.0659, -0.2027, -0.294, -1.3607, 7.0496, 2.0147, -0.0317, -0.0513, -0.0073]\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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4126, 1.9102, 0.7971, 0.5259, -0.3828, -0.2733, 0.9961, -0.0208, 0.7113, 0.4419, -0.3428, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4538 left_y=-0.1227 left_z=0.0382 left_yaw=0.037 left_pitch=0.0218 left_roll=-0.0142 left_gripper=0.9961 right_x=0.2743 right_y=0.002 right_z=0.1354 right_yaw=0.0014 right_pitch=-0.0377 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.9829, 3.4393, 1.0183, -0.1441, 0.0366, 0.149, 0.0205, -1.347, 7.0222, 2.044, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b17f792b316825e966473ee7df51068c8d0f0e5bd39c9907381e136804440bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca55d2af58396a09fda0edebace574650f358bb67209a9a072cdc5795c8c19c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ed3f99b5f286f90671a5b289087b2f27d766a02071e29f463a3d39c8bb73f78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0gYKEAgSGAI4AUIIdGhpbmtpbmcSDAXcln8eRpZT55D3bBoMzwF0aa1KUY6oik0YIjABYTDg1b103RajZpHA22rSa3c5AFFtznecqr7dgTIpTlAxmXLyYQxSXdwIaUDPXCoq7wUEwhkKfFBNRLKxJAwdi1xXg3hEhB1vRMjbCKC6AZaO6/alCNCwE/P2PFdw1b6HIsXEbggADxhW9p/SLwt+F4GHn9bvWRj2RL9rR3rJBeJ0kQCWOTIZhBkXNvdxkeX/jslGJkygPPEGPtH6lkcEb8oQXczQiJ9eAisPFIrTq+A/x2vajQjOO1X3DtoPxOWrWD0B8/iGSXyeUqMOxytNduwouU+XkKdh3Y+3pm1QlRsduJPsuQyz8/gUOttfP2am9HYZ1sozJH0JbRMEOM97F/cFcp5AiAeH5NuKUUlL17ff/5EnrH3ufCltjwEBwS+XhP3hZl5K2B4WwyAwjzuThBLAloEJyAHT0n5j3G3fB4l/oI5yqvuUlDAWLvCcDG7IoaIPebWv6RRnQbGK4DUF8duLuCmf9AjH3JWvRR1sOTVUpOjalLRnRC2dU7/dlw/SXmCb7S4+cGXTkABhrDFj5cRVpvv4ev6dHpbrc5A8fT3oCHAt0Hha71sa4OWf1Nm/OeJv/AbBOv4vEU1955OPQagqlY0dKusxi/GoupnXBQUJwxJEEGnoNbkv54LGRd81o6SsZY8uXQRgx2GfuHVU70Jit+fihjmkral+y5JPygOAcH+xgV4cZ7gUncemfcYUGmt8CN3t3t6lXjIsXNokymbp20Wj7EvSgcUmQDYvuBPgs8JfnNPF8ixSjoPxQpkltpJaIgOFkjuXe3MABC/0WEiAjNzIdt05/xY/NTkL+wUUKz26wAIN8lab6Hz8KElhGtHEy/F53dVwT5e4vjolBWoUOyeA4RtBE7BLId0jL4302l13IZFu69xkGG8VtooSl/GLkPaIQfdbNkZG4HYFNsFcwzJZK08PUCIznlUsZi6dS+EsmfMgf4AJBy+DOJJzYvprok9XXffh4Cg+kGYmOx/eiKAQiYsd1mlnEtXPrKH8uHkQP1J5lFFU/0xwMV6Rrdtp5jHxB8TloVpbi7GDT36FzDYDh0Lhd2qJfWv9/EGmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NDd9LoDZVR9v2HcjKAbtN9",
      "input": {
        "note": "Jaws now straddle the bottle body at ~3.8 cm height. Closing to grasp.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NDd9LoDZVR9v2HcjKAbtN9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4164, 1.8938, 0.8219, 0.5644, -0.4057, -0.2886, 0.0122, -0.0208, 0.6907, 0.4065, -0.3244, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4659 left_y=-0.1259 left_z=0.0631 left_yaw=0.0624 left_pitch=0.0982 left_roll=-0.0527 left_gripper=0.0122 right_x=0.2711 right_y=0.002 right_z=0.1282 right_yaw=0.0014 right_pitch=-0.0343 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -8.1709, 5.094, 0.8571, 0.1392, 0.1685, 1.1209, -0.1573, -0.9915, 7.0222, 1.9853, -0.0073, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:226ca1a01c7494280859ec01ea95ea5e56f7e126ba4574798142d4cce7e4a386",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01b0baf2b5f386563c02541444ac71e49a3926617ec603edd3f99d93e7c1140c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0503d8b22e39c133e3e4e178badb096eaf413ad6a42214b4ee740765cce12d5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 11.89 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]: [-0.4126, 1.8378, 0.8314, 0.3664, -0.3824, -0.2695, 0.9945, -0.0208, 0.7319, 0.477, -0.3584, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4485 left_y=-0.1204 left_z=0.0522 left_yaw=0.0347 left_pitch=-0.0258 left_roll=0.0117 left_gripper=0.9945 right_x=0.2778 right_y=0.002 right_z=0.1429 right_yaw=0.0017 right_pitch=-0.0388 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.6752, 6.3795, 1.6972, -0.2222, -0.0659, -0.2027, -0.294, -1.3607, 7.0496, 2.0147, -0.0317, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.4126, 1.9102, 0.7971, 0.5259, -0.3828, -0.2733, 0.9961, -0.0208, 0.7113, 0.4419, -0.3428, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4538 left_y=-0.1227 left_z=0.0382 left_yaw=0.037 left_pitch=0.0218 left_roll=-0.0142 left_gripper=0.9961 right_x=0.2743 right_y=0.002 right_z=0.1354 right_yaw=0.0014 right_pitch=-0.0377 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.9829, 3.4393, 1.0183, -0.1441, 0.0366, 0.149, 0.0205, -1.347, 7.0222, 2.044, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4164, 1.8938, 0.8219, 0.5644, -0.4057, -0.2886, 0.0122, -0.0208, 0.6907, 0.4065, -0.3244, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4659 left_y=-0.1259 left_z=0.0631 left_yaw=0.0624 left_pitch=0.0982 left_roll=-0.0527 left_gripper=0.0122 right_x=0.2711 right_y=0.002 right_z=0.1282 right_yaw=0.0014 right_pitch=-0.0343 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -8.1709, 5.094, 0.8571, 0.1392, 0.1685, 1.1209, -0.1573, -0.9915, 7.0222, 1.9853, -0.0073, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:226ca1a01c7494280859ec01ea95ea5e56f7e126ba4574798142d4cce7e4a386",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01b0baf2b5f386563c02541444ac71e49a3926617ec603edd3f99d93e7c1140c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0503d8b22e39c133e3e4e178badb096eaf413ad6a42214b4ee740765cce12d5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrxEKEAgSGAI4AUIIdGhpbmtpbmcSDBjvnFpcL/r64D8KtBoM9kwtfoJyWnQjv7hmIjBALX2xO5s4SqLrMcz08tFhhGFQRqXO4FYo1ltKMDfobM/WbiWWpZPq53MEKzCemmsqzBAbovTJmAKAHZ0uh4pbENcF0p6Pq1hPPfTt1QPQ3avmUjA6leKbjduG9L3O0+MadTeGaKrPhDU1g+OHrGZPWZXccJhe6Lvkfdkh/VbRQPQ8tyH+ufRvvjPDe/KiXQaPO8nkdLhKjxL51SiuHWn78F2ParQ4jkIMnobB9BpCYn8CLihXlUsdPZGdTy4hAgtnNCkOGDHj2zz2p/XXfdaf8ALo2vMZtnZXoaFGwUAnzAeKWuhyrNXJ1SE8M0/pHVf+o1bWapX1GunTLuG72UdBdPpJlxwLKplGIgEOP6sXPPEb03+KHGQHSvWANx9eJntMM0GpmqL6H1r5CfLPtSh1p4B7dWCxM0ktFlDvL5pE5oWKddx0oCD5Muq28aTddsy2Wr14kaE1haTXXAwjju8EFM1pJxdpfoASdB5HfVJAUxYXJXsptygyRcM/q52q5r1914+/I8g0+5atoVkNoemcFjED8ee75bafFBlTzBOHcTVNaVpQsHusKQA0a4liIxKyWH/g8GE3a6rxFda6xt9rSpe/iqaJXpeqi3AKAs/lH+OpVlY5FvuaoIl6s+v4uYRYmTZN3nhDt8Z/KJXrXsc4bR5BHFN18cjamDaSs0yo1xbPdc+sLG1V5aLKUsz+NGrP8jCzxEY3Il4Ins6bQ5iXQ9bCnTgpJq4O7KRpb3EV67q8LW5fl2ZS9uBCx+VQ1VgGCC7vpbw3ovuBY+ob1B1++PVt9ZLnvE6OYAHRbfMM5K4gD7mRwFpMwaRn+85M6ymQjTj6p1d5v+ccHg+Y+3rRpWeNokR3jBMOt4OKMrzbPi1eUiIEVD4zBdf6h2Dd4HS6Xk4rSQ0/POEnEltbO3RfZjK/i9nLKOXtdfzpMEY46J6vy1iuwBwHB+SzAtWiBBRnRrmPa+y7/IZZPC5n1GkE9eYQpRFgDHSlE3JQgZQxDVjnK5K555zXmXXJ4P2Sdm412RDrzkBBKmctvY5sh77QRhY3Noqbk5TF5pgsHnAOd9CTrAO3zBfMus2Me16zbTTYfxn7TpnRkcxGtIw2Qir10fC9TjgXjj46N0Tklkg2AIOzLpOwOQFoA+j6Zo/WR8J+WD/ENMpLyK3YqGE/jFMu3PAGjTao3ro6N5xzak/H0jiDTEpPkLv6/Br/U0lu4IlOx4qIz7xYaGx/RdrEK+IRQ8FKIiVqk3Q5SH1paJfTNDyX5KmwgryLKvWe0x7maoRooBKMQ99Xk5GMvKnZIWyqQq8MZWCmkroLZVGdiKb/5nsN4iW4llDxEXZIvZZRWaItHvxVP9gHEXCDihltv7F9vLgCPDOHJfW6mv+LYvFkMYKRUNfN1XYu56khOvyOLr1lH/xsuqyDNh9flx3DKILUAakncC51/wai9PSm6alzzxNB9BhzaU53cJ6cAl3e8/cgPYBuSEGs3Pgjbqr9t0z/84iG7uN9NTlcse4JPavO7A/Zklxfz/S2hb3B9WO99/8rp7xRm/jRuFhccq9kj45toC4hwISm2RxS9BMQKTDXjE1ZOAHZrDdxjTjdbeuClwBySalEoh4IP4RAgfJ1Xff8dJ+QCey5fJYTL31wDf5OSrZe98Mh7MMqPDm38Pe6DJTrNVtCBL74FZP+rA4QMIvI/NfIRIIwHrc8a8eqoC1HifNphqDTJEGpz1R/ku7ZHtxKMzwU/kLq9dC4UKTapksvHuhUAdskRy4hLwRC86QflNq1VqtFexNFZVvAwBKNvMJGIdf7fXUdfxQ+3hvbJYx6Vgv5Y0SsTdx40GyyC31nNh3KqGETc6FPixajS7yLutbpjZWEuDY1cyWQ6zbyHd8cQIOKAvQqwKP/ZOZKDEXZqNxhF82bV5eQssjyiQUoQvf/+TDXEUAb3G6TNyGek5CcgTXU4hLl2B5IhZZkSp7Dn+OqjOowcsC2VhqnS/14qw2nF3BYp+VanVrU87eFqT7rD8NmDag+sqqLQSHCLfYSXXdjBih1OD52wGYpfcAxBMh8017lLmvNw+VvsamkUYa7XlzQsgtcbxp+zKUgZe26dIov1ot1nUIpNkqBrsVcL7rIHXLgiqnxH3IkWtGaLOjPp38jLVrCDpwo7pac2xwj6viXTfIUvJPwi6da98l5bHWKJ2X7VmRN1fVxbErEflHeeJktVrAztzbDRsdi/cUySEZWOThJGPbdNRPs763wX0IbnxYC+UKa01W0TWOqyXy1k5H7yIvuZmxa2khc21V6MQoe60X/bPekYvTneN2f3HZrjS9ZrVsuG2MfYFncZ0Zfv32gflVPYHCo4I+ddTK5qd253yzh+pQbPMfM2OeHl1VmgFJQic+9hAnRzRta8ya4Jg3vO5c0srM7CSYPbfwIumwbYqHso340fQXKGpzS/S92cno6X932EiFLW3g+LZklbGnX+QOzs95+nb0yHBUFEcwSTrUDb8Yrihdmn73csJbr85103EDfwr/s7oe8kEafzX4e9ngkQTe08pyxXQJTkUIlAiqj3U8QVx5rM2wT4g4TfC8rI2Aczjh2EIq9XZovnocK0T6xGo9vu7gdH14l19z1dCtZHYpx4/8Kg3rzEXJqx05nGviPRoDkjfmIvVelEAzE79+LZJVnZpyasfixO9SJjMkXaVxyYsU/TXnnDTeoCPPqMnNEx/QaSpVCgTAKCrxm1hef6TzLYfbbVVnEggCbInb6AgrUyzEStj+s7qxZVc2w69i739Tvn1fICJoDBi2qNheubYPqqHjLIc57dXueXl7AQC3UhFzKYqXRUscsTeYYw2oNKFQg8+/mTdV88Z1HRne1Ld1U6krkNiszPzdrQCiUb1KoNI8Lyl0hlRQiVU9mNCQ76xnlKDdUpFgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XDHWKKTz49ZWtoKWBGfrEX",
      "input": {
        "note": "Second close was empty; the fingers seem to ride on the bottle rather than straddle it. Opening and lifting a bit to reposition.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XDHWKKTz49ZWtoKWBGfrEX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4175, 1.8687, 0.9066, 0.2771, -0.4084, -0.2928, 0.9955, -0.0208, 0.6712, 0.3748, -0.313, -0.0235, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4565 left_y=-0.1219 left_z=0.0509 left_yaw=0.064 left_pitch=-0.0585 left_roll=0.0269 left_gripper=0.9955 right_x=0.2676 right_y=0.0022 right_z=0.121 right_yaw=0.0015 right_pitch=-0.035 right_roll=0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -12.0547, 8.335, 1.6239, -0.2027, -0.0513, -0.1978, -0.212, -1.1419, 7.1453, 1.9658, -0.0122, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:086fbd4a81243c25ea277f40fc6deb7b3f77f05b5c3f8d52cdb98309f0ad36fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cf35b4806e26841f4156a9f155a6c5b946b817cdf683f9efcf199ad5c4a9488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3824f315cac6e0f581c89c6aebf1f61306f28c7918d64f3496cfec6817bcf892",
        "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 · 10.57 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]: [-0.4126, 1.9102, 0.7971, 0.5259, -0.3828, -0.2733, 0.9961, -0.0208, 0.7113, 0.4419, -0.3428, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4538 left_y=-0.1227 left_z=0.0382 left_yaw=0.037 left_pitch=0.0218 left_roll=-0.0142 left_gripper=0.9961 right_x=0.2743 right_y=0.002 right_z=0.1354 right_yaw=0.0014 right_pitch=-0.0377 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.9829, 3.4393, 1.0183, -0.1441, 0.0366, 0.149, 0.0205, -1.347, 7.0222, 2.044, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4164, 1.8938, 0.8219, 0.5644, -0.4057, -0.2886, 0.0122, -0.0208, 0.6907, 0.4065, -0.3244, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4659 left_y=-0.1259 left_z=0.0631 left_yaw=0.0624 left_pitch=0.0982 left_roll=-0.0527 left_gripper=0.0122 right_x=0.2711 right_y=0.002 right_z=0.1282 right_yaw=0.0014 right_pitch=-0.0343 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -8.1709, 5.094, 0.8571, 0.1392, 0.1685, 1.1209, -0.1573, -0.9915, 7.0222, 1.9853, -0.0073, -0.0806, -0.0073]",
      "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]: [-0.4175, 1.8687, 0.9066, 0.2771, -0.4084, -0.2928, 0.9955, -0.0208, 0.6712, 0.3748, -0.313, -0.0235, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4565 left_y=-0.1219 left_z=0.0509 left_yaw=0.064 left_pitch=-0.0585 left_roll=0.0269 left_gripper=0.9955 right_x=0.2676 right_y=0.0022 right_z=0.121 right_yaw=0.0015 right_pitch=-0.035 right_roll=0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -12.0547, 8.335, 1.6239, -0.2027, -0.0513, -0.1978, -0.212, -1.1419, 7.1453, 1.9658, -0.0122, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:086fbd4a81243c25ea277f40fc6deb7b3f77f05b5c3f8d52cdb98309f0ad36fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cf35b4806e26841f4156a9f155a6c5b946b817cdf683f9efcf199ad5c4a9488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3824f315cac6e0f581c89c6aebf1f61306f28c7918d64f3496cfec6817bcf892",
        "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_014wwt7GFcLvETeHBgEsEq48",
      "input": {
        "note": "Bottle still centred between the open jaws; previous descent probably didn't finish. Going lower (z 0.01) so the fingers wrap the bottle near its equator, and re-parking the drifting right arm.",
        "targets": {
          "left_z": 0.01,
          "right_x": 0.29,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_014wwt7GFcLvETeHBgEsEq48",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4244, 1.9533, 0.8421, 0.5602, -0.4122, -0.2962, 0.9967, -0.0269, 0.7616, 0.5407, -0.3969, -0.0303, -0.0444, 0.9998]\nstate[eef_state]: left_x=0.4669 left_y=-0.1294 left_z=0.0427 left_yaw=0.0622 left_pitch=0.0611 left_roll=-0.0363 left_gripper=0.9967 right_x=0.2825 right_y=0.0013 right_z=0.1563 right_yaw=0.0059 right_pitch=-0.0433 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -5.4496, 2.9744, 1.1648, -0.1538, 0.0366, 0.1148, -0.6085, -0.5949, 9.6068, 1.746, -0.0806, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7248df67d0f28ce917fd728cbbfe9c2b1b35c0b4acd569cd5e401c5db1b54add",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2326353eba74b84e0ce8742dbfa51d271eee9278616c079b752ba8df9f4a0f15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2276d5ed11f1dd602b7a90c7f0a16baea240bd4fe5e1c8b5619105abc634ff5",
        "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 · 4.901 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]: [-0.4164, 1.8938, 0.8219, 0.5644, -0.4057, -0.2886, 0.0122, -0.0208, 0.6907, 0.4065, -0.3244, -0.0231, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4659 left_y=-0.1259 left_z=0.0631 left_yaw=0.0624 left_pitch=0.0982 left_roll=-0.0527 left_gripper=0.0122 right_x=0.2711 right_y=0.002 right_z=0.1282 right_yaw=0.0014 right_pitch=-0.0343 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -8.1709, 5.094, 0.8571, 0.1392, 0.1685, 1.1209, -0.1573, -0.9915, 7.0222, 1.9853, -0.0073, -0.0806, -0.0073]",
