adhoc

completed
2026-09-22T20:46:50.956998+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
298.7 s
total steps
239
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 with caps pointing forward. Moving the left arm out over the far end of the left bottle to find its neck in the wrist camera.
move_to
left_x0.4200left_y-0.0500left_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7929, 0.6083, -0.3771, -0.0227, -0.0315, 0.9986, -0.0158, 0.7891, 0.6037, -0.384, -0.0135, -0.0212, 0.9998] state[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1828 left_yaw=-0.0005 left_pitch=-0.0 left_roll=0.0001 left_gripper=0.9986 right_x=0.2939 right_y=0.0013 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.3897, -1.3744, 9.6615, 1.7802, -0.0415, 0.1734, -0.1587, -1.0325, -1.1282, 10.4957, 1.8095, -0.1001, 0.022, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.05, "left_z": 0.14}, "note": "Three bottles lie on their sides with caps pointing forward. Moving the left arm out over the far end of the left bottle to find its neck in the wrist camera."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteLeft bottle is aligned radially in the wrist view with the cap centred on the jaw column ahead. Advancing and lowering toward the neck.
move_to
left_x0.4600left_y-0.0450left_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1932, 1.4189, 0.7395, 0.0193, -0.1627, -0.1295, 0.9984, -0.0193, 0.7959, 0.6033, -0.4038, -0.0231, -0.0284, 0.9998] state[eef_state]: left_x=0.4002 left_y=-0.0455 left_z=0.116 left_yaw=-0.0025 left_pitch=-0.0885 left_roll=0.0097 left_gripper=0.9984 right_x=0.2916 right_y=0.002 right_z=0.1742 right_yaw=0.0088 right_pitch=-0.0273 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5402, -6.2838, 9.2513, 1.9658, -0.2076, 0.1343, -0.0366, 0.1026, -1.7573, 7.0222, 1.873, 0.0415, 0.0073, -0.0073] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.045, "left_z": 0.08}, "note": "Left bottle is aligned radially in the wrist view with the cap centred on the jaw column ahead. Advancing and lowering toward the neck."})
tool
executing move_to over 5 steps (0.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteCap now just above the jaw wedge in the wrist view; advancing a bit more and lowering so the jaws straddle the neck.
move_to
left_x0.4800left_y-0.0450left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1619, 1.7035, 0.7483, 0.3046, -0.1482, -0.131, 0.9983, -0.0193, 0.7834, 0.5766, -0.3965, -0.0238, -0.0292, 0.9998] state[eef_state]: left_x=0.4393 left_y=-0.0417 left_z=0.0602 left_yaw=0.0172 left_pitch=-0.0807 left_roll=-0.002 left_gripper=0.9983 right_x=0.2884 right_y=0.0022 right_z=0.1669 right_yaw=0.0099 right_pitch=-0.0342 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [0.3624, -7.3094, 8.1162, 1.8437, -0.0122, 0.2857, -0.0171, -0.1846, -1.7436, 6.9402, 1.9805, -0.0366, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.48, "left_y": -0.045, "left_z": 0.035}, "note": "Cap now just above the jaw wedge in the wrist view; advancing a bit more and lowering so the jaws straddle the neck."})
tool
executing move_to over 4 steps (0.4s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteDescent stalled at z≈0.065, likely jaws resting on the bottle body. Lifting and advancing so the jaws sit over the neck instead.
move_to
left_x0.4900left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1619, 1.7245, 0.7643, 0.3408, -0.1474, -0.131, 0.9983, -0.0193, 0.7692, 0.543, -0.3801, -0.0238, -0.0326, 0.9998] state[eef_state]: left_x=0.4484 left_y=-0.0433 left_z=0.0646 left_yaw=0.0162 left_pitch=-0.05 left_roll=-0.008 left_gripper=0.9983 right_x=0.2855 right_y=0.0023 right_z=0.1587 right_yaw=0.0118 right_pitch=-0.0372 right_roll=-0.0027 right_gripper=0.9998 state[joint_eff]: [0.1026, -7.788, 7.9932, 1.9463, -0.0269, 0.232, -0.0122, -0.294, -1.9897, 6.9812, 2.0195, -0.0513, 0.0122, -0.0122] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.49, "left_z": 0.1}, "note": "Descent stalled at z\u22480.065, likely jaws resting on the bottle body. Lifting and advancing so the jaws sit over the neck instead."})
tool
executing move_to over 4 steps (0.4s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe left arm is not moving at all from x≈0.448, z≈0.065 (IK seems stuck). Backing off to a comfortable pose to unstick it.
move_to
left_x0.4000left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1619, 1.7245, 0.7643, 0.3408, -0.1471, -0.131, 0.9983, -0.0193, 0.7506, 0.5056, -0.366, -0.0242, -0.0326, 0.9998] state[eef_state]: left_x=0.4484 left_y=-0.0434 left_z=0.0646 left_yaw=0.0159 left_pitch=-0.0501 left_roll=-0.0083 left_gripper=0.9983 right_x=0.2815 right_y=0.0024 right_z=0.1495 right_yaw=0.0121 right_pitch=-0.0418 right_roll=-0.0024 right_gripper=0.9998 state[joint_eff]: [0.0205, -7.8017, 8.2667, 1.9267, 0.022, 0.188, -0.0122, -0.4308, -1.7162, 7.0359, 2.0244, -0.0611, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_z": 0.13}, "note": "The left arm is not moving at all from x\u22480.448, z\u22480.065 (IK seems stuck). Backing off to a comfortable pose to unstick it."})
tool
executing move_to over 5 steps (0.5s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteBottle neck/cap appears just ahead of the jaws. Trying a descent at x=0.43 to straddle the neck, checking whether the arm stalls again.
move_to
left_x0.4300left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1959, 1.4643, 0.6746, 0.1635, -0.1707, -0.1356, 0.9983, -0.02, 0.7238, 0.4652, -0.3405, -0.0284, -0.0338, 0.9998] state[eef_state]: left_x=0.4038 left_y=-0.0459 left_z=0.0998 left_yaw=0.0044 left_pitch=-0.0542 left_roll=0.0029 left_gripper=0.9983 right_x=0.2783 right_y=0.003 right_z=0.1433 right_yaw=0.0155 right_pitch=-0.0299 right_roll=-0.0013 right_gripper=0.9998 state[joint_eff]: [0.1846, -5.6957, 7.3231, 2.0879, -0.2125, -0.0611, -0.0122, -0.2256, -0.9094, 6.9675, 2.0342, -0.0171, -0.0122, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_z": 0.04}, "note": "Bottle neck/cap appears just ahead of the jaws. Trying a descent at x=0.43 to straddle the neck, checking whether the arm stalls again."})
tool
executing move_to over 4 steps (0.4s)
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 noteNeck is out of low reach, so I'll grasp the body near the cap end. Bottle sits slightly right of the jaw column; shifting right and descending to straddle it.
move_to
left_y-0.0620left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1921, 1.7195, 0.6224, 0.5285, -0.1471, -0.1505, 0.9982, -0.0204, 0.7078, 0.4393, -0.3279, -0.0307, -0.0357, 0.9998] state[eef_state]: left_x=0.4284 left_y=-0.0533 left_z=0.0508 left_yaw=-0.0041 left_pitch=-0.0003 left_roll=-0.0337 left_gripper=0.9982 right_x=0.2759 right_y=0.0034 right_z=0.1381 right_yaw=0.018 right_pitch=-0.0272 right_roll=-0.0017 right_gripper=0.9998 state[joint_eff]: [0.5265, -5.3265, 5.0803, 1.2283, -0.2564, 0.2711, -0.022, -0.335, -1.2239, 6.7897, 1.9902, -0.0366, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_y": -0.062, "left_z": 0.025}, "note": "Neck is out of low reach, so I'll grasp the body near the cap end. Bottle sits slightly right of the jaw column; shifting right and descending to straddle it."})
tool
executing move_to over 2 steps (0.2s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteJaws appear to straddle the bottle's shoulder/label area at z≈0.04. Closing to grasp the body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2119, 1.7874, 0.6197, 0.6262, -0.1806, -0.1509, 0.9982, -0.02, 0.6975, 0.4255, -0.3202, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4348 left_y=-0.0574 left_z=0.0425 left_yaw=0.0046 left_pitch=0.0298 left_roll=-0.0221 left_gripper=0.9982 right_x=0.2747 right_y=0.0034 right_z=0.136 right_yaw=0.0183 right_pitch=-0.023 right_roll=-0.0024 right_gripper=0.9998 state[joint_eff]: [-0.6906, -5.9145, 3.7402, 1.2869, -0.0611, 0.3297, -0.0073, -0.4171, -1.0325, 6.7761, 1.9414, -0.0513, -0.0366, -0.0073] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws appear to straddle the bottle's shoulder/label area at z\u22480.04. Closing to grasp the body."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteClose was empty: the jaws were sitting on top of the bottle, which is now nicely centred and aligned in the wrist view. Opening and lifting slightly before a centred descent.
move_to
left_gripper1.0000left_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2165, 1.7706, 0.6426, 0.6441, -0.2035, -0.1566, 0.014, -0.0204, 0.6907, 0.4065, -0.3202, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4449 left_y=-0.0576 left_z=0.0622 left_yaw=0.0232 left_pitch=0.0884 left_roll=-0.0292 left_gripper=0.014 right_x=0.2717 right_y=0.0035 right_z=0.1291 right_yaw=0.0182 right_pitch=-0.0352 right_roll=-0.0017 right_gripper=0.9998 state[joint_eff]: [0.0205, -7.2957, 5.3538, 0.9646, -0.0024, 0.149, 1.2234, -0.3487, -1.5111, 6.7897, 1.9463, -0.0708, 0.022, -0.0122] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.08}, "note": "Close was empty: the jaws were sitting on top of the bottle, which is now nicely centred and aligned in the wrist view. Opening and lifting slightly before a centred descent."})
tool
executing move_to over 10 steps (1.0s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteBottle body is centred between the open jaws in the wrist view. Descending to straddle it at mid-height.
move_to
left_y-0.0580left_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2165, 1.7203, 0.7128, 0.3721, -0.2184, -0.1577, 0.9946, -0.0204, 0.6701, 0.374, -0.3054, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.435 left_y=-0.0528 left_z=0.0542 left_yaw=0.0357 left_pitch=-0.0566 left_roll=0.0143 left_gripper=0.9946 right_x=0.2686 right_y=0.0035 right_z=0.1225 right_yaw=0.0182 right_pitch=-0.0322 right_roll=-0.0018 right_gripper=0.9998 state[joint_eff]: [-0.335, -10.4547, 8.3214, 1.6239, -0.0122, 0.0024, -0.1636, -0.5538, -1.1282, 6.9128, 2.0195, -0.0659, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.058, "left_z": 0.015}, "note": "Bottle body is centred between the open jaws in the wrist view. Descending to straddle it at mid-height."})
tool
executing move_to over 3 steps (0.3s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteJaws now at z≈0.03 around the bottle's label area. Closing to grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2302, 1.8423, 0.651, 0.6197, -0.226, -0.1696, 0.9961, -0.02, 0.6514, 0.3462, -0.2913, -0.0307, -0.0357, 0.9998] state[eef_state]: left_x=0.4394 left_y=-0.0586 left_z=0.0301 left_yaw=0.0343 left_pitch=0.0062 left_roll=-0.0077 left_gripper=0.9961 right_x=0.2661 right_y=0.0037 right_z=0.1173 right_yaw=0.0184 right_pitch=-0.0272 right_roll=-0.0017 right_gripper=0.9998 state[joint_eff]: [-0.5128, -4.6701, 3.2205, 0.7985, -0.1392, 0.1245, 0.149, -0.2667, -1.0462, 7.0085, 2.0244, -0.0904, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws now at z\u22480.03 around the bottle's label area. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteBottle grasped around the upper label (gripper reads 0.35). Starting to pivot it upright about its base: raising while pulling back along the bottle's axis.
move_to
left_x0.4000left_z0.1100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2363, 1.8267, 0.6571, 0.7013, -0.2337, -0.1844, 0.347, -0.02, 0.6346, 0.3222, -0.2886, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4516 left_y=-0.063 left_z=0.0563 left_yaw=0.0441 left_pitch=0.1067 left_roll=-0.0449 left_gripper=0.347 right_x=0.2627 right_y=0.0038 right_z=0.111 right_yaw=0.0186 right_pitch=-0.0318 right_roll=-0.0018 right_gripper=0.9998 state[joint_eff]: [0.1846, -6.9538, 5.1077, 0.862, -0.0855, 0.1392, 0.2711, -0.335, -0.759, 7.0496, 1.9902, -0.0513, -0.0317, -0.0122] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_z": 0.11}, "note": "Bottle grasped around the upper label (gripper reads 0.35). Starting to pivot it upright about its base: raising while pulling back along the bottle's axis."})
tool
executing move_to over 4 steps (0.4s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteBottle is tilting up as the grasp rises. Continuing the arc back over the bottle's base.
move_to
left_x0.3300left_z0.1700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2844, 1.4796, 0.6643, 0.3283, -0.2722, -0.1959, 0.3441, -0.02, 0.614, 0.2947, -0.2794, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4176 left_y=-0.0688 left_z=0.1255 left_yaw=0.0341 left_pitch=0.0939 left_roll=-0.0326 left_gripper=0.3441 right_x=0.2597 right_y=0.0038 right_z=0.1053 right_yaw=0.0186 right_pitch=-0.0295 right_roll=-0.0019 right_gripper=0.9998 state[joint_eff]: [-0.0889, -5.4085, 5.7231, 1.7265, -0.2808, -0.1245, -0.1538, -0.2393, -0.7179, 7.0496, 1.9512, -0.0855, -0.0024, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_z": 0.17}, "note": "Bottle is tilting up as the grasp rises. Continuing the arc back over the bottle's base."})
tool
executing move_to over 7 steps (0.7s)
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 noteThe arm stalled; the bottle seems to stay rigidly horizontal in the tight grip. Loosening the grip slightly so the bottle can pivot about the jaw axis while its base stays on the table.
move_to
left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2962, 1.4395, 0.7071, 0.0921, -0.2783, -0.2104, 0.3441, -0.0204, 0.5941, 0.2691, -0.2691, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.398 left_y=-0.067 left_z=0.1113 left_yaw=0.0341 left_pitch=-0.0505 left_roll=0.0069 left_gripper=0.3441 right_x=0.2572 right_y=0.0038 right_z=0.1005 right_yaw=0.0182 right_pitch=-0.0249 right_roll=-0.0021 right_gripper=0.9998 state[joint_eff]: [-0.3077, -7.5145, 8.759, 1.6728, -0.2222, 0.0366, -0.0122, -0.3487, -0.4308, 6.9538, 1.8828, -0.1148, -0.0659, -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": 0.6}, "note": "The arm stalled; the bottle seems to stay rigidly horizontal in the tight grip. Loosening the grip slightly so the bottle can pivot about the jaw axis while its base stays on the table."})
tool
executing move_to over 3 steps (0.3s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteUnclear whether the bottle is held. Closing and lifting higher to see in the overhead view whether it comes up with the jaws.
move_to
left_gripper0.0000left_z0.2000left_x0.3600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2962, 1.4395, 0.7071, 0.0917, -0.2783, -0.2108, 0.5949, -0.0204, 0.5793, 0.2481, -0.2649, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.398 left_y=-0.067 left_z=0.1113 left_yaw=0.0343 left_pitch=-0.0508 left_roll=0.0067 left_gripper=0.5949 right_x=0.2546 right_y=0.0038 right_z=0.0953 right_yaw=0.0182 right_pitch=-0.0268 right_roll=-0.002 right_gripper=0.9998 state[joint_eff]: [-0.5949, -7.4325, 8.6906, 1.6923, -0.2271, 0.0024, -0.149, -0.253, -0.5402, 6.9675, 1.8974, -0.0806, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0, "left_z": 0.2, "left_x": 0.36}, "note": "Unclear whether the bottle is held. Closing and lifting higher to see in the overhead view whether it comes up with the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteEmpty: the bottle never came up. New plan: grab the bottle by its neck/cap (cap estimated at x≈0.50) and lift so it hangs vertically, then set it down on its base. Moving over the neck first.
move_to
left_gripper1.0000left_x0.4800left_y-0.0650left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.345, 1.1786, 0.7952, -0.1883, -0.3157, -0.2371, 0.0137, -0.0204, 0.5606, 0.2264, -0.263, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.3671 left_y=-0.0698 left_z=0.1914 left_yaw=0.0302 left_pitch=0.0214 left_roll=-0.0193 left_gripper=0.0137 right_x=0.2518 right_y=0.0039 right_z=0.0902 right_yaw=0.0182 right_pitch=-0.028 right_roll=-0.002 right_gripper=0.9998 state[joint_eff]: [-0.4171, -4.8342, 9.4017, 1.6142, -0.1392, 0.0122, 1.2625, -0.3624, -0.3897, 6.7761, 1.9365, -0.0659, -0.0757, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.48, "left_y": -0.065, "left_z": 0.12}, "note": "Empty: the bottle never came up. New plan: grab the bottle by its neck/cap (cap estimated at x\u22480.50) and lift so it hangs vertically, then set it down on its base. Moving over the neck first."})
tool
executing move_to over 10 steps (1.0s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteCap sits just above the jaw wedge, centred. Advancing ~2 cm and descending so the jaws straddle the neck just behind the cap.
move_to
left_x0.4850left_y-0.0630left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2276, 1.6958, 0.9348, 0.1047, -0.2394, -0.1825, 0.9946, -0.0204, 0.5407, 0.2028, -0.2615, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4616 left_y=-0.0602 left_z=0.1011 left_yaw=0.0558 left_pitch=-0.0731 left_roll=0.0119 left_gripper=0.9946 right_x=0.2486 right_y=0.0039 right_z=0.0843 right_yaw=0.0179 right_pitch=-0.0303 right_roll=-0.0021 right_gripper=0.9998 state[joint_eff]: [0.3624, -8.294, 8.7863, 1.8974, 0.0855, 0.2271, -0.1734, -0.4308, -0.3077, 6.8581, 1.9219, -0.0611, -0.0317, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.485, "left_y": -0.063, "left_z": 0.03}, "note": "Cap sits just above the jaw wedge, centred. Advancing ~2 cm and descending so the jaws straddle the neck just behind the cap."})
tool
executing move_to over 5 steps (0.5s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe cap is still several cm beyond the jaws, likely beyond low reach. Closing on the body here to drag the bottle back toward the base so the neck becomes reachable.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.223, 1.9251, 0.8543, 0.4652, -0.2443, -0.1837, 0.9961, -0.0204, 0.5148, 0.1772, -0.2565, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4787 left_y=-0.0611 left_z=0.0361 left_yaw=0.0644 left_pitch=-0.0236 left_roll=-0.0005 left_gripper=0.9961 right_x=0.2459 right_y=0.004 right_z=0.0795 right_yaw=0.0182 right_pitch=-0.0249 right_roll=-0.0021 right_gripper=0.9998 state[joint_eff]: [-0.1573, -6.0103, 5.9009, 1.2332, -0.0611, 0.0855, 0.1441, -0.6222, -0.1026, 6.8855, 1.8877, -0.0806, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The cap is still several cm beyond the jaws, likely beyond low reach. Closing on the body here to drag the bottle back toward the base so the neck becomes reachable."})
tool
executing move_to over 10 steps (1.0s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteBottle is now held by its shoulder (gripper 0.36). Easing the grip a bit and lifting high so the heavier base end can swing down and the bottle hangs vertically, cap up.
move_to
left_gripper0.4500left_z0.2800left_x0.4200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.223, 1.9343, 0.8513, 0.5724, -0.2626, -0.1871, 0.3622, -0.0204, 0.4942, 0.1577, -0.2527, -0.0307, -0.0357, 0.9998] state[eef_state]: left_x=0.4906 left_y=-0.0605 left_z=0.053 left_yaw=0.0822 left_pitch=0.0701 left_roll=-0.0219 left_gripper=0.3622 right_x=0.244 right_y=0.004 right_z=0.0761 right_yaw=0.018 right_pitch=-0.02 right_roll=-0.002 right_gripper=0.9998 state[joint_eff]: [-0.3761, -9.5248, 4.3145, 1.1844, -0.0269, 0.0073, 0.5201, -0.4171, -0.1436, 6.7897, 1.8779, -0.0952, -0.0464, -0.0122] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.45, "left_z": 0.28, "left_x": 0.42}, "note": "Bottle is now held by its shoulder (gripper 0.36). Easing the grip a bit and lifting high so the heavier base end can swing down and the bottle hangs vertically, cap up."})
tool
executing move_to over 15 steps (1.5s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteOverhead view suggests the bottle now hangs vertically from the jaws, cap up. Lowering so its base touches the table.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2756, 1.4281, 1.2694, -0.4553, -0.3004, -0.2214, 0.4491, -0.0204, 0.4774, 0.1448, -0.2531, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4282 left_y=-0.063 left_z=0.2564 left_yaw=0.0786 left_pitch=-0.0212 left_roll=0.0011 left_gripper=0.4491 right_x=0.2425 right_y=0.0041 right_z=0.0738 right_yaw=0.0182 right_pitch=-0.0165 right_roll=-0.0024 right_gripper=0.9998 state[joint_eff]: [-0.3897, -8.5675, 9.3607, 1.6337, -0.1978, -0.0073, -0.0904, -0.5265, 0.0752, 6.7077, 1.9023, -0.0611, -0.0269, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15}, "note": "Overhead view suggests the bottle now hangs vertically from the jaws, cap up. Lowering so its base touches the table."})
tool
executing move_to over 7 steps (0.7s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe bottle slipped out when I eased the grip (reading matched command, so nothing held); it is lying where it was. Returning to the shoulder grasp position that worked before.