      "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]: [-0.4175, 1.8687, 0.9066, 0.2771, -0.4084, -0.2928, 0.9955, -0.0208, 0.6712, 0.3748, -0.313, -0.0235, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4565 left_y=-0.1219 left_z=0.0509 left_yaw=0.064 left_pitch=-0.0585 left_roll=0.0269 left_gripper=0.9955 right_x=0.2676 right_y=0.0022 right_z=0.121 right_yaw=0.0015 right_pitch=-0.035 right_roll=0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -12.0547, 8.335, 1.6239, -0.2027, -0.0513, -0.1978, -0.212, -1.1419, 7.1453, 1.9658, -0.0122, -0.0171, -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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4244, 1.9533, 0.8421, 0.5602, -0.4122, -0.2962, 0.9967, -0.0269, 0.7616, 0.5407, -0.3969, -0.0303, -0.0444, 0.9998]\nstate[eef_state]: left_x=0.4669 left_y=-0.1294 left_z=0.0427 left_yaw=0.0622 left_pitch=0.0611 left_roll=-0.0363 left_gripper=0.9967 right_x=0.2825 right_y=0.0013 right_z=0.1563 right_yaw=0.0059 right_pitch=-0.0433 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -5.4496, 2.9744, 1.1648, -0.1538, 0.0366, 0.1148, -0.6085, -0.5949, 9.6068, 1.746, -0.0806, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7248df67d0f28ce917fd728cbbfe9c2b1b35c0b4acd569cd5e401c5db1b54add",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2326353eba74b84e0ce8742dbfa51d271eee9278616c079b752ba8df9f4a0f15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2276d5ed11f1dd602b7a90c7f0a16baea240bd4fe5e1c8b5619105abc634ff5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0119gz4e48P6TTJNUmwsCe8z",
      "input": {
        "note": "The fingers keep stalling ~4 cm up and sliding off the wide body. Moving forward toward the narrow neck just behind the cap, which the jaws can wrap more easily.",
        "targets": {
          "left_x": 0.52,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0119gz4e48P6TTJNUmwsCe8z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3702, 1.9823, 1.1252, 0.279, -0.3981, -0.289, 0.9969, -0.0277, 0.7368, 0.495, -0.379, -0.0303, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.5169 left_y=-0.1233 left_z=0.0809 left_yaw=0.1003 left_pitch=0.0337 left_roll=-0.0242 left_gripper=0.9969 right_x=0.2776 right_y=0.0013 right_z=0.1456 right_yaw=0.0089 right_pitch=-0.0463 right_roll=-0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -9.6342, 8.0615, 1.7656, 0.0415, 0.2759, 0.0171, -0.3487, -1.5658, 7.3368, 2.0537, -0.0855, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2059498e6b6eb05f2bf398cd44405ba482e1279410a6069392a39b926711b2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e14a438651ccd45855fe343dca8d221d480e2f8484c579f5214c82cd73134f35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ecbb3ba73365c1fa7b2f40dd1dfa44a4061d7ad84cf9db7213242a3fb788d12d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 4.594 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]: [-0.4175, 1.8687, 0.9066, 0.2771, -0.4084, -0.2928, 0.9955, -0.0208, 0.6712, 0.3748, -0.313, -0.0235, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4565 left_y=-0.1219 left_z=0.0509 left_yaw=0.064 left_pitch=-0.0585 left_roll=0.0269 left_gripper=0.9955 right_x=0.2676 right_y=0.0022 right_z=0.121 right_yaw=0.0015 right_pitch=-0.035 right_roll=0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -12.0547, 8.335, 1.6239, -0.2027, -0.0513, -0.1978, -0.212, -1.1419, 7.1453, 1.9658, -0.0122, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.4244, 1.9533, 0.8421, 0.5602, -0.4122, -0.2962, 0.9967, -0.0269, 0.7616, 0.5407, -0.3969, -0.0303, -0.0444, 0.9998]\nstate[eef_state]: left_x=0.4669 left_y=-0.1294 left_z=0.0427 left_yaw=0.0622 left_pitch=0.0611 left_roll=-0.0363 left_gripper=0.9967 right_x=0.2825 right_y=0.0013 right_z=0.1563 right_yaw=0.0059 right_pitch=-0.0433 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -5.4496, 2.9744, 1.1648, -0.1538, 0.0366, 0.1148, -0.6085, -0.5949, 9.6068, 1.746, -0.0806, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3702, 1.9823, 1.1252, 0.279, -0.3981, -0.289, 0.9969, -0.0277, 0.7368, 0.495, -0.379, -0.0303, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.5169 left_y=-0.1233 left_z=0.0809 left_yaw=0.1003 left_pitch=0.0337 left_roll=-0.0242 left_gripper=0.9969 right_x=0.2776 right_y=0.0013 right_z=0.1456 right_yaw=0.0089 right_pitch=-0.0463 right_roll=-0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -9.6342, 8.0615, 1.7656, 0.0415, 0.2759, 0.0171, -0.3487, -1.5658, 7.3368, 2.0537, -0.0855, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2059498e6b6eb05f2bf398cd44405ba482e1279410a6069392a39b926711b2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e14a438651ccd45855fe343dca8d221d480e2f8484c579f5214c82cd73134f35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecbb3ba73365c1fa7b2f40dd1dfa44a4061d7ad84cf9db7213242a3fb788d12d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSngkKEAgSGAI4AUIIdGhpbmtpbmcSDE92ke3yIANPmAs1pRoMZAOvjbPnThIX/8/DIjCuAHcZco6RM1iWhG2P9eN6Vl5JxwVokVQ4gCsCYxSSj2PtedjF3fZ5/F0dKAywgmIquwhdT6E0avbRavrO+aRHHYJZFej/GWojlQ2e83i9WoCuJznqNqujPTH7G9mTIe00cBp+YwPqkVRhQ2phZ05R/oDENGw/WdXisSzwwOnGeTRvadfil/jJx2SoMXaxGgDc1YXAMFCEEU08AP4OaPXLd28QJEmNbUbSE51iTgzpW6BUkNudIgdYROLJYBQ3pgmMjv+PYZe/dlW0pGo6wV5zPjPOcN9VSf2CyYwY/L8+aeB0sudovcV74L1E8ZCJtpgh+oaGQK30rd5H1NxarlNlPGhjNVX/g4WB4B5DU8CCrpcot6JUXPCd6IFYCqObTnRIugJSWJrRAhNhwJdeYZNq8iizjeBzMf1DrqIq0X2G/QXGvAMXGq06ZuIq0mMiVHHObUT7a9qqYtYwvz8LiS1hR1m/LUKS/g8i9SHWRa1hiHhs0HxZVprFRKKBLFcUzI5wQqPnqmfOvVaK/9cUVrJIKxZa8lh6wXqbBIEbRUza6c8eNtuV5Sva/84ISyvPxPWhbfknoiBdcsrMfv1mhdIkb4IR2yTB6nLNE2zoPGnuq64+tJ7csM9kl0lj58VHhPH9KDnZt2X2XePf2PYQKHtXY0/mcmPTQYgzqIOvfgebhPpxibhT1Ja0lksty56egzmt0Dip4d4O6Pl9vNrB1OtaeNzFO6jJC5punfdn6/TYspcSiqJr8GMiZpjhiQVbw0jCrmsJXhlVOEtjAKxH8FGqDmj2JHV7ibQUYhYa3tE0o2co8LHpIHl8JiGrn5tajwb1FyzY7VSuKhY6iHDnHD8qASVjI0JLkNgUTMeCAN8teIGnKOw0VHTxPwxZ4e9xTd1CKyaiT8Xe6Bi//7nbZMQtOTaTF+6IoEd1yiOHRR3FMxz18f7Ztirzf2aVurTwUUhKKrt0G17KeeM4R4/U0MyOaQH0YXPbN5NbXN7xJk7BbTSzayTPj3t2JYWZzJITobOBFwgbaFdbdfaSLqVbZF2eItOhx7o91Xr5BPJrN+Y9B4HA7TZL5EhHQslEnXuEYHjXIGZzuORqym/rTZa9SgX0V+zwHYTzfbqlg1dk6RnSIc6y9WOep+VZcVXQn7dtSR9VSziJRYmwjZb2HwHyJMCEBg2Mejq8dwoGR4c0OVqyMQUtMoBSV5p/GVeCiQRNBAJR+fVMXouWvMBABvR9QsbA2mXl0OqUmxoGuP9ZcW6xtGQyDoGROFVduVdqng8QE7GmMAWqbDk9CEbXzS1dROLoY7l/LMYURMbHyvN0hY67sZ+0vOtLO36yZvQC6p/Y+AkYDC0A+Q5GzE8DTluB5NRvpQr8Innvv94g4HXHJNYJFYvSpM909I+6qxxt8UYxSwDWEjWZ7NObt7BMP1/ism+zCrVqxgayiVO4P/kHY/OHYhI8SShyJvnfpNdx4bJ+Hzl6YpuT8xxA0lBB2bAnrvk5ti/vLIeUHSYhDc9QPmgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LUDbUqeUvDP1Z3CoS183DT",
      "input": {
        "note": "Cap and neck are now centred just ahead/under the jaws. Descending to wrap the narrow neck.",
        "targets": {
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LUDbUqeUvDP1Z3CoS183DT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3668, 2.0987, 1.1095, 0.3782, -0.3962, -0.292, 0.9969, -0.0284, 0.7094, 0.4519, -0.3573, -0.0307, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.5193 left_y=-0.1226 left_z=0.0348 left_yaw=0.1035 left_pitch=0.0039 left_roll=-0.0129 left_gripper=0.9969 right_x=0.2737 right_y=0.0012 right_z=0.1375 right_yaw=0.0085 right_pitch=-0.0402 right_roll=-0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -7.8701, 4.5197, 1.16, -0.1441, 0.0708, -0.0073, -0.6359, -1.347, 6.9675, 2.0391, -0.149, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4adc2a93988a6ad630ef46f2f2ce5a2781a136e43706a374d4ab3d2d8ffbdd19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c861a916c0f56d84cb11d55973da906aa2642c9259b82fd29bf5d575fd0745f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6636f9555f5a502e401efdd9743a9568940d67c2f36766ae3a4cbfd554612bc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 12.6 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]: [-0.4244, 1.9533, 0.8421, 0.5602, -0.4122, -0.2962, 0.9967, -0.0269, 0.7616, 0.5407, -0.3969, -0.0303, -0.0444, 0.9998]\nstate[eef_state]: left_x=0.4669 left_y=-0.1294 left_z=0.0427 left_yaw=0.0622 left_pitch=0.0611 left_roll=-0.0363 left_gripper=0.9967 right_x=0.2825 right_y=0.0013 right_z=0.1563 right_yaw=0.0059 right_pitch=-0.0433 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -5.4496, 2.9744, 1.1648, -0.1538, 0.0366, 0.1148, -0.6085, -0.5949, 9.6068, 1.746, -0.0806, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3702, 1.9823, 1.1252, 0.279, -0.3981, -0.289, 0.9969, -0.0277, 0.7368, 0.495, -0.379, -0.0303, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.5169 left_y=-0.1233 left_z=0.0809 left_yaw=0.1003 left_pitch=0.0337 left_roll=-0.0242 left_gripper=0.9969 right_x=0.2776 right_y=0.0013 right_z=0.1456 right_yaw=0.0089 right_pitch=-0.0463 right_roll=-0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -9.6342, 8.0615, 1.7656, 0.0415, 0.2759, 0.0171, -0.3487, -1.5658, 7.3368, 2.0537, -0.0855, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3668, 2.0987, 1.1095, 0.3782, -0.3962, -0.292, 0.9969, -0.0284, 0.7094, 0.4519, -0.3573, -0.0307, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.5193 left_y=-0.1226 left_z=0.0348 left_yaw=0.1035 left_pitch=0.0039 left_roll=-0.0129 left_gripper=0.9969 right_x=0.2737 right_y=0.0012 right_z=0.1375 right_yaw=0.0085 right_pitch=-0.0402 right_roll=-0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -7.8701, 4.5197, 1.16, -0.1441, 0.0708, -0.0073, -0.6359, -1.347, 6.9675, 2.0391, -0.149, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4adc2a93988a6ad630ef46f2f2ce5a2781a136e43706a374d4ab3d2d8ffbdd19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c861a916c0f56d84cb11d55973da906aa2642c9259b82fd29bf5d575fd0745f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6636f9555f5a502e401efdd9743a9568940d67c2f36766ae3a4cbfd554612bc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQcKEAgSGAI4AUIIdGhpbmtpbmcSDE7a8x9sBAXOJI5dnhoMnNyEW9166eoC19lLIjD7aT7AhTJhTZsv2RsQuECfr2be45w8GE5ivbXCuh0E8+HUnIg8/wE3YZx/rLumm14qvgb+1INvsDrfnYlAz7lGw0kmCjb2OvrlXYMojhDS7+NQdllLzzjOlczHf/9UfQkBbuAS5vGrT6UREatiSqJH20d1IDvXdeQfNrML7iOoNTvXQc3V9IBg9pEYveRMrUZ6cbAB0MZJXhpw59Z6ndNz7E5wHjWdYKPAmzXGrkF8Gx2L2soQWOVTfIuHJC9xTxuNpjI4HCm3DF9/s9bWIQfnsW2yORWSRbdVrk/ra5tW2OV+d9xlmLQ/hd9helneb63lq/0b+jrGC9M0qW4a12NYCaaB2k915ebL81uKuIXSvbIUl8JA31jAJJUFXotWaeXVO+UOP/ZapwoBWJvFt4pgorkyO/udhgGq0eLcAfbL5XdjEk5E72enZE5I6/izevjRhMcyf9W63GVn/2Pd3JcFS8i5yB2Jf81St/6xNS0fIkaMQHGkgnth0J9CsMfYgZn4ltio9FBapkfQGyTv/DkC2N3tXYlRudDVxTJReh1zh/Q/NHzjIgptwv7tz56bkm7IE4EB/2zOKySCYzzT0dIRT5VcAP1H8wqffvyxYi2Uz19aDamofn7ZXd3FTQ+QN7XjzMZDxSVS3kq476ZGxOmW9Lfeh1yAXZqkoor4sr2J99FPmvt8XQvKib38bLQKcz1fAQ8gOxaNx4p6JGRiVA/nF8CL8CUFXzwaKL+TMZQQlMQXKhP+9kdXf8mTIj4AEhR4MWXcwAWmHLitsJCFZYg5WqT7KfhtbKQnAnjYPKeuAbMxLpx/Rf7dGO2lbrIJfO/U3bBfwxo2meYBMhqx2Lvb6HZtanxSSwkINtTIyBtLrN+MdD6IJhjerLl6sWVXF2d4pG2ZTc5THykdZ7hBzjamHPbUsuUgy523on0/hrwd2GWw4cxN9LTy9h/wf710Yx/FUviF9Ok6T/ONeE0Bj6i8t9cbAeI8jhzSGr3K+QOrCj7zUcLmErFs5C4b/xXko8uZ8HOk4QQsudmZyJ/7sONsfXJ8KJorXP+DW1L8REU+8I33rh4DpnKz/SB1yOGvEL5xS+kZpyJireafluvJsvOyP1kmaoCUaMDapV0ksbI7MsAmEku0Ms4tIyMlS83fB1UfeKXYRivc+yRaJQumLB74hxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018PMmToaDM8qsF9iS7yyjmV",
      "input": {
        "note": "Jaws down around the bottle's neck/shoulder at ~3.5 cm. Closing.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018PMmToaDM8qsF9iS7yyjmV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3706, 2.0869, 1.121, 0.4637, -0.4347, -0.2913, 0.0131, -0.0284, 0.6849, 0.4126, -0.3397, -0.0307, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.5325 left_y=-0.1233 left_z=0.0635 left_yaw=0.1339 left_pitch=0.1095 left_roll=-0.0452 left_gripper=0.0131 right_x=0.2698 right_y=0.0013 right_z=0.1293 right_yaw=0.0087 right_pitch=-0.0375 right_roll=-0.0068 right_gripper=0.9998\nstate[joint_eff]: [0.212, -9.853, 5.3675, 0.8327, 0.1978, 0.0611, 1.0867, -0.7043, -0.9368, 7.0769, 2.0, -0.1294, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f30ed4fa4fcde762e92a8fd08c8e70bbd2f37e2c2a8de3361fdccea5c63007b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bad70eb478eca6de150ca7c9aceb37f7ae5cefde24128aaa7d3ca07cdb4a01e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c6791f8a5adbac87b13ab6236be3312c072cbd224a28c8b9c1b28add6648bff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 5.485 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]: [-0.3702, 1.9823, 1.1252, 0.279, -0.3981, -0.289, 0.9969, -0.0277, 0.7368, 0.495, -0.379, -0.0303, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.5169 left_y=-0.1233 left_z=0.0809 left_yaw=0.1003 left_pitch=0.0337 left_roll=-0.0242 left_gripper=0.9969 right_x=0.2776 right_y=0.0013 right_z=0.1456 right_yaw=0.0089 right_pitch=-0.0463 right_roll=-0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -9.6342, 8.0615, 1.7656, 0.0415, 0.2759, 0.0171, -0.3487, -1.5658, 7.3368, 2.0537, -0.0855, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3668, 2.0987, 1.1095, 0.3782, -0.3962, -0.292, 0.9969, -0.0284, 0.7094, 0.4519, -0.3573, -0.0307, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.5193 left_y=-0.1226 left_z=0.0348 left_yaw=0.1035 left_pitch=0.0039 left_roll=-0.0129 left_gripper=0.9969 right_x=0.2737 right_y=0.0012 right_z=0.1375 right_yaw=0.0085 right_pitch=-0.0402 right_roll=-0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -7.8701, 4.5197, 1.16, -0.1441, 0.0708, -0.0073, -0.6359, -1.347, 6.9675, 2.0391, -0.149, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3706, 2.0869, 1.121, 0.4637, -0.4347, -0.2913, 0.0131, -0.0284, 0.6849, 0.4126, -0.3397, -0.0307, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.5325 left_y=-0.1233 left_z=0.0635 left_yaw=0.1339 left_pitch=0.1095 left_roll=-0.0452 left_gripper=0.0131 right_x=0.2698 right_y=0.0013 right_z=0.1293 right_yaw=0.0087 right_pitch=-0.0375 right_roll=-0.0068 right_gripper=0.9998\nstate[joint_eff]: [0.212, -9.853, 5.3675, 0.8327, 0.1978, 0.0611, 1.0867, -0.7043, -0.9368, 7.0769, 2.0, -0.1294, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f30ed4fa4fcde762e92a8fd08c8e70bbd2f37e2c2a8de3361fdccea5c63007b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bad70eb478eca6de150ca7c9aceb37f7ae5cefde24128aaa7d3ca07cdb4a01e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6791f8a5adbac87b13ab6236be3312c072cbd224a28c8b9c1b28add6648bff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LdokB1XmRJzS7dpn5wDWki",
      "input": {
        "note": "Third empty close; the gripper gets pushed up as it closes, meaning the jaws are pinching above the bottle's widest point. Reopening to go lower.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LdokB1XmRJzS7dpn5wDWki",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3695, 2.0869, 1.2114, 0.2264, -0.4274, -0.3149, 0.9945, -0.0284, 0.6605, 0.3786, -0.3241, -0.0307, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.5288 left_y=-0.1224 left_z=0.0526 left_yaw=0.1386 left_pitch=-0.021 left_roll=0.002 left_gripper=0.9945 right_x=0.2666 right_y=0.0014 right_z=0.1231 right_yaw=0.0087 right_pitch=-0.0314 right_roll=-0.007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -12.2735, 6.8718, 1.6874, -0.2613, 0.0562, -0.1734, -0.7043, -0.9778, 6.8855, 1.9365, -0.1441, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:585bb25d84bd2dc06c9d14b29e5341d2cfd77afb770f028e271297a1bebcea8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d140396bfed46d3605511ed4eaf7d68810ec7d79d71f551e6fa43d05cef605d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d5101e7859bc150c82fb0abdf87781ac7683c157fab9608275ad96ec852612b",
        "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 · 25.73 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]: [-0.3668, 2.0987, 1.1095, 0.3782, -0.3962, -0.292, 0.9969, -0.0284, 0.7094, 0.4519, -0.3573, -0.0307, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.5193 left_y=-0.1226 left_z=0.0348 left_yaw=0.1035 left_pitch=0.0039 left_roll=-0.0129 left_gripper=0.9969 right_x=0.2737 right_y=0.0012 right_z=0.1375 right_yaw=0.0085 right_pitch=-0.0402 right_roll=-0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -7.8701, 4.5197, 1.16, -0.1441, 0.0708, -0.0073, -0.6359, -1.347, 6.9675, 2.0391, -0.149, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3706, 2.0869, 1.121, 0.4637, -0.4347, -0.2913, 0.0131, -0.0284, 0.6849, 0.4126, -0.3397, -0.0307, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.5325 left_y=-0.1233 left_z=0.0635 left_yaw=0.1339 left_pitch=0.1095 left_roll=-0.0452 left_gripper=0.0131 right_x=0.2698 right_y=0.0013 right_z=0.1293 right_yaw=0.0087 right_pitch=-0.0375 right_roll=-0.0068 right_gripper=0.9998\nstate[joint_eff]: [0.212, -9.853, 5.3675, 0.8327, 0.1978, 0.0611, 1.0867, -0.7043, -0.9368, 7.0769, 2.0, -0.1294, -0.0171, -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]: [-0.3695, 2.0869, 1.2114, 0.2264, -0.4274, -0.3149, 0.9945, -0.0284, 0.6605, 0.3786, -0.3241, -0.0307, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.5288 left_y=-0.1224 left_z=0.0526 left_yaw=0.1386 left_pitch=-0.021 left_roll=0.002 left_gripper=0.9945 right_x=0.2666 right_y=0.0014 right_z=0.1231 right_yaw=0.0087 right_pitch=-0.0314 right_roll=-0.007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -12.2735, 6.8718, 1.6874, -0.2613, 0.0562, -0.1734, -0.7043, -0.9778, 6.8855, 1.9365, -0.1441, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:585bb25d84bd2dc06c9d14b29e5341d2cfd77afb770f028e271297a1bebcea8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d140396bfed46d3605511ed4eaf7d68810ec7d79d71f551e6fa43d05cef605d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d5101e7859bc150c82fb0abdf87781ac7683c157fab9608275ad96ec852612b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsgkKEAgSGAI4AUIIdGhpbmtpbmcSDMN9TVBi0/CoY0K9iRoMixuL90yIelh4U75sIjDXDLCjEZ7AwjjfmJYcfd8wiaoqoa8vtVpcD4EEJPEal1BZAmLUXDFv3rcvjxrtdvsqzwiZeeHrHodbx8LvwALflpjX9KT1Z4zGkxNKQ87T3LjwO9/q1E5v+F+rL1SdRF56vsVRgKx/78/+haEcNSNrtV0zZvZseODD4qeJ2QmQA87BT+jf/m7MCaEAAJFtsiRacGKWxh7ct++6MCn5ZYrFovzbz/Dcya3aTD8grrJYaLGey+bxG9i/3jeY4/f4zQRYAot7a5MqGgMImQKy4SiVVOKo8Aj4td8E1csBVRqzZZl78v4AOMSj03nkjmxjQ4GZrIGZoCJ7p+bN6o4bB7TYsd+v0ljaz6B8D/j8RmGRR3qraXv+s9oLsJs0dYVKSkoQwjs4A/YwVby8pUjoQNh+0oPRUMcihF19Nt8xnBk1btSC+b+cOW7u8OZ8O+KZX+rUFVtgXtzq1CdmFNpFBg0QzLnijg0M5P+hcFoj60w8YdWBbxuOYlvsqmirpfC/fiNtxpTCvz+5h7ZENGCScPk6yQ0ffDs39+97HVj/9VO3ksdAeIrD1TWZkkvfWQlsxo6LX1ijxzpMosK7Uccl67q2QLPrBVe9V1nroPjOTwP/CAw5eVSJmzVrVvACrTmWdgnrualfhgvDgNz2r/Y9lvRrMJ9v0p4CefuzJBlvpfpITEZyP89VleNJN2IJLeb4PYsDyRRuMHpKN8no7V8fc4GIc/QUAgq4XWC7XCyS+ZZEOnDqS28mGXJewo8Ha1s2ZQAAiHWxLib5a8uo1oBY1MwN7aGOngFUF9BAZFJEPHx+0hIy3TD4761ALCG8wgAoUro9zoHfQxJS45r81mLsDDtvxU4z26lFTPeMXD5l8b0Wlj6velcLr9gWgf5cP6y92a37l74/01KjHGIUkOzjlj6xI2v3+8+qiKZ91F7idm4uKicU0HDWS3xo/8jFzGko7rHcgdmMpu2fvSQmdFz4gz//2AAmeQlj1W5j1GNDV4hlM4euo7+6zjxG8Vl0l6fGa5x4VJENuI6F6pgiX+TCXpPrF0H2y5WfVwl9P4yLyyXxEYBZx5iywYDOPsAAP2YuOqrk9dmkqbS/jz12L4O80hl/li25KOTG0hNqTQpb7yadCsRwLys0JhnhKvAhIGMurv507icghEN6cPkRQ40EViWL3k4QWvorjb7095LziOg7sKvDf10M4Re0UE9p0wxfHymPBaAuMc+9h/3/7rHKMokC4b/2PKLv36eFrdU0G7FjGhCCqejB9w8jKousMLqaNBwH+H46updlbBoc4WcoDpnYK+3w9q86P85Mj7TUSHkIt00Dc65bpo+MuAwGqwgLLuIwyL/9EWshZET1Kh/aR9psui+ndH8FocphJIHZhXnof6BVTMyVUM8fnmkn8QWmln8GgqjDvSdpnUi6RlcluFCZc97XYqCmgCHx3D72L72yN7qrTDPDzpLekblJdLlQ4Trd6nwrZjBfsfiJyQwJWlJ10ibhSSaXmXiwnjiom2oZk1VbEq90L6ms8KdcmsUzbC26vhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LEXD95j3kt5Hn9JkaP6yaY",
      "input": {
        "note": "Bottle neck centred between the open jaws. Pressing down to table level so the fingers close below the bottle's widest point.",
        "targets": {
          "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_01LEXD95j3kt5Hn9JkaP6yaY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3855, 2.2063, 1.1797, 0.5411, -0.4412, -0.3172, 0.9961, -0.0284, 0.6403, 0.35, -0.3134, -0.0307, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.5471 left_y=-0.1367 left_z=0.0389 left_yaw=0.1393 left_pitch=0.125 left_roll=-0.0744 left_gripper=0.9961 right_x=0.2636 right_y=0.0015 right_z=0.1172 right_yaw=0.0101 right_pitch=-0.0292 right_roll=-0.0093 right_gripper=0.9998\nstate[joint_eff]: [0.8274, -5.8051, 3.6581, 0.3736, 0.0904, 0.0464, 0.1441, -0.6769, -0.6359, 7.0085, 1.9512, -0.149, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b53a6c30c6bf13049c829ebe2de96ec2089a6177075c6e82f4191f9903fa7902",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba8278fba8c9cc2adc7693cbb4d59c19aedb3830a9c2cf79880163989ab48574",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1e0ba02dfee93eff2333e204e64e9fdb44cb9327abd4a5cc7e93bf271f7d2731",
        "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 · 5.717 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]: [-0.3706, 2.0869, 1.121, 0.4637, -0.4347, -0.2913, 0.0131, -0.0284, 0.6849, 0.4126, -0.3397, -0.0307, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.5325 left_y=-0.1233 left_z=0.0635 left_yaw=0.1339 left_pitch=0.1095 left_roll=-0.0452 left_gripper=0.0131 right_x=0.2698 right_y=0.0013 right_z=0.1293 right_yaw=0.0087 right_pitch=-0.0375 right_roll=-0.0068 right_gripper=0.9998\nstate[joint_eff]: [0.212, -9.853, 5.3675, 0.8327, 0.1978, 0.0611, 1.0867, -0.7043, -0.9368, 7.0769, 2.0, -0.1294, -0.0171, -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]: [-0.3695, 2.0869, 1.2114, 0.2264, -0.4274, -0.3149, 0.9945, -0.0284, 0.6605, 0.3786, -0.3241, -0.0307, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.5288 left_y=-0.1224 left_z=0.0526 left_yaw=0.1386 left_pitch=-0.021 left_roll=0.002 left_gripper=0.9945 right_x=0.2666 right_y=0.0014 right_z=0.1231 right_yaw=0.0087 right_pitch=-0.0314 right_roll=-0.007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -12.2735, 6.8718, 1.6874, -0.2613, 0.0562, -0.1734, -0.7043, -0.9778, 6.8855, 1.9365, -0.1441, -0.0366, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3855, 2.2063, 1.1797, 0.5411, -0.4412, -0.3172, 0.9961, -0.0284, 0.6403, 0.35, -0.3134, -0.0307, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.5471 left_y=-0.1367 left_z=0.0389 left_yaw=0.1393 left_pitch=0.125 left_roll=-0.0744 left_gripper=0.9961 right_x=0.2636 right_y=0.0015 right_z=0.1172 right_yaw=0.0101 right_pitch=-0.0292 right_roll=-0.0093 right_gripper=0.9998\nstate[joint_eff]: [0.8274, -5.8051, 3.6581, 0.3736, 0.0904, 0.0464, 0.1441, -0.6769, -0.6359, 7.0085, 1.9512, -0.149, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b53a6c30c6bf13049c829ebe2de96ec2089a6177075c6e82f4191f9903fa7902",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba8278fba8c9cc2adc7693cbb4d59c19aedb3830a9c2cf79880163989ab48574",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e0ba02dfee93eff2333e204e64e9fdb44cb9327abd4a5cc7e93bf271f7d2731",
        "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_01QFJhKMz4K8H1CeCURKz2dV",
      "input": {
        "note": "The gripper palm bottoms out on the bottle at ~4 cm, so the short fingers can only pinch above its widest point and it pops out; the cap is too far out to reach low. Plan: close the jaws and use them as a pad to drag the bottle back toward the base, where I can grab the cap end.",
        "targets": {
          "left_gripper": 0,
          "left_x": 0.48,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QFJhKMz4K8H1CeCURKz2dV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4488, 1.9491, 1.0672, 0.2295, -0.4881, -0.3607, 0.0133, -0.0341, 0.6212, 0.3233, -0.3054, -0.0311, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4874 left_y=-0.1388 left_z=0.0692 left_yaw=0.1323 left_pitch=-0.0045 left_roll=-0.0032 left_gripper=0.0133 right_x=0.2605 right_y=0.0002 right_z=0.1113 right_yaw=0.0051 right_pitch=-0.0288 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -12.9436, 5.6957, 1.6581, -0.3883, -0.0073, 0.8376, -0.1573, -0.7043, 7.2821, 2.0049, -0.2027, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c5befaf6afc2c256ad0ca552af97581142fac0eacc33b95d033e1d18614c8fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21aaa0952c7815040e9c182543c56569976a84939fd37cd995511c081e4c52ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00edfe2c7611a332e3f55a1707d556b15f113f3062825d950307a9b58368bd77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 4.256 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]: [-0.3695, 2.0869, 1.2114, 0.2264, -0.4274, -0.3149, 0.9945, -0.0284, 0.6605, 0.3786, -0.3241, -0.0307, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.5288 left_y=-0.1224 left_z=0.0526 left_yaw=0.1386 left_pitch=-0.021 left_roll=0.002 left_gripper=0.9945 right_x=0.2666 right_y=0.0014 right_z=0.1231 right_yaw=0.0087 right_pitch=-0.0314 right_roll=-0.007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -12.2735, 6.8718, 1.6874, -0.2613, 0.0562, -0.1734, -0.7043, -0.9778, 6.8855, 1.9365, -0.1441, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.3855, 2.2063, 1.1797, 0.5411, -0.4412, -0.3172, 0.9961, -0.0284, 0.6403, 0.35, -0.3134, -0.0307, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.5471 left_y=-0.1367 left_z=0.0389 left_yaw=0.1393 left_pitch=0.125 left_roll=-0.0744 left_gripper=0.9961 right_x=0.2636 right_y=0.0015 right_z=0.1172 right_yaw=0.0101 right_pitch=-0.0292 right_roll=-0.0093 right_gripper=0.9998\nstate[joint_eff]: [0.8274, -5.8051, 3.6581, 0.3736, 0.0904, 0.0464, 0.1441, -0.6769, -0.6359, 7.0085, 1.9512, -0.149, 0.0122, -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]: [-0.4488, 1.9491, 1.0672, 0.2295, -0.4881, -0.3607, 0.0133, -0.0341, 0.6212, 0.3233, -0.3054, -0.0311, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4874 left_y=-0.1388 left_z=0.0692 left_yaw=0.1323 left_pitch=-0.0045 left_roll=-0.0032 left_gripper=0.0133 right_x=0.2605 right_y=0.0002 right_z=0.1113 right_yaw=0.0051 right_pitch=-0.0288 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -12.9436, 5.6957, 1.6581, -0.3883, -0.0073, 0.8376, -0.1573, -0.7043, 7.2821, 2.0049, -0.2027, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c5befaf6afc2c256ad0ca552af97581142fac0eacc33b95d033e1d18614c8fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21aaa0952c7815040e9c182543c56569976a84939fd37cd995511c081e4c52ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00edfe2c7611a332e3f55a1707d556b15f113f3062825d950307a9b58368bd77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+QkKEAgSGAI4AUIIdGhpbmtpbmcSDA9G3FG6bbFunFGqABoM0RePlXoaRoULlzVPIjDnkqFayqyHK0ox7yRE+1CLnMj3J+G9bYZrkDEeIUagKbTrBOBKOdJaP5xZPKlgAioqlgkbzp2ShgrKFwptSQ8HWgcssV5Fa0pK9GEalaHV0r4yNKamxdCuhXmGwND9a08Tlao9zeypWx5kGsxEGFmrqy9r85ZgHx/rEnGWfuZYK59kdtbCZhqJLYobe4sRaSfLbH29cZDCUXhE8N563gngqPJC4TNRDQnWFVF2h0GW91JULpFNpuk24ICU4+p3dNTi5oihasjWJuFa3/J8GD/Szuv9xcUDzUwp+1U6vA4NpuFrxzo5zyo8HOQGsev9fvzgOrT60NFIwdqa0XuUlbkxX9BxMUvVGvS6AEafm84Hd8MPGef19ZW+OermyBNahy/BG/FUMqr/uFLzK2fdU2gz+5GLghpsYwx8ngFm2iSYNfcGeTcMqz4rchX8YTCZ+48csd17Gg0t+qJZI0iQf3yLN4u/azNdBY8Sr2Iiz+F530AoQXOqXhNxMuTD37gW+4TVQXUtomhjtR9XKEObYdOFVqlZzzfQvVLlH4Pz92SvkpEgSK/4TItp7eGblR0mhbib67+WjJibYuBGhLjBiAruvnzC7LccAsTgZx0YfnMGhez3cB4hWC9ZNvSTLKifTgKzuJi5GSwaLEv+HGIuuoICoYznD0wEOH5qkYTpnsfnPPMJusivcJmHDYFzsLZHtgtWHWQnYIx+5qSnGn3kqQ/lPaoIRvZdyQZbY94fpwHULodx/AT/LJo9Ok3ACUGUhDaWsC8x21uLNyWXkkfQLSBKPnEKRmBKQWGST+LpVuiQwvdBZXN7yBFD734EFcKOp3pxo41eiuqXoXx00AO/IUjAmTSwN2qqMh4K8e9qn8HKfVzKaMhXVQvQTf1aS66SxdxQtdDYsscy3JYN6MUlrirQtQ6Dlr/iVLp+IGaqs7JEK9y5fPE1SXIDKQBRx65p8jlPyUrVj3H/xTg7X4YMr/NYt3ukNGAEF7nw6GR4NAycKvsOih7YEFpOl7dqrbZFJrh+497e5OnFryV++29+XM5XMTdeAVnuMABrn94/G+IIulPjcN2cYwUnVW66AVmbVIKvECTJ1wiBLYJRg/L44f2R6CcoJ6H5bfUCIzQSVj1zxSa9Kju/I+rGccsBcMI9wZdPGfmK9EAWlNFwjxTT4iB4MOdkCXkmJXD4bAIblufXlfSNVPBkJvOnSm7Kim2koRaOTmEWcUMkC/925qoJarm34bzGmVxFdeCRgKky0hIL4DC70PgomKXw5jfBH3zYfg1YSqOL6zAEfcuBxzG9j5GiZg3fxgruu5uFaes4hNr4+aW9YOB2URXTpuIC0O7e8MTKVtXEpK2srPqf1y/q7OtrvYj4U//7Hq5aTC8yHWMugvubcvcJhKfGRuj2WXafxpIawfO6N0xxf3FgcB6jLXae8pd33vI2sR+Lyx2BMOPPQlc77bWdhjxRLRekh7l7EJaluzTV3Rg7VOXPvSo0gWy4kAeVe13Tzt5NAK5z5hMp3TBOkSjwOLPzWVbykBf5g8KASgTBRfnQZMFBmVlmMZ3ZHnUPgspnNujw7X2onw1nxK/YGKKaEelv0l3lDt7oWnl5Km/c35EO/tmgOmMu2AGi3jQ2WAEtgjjyGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tp5DrGJBvyRbfHGZDvPDaW",