move_to
left_gripper1.0000left_x0.4850left_y-0.0620left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2756, 1.4647, 0.8909, -0.0669, -0.3004, -0.2291, 0.4492, -0.0204, 0.4644, 0.1318, -0.2531, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4212 left_y=-0.0611 left_z=0.1493 left_yaw=0.083 left_pitch=-0.0462 left_roll=0.0041 left_gripper=0.4492 right_x=0.2409 right_y=0.0041 right_z=0.0708 right_yaw=0.0182 right_pitch=-0.0165 right_roll=-0.0024 right_gripper=0.9998 state[joint_eff]: [-0.253, -5.6274, 6.7624, 1.746, -0.1783, 0.0659, 0.0073, -0.335, 0.1162, 6.8991, 1.873, -0.1197, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.485, "left_y": -0.062, "left_z": 0.035}, "note": "The bottle slipped out when I eased the grip (reading matched command, so nothing held); it is lying where it was. Returning to the shoulder grasp position that worked before."})
tool
executing move_to over 8 steps (0.8s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteBottle shoulder/label sits between the jaws. Closing to a moderate grip (0.3) so it holds but can pivot under gravity when lifted.
move_to
left_gripper0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2405, 1.9129, 0.8448, 0.4366, -0.292, -0.2104, 0.9964, -0.0204, 0.4496, 0.1184, -0.2527, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4718 left_y=-0.0597 left_z=0.0338 left_yaw=0.101 left_pitch=-0.0395 left_roll=0.0117 left_gripper=0.9964 right_x=0.2395 right_y=0.0041 right_z=0.068 right_yaw=0.0182 right_pitch=-0.0146 right_roll=-0.0025 right_gripper=0.9998 state[joint_eff]: [0.6906, -7.3094, 6.0513, 1.3407, 0.0513, 0.1441, 0.0464, -0.335, 0.1846, 6.9265, 1.8388, -0.1245, -0.0659, -0.0122] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.3}, "note": "Bottle shoulder/label sits between the jaws. Closing to a moderate grip (0.3) so it holds but can pivot under gravity when lifted."})
tool
executing move_to over 7 steps (0.7s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteHolding the bottle at the shoulder with a moderate grip (0.43). Lifting high so the heavier base end swings down and the bottle hangs cap-up.
move_to
left_z0.3000left_x0.4400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2417, 1.9293, 0.8291, 0.5739, -0.3122, -0.2104, 0.429, -0.0212, 0.44, 0.1112, -0.2535, -0.0311, -0.036, 0.9998] state[eef_state]: left_x=0.4831 left_y=-0.0595 left_z=0.0486 left_yaw=0.1172 left_pitch=0.0632 left_roll=-0.014 left_gripper=0.429 right_x=0.2387 right_y=0.004 right_z=0.0666 right_yaw=0.0178 right_pitch=-0.0131 right_roll=-0.0024 right_gripper=0.9998 state[joint_eff]: [-0.0342, -9.6752, 4.0821, 1.2234, 0.0562, -0.0464, 0.5055, -0.3897, -0.0615, 6.8308, 1.7949, -0.0904, -0.0708, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.3, "left_x": 0.44}, "note": "Holding the bottle at the shoulder with a moderate grip (0.43). Lifting high so the heavier base end swings down and the bottle hangs cap-up."})
tool
executing move_to over 17 steps (1.7s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
assistant
agent noteBottle slipped again and lies below; readings of ~0.36 show I was actually pinching the neck. Going back down to grab the neck with a full close, then lift straight up so the bottle swings to hang cap-up.
move_to
left_gripper1.0000left_x0.4780left_y-0.0600left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2687, 1.5124, 1.4261, -0.5346, -0.3233, -0.2413, 0.4287, -0.0212, 0.4309, 0.1001, -0.2531, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.447 left_y=-0.0612 left_z=0.2762 left_yaw=0.115 left_pitch=-0.0227 left_roll=-0.0006 left_gripper=0.4287 right_x=0.2374 right_y=0.004 right_z=0.0637 right_yaw=0.0175 right_pitch=-0.0146 right_roll=-0.0025 right_gripper=0.9998 state[joint_eff]: [-0.4581, -8.9368, 9.4427, 1.746, -0.2515, -0.0171, -0.0513, -0.5949, 0.1709, 7.0085, 1.8046, -0.0708, -0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.478, "left_y": -0.06, "left_z": 0.03}, "note": "Bottle slipped again and lies below; readings of ~0.36 show I was actually pinching the neck. Going back down to grab the neck with a full close, then lift straight up so the bottle swings to hang cap-up."})
tool
executing move_to over 16 steps (1.6s)
step 182
assistant
agent noteJaws straddle the bottle just below the shoulder. Closing fully for a firm grip.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2478, 1.9244, 0.8524, 0.4503, -0.3183, -0.2367, 0.9975, -0.0212, 0.4175, 0.0933, -0.2527, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4747 left_y=-0.0594 left_z=0.0349 left_yaw=0.1295 left_pitch=-0.0245 left_roll=0.0008 left_gripper=0.9975 right_x=0.237 right_y=0.004 right_z=0.0635 right_yaw=0.0175 right_pitch=-0.0078 right_roll=-0.0028 right_gripper=0.9998 state[joint_eff]: [0.5265, -7.5282, 4.2325, 1.2821, -0.0317, 0.105, -0.1441, -0.6222, 0.3077, 6.694, 1.8291, -0.105, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws straddle the bottle just below the shoulder. Closing fully for a firm grip."})
tool
executing move_to over 10 steps (1.0s)
step 192
assistant
agent noteBottle gripped (0.49). Lifting straight up so it can swing to hang vertically from the jaws.
move_to
left_z0.3000left_x0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2481, 1.9369, 0.8474, 0.5282, -0.3305, -0.2363, 0.4871, -0.0212, 0.4175, 0.0925, -0.2535, -0.0307, -0.0357, 0.9998] state[eef_state]: left_x=0.4822 left_y=-0.0593 left_z=0.043 left_yaw=0.1391 left_pitch=0.0339 left_roll=-0.015 left_gripper=0.4871 right_x=0.2368 right_y=0.004 right_z=0.063 right_yaw=0.0173 right_pitch=-0.0093 right_roll=-0.0024 right_gripper=0.9998 state[joint_eff]: [-0.2667, -9.6205, 4.2325, 1.4823, -0.1197, 0.022, 0.9402, -0.4308, -0.1162, 6.5846, 1.7509, -0.0562, -0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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_z": 0.3, "left_x": 0.45}, "note": "Bottle gripped (0.49). Lifting straight up so it can swing to hang vertically from the jaws."})
tool
executing move_to over 17 steps (1.7s)
step 209
assistant
agent noteThe bottle again stayed on the table; the jaws seem to be pinching the rounded cap end and it slips out. Retrying slightly further back (x 0.455) around the neck/shoulder, with yaw reset to 0.
move_to
left_gripper1.0000left_x0.4550left_y-0.0600left_z0.0200left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2699, 1.5574, 1.4689, -0.5388, -0.3424, -0.263, 0.4872, -0.0212, 0.4118, 0.0921, -0.2539, -0.0311, -0.036, 0.9998] state[eef_state]: left_x=0.4576 left_y=-0.0613 left_z=0.2754 left_yaw=0.1413 left_pitch=-0.0243 left_roll=-0.0059 left_gripper=0.4872 right_x=0.237 right_y=0.0041 right_z=0.064 right_yaw=0.0178 right_pitch=-0.0043 right_roll=-0.0027 right_gripper=0.9998 state[joint_eff]: [-0.6769, -9.3744, 9.2513, 1.5995, -0.2369, 0.1099, -0.0024, -0.3487, 0.3077, 6.7214, 1.7558, -0.0855, -0.0513, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.455, "left_y": -0.06, "left_z": 0.02, "left_yaw": 0.0}, "note": "The bottle again stayed on the table; the jaws seem to be pinching the rounded cap end and it slips out. Retrying slightly further back (x 0.455) around the neck/shoulder, with yaw reset to 0."})
tool
executing move_to over 17 steps (1.7s)
step 226
assistant
agent noteDescent stopped at 3.6 cm, and the overhead view shows the bottle sitting a little to the right of the jaws. Shifting right and pushing lower to straddle the bottle's shoulder.
move_to
left_y-0.0780left_z0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.215, 1.8744, 0.7307, 0.58, -0.1936, -0.157, 0.9976, -0.0212, 0.4118, 0.0917, -0.2535, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4584 left_y=-0.0616 left_z=0.0359 left_yaw=0.0156 left_pitch=0.0097 left_roll=-0.0158 left_gripper=0.9976 right_x=0.237 right_y=0.004 right_z=0.0639 right_yaw=0.0175 right_pitch=-0.0043 right_roll=-0.0029 right_gripper=0.9998 state[joint_eff]: [0.5675, -5.5316, 3.4667, 1.1941, -0.0024, 0.1636, -0.1587, -0.1709, 0.3897, 6.9949, 1.7656, -0.0708, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.078, "left_z": 0.01}, "note": "Descent stopped at 3.6 cm, and the overhead view shows the bottle sitting a little to the right of the jaws. Shifting right and pushing lower to straddle the bottle's shoulder."})
tool
executing move_to over 2 steps (0.2s)
step 228
assistant
agent noteArm won't go below z≈0.04 here, and the bottle's shoulder sits between the jaws. Closing fully for one more grasp attempt.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2382, 1.9266, 0.7361, 0.7002, -0.2264, -0.1684, 0.9976, -0.0212, 0.4118, 0.0917, -0.2539, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4693 left_y=-0.0695 left_z=0.0403 left_yaw=0.0269 left_pitch=0.0847 left_roll=-0.0278 left_gripper=0.9976 right_x=0.2369 right_y=0.004 right_z=0.0638 right_yaw=0.0175 right_pitch=-0.0047 right_roll=-0.0029 right_gripper=0.9998 state[joint_eff]: [-1.2376, -5.9145, 4.9573, 0.9109, 0.0269, -0.0024, -0.0122, -0.6085, 0.2803, 6.8171, 1.7265, -0.0757, -0.022, -0.0122] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Arm won't go below z\u22480.04 here, and the bottle's shoulder sits between the jaws. Closing fully for one more grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 238
assistant
agent noteI didn't stand any of the three bottles up. I tried about six grasps with the left arm on the left bottle and none of them lifted it. The jaws either rode on top of the bottle or pinched its rounded neck or shoulder and it slipped out when the arm rose. The arm also stalled at about z = 0.035–0.065 whenever I reached past x ≈ 0.44. Even with a good grasp, pitch and roll are pinned, so the only way to turn a bottle upright is to let it pivot in a loosened grip. That's unreliable, and I'm nearly out of calls.
give_up
hindsight- The bottles (about 20 cm long, 6.5 cm across) lie with their caps pointing forward. In top_cam they sit at image x ≈ 55, 97 and 130, from row y ≈ 65 (cap) to 130 (base). The left bottle sits about 4–5 cm to the arm's right (−y) of where the left wrist camera makes it look centred. Trust top_cam for y alignment: the left gripper showed up to the left of the bottle in top_cam even when the bottle looked centred between the jaws in left_cam. - Near x ≈ 0.45–0.48 the left arm stalls at z ≈ 0.035–0.065. It won't go lower, most likely because the fingertips are resting on the bottle, so the reading is not table contact. Once the arm rests on the bottle, x/z targets can stop being tracked altogether. - The jaws open to 9.5 cm and the bottle is 6.5 cm wide, so there are only about 1.5 cm to spare on each side. Line up y precisely before descending, or the fingers land on the bottle. - A settled gripper reading equal to the commanded partial value (e.g. 0.45 commanded, 0.449 read) means nothing is held. A reading of 0.35–0.49 after a full close can still be a pinch that slips as soon as you lift. - Standing bottles upright with pitch and roll pinned is basically a pivot trick. A better plan may be: grasp across the bottle's base end, lift it, and use the table edge or the other arm. Or push the bottle's cap end against a fixed object. Plan this before spending calls. - The arm sags 2–3 cm under commanded z in free space. Lifting to z = 0.3 needs about 17 steps.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.268, 1.9411, 0.7555, 0.7906, -0.271, -0.1837, 0.0139, -0.0212, 0.4118, 0.0917, -0.2539, -0.0311, -0.036, 0.9998] state[eef_state]: left_x=0.4813 left_y=-0.0794 left_z=0.0613 left_yaw=0.047 left_pitch=0.1813 left_roll=-0.0508 left_gripper=0.0139 right_x=0.2369 right_y=0.0041 right_z=0.0638 right_yaw=0.0178 right_pitch=-0.0047 right_roll=-0.0027 right_gripper=0.9998 state[joint_eff]: [-0.1709, -6.0103, 3.4803, 0.5788, 0.2076, 0.0269, 1.2137, -0.6085, 0.3077, 6.7487, 1.7265, -0.1197, -0.0708, -0.0122] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I didn't stand any of the three bottles up. I tried about six grasps with the left arm on the left bottle and none of them lifted it. The jaws either rode on top of the bottle or pinched its rounded neck or shoulder and it slipped out when the arm rose. The arm also stalled at about z = 0.035\u20130.065 whenever I reached past x \u2248 0.44. Even with a good grasp, pitch and roll are pinned, so the only way to turn a bottle upright is to let it pivot in a loosened grip. That's unreliable, and I'm nearly out of calls.", "hindsight": "- The bottles (about 20 cm long, 6.5 cm across) lie with their caps pointing forward. In top_cam they sit at image x \u2248 55, 97 and 130, from row y \u2248 65 (cap) to 130 (base). The left bottle sits about 4\u20135 cm to the arm's right (\u2212y) of where the left wrist camera makes it look centred. Trust top_cam for y alignment: the left gripper showed up to the left of the bottle in top_cam even when the bottle looked centred between the jaws in left_cam.\n- Near x \u2248 0.45\u20130.48 the left arm stalls at z \u2248 0.035\u20130.065. It won't go lower, most likely because the fingertips are resting on the bottle, so the reading is not table contact. Once the arm rests on the bottle, x/z targets can stop being tracked altogether.\n- The jaws open to 9.5 cm and the bottle is 6.5 cm wide, so there are only about 1.5 cm to spare on each side. Line up y precisely before descending, or the fingers land on the bottle.\n- A settled gripper reading equal to the commanded partial value (e.g. 0.45 commanded, 0.449 read) means nothing is held. A reading of 0.35\u20130.49 after a full close can still be a pinch that slips as soon as you lift.\n- Standing bottles upright with pitch and roll pinned is basically a pivot trick. A better plan may be: grasp across the bottle's base end, lift it, and use the table edge or the other arm. Or push the bottle's cap end against a fixed object. Plan this before spending calls.\n- The arm sags 2\u20133 cm under commanded z in free space. Lifting to z = 0.3 needs about 17 steps."})
tool
give_up: I didn't stand any of the three bottles up. I tried about six grasps with the left arm on the left bottle and none of them lifted it. The jaws either rode on top of the bottle or pinched its rounded neck or shoulder and it slipped out when the arm rose. The arm also stalled at about z = 0.035–0.065 whenever I reached past x ≈ 0.44. Even with a good grasp, pitch and roll are pinned, so the only way to turn a bottle upright is to let it pivot in a loosened grip. That's unreliable, and I'm nearly out of calls.
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 · 27.16 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6083, -0.3771, -0.0227, -0.0315, 0.9986, -0.0158, 0.7891, 0.6037, -0.384, -0.0135, -0.0212, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1828 left_yaw=-0.0005 left_pitch=-0.0 left_roll=0.0001 left_gripper=0.9986 right_x=0.2939 right_y=0.0013 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -1.3744, 9.6615, 1.7802, -0.0415, 0.1734, -0.1587, -1.0325, -1.1282, 10.4957, 1.8095, -0.1001, 0.022, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b45eec4c24f5f2fb7dcfa1bf6eef0717c33307420362256a951ed891489f514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3396fe30666dcc988653ab6f0451adb2b4d22b57eaca033e7e4aa532f955a66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bfc0e235afea20f68ad3e07812dce43e6b7d542056e70d2f1b9c3360c7f09fde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 5.575 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6083, -0.3771, -0.0227, -0.0315, 0.9986, -0.0158, 0.7891, 0.6037, -0.384, -0.0135, -0.0212, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1828 left_yaw=-0.0005 left_pitch=-0.0 left_roll=0.0001 left_gripper=0.9986 right_x=0.2939 right_y=0.0013 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -1.3744, 9.6615, 1.7802, -0.0415, 0.1734, -0.1587, -1.0325, -1.1282, 10.4957, 1.8095, -0.1001, 0.022, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b45eec4c24f5f2fb7dcfa1bf6eef0717c33307420362256a951ed891489f514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3396fe30666dcc988653ab6f0451adb2b4d22b57eaca033e7e4aa532f955a66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfc0e235afea20f68ad3e07812dce43e6b7d542056e70d2f1b9c3360c7f09fde",
        "media_type": "image/png",
        "type": "base64"
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    }
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  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HGXcKRHhKatkN2BALe9Lca",
      "input": {