      "input": {
        "note": "Closed jaws are above the bottle's label/body. Pressing down on the body to get friction before dragging it back.",
        "targets": {
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Tp5DrGJBvyRbfHGZDvPDaW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4564, 2.0098, 1.0424, 0.3225, -0.487, -0.3672, 0.0163, -0.0399, 0.6018, 0.3008, -0.2977, -0.0311, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4882 left_y=-0.1436 left_z=0.0475 left_yaw=0.1272 left_pitch=0.0015 left_roll=-0.0135 left_gripper=0.0163 right_x=0.2582 right_y=-0.0012 right_z=0.1073 right_yaw=-0.0006 right_pitch=-0.0242 right_roll=-0.0099 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -8.8547, 4.9026, 1.619, -0.1538, 0.0562, 0.6276, -0.4991, -0.4581, 6.7487, 1.9463, -0.1783, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09fc9b185e95cbb7e8f726127e209607a951c26abddfe32493142447f8eacf91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc61467ec75aa1f35ba6cd85b761385a9c710e08f75f637c92a242ae95bf9db7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb17097add7024a5ee6640a682b8717edd37a0312f41d49298a307bbfd608dcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 10.62 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]: [-0.3855, 2.2063, 1.1797, 0.5411, -0.4412, -0.3172, 0.9961, -0.0284, 0.6403, 0.35, -0.3134, -0.0307, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.5471 left_y=-0.1367 left_z=0.0389 left_yaw=0.1393 left_pitch=0.125 left_roll=-0.0744 left_gripper=0.9961 right_x=0.2636 right_y=0.0015 right_z=0.1172 right_yaw=0.0101 right_pitch=-0.0292 right_roll=-0.0093 right_gripper=0.9998\nstate[joint_eff]: [0.8274, -5.8051, 3.6581, 0.3736, 0.0904, 0.0464, 0.1441, -0.6769, -0.6359, 7.0085, 1.9512, -0.149, 0.0122, -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]: [-0.4488, 1.9491, 1.0672, 0.2295, -0.4881, -0.3607, 0.0133, -0.0341, 0.6212, 0.3233, -0.3054, -0.0311, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4874 left_y=-0.1388 left_z=0.0692 left_yaw=0.1323 left_pitch=-0.0045 left_roll=-0.0032 left_gripper=0.0133 right_x=0.2605 right_y=0.0002 right_z=0.1113 right_yaw=0.0051 right_pitch=-0.0288 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -12.9436, 5.6957, 1.6581, -0.3883, -0.0073, 0.8376, -0.1573, -0.7043, 7.2821, 2.0049, -0.2027, -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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4564, 2.0098, 1.0424, 0.3225, -0.487, -0.3672, 0.0163, -0.0399, 0.6018, 0.3008, -0.2977, -0.0311, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4882 left_y=-0.1436 left_z=0.0475 left_yaw=0.1272 left_pitch=0.0015 left_roll=-0.0135 left_gripper=0.0163 right_x=0.2582 right_y=-0.0012 right_z=0.1073 right_yaw=-0.0006 right_pitch=-0.0242 right_roll=-0.0099 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -8.8547, 4.9026, 1.619, -0.1538, 0.0562, 0.6276, -0.4991, -0.4581, 6.7487, 1.9463, -0.1783, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09fc9b185e95cbb7e8f726127e209607a951c26abddfe32493142447f8eacf91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc61467ec75aa1f35ba6cd85b761385a9c710e08f75f637c92a242ae95bf9db7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb17097add7024a5ee6640a682b8717edd37a0312f41d49298a307bbfd608dcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqgcKEAgSGAI4AUIIdGhpbmtpbmcSDEEss5C41/2G05Y0gxoMWzAkw3FjjzsuDjlHIjCBR4oq+kjCIm/f3Q6eGyeVZIhppOw1s1xql4T9JGFNpf3PWbWnWc4iqM/x9GiykqYqxwZ4G/OmyHvDQhTIeYTyQYcD5rOEuS4kNJ65wqwrbgK2bzewnhvf6Z9TakQP7ap+rvHBIcP6Wxqqp+5wNm38NELZOGuXoTO+Fpmq4sFUPXOUDOD+Wx0Fu0DN4E1SthvxRAhX5Ht1IVJH0CCVhGLI7QFeet015Ub59GUYVCU2bTsFX3k4Gxk96VazL0lK180IFDqQFXIKp6qYL2q01dVpCS0TTHGd9bqyie/tVj4XTUqG1VkxG+BwMRm7Go36HoBD2i9FwUIGkY1LNyVhDkQZMkOZtrFEeCk4U+QDjrZxKWosLCOA+we2feyKxcLS6Sxp6LHCW68PKpRuSeqJiJbONxaxIKYuIHsOsuLGWJ8jSRw1p8zQIxqHRzRWPupNcTrAH7lIJHb6yUKar9khYhO5fmG629h1N2I5q8F+QEJPT93u3VAOPtzS8JjBBE5XW5guOYNTQ04EO9t8yVfp/YXoh7R9QsqA+sUnDyJhGlINoBNJtovF86AcSRKAKaEQE7qUXjGMdGEvnGN2B5tck5/gxTQwlu2Jwllq2bZDlOpe1yS+HrZoPP497EAHuNSSWPZBNxZwGo8YWVAPgyqmj+KQikVKGT0Qa2xxhXoajY5o3cK91McI9ObSwwv3nGB7qRbO50IkpcWcE772ZT0y83LnJ9KdXoZDd/vCxp+WB7FbI0ooDxfbYxVVWU+z8V2PYFdVNZBFE0mGhpA90NbX3//vMbZTrmclpopRQwdIUXnPc6weRltU/T5b3BrNJZnUCDYFbggIq6LxMLGB08T8muHlB8Nn2YF1AbQON8B6Z0tsNlyvRksXMU3jF04+vopXMkGWMWZgcsEGJnpQdHuxaXw9TkeatVGyfI4hOieMOsON5Jth1iEkXoifPxDm2TQIW6GX+m2ZKARChquy77rKJF2u4zamQQmwPc385/WnkG0TKfENHe7fD/KgodP/GfjFW0+KfJwByuqrm+y0ULLWPaVwBJRyD8+pjAKDY3xN460GOTVJ5q/FVHxgR1G5kLpkABrgahuCXDw9g6FCapjQLJvg5iK7VNtflNk/ry1mz4D+1Dd+0Nak5t2+grk6BGZQlC/tpLHj7rz7tdyOdxRKzx2xsjUXb6RHg/oF6xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UBs5CPmA3Xk1sKdcCU7sqj",
      "input": {
        "note": "Jaws are pressing on the bottle body. Dragging it back toward the base so its cap end comes within low reach.",
        "targets": {
          "left_x": 0.36,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UBs5CPmA3Xk1sKdcCU7sqj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4717, 2.0026, 1.0088, 0.3626, -0.5064, -0.3676, 0.0189, -0.0414, 0.588, 0.2813, -0.2905, -0.0311, -0.0547, 0.9998]\nstate[eef_state]: left_x=0.4823 left_y=-0.1458 left_z=0.0468 left_yaw=0.1278 left_pitch=0.0194 left_roll=-0.0118 left_gripper=0.0189 right_x=0.2563 right_y=-0.0015 right_z=0.1031 right_yaw=-0.0023 right_pitch=-0.0227 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -11.7675, 4.3556, 1.3162, -0.2369, -0.0464, 0.5592, -0.7453, -0.7043, 6.8034, 1.9023, -0.1636, -0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab13971f8b20a6f3585e5f5356b11634bf8298dfac76857f30915a16002b6147",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:049c9bd74567ef179d3790053def0063101a89c54cd840d1c2f464c528d55619",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a1b4a973671b3be2e6921e5b66258b86a8187f98b9b613308c1cf090ae42cf1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 9.784 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]: [-0.4488, 1.9491, 1.0672, 0.2295, -0.4881, -0.3607, 0.0133, -0.0341, 0.6212, 0.3233, -0.3054, -0.0311, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4874 left_y=-0.1388 left_z=0.0692 left_yaw=0.1323 left_pitch=-0.0045 left_roll=-0.0032 left_gripper=0.0133 right_x=0.2605 right_y=0.0002 right_z=0.1113 right_yaw=0.0051 right_pitch=-0.0288 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -12.9436, 5.6957, 1.6581, -0.3883, -0.0073, 0.8376, -0.1573, -0.7043, 7.2821, 2.0049, -0.2027, -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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4564, 2.0098, 1.0424, 0.3225, -0.487, -0.3672, 0.0163, -0.0399, 0.6018, 0.3008, -0.2977, -0.0311, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4882 left_y=-0.1436 left_z=0.0475 left_yaw=0.1272 left_pitch=0.0015 left_roll=-0.0135 left_gripper=0.0163 right_x=0.2582 right_y=-0.0012 right_z=0.1073 right_yaw=-0.0006 right_pitch=-0.0242 right_roll=-0.0099 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -8.8547, 4.9026, 1.619, -0.1538, 0.0562, 0.6276, -0.4991, -0.4581, 6.7487, 1.9463, -0.1783, 0.0073, -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]: [-0.4717, 2.0026, 1.0088, 0.3626, -0.5064, -0.3676, 0.0189, -0.0414, 0.588, 0.2813, -0.2905, -0.0311, -0.0547, 0.9998]\nstate[eef_state]: left_x=0.4823 left_y=-0.1458 left_z=0.0468 left_yaw=0.1278 left_pitch=0.0194 left_roll=-0.0118 left_gripper=0.0189 right_x=0.2563 right_y=-0.0015 right_z=0.1031 right_yaw=-0.0023 right_pitch=-0.0227 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -11.7675, 4.3556, 1.3162, -0.2369, -0.0464, 0.5592, -0.7453, -0.7043, 6.8034, 1.9023, -0.1636, -0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab13971f8b20a6f3585e5f5356b11634bf8298dfac76857f30915a16002b6147",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:049c9bd74567ef179d3790053def0063101a89c54cd840d1c2f464c528d55619",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1b4a973671b3be2e6921e5b66258b86a8187f98b9b613308c1cf090ae42cf1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014RkrTLbazZ6b7G9UQmk3nK",
      "input": {
        "note": "The drag stalled (arm stayed at x 0.48) while pressing; the bottle has rolled slightly to the left of the jaws. Easing the downforce a bit and retrying a shorter pull back.",
        "targets": {
          "left_x": 0.4,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_014RkrTLbazZ6b7G9UQmk3nK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5842, 1.8164, 0.7448, 0.3458, -0.5728, -0.4389, 0.0212, -0.0414, 0.5739, 0.2607, -0.2901, -0.0311, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4032 left_y=-0.1475 left_z=0.0368 left_yaw=0.1055 left_pitch=-0.0305 left_roll=0.0181 left_gripper=0.0212 right_x=0.2533 right_y=-0.0014 right_z=0.0972 right_yaw=-0.0021 right_pitch=-0.0288 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -9.9761, 5.4906, 1.5263, -0.442, 0.0464, 0.5641, -0.6632, -0.5265, 7.1043, 1.9365, -0.1685, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ea966e56bd6680bbca2c026faba8fe955de389f269874ee04dce2914aaf1261",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd692a19df48e748badee8fab320318001f92f930b487b2e80c52cf583b946b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9714424632f92c19899640d60ebe0ffccad199a78e029fb5b23606ca5e49fea7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 10.65 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]: [-0.4564, 2.0098, 1.0424, 0.3225, -0.487, -0.3672, 0.0163, -0.0399, 0.6018, 0.3008, -0.2977, -0.0311, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4882 left_y=-0.1436 left_z=0.0475 left_yaw=0.1272 left_pitch=0.0015 left_roll=-0.0135 left_gripper=0.0163 right_x=0.2582 right_y=-0.0012 right_z=0.1073 right_yaw=-0.0006 right_pitch=-0.0242 right_roll=-0.0099 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -8.8547, 4.9026, 1.619, -0.1538, 0.0562, 0.6276, -0.4991, -0.4581, 6.7487, 1.9463, -0.1783, 0.0073, -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]: [-0.4717, 2.0026, 1.0088, 0.3626, -0.5064, -0.3676, 0.0189, -0.0414, 0.588, 0.2813, -0.2905, -0.0311, -0.0547, 0.9998]\nstate[eef_state]: left_x=0.4823 left_y=-0.1458 left_z=0.0468 left_yaw=0.1278 left_pitch=0.0194 left_roll=-0.0118 left_gripper=0.0189 right_x=0.2563 right_y=-0.0015 right_z=0.1031 right_yaw=-0.0023 right_pitch=-0.0227 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -11.7675, 4.3556, 1.3162, -0.2369, -0.0464, 0.5592, -0.7453, -0.7043, 6.8034, 1.9023, -0.1636, -0.0073, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5842, 1.8164, 0.7448, 0.3458, -0.5728, -0.4389, 0.0212, -0.0414, 0.5739, 0.2607, -0.2901, -0.0311, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4032 left_y=-0.1475 left_z=0.0368 left_yaw=0.1055 left_pitch=-0.0305 left_roll=0.0181 left_gripper=0.0212 right_x=0.2533 right_y=-0.0014 right_z=0.0972 right_yaw=-0.0021 right_pitch=-0.0288 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -9.9761, 5.4906, 1.5263, -0.442, 0.0464, 0.5641, -0.6632, -0.5265, 7.1043, 1.9365, -0.1685, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ea966e56bd6680bbca2c026faba8fe955de389f269874ee04dce2914aaf1261",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd692a19df48e748badee8fab320318001f92f930b487b2e80c52cf583b946b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9714424632f92c19899640d60ebe0ffccad199a78e029fb5b23606ca5e49fea7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018NMojPggiUtJZNhZSLR3Mp",
      "input": {
        "note": "Drag failed (bottle didn't slide), but the gripper now sits just right of the bottle's lower half. Lifting, opening, and shifting left ~4 cm to centre over the body for another straddle grasp.",
        "targets": {
          "left_gripper": 1,
          "left_y": -0.105,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018NMojPggiUtJZNhZSLR3Mp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4656, 1.5917, 0.7151, 0.21, -0.4965, -0.3702, 0.9946, -0.0418, 0.5537, 0.2363, -0.2901, -0.0311, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4018 left_y=-0.1037 left_z=0.0868 left_yaw=0.1274 left_pitch=-0.0133 left_roll=0.0009 left_gripper=0.9946 right_x=0.2497 right_y=-0.0014 right_z=0.0907 right_yaw=-0.0025 right_pitch=-0.033 right_roll=-0.0096 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -8.2803, 7.0222, 1.6679, -0.1587, 0.0464, -0.1978, -0.9094, -0.335, 6.8718, 1.9658, -0.1734, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de911d1dea7a14edad7986d5fd6246db422977914c2270e498fff33d4097e422",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:886643a837d656450b7e14b160315174e036b2244f0d03fc2a3dfec0010e9490",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b1befc48d784a9a3c399a6d1b0912e6a6317f98f64e47deae9204170e40f801",
        "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 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]: [-0.4717, 2.0026, 1.0088, 0.3626, -0.5064, -0.3676, 0.0189, -0.0414, 0.588, 0.2813, -0.2905, -0.0311, -0.0547, 0.9998]\nstate[eef_state]: left_x=0.4823 left_y=-0.1458 left_z=0.0468 left_yaw=0.1278 left_pitch=0.0194 left_roll=-0.0118 left_gripper=0.0189 right_x=0.2563 right_y=-0.0015 right_z=0.1031 right_yaw=-0.0023 right_pitch=-0.0227 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -11.7675, 4.3556, 1.3162, -0.2369, -0.0464, 0.5592, -0.7453, -0.7043, 6.8034, 1.9023, -0.1636, -0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5842, 1.8164, 0.7448, 0.3458, -0.5728, -0.4389, 0.0212, -0.0414, 0.5739, 0.2607, -0.2901, -0.0311, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4032 left_y=-0.1475 left_z=0.0368 left_yaw=0.1055 left_pitch=-0.0305 left_roll=0.0181 left_gripper=0.0212 right_x=0.2533 right_y=-0.0014 right_z=0.0972 right_yaw=-0.0021 right_pitch=-0.0288 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -9.9761, 5.4906, 1.5263, -0.442, 0.0464, 0.5641, -0.6632, -0.5265, 7.1043, 1.9365, -0.1685, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4656, 1.5917, 0.7151, 0.21, -0.4965, -0.3702, 0.9946, -0.0418, 0.5537, 0.2363, -0.2901, -0.0311, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4018 left_y=-0.1037 left_z=0.0868 left_yaw=0.1274 left_pitch=-0.0133 left_roll=0.0009 left_gripper=0.9946 right_x=0.2497 right_y=-0.0014 right_z=0.0907 right_yaw=-0.0025 right_pitch=-0.033 right_roll=-0.0096 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -8.2803, 7.0222, 1.6679, -0.1587, 0.0464, -0.1978, -0.9094, -0.335, 6.8718, 1.9658, -0.1734, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de911d1dea7a14edad7986d5fd6246db422977914c2270e498fff33d4097e422",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:886643a837d656450b7e14b160315174e036b2244f0d03fc2a3dfec0010e9490",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b1befc48d784a9a3c399a6d1b0912e6a6317f98f64e47deae9204170e40f801",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TcuF71jwTo1LWNysaYVDPg",
      "input": {
        "note": "Wrist view shows the bottle running diagonally with its bottom near the left fingertip; the jaw centre is ~4 cm right of the body. Shifting left and slightly forward to centre the jaws over the lower body.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.07,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TcuF71jwTo1LWNysaYVDPg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3424, 1.6257, 0.7162, 0.2325, -0.4278, -0.3176, 0.9961, -0.0463, 0.527, 0.2104, -0.2844, -0.0338, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4142 left_y=-0.066 left_z=0.0747 left_yaw=0.1679 left_pitch=-0.0451 left_roll=0.0136 left_gripper=0.9961 right_x=0.247 right_y=-0.0019 right_z=0.0862 right_yaw=-0.0049 right_pitch=-0.0264 right_roll=-0.0083 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -6.694, 9.0325, 1.9756, 0.0122, 0.1343, 0.1392, -0.5675, -0.0205, 6.7897, 1.9756, -0.105, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9afe912744bc3b98664abc130804da306731f75bcb0cbce091b8032cb67568a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27927915a0918832c4c1f48e8861d3f66b469eec4bcb13676ae889276889fc2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bdb8f0ab6974d337bc8246f55439810c4784cff737991d9b700b3350721d4cbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /messages · status 200 · 4.776 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]: [-0.5842, 1.8164, 0.7448, 0.3458, -0.5728, -0.4389, 0.0212, -0.0414, 0.5739, 0.2607, -0.2901, -0.0311, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4032 left_y=-0.1475 left_z=0.0368 left_yaw=0.1055 left_pitch=-0.0305 left_roll=0.0181 left_gripper=0.0212 right_x=0.2533 right_y=-0.0014 right_z=0.0972 right_yaw=-0.0021 right_pitch=-0.0288 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -9.9761, 5.4906, 1.5263, -0.442, 0.0464, 0.5641, -0.6632, -0.5265, 7.1043, 1.9365, -0.1685, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.4656, 1.5917, 0.7151, 0.21, -0.4965, -0.3702, 0.9946, -0.0418, 0.5537, 0.2363, -0.2901, -0.0311, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4018 left_y=-0.1037 left_z=0.0868 left_yaw=0.1274 left_pitch=-0.0133 left_roll=0.0009 left_gripper=0.9946 right_x=0.2497 right_y=-0.0014 right_z=0.0907 right_yaw=-0.0025 right_pitch=-0.033 right_roll=-0.0096 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -8.2803, 7.0222, 1.6679, -0.1587, 0.0464, -0.1978, -0.9094, -0.335, 6.8718, 1.9658, -0.1734, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3424, 1.6257, 0.7162, 0.2325, -0.4278, -0.3176, 0.9961, -0.0463, 0.527, 0.2104, -0.2844, -0.0338, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4142 left_y=-0.066 left_z=0.0747 left_yaw=0.1679 left_pitch=-0.0451 left_roll=0.0136 left_gripper=0.9961 right_x=0.247 right_y=-0.0019 right_z=0.0862 right_yaw=-0.0049 right_pitch=-0.0264 right_roll=-0.0083 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -6.694, 9.0325, 1.9756, 0.0122, 0.1343, 0.1392, -0.5675, -0.0205, 6.7897, 1.9756, -0.105, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9afe912744bc3b98664abc130804da306731f75bcb0cbce091b8032cb67568a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27927915a0918832c4c1f48e8861d3f66b469eec4bcb13676ae889276889fc2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdb8f0ab6974d337bc8246f55439810c4784cff737991d9b700b3350721d4cbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiggKEAgSGAI4AUIIdGhpbmtpbmcSDMbKMdN3SKLr0/gk/hoMgyty3n8Uq8utuGnlIjCtwRbYa1EeBbzIseq4ByeEyYoRGogb7wai/6qDTubgU0HE2dIy/Eu1xoK7nKs5PdsqpwevaFriyY55NMttJZlExLAGo4iUwM14yXWYuLy1FoCKEifQo0eUUsHhUfzyUX1kcRzLAeh1aHb+2YlwApub8MF1Wd8L7YHks9BFStMTToSbDYVPXzcks/gVr82r63Iw3fqnNualCXzSEKomoHxO4Nn/Hbgb2FGadKBrxr/B3cnB596ft0GNyK7rUF6cCAqSzfWIevLvf6kAN7adIeHKHMBhciISEppsxrUGP4cofcJRDVgETn7xykvZnwE001+sSBqXqYO8wGZ3mB06Ppbwz5svz/iGpTjAhEVlXthstI8vTD66FRWBRaNDb0lpmLzgNHMZudCQgCIRgA3x/eXmxWyFjPNjzFRtx/EpGqUUmIy4RCOth/Qq82HOAsqktWTyMubanKJfiHNnlVxJwnTUG5SI2joxjhLSNWx9FcCwqscDPFWZq6lyzeuGnxLiT/TOy7tOhp95Ee3wsHOYSNKsifva0rOM4Gae6Nyr04ISW6m5Jhpb8AD0wsB2hJNQhRty3wlx3AsAfhcY87ssv1rX+ebJT/Gt9ZSSo7xNCLU13yhcglT3ffwCQOkpNrj8pOJE5KVezfYIUtLF0KE4UOVq/Uor5tRIbrFYIFT8VolfoECLEiPsDKMGtRrKCZ+JxwXJOwAmRsgyuPOZBtx3OhlAIVab6M3eGau8F/62ALNdSNLKxOEzPjBo41kKneNHkuG1mM6/2NVJkqZMv5HJ2EdfP/pURpXho656ah761K63D4QAEPUhwJHi2bwWjrZ/yF0Sk4bJOhf09CPAjxlkXv5awCSWCmwEExzTMXpQKdZ6JVzeei5UZesLaTxBHKtJNT+uQZhJ2ClR50p6beWbqypOTukPEoYYTIE/T5dmHStobkQ2roF3EQK3kxeLvpbFGdR1VJiNEZAiZARPrV9S0KHcpi6K9T4xM6VpzuVDZKd5yBor8+YM2wr5tEA1Txk9rAi6riyURrQ/m911WThoFi+cAwhpzVh7jdX5NUZilw+9GkbprSupraU+cKA8Ys/wgpXRE7jNV5yXmg9BkNVJJ1dmhuNX5ONJcbcyYICMh5y9jBMKgCECZ6nhYBZZgCEER7+xEVhcaKiI5nl6RPpE8UTGeGbhbzkA9btrOov0yjrAqFjUzxf1ZZuPNov6YVuh98/1mkM6zzzn27xnMGDxiNKDiRKfVVtqh8DWr7u1ed+6gnRYqHOvYz88/XRQbZVF4SKLmN7xODEuxewxg0jhydtFUaSJhFtG625eVBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019WG4o5FPmBWAxSLwaqu4rg",
      "input": {
        "note": "Bottle body now nearly centred between the open fingertips. Small left correction and descend to table level to straddle the body low.",
        "targets": {
          "left_y": -0.052,
          "left_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_019WG4o5FPmBWAxSLwaqu4rg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.321, 1.6337, 0.7174, 0.2535, -0.3996, -0.2882, 0.9962, -0.0483, 0.5056, 0.1898, -0.2871, -0.0387, -0.0547, 0.9998]\nstate[eef_state]: left_x=0.4185 left_y=-0.0629 left_z=0.0745 left_yaw=0.1505 left_pitch=-0.0414 left_roll=0.0157 left_gripper=0.9962 right_x=0.244 right_y=-0.0013 right_z=0.0811 right_yaw=-0.0028 right_pitch=-0.0282 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -7.0769, 8.7179, 1.7656, -0.0806, 0.1001, 0.0073, -0.7726, -0.1573, 6.7897, 1.9658, -0.1441, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c676c41ac2a8703810ab4b45e0281ee48d8130edcb42576e789a734be6968a93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d82e2bb650a2a879638c553105329a832915b3020325683d29470672ccb87d0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3bc4cc1cff2f07f33fab69fb5f1a5db25728b6b6aca2a6ba6f6604d842c536b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 10.17 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]: [-0.4656, 1.5917, 0.7151, 0.21, -0.4965, -0.3702, 0.9946, -0.0418, 0.5537, 0.2363, -0.2901, -0.0311, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4018 left_y=-0.1037 left_z=0.0868 left_yaw=0.1274 left_pitch=-0.0133 left_roll=0.0009 left_gripper=0.9946 right_x=0.2497 right_y=-0.0014 right_z=0.0907 right_yaw=-0.0025 right_pitch=-0.033 right_roll=-0.0096 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -8.2803, 7.0222, 1.6679, -0.1587, 0.0464, -0.1978, -0.9094, -0.335, 6.8718, 1.9658, -0.1734, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3424, 1.6257, 0.7162, 0.2325, -0.4278, -0.3176, 0.9961, -0.0463, 0.527, 0.2104, -0.2844, -0.0338, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4142 left_y=-0.066 left_z=0.0747 left_yaw=0.1679 left_pitch=-0.0451 left_roll=0.0136 left_gripper=0.9961 right_x=0.247 right_y=-0.0019 right_z=0.0862 right_yaw=-0.0049 right_pitch=-0.0264 right_roll=-0.0083 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -6.694, 9.0325, 1.9756, 0.0122, 0.1343, 0.1392, -0.5675, -0.0205, 6.7897, 1.9756, -0.105, -0.0269, -0.0122]",
      "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]: [-0.321, 1.6337, 0.7174, 0.2535, -0.3996, -0.2882, 0.9962, -0.0483, 0.5056, 0.1898, -0.2871, -0.0387, -0.0547, 0.9998]\nstate[eef_state]: left_x=0.4185 left_y=-0.0629 left_z=0.0745 left_yaw=0.1505 left_pitch=-0.0414 left_roll=0.0157 left_gripper=0.9962 right_x=0.244 right_y=-0.0013 right_z=0.0811 right_yaw=-0.0028 right_pitch=-0.0282 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -7.0769, 8.7179, 1.7656, -0.0806, 0.1001, 0.0073, -0.7726, -0.1573, 6.7897, 1.9658, -0.1441, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c676c41ac2a8703810ab4b45e0281ee48d8130edcb42576e789a734be6968a93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d82e2bb650a2a879638c553105329a832915b3020325683d29470672ccb87d0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bc4cc1cff2f07f33fab69fb5f1a5db25728b6b6aca2a6ba6f6604d842c536b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS5gcKEAgSGAI4AUIIdGhpbmtpbmcSDFpFU+KX3Gx4MAXSzhoMmlFUCUw6UAIFr1LXIjARysAvoOXsQQPKZtErpTMqnVUE25CuhkMk8vzuaRDkRdfz4G/wp+GNwYvv4Ssud8sqgwdLXXlIYeSRrfOqRZV+Y8Hk7wa7HjsejVxGXhpZjOgeCkQ5dyHPuZqUlf2LptCFPp2eRo6MBIl4Xzb4CTJhxovHqCO6gZFN2ZWWqm/Nr0/DIn7RHC4ciaLAanT8bXwSBk0bJfdV1yo3wNI7ZGpwS/yr3Q754zGkXmGM7kMrC9ljHEDzKAkrNEtM6hrZbGdaP0KquZrt8R2S16SP7FwmcIRpQ4oAzHF/oiCsIRk3p7xTmjwceRY3pCFubDfRAAX0EMySqUm7rPh07BHRqd8vU0O0/d5gHVb+oBWQfA1yDLKktRQZR6t0aCAfzCBRb/tmaMn09bj0jGJL1opOk/D6jl/J48gINIBLML2d3HkC+wcAgX+w8lKsqNTeGwJk1L+xsZ4Au7upz4+1xKFl1sxlI2i+WGisV+rsALl8WGAsnCXxshYDoF77aFIcV7llntavZPPUJPZWXVgVR5+fXBrf2tRbGRxyWHbqW3FPIT0lydJxxnJVJu/cx8bwzTiSrUMzQ5VfXioUV/kzbcCUQ25QyA1k0aUSUSSDnqFLSFrFsmMEKJbX5X/k+dbyoEvMuHfjVVvpkaXVZgK05beQPAMB+UyylTTAswNOre7rBdwqOE4N4anGE8in+H0D4LGarFPThAxxNHtKmBHwrZmwjP8x+2veJljObu18wk4Aolev8DDhSGwH3H9lszTKjf/1ZQ3a1/n64K5NFnBIDKA6xcZu11pLqulkzs406a3jXxZqiG7ImlhjtTLlU/tnQqgO1G0lVTBK+CMg31RW5RoVim6uTeazxATBNUBouFRsQeux/SGnOWdMGRDEuR3/IQYPo4x1VpfBhEYVRsSfzO92/aYa+gkOQFxtEomK6Q8SyrkzJr6Ytd1Hqgev2bizPgf20CDDqiXDAzq9XyiW8LXrl4CJh/NRtX2eQGaTK13EpbGSyDB72busLhWEDQ3N69izOAhn3sKpdZKrdmng2ZSfFCV0nwr5neVgArRjSR7aZuvlC6DP3eTkMKzx/0jzn0I8O1Hc8vflwBGiGZ75cFehdorwk4lKyzSiK/iQ6qjjeCT0ZnLjiU6jYiIu88ep1XYwioIvIJ/bBdlrIvyfdUH6UfHFfhN0wlqZYXIHr5lqOyzbsG/4Cp1IccSNHlYcyYyr9DKE+6bnU6hD8cGVuZ14G0qLPPpZtsQVyJwgst5fgTbYBNhSRijovBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QAJffq7cVqaoQc9QK6vAqV",
      "input": {
        "note": "The last move produced no motion (readback unchanged at z 0.075). Retrying with a pure descent to 2 cm over the centred bottle body.",
        "targets": {