        "note": "Three bottles lie on their sides with caps pointing forward. Moving the left arm out over the far end of the left bottle to find its neck in the wrist camera.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.05,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HGXcKRHhKatkN2BALe9Lca",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1932, 1.4189, 0.7395, 0.0193, -0.1627, -0.1295, 0.9984, -0.0193, 0.7959, 0.6033, -0.4038, -0.0231, -0.0284, 0.9998]\nstate[eef_state]: left_x=0.4002 left_y=-0.0455 left_z=0.116 left_yaw=-0.0025 left_pitch=-0.0885 left_roll=0.0097 left_gripper=0.9984 right_x=0.2916 right_y=0.002 right_z=0.1742 right_yaw=0.0088 right_pitch=-0.0273 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -6.2838, 9.2513, 1.9658, -0.2076, 0.1343, -0.0366, 0.1026, -1.7573, 7.0222, 1.873, 0.0415, 0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05f0dad1c16983fc927c07bb3fd4424006f344e0e0e13a00b2c28134454a7628",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9afa1e45652c3b5de6cdc6810bd333f49a4267857194d627187fcd2d385e1e9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9560d2e65b9382001bf652e5ba9293c8ed48cab99f5777aa2d78b25386a8d78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 5.591 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6083, -0.3771, -0.0227, -0.0315, 0.9986, -0.0158, 0.7891, 0.6037, -0.384, -0.0135, -0.0212, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1828 left_yaw=-0.0005 left_pitch=-0.0 left_roll=0.0001 left_gripper=0.9986 right_x=0.2939 right_y=0.0013 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -1.3744, 9.6615, 1.7802, -0.0415, 0.1734, -0.1587, -1.0325, -1.1282, 10.4957, 1.8095, -0.1001, 0.022, -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]: [-0.1932, 1.4189, 0.7395, 0.0193, -0.1627, -0.1295, 0.9984, -0.0193, 0.7959, 0.6033, -0.4038, -0.0231, -0.0284, 0.9998]\nstate[eef_state]: left_x=0.4002 left_y=-0.0455 left_z=0.116 left_yaw=-0.0025 left_pitch=-0.0885 left_roll=0.0097 left_gripper=0.9984 right_x=0.2916 right_y=0.002 right_z=0.1742 right_yaw=0.0088 right_pitch=-0.0273 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -6.2838, 9.2513, 1.9658, -0.2076, 0.1343, -0.0366, 0.1026, -1.7573, 7.0222, 1.873, 0.0415, 0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05f0dad1c16983fc927c07bb3fd4424006f344e0e0e13a00b2c28134454a7628",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9afa1e45652c3b5de6cdc6810bd333f49a4267857194d627187fcd2d385e1e9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9560d2e65b9382001bf652e5ba9293c8ed48cab99f5777aa2d78b25386a8d78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS9wgKEAgSGAI4AUIIdGhpbmtpbmcSDGihaMECuvZ/ffJuGBoM2JKQEXShu0+6N5tPIjDfHzvUMLwbqloLCy/3V5Ly5kn7/TR1gsBVTvIabK+lTViBUrop+k95XJWJcnYetPIqlAhjFO+Sw66xlaD+X5kzMictgUl1ef6MciVOS4Hb3yPW9LEjUPChT922p2M9Iyj2PTskPytMuD+Pw3X3jPe1LSX2ar9KYzxd5XKA9lL/RiF7v4DbryUITMvvHz32UFhgobyDs+00Z5jjlUvWu8YzJ/KwSlRlmetAh1TMJ7ygCn2Da0rYmpBjpVpCStERsPnaBai11O3QY7YCNjy6QmyBaS49yMlSSqAKKlAzef9LWm/1O/b99ylj5xGO932G7uFsze3ztSc9+yn7j1wEQ8UCSB9MiTg7VyfkYQGAAeqhBdUr+8VxcuFSjYsD5eafGHUrDAYJD9rC+hPaaTFwjWzMu5U8AML2dWpq03BbedXuUafjr3YZ4HynUtQBp/QprD6ggR3ve78XmXE8NA3/3gVH0BFVFN8H01dkPWKXFEAUYSkl7GGkSGSBDEBk4GgSsVcjHBe9OAOpaDtYJdZdMzS54Shv2/fb6QGbtkrSsCC4r7oGJ7fKbqyb9aqGrgMUtoaEY4YyuHT1xbeJd0IHkW1r7eco8HR8j0AI2SAgQl92kzfcpuuAiO/h0XdKc6uJ5GT9DoEdVGH4DnraINgJBujUzI+ZZ/XqXYcy7eBgaHOD4m3164HOSBItlZgtnww18vQBTNtuEIpndgSpSXJlfUd7Z3OyfqslVAaKu5eSdipVi7ZgrOv5Z2BEiv0PPBR/Q7VdjpP/wDD68QVW5qj4yMvvGEFcuKy6BN6aqS3gZFo/5U9Otd0r/qWzeEvfawl5+Lv4a671b4Oaj8jPPPM4ajhfWxlFoLHyDL7VO8bVyMWmVUgev4k2FPNYNPiz11vx76x65SIcVPlvohAt7hd0ibUraY+DTj9iGf+MILQ3cbUG0oGBfZ20ecEUyfbrok5H5dPhl5HVq5O698+xS+1MOvh4tDsUBrDrVo4TSXnOQRH8O0dbZ6y3HgHi57iFVt/U+hFG+Co8L3bWiJal5lGrtEPMzcKOzpookJdivZrhG0QBUbPfuk0GVwD0PsNnC/61Pd2Ytk0pvCGs1LCbW+Ad05PBB/sFUC2Av84j3pshgxYCg1ttDieUBW81k2aC/nMG4g2fXYr/TaHQgbDIP3SM2FuyV+HjReqLSKxcctRgLM08KIq52iZpORKOqoS28nlqaZ6fW7giW1hlQjOUwzbeHVME8WIKyq6KafP9F+JTgzIuQ6Fv3E+DqhZbSdRru0LfqbPzYojCL1yUyFXKdK/9tfcCYgfbWUvEnHjIgkKOZiQ37ufcj7pIWiqf9ygw6PJ+9bnkqaoh5JgZZfoC4ywc0eL6KLyS6hZGOHNvtSx4PWPwmcR7KTd/2YaKWn1E3U0k95MVTUbnxDhDSJLq/7rsoJUdWsamRDjWFGKUvS4vnpkihieBnMjIyaUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U5gzWA48AqtVY3bPHH4Sct",
      "input": {
        "note": "Left bottle is aligned radially in the wrist view with the cap centred on the jaw column ahead. Advancing and lowering toward the neck.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.045,
          "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_01U5gzWA48AqtVY3bPHH4Sct",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1619, 1.7035, 0.7483, 0.3046, -0.1482, -0.131, 0.9983, -0.0193, 0.7834, 0.5766, -0.3965, -0.0238, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4393 left_y=-0.0417 left_z=0.0602 left_yaw=0.0172 left_pitch=-0.0807 left_roll=-0.002 left_gripper=0.9983 right_x=0.2884 right_y=0.0022 right_z=0.1669 right_yaw=0.0099 right_pitch=-0.0342 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -7.3094, 8.1162, 1.8437, -0.0122, 0.2857, -0.0171, -0.1846, -1.7436, 6.9402, 1.9805, -0.0366, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb3c1844b321b6da0a9a9931a3cba70b07220669d6a7a2ee663dcad21408e88c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4182c886561a0c460cc681f0c52a566d5ae0e6186511d251e3674a362acae883",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7555bd5229cd28eb7ca4d85323d1a6d0e66e1779e91a02351af0cc8113da10b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 6.088 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6083, -0.3771, -0.0227, -0.0315, 0.9986, -0.0158, 0.7891, 0.6037, -0.384, -0.0135, -0.0212, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1828 left_yaw=-0.0005 left_pitch=-0.0 left_roll=0.0001 left_gripper=0.9986 right_x=0.2939 right_y=0.0013 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -1.3744, 9.6615, 1.7802, -0.0415, 0.1734, -0.1587, -1.0325, -1.1282, 10.4957, 1.8095, -0.1001, 0.022, -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]: [-0.1932, 1.4189, 0.7395, 0.0193, -0.1627, -0.1295, 0.9984, -0.0193, 0.7959, 0.6033, -0.4038, -0.0231, -0.0284, 0.9998]\nstate[eef_state]: left_x=0.4002 left_y=-0.0455 left_z=0.116 left_yaw=-0.0025 left_pitch=-0.0885 left_roll=0.0097 left_gripper=0.9984 right_x=0.2916 right_y=0.002 right_z=0.1742 right_yaw=0.0088 right_pitch=-0.0273 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -6.2838, 9.2513, 1.9658, -0.2076, 0.1343, -0.0366, 0.1026, -1.7573, 7.0222, 1.873, 0.0415, 0.0073, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1619, 1.7035, 0.7483, 0.3046, -0.1482, -0.131, 0.9983, -0.0193, 0.7834, 0.5766, -0.3965, -0.0238, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4393 left_y=-0.0417 left_z=0.0602 left_yaw=0.0172 left_pitch=-0.0807 left_roll=-0.002 left_gripper=0.9983 right_x=0.2884 right_y=0.0022 right_z=0.1669 right_yaw=0.0099 right_pitch=-0.0342 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -7.3094, 8.1162, 1.8437, -0.0122, 0.2857, -0.0171, -0.1846, -1.7436, 6.9402, 1.9805, -0.0366, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb3c1844b321b6da0a9a9931a3cba70b07220669d6a7a2ee663dcad21408e88c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4182c886561a0c460cc681f0c52a566d5ae0e6186511d251e3674a362acae883",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7555bd5229cd28eb7ca4d85323d1a6d0e66e1779e91a02351af0cc8113da10b2",
        "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+QcKEAgSGAI4AUIIdGhpbmtpbmcSDGzuL6jNXDKTZo/YVhoM2d658HPCvi1FOIOhIjCxqvN2I3jHA5zwcxr9FqpGF/js/0My5m0KpR/KkWChiGmrQLBCWPRRG5aHGU5QLgIqlgfvdsjg8WQ/VS6u3eHHvUcBeX3STwQiiMHF+KTCN9MPEvSJvJOSKE3M0sgqsdHXnI8o1mvHroNbdI8uZwZb65GNUT6Xd36Qi1hFLXtXpKyDbRaYqz34FrmgGJsR3U38sL1SKB1h+bDu2YDv598ASWSKATKbtMa2k9Ql/j/ZQxylHsellkbFhvSPJKN3CIwS4Mv8fp/B0RFrDg6oLYRMscsNh6P3jF1Dh1VSFBUBDF3Rjlp2cNXCZa7VfqSYk+67FTtXRNs0vSDqNcBCCa8aoSw3mt+odrwHFxAGX2pdwYKhqluX/DFnwu3lwZgS9mL0ij+psJbyreTkEJAce0wT9D6YmKAQBbeQ3QlUokda1Cm05zb76L2qeQhQSADgCloUl0j4FMkzB5imjpuaVLbIugwtkldOQ16Y6Lt5BqNuf2dF4NrWMYysnPOMSS2V9zj+NTINUwUSjZI+t5fVE5d4zK7RFtPDpoZeGZzZRL6KJOyZK1Q62hPWSA3rU6TA+1x+7x5171VCrQqr2IZc3b4SDu8iGpAh1swv6Ci9BvB4ceOdIPRkg9va8C0tDKG48lZ+Ki8TLrx6kxip2BdNfjfxXURE1yv3zMWXNjBiWS6r26wK+1UFM1MvwVUVWmfbRqKUittjHjMOu1dDz9f6Yvo7tDUOmbjFzL11lE1NCOnKZVs20/2AgJbVPxf5LmPukyhvzu1b/O2PMhUeVU2JQ21Ywx7FfuCWMP+HhoHo3jVocaehjj+vjuCbAnjfGqAzYWXns4wRWYJj5LaqZaivRBvg6LJmosGqXq91/gWdbp5n4uW2jwZDToYm9MCKKpCHfu7kKncx47zIzewmXFmx47Rs1x+ao848JgA7sRs+ffY5AxGrTzCgsnbVvVZQwl5AqmIvH7tR8B/MvTJwcGt0vE0WsKtzO4UJ10OzspK8IIoSNM8Yd+w6+ra9Z5kwxFvcxX4GLSSFQRVylJqAwH7u5lWEKzb1PPouwQNYKDA5zoxlL1dPMq4N479Uz2vpHQM8cQnTrnta/0DTaHkhib293eekRHacumhgU/wSfYsW+aVsoHiEZdOGsu2UqOQ/TNmFEAscrCOQT3lMDxu6eu1lu9jd4S53w6EQLtjT+pPhpPAvOCYTgphp2WcAqPvNVEwXdVX6BGdaGflo26SVnE/vWfza0eg8xB1IEWGMxorJg2YQMvR4Z5vFcNB584A+bhDozhsb9g0hzF941wIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U4SJr7GxLm9G4mK6kq5pqb",
      "input": {
        "note": "Cap now just above the jaw wedge in the wrist view; advancing a bit more and lowering so the jaws straddle the neck.",
        "targets": {
          "left_x": 0.48,
          "left_y": -0.045,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01U4SJr7GxLm9G4mK6kq5pqb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1619, 1.7245, 0.7643, 0.3408, -0.1474, -0.131, 0.9983, -0.0193, 0.7692, 0.543, -0.3801, -0.0238, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.0433 left_z=0.0646 left_yaw=0.0162 left_pitch=-0.05 left_roll=-0.008 left_gripper=0.9983 right_x=0.2855 right_y=0.0023 right_z=0.1587 right_yaw=0.0118 right_pitch=-0.0372 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -7.788, 7.9932, 1.9463, -0.0269, 0.232, -0.0122, -0.294, -1.9897, 6.9812, 2.0195, -0.0513, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb59269f3957e2fb84109bc36bdbdaffa9f1df297ac9d5c0e6eacc53b7be6c18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6458b1eb939dfb58811b6be8450d23fa2a6fb170bc2dc3f556f47833f78575f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:afa6b2cb6a8467e16292b645f7fc18ebc3c2d83dbdb0d028f26f1991763ab047",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 4.359 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]: [-0.1932, 1.4189, 0.7395, 0.0193, -0.1627, -0.1295, 0.9984, -0.0193, 0.7959, 0.6033, -0.4038, -0.0231, -0.0284, 0.9998]\nstate[eef_state]: left_x=0.4002 left_y=-0.0455 left_z=0.116 left_yaw=-0.0025 left_pitch=-0.0885 left_roll=0.0097 left_gripper=0.9984 right_x=0.2916 right_y=0.002 right_z=0.1742 right_yaw=0.0088 right_pitch=-0.0273 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -6.2838, 9.2513, 1.9658, -0.2076, 0.1343, -0.0366, 0.1026, -1.7573, 7.0222, 1.873, 0.0415, 0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1619, 1.7035, 0.7483, 0.3046, -0.1482, -0.131, 0.9983, -0.0193, 0.7834, 0.5766, -0.3965, -0.0238, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4393 left_y=-0.0417 left_z=0.0602 left_yaw=0.0172 left_pitch=-0.0807 left_roll=-0.002 left_gripper=0.9983 right_x=0.2884 right_y=0.0022 right_z=0.1669 right_yaw=0.0099 right_pitch=-0.0342 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -7.3094, 8.1162, 1.8437, -0.0122, 0.2857, -0.0171, -0.1846, -1.7436, 6.9402, 1.9805, -0.0366, -0.0366, -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 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1619, 1.7245, 0.7643, 0.3408, -0.1474, -0.131, 0.9983, -0.0193, 0.7692, 0.543, -0.3801, -0.0238, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.0433 left_z=0.0646 left_yaw=0.0162 left_pitch=-0.05 left_roll=-0.008 left_gripper=0.9983 right_x=0.2855 right_y=0.0023 right_z=0.1587 right_yaw=0.0118 right_pitch=-0.0372 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -7.788, 7.9932, 1.9463, -0.0269, 0.232, -0.0122, -0.294, -1.9897, 6.9812, 2.0195, -0.0513, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb59269f3957e2fb84109bc36bdbdaffa9f1df297ac9d5c0e6eacc53b7be6c18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6458b1eb939dfb58811b6be8450d23fa2a6fb170bc2dc3f556f47833f78575f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afa6b2cb6a8467e16292b645f7fc18ebc3c2d83dbdb0d028f26f1991763ab047",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS4AkKEAgSGAI4AUIIdGhpbmtpbmcSDJ/pBMaTutzIwCi6lRoMI6H71cGID1yK1BXUIjAMukuKHSow6WF7Dr0PUkJnO3WNJXv452GXPzTQlWseYPkol0+Wrt3P/BwNRgASctIq/QjgZDp+N/Z6NDVco4AR8b6M7AVugyTknFM3oddkE/z/2pxV8Eny2iaTKid6JTvyTJKhYnVjrMOj4YOHxTF1iKQVHDIBf/nBj4Wki9wijH+sT3StRbEvW1rBEqTbo869D+BJYCVH3l8YYGm6xfDxVVCs3RuGBykTDXUoJlsQw8AtEbZseIDax79dZ5UiVcCs74KTmLS+w5z7G6pvbRlBqktAvD0iF2z6tIKC09OwUOKt0+NKjLSy9jHKhNzAsbgaf56N5irRfaevy5ZS/y2SInXwwlfFZCjUQAU7EqkbDX7RhJrIwxHkOP4Lxw0e+IVRdVXuCCOe3bEIv/qcRwh6+3End224iZs1Snf093aLbsh/mJIlT/3ph3bAlbZn1hpcuQdoNbmDx5Yw6C2SByefHhhc+fvG0IPXKJf2+sxVAuoMTYtGAqi/pIUHArjAokgiGMIxn8b//Jmb/TD8XpKsx0CUhw7N8z6o4vrgRqjfRnOyPIOSLnuSg0heAR7CRKPhDV+TGCnx2nY4SD4fFakCiebh7zyKrFVeScvKbFGwzKYSaB7vPcTFe2VLPH1iSHG44idQTbUGvuJLkp/W4v5Wh1jtvHRy3tbM3vjgNgbG+ChfXkmFg+UMVVLJILOrJhyUaSd7DqbdTM8Di0ePI6Bf0OhljwJggIEVGve1OHZJzcf2i8F1EIBzjYs1xRidx67hEZlDFX5LCb3tpASgwfUiqWbZyscSaCRHQwfBYB/DOyiwpJLFv47kxzqae3ylR/HJ/hvIRyrsxDDq042oDwe/qKMdB/mTfY+2yIX65GEKhK8281RqmVEyXH309EsRq7dn1l7DSZDf5q5OoTCjv93YzrK4O6VUmbMZDnP1klHwG/Bsn8yJ0I6Ey2qlU3hE6ah9ZmEBGlAIvAFS/SuQfgg7olf2Xd8NAZG04/9QgBeOWJuJ7b6qqKLBiDXCavvBUsnakKWjfPL9uckpsAzbBGkdvNlHHXIPsyEk/EEiwQL2si3y5+P+zut3w4jMBjORr1Xxt3KedNfTj/pmNv/liEZVjGNF1dA2mUmCQMCihOvVjZDhhyLqe5U3Wi+ybX8d8slZsTpay7uzg1Eig7owhEml5Wx7pJiuZ4C/Q3jfj8bmwagjHfigpnQf0HUVnTIWRKZQX9WS8uFk8rA8kk5itZnWRv8PnegzYDyWzqVyWE/8VY4bTNfSLyGlM0yMqoU9HF8LYk8i3oSMteXzf+aF8aVkB1tXvYb5ckTrMB10YOfh/A7l5Il8BHlXAT7tiB250xeiuDoecddgWNf3XFDLfxMi8fEJ1KTDEQ2Je2RXaEam2TpaBYeRXMymksOuxkQCiwCn3D7r7gKbzPIGMRGeni7eAZgR92OvJEibJ6VtGk/hy5dEdb+OqB0zS5FlNACC481R0iUipRaJezVSpIKsDIbMpwka1R3Iin3gdVXIFV6m8URtxHDSmTr4esWk9xLQJa6r0ER5KxwIqnoqwrmVwoxw8B2EtTE9zS2cQ4UmwJF/vH0XjSTUzCNJitiYzQcV5K4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SNJeLkES6KEZ6Lm5BbsXEh",
      "input": {
        "note": "Descent stalled at z≈0.065, likely jaws resting on the bottle body. Lifting and advancing so the jaws sit over the neck instead.",
        "targets": {
          "left_x": 0.49,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SNJeLkES6KEZ6Lm5BbsXEh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1619, 1.7245, 0.7643, 0.3408, -0.1471, -0.131, 0.9983, -0.0193, 0.7506, 0.5056, -0.366, -0.0242, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.0434 left_z=0.0646 left_yaw=0.0159 left_pitch=-0.0501 left_roll=-0.0083 left_gripper=0.9983 right_x=0.2815 right_y=0.0024 right_z=0.1495 right_yaw=0.0121 right_pitch=-0.0418 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -7.8017, 8.2667, 1.9267, 0.022, 0.188, -0.0122, -0.4308, -1.7162, 7.0359, 2.0244, -0.0611, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87b6a65a66b8b18ba73b44f60016e5df90db2367ac8f1888bb8724cb6fb18d2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e8a9c869facdffb20c94f082b7ff8d07f99280de33febc5a7b044f8764a72c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4959d7f060c05117cf41b81c990545b4c112f85ae16d83cf8ea954a91836aac0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 10.25 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]: [-0.1619, 1.7035, 0.7483, 0.3046, -0.1482, -0.131, 0.9983, -0.0193, 0.7834, 0.5766, -0.3965, -0.0238, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4393 left_y=-0.0417 left_z=0.0602 left_yaw=0.0172 left_pitch=-0.0807 left_roll=-0.002 left_gripper=0.9983 right_x=0.2884 right_y=0.0022 right_z=0.1669 right_yaw=0.0099 right_pitch=-0.0342 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -7.3094, 8.1162, 1.8437, -0.0122, 0.2857, -0.0171, -0.1846, -1.7436, 6.9402, 1.9805, -0.0366, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1619, 1.7245, 0.7643, 0.3408, -0.1474, -0.131, 0.9983, -0.0193, 0.7692, 0.543, -0.3801, -0.0238, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.0433 left_z=0.0646 left_yaw=0.0162 left_pitch=-0.05 left_roll=-0.008 left_gripper=0.9983 right_x=0.2855 right_y=0.0023 right_z=0.1587 right_yaw=0.0118 right_pitch=-0.0372 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -7.788, 7.9932, 1.9463, -0.0269, 0.232, -0.0122, -0.294, -1.9897, 6.9812, 2.0195, -0.0513, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1619, 1.7245, 0.7643, 0.3408, -0.1471, -0.131, 0.9983, -0.0193, 0.7506, 0.5056, -0.366, -0.0242, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.0434 left_z=0.0646 left_yaw=0.0159 left_pitch=-0.0501 left_roll=-0.0083 left_gripper=0.9983 right_x=0.2815 right_y=0.0024 right_z=0.1495 right_yaw=0.0121 right_pitch=-0.0418 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -7.8017, 8.2667, 1.9267, 0.022, 0.188, -0.0122, -0.4308, -1.7162, 7.0359, 2.0244, -0.0611, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87b6a65a66b8b18ba73b44f60016e5df90db2367ac8f1888bb8724cb6fb18d2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e8a9c869facdffb20c94f082b7ff8d07f99280de33febc5a7b044f8764a72c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4959d7f060c05117cf41b81c990545b4c112f85ae16d83cf8ea954a91836aac0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuAcKEAgSGAI4AUIIdGhpbmtpbmcSDHSKS5FDn35ZwdtHYBoMT40Mi5+i731DxM+xIjAmaLgqgWasKGPkIcUPrnvtch8K92Veltdv3NuVoYc1bgAnPd0cXy8WTpR7kA3qSw0q1QZr+BkCYaISjs452+Yscg0TPs5Fs397ilKB+Ud2hs1rWcE43XqiqPsSAm+rO078Wd2dFHHv89DxW6CekIKZSqG7MzMksxV96vYbIEbBvJpN3j4JjhHlZ4BpYQISe4KRk6HTmKLP3vHMf4iESR72+DIRb50OfFL/Hf8ITCjwueKnRsbD1N66Sr4h04BvIzzPDbuI66go7j1OfBrU7vm1DBfKWpmr+ZoEa1jMvH9RcxcHW5jPmMDH7tRhLb3rd92WvfYXB6W22/Cyp5UwMCMWxoPUM2PdcDSMA19eGOa/wUspt1aELUDiXScj6C24AgGDahcx6DbrRIAXelXEdsn8vbBqKV3anOXu2pLFnk8nwHKxp8Gf+y26F62soZbpXn/nbwuQ959kcQIG0fvfoSsry3FmiL02euJ78ohBKOJZqjHRPLe7OTGjwOznH0S4Eb82u1iS2Vj1httikNH94Q2E1radFc6F+VQml8/6O3DpvQiDfP0fa4D0+a9ua13g6Wv0GK1MJk8Wf+aS/iPTkfBDG3Np6+TuiF7pPjMYpF/z102P2wg70cPj3194K1fgNFgMUGzJ0xtGwgxx2MsB+cotTJaYTzl74+K2UR8fDUGwtQCwmeUxOJW18HcmTUtUh21mffMYbO9psO4RKw7bpgmtenzqzI3iQqxzrgUBVt6cNig/KYhinMZ2maSpSOGk3zF4f6mDRWcPIXCOQO9RZ2qCOKr4FHFYtD0PmrAPEH2ex5EiVZZNg6u8UlNH93MN/iCZVQP5fsIbzldwVkzsRQKT7aBQspEsUu4K7WrhOJnaD38GDai3CeAZW7R6lajUL8kZatRImKbzmIK88qtjWmsQkmgpf6qlRvGchdPlsdwCuN7BiCBvqXntqVx2wgJTkQ1C2IkmGW3LNxyHBh5V1H3yBx5ToCTMSr2KHscuWTYqNHxOvR53n4tIosD8ozgsfj6YKQPL3nxdhPKGyUVX5iNPP3Fo8HyoFLbmO0oKkvsFpkSycRGFlC9eeQE3V75hsWNhb6KOIka0JFaQuUEftCnMZf1suIv2ZoN1yQxvHWcxWHgj3I5+zRMYlXPLU92fZlMhMwbj2bwcyvkn09iwnVU7VQZUnqm8lGG3vz/pA3ejy5KrEnrj0I1hGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WkPUfCWYC1Jryj7YnHmv3u",
      "input": {
        "note": "The left arm is not moving at all from x≈0.448, z≈0.065 (IK seems stuck). Backing off to a comfortable pose to unstick it.",
        "targets": {