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QAJffq7cVqaoQc9QK6vAqV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.321, 1.6337, 0.7189, 0.2562, -0.3996, -0.2878, 0.9963, -0.0483, 0.4812, 0.1661, -0.2897, -0.0387, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4193 left_y=-0.0632 left_z=0.0756 left_yaw=0.1502 left_pitch=-0.0377 left_roll=0.0141 left_gripper=0.9963 right_x=0.2407 right_y=-0.0012 right_z=0.0753 right_yaw=-0.0026 right_pitch=-0.0301 right_roll=-0.0053 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -6.8718, 8.3624, 1.7998, -0.022, 0.1197, -0.0024, -0.6222, 0.0479, 6.9402, 1.9609, -0.1245, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cee8bcf6e68c36d31d7d2d90d426a734874c5ff0591ce21a4b4e683d44e4330",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5442cf6bcb4a1e4bcda5e2322e3722e410312b56976fa52a6c10b5aa9bedf08c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1dc26134f086da7bd40e2feebbf593c38fa605a4663cd39a8594497653f674f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 7.036 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]: [-0.3424, 1.6257, 0.7162, 0.2325, -0.4278, -0.3176, 0.9961, -0.0463, 0.527, 0.2104, -0.2844, -0.0338, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4142 left_y=-0.066 left_z=0.0747 left_yaw=0.1679 left_pitch=-0.0451 left_roll=0.0136 left_gripper=0.9961 right_x=0.247 right_y=-0.0019 right_z=0.0862 right_yaw=-0.0049 right_pitch=-0.0264 right_roll=-0.0083 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -6.694, 9.0325, 1.9756, 0.0122, 0.1343, 0.1392, -0.5675, -0.0205, 6.7897, 1.9756, -0.105, -0.0269, -0.0122]",
      "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]: [-0.321, 1.6337, 0.7174, 0.2535, -0.3996, -0.2882, 0.9962, -0.0483, 0.5056, 0.1898, -0.2871, -0.0387, -0.0547, 0.9998]\nstate[eef_state]: left_x=0.4185 left_y=-0.0629 left_z=0.0745 left_yaw=0.1505 left_pitch=-0.0414 left_roll=0.0157 left_gripper=0.9962 right_x=0.244 right_y=-0.0013 right_z=0.0811 right_yaw=-0.0028 right_pitch=-0.0282 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -7.0769, 8.7179, 1.7656, -0.0806, 0.1001, 0.0073, -0.7726, -0.1573, 6.7897, 1.9658, -0.1441, -0.0024, -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]: [-0.321, 1.6337, 0.7189, 0.2562, -0.3996, -0.2878, 0.9963, -0.0483, 0.4812, 0.1661, -0.2897, -0.0387, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4193 left_y=-0.0632 left_z=0.0756 left_yaw=0.1502 left_pitch=-0.0377 left_roll=0.0141 left_gripper=0.9963 right_x=0.2407 right_y=-0.0012 right_z=0.0753 right_yaw=-0.0026 right_pitch=-0.0301 right_roll=-0.0053 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -6.8718, 8.3624, 1.7998, -0.022, 0.1197, -0.0024, -0.6222, 0.0479, 6.9402, 1.9609, -0.1245, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cee8bcf6e68c36d31d7d2d90d426a734874c5ff0591ce21a4b4e683d44e4330",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5442cf6bcb4a1e4bcda5e2322e3722e410312b56976fa52a6c10b5aa9bedf08c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dc26134f086da7bd40e2feebbf593c38fa605a4663cd39a8594497653f674f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4g4KEAgSGAI4AUIIdGhpbmtpbmcSDHhgqf5gRCXyYByOchoMG6M55IK07zKzECD3IjDpC1+w98NFHoNV5wL+/VzZFJ9b9ZvBUuDFxFVIKMIWYvY7Y513VfaOPtM7Q8o+jM8q/w2gqcDePBz8BMF04KCeK+33wU07LkhWCtAGvpdqxqirlbbZ1hDjb8RU/BY6G8NgNeMgn3psBwOg4firkDHmZopcjcjx28ihnG5tEkqtKHxq4AwftIqDYnwZ5/jGCkGUsLjDbnJ85w6U5lACYDaIguwySXv7/cO7OXOLkXXSjT2xn5Sm+qHGSTgDsFR4Tr9Z7CLpv395x2xoTIzON4TaBJLsGvOvjYvacFT95HZDQm1awcMWwZY0H1Igu8ZCPUAdT3JHi6pAxDg6UoYyXO70rAuP85DuHPnpgeokD8JFunBDvAI97bAtanF94QIBSTP93+8KYNW/PR64RifjZqL/CQn00soE0otY68QXWPnAeP3yGBwArkUnr7C9DHwbbqZ2wznnGSF+Vj+wjEUZ0eU13prdXjwXYUJbJ20xcrdgzmOGDVVg4nlt98v8a7uEiLpTZPP6R4JbEChFgudqmyTSbcrXcX09ahEIsj2BWQ9Cq9Dz5k1oIAhq4Fpg9GMflfHhjbv7z1ismvyspW7R+UR0QWbdelZkr03sDR55IggDnV8MyxydD1Ifjj7I0VTsM/h7EjNKtAP16TvPK9jwIpmn6NdqmShehddffnMLriP5Y60DFfCL4+qO/IH2y0wSHNzzW5PvJjsLZp7hDacRVuCi+tGLj6ovfXEp9yQdL+w8Qu4F+l9EOXXT1krHSZpLDxIzPjLuov9qtPqwwr7Uk/EWCaC/tJMHs7rieL6IoHSb8W4rVZqQVL5kaYrOC0yyCTc2sr0UjJOIloEVXxuW6xE90+vmVUDklx8HRHQ3vm9WkoqLANEZPQch08WiNoD/6xX4l5KFNzO+LIezPq2UDiFrLqjNjE5GX304TejkGaEgQQDXxGhadCcFlhnKdcDB2Ko5lW77qjk/7oEDMRkRL4goP+WMRq04Q/jAMxy6wde4hqhtlPD9FnhxawyR953g9rYG2UKBOOMBiXNpQ9OXmMmelBhdepxe+LltYWWNpQLg/GLh4AlH4qUEHc7XZyE8XP3H4qjJYv/eiAUIatB7EiV8pTSF7NT1gGgeSgnn5PHumvIB47hBuAdM5dN9H16YJwfg+CRmaeDgjCBbKM7TnClaAsAIUMi6SBZ/ds3ZUGjAVagmGI69L4RaD5N0DqhQulG1tAwiBS489k97crhzOcH4YHZimy+z575Mw1KCzH+s5uADv1MRApyxmIvnYeTBBYnOR1gugNL4t5eUS5wcl2AlzZxbK3JOcXNu4BmC2CbFR5b4912CBWAKkhyQXFHCRkb4eVasilO7PaUqJMkMX1NxGPMv1QuZpIeMGfOBS0stRPPvDvhFeedctDVr/VMDsVhEz9Y6ZOj+BKfllTljQR+IGklAFrsEABopnagIXK8/OK1GOtuxDTNbmlYuz0NzN7LR/VYh0FFS4iYRw+OWY0P5yZLT/xgQxHyOnsTzr4nhzb2aU6eqzBRDCG+8LV3XLRmlh63uSetDh8SlDUX5v6aVkJspGklzUAE18fQ0HBAtYkGeHsavyrzptDguk/3KLifbPrH0Ng0X0SkXJHMsDnI2Xm1ub8JisfTnKTsBtYTe6m+0dPBW23rmOSFgkWvaHUCOL7hNwhmQNzenQqUA4mJsF6kQHDuAmWnxPEDV1sM0N9gkMLsAKCYjphZCgBDBNqS6WJS8cLm+ORia4pf7JMUONZbyZtrpuhJuJJ/RlL1tqE6Ji52fnY6o2+bhDinCmQ498UHtGT2CHCgm88AO+WxDr5jNfAuYVaen7JmrvFGVzbbdaWnfVcUc5m55eMLk9E5HDeR1tNCJHV+GmQFVXMjDOuFf75+PC9uzbTDO9oyAfqG3aEgTu72+zm0/qozbCnqR6K/nRPilWWE04JUX0LO6pK8jbAJr1Sjs4FFJP2lrtg3SrH192hw510FoQ3ps5mMTmRdTIO/msFz9JI/OdDB2xUqpCMkg3qq8Yn1+sabfkwoq7W37yHb1sClOscpEP15aBbz5QW7eV1fzQe1Xsu9hKYp6I7cQs9TrnrYPPZEwkkdjUIkP4NbVlVmbTthcs+1FNwipVlBkkSPSijQKGbxHLsAkWxEJ/Q+WNTlQdZkGyOZX0gLAQHnQN7sKhxqGx6JoIkETei+Zo2yL7LU5WTK3GckKEM35fbxXVF88YFXS9qiDOK/QcLo9g9G2nPp2NKfKxqx5KwacKPPVMxltUiyRlZ5rMyNrOPwboMT+s+FNSjmE8cYG8Pt4eQG1/cXRq+Xi0qVlGm7V5ip4gHVV4j/qd1ZG+v4L0hSAs3s1UxxWU+d4cisehrI34YkjKG3f92vlQ0T5YaeR1bC3cLXo6mCH5WcvHdfEswBEzEAVvgxIgIYLTdAjWZloUo1BNenCWNyGMVXNYD7PW26G12klrsCPiZgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JM8Sj8FcMJSVVH2Xr33Ckv",
      "input": {
        "note": "Arm is holding at z 0.075 and ignoring descents, possibly resting on the bottle. Trying a descent combined with a small pull-back to break out of it.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.055,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01JM8Sj8FcMJSVVH2Xr33Ckv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3161, 1.8477, 0.5236, 0.6678, -0.4049, -0.2901, 0.9964, -0.0483, 0.4503, 0.1444, -0.2897, -0.0391, -0.0555, 0.9998]\nstate[eef_state]: left_x=0.3977 left_y=-0.053 left_z=0.0013 left_yaw=0.1607 left_pitch=-0.0341 left_roll=0.014 left_gripper=0.9964 right_x=0.2385 right_y=-0.001 right_z=0.0721 right_yaw=-0.0021 right_pitch=-0.0209 right_roll=-0.0059 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.7504, 3.1521, 1.1404, -0.0855, 0.022, -0.0073, -0.4991, 0.1983, 6.6667, 1.9658, -0.1734, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cc133b617f793e8e92734bc1cb7543fbef0b371819ba4f7dd042eb045203536",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79e4c1947f3d9b4dc2a75831da7f3a179978d5aac1b78f4c828ad1dd9ae870ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d63f4ed935ef3ba743c3a02ae846698e90afb139ec069f315be31043f90062c2",
        "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 · 4.172 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]: [-0.321, 1.6337, 0.7174, 0.2535, -0.3996, -0.2882, 0.9962, -0.0483, 0.5056, 0.1898, -0.2871, -0.0387, -0.0547, 0.9998]\nstate[eef_state]: left_x=0.4185 left_y=-0.0629 left_z=0.0745 left_yaw=0.1505 left_pitch=-0.0414 left_roll=0.0157 left_gripper=0.9962 right_x=0.244 right_y=-0.0013 right_z=0.0811 right_yaw=-0.0028 right_pitch=-0.0282 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -7.0769, 8.7179, 1.7656, -0.0806, 0.1001, 0.0073, -0.7726, -0.1573, 6.7897, 1.9658, -0.1441, -0.0024, -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]: [-0.321, 1.6337, 0.7189, 0.2562, -0.3996, -0.2878, 0.9963, -0.0483, 0.4812, 0.1661, -0.2897, -0.0387, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4193 left_y=-0.0632 left_z=0.0756 left_yaw=0.1502 left_pitch=-0.0377 left_roll=0.0141 left_gripper=0.9963 right_x=0.2407 right_y=-0.0012 right_z=0.0753 right_yaw=-0.0026 right_pitch=-0.0301 right_roll=-0.0053 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -6.8718, 8.3624, 1.7998, -0.022, 0.1197, -0.0024, -0.6222, 0.0479, 6.9402, 1.9609, -0.1245, -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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3161, 1.8477, 0.5236, 0.6678, -0.4049, -0.2901, 0.9964, -0.0483, 0.4503, 0.1444, -0.2897, -0.0391, -0.0555, 0.9998]\nstate[eef_state]: left_x=0.3977 left_y=-0.053 left_z=0.0013 left_yaw=0.1607 left_pitch=-0.0341 left_roll=0.014 left_gripper=0.9964 right_x=0.2385 right_y=-0.001 right_z=0.0721 right_yaw=-0.0021 right_pitch=-0.0209 right_roll=-0.0059 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.7504, 3.1521, 1.1404, -0.0855, 0.022, -0.0073, -0.4991, 0.1983, 6.6667, 1.9658, -0.1734, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cc133b617f793e8e92734bc1cb7543fbef0b371819ba4f7dd042eb045203536",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79e4c1947f3d9b4dc2a75831da7f3a179978d5aac1b78f4c828ad1dd9ae870ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d63f4ed935ef3ba743c3a02ae846698e90afb139ec069f315be31043f90062c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQsKEAgSGAI4AUIIdGhpbmtpbmcSDO3/S7b08goBIajiMxoM0ctGKqz4Q6EYcrG2IjAERf9wixh2p3BfIBhzlhfFLifulgyALyB4+FEboz/u9EiSsVzD4muY6OzFOJtMXG4qvgrTi0Ji4NgEupKMQOFZ1VVnnHrQXIGUyJGsoNc/L8K+lO1BxOonVv3fTgirNLjOYpou11uPpEmjdPrbtUnQ0v5fvXo3Sc95SdeoD8UG4nCGJkNTc7Bqy2/ICEW+j8x23kYHY4zUHd/j9ilbGS2sLiIeUUKpZi3m/ieHYNpjIpvnloe7lH4WFhs3Txp41i4BkBqpZT6G7f31X40Z1xFVFFEmm8tAwVEEzzcEMQZgEFDjlZ0pQC0YGcLqK8+56EvCpJJJB6Bbit8MYokVylooHBtCmO0Ptfe2tNhaSxXSS0tFaMza+HMDJocFy6ytvxdsvpvy4PQIqf2UplblZ+eoBfpw15SiV4AGjP++C/J6VlBP5NyWYseCIet+I26COaWKj0dHUjN717/GHaSkj6m9m32q9ttRwHYB/TSmM8mpcjmlgYA6nRsf+nX5AkntrWN7B3c68E9XgGiNqNz+aYnLYbnEAGPj1wwcZGQQLw+zR/2q3O8HLBUOb2dyAwxRaOJhl+UXLLRland3uYxSQB5YpAAdocBvvqMlDQKMVc7mDW7uvob9yqA03I2aBftQatVczZRa7BpGnQJ3Lb7yywwFTeNG9HvOjXkQ1rzTqbNY2gGvbRotCWVmMlvMY8BNYVrUTk3mxVBQuatY+pOViUcb/9fqtl/1DYVma51yyQh+XBclm6+q6E3nunuocEAv6qPxkDmDBvoPqYcoB635wObnHpawHcpWzCSDgOW5GGNFFxL1kCeHsfLmULw6HzH9l0Cj1pYNaLe5q5fjcI181bLsh4ZjIOb+C5tYAn1ONWFD9R8FHtZ2EwEJxj9Qj4tSCrKFLCrVI7prVeb7f0zcWMopSAlZKkEpMFmFuUuj7+XY3A3TRlv9FNRhjpy7J5tpailc9tats6fpMhPG39rk+cajDzODd+VVq1Q0XVZu9B/cYOqBNcNVoPOFVJZcD1lFuUafOk5wbsU1lnNnTeX+JCnSz8rF3CKNNXq0KWVqalchbPoc3QKw02ZR4UuZBeMPG0c2ymSYNlqsuoiMgdX0ZMFhbt0/EhPTl1vrSq5kepdbn0/om+x/eSnt6QGBxG9jlVoKH1+IqaGXiW6E2A7fMB3KS3TA931F83QiTvkUgbH7T8C+Mlp2bybnXxYXUmOtTXPlz3lmulYJw5EU9Qmxp7t9nSSTuG6aX0UJu9+RZb3QnizdqNhnpaYb9SEsVcupsto9hHGqBuAcbCEnxC50c7CoZHRL2+XM/m0B2JakAdIwe+hgXYVMvDk55NqZGKAHf5xoCMPoSrqeyh2OGTJNIhK3VZo9oP/T68vTZIiZmj08SOJ/V1ybNZ4Jz6JRBzpnBBcGWBVfPWIVJ5liop4rS71TLZRxDWjS35EOO7ko25lfoygCX6+FzCNyELY6A37CJSBi8LhOwWdcmWCBKPHPt+rU82/BBgEjIcKenNoPcWVQN52izFGIH5E6Ms90NNeFLWaDPcxG75mu4WaL3ZxPFyxgbGbh50KRwa6eLinl4b73bXTkAl1MB8e7JX6Edogm3gtEVYgAXbHYTR1JIJXBnPSlWZF0Nvhf0pmCuoV0KpBGpKxuRSJF9r9cT7HSASdFgOGach8or5rxa0ezTsdp+jg8i1LkaexdlJt2+zd0byE10PmuX59wjInBYnKbVSaeMYZhzSJqh8U5EEjlBER7IN5TmGjVOt4TXW1yHr5C0aaKc8qbgt0KHRkFvmc6qg4i6GVN7Gsl7x0/krekf67bKY1uam7kHzAUNafEttmBuZlks4y+WZMtePIUZtqyYZpkyUFOGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RCBtYapWw3DcE34a9JP5zW",
      "input": {
        "note": "Fingertips are now at table level just behind the bottle's base, which fills the jaw gap. Sliding forward at table height so the jaws straddle the lower body below its widest point.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.062,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01RCBtYapWw3DcE34a9JP5zW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2871, 2.0006, 0.7231, 0.6884, -0.4034, -0.2874, 0.9964, -0.0483, 0.4309, 0.1299, -0.2905, -0.0387, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4539 left_y=-0.058 left_z=0.0057 left_yaw=0.1869 left_pitch=0.0252 left_roll=-0.0152 left_gripper=0.9964 right_x=0.237 right_y=-0.001 right_z=0.0696 right_yaw=-0.0012 right_pitch=-0.0168 right_roll=-0.0082 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -7.5419, 5.9829, 1.4432, 0.0708, 0.1685, -0.0122, -0.5538, 0.1299, 6.735, 1.8388, -0.1343, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b26092f0e98403e92e4cb4080a35517f4571a486232583a430b4fa4de0eabec9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddac323d8318abe7f091e294c072f6818a5095d2d7f7e10f80ce191f065c5336",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a76e96f4ee2aa1155acfa85a0b51e024fa4fdd19d964e56a09feb5b20266d66d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 10.97 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]: [-0.321, 1.6337, 0.7189, 0.2562, -0.3996, -0.2878, 0.9963, -0.0483, 0.4812, 0.1661, -0.2897, -0.0387, -0.0551, 0.9998]\nstate[eef_state]: left_x=0.4193 left_y=-0.0632 left_z=0.0756 left_yaw=0.1502 left_pitch=-0.0377 left_roll=0.0141 left_gripper=0.9963 right_x=0.2407 right_y=-0.0012 right_z=0.0753 right_yaw=-0.0026 right_pitch=-0.0301 right_roll=-0.0053 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -6.8718, 8.3624, 1.7998, -0.022, 0.1197, -0.0024, -0.6222, 0.0479, 6.9402, 1.9609, -0.1245, -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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3161, 1.8477, 0.5236, 0.6678, -0.4049, -0.2901, 0.9964, -0.0483, 0.4503, 0.1444, -0.2897, -0.0391, -0.0555, 0.9998]\nstate[eef_state]: left_x=0.3977 left_y=-0.053 left_z=0.0013 left_yaw=0.1607 left_pitch=-0.0341 left_roll=0.014 left_gripper=0.9964 right_x=0.2385 right_y=-0.001 right_z=0.0721 right_yaw=-0.0021 right_pitch=-0.0209 right_roll=-0.0059 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.7504, 3.1521, 1.1404, -0.0855, 0.022, -0.0073, -0.4991, 0.1983, 6.6667, 1.9658, -0.1734, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2871, 2.0006, 0.7231, 0.6884, -0.4034, -0.2874, 0.9964, -0.0483, 0.4309, 0.1299, -0.2905, -0.0387, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4539 left_y=-0.058 left_z=0.0057 left_yaw=0.1869 left_pitch=0.0252 left_roll=-0.0152 left_gripper=0.9964 right_x=0.237 right_y=-0.001 right_z=0.0696 right_yaw=-0.0012 right_pitch=-0.0168 right_roll=-0.0082 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -7.5419, 5.9829, 1.4432, 0.0708, 0.1685, -0.0122, -0.5538, 0.1299, 6.735, 1.8388, -0.1343, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b26092f0e98403e92e4cb4080a35517f4571a486232583a430b4fa4de0eabec9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddac323d8318abe7f091e294c072f6818a5095d2d7f7e10f80ce191f065c5336",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a76e96f4ee2aa1155acfa85a0b51e024fa4fdd19d964e56a09feb5b20266d66d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSowcKEAgSGAI4AUIIdGhpbmtpbmcSDJF7xFS0HNmFxepLExoMUNBYkro1qq+UXmdhIjDnt6UQYryrSXSL5GRpGBaG7hrHq+Sp1keWKtHpUb2vgCzlpYYro1Y5JMmOuVTQpUkqwAabGJr7tUpaHZ7iQeHvJjGAaxyvOYuguJ71tO6vdAB+RsFCAMDo9zgVq0jERtVkuUEB0YuwshLA3+ETkcuztovprAn6f8IrI/S3JpB/NqfASRMFK8m0X4DjC45ou2xgydlaBjY4rSQI6BdLQcQt5WpqBJsAxkwyKLKsPGsLoJilwf5XQjCwYLDaD1FAhLPSNHubY87ZX5la5DtaX0u+3D7jE7fLQCVKJy8gJg7HUbKFIRwUbEkKXnZynlpzylzBAgP2mcUK05ySNA+ySyEMp6XfqLbWFmZr6h2RESr0M24gD5I2h+v+ne3SHuseWLcs3SAsC2i2bh6z3ngt6Qzw5dNpqV6nd0pelGLbaDiy8MBp7EC1KoT7JgfGHVLaiwpXTuY0jjO3Xrq9uiCPpDPpzTyl557chPhCDY8n1yRSY0QeWAA77e8FDm0xGTSEuGIH24KAVY1vV5J8cPyl0aIAwEjOjf93Gf2dGMCzDiSX1v/9N2wCQorLPcnJ7wrjMU5fPAR7ikPkoEMTl188P6Sfp5DwyVacsLYbjrwtDoz8D/tDK/dRxjAnEDbBtfqfCAhrg1HvBVb3ASBOKpzDzUpcEWbv9f+K+9YVQhseQWThxQ1uXMH+Hfvpf8i09CpTFR9bKBMbM3is149LoSP41+n8hZqwrDyDY9kM1znqFhlVPcPZy2LKSvk8X+OAxQMVzR8dDysIWIKxvIIYVG3vBgtpUyJtPWRoGcsLXcwONLeDFw0HfzT0lXUbwH9fbQ+YkB9zzPj/0ZpwisRTgF1GujhhDiOK7CqbSb0VAliWM2mykZYHOdFBR7rIm23yWHMCaLHkDPonGLj9o+d9ko/yBVrivyrzU/8cM3ow6oiEwyLmoFF93aTP+vMzqgtBFmzX3ZptIKLa/Kob9DHq3pKp1GWt3/QzHwYfV/M4OTkaKxqS222nmmFZVniWSa7SQLyPlzaYO2pDTLsSqWmrrNoQp0tZIha1b9St+c3/w1hxyJfd8X3lYIDzlsapIqUSavVZS9hhbXQEDoVBG7cUl4+YIw4AVpSSsZwZTF5zDh8rYVKynQihv0G0QjKrbZpMP/8nVNkiHB8cey0RGS8rq1kLL3uai1OkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013874UVbXb4ZpDX3bHijekD",
      "input": {
        "note": "The jaws are now at table level on both sides of the bottle's lower body. Closing to grip it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013874UVbXb4ZpDX3bHijekD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2874, 2.0045, 0.7452, 0.6571, -0.411, -0.2909, 0.5264, -0.0547, 0.4168, 0.1177, -0.2909, -0.0498, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4569 left_y=-0.0577 left_z=0.0055 left_yaw=0.1944 left_pitch=0.0156 left_roll=-0.0084 left_gripper=0.5264 right_x=0.2357 right_y=-0.0005 right_z=0.067 right_yaw=0.0016 right_pitch=-0.0149 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -10.3179, 4.2051, 1.3944, -0.1538, -0.0269, 1.033, -0.4308, 0.1299, 6.8444, 1.8242, -0.0952, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c787987b24f1cf77b0518f860f659be88665da7c2a6a7e93b187327ffe5ba966",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9ac748ecaf9cb49b7135bbbfc0bbad588216ba64e2b5583ef264f5fd3c38951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9db86c41722f68e5a76a9669b5bafa8880d8a689c5a3003eea5b7631a02da98a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 11.72 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]: [-0.3161, 1.8477, 0.5236, 0.6678, -0.4049, -0.2901, 0.9964, -0.0483, 0.4503, 0.1444, -0.2897, -0.0391, -0.0555, 0.9998]\nstate[eef_state]: left_x=0.3977 left_y=-0.053 left_z=0.0013 left_yaw=0.1607 left_pitch=-0.0341 left_roll=0.014 left_gripper=0.9964 right_x=0.2385 right_y=-0.001 right_z=0.0721 right_yaw=-0.0021 right_pitch=-0.0209 right_roll=-0.0059 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.7504, 3.1521, 1.1404, -0.0855, 0.022, -0.0073, -0.4991, 0.1983, 6.6667, 1.9658, -0.1734, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2871, 2.0006, 0.7231, 0.6884, -0.4034, -0.2874, 0.9964, -0.0483, 0.4309, 0.1299, -0.2905, -0.0387, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4539 left_y=-0.058 left_z=0.0057 left_yaw=0.1869 left_pitch=0.0252 left_roll=-0.0152 left_gripper=0.9964 right_x=0.237 right_y=-0.001 right_z=0.0696 right_yaw=-0.0012 right_pitch=-0.0168 right_roll=-0.0082 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -7.5419, 5.9829, 1.4432, 0.0708, 0.1685, -0.0122, -0.5538, 0.1299, 6.735, 1.8388, -0.1343, -0.0073, -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]: [-0.2874, 2.0045, 0.7452, 0.6571, -0.411, -0.2909, 0.5264, -0.0547, 0.4168, 0.1177, -0.2909, -0.0498, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4569 left_y=-0.0577 left_z=0.0055 left_yaw=0.1944 left_pitch=0.0156 left_roll=-0.0084 left_gripper=0.5264 right_x=0.2357 right_y=-0.0005 right_z=0.067 right_yaw=0.0016 right_pitch=-0.0149 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -10.3179, 4.2051, 1.3944, -0.1538, -0.0269, 1.033, -0.4308, 0.1299, 6.8444, 1.8242, -0.0952, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c787987b24f1cf77b0518f860f659be88665da7c2a6a7e93b187327ffe5ba966",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9ac748ecaf9cb49b7135bbbfc0bbad588216ba64e2b5583ef264f5fd3c38951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9db86c41722f68e5a76a9669b5bafa8880d8a689c5a3003eea5b7631a02da98a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS3REKEAgSGAI4AUIIdGhpbmtpbmcSDK538YHAtCNgtbHb/BoM/nqT2x9UdHyohINtIjB4wp1VnLfoK06+akUFHEUbzLNX+Cp/dkZm4O2yjXbJktQqTDOTeKBgMTF03MMikxUq+hD0r8aeGf64OvjrwuAn46ZVaWWZZdIqHmuFutwpPA8CUpauJaUR/W4Tf+adGoAmQj8CLKTn0oguYLXFV0JoYlRp0/aEQ5nPuuQ3zPg1nFW81/7bQfxvVUpIKfwLKo91WClY3mYTsSnyKNOModMxrpM7cd0kQs7i0a1fvVtGFtmLRZnOvokQzyzSBrMfn/yZsIYxTvjGVWxmI6xjJvByfcNlxUxBQO5tykWTnT0l7RG5F+gPdiTjRJsyQ8o/yO+Yc7UJVxpjUyEXtRcjwnhywAp9zhwaDsf27z6Az6xAHnFQ0cxA7mE/l6X3iKZwiG7bmGCV3BOFSYQseRvCYBHj8H0vZrAehIphPH+IcdtGd2kz1hgd69xDeOUAj8RzrXNRXeWDLszm8y2j2tG5sgubgzrjcc2gruyrc0XRGeUR4TgEFl+EQ+MM6e4WIcXqx/NnGFn2WsMnTqkk9Sq8c9iNRTOMvwe0+1ILUBYSiamwWzn3BrM18+5O0GB3iZjMqrghsw2zbEuW82X0w7Ic7IHSFI2Z4TEDagPLOPeFo/Tt0aeYkioywhXnZQY+DCgd7MPdX/H5qefi/GMKHvoY6cmrkluCKRrHpIqC/SYm/WuUtftYMZNCmuMnAZGLfBFpMzKqN8SDfgJ4mMWdZZvdxD2ITlW+bpJKVKfhQWS/1AroU9+RA9omfxf+ufhiWIoy16qD0E0If+W1V2wHiTHoBdcn1U9yu7ZvsRQ8l2DtLtmlUZ7OWLMmbCIGTl47WTZWl8JlykzSEcZdGX7KchNV3Px2po9KT48D7EZODkqP+gDYehm7rsQgmmvYyQwBzlPrqYDxKm9yTkHhWU/qmJMt+qQZBeC5YL2Bh8NK4vN9GusLhHSrlq8AcuLMYXM5NA1a4z0gjp86zaSm/XE7F2ka6E6r5R3NyyDH9PQ/WMzITsyWRnneAyRt2D/mdxRMMNyG+rFMXXU5MbUinPDC9QHW6wMRWK9MngBa+kLItmV/NVJEo/7PbHXOHoXelLRPPWkIp6sgjEDUm8SGn9EF1rz6zysxb4tmpe93Q0fBNTnu2uq+8yUn/tarpWzlTN1XV+ZaD0yz63kHznxVHRnK2JnPL0O9d6mQb0ikq6vUD5ZqqKM9nXIqVp6OoAEcyDxHVLGLv/hHbUCd1Qu00tC8OOecdHtRChP5w/GhPUFZWDiySyl+XC92gSdaBJzpLNTMCsjPWqqBgwt8e3N4gysAFkWk5Rk/UVEZex/xtTXhlCEZrqPlf/H+ibHD8msFMp3EWRNEnPekjocGShMi0aqRZCdutKM2YKWHIK0rmIzm0v4DSeM4U0p3Zn3jce49hCf4xM3GBG5Lb9ILO0GSxOb7zCW4i9hwxMXVfWnZSLai9mF2NPzca4h94GtttL/HCLUZF66PO6/iKsnL7vR6DZFbwSwwtQJ9xvpedLob8PWVO9M1WxFN3UgAdKtl5DDM2aAjs6qQnYaeJ6QrcsoG2Xi/d4k6M7axcvhPbd9UYg3zN2ADmZrCCu/QBdU65TNwrwUrt2siPRQ7KByaTMyOZ4URY0F2BkvVikJ7HsraT/g+Dh+ur+eLgr9mWmPsFdU40LukyCmJ8D1WLZBZh1KcUmoXfIy54en3aXBlr2I/RPjkto5Z3JtWiVAKRlHA5/6LUKq8naPUrQO7b2/FIKaz89PsDF/mrNuDRiGHz4QiOGO8OeuZzizoyho4/iKlAioyRNYgeiLbFjy/Ukz1jrXH1Ai0fMLwyuRr0Hm59JdLcjBnNhHRIN6Y62Z9v6gcGZ+O1OLGX3EO3rlNid1zwvqS+7IDX3fGI4nB03yl04OO+3YY6bjv10LMhEtbWcIKSHR5Sx57DB2/hqmzBWJNA7P4d68wCIHi5UmSOadc/W5DFHg/UoXW0KA1D7mZX1Sjr4L8ieIMswMzJrZ5XqYSWyLP8UuOmUKiszyX7XQORO0cmEejoAIAS2jim71gKI2CbLhp7Qtdsr/IxYz6nDVFcgG5IXtrzjMF3T5twotYNYKd7m5hG07qEmBHFoHsXV1LDfFzk0qRLT22996xhVQJTCWT2h/pR3hNioHXhPlDnFFsoa/OYM941aN/+T/qydmcyLscKZCzhmOiaxKOZ8zf95KIvPfEUgkgVhR025FxutUTezCQmMFWzO5yfaSYOowBB/pPTXj3Wum/wMTPLo8l4784JSasT0nAV13E5tQvVLoplzDk6sONj+hnhyJkk417gL1Qr2EGWsS+8kLcYAm+VAEpQvox+JM4HVrFhfuO9NCHphvMTR6PjkJ+TdyWOGvs22SNtVCBrUpJS7OB21AdAETYLMbaFerdApp/62tYMZAp0GKl6WI5aNgF5w1YqJ/fL9WBRFlC8HxApwxjIp68DWs7JbxtrHY/fHs4GeGYTOZII6bMUd/gd5tmVtlGNGSnEggE+wv/JHiGx1xn/u2+VWA3v2ivGVZLY22aGrBwIzCykuv3Ft07sPkx+rYH8+qS+JXnR6dGsL6b8SFE0okr8ZgAPwAhUe9sstdshGtZK14bJgzqOideWtRFOV7uEg52vPDp4mt6PhyE5vxy9ScCCJe3sNQa22uhHKNXhgmuyBytTXGTody8DP5OyJtPBRciKQP+RJzOfLYhxAmOGiy7LFZz3T6LvT3VgW8oxC66VsCERrbvqPz8wfExJlZZIvW1cCqnUG7pJAWv1Mz8JQpvpIj/PdioAhlXerEps44DaPXXlcKAwvCHJ+s/1kv4lNtY53qs8vQ6wQWdlJKZe01X5J7WJNj9mbF5MYKNRinfqa6gBiprrBuGa5ZVtuumZeIAdGKu1b9P0M5QipBjHJZCbVlPx823Y5JaUIpZQ8Yjjbc7why+uWysEXr3h8HQVO+qK2zztGiFnQGRX+LSm+7VfByc4LBOh5eXGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014nYAZcobBxecHDRPh9Zvau",
      "input": {
        "note": "Got a firm grip on the bottle's lower body (gripper reads 0.53 ≈ 5 cm). Dragging the bottle back ~18 cm so its cap end comes within low reach for a cap-end grasp.",
        "targets": {
          "left_x": 0.27,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_014nYAZcobBxecHDRPh9Zvau",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6258, 1.3689, 0.1303, 0.4564, -0.6167, -0.5095, 0.5293, -0.0547, 0.4034, 0.1112, -0.2977, -0.054, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.2692 left_y=-0.0641 left_z=0.0078 left_yaw=0.136 left_pitch=-0.0515 left_roll=0.0199 left_gripper=0.5293 right_x=0.2344 right_y=0.0003 right_z=0.0656 right_yaw=0.0054 right_pitch=-0.0148 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -3.9316, 5.3402, 2.1026, -0.6862, -0.1441, 0.6178, -0.6222, 0.759, 6.5573, 1.9219, -0.0562, -0.0317, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:827e0dc3962da080c53fe0bcf5c66af2b2923deb94e4b79aadedead2a30d309a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a4b0e363641a7bbc3b988faf874f9a946fa7a285cbe41f8f9c1a95379b7df4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01bc32c070604db134f7d4a4250179dc30c38b2b212beacd176a3fc3c5724a2a",
        "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 · 6.613 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]: [-0.2871, 2.0006, 0.7231, 0.6884, -0.4034, -0.2874, 0.9964, -0.0483, 0.4309, 0.1299, -0.2905, -0.0387, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4539 left_y=-0.058 left_z=0.0057 left_yaw=0.1869 left_pitch=0.0252 left_roll=-0.0152 left_gripper=0.9964 right_x=0.237 right_y=-0.001 right_z=0.0696 right_yaw=-0.0012 right_pitch=-0.0168 right_roll=-0.0082 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -7.5419, 5.9829, 1.4432, 0.0708, 0.1685, -0.0122, -0.5538, 0.1299, 6.735, 1.8388, -0.1343, -0.0073, -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]: [-0.2874, 2.0045, 0.7452, 0.6571, -0.411, -0.2909, 0.5264, -0.0547, 0.4168, 0.1177, -0.2909, -0.0498, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4569 left_y=-0.0577 left_z=0.0055 left_yaw=0.1944 left_pitch=0.0156 left_roll=-0.0084 left_gripper=0.5264 right_x=0.2357 right_y=-0.0005 right_z=0.067 right_yaw=0.0016 right_pitch=-0.0149 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -10.3179, 4.2051, 1.3944, -0.1538, -0.0269, 1.033, -0.4308, 0.1299, 6.8444, 1.8242, -0.0952, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6258, 1.3689, 0.1303, 0.4564, -0.6167, -0.5095, 0.5293, -0.0547, 0.4034, 0.1112, -0.2977, -0.054, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.2692 left_y=-0.0641 left_z=0.0078 left_yaw=0.136 left_pitch=-0.0515 left_roll=0.0199 left_gripper=0.5293 right_x=0.2344 right_y=0.0003 right_z=0.0656 right_yaw=0.0054 right_pitch=-0.0148 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -3.9316, 5.3402, 2.1026, -0.6862, -0.1441, 0.6178, -0.6222, 0.759, 6.5573, 1.9219, -0.0562, -0.0317, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:827e0dc3962da080c53fe0bcf5c66af2b2923deb94e4b79aadedead2a30d309a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a4b0e363641a7bbc3b988faf874f9a946fa7a285cbe41f8f9c1a95379b7df4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01bc32c070604db134f7d4a4250179dc30c38b2b212beacd176a3fc3c5724a2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017xVuEu6PtpYDNyrXj8ALnM",
      "input": {
        "note": "Bottle is now dragged back so its cap end sits around x≈0.47. Releasing and moving above the neck to grab it there; lifting by the neck should let the base swing down so the bottle ends up upright.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.44,
          "left_y": -0.06,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_017xVuEu6PtpYDNyrXj8ALnM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2916, 1.6226, 0.7483, 0.2558, -0.3874, -0.2871, 0.9975, -0.0547, 0.3904, 0.0998, -0.2985, -0.0544, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4295 left_y=-0.0555 left_z=0.0909 left_yaw=0.1689 left_pitch=-0.0052 left_roll=-0.0098 left_gripper=0.9975 right_x=0.2332 right_y=0.0004 right_z=0.0629 right_yaw=0.0057 right_pitch=-0.014 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -6.6393, 8.3487, 1.7656, 0.0513, 0.3687, -0.0171, -0.2393, 0.2393, 6.9812, 1.8046, -0.1001, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54b2c919d6be95d27b2aa21d1b6dd8026f78b048b8603402207fd4d8f3b960e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0aa54c99f24eea21c1e14dc7ad2bb8b983309d089d14372d4d8ff982bb01210",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c09a8733f7f3526a7c1d4a1f2ba48fec0dfdcde1f4ff0d3759325972f7459c6d",