          "left_x": 0.4,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01WkPUfCWYC1Jryj7YnHmv3u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1959, 1.4643, 0.6746, 0.1635, -0.1707, -0.1356, 0.9983, -0.02, 0.7238, 0.4652, -0.3405, -0.0284, -0.0338, 0.9998]\nstate[eef_state]: left_x=0.4038 left_y=-0.0459 left_z=0.0998 left_yaw=0.0044 left_pitch=-0.0542 left_roll=0.0029 left_gripper=0.9983 right_x=0.2783 right_y=0.003 right_z=0.1433 right_yaw=0.0155 right_pitch=-0.0299 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -5.6957, 7.3231, 2.0879, -0.2125, -0.0611, -0.0122, -0.2256, -0.9094, 6.9675, 2.0342, -0.0171, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b432c7e1e9b4f340691d677f15825d70a080203f2ffb3176158fd4be47481be7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da899624cc88d596e27d55501a91a300c20dd8ce01a78e1c98ef756990069132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb3cf71add2cbf5877d3a83d157c62c975ca3e6785778a9409d085e910079c97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 11.84 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]: [-0.1619, 1.7245, 0.7643, 0.3408, -0.1474, -0.131, 0.9983, -0.0193, 0.7692, 0.543, -0.3801, -0.0238, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.0433 left_z=0.0646 left_yaw=0.0162 left_pitch=-0.05 left_roll=-0.008 left_gripper=0.9983 right_x=0.2855 right_y=0.0023 right_z=0.1587 right_yaw=0.0118 right_pitch=-0.0372 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -7.788, 7.9932, 1.9463, -0.0269, 0.232, -0.0122, -0.294, -1.9897, 6.9812, 2.0195, -0.0513, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1619, 1.7245, 0.7643, 0.3408, -0.1471, -0.131, 0.9983, -0.0193, 0.7506, 0.5056, -0.366, -0.0242, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.0434 left_z=0.0646 left_yaw=0.0159 left_pitch=-0.0501 left_roll=-0.0083 left_gripper=0.9983 right_x=0.2815 right_y=0.0024 right_z=0.1495 right_yaw=0.0121 right_pitch=-0.0418 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -7.8017, 8.2667, 1.9267, 0.022, 0.188, -0.0122, -0.4308, -1.7162, 7.0359, 2.0244, -0.0611, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1959, 1.4643, 0.6746, 0.1635, -0.1707, -0.1356, 0.9983, -0.02, 0.7238, 0.4652, -0.3405, -0.0284, -0.0338, 0.9998]\nstate[eef_state]: left_x=0.4038 left_y=-0.0459 left_z=0.0998 left_yaw=0.0044 left_pitch=-0.0542 left_roll=0.0029 left_gripper=0.9983 right_x=0.2783 right_y=0.003 right_z=0.1433 right_yaw=0.0155 right_pitch=-0.0299 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -5.6957, 7.3231, 2.0879, -0.2125, -0.0611, -0.0122, -0.2256, -0.9094, 6.9675, 2.0342, -0.0171, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b432c7e1e9b4f340691d677f15825d70a080203f2ffb3176158fd4be47481be7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da899624cc88d596e27d55501a91a300c20dd8ce01a78e1c98ef756990069132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb3cf71add2cbf5877d3a83d157c62c975ca3e6785778a9409d085e910079c97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QK4KxTc9ZYgiKsYQQP1V5z",
      "input": {
        "note": "Bottle neck/cap appears just ahead of the jaws. Trying a descent at x=0.43 to straddle the neck, checking whether the arm stalls again.",
        "targets": {
          "left_x": 0.43,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QK4KxTc9ZYgiKsYQQP1V5z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1921, 1.7195, 0.6224, 0.5285, -0.1471, -0.1505, 0.9982, -0.0204, 0.7078, 0.4393, -0.3279, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4284 left_y=-0.0533 left_z=0.0508 left_yaw=-0.0041 left_pitch=-0.0003 left_roll=-0.0337 left_gripper=0.9982 right_x=0.2759 right_y=0.0034 right_z=0.1381 right_yaw=0.018 right_pitch=-0.0272 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -5.3265, 5.0803, 1.2283, -0.2564, 0.2711, -0.022, -0.335, -1.2239, 6.7897, 1.9902, -0.0366, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4b09aab99d147926b6fb1f5e2c7fe0c80e456e16bca2ac7634e5a6390de45df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04c15118e6f86fbfce341b4fb7324d6677e8dca17555259aec000f48b42798cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e82ccb139aa95bb8fdad6a59b3d947025d6b2c3d0fa50bca4f5b979fb90b4368",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 10.58 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]: [-0.1619, 1.7245, 0.7643, 0.3408, -0.1471, -0.131, 0.9983, -0.0193, 0.7506, 0.5056, -0.366, -0.0242, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.0434 left_z=0.0646 left_yaw=0.0159 left_pitch=-0.0501 left_roll=-0.0083 left_gripper=0.9983 right_x=0.2815 right_y=0.0024 right_z=0.1495 right_yaw=0.0121 right_pitch=-0.0418 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -7.8017, 8.2667, 1.9267, 0.022, 0.188, -0.0122, -0.4308, -1.7162, 7.0359, 2.0244, -0.0611, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1959, 1.4643, 0.6746, 0.1635, -0.1707, -0.1356, 0.9983, -0.02, 0.7238, 0.4652, -0.3405, -0.0284, -0.0338, 0.9998]\nstate[eef_state]: left_x=0.4038 left_y=-0.0459 left_z=0.0998 left_yaw=0.0044 left_pitch=-0.0542 left_roll=0.0029 left_gripper=0.9983 right_x=0.2783 right_y=0.003 right_z=0.1433 right_yaw=0.0155 right_pitch=-0.0299 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -5.6957, 7.3231, 2.0879, -0.2125, -0.0611, -0.0122, -0.2256, -0.9094, 6.9675, 2.0342, -0.0171, -0.0122, -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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1921, 1.7195, 0.6224, 0.5285, -0.1471, -0.1505, 0.9982, -0.0204, 0.7078, 0.4393, -0.3279, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4284 left_y=-0.0533 left_z=0.0508 left_yaw=-0.0041 left_pitch=-0.0003 left_roll=-0.0337 left_gripper=0.9982 right_x=0.2759 right_y=0.0034 right_z=0.1381 right_yaw=0.018 right_pitch=-0.0272 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -5.3265, 5.0803, 1.2283, -0.2564, 0.2711, -0.022, -0.335, -1.2239, 6.7897, 1.9902, -0.0366, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4b09aab99d147926b6fb1f5e2c7fe0c80e456e16bca2ac7634e5a6390de45df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04c15118e6f86fbfce341b4fb7324d6677e8dca17555259aec000f48b42798cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e82ccb139aa95bb8fdad6a59b3d947025d6b2c3d0fa50bca4f5b979fb90b4368",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L8ueqADnGsupjHPTmqnyqa",
      "input": {
        "note": "Neck is out of low reach, so I'll grasp the body near the cap end. Bottle sits slightly right of the jaw column; shifting right and descending to straddle it.",
        "targets": {
          "left_y": -0.062,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01L8ueqADnGsupjHPTmqnyqa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2119, 1.7874, 0.6197, 0.6262, -0.1806, -0.1509, 0.9982, -0.02, 0.6975, 0.4255, -0.3202, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4348 left_y=-0.0574 left_z=0.0425 left_yaw=0.0046 left_pitch=0.0298 left_roll=-0.0221 left_gripper=0.9982 right_x=0.2747 right_y=0.0034 right_z=0.136 right_yaw=0.0183 right_pitch=-0.023 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -5.9145, 3.7402, 1.2869, -0.0611, 0.3297, -0.0073, -0.4171, -1.0325, 6.7761, 1.9414, -0.0513, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19e52278ff0ede3df123947c699f89075a1c5acc662a6c9841204a4062664fbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1717c0cba078c258f6a7377535f2e61f726f6f970ed9a848659b8e666fdc9a93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e3891ed0cfbbd0996cb6c0eb10c09002ce32b99d3f28d926b20919cc0384058b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 5.471 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]: [-0.1959, 1.4643, 0.6746, 0.1635, -0.1707, -0.1356, 0.9983, -0.02, 0.7238, 0.4652, -0.3405, -0.0284, -0.0338, 0.9998]\nstate[eef_state]: left_x=0.4038 left_y=-0.0459 left_z=0.0998 left_yaw=0.0044 left_pitch=-0.0542 left_roll=0.0029 left_gripper=0.9983 right_x=0.2783 right_y=0.003 right_z=0.1433 right_yaw=0.0155 right_pitch=-0.0299 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -5.6957, 7.3231, 2.0879, -0.2125, -0.0611, -0.0122, -0.2256, -0.9094, 6.9675, 2.0342, -0.0171, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1921, 1.7195, 0.6224, 0.5285, -0.1471, -0.1505, 0.9982, -0.0204, 0.7078, 0.4393, -0.3279, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4284 left_y=-0.0533 left_z=0.0508 left_yaw=-0.0041 left_pitch=-0.0003 left_roll=-0.0337 left_gripper=0.9982 right_x=0.2759 right_y=0.0034 right_z=0.1381 right_yaw=0.018 right_pitch=-0.0272 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -5.3265, 5.0803, 1.2283, -0.2564, 0.2711, -0.022, -0.335, -1.2239, 6.7897, 1.9902, -0.0366, 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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2119, 1.7874, 0.6197, 0.6262, -0.1806, -0.1509, 0.9982, -0.02, 0.6975, 0.4255, -0.3202, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4348 left_y=-0.0574 left_z=0.0425 left_yaw=0.0046 left_pitch=0.0298 left_roll=-0.0221 left_gripper=0.9982 right_x=0.2747 right_y=0.0034 right_z=0.136 right_yaw=0.0183 right_pitch=-0.023 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -5.9145, 3.7402, 1.2869, -0.0611, 0.3297, -0.0073, -0.4171, -1.0325, 6.7761, 1.9414, -0.0513, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19e52278ff0ede3df123947c699f89075a1c5acc662a6c9841204a4062664fbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1717c0cba078c258f6a7377535f2e61f726f6f970ed9a848659b8e666fdc9a93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3891ed0cfbbd0996cb6c0eb10c09002ce32b99d3f28d926b20919cc0384058b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AoXqMmJdnGgKDD6NrTiZeR",
      "input": {
        "note": "Jaws appear to straddle the bottle's shoulder/label area at z≈0.04. Closing to grasp the body.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AoXqMmJdnGgKDD6NrTiZeR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2165, 1.7706, 0.6426, 0.6441, -0.2035, -0.1566, 0.014, -0.0204, 0.6907, 0.4065, -0.3202, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4449 left_y=-0.0576 left_z=0.0622 left_yaw=0.0232 left_pitch=0.0884 left_roll=-0.0292 left_gripper=0.014 right_x=0.2717 right_y=0.0035 right_z=0.1291 right_yaw=0.0182 right_pitch=-0.0352 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -7.2957, 5.3538, 0.9646, -0.0024, 0.149, 1.2234, -0.3487, -1.5111, 6.7897, 1.9463, -0.0708, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa9c54e4a744e8a43cd551d0af70edff9c7594f0bf6df0455073165149ac87f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63925b46698dd40ada4ffe6120022528b2ff257136381bbe2be257a90912d9cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa0c5f3df6eb1b5b3bbda83a8536a9b26b39de964321eecd239f6007befa54d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 4.634 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]: [-0.1921, 1.7195, 0.6224, 0.5285, -0.1471, -0.1505, 0.9982, -0.0204, 0.7078, 0.4393, -0.3279, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4284 left_y=-0.0533 left_z=0.0508 left_yaw=-0.0041 left_pitch=-0.0003 left_roll=-0.0337 left_gripper=0.9982 right_x=0.2759 right_y=0.0034 right_z=0.1381 right_yaw=0.018 right_pitch=-0.0272 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -5.3265, 5.0803, 1.2283, -0.2564, 0.2711, -0.022, -0.335, -1.2239, 6.7897, 1.9902, -0.0366, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2119, 1.7874, 0.6197, 0.6262, -0.1806, -0.1509, 0.9982, -0.02, 0.6975, 0.4255, -0.3202, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4348 left_y=-0.0574 left_z=0.0425 left_yaw=0.0046 left_pitch=0.0298 left_roll=-0.0221 left_gripper=0.9982 right_x=0.2747 right_y=0.0034 right_z=0.136 right_yaw=0.0183 right_pitch=-0.023 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -5.9145, 3.7402, 1.2869, -0.0611, 0.3297, -0.0073, -0.4171, -1.0325, 6.7761, 1.9414, -0.0513, -0.0366, -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]: [-0.2165, 1.7706, 0.6426, 0.6441, -0.2035, -0.1566, 0.014, -0.0204, 0.6907, 0.4065, -0.3202, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4449 left_y=-0.0576 left_z=0.0622 left_yaw=0.0232 left_pitch=0.0884 left_roll=-0.0292 left_gripper=0.014 right_x=0.2717 right_y=0.0035 right_z=0.1291 right_yaw=0.0182 right_pitch=-0.0352 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -7.2957, 5.3538, 0.9646, -0.0024, 0.149, 1.2234, -0.3487, -1.5111, 6.7897, 1.9463, -0.0708, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa9c54e4a744e8a43cd551d0af70edff9c7594f0bf6df0455073165149ac87f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63925b46698dd40ada4ffe6120022528b2ff257136381bbe2be257a90912d9cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa0c5f3df6eb1b5b3bbda83a8536a9b26b39de964321eecd239f6007befa54d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSxgoKEAgSGAI4AUIIdGhpbmtpbmcSDLDZVDjUFBCOiMHI5BoMjXXN+zqUbcZg37jRIjANbOJgDpSw2Uy0xVVGBlyn08rNBqtpKh4+UkidhBw5tWH8W0wjHeHk5ARDJTEFhDIq4wm9DVycdvRR2E0UDF6NiRYse9uIgwCAAgcqs3pUFCyeJTPyhJq7iPW6Wj9dEFYgHKAIBhBIeTUTLwGA96CkVYbyb1CcJRSmIXCTLJ3TBRzaCLYKgLnxD9vva2NuNr+UeXQagYFhfofDNgePaxyn/jFNvHvcuZKTI55PiwocAfzOi4l1Kn7Qn5gB4YKZEqU/l9amyorMRjuuu4enBHKYIg0jEzdmcJaK6arwRaUEpeskt178P2PvDLBfwsRulyUxTIv5Khbijpf1oVRCXz0PSxZIqByM68nUtaTZpHvJtTgBCiPGH2k1cN6l4PIr776NUlykOyRuGwUa/+I5oNQnvbnWWtxzkH4CSD2SX3Ql3734sMrdWwcRdJ2m4FzCM+p5RqGN1fv5QINTo607UJF5IzVRbcVYHueQMOu5cbk9Vnvn6o5pMtEPPWqTK+azMe/wq+lWYbnjbArx2vMcETRdNi5xvE14DVtlg0JRQ3DwqiOn+/NK/0i6JegXDeTa33zZo0kLkQ9meiBMXPVf16JIxz2boM1KmiMbZ4e+7E1W7EQLnFGUTVXGIg/OQAFDZDMJDWLYLTpISWsP8KaHlU0Pxginw7ccNtpWN2hXZXGxw7Sik1jwUG2W9mdnd3vfuQXzICJkI4vDd/Cc2bIruE/sePLyvIdt8OMSAbe6pzYqphp7VzQYjQofNp5beqea9+qBsjftxJDtgp9iEgJQQCEBAXhhR2JV7/8WOD8Y8JD8YkChQuDyXpU8RqvLuRlym0ijcIFkIelVc5G7Lam2haTZU/YEmI8iqFKI65t7/AgSevsyUkG8fqcgt54fhez6sMzCLnnDBT0Je/AMBURjy/Ysll0DSR89do3GjMQJc2PoRV7V8Plj6ZZvnKj091Nu15dUH7AJVmHg3ecwel6GsN/EqMMS3WAcU4hEdgI5KBbLm8f8PBgdP7ziae7XbYG7yYEX8640/aysGDlALAJbR4WqeZAp2EDgaZsDIZUsZdD0qQBGNM6V0CP2U1vYBmxOsb3diSLgExD2Yo3cOHuri3jswIenOu56DcMcrFaFl+aThvvBTyw6a/PLu8h5xJE0T0X7sh5xSsrKK1Ee8H/FZax87UZ32DBLCU6ptL2NGp4XR1ltfysFdtXYF24dhOQrw0m5RqCFoms6vBqx16yGgo0iydoNhU889pOMownl+WZD7HDbxbn2PEx7xt9LefTA3AMTEnJIENAEfTb5JtxC1xCophmmE6gPhouTXfzfJXVdxvHNZpqfeD/o89z0We95YfBFrceTLJpR+lWSHff0gi79WsG5wCLVUvZaOCWGli9bm/o2D6h8QA1b0unYUa4PmBfQSJAm0Wx+vgqzBA4S4juEztUuiWkR4qEhi8OeGsDrbzezazpuPb1ErBFcNVXUDZLMp55oI03HW9TLx37zO231BcYmDf5zXNrWUsGGTKxBThZP5lZxpCuK1CQsk/lzzUB6DRn/U9a3YAF/+oUS+OSEAtpkqjbaIB701OLHuvMEQhWDRZQkCh6IZaPkQbp2zTG9l1DN+hQtpvjR9Zn8zTuVaPUqowuLvFKGfONVM0BFU2/aWBLGuYglJQD5XmfLb2Y7cjZyNna+pvLdEdDpy8BN2unLleV+ZaDYP6SrmSB1nlu3NCG2XT4+aIAYnzdOL2ewkV/4ANwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Le9F4aFDQK493KZNcpiRHo",
      "input": {
        "note": "Close was empty: the jaws were sitting on top of the bottle, which is now nicely centred and aligned in the wrist view. Opening and lifting slightly before a centred descent.",
        "targets": {
          "left_gripper": 1.0,
          "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_01Le9F4aFDQK493KZNcpiRHo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2165, 1.7203, 0.7128, 0.3721, -0.2184, -0.1577, 0.9946, -0.0204, 0.6701, 0.374, -0.3054, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.435 left_y=-0.0528 left_z=0.0542 left_yaw=0.0357 left_pitch=-0.0566 left_roll=0.0143 left_gripper=0.9946 right_x=0.2686 right_y=0.0035 right_z=0.1225 right_yaw=0.0182 right_pitch=-0.0322 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -10.4547, 8.3214, 1.6239, -0.0122, 0.0024, -0.1636, -0.5538, -1.1282, 6.9128, 2.0195, -0.0659, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c676ec36ed60530b5a4cbd4ced05030192e84fbf86e486a6c01c0b70faa2445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae02b096409cad8906997927ceaef2e8e90ce0789577863fa517a8f0ace0fed9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:024a0457f23c04e79e7d4a3a2b9ccc4fb9a01666295c6fee182c3f73f06f3f40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 3.67 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]: [-0.2119, 1.7874, 0.6197, 0.6262, -0.1806, -0.1509, 0.9982, -0.02, 0.6975, 0.4255, -0.3202, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4348 left_y=-0.0574 left_z=0.0425 left_yaw=0.0046 left_pitch=0.0298 left_roll=-0.0221 left_gripper=0.9982 right_x=0.2747 right_y=0.0034 right_z=0.136 right_yaw=0.0183 right_pitch=-0.023 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -5.9145, 3.7402, 1.2869, -0.0611, 0.3297, -0.0073, -0.4171, -1.0325, 6.7761, 1.9414, -0.0513, -0.0366, -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]: [-0.2165, 1.7706, 0.6426, 0.6441, -0.2035, -0.1566, 0.014, -0.0204, 0.6907, 0.4065, -0.3202, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4449 left_y=-0.0576 left_z=0.0622 left_yaw=0.0232 left_pitch=0.0884 left_roll=-0.0292 left_gripper=0.014 right_x=0.2717 right_y=0.0035 right_z=0.1291 right_yaw=0.0182 right_pitch=-0.0352 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -7.2957, 5.3538, 0.9646, -0.0024, 0.149, 1.2234, -0.3487, -1.5111, 6.7897, 1.9463, -0.0708, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2165, 1.7203, 0.7128, 0.3721, -0.2184, -0.1577, 0.9946, -0.0204, 0.6701, 0.374, -0.3054, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.435 left_y=-0.0528 left_z=0.0542 left_yaw=0.0357 left_pitch=-0.0566 left_roll=0.0143 left_gripper=0.9946 right_x=0.2686 right_y=0.0035 right_z=0.1225 right_yaw=0.0182 right_pitch=-0.0322 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -10.4547, 8.3214, 1.6239, -0.0122, 0.0024, -0.1636, -0.5538, -1.1282, 6.9128, 2.0195, -0.0659, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c676ec36ed60530b5a4cbd4ced05030192e84fbf86e486a6c01c0b70faa2445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae02b096409cad8906997927ceaef2e8e90ce0789577863fa517a8f0ace0fed9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:024a0457f23c04e79e7d4a3a2b9ccc4fb9a01666295c6fee182c3f73f06f3f40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgQgKEAgSGAI4AUIIdGhpbmtpbmcSDO8azKlooXFbf1+nDhoMOgIlACFJCr/iKDmfIjB30LyMgxB4UNTzUQJyq11vkAgY+uKdkI5Sf+xt+ABZmQQidSSNbUrWCQORZUiamg0qngfiNP18BWs9AqDzfyj5EE0o/myhqffhGdsH05iO+FOQR7cFKIdwwO9SWsJeoyPNkB+F+hWFQ5+cDP04ZLXruuAdMRbl18r1lHWPEwyw8dCfIe196Zx6mYjoRBzL9II8RPNNW7VZdOHX9IlMgDIvCgEfEeik02+0pQ71DnRXsHqZaY3JIdI9l3KVNbEM+M7hFsJpWP5sc+TATHFApyZO8QcZX2xwljP/01lfflJANBSCGYqLJMdqMriDMKc1cOA6u27ZPAJGCwQ8WvLbb7+7R7Ikt7FhVngTEe1WgK2CpAy3vW8t1U9JvX/NZClt71LIcqroxWxWv5bafdINag66w6E4mtv5abxh2ZEaDDIR/3YwcGLQSgiCxBKGbl1IA35dAGUIJgmRVGY8CyTjadzraHwFCPT2IqDj8D8UDSNVJ3dhZd38BchKhNS+TUd0TE/UCv3mzPflfUWyniHC1BK7QpZT1M6eX5q8VEMjLXkERUUNhOl2YNXSpbY5CNu41A+OW/x+UIvDARSeVFBp80tZYSJIczjl0T4Rc17QfsH9l3D+RlZE8dneTFlRzq+STrpv0vL1rWq8OFDKk5hLThN02loFnNNlFJfEtlsKXkpgfqkwdaS4GMoS32RlYPWYsXwoZS6nwcNRH4/7IGXscG6axHrIwjg4AyEe+b6PsreoOrpU2gP/W7IxjlMYLIirMmnzLr7V0DGz8yvdXcS0bGFOvoMxrov2EOfvtTqs8OXtAASgNZNDg4AOnm1n7IJnFecSNa5bGNkPbXSMqCVHgGGZ5ESJbrNs7TERqpjNKofbzZvroun+Frh4jLvP+w6gP9EnWBsasWYs9sgcG8YNEqv2t/UVI6vpaIY2CJeVnfNe2BKk6kBCLe/SXTz+crqrZpyR1JjvO/Dd4uErC+mCaLI+kghD3veaFK8RjyT7vxnA1/xYZl+I5PCpPMeHQIJp4opWfGr6SAl/F19LvEDQQ0N1WW2nvbvwzczTTpTMoTO5k1Y+yQRkNZlT83GSKAHx5bNQY+adtrAoJcntm4WV2L7NnnEGCgf1FGVQ9AI74DA3cRRMRYLYwne3TzLCipZL5NKtVZj/CmF3ugEZm+kS+83FXTtoCkujASvKLbRdZ2+ctqGOfq0aZgxeC8kcSDDgKHzA09fp7IwbZ04ZXPc/vL6VORA9E0oj3Je+ZRM5Hftx8lZRyEpfWUGIXBFAqEwC+kE4/rnvLsKOIVipRnlCtzA8BhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018zBFQ16KZnPYJ7s3RjLVMH",