        "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 · 6.084 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]: [-0.2874, 2.0045, 0.7452, 0.6571, -0.411, -0.2909, 0.5264, -0.0547, 0.4168, 0.1177, -0.2909, -0.0498, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4569 left_y=-0.0577 left_z=0.0055 left_yaw=0.1944 left_pitch=0.0156 left_roll=-0.0084 left_gripper=0.5264 right_x=0.2357 right_y=-0.0005 right_z=0.067 right_yaw=0.0016 right_pitch=-0.0149 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -10.3179, 4.2051, 1.3944, -0.1538, -0.0269, 1.033, -0.4308, 0.1299, 6.8444, 1.8242, -0.0952, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6258, 1.3689, 0.1303, 0.4564, -0.6167, -0.5095, 0.5293, -0.0547, 0.4034, 0.1112, -0.2977, -0.054, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.2692 left_y=-0.0641 left_z=0.0078 left_yaw=0.136 left_pitch=-0.0515 left_roll=0.0199 left_gripper=0.5293 right_x=0.2344 right_y=0.0003 right_z=0.0656 right_yaw=0.0054 right_pitch=-0.0148 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -3.9316, 5.3402, 2.1026, -0.6862, -0.1441, 0.6178, -0.6222, 0.759, 6.5573, 1.9219, -0.0562, -0.0317, -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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2916, 1.6226, 0.7483, 0.2558, -0.3874, -0.2871, 0.9975, -0.0547, 0.3904, 0.0998, -0.2985, -0.0544, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4295 left_y=-0.0555 left_z=0.0909 left_yaw=0.1689 left_pitch=-0.0052 left_roll=-0.0098 left_gripper=0.9975 right_x=0.2332 right_y=0.0004 right_z=0.0629 right_yaw=0.0057 right_pitch=-0.014 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -6.6393, 8.3487, 1.7656, 0.0513, 0.3687, -0.0171, -0.2393, 0.2393, 6.9812, 1.8046, -0.1001, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54b2c919d6be95d27b2aa21d1b6dd8026f78b048b8603402207fd4d8f3b960e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0aa54c99f24eea21c1e14dc7ad2bb8b983309d089d14372d4d8ff982bb01210",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c09a8733f7f3526a7c1d4a1f2ba48fec0dfdcde1f4ff0d3759325972f7459c6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgAkKEAgSGAI4AUIIdGhpbmtpbmcSDNUMOC5uCj6b3CBh9hoMXENGHjIdCIAtPiu5IjC0Gyx5O1N7YB7vTBfo8uqsCAfRl9Xr5oi1oR8tL31TITeTGZWNgeB5mxE9N7jsSLQqnQgkpNpNXWERM1tYvTnMhr6YMP0ZREIz8hgGlUTKRHzIFLFxWj8+qqb5POQLpV9YJgcaLOR1JN3SqK6PbmUIAK4vHa+tcAmo03+9slSiPpPx3lQpuolh7K33IFm2vy2878DW8P4LAxwabf6nH0buqz1oczCpvrT2T1d2tE9+aT2iKId+SAzKlMEeMZkB2JrOS4copKTmtO0KwmAKCsh2gSCwAqmz2bvYs1PkJvAATFjkN2IUMTYneXlow2weQ+5OI63QS+blL09awuz5sW3KtuF5s9EtJpO3lJLuC3Os+AgUTTzKqDwCMNlvnPtsCvTaWWEEn7H3hPYAHH53ii8OJeOvR/oyHW5n3Okv9QgxJ5Xe1oBXmOEGSD3Hlp5rpRv5zAyfFiWA0m5LM6ulBFPM+EMJ9l3pob2boaV+wdCYsPPlA+6O8DK76GvM34Qi7M9Jkd1vWZgQSFQbamduDnm++bdxKAqw2vzKFZb0NhYhcepWWlq0XwQYnvkea++I18FF8Hprmq3Gjvntd+6/L/54RYu3N9p+CNVaxpv8QSYSU+UfNtSbAw54xIISfDt+ZT4GUbN6t4bJQAK0GVdpuxuC+z5FqujETUiVLSGDl3817GreUpy3D1w97Og9EJi+XMGGBy8DpMfwKQcFXa0HYfgkPXDnU2+s5vb9+h+hurGvuhPYBLPewBt9HyagkrEeMRo4VO4vFgxpcDDVqaFHrnuHet8oGqmul3vxN1pY1FKX1Y1oLXjUwE6t2WUPUAm1vpkUB+E4y0RGMLorMh4cqR3u5N2lu8ShTMVVW1Pda/O9WfyobdiASA0c9EBVgCxwWM0fiZgHSW3yz/3izYKvfwJivmIfjOxvFXHitPyVDg+ydcewDWkWgVR3q5A5/C7kcoQP8gyN/hGB/y5eD+Bh4grXFkYNc4rUZmsYbW9wE1LW4jdG3nNtRT2lgXGt301Vdf3q8YmI/kLmA7oMLaBJGKI94QdJAFhhk5QeeFp7bnF4mIrEQgfBxj2vycU3824vZEJ8otpPoCnoPWcEh8JiWaPHSJPHXo/R8I6ZrTYLKDLKPJZV1cAM28Net/GJZstN2DaVSefKy0HoaQe1qcnqtVROu2MDunra1aIh0m1x+ap6zpKa8+qpDFGMC0eGoX1XTRssiT2/OTAeUfAOWZGIS5bxNnBjQ7efWeRjrhcAuyclq8V62B8Xo/nUTEkdcIBycmc5WZw1MTgw5GTnjsayhdZksY1HO2SY4hAcJX3bY9LGuZimzjAgtxAZ+HSZyUgai/yvG7xSUu4So3F3tCFzhFT3LqAav5ehvaSJirHBMcL/HYWVh29RrDf5wu/yF6QmejhdFONkJJZsPnqzinjj4ZR5vFHBbBNCdraAeN2wDolVqhMCw/D5rBRUIu6GZk3NYeEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FcQsGtLJzHWj6dq28Peepv",
      "input": {
        "note": "Wrist view shows the cap and neck slightly left and just ahead of the fingertips. Shifting ~2 cm forward and ~2 cm left to centre the jaws on the neck.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.035,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01FcQsGtLJzHWj6dq28Peepv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2481, 1.6691, 0.7734, 0.2779, -0.3546, -0.268, 0.9976, -0.0544, 0.3817, 0.0959, -0.2981, -0.0536, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4407 left_y=-0.0447 left_z=0.0846 left_yaw=0.1753 left_pitch=-0.0127 left_roll=-0.0113 left_gripper=0.9976 right_x=0.2331 right_y=0.0004 right_z=0.0631 right_yaw=0.0054 right_pitch=-0.0087 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.8137, -6.3795, 6.7624, 1.5604, 0.022, 0.0073, -0.0073, -0.1436, 0.4991, 6.6256, 1.7705, -0.022, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71e70a5ac32817b5f45d0b5f32912f823bcb0953aee5daae6b83fe83d781c77e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8f9f7eda3fc9b42a6fed9ae7b58c2c32ea9b9759c1728c80d44b8c7a7762b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fbfd78d7fdb363db94e96f0c846d71e3f8dd55ee874881a5dd3ccbe40c71fa64",
        "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 · 7.809 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]: [-0.6258, 1.3689, 0.1303, 0.4564, -0.6167, -0.5095, 0.5293, -0.0547, 0.4034, 0.1112, -0.2977, -0.054, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.2692 left_y=-0.0641 left_z=0.0078 left_yaw=0.136 left_pitch=-0.0515 left_roll=0.0199 left_gripper=0.5293 right_x=0.2344 right_y=0.0003 right_z=0.0656 right_yaw=0.0054 right_pitch=-0.0148 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -3.9316, 5.3402, 2.1026, -0.6862, -0.1441, 0.6178, -0.6222, 0.759, 6.5573, 1.9219, -0.0562, -0.0317, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.2916, 1.6226, 0.7483, 0.2558, -0.3874, -0.2871, 0.9975, -0.0547, 0.3904, 0.0998, -0.2985, -0.0544, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4295 left_y=-0.0555 left_z=0.0909 left_yaw=0.1689 left_pitch=-0.0052 left_roll=-0.0098 left_gripper=0.9975 right_x=0.2332 right_y=0.0004 right_z=0.0629 right_yaw=0.0057 right_pitch=-0.014 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -6.6393, 8.3487, 1.7656, 0.0513, 0.3687, -0.0171, -0.2393, 0.2393, 6.9812, 1.8046, -0.1001, -0.022, -0.0122]",
      "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]: [-0.2481, 1.6691, 0.7734, 0.2779, -0.3546, -0.268, 0.9976, -0.0544, 0.3817, 0.0959, -0.2981, -0.0536, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4407 left_y=-0.0447 left_z=0.0846 left_yaw=0.1753 left_pitch=-0.0127 left_roll=-0.0113 left_gripper=0.9976 right_x=0.2331 right_y=0.0004 right_z=0.0631 right_yaw=0.0054 right_pitch=-0.0087 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.8137, -6.3795, 6.7624, 1.5604, 0.022, 0.0073, -0.0073, -0.1436, 0.4991, 6.6256, 1.7705, -0.022, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71e70a5ac32817b5f45d0b5f32912f823bcb0953aee5daae6b83fe83d781c77e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8f9f7eda3fc9b42a6fed9ae7b58c2c32ea9b9759c1728c80d44b8c7a7762b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbfd78d7fdb363db94e96f0c846d71e3f8dd55ee874881a5dd3ccbe40c71fa64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSswgKEAgSGAI4AUIIdGhpbmtpbmcSDIrtMZYwB9nEOgp8jxoMyNKeUnnSzxeYy3oQIjAat0k4Y/G7nb8qYPMDen9oLxeReGboFZCJX2pgmPtWwf9Jiy4hyALinjyq9LcsPSQq0AdmzgywVr1KLaifPMXSKdbKgUv/PU0WOdc9vbKhoF+nuNEyUVM1O1B/L/piQAjs34uel0QgICVgCOOLyfJ42suneNNdkp81S2r0Ay1cQRYmAE6HhJqZEF3Y+PPhLEfRV81UEj7uc3lhyLPxxKAlcZloGkXn5uLMqVAkCF8NdXPfQfISLysP6RijDBM83lq6p2H2HnecwdtuMIR6RCXT/1p5P7StRD4EI+rUzdlo36q/QZ8dkhakbJtAFGSmVo/bfCLvyL9TeV++e+3KGCcd2+0FsglMOXocR6vhDeIcTNkH434AamGChd8JYta3s9hoEb0Zx5ymYv3okOA4MpGcfGgC7zmAxIAWzoFCqlXf+KG2WL8SsoMtXv8Cy2+T6SdkiW27CtJXGFdJU+fSlbgmZFIqcPqebaCmaHHGvu7mrhlbDyhh+PrdL73CyAK3uLUW/wSnOG2m9DRduUGZDOFXa65P+s8qDZkkF12+HC5PueRzD7SFpkqJ0OORWGLVc0REXx7PGVplKkg1aV7OuTJBGUbLnYNoyIDSdbaDtnB5IzwrlnoDqf9P9ViKhWwVvG/8fmwcCDtw3vtNPnynlRqF4RyBUnVho0GusKC11r4p3OA/6/VJ/uohI46fdZS2KeIFN+ImjScoW+AotXuvMzJfGHR5pquwOrtbYbzBSNXrTGOhRmZsVPrJcfED/UG5hhmLbL8NfEstj9pT1q7YDEdqwtOwlSp3iRmJkJ61Pp7ZolenHz5yqwSVPsQiRN7k01pqG1NQq5N4o2n1nmlhz/5rRcq9Qxfq5BZwmp3C75zIZWAhc1EQAIg2/7Cluv8WVyNhGQ/8dpSR1SI+NkuwVipUJANBqU/6OVz+noAGVonk3Stp++iJx6IDQc6oie10DfFu3F6s5eOy+GThfl6pYpffYwM6llu0U6QRPZW7fzPjFVvNtqSIyMfRipArtZzLhEbDuYs5sOSRO5/3Gbdb20BQD9qKRpuhIwpVJ9fgLljdOydRz0OHCmxaLakMhXD4CGzfV4dTsWVYAPtEpoJrMkDWH1KhMY1sukXH7ST1c/ohNKLmPl0OwKkQkJZivbLwGj0bqkm0d81HWDrl4GOS5VfTUq9kBvYBHQ7bOkkkU761yetoyGNcn+djFQBhtAXoIFZG8aG8SspxFZAfDLveO9NBICJ1rH6jch+QI8Kw2K3tYL5iPMgTLAWBoKIdy/MPHEjN6BelmZHWN2CdH5/ahR1tM/D2C3scdbvxPBYaduQWE3xQsYb8EfPSR8iKreVTPQcOl8Bn7ZG46uff5UfZty2IOuqkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T73Ffc8YJe7jtNi9kP6cgk",
      "input": {
        "note": "Neck still ~2 cm left of the jaw centre and just ahead. Correcting and descending in one move so the jaws straddle the neck low.",
        "targets": {
          "left_x": 0.455,
          "left_y": -0.022,
          "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_01T73Ffc8YJe7jtNi9kP6cgk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2096, 1.7149, 0.7734, 0.3096, -0.3439, -0.2577, 0.9976, -0.0547, 0.3782, 0.094, -0.2981, -0.054, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.445 left_y=-0.0301 left_z=0.071 left_yaw=0.1997 left_pitch=-0.0281 left_roll=-0.0027 left_gripper=0.9976 right_x=0.233 right_y=0.0004 right_z=0.063 right_yaw=0.0054 right_pitch=-0.0072 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -8.4034, 6.4615, 1.8535, -0.0464, 0.2076, -0.0122, -0.1162, 0.1162, 6.6393, 1.79, -0.0904, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cd39418a03158fa992fb7496a1c395384827e7cbc7ad32aa9b67b54e494828c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abbcaaf9b51c2309bf4d7728d65bf4fc57c15239b142419a9a1e3b00ba18748d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f71ff99d8e44e1f81dee0a905f19b8ab154d450b486d6974390db42d090a8689",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 14.2 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]: [-0.2916, 1.6226, 0.7483, 0.2558, -0.3874, -0.2871, 0.9975, -0.0547, 0.3904, 0.0998, -0.2985, -0.0544, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4295 left_y=-0.0555 left_z=0.0909 left_yaw=0.1689 left_pitch=-0.0052 left_roll=-0.0098 left_gripper=0.9975 right_x=0.2332 right_y=0.0004 right_z=0.0629 right_yaw=0.0057 right_pitch=-0.014 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -6.6393, 8.3487, 1.7656, 0.0513, 0.3687, -0.0171, -0.2393, 0.2393, 6.9812, 1.8046, -0.1001, -0.022, -0.0122]",
      "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]: [-0.2481, 1.6691, 0.7734, 0.2779, -0.3546, -0.268, 0.9976, -0.0544, 0.3817, 0.0959, -0.2981, -0.0536, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4407 left_y=-0.0447 left_z=0.0846 left_yaw=0.1753 left_pitch=-0.0127 left_roll=-0.0113 left_gripper=0.9976 right_x=0.2331 right_y=0.0004 right_z=0.0631 right_yaw=0.0054 right_pitch=-0.0087 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.8137, -6.3795, 6.7624, 1.5604, 0.022, 0.0073, -0.0073, -0.1436, 0.4991, 6.6256, 1.7705, -0.022, -0.0611, -0.0073]",
      "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]: [-0.2096, 1.7149, 0.7734, 0.3096, -0.3439, -0.2577, 0.9976, -0.0547, 0.3782, 0.094, -0.2981, -0.054, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.445 left_y=-0.0301 left_z=0.071 left_yaw=0.1997 left_pitch=-0.0281 left_roll=-0.0027 left_gripper=0.9976 right_x=0.233 right_y=0.0004 right_z=0.063 right_yaw=0.0054 right_pitch=-0.0072 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -8.4034, 6.4615, 1.8535, -0.0464, 0.2076, -0.0122, -0.1162, 0.1162, 6.6393, 1.79, -0.0904, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cd39418a03158fa992fb7496a1c395384827e7cbc7ad32aa9b67b54e494828c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abbcaaf9b51c2309bf4d7728d65bf4fc57c15239b142419a9a1e3b00ba18748d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f71ff99d8e44e1f81dee0a905f19b8ab154d450b486d6974390db42d090a8689",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BTLqcDi9KZcmMpr9V5J6yw",
      "input": {
        "note": "Cap is now centred but the descent stalled at 7 cm with the fingertips over the shoulder. Advancing ~2.5 cm so the jaws sit over the neck, and descending again.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.028,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01BTLqcDi9KZcmMpr9V5J6yw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2096, 1.7149, 0.7734, 0.3099, -0.3439, -0.2577, 0.9976, -0.0547, 0.3775, 0.094, -0.2981, -0.0544, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.445 left_y=-0.0301 left_z=0.0711 left_yaw=0.1997 left_pitch=-0.0278 left_roll=-0.0028 left_gripper=0.9976 right_x=0.2331 right_y=0.0004 right_z=0.0632 right_yaw=0.0057 right_pitch=-0.0064 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -8.3897, 6.2974, 1.8339, -0.0366, 0.2271, -0.0122, -0.1983, 0.1026, 6.5573, 1.7705, -0.0806, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4127e803fdbe52b24533afb35752fd9041b8f6faf63691b68d56c000c98d793",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c94063e3d24bb07b9a2450b7ba68ebdfa245155f367eade190707f46dddce15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:166de0ed895a5a990329bc56ff29cd63f82807b2367dfaecff368d1c33faa69f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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