      "input": {
        "note": "Bottle body is centred between the open jaws in the wrist view. Descending to straddle it at mid-height.",
        "targets": {
          "left_y": -0.058,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_018zBFQ16KZnPYJ7s3RjLVMH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2302, 1.8423, 0.651, 0.6197, -0.226, -0.1696, 0.9961, -0.02, 0.6514, 0.3462, -0.2913, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4394 left_y=-0.0586 left_z=0.0301 left_yaw=0.0343 left_pitch=0.0062 left_roll=-0.0077 left_gripper=0.9961 right_x=0.2661 right_y=0.0037 right_z=0.1173 right_yaw=0.0184 right_pitch=-0.0272 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -4.6701, 3.2205, 0.7985, -0.1392, 0.1245, 0.149, -0.2667, -1.0462, 7.0085, 2.0244, -0.0904, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f07a854664db1b454c89b2bbed3a29854370824d222de1e357e29984aeffce7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10696037ac6c885268a4af0a786fee4860e50d78a4ad112cb34efa4802828efd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46b7267c52abe5450c2b797639f8760aedae34c6a037470a02b59152a69d524f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 6.58 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]: [-0.2165, 1.7706, 0.6426, 0.6441, -0.2035, -0.1566, 0.014, -0.0204, 0.6907, 0.4065, -0.3202, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4449 left_y=-0.0576 left_z=0.0622 left_yaw=0.0232 left_pitch=0.0884 left_roll=-0.0292 left_gripper=0.014 right_x=0.2717 right_y=0.0035 right_z=0.1291 right_yaw=0.0182 right_pitch=-0.0352 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -7.2957, 5.3538, 0.9646, -0.0024, 0.149, 1.2234, -0.3487, -1.5111, 6.7897, 1.9463, -0.0708, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2165, 1.7203, 0.7128, 0.3721, -0.2184, -0.1577, 0.9946, -0.0204, 0.6701, 0.374, -0.3054, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.435 left_y=-0.0528 left_z=0.0542 left_yaw=0.0357 left_pitch=-0.0566 left_roll=0.0143 left_gripper=0.9946 right_x=0.2686 right_y=0.0035 right_z=0.1225 right_yaw=0.0182 right_pitch=-0.0322 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -10.4547, 8.3214, 1.6239, -0.0122, 0.0024, -0.1636, -0.5538, -1.1282, 6.9128, 2.0195, -0.0659, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2302, 1.8423, 0.651, 0.6197, -0.226, -0.1696, 0.9961, -0.02, 0.6514, 0.3462, -0.2913, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4394 left_y=-0.0586 left_z=0.0301 left_yaw=0.0343 left_pitch=0.0062 left_roll=-0.0077 left_gripper=0.9961 right_x=0.2661 right_y=0.0037 right_z=0.1173 right_yaw=0.0184 right_pitch=-0.0272 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -4.6701, 3.2205, 0.7985, -0.1392, 0.1245, 0.149, -0.2667, -1.0462, 7.0085, 2.0244, -0.0904, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f07a854664db1b454c89b2bbed3a29854370824d222de1e357e29984aeffce7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10696037ac6c885268a4af0a786fee4860e50d78a4ad112cb34efa4802828efd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46b7267c52abe5450c2b797639f8760aedae34c6a037470a02b59152a69d524f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSzAYKEAgSGAI4AUIIdGhpbmtpbmcSDExUQ+W/5M6uK7L3jhoM1zA7hRk6V0WrgZxSIjDx9LdZNm4oT6qPHibnWlczKc2ZfWT02473bOMb8cbkH8NleIJZVb34LTTkC/xZG9Yq6QVozDSHKjNxcneyv/OINwxlwtYQPFECkg0Gk94lrGIvci1xcAQf9axqu9PzUWayydXDYytdaXj4IDFruLlL+Xj7LC+owX1jyI+4Pu0iLtwmNYBJmfkDEjZycs7l80ZAl0ahTWIhpcVI3m1dJKkCNop5iagNDM7+cYA8WxwM90KCw0+CNDDwqdwwDxO267qa0uql9yDnTCRNcnVTu/bZ4mfqJHg+WfKstm/S0KBlleAhPMFR/4g0BTmkMnHdfrsRkpycN7tg5bu0CObaxGc72+ZpCvphV8gURUrhqWeH+z+FPIv2oxSYaeu2Yr+ERP39PpDqtgEdpmAt4Ps8D/OUHpocC8yu+TXmVa30Lc8Hom4WRnCNoY1Jo2F4o0aPpGyPuTIPjVt/poUOsXBkkDQTh76f7ZH+/kDGkEkWHaoUNveBwoHGcuKamkalaWMypaDvKqqfBUBCcNQTZAGP0LdslXpdKXKK0mcYwUx41Imoa4XAOvFtSlGsc9OjQwNUxipfgJ3V0DLAdTeVlNHy2GJU3n43H/TlsrVqMBb9tZxmLegO+2WsOT1BmtSKSQe/z4Q0lWK9S/LQ9axez/AQZLvlAq4qXkUx9erMjtAcVFNdTXyk6bR/XPVG/HIR6r+fRpSaIQLhtwWYhMwBzPYjMGx463JObK2d4GmbPT8ZT9U5R3NotK9cFxQS88+DzZqYjoBQkv+vjcqGSnBrTI9cErVH9vjJirPi8G+AiNDZOfr3W6qNMQuh9fYQNaLRQZUgN7b16g/8NrR+3mgjekBEbucK2T+uZxoxQwcc++4AwTf0dFWZ9pd/7O3frN3rdrj63gVk0pgnzC0b4lQQRYmrhqcJnlMVZFWOfC+qzkY9XTobHTAPCBMnsXl5xljSWLjV7IodDrfs8322kIUQWKO6SnWhzXxKTOMiiWOCKzh79yDStitSSF+esj866FXBdbRCo0VdkZMOdAgWN1m8jP7r8uz29AM3Tj4FKI+rfQPgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PbhoKC4dD8GWVgBFpJTLq2",
      "input": {
        "note": "Jaws now at z≈0.03 around the bottle's label area. Closing to grasp.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PbhoKC4dD8GWVgBFpJTLq2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2363, 1.8267, 0.6571, 0.7013, -0.2337, -0.1844, 0.347, -0.02, 0.6346, 0.3222, -0.2886, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4516 left_y=-0.063 left_z=0.0563 left_yaw=0.0441 left_pitch=0.1067 left_roll=-0.0449 left_gripper=0.347 right_x=0.2627 right_y=0.0038 right_z=0.111 right_yaw=0.0186 right_pitch=-0.0318 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.9538, 5.1077, 0.862, -0.0855, 0.1392, 0.2711, -0.335, -0.759, 7.0496, 1.9902, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32fd53cdd42bc909fb2ee71d46a24c34c124352ddad282abb7668aac2a8a07f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca9f501330ea67a19b048490918d0c75d98f3e148297832c9839839ce1f6eb61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b33a91909a7ec3406400980af83827e4fa98da357e4526eb1061daeaf36a740",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 4.298 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]: [-0.2165, 1.7203, 0.7128, 0.3721, -0.2184, -0.1577, 0.9946, -0.0204, 0.6701, 0.374, -0.3054, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.435 left_y=-0.0528 left_z=0.0542 left_yaw=0.0357 left_pitch=-0.0566 left_roll=0.0143 left_gripper=0.9946 right_x=0.2686 right_y=0.0035 right_z=0.1225 right_yaw=0.0182 right_pitch=-0.0322 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -10.4547, 8.3214, 1.6239, -0.0122, 0.0024, -0.1636, -0.5538, -1.1282, 6.9128, 2.0195, -0.0659, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2302, 1.8423, 0.651, 0.6197, -0.226, -0.1696, 0.9961, -0.02, 0.6514, 0.3462, -0.2913, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4394 left_y=-0.0586 left_z=0.0301 left_yaw=0.0343 left_pitch=0.0062 left_roll=-0.0077 left_gripper=0.9961 right_x=0.2661 right_y=0.0037 right_z=0.1173 right_yaw=0.0184 right_pitch=-0.0272 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -4.6701, 3.2205, 0.7985, -0.1392, 0.1245, 0.149, -0.2667, -1.0462, 7.0085, 2.0244, -0.0904, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2363, 1.8267, 0.6571, 0.7013, -0.2337, -0.1844, 0.347, -0.02, 0.6346, 0.3222, -0.2886, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4516 left_y=-0.063 left_z=0.0563 left_yaw=0.0441 left_pitch=0.1067 left_roll=-0.0449 left_gripper=0.347 right_x=0.2627 right_y=0.0038 right_z=0.111 right_yaw=0.0186 right_pitch=-0.0318 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.9538, 5.1077, 0.862, -0.0855, 0.1392, 0.2711, -0.335, -0.759, 7.0496, 1.9902, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32fd53cdd42bc909fb2ee71d46a24c34c124352ddad282abb7668aac2a8a07f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca9f501330ea67a19b048490918d0c75d98f3e148297832c9839839ce1f6eb61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b33a91909a7ec3406400980af83827e4fa98da357e4526eb1061daeaf36a740",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkgsKEAgSGAI4AUIIdGhpbmtpbmcSDGMvPcrmVZ4gr4m7VRoMXMXhe0tyviWX0OCxIjCclEzzF68Re149f72W6sjC6X/EM0vrJurHpqTfC6O6MqCwncS6cegkwHT/euV15EsqrwqUIJqm0/G8HYwEgaB+BQnUClN1/zwK+9OMQ9qJF5e9pTNyNbbB/ksH0ioju1xtZC4oW3dI+OMoEwWqMJIoJzRcC0xEQyNhUrb0lQ4bVwKdNiq1WWKI8JTzKkfzV7i5yBrLyHxsdgsaHZVn5x0GjykQ6RbAhuN/6MWnwpf9TCVTiKRAC8J//b1tpfGLRl6rOFXBeXWWXgbRKlQUp/t9Cs33CZfkn8qxHdk1cSu61PXkMPbuZMmQvZVjKX5kngU6RSx2LYv7kqSIVlYdxLZDf+iBjNUPlEqOkl4JdiPE86DD+x5Cs4TnjTZNGkrZdIyQ8oEnGKpNipp5D4pbKly0GWL1QTwi220TvpNT27M5ZPAa/lrZbpOCp07YwlxkumuW6WlULc5f4n8VskbuqEmsAnCVdP6rpbjDo9Kgxl+xD2vk8h/NJoHBtn/BLkKg5dXcUdSo6XOGfWhEHRfMtEP5zW0QoqpqhF3p+00Hheapu60fOxwYwR6H4g1GbiZrfNWCnWngKsSPpPefh8T3JdAeRMaV6QlUqwNAn5jqf+3RXnQB17DS02+62dsSBoUgBLWXrTjx/uR6rUGYghmGJZdVhfa/mY9KA1ROKbGmZ2+u0E0MVqSRzfh5KsqAryw4++G29262UXjgqSkmQJqgZmpyPo7o5OUBgUVbt0i5vhI1GQpuIxEAwrnxluUl8kI+QAfzMR9GIa906QsxeB6U8ePUkWSe2+Bxt1KGP+k0HnuDXp6e7p1RqscRJDAGW90dJ4eFtWOrQkR0ej33Jp6ur/sqNEIsezgu2AsCi6VSWwiEchejknPN/j1JOg3rRnMYePJtzFPi5nwkAO3Ty23gnE4iLbs8HIOW8Bw3/evfrowFm7Ljb8JBTa/hlqvayEdO0Qy6cp6HUu4I2vtyYjoUYufLyyg5sn8SOpkEGN6if2bc3ElF9anakCQVkwLNDsWENVz6pYyTUJIdwRMzCZyulXQa1b3keEACHyvo9kO9YVQHKsT5i8QzngLVD3FXvMl/VboI1aoNYFCpRzLDd2KOi+yiAJ2uhyo2V3BgJS3TvAYNWjF+ar60Gh8D4ssDX1D8zdpjFP6k1bbly441BOz5Pqf2kSqQsiTmhpW29/eKpyduvE1uYTKoBq0nN29PLO5/eCmrM/Qvb7Uw5hAp396Qno+6RfkCrTOgo8mV/CR7GAD5uO9SBBG1SiSLN+biXq4GB0zGCjZlX27gOEin1bYOp4cPm9tQmZM11bxyEqmFLF0+ppKiELvgKEZZ3F2cNKFamCKCY9feqEru6lJ/9+hqROJM9irEz5ESUM8dnjFdJ70Nk3iMJkF2YsPgvMKt3qqm6Nw6lQ96rT2Fw/yWPYghDpiezcyKdvlOFWAcvSzxpP1eqQuXhaPVNZEs3olYjwYYKAHxF52kOVghTYGXZe3hrEIAEKt+tgsztB8utd1wm+qBNqYcBdGdNcvf4XFCRqbcwwB3wDbgjKqJC0Oo1Efdibl7n1rfKvvljB3j+1QexR7B+AXxz4qTt2gFtv6NNfhKq7g1bTnTZWBqURPNt7WcoxX9X4eFeHZZosi7sk2TrcsMKx6Rs/D5ENpc3UWyYy2QT4R086AJB+8CUW5PRx3eE1tK+TMDR9JOZOV6b4AAH2d14g3ujQF6D9HMha4LJGmm//eswZskZjqwqIkOfAYgRBqZkmT4pWelqVpkBvYehnr1aIhGpDeypKTdQQzyrLdYNgL+xShmTOYARfuPqEqGBN1+CTp6BEZDZtpkV+w3pUFwpcV2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WYEDUD3trr558K6FfdfeGN",
      "input": {
        "note": "Bottle grasped around the upper label (gripper reads 0.35). Starting to pivot it upright about its base: raising while pulling back along the bottle's axis.",
        "targets": {
          "left_x": 0.4,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01WYEDUD3trr558K6FfdfeGN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2844, 1.4796, 0.6643, 0.3283, -0.2722, -0.1959, 0.3441, -0.02, 0.614, 0.2947, -0.2794, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4176 left_y=-0.0688 left_z=0.1255 left_yaw=0.0341 left_pitch=0.0939 left_roll=-0.0326 left_gripper=0.3441 right_x=0.2597 right_y=0.0038 right_z=0.1053 right_yaw=0.0186 right_pitch=-0.0295 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.4085, 5.7231, 1.7265, -0.2808, -0.1245, -0.1538, -0.2393, -0.7179, 7.0496, 1.9512, -0.0855, -0.0024, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48ec7a8e7ad7f5159144a36b68b640aa98e435be883b335f4b37bf543585f6ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b31f9e26f088a2af06be28e3dd53cf42415d42efc89aabb7fbd9c6637c7ecaa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:514916f4fe18e24e827bbe381fba39f10c722d3cc52f28780a806f1e5e5f0c2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 10.93 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]: [-0.2302, 1.8423, 0.651, 0.6197, -0.226, -0.1696, 0.9961, -0.02, 0.6514, 0.3462, -0.2913, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4394 left_y=-0.0586 left_z=0.0301 left_yaw=0.0343 left_pitch=0.0062 left_roll=-0.0077 left_gripper=0.9961 right_x=0.2661 right_y=0.0037 right_z=0.1173 right_yaw=0.0184 right_pitch=-0.0272 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -4.6701, 3.2205, 0.7985, -0.1392, 0.1245, 0.149, -0.2667, -1.0462, 7.0085, 2.0244, -0.0904, -0.0073, -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]: [-0.2363, 1.8267, 0.6571, 0.7013, -0.2337, -0.1844, 0.347, -0.02, 0.6346, 0.3222, -0.2886, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4516 left_y=-0.063 left_z=0.0563 left_yaw=0.0441 left_pitch=0.1067 left_roll=-0.0449 left_gripper=0.347 right_x=0.2627 right_y=0.0038 right_z=0.111 right_yaw=0.0186 right_pitch=-0.0318 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.9538, 5.1077, 0.862, -0.0855, 0.1392, 0.2711, -0.335, -0.759, 7.0496, 1.9902, -0.0513, -0.0317, -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]: [-0.2844, 1.4796, 0.6643, 0.3283, -0.2722, -0.1959, 0.3441, -0.02, 0.614, 0.2947, -0.2794, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4176 left_y=-0.0688 left_z=0.1255 left_yaw=0.0341 left_pitch=0.0939 left_roll=-0.0326 left_gripper=0.3441 right_x=0.2597 right_y=0.0038 right_z=0.1053 right_yaw=0.0186 right_pitch=-0.0295 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.4085, 5.7231, 1.7265, -0.2808, -0.1245, -0.1538, -0.2393, -0.7179, 7.0496, 1.9512, -0.0855, -0.0024, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48ec7a8e7ad7f5159144a36b68b640aa98e435be883b335f4b37bf543585f6ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b31f9e26f088a2af06be28e3dd53cf42415d42efc89aabb7fbd9c6637c7ecaa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:514916f4fe18e24e827bbe381fba39f10c722d3cc52f28780a806f1e5e5f0c2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS1QcKEAgSGAI4AUIIdGhpbmtpbmcSDBXWY621Y1tnhoWNcRoMcQvcVR0gU5/EteanIjCeEhyhy0S+bmXn9mCC/q7r5hsckYXArsgjAV3ZHyJbLHiIhtj6O1P+1SlqwyQXkZIq8gbNA741aEKYO8caag0bOL69tnK5Xqv+Yyhh7+qr74Ma8iMu30nzq+FZXGZ0kGSUKcyIyuOa3dDgO3V+CGZ69BPjGjanfAK8vqI8tJj4X8/I5MPeQydv8WC7ExjBhxeYPSvGdVPVeGIkjGsFBt+1gVVFieuETHEBwkDixySLq9YPj28dKnuzJPfHUWQTmp6b7xhIT9G3e5dbt5QuftrqSV7JA4zb+JJQL6etaORtGp3o+48C3toGowHtDB4mCuJWyMbTaHc/UPZDuwx/qacY7u43KWRr3SlbUPcEyg63eTVdCfzMXGZo3jBABPAnasYwVuRHmpiAz4+QBbj5adfwhF/tMkKkT52zQA2OLjwNr2XTELW+LEWI6EI5xNWpnj/cTLf3ZjNXe3L3U2M6omVSL4b4BOsjUr3MB9EF0U2AHRe0HmXINJjRowB7uYcvmS/WkX+yty9JVOdHtZjcdNLm43XBWNQc4qMRBWXSNHsRMHcF42ywEvX+3yo3EI7+tU4XyXFntv7i185ipq65LzHKH4NVZBxD+N3nsTQbRrsS3SJFKOlcR+Xa0jOYVLEYyg1FnX5yBcwp4x2R2rzqTvQ/tANIe2MxmK9fmlUbjalSFJ8R/pXUj0V7IvRh0nXV6lWmbLf/W5XAgoEOyhDZKeVKpBk18oHtLd04swCDJINkpkZAaRF9jlk0TYco1wFZwsUnqg2CFqF0pzafXIgIPa1K2kqBVdYdCjrw9IJA/9EorO6tXhXuJLj+wcYVltvfpwDObP+e+6Q/RkORtSIZOLx391W9RroO+VgpQCrEdkzssgpDN6qZvxyU0dlIeO/OLxPph6E6zE+qz2CHfOtxoeZFJmP70yeT6Q6yqiCGZO7c/+Xl0vfSeIBRK62Jiiz04jSZP+sTmrfrX9M7Q1lJxCb3dLi610FqYr+NZi/3AbeR9dGUOBTSU8ULsLLqwPbiDYUXlti2Y0n0c/uJaMcAl8BK7/sgxvr0EjU205NnscInUV/u4KP/j+uIi+N2Zb+Ig8lmQMkDJdTdg8oXqbPyR1239NQCQ/V5mdT6cd4iQ5QDBXPFWkDHXcWV4dYGvj/i1iFnQ5LpzyBII3GrUjXskoBOFgAFQKnAJyXNBxVf/cBJUeyjU4lKWmdVgc6PgX97/T7Fs88zbLmJ8mBEXqb59p3ykVW17ikYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0134yiJtAqrhy97XePPd3CLM",
      "input": {
        "note": "Bottle is tilting up as the grasp rises. Continuing the arc back over the bottle's base.",
        "targets": {
          "left_x": 0.33,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_0134yiJtAqrhy97XePPd3CLM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2962, 1.4395, 0.7071, 0.0921, -0.2783, -0.2104, 0.3441, -0.0204, 0.5941, 0.2691, -0.2691, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.398 left_y=-0.067 left_z=0.1113 left_yaw=0.0341 left_pitch=-0.0505 left_roll=0.0069 left_gripper=0.3441 right_x=0.2572 right_y=0.0038 right_z=0.1005 right_yaw=0.0182 right_pitch=-0.0249 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.5145, 8.759, 1.6728, -0.2222, 0.0366, -0.0122, -0.3487, -0.4308, 6.9538, 1.8828, -0.1148, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ada07564019dcfa441f46f44b41412524129fd3b89fc121ecbd48182efa9c1cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c9f1da3a5eaef7f1113e368daa8636a72a9eb6e93b32cfdeac9a6d9ace30e5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f25692f053927fab753be7e81e9c8c08727ba03e69bf0d19fcb0de90aaaaaf42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 8.022 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]: [-0.2363, 1.8267, 0.6571, 0.7013, -0.2337, -0.1844, 0.347, -0.02, 0.6346, 0.3222, -0.2886, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4516 left_y=-0.063 left_z=0.0563 left_yaw=0.0441 left_pitch=0.1067 left_roll=-0.0449 left_gripper=0.347 right_x=0.2627 right_y=0.0038 right_z=0.111 right_yaw=0.0186 right_pitch=-0.0318 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.9538, 5.1077, 0.862, -0.0855, 0.1392, 0.2711, -0.335, -0.759, 7.0496, 1.9902, -0.0513, -0.0317, -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]: [-0.2844, 1.4796, 0.6643, 0.3283, -0.2722, -0.1959, 0.3441, -0.02, 0.614, 0.2947, -0.2794, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4176 left_y=-0.0688 left_z=0.1255 left_yaw=0.0341 left_pitch=0.0939 left_roll=-0.0326 left_gripper=0.3441 right_x=0.2597 right_y=0.0038 right_z=0.1053 right_yaw=0.0186 right_pitch=-0.0295 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.4085, 5.7231, 1.7265, -0.2808, -0.1245, -0.1538, -0.2393, -0.7179, 7.0496, 1.9512, -0.0855, -0.0024, -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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2962, 1.4395, 0.7071, 0.0921, -0.2783, -0.2104, 0.3441, -0.0204, 0.5941, 0.2691, -0.2691, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.398 left_y=-0.067 left_z=0.1113 left_yaw=0.0341 left_pitch=-0.0505 left_roll=0.0069 left_gripper=0.3441 right_x=0.2572 right_y=0.0038 right_z=0.1005 right_yaw=0.0182 right_pitch=-0.0249 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.5145, 8.759, 1.6728, -0.2222, 0.0366, -0.0122, -0.3487, -0.4308, 6.9538, 1.8828, -0.1148, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ada07564019dcfa441f46f44b41412524129fd3b89fc121ecbd48182efa9c1cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c9f1da3a5eaef7f1113e368daa8636a72a9eb6e93b32cfdeac9a6d9ace30e5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f25692f053927fab753be7e81e9c8c08727ba03e69bf0d19fcb0de90aaaaaf42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FWQkoq7F6gjLeEdhmvdmvq",
      "input": {
        "note": "The arm stalled; the bottle seems to stay rigidly horizontal in the tight grip. Loosening the grip slightly so the bottle can pivot about the jaw axis while its base stays on the table.",
        "targets": {
          "left_gripper": 0.6
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FWQkoq7F6gjLeEdhmvdmvq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2962, 1.4395, 0.7071, 0.0917, -0.2783, -0.2108, 0.5949, -0.0204, 0.5793, 0.2481, -0.2649, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.398 left_y=-0.067 left_z=0.1113 left_yaw=0.0343 left_pitch=-0.0508 left_roll=0.0067 left_gripper=0.5949 right_x=0.2546 right_y=0.0038 right_z=0.0953 right_yaw=0.0182 right_pitch=-0.0268 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -7.4325, 8.6906, 1.6923, -0.2271, 0.0024, -0.149, -0.253, -0.5402, 6.9675, 1.8974, -0.0806, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc75b8c09ff442b9b38168410a139b272de20ce6cf7e086d8b10cc1d4d895e16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f347bc982eb595855997288b075a9ae8e2c8acaea6776625ec46eaa69191ca7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7cf0b172ab4a66d9764e9c35485ebfdde842304a66a7bd779502cc38c526fb7",
        "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 · 16.45 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]: [-0.2844, 1.4796, 0.6643, 0.3283, -0.2722, -0.1959, 0.3441, -0.02, 0.614, 0.2947, -0.2794, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4176 left_y=-0.0688 left_z=0.1255 left_yaw=0.0341 left_pitch=0.0939 left_roll=-0.0326 left_gripper=0.3441 right_x=0.2597 right_y=0.0038 right_z=0.1053 right_yaw=0.0186 right_pitch=-0.0295 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.4085, 5.7231, 1.7265, -0.2808, -0.1245, -0.1538, -0.2393, -0.7179, 7.0496, 1.9512, -0.0855, -0.0024, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.2962, 1.4395, 0.7071, 0.0921, -0.2783, -0.2104, 0.3441, -0.0204, 0.5941, 0.2691, -0.2691, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.398 left_y=-0.067 left_z=0.1113 left_yaw=0.0341 left_pitch=-0.0505 left_roll=0.0069 left_gripper=0.3441 right_x=0.2572 right_y=0.0038 right_z=0.1005 right_yaw=0.0182 right_pitch=-0.0249 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.5145, 8.759, 1.6728, -0.2222, 0.0366, -0.0122, -0.3487, -0.4308, 6.9538, 1.8828, -0.1148, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2962, 1.4395, 0.7071, 0.0917, -0.2783, -0.2108, 0.5949, -0.0204, 0.5793, 0.2481, -0.2649, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.398 left_y=-0.067 left_z=0.1113 left_yaw=0.0343 left_pitch=-0.0508 left_roll=0.0067 left_gripper=0.5949 right_x=0.2546 right_y=0.0038 right_z=0.0953 right_yaw=0.0182 right_pitch=-0.0268 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -7.4325, 8.6906, 1.6923, -0.2271, 0.0024, -0.149, -0.253, -0.5402, 6.9675, 1.8974, -0.0806, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc75b8c09ff442b9b38168410a139b272de20ce6cf7e086d8b10cc1d4d895e16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f347bc982eb595855997288b075a9ae8e2c8acaea6776625ec46eaa69191ca7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7cf0b172ab4a66d9764e9c35485ebfdde842304a66a7bd779502cc38c526fb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PQ8UTxqCHPVrrhTw3CyLWT",
      "input": {
        "note": "Unclear whether the bottle is held. Closing and lifting higher to see in the overhead view whether it comes up with the jaws.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.36,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PQ8UTxqCHPVrrhTw3CyLWT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.345, 1.1786, 0.7952, -0.1883, -0.3157, -0.2371, 0.0137, -0.0204, 0.5606, 0.2264, -0.263, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3671 left_y=-0.0698 left_z=0.1914 left_yaw=0.0302 left_pitch=0.0214 left_roll=-0.0193 left_gripper=0.0137 right_x=0.2518 right_y=0.0039 right_z=0.0902 right_yaw=0.0182 right_pitch=-0.028 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -4.8342, 9.4017, 1.6142, -0.1392, 0.0122, 1.2625, -0.3624, -0.3897, 6.7761, 1.9365, -0.0659, -0.0757, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0ac458898a2093c83c2aa1b37a5e7c245d03c7d461061b9f120e07fb64a7204",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef681084d4a6de1659a44143d58f5df5526eaddfd91052b553eb1a4adc80029a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:121773a3a049c789bfc1b9a06cb88fff90d8d6bf7c7795f5e7e59e2d6993a598",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 6.33 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]: [-0.2962, 1.4395, 0.7071, 0.0921, -0.2783, -0.2104, 0.3441, -0.0204, 0.5941, 0.2691, -0.2691, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.398 left_y=-0.067 left_z=0.1113 left_yaw=0.0341 left_pitch=-0.0505 left_roll=0.0069 left_gripper=0.3441 right_x=0.2572 right_y=0.0038 right_z=0.1005 right_yaw=0.0182 right_pitch=-0.0249 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.5145, 8.759, 1.6728, -0.2222, 0.0366, -0.0122, -0.3487, -0.4308, 6.9538, 1.8828, -0.1148, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2962, 1.4395, 0.7071, 0.0917, -0.2783, -0.2108, 0.5949, -0.0204, 0.5793, 0.2481, -0.2649, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.398 left_y=-0.067 left_z=0.1113 left_yaw=0.0343 left_pitch=-0.0508 left_roll=0.0067 left_gripper=0.5949 right_x=0.2546 right_y=0.0038 right_z=0.0953 right_yaw=0.0182 right_pitch=-0.0268 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -7.4325, 8.6906, 1.6923, -0.2271, 0.0024, -0.149, -0.253, -0.5402, 6.9675, 1.8974, -0.0806, -0.0366, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.345, 1.1786, 0.7952, -0.1883, -0.3157, -0.2371, 0.0137, -0.0204, 0.5606, 0.2264, -0.263, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3671 left_y=-0.0698 left_z=0.1914 left_yaw=0.0302 left_pitch=0.0214 left_roll=-0.0193 left_gripper=0.0137 right_x=0.2518 right_y=0.0039 right_z=0.0902 right_yaw=0.0182 right_pitch=-0.028 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -4.8342, 9.4017, 1.6142, -0.1392, 0.0122, 1.2625, -0.3624, -0.3897, 6.7761, 1.9365, -0.0659, -0.0757, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0ac458898a2093c83c2aa1b37a5e7c245d03c7d461061b9f120e07fb64a7204",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef681084d4a6de1659a44143d58f5df5526eaddfd91052b553eb1a4adc80029a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:121773a3a049c789bfc1b9a06cb88fff90d8d6bf7c7795f5e7e59e2d6993a598",
        "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_01LbxGAYKSbm1qiJRTVbFn1M",
      "input": {
        "note": "Empty: the bottle never came up. New plan: grab the bottle by its neck/cap (cap estimated at x≈0.50) and lift so it hangs vertically, then set it down on its base. Moving over the neck first.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.48,
          "left_y": -0.065,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LbxGAYKSbm1qiJRTVbFn1M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2276, 1.6958, 0.9348, 0.1047, -0.2394, -0.1825, 0.9946, -0.0204, 0.5407, 0.2028, -0.2615, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4616 left_y=-0.0602 left_z=0.1011 left_yaw=0.0558 left_pitch=-0.0731 left_roll=0.0119 left_gripper=0.9946 right_x=0.2486 right_y=0.0039 right_z=0.0843 right_yaw=0.0179 right_pitch=-0.0303 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -8.294, 8.7863, 1.8974, 0.0855, 0.2271, -0.1734, -0.4308, -0.3077, 6.8581, 1.9219, -0.0611, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cbb074bcc8edfa156ba728f6e969f8ea3ff62c7b476a572276102d0990637a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:312227e0e2895fc25d8117d79c3ae2b57b3ea923de68929764ffd528bf662dcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f47bc25a617215f430be940d57e6ad52ca89f52f3475d4befee13265edefa44",
        "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 · 9.817 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]: [-0.2962, 1.4395, 0.7071, 0.0917, -0.2783, -0.2108, 0.5949, -0.0204, 0.5793, 0.2481, -0.2649, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.398 left_y=-0.067 left_z=0.1113 left_yaw=0.0343 left_pitch=-0.0508 left_roll=0.0067 left_gripper=0.5949 right_x=0.2546 right_y=0.0038 right_z=0.0953 right_yaw=0.0182 right_pitch=-0.0268 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -7.4325, 8.6906, 1.6923, -0.2271, 0.0024, -0.149, -0.253, -0.5402, 6.9675, 1.8974, -0.0806, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.345, 1.1786, 0.7952, -0.1883, -0.3157, -0.2371, 0.0137, -0.0204, 0.5606, 0.2264, -0.263, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3671 left_y=-0.0698 left_z=0.1914 left_yaw=0.0302 left_pitch=0.0214 left_roll=-0.0193 left_gripper=0.0137 right_x=0.2518 right_y=0.0039 right_z=0.0902 right_yaw=0.0182 right_pitch=-0.028 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -4.8342, 9.4017, 1.6142, -0.1392, 0.0122, 1.2625, -0.3624, -0.3897, 6.7761, 1.9365, -0.0659, -0.0757, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.2276, 1.6958, 0.9348, 0.1047, -0.2394, -0.1825, 0.9946, -0.0204, 0.5407, 0.2028, -0.2615, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4616 left_y=-0.0602 left_z=0.1011 left_yaw=0.0558 left_pitch=-0.0731 left_roll=0.0119 left_gripper=0.9946 right_x=0.2486 right_y=0.0039 right_z=0.0843 right_yaw=0.0179 right_pitch=-0.0303 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -8.294, 8.7863, 1.8974, 0.0855, 0.2271, -0.1734, -0.4308, -0.3077, 6.8581, 1.9219, -0.0611, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cbb074bcc8edfa156ba728f6e969f8ea3ff62c7b476a572276102d0990637a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:312227e0e2895fc25d8117d79c3ae2b57b3ea923de68929764ffd528bf662dcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f47bc25a617215f430be940d57e6ad52ca89f52f3475d4befee13265edefa44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShgkKEAgSGAI4AUIIdGhpbmtpbmcSDEGoPdG94T9HsYCThxoMiMSXI/JMA/wE4/dxIjAYuoTFUNifG7FJvREMAZGj49RGRLD+N86CEVbooUswpeqVzoO0yHdTCE2jS6WhmH4qowg4GI0O0BbtbMIHV7V0jJG8RkMmeqNAxCohcaXWt/EyG1zZxhpdJZkdab3vh7XjITTf6rxCfvql2AAN8LL/NvEVmLn3txCJewoXQS0bGbryovpwWcI1oYjw5RYvDIBQHy7QWdLe28rf5x1cmtxgVk0suGofPpGmpqTSDSJmw+jBP1TxnIBEC7HK12gpzFW6UcnpZ7a5LJlWOurgLnyj4Gg2MTuMZugQCQApsOcQBCwyIXHDCmRAeJiJLCcTep8rPSuTpxdrTrxnHnjaXe3VEFUa3aaP9oksXtjRs2WEkDp3Bqthi4fg7y/KaMCbdcJdLchtQkocm/S9/hO8N8ftPBBvXLLChZvcFpL5tOpgRnqSNLoerbZPwqPLyuPJ5F59gVpHVNZHLcVR7M1/0M0grK6QwBNw1zzn+3CsrRW+Nx4CEZ0CoSuH1wTMmMq9PpNGfpESgMg2ZuE7fhzddof1rVlMbhApEoftxN0eIxMV2DKCr3xdf0i5JtWm889dYRg9P5ELwG4AhQ/+8YZYfFQ70zFJJcmiOdd+GSJBNbY/4LNwooo02D20V4p9WyKokjZ3VRVmxLBz0QJjlFfJD8ITxTgJ9oUkX7NWh9mETgCV1nJnrVpRFQvTVklYyK+hmFP07YjDydmkgQ2M5u+p2SdSTPsplaGEhZCi5Y4sQ4pL9aRxUN5cSq+9zy7EcKYlQCpNdzhTeBo1L3r18Oxscr2lIN3VoixIRVXuXT5jMEzxsT72RrHNU13WZkYqKhHeLwSTO+IkAq2l4jAdEcZPBUjnQKKVu/u0xI77xSzsjXbUDgv+NThts/nDVToN+rzHJLaFuyPB+2SzLw4ml1skGAQGOQ8X0SD6xdDOYmKKDLMzW9VmSsFWaE4c+1DkI4f8DXZP/PbXc6MfE3gRZ6Zc5Z2Tx4WI/CZ99LMKzs9rvtzbvssSYWQhizj/Ayc0O/wzzNMzqKmNJQigCr8qRsaaNGFkF1+Nd5cSS1ymqbTZOcfhkM7YTa9b2XgLhqIovDk6LGvrugA8fjda8fkPiybmIewC0vVNa6J4YXnO+oNhZ2/YLLnWd149Go1YvpnFW7V5oeCYgdY65gqunM248Zg6GG/Y+wNbCuChCv50td9pcYmkAGvdSZvKraiHWzTY+PqyTr4cUKevZIkzicSQAnWkmqmrNpAMOAPeJzwHZrkPjo+2RNWoTjVeH4kcJjLi0vrTd7ggJBMvJqAl7JihojEv8nbTSU2j8/pNeYJvGpPoWA6dqls/1KNxP2j0Ko7t/t29XR1Lft5KLb0LUrMd9qsWx0/lYK5HvfxAj7huty00+nIo0pOeCa/f3atzy8EBLa1sikOlOTzVXITbZJUNBxfe00yE2u1HU3QUg3uR6gI77ON0DuQ9MjaHrsljEcgRdd4kr4XLtD6pqE0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NgCJQpAaYKy7Tm6xjKb9bP",
      "input": {
        "note": "Cap sits just above the jaw wedge, centred. Advancing ~2 cm and descending so the jaws straddle the neck just behind the cap.",
        "targets": {
          "left_x": 0.485,
          "left_y": -0.063,
          "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_01NgCJQpAaYKy7Tm6xjKb9bP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.223, 1.9251, 0.8543, 0.4652, -0.2443, -0.1837, 0.9961, -0.0204, 0.5148, 0.1772, -0.2565, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4787 left_y=-0.0611 left_z=0.0361 left_yaw=0.0644 left_pitch=-0.0236 left_roll=-0.0005 left_gripper=0.9961 right_x=0.2459 right_y=0.004 right_z=0.0795 right_yaw=0.0182 right_pitch=-0.0249 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -6.0103, 5.9009, 1.2332, -0.0611, 0.0855, 0.1441, -0.6222, -0.1026, 6.8855, 1.8877, -0.0806, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bc5d81950e0c44ab7817881c9a046abc83fa46f2c6f755c2d9cf45d8413d880",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fceb4a6d36b9380dcccd8034a09078a972538532c86afdf71462332ee355158",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e03d7d6ba345d7e8cbc8bb8ba637c1503289c7e280e65d40e05dbaa475a689f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 10.53 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]: [-0.345, 1.1786, 0.7952, -0.1883, -0.3157, -0.2371, 0.0137, -0.0204, 0.5606, 0.2264, -0.263, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3671 left_y=-0.0698 left_z=0.1914 left_yaw=0.0302 left_pitch=0.0214 left_roll=-0.0193 left_gripper=0.0137 right_x=0.2518 right_y=0.0039 right_z=0.0902 right_yaw=0.0182 right_pitch=-0.028 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -4.8342, 9.4017, 1.6142, -0.1392, 0.0122, 1.2625, -0.3624, -0.3897, 6.7761, 1.9365, -0.0659, -0.0757, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.2276, 1.6958, 0.9348, 0.1047, -0.2394, -0.1825, 0.9946, -0.0204, 0.5407, 0.2028, -0.2615, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4616 left_y=-0.0602 left_z=0.1011 left_yaw=0.0558 left_pitch=-0.0731 left_roll=0.0119 left_gripper=0.9946 right_x=0.2486 right_y=0.0039 right_z=0.0843 right_yaw=0.0179 right_pitch=-0.0303 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -8.294, 8.7863, 1.8974, 0.0855, 0.2271, -0.1734, -0.4308, -0.3077, 6.8581, 1.9219, -0.0611, -0.0317, -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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.223, 1.9251, 0.8543, 0.4652, -0.2443, -0.1837, 0.9961, -0.0204, 0.5148, 0.1772, -0.2565, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4787 left_y=-0.0611 left_z=0.0361 left_yaw=0.0644 left_pitch=-0.0236 left_roll=-0.0005 left_gripper=0.9961 right_x=0.2459 right_y=0.004 right_z=0.0795 right_yaw=0.0182 right_pitch=-0.0249 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -6.0103, 5.9009, 1.2332, -0.0611, 0.0855, 0.1441, -0.6222, -0.1026, 6.8855, 1.8877, -0.0806, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bc5d81950e0c44ab7817881c9a046abc83fa46f2c6f755c2d9cf45d8413d880",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fceb4a6d36b9380dcccd8034a09078a972538532c86afdf71462332ee355158",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e03d7d6ba345d7e8cbc8bb8ba637c1503289c7e280e65d40e05dbaa475a689f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LW17MoHXzqZD23zKrXVxWB",
      "input": {
        "note": "The cap is still several cm beyond the jaws, likely beyond low reach. Closing on the body here to drag the bottle back toward the base so the neck becomes reachable.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LW17MoHXzqZD23zKrXVxWB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.223, 1.9343, 0.8513, 0.5724, -0.2626, -0.1871, 0.3622, -0.0204, 0.4942, 0.1577, -0.2527, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4906 left_y=-0.0605 left_z=0.053 left_yaw=0.0822 left_pitch=0.0701 left_roll=-0.0219 left_gripper=0.3622 right_x=0.244 right_y=0.004 right_z=0.0761 right_yaw=0.018 right_pitch=-0.02 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.5248, 4.3145, 1.1844, -0.0269, 0.0073, 0.5201, -0.4171, -0.1436, 6.7897, 1.8779, -0.0952, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb0d8d5bc5eaccb008b161978830eeaccf08ab4054b34b965729a14f824b211e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41643be44c10748b8955dc49b913d94cb68c741daad9db63d10f0cdc65c4dca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b7fe7de1959289f665bc7cec14808023bbbe3630122a2aec45e319ed38127504",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 8.369 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]: [-0.2276, 1.6958, 0.9348, 0.1047, -0.2394, -0.1825, 0.9946, -0.0204, 0.5407, 0.2028, -0.2615, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4616 left_y=-0.0602 left_z=0.1011 left_yaw=0.0558 left_pitch=-0.0731 left_roll=0.0119 left_gripper=0.9946 right_x=0.2486 right_y=0.0039 right_z=0.0843 right_yaw=0.0179 right_pitch=-0.0303 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -8.294, 8.7863, 1.8974, 0.0855, 0.2271, -0.1734, -0.4308, -0.3077, 6.8581, 1.9219, -0.0611, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.223, 1.9251, 0.8543, 0.4652, -0.2443, -0.1837, 0.9961, -0.0204, 0.5148, 0.1772, -0.2565, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4787 left_y=-0.0611 left_z=0.0361 left_yaw=0.0644 left_pitch=-0.0236 left_roll=-0.0005 left_gripper=0.9961 right_x=0.2459 right_y=0.004 right_z=0.0795 right_yaw=0.0182 right_pitch=-0.0249 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -6.0103, 5.9009, 1.2332, -0.0611, 0.0855, 0.1441, -0.6222, -0.1026, 6.8855, 1.8877, -0.0806, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.223, 1.9343, 0.8513, 0.5724, -0.2626, -0.1871, 0.3622, -0.0204, 0.4942, 0.1577, -0.2527, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4906 left_y=-0.0605 left_z=0.053 left_yaw=0.0822 left_pitch=0.0701 left_roll=-0.0219 left_gripper=0.3622 right_x=0.244 right_y=0.004 right_z=0.0761 right_yaw=0.018 right_pitch=-0.02 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.5248, 4.3145, 1.1844, -0.0269, 0.0073, 0.5201, -0.4171, -0.1436, 6.7897, 1.8779, -0.0952, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb0d8d5bc5eaccb008b161978830eeaccf08ab4054b34b965729a14f824b211e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41643be44c10748b8955dc49b913d94cb68c741daad9db63d10f0cdc65c4dca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7fe7de1959289f665bc7cec14808023bbbe3630122a2aec45e319ed38127504",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QGEvG1yaKw4xEZKpGidLKd",
      "input": {
        "note": "Bottle is now held by its shoulder (gripper 0.36). Easing the grip a bit and lifting high so the heavier base end can swing down and the bottle hangs vertically, cap up.",
        "targets": {
          "left_gripper": 0.45,
          "left_x": 0.42,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01QGEvG1yaKw4xEZKpGidLKd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2756, 1.4281, 1.2694, -0.4553, -0.3004, -0.2214, 0.4491, -0.0204, 0.4774, 0.1448, -0.2531, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4282 left_y=-0.063 left_z=0.2564 left_yaw=0.0786 left_pitch=-0.0212 left_roll=0.0011 left_gripper=0.4491 right_x=0.2425 right_y=0.0041 right_z=0.0738 right_yaw=0.0182 right_pitch=-0.0165 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -8.5675, 9.3607, 1.6337, -0.1978, -0.0073, -0.0904, -0.5265, 0.0752, 6.7077, 1.9023, -0.0611, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5ae86fcf84a441fe9ac6d1b83c158028298eb7eaa69a082bdd8f1b7a5b9a015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:358521b18593dfa104f09bbf3782b487bab63f66e9f917e88481173e59698331",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3253a3b9268f23fbbac81a8d592121813d870beb6e6a27192f0fe4d924e186d6",
        "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 · 16.81 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]: [-0.223, 1.9251, 0.8543, 0.4652, -0.2443, -0.1837, 0.9961, -0.0204, 0.5148, 0.1772, -0.2565, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4787 left_y=-0.0611 left_z=0.0361 left_yaw=0.0644 left_pitch=-0.0236 left_roll=-0.0005 left_gripper=0.9961 right_x=0.2459 right_y=0.004 right_z=0.0795 right_yaw=0.0182 right_pitch=-0.0249 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -6.0103, 5.9009, 1.2332, -0.0611, 0.0855, 0.1441, -0.6222, -0.1026, 6.8855, 1.8877, -0.0806, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.223, 1.9343, 0.8513, 0.5724, -0.2626, -0.1871, 0.3622, -0.0204, 0.4942, 0.1577, -0.2527, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4906 left_y=-0.0605 left_z=0.053 left_yaw=0.0822 left_pitch=0.0701 left_roll=-0.0219 left_gripper=0.3622 right_x=0.244 right_y=0.004 right_z=0.0761 right_yaw=0.018 right_pitch=-0.02 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.5248, 4.3145, 1.1844, -0.0269, 0.0073, 0.5201, -0.4171, -0.1436, 6.7897, 1.8779, -0.0952, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2756, 1.4281, 1.2694, -0.4553, -0.3004, -0.2214, 0.4491, -0.0204, 0.4774, 0.1448, -0.2531, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4282 left_y=-0.063 left_z=0.2564 left_yaw=0.0786 left_pitch=-0.0212 left_roll=0.0011 left_gripper=0.4491 right_x=0.2425 right_y=0.0041 right_z=0.0738 right_yaw=0.0182 right_pitch=-0.0165 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -8.5675, 9.3607, 1.6337, -0.1978, -0.0073, -0.0904, -0.5265, 0.0752, 6.7077, 1.9023, -0.0611, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5ae86fcf84a441fe9ac6d1b83c158028298eb7eaa69a082bdd8f1b7a5b9a015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:358521b18593dfa104f09bbf3782b487bab63f66e9f917e88481173e59698331",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3253a3b9268f23fbbac81a8d592121813d870beb6e6a27192f0fe4d924e186d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HFwqquZviWHpXa8DecocTA",
      "input": {
        "note": "Overhead view suggests the bottle now hangs vertically from the jaws, cap up. Lowering so its base touches the table.",
        "targets": {
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01HFwqquZviWHpXa8DecocTA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2756, 1.4647, 0.8909, -0.0669, -0.3004, -0.2291, 0.4492, -0.0204, 0.4644, 0.1318, -0.2531, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4212 left_y=-0.0611 left_z=0.1493 left_yaw=0.083 left_pitch=-0.0462 left_roll=0.0041 left_gripper=0.4492 right_x=0.2409 right_y=0.0041 right_z=0.0708 right_yaw=0.0182 right_pitch=-0.0165 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -5.6274, 6.7624, 1.746, -0.1783, 0.0659, 0.0073, -0.335, 0.1162, 6.8991, 1.873, -0.1197, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e153692bb68b53cbb38d33c9ce7ebf323098974c5deba7633630047a998c8746",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15858da098724b1125a7593f8e3db22647e46b548fae0a35826d6dddd31b5569",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8334344bb89465216f6620af5569369152fa2833e4eddc3ca00c2518d57f6a8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 4.777 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]: [-0.223, 1.9343, 0.8513, 0.5724, -0.2626, -0.1871, 0.3622, -0.0204, 0.4942, 0.1577, -0.2527, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4906 left_y=-0.0605 left_z=0.053 left_yaw=0.0822 left_pitch=0.0701 left_roll=-0.0219 left_gripper=0.3622 right_x=0.244 right_y=0.004 right_z=0.0761 right_yaw=0.018 right_pitch=-0.02 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.5248, 4.3145, 1.1844, -0.0269, 0.0073, 0.5201, -0.4171, -0.1436, 6.7897, 1.8779, -0.0952, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2756, 1.4281, 1.2694, -0.4553, -0.3004, -0.2214, 0.4491, -0.0204, 0.4774, 0.1448, -0.2531, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4282 left_y=-0.063 left_z=0.2564 left_yaw=0.0786 left_pitch=-0.0212 left_roll=0.0011 left_gripper=0.4491 right_x=0.2425 right_y=0.0041 right_z=0.0738 right_yaw=0.0182 right_pitch=-0.0165 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -8.5675, 9.3607, 1.6337, -0.1978, -0.0073, -0.0904, -0.5265, 0.0752, 6.7077, 1.9023, -0.0611, -0.0269, -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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2756, 1.4647, 0.8909, -0.0669, -0.3004, -0.2291, 0.4492, -0.0204, 0.4644, 0.1318, -0.2531, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4212 left_y=-0.0611 left_z=0.1493 left_yaw=0.083 left_pitch=-0.0462 left_roll=0.0041 left_gripper=0.4492 right_x=0.2409 right_y=0.0041 right_z=0.0708 right_yaw=0.0182 right_pitch=-0.0165 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -5.6274, 6.7624, 1.746, -0.1783, 0.0659, 0.0073, -0.335, 0.1162, 6.8991, 1.873, -0.1197, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e153692bb68b53cbb38d33c9ce7ebf323098974c5deba7633630047a998c8746",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15858da098724b1125a7593f8e3db22647e46b548fae0a35826d6dddd31b5569",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8334344bb89465216f6620af5569369152fa2833e4eddc3ca00c2518d57f6a8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012uoDJad328UWW8Nz57ZcGQ",
      "input": {
        "note": "The bottle slipped out when I eased the grip (reading matched command, so nothing held); it is lying where it was. Returning to the shoulder grasp position that worked before.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.485,
          "left_y": -0.062,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_012uoDJad328UWW8Nz57ZcGQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2405, 1.9129, 0.8448, 0.4366, -0.292, -0.2104, 0.9964, -0.0204, 0.4496, 0.1184, -0.2527, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4718 left_y=-0.0597 left_z=0.0338 left_yaw=0.101 left_pitch=-0.0395 left_roll=0.0117 left_gripper=0.9964 right_x=0.2395 right_y=0.0041 right_z=0.068 right_yaw=0.0182 right_pitch=-0.0146 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.6906, -7.3094, 6.0513, 1.3407, 0.0513, 0.1441, 0.0464, -0.335, 0.1846, 6.9265, 1.8388, -0.1245, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55776d6d64f8aa2de44713a932cb1db7f664ebae629d4b4f49d1e8a4a88220f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce2124128b68327827fec9ac225863fbc16660c7767e9d8bd74245f069002c92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:07d2f736ebf24ece359ffb36dc38ddbafd843bac0a3e1dd5fdd86ebe979058a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 5.672 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]: [-0.2756, 1.4281, 1.2694, -0.4553, -0.3004, -0.2214, 0.4491, -0.0204, 0.4774, 0.1448, -0.2531, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4282 left_y=-0.063 left_z=0.2564 left_yaw=0.0786 left_pitch=-0.0212 left_roll=0.0011 left_gripper=0.4491 right_x=0.2425 right_y=0.0041 right_z=0.0738 right_yaw=0.0182 right_pitch=-0.0165 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -8.5675, 9.3607, 1.6337, -0.1978, -0.0073, -0.0904, -0.5265, 0.0752, 6.7077, 1.9023, -0.0611, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.2756, 1.4647, 0.8909, -0.0669, -0.3004, -0.2291, 0.4492, -0.0204, 0.4644, 0.1318, -0.2531, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4212 left_y=-0.0611 left_z=0.1493 left_yaw=0.083 left_pitch=-0.0462 left_roll=0.0041 left_gripper=0.4492 right_x=0.2409 right_y=0.0041 right_z=0.0708 right_yaw=0.0182 right_pitch=-0.0165 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -5.6274, 6.7624, 1.746, -0.1783, 0.0659, 0.0073, -0.335, 0.1162, 6.8991, 1.873, -0.1197, -0.0562, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2405, 1.9129, 0.8448, 0.4366, -0.292, -0.2104, 0.9964, -0.0204, 0.4496, 0.1184, -0.2527, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4718 left_y=-0.0597 left_z=0.0338 left_yaw=0.101 left_pitch=-0.0395 left_roll=0.0117 left_gripper=0.9964 right_x=0.2395 right_y=0.0041 right_z=0.068 right_yaw=0.0182 right_pitch=-0.0146 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.6906, -7.3094, 6.0513, 1.3407, 0.0513, 0.1441, 0.0464, -0.335, 0.1846, 6.9265, 1.8388, -0.1245, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55776d6d64f8aa2de44713a932cb1db7f664ebae629d4b4f49d1e8a4a88220f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce2124128b68327827fec9ac225863fbc16660c7767e9d8bd74245f069002c92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07d2f736ebf24ece359ffb36dc38ddbafd843bac0a3e1dd5fdd86ebe979058a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0ggKEAgSGAI4AUIIdGhpbmtpbmcSDDOYbGURdG8M5S7zXBoMO/9mj3s2eqkUnqNeIjAyJM4jRpDq3zMYU2GZ6zTZyV6PVz1+atwrw+ovufkPu5v99R6GO/erL4odgIfWHnAq7wcwt2UlAOoRxu6uKlSHzzbSCRir5z6gWC8Bsk6AAagnLxF2tW4sCNPnPNySyYXRWWCyCc0aMKdv3y2JGZpnb/Oqm1rv8j2dYOr1GWkpqo7X6hkVmhXxZ+eI3Wy9hPNt/eVCuz34dI8Vj1lztVchR56BXdwMQcca3HHvwkUPCkXydA9EdseHCjt+MbVVXDj9qT9agbxwOpAQZslFYVpz/ULQxTtTco8KL7oGg/KcLleFQdDSzVTliLSUrVJGaWDrIsjOWeli9CfVy4h1XSnx/3/WLQ+kcoZ0iqsaQZHlg5G1MCKC4Sm8glJ82Sv4sFE8nH53TEhKeFjZBYlMXt5CfjuKHJS8YBF+yMFB3CLr+Vp3B4SM9VGlb9SFRrSCAYNlNVJS8nZtC8rMW+xYAlkwgmQtjVkkRGSzrTzpSOmMRseXlBeLzIxeebYxbNTltWbOg7lr5s/z25mrZBcpQ4RB1IYsPP2Hd9BbpillsGaW6HtaG50WC2+SJo0y1ruVAiX/LPvxpEyAAHbd3kSspPVl1dT+VVKP38xK3B06fHddL1ns0GbqNtfUH32SQSDFNo6a+l7oaDNrwN36WdwoL4VWShEKtQXSJrSF4ZFsu2NYRPQWiZGNfP51mTgGuPzYNIJWeWnxbbcGHdLApuf3Vq0QHx63bZHRMsOHy1NDZHMEZc4Evix7hr8hBSwEwhD+k5f/GnUvYps8XtgZuyorHFvkSfLTIBBkFeOY991CIgV+e6yFU2xEvhu/4NJfuC7ddT6ozl5ucjjZNoyYJyoV6QgfHRJvjAsYUEmeY1PUtDjMDPKW8kbTYSunCSH2Yv41/vruLCKSMvbDZf0AjGXB8JhH+cDP00EzZHG1hP9z5VundSC1Vddn2G1RjxgnSRRQlBK4UfZEAsJI5CSbJQzkxxXA67CwUMEl4FsKcStVd3eo23DdP1rYhyZZSBfpNcvVnq6yWAnG82yYmNbXpDMslGG01TJQT229jEq7XLPwt9nevloTSO5F1rYfZw4It9jsHcU96YNIhsrCVYcsYMpDNv5k+PbsSxJdJTCs/dS/9u71judMm99yvwMwPLpG7idVdCRsQKVZ1JTu2C3D3oUHevglZ5RjfpasmQDaDalHpKHYYdG9Jau2AQdfBV/LD4sHzArnzF/nUtCNlJeSvQu6PZxdgjxNfyXxjPp36ckHgjcL+aKE730+fU4ATMx5qF6HyMadI9vAUgXJut/VGQSJzfCV120MRwpr5iBmKRVG3MJPf2GqOeY/FcAgu+LL3HNIGTdZGilR6MVrYPrTOVF4p8iavQJe6RDnKXFmnRRa7dQaf41YF4kRFqCl5XqNAlQI5Co5JRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EkMkn599bw95VWm3jsfdEh",
      "input": {
        "note": "Bottle shoulder/label sits between the jaws. Closing to a moderate grip (0.3) so it holds but can pivot under gravity when lifted.",
        "targets": {
          "left_gripper": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01EkMkn599bw95VWm3jsfdEh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2417, 1.9293, 0.8291, 0.5739, -0.3122, -0.2104, 0.429, -0.0212, 0.44, 0.1112, -0.2535, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4831 left_y=-0.0595 left_z=0.0486 left_yaw=0.1172 left_pitch=0.0632 left_roll=-0.014 left_gripper=0.429 right_x=0.2387 right_y=0.004 right_z=0.0666 right_yaw=0.0178 right_pitch=-0.0131 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -9.6752, 4.0821, 1.2234, 0.0562, -0.0464, 0.5055, -0.3897, -0.0615, 6.8308, 1.7949, -0.0904, -0.0708, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91988ee8f3502373963313f34d4142ae331c542ccf47b07296a04ac3b62b1c9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74b3a2a7e342a0c3372afa47bcdfb600a05f3800b801b7fe47471bebd8bf1759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:960491a61704acafcea768d18be4701ffb487e5e2ec41f3a1e3cdabc2286b627",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 18.33 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]: [-0.2756, 1.4647, 0.8909, -0.0669, -0.3004, -0.2291, 0.4492, -0.0204, 0.4644, 0.1318, -0.2531, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4212 left_y=-0.0611 left_z=0.1493 left_yaw=0.083 left_pitch=-0.0462 left_roll=0.0041 left_gripper=0.4492 right_x=0.2409 right_y=0.0041 right_z=0.0708 right_yaw=0.0182 right_pitch=-0.0165 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -5.6274, 6.7624, 1.746, -0.1783, 0.0659, 0.0073, -0.335, 0.1162, 6.8991, 1.873, -0.1197, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2405, 1.9129, 0.8448, 0.4366, -0.292, -0.2104, 0.9964, -0.0204, 0.4496, 0.1184, -0.2527, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4718 left_y=-0.0597 left_z=0.0338 left_yaw=0.101 left_pitch=-0.0395 left_roll=0.0117 left_gripper=0.9964 right_x=0.2395 right_y=0.0041 right_z=0.068 right_yaw=0.0182 right_pitch=-0.0146 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.6906, -7.3094, 6.0513, 1.3407, 0.0513, 0.1441, 0.0464, -0.335, 0.1846, 6.9265, 1.8388, -0.1245, -0.0659, -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]: [-0.2417, 1.9293, 0.8291, 0.5739, -0.3122, -0.2104, 0.429, -0.0212, 0.44, 0.1112, -0.2535, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4831 left_y=-0.0595 left_z=0.0486 left_yaw=0.1172 left_pitch=0.0632 left_roll=-0.014 left_gripper=0.429 right_x=0.2387 right_y=0.004 right_z=0.0666 right_yaw=0.0178 right_pitch=-0.0131 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -9.6752, 4.0821, 1.2234, 0.0562, -0.0464, 0.5055, -0.3897, -0.0615, 6.8308, 1.7949, -0.0904, -0.0708, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91988ee8f3502373963313f34d4142ae331c542ccf47b07296a04ac3b62b1c9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74b3a2a7e342a0c3372afa47bcdfb600a05f3800b801b7fe47471bebd8bf1759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:960491a61704acafcea768d18be4701ffb487e5e2ec41f3a1e3cdabc2286b627",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5wkKEAgSGAI4AUIIdGhpbmtpbmcSDMyX4KoF8/jK+PzlbxoM+bhWk2cRHUggubYSIjDDQ3tQvUrHbfPrZ+w99OZ6agNFoY1BGBuRahA4SFjk2tNLUEDYfNRnQS2svxDms+AqhAnfZ1AtqTwvAWKriSnXaGuR5XTWcuNjvgNpf2qnqJPnGllkigyHrSOcESfDZsXo0II/bgYZMjAfYcIgJaDKRxjVjcBVCEAOBQswV3PwHH6PuEXPM62m9P6ZtJIyRm0gIhVwJY3x42dvTkGzqh2XB/r6rBlpBKd9Kuz52am117vNExTLd1VqIwgb7UPRfGT3XfnY8lOy8pTq7ZESLwEQHM2mH7SdJR+bZ2wct7LEvUAgn5rNfcJGqeCiJ3c0Fm3vzTrJ4zjDnCAP0471vZqTXxGHcqiMsL9b0HxUG0hHWE5ijV/xcvlmwrxgyMicdhPX7v900j8K41LYXcW7moz6QcTdDREkrYXwLjGsOb3McAolCd5rlRFaXjTuVhUfaxX43vHDMe+iBK2uA/yjv/GYM8Qx3nCB/QP/XbBg9aO8E2FVLqowSvMlWAxjl8fHHANrXkU8bVGokmFzbT0rZQjsEusAaZb139wjBjgvQAUi7N28fMjq/czzNaJmK7XJQoR5/JTqTLuglPxtOAHioYLmL7PGEKURG70NZbKr5c5o4bQTm5bcptsnlsEgy6C7OTE0OiESAAblagqKyGxxb0EEyWnVU0HP3q0aIWF/Tyo7VrubCtAF9VAIOkDNbY26CTEKhWjNDpyId4iP8FMyEGJgTinOV0LChQHJjzPPDJUJcXP26t8LD8Owo0lbHKXk/+27n49FjS/+BAue6wNBZ8Lb2pFx/0vczpIkj8Rx8oG7bqwixxs4bwybbbulQznToAmDdNZEYSIlLvsux0B0zs6nHtROgRHuU5SB/86Ui4KcQJY5LYLlXEa/n6eJf6YSD0hENHdurXXC4zhXKo4R/3JqRozp5p+CFvgH7xuwROnWPMuXbYc8DQDsss7jhCOLAsxCRIK7VhRofIj3nwyAcWCFyFEOR07QIOKjNwBy+mYE8wDBaQoCFafU5CG6CBYMNf8KNr70vctoX5+o9racM6tOHLSRNGEIPeCNbZyqqC+Jc1eiB5k3tOPST38zTWQ7WE1n/z4tHT8lpZThUpBia6TxpGWB77L4Nt4tdhK0zslXl5nlWoeWfIRCxXFSnHFyA3B8lHUJhG4hgkiZGJhm0enGRBqCo5YK98jnEOEI8CiXlvxwQPrA+UkwTmrQZz7BF8BsB8SLdgpy3ROD9Rda0v5PMaI/RD1xJozd1I6p+GCIXGKIjLfD1T+Kgl45dH7Kh7pq2UsCNiPqT/0WBJ6TL9vRYkE5J/Q17on4wEGoVgKAdg+qepAMkHU9r+RzG/QmBe9C5iSRNj86kV+0INjddmKRDib+wjNqAsgWUzEhhZjIc2V2A6MTwmYe/FjwzuoWNTDSvhsmDt6i8ufU2+dbsYWoBq500vGevwSp9YGjI+pJXHbhyCfZrsILihz8SrLF7DkRTjQy9wSuJoJnNfjSXFVIEMF9qfkWbQHV7TagViFngeKGOPN6CDD5o4Ca4jn5iY8UC0tOnZHpEePgitN9StLedVYr6j7LXqjJaS7upaDhZiPAk9JO3OF3I4GgWv++3OKejweYNsfFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015n3Nk7KQSHabKRsGFNsPTD",
      "input": {
        "note": "Holding the bottle at the shoulder with a moderate grip (0.43). Lifting high so the heavier base end swings down and the bottle hangs cap-up.",
        "targets": {
          "left_x": 0.44,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_015n3Nk7KQSHabKRsGFNsPTD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2687, 1.5124, 1.4261, -0.5346, -0.3233, -0.2413, 0.4287, -0.0212, 0.4309, 0.1001, -0.2531, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.447 left_y=-0.0612 left_z=0.2762 left_yaw=0.115 left_pitch=-0.0227 left_roll=-0.0006 left_gripper=0.4287 right_x=0.2374 right_y=0.004 right_z=0.0637 right_yaw=0.0175 right_pitch=-0.0146 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -8.9368, 9.4427, 1.746, -0.2515, -0.0171, -0.0513, -0.5949, 0.1709, 7.0085, 1.8046, -0.0708, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c651ebcc5f7408db2a3da31b0c1f1746a9fcbc960eb350a3d6276e433497021",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7325fc5442d625c73456f4917ba23462eee3c6c001a7fe0e48025371954e7b09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:623080435323d830bb3375c703f5ee46cb37cb87234b099e8a068acac96181c2",
        "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 · 4.258 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]: [-0.2405, 1.9129, 0.8448, 0.4366, -0.292, -0.2104, 0.9964, -0.0204, 0.4496, 0.1184, -0.2527, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4718 left_y=-0.0597 left_z=0.0338 left_yaw=0.101 left_pitch=-0.0395 left_roll=0.0117 left_gripper=0.9964 right_x=0.2395 right_y=0.0041 right_z=0.068 right_yaw=0.0182 right_pitch=-0.0146 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.6906, -7.3094, 6.0513, 1.3407, 0.0513, 0.1441, 0.0464, -0.335, 0.1846, 6.9265, 1.8388, -0.1245, -0.0659, -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]: [-0.2417, 1.9293, 0.8291, 0.5739, -0.3122, -0.2104, 0.429, -0.0212, 0.44, 0.1112, -0.2535, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4831 left_y=-0.0595 left_z=0.0486 left_yaw=0.1172 left_pitch=0.0632 left_roll=-0.014 left_gripper=0.429 right_x=0.2387 right_y=0.004 right_z=0.0666 right_yaw=0.0178 right_pitch=-0.0131 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -9.6752, 4.0821, 1.2234, 0.0562, -0.0464, 0.5055, -0.3897, -0.0615, 6.8308, 1.7949, -0.0904, -0.0708, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.2687, 1.5124, 1.4261, -0.5346, -0.3233, -0.2413, 0.4287, -0.0212, 0.4309, 0.1001, -0.2531, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.447 left_y=-0.0612 left_z=0.2762 left_yaw=0.115 left_pitch=-0.0227 left_roll=-0.0006 left_gripper=0.4287 right_x=0.2374 right_y=0.004 right_z=0.0637 right_yaw=0.0175 right_pitch=-0.0146 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -8.9368, 9.4427, 1.746, -0.2515, -0.0171, -0.0513, -0.5949, 0.1709, 7.0085, 1.8046, -0.0708, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c651ebcc5f7408db2a3da31b0c1f1746a9fcbc960eb350a3d6276e433497021",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7325fc5442d625c73456f4917ba23462eee3c6c001a7fe0e48025371954e7b09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:623080435323d830bb3375c703f5ee46cb37cb87234b099e8a068acac96181c2",
        "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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bBE2zvBTBMKz0j1n1RYWjsOHrAY7XIDNdWeEkBktOcc4BoRy4SURbczodIsMnwfUKapnwNMNoWumAQTqhS6N+hIFJbTBsMQ/YXNiEAaDRMrrDPiNZzuKT3SPKPXlurfuAJLOjKEonWRwS2jHzG1cYPWtWS0ySa1+SIY6H+UuuhipsDmMdOjCuNKmYFjDML0vnatZnhh8/PTgdmX9Y1+BhJKw3d43/jTZBnu7iVs0Y+He4+CEhp1QkVQNdRk6aHPEo1eQvox+sjefdEAeZHPAQr+cb9mdJOSLLB29rzZGT98Z+RObZzCevQkf8G3FgyHPnXLLiATGPu0Z+8Yc+RxMu9OHYrohbmfIfJpNGJjT7sbbAwcAOAj426IAKO09v2/MQzOR4zCCRMec30HePmB7LEz285SiAb9/fD50x+urhsFMFLwp3thhnbg6whY4yR8ZLvT7TdiNIjB4gE77mWxdkIAtbMFoHsh0gbSLQ/CsjyWZO2zd0+v2FQ3nQkZQ0BzNUDlnPWZwHoVx908PicnKIpCzcVArV2pWBy981OfO8lX75+ObWkOUjInhrHfnMqO/dGSX130JfwBj6rKU/zjOWxCFiNx4/woddKeDz2blvmopJEd/btZ/aIfx0cZqXdxKmZXj7OqA/69m3sEYzhm9QARqZ4dAt8xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019svrHSxL2i5nN92ZQTcSD3",
      "input": {
        "note": "Bottle slipped again and lies below; readings of ~0.36 show I was actually pinching the neck. Going back down to grab the neck with a full close, then lift straight up so the bottle swings to hang cap-up.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.478,
          "left_y": -0.06,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_019svrHSxL2i5nN92ZQTcSD3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2478, 1.9244, 0.8524, 0.4503, -0.3183, -0.2367, 0.9975, -0.0212, 0.4175, 0.0933, -0.2527, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4747 left_y=-0.0594 left_z=0.0349 left_yaw=0.1295 left_pitch=-0.0245 left_roll=0.0008 left_gripper=0.9975 right_x=0.237 right_y=0.004 right_z=0.0635 right_yaw=0.0175 right_pitch=-0.0078 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -7.5282, 4.2325, 1.2821, -0.0317, 0.105, -0.1441, -0.6222, 0.3077, 6.694, 1.8291, -0.105, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aab9559addca687c26f530c1e79a1c518cb22039a34f3cb554371e815634e5d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cb02bd8fde679c10afe4c10a4db49a0a0ca057e7128d1c9477ab9b4517b2206",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e9a11a107e95a06ae04a0efa4f9d8771f56c7b46c13b4be394f66af714efd0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 4.301 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]: [-0.2417, 1.9293, 0.8291, 0.5739, -0.3122, -0.2104, 0.429, -0.0212, 0.44, 0.1112, -0.2535, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4831 left_y=-0.0595 left_z=0.0486 left_yaw=0.1172 left_pitch=0.0632 left_roll=-0.014 left_gripper=0.429 right_x=0.2387 right_y=0.004 right_z=0.0666 right_yaw=0.0178 right_pitch=-0.0131 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -9.6752, 4.0821, 1.2234, 0.0562, -0.0464, 0.5055, -0.3897, -0.0615, 6.8308, 1.7949, -0.0904, -0.0708, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.2687, 1.5124, 1.4261, -0.5346, -0.3233, -0.2413, 0.4287, -0.0212, 0.4309, 0.1001, -0.2531, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.447 left_y=-0.0612 left_z=0.2762 left_yaw=0.115 left_pitch=-0.0227 left_roll=-0.0006 left_gripper=0.4287 right_x=0.2374 right_y=0.004 right_z=0.0637 right_yaw=0.0175 right_pitch=-0.0146 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -8.9368, 9.4427, 1.746, -0.2515, -0.0171, -0.0513, -0.5949, 0.1709, 7.0085, 1.8046, -0.0708, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2478, 1.9244, 0.8524, 0.4503, -0.3183, -0.2367, 0.9975, -0.0212, 0.4175, 0.0933, -0.2527, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4747 left_y=-0.0594 left_z=0.0349 left_yaw=0.1295 left_pitch=-0.0245 left_roll=0.0008 left_gripper=0.9975 right_x=0.237 right_y=0.004 right_z=0.0635 right_yaw=0.0175 right_pitch=-0.0078 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -7.5282, 4.2325, 1.2821, -0.0317, 0.105, -0.1441, -0.6222, 0.3077, 6.694, 1.8291, -0.105, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aab9559addca687c26f530c1e79a1c518cb22039a34f3cb554371e815634e5d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cb02bd8fde679c10afe4c10a4db49a0a0ca057e7128d1c9477ab9b4517b2206",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e9a11a107e95a06ae04a0efa4f9d8771f56c7b46c13b4be394f66af714efd0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS1gcKEAgSGAI4AUIIdGhpbmtpbmcSDJhzw+/UO3rVZXaUdhoMtHNKqvxIkI6RLVFIIjD6l1RBMo2LBZI6nonmkLxTCxKuTiR8wOgS/Fd0FRQEOqkrd1HIoH5ga8PxKqWsSK8q8wYEylCbJiyStCOv/8E3G+emfsUYCB+6fTQOQn0tgxpqhB2oMlrqYv5FphixxUmbtPFszICOZEW7UjMnYUgBi67yW2o8x+EtKcKCUq2zxcdI1N1595xyj7tkgGV49IF+31rPjAvCFsta8bIVcLyyTMx0dxwEJD+0fdy0VNJJbl8W5XQTQKr0dkoj5IdgvA3atzLfwaop5ydp+m+NW7W1zFJ0qaCBDF/gRaOZEl4WsotkuEODdHY9ZF+Fd23Uu1EqNhGV2po1yPIkKY2mhIqBsAAqwyfyU8LF5cyN/zM3g19q1S0JJOf5vbhmzNQSsHr8w6Ube/w/zb3G40sgh6jWcSAQOACuNIcM9ZMNn7lrlSPwlcvLX9ntjw8SOlaZ4NT4MqZHJvxlEvGyiVjiz64va1bRu5UaIkoeDt+KwumzLwT8ihJOQoD1GFH/5QgLKcwZYsbm73y55x0NNWRx9gyAlae5fwOF0UwDmaNdH6CPz0N64IOgHX9+xMV4VXikzngdT/br6/Q64ifpIt/UTCMk7ultec40rpQ2G6ha+m7aU6zEFrw5DsNl9E0Qhg7zLqm9SHIhSbWRNmMPA8/KrSDrIuLC0p1GVOWAeakM6UvLRinmIovzXo0rJzs29J7BRAkSq+B/RRj/kbNHKpwLxv1wzbKbtqie4iq0Adr5vGa1S0GbN33zTH1cnIBg/mFsuKwsUb/bgDdcjuYytE4b8NJQHtu2Dud1fCHZ6VQP6RSQiePt70ifng/pXVNcbAHGyJJ5aZzui64ktDlc+WD31e6iX1y9kz/gm2Z21Hj8FvC0/dtyJbm6ELbysTRW44OekFNsnI9kSvsoTlcXTP5l0iRkhggcOxNZKXqj6+tj8/dAzMHEeH9ukuU7V5cszDZG3/EUBrWuHqcorTwgJZGw0HWdirFQ/HH109F668+rEitSFBLL2XwFbtrJi3dus7ANW7oNXm38q4mWHL+CkGIjR69BlXNCpz+dYnk2atJhR7yBvNrPhrG2R2GhrAO2sO45OEZ9c+VM3SYV3BHO9hvndO2b2IJjZ4rZv1uLMmMe8DJf+9pE4XRlEnk+2k84T0/FC2O9Gnsq7sV7H52lnEwEzima+YZZZmlKDH3TufKe84JMshhG+TBMOK+htHkP/3zNfgGi2AiIYWY9iq32PKBYYpOnlQui3BXJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J63MwGPqFyTn76mVyrAyUw",
      "input": {
        "note": "Jaws straddle the bottle just below the shoulder. Closing fully for a firm grip.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01J63MwGPqFyTn76mVyrAyUw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2481, 1.9369, 0.8474, 0.5282, -0.3305, -0.2363, 0.4871, -0.0212, 0.4175, 0.0925, -0.2535, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4822 left_y=-0.0593 left_z=0.043 left_yaw=0.1391 left_pitch=0.0339 left_roll=-0.015 left_gripper=0.4871 right_x=0.2368 right_y=0.004 right_z=0.063 right_yaw=0.0173 right_pitch=-0.0093 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -9.6205, 4.2325, 1.4823, -0.1197, 0.022, 0.9402, -0.4308, -0.1162, 6.5846, 1.7509, -0.0562, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c096a7ee1cd4a85b8fa87e7b9bb015c02ecdfd7591f857479cd3137bdc239f14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6d2ea3b58a47dd311ba06936fb7d7bfd513af2576399712ffa3de14db48b7c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e6a3fade6bde3c336acb75d790eef91fe9b509ba5a20a71d67f7b2d6e1bc4a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 11.33 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]: [-0.2687, 1.5124, 1.4261, -0.5346, -0.3233, -0.2413, 0.4287, -0.0212, 0.4309, 0.1001, -0.2531, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.447 left_y=-0.0612 left_z=0.2762 left_yaw=0.115 left_pitch=-0.0227 left_roll=-0.0006 left_gripper=0.4287 right_x=0.2374 right_y=0.004 right_z=0.0637 right_yaw=0.0175 right_pitch=-0.0146 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -8.9368, 9.4427, 1.746, -0.2515, -0.0171, -0.0513, -0.5949, 0.1709, 7.0085, 1.8046, -0.0708, -0.0659, -0.0073]\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]: [-0.2478, 1.9244, 0.8524, 0.4503, -0.3183, -0.2367, 0.9975, -0.0212, 0.4175, 0.0933, -0.2527, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4747 left_y=-0.0594 left_z=0.0349 left_yaw=0.1295 left_pitch=-0.0245 left_roll=0.0008 left_gripper=0.9975 right_x=0.237 right_y=0.004 right_z=0.0635 right_yaw=0.0175 right_pitch=-0.0078 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -7.5282, 4.2325, 1.2821, -0.0317, 0.105, -0.1441, -0.6222, 0.3077, 6.694, 1.8291, -0.105, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2481, 1.9369, 0.8474, 0.5282, -0.3305, -0.2363, 0.4871, -0.0212, 0.4175, 0.0925, -0.2535, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4822 left_y=-0.0593 left_z=0.043 left_yaw=0.1391 left_pitch=0.0339 left_roll=-0.015 left_gripper=0.4871 right_x=0.2368 right_y=0.004 right_z=0.063 right_yaw=0.0173 right_pitch=-0.0093 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -9.6205, 4.2325, 1.4823, -0.1197, 0.022, 0.9402, -0.4308, -0.1162, 6.5846, 1.7509, -0.0562, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c096a7ee1cd4a85b8fa87e7b9bb015c02ecdfd7591f857479cd3137bdc239f14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6d2ea3b58a47dd311ba06936fb7d7bfd513af2576399712ffa3de14db48b7c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e6a3fade6bde3c336acb75d790eef91fe9b509ba5a20a71d67f7b2d6e1bc4a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQcKEAgSGAI4AUIIdGhpbmtpbmcSDNnGUrtqrc8ttBjC7hoMuu2Ky0mR1WgxaBw3IjDifPTWJFHeLyDdMe7hKuylGWxm1RvKmOpIg3aCsJjXL86WJs5NdgYFkot/RErSj04qzgZY4+JN1sGSOYXD4eIkpKo1We+eaBSbpzi67bM24ZMRb6ANSCwQmWVaXyLw4oNmPe+nYKbwVpNYIRBhZdHR7nWDb17eMC70ayPnw9sxT7pnYkn9p1b5rv/Tsi35+Vg8yH458Pwxcyu9Mq9WigmkklpN03z8v+NTFgFZTQMMJRwbrJZLFlSU4EswHncd8qcbWTIy2wagOzUGAr3UmZjahkvvnzRYX83ldjRRersRJ0oUDGzl8VOftKp3n2rAJF6rsh3OxBJiu+Rx3+8z/CD3Rt0eP8bBeCwGdVriaiZkvXPooVrGr9JPkj7bHyoYsf0v/zWIIuwo+Ro55wwuxhDf+N/2xTwG9UPvwSGqdLTwn1p9SMQ7QB6lwmLyRm9/AJwy802cSw9rik/t3YPKkfyB6RlAR0SXUao8jmoaaPQZhIGx82v3hXP8TIYT9P43UToGapzJHe6/5HsCqTF85Xw+OHB9WAT4C9oVr5vKIdVVwNMVB4CbpbMxCqUpbT+jsd/qpwRqgs1R05C7bfNDBMvTV5JKThnXiJKDFGW8rQuQJepbhCRRTfQRFNBBBnfux3vLfkrH0uj5aQxhr/cKXp6Pmb8NloDvgt2xtaxHEpybmLki7WT6S45yLWizCguTKp9n8eGlb6fBaDnZ3cg7gs4LtDxIlJy/K9Jauj/30Xjf8ZGY8QHFrKegFZ0D2bXsIa30Dm58rU4SrPRV/mGaRky3NaZGXgvPo5s381XmjXEwf+P4JmqHC3O1nxUPXnUn+Bsevg6omWpJvOlNChfz0R89+McgZgbGQC4M9w0KY0O2WyuRG+BDCwIfa8J2GzZggUX0kItRLrGnx3Jy2eyO7WrjQDJ17v7mPO8wy5y8iOQn2mwqfV9SzCbnjQmYghHeW0gBmnZurYtV0qei9EAp6gdbHOxpWU68gylSN/8WweApnaX33yTrkPCDpO7vIHOdt59iXT2QPhwS/B/LkVroAa1GkcZSKp6QwLzMZIm72Fhv6prUDBgq7+8XVigdHSpMu5eyr+RqhSy31h9HfCZeWS3tkALdL4Vz6lSYhMbPNHAuji+ARbM6p5YW+A7AalWhl6EIf2PTMnTEycSwotgK+pnTHkhUgzXo7nQUF99ne5RTW7oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011aRVYEKjkBNKFWPeGhknH8",
      "input": {
        "note": "Bottle gripped (0.49). Lifting straight up so it can swing to hang vertically from the jaws.",
        "targets": {
          "left_x": 0.45,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_011aRVYEKjkBNKFWPeGhknH8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2699, 1.5574, 1.4689, -0.5388, -0.3424, -0.263, 0.4872, -0.0212, 0.4118, 0.0921, -0.2539, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4576 left_y=-0.0613 left_z=0.2754 left_yaw=0.1413 left_pitch=-0.0243 left_roll=-0.0059 left_gripper=0.4872 right_x=0.237 right_y=0.0041 right_z=0.064 right_yaw=0.0178 right_pitch=-0.0043 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -9.3744, 9.2513, 1.5995, -0.2369, 0.1099, -0.0024, -0.3487, 0.3077, 6.7214, 1.7558, -0.0855, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acf4eeb43813b836b9c35ca026489c7c19f6bbfd2467fee8f84c61b01cf3ee12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:557a6a1d2b9dbdabdbfa22fff3963a1071417ea8c7eaa5bae9a75e75d758c4b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b464a6ebfb640fb29e1bb83dd0826edec52c5e1811bbca8da67fdab705d1348",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 6.34 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]: [-0.2478, 1.9244, 0.8524, 0.4503, -0.3183, -0.2367, 0.9975, -0.0212, 0.4175, 0.0933, -0.2527, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4747 left_y=-0.0594 left_z=0.0349 left_yaw=0.1295 left_pitch=-0.0245 left_roll=0.0008 left_gripper=0.9975 right_x=0.237 right_y=0.004 right_z=0.0635 right_yaw=0.0175 right_pitch=-0.0078 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -7.5282, 4.2325, 1.2821, -0.0317, 0.105, -0.1441, -0.6222, 0.3077, 6.694, 1.8291, -0.105, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2481, 1.9369, 0.8474, 0.5282, -0.3305, -0.2363, 0.4871, -0.0212, 0.4175, 0.0925, -0.2535, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4822 left_y=-0.0593 left_z=0.043 left_yaw=0.1391 left_pitch=0.0339 left_roll=-0.015 left_gripper=0.4871 right_x=0.2368 right_y=0.004 right_z=0.063 right_yaw=0.0173 right_pitch=-0.0093 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -9.6205, 4.2325, 1.4823, -0.1197, 0.022, 0.9402, -0.4308, -0.1162, 6.5846, 1.7509, -0.0562, -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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2699, 1.5574, 1.4689, -0.5388, -0.3424, -0.263, 0.4872, -0.0212, 0.4118, 0.0921, -0.2539, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4576 left_y=-0.0613 left_z=0.2754 left_yaw=0.1413 left_pitch=-0.0243 left_roll=-0.0059 left_gripper=0.4872 right_x=0.237 right_y=0.0041 right_z=0.064 right_yaw=0.0178 right_pitch=-0.0043 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -9.3744, 9.2513, 1.5995, -0.2369, 0.1099, -0.0024, -0.3487, 0.3077, 6.7214, 1.7558, -0.0855, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acf4eeb43813b836b9c35ca026489c7c19f6bbfd2467fee8f84c61b01cf3ee12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:557a6a1d2b9dbdabdbfa22fff3963a1071417ea8c7eaa5bae9a75e75d758c4b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b464a6ebfb640fb29e1bb83dd0826edec52c5e1811bbca8da67fdab705d1348",
        "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_01XAJ6mJLB6xYumZPZQ9qVQD",
      "input": {
        "note": "The bottle again stayed on the table; the jaws seem to be pinching the rounded cap end and it slips out. Retrying slightly further back (x 0.455) around the neck/shoulder, with yaw reset to 0.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.455,
          "left_y": -0.06,
          "left_yaw": 0.0,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01XAJ6mJLB6xYumZPZQ9qVQD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.215, 1.8744, 0.7307, 0.58, -0.1936, -0.157, 0.9976, -0.0212, 0.4118, 0.0917, -0.2535, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4584 left_y=-0.0616 left_z=0.0359 left_yaw=0.0156 left_pitch=0.0097 left_roll=-0.0158 left_gripper=0.9976 right_x=0.237 right_y=0.004 right_z=0.0639 right_yaw=0.0175 right_pitch=-0.0043 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [0.5675, -5.5316, 3.4667, 1.1941, -0.0024, 0.1636, -0.1587, -0.1709, 0.3897, 6.9949, 1.7656, -0.0708, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:412370e0b88716b9fe47a13ef3ad08f308e6c27b27ff078fbda59f3409d99042",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:826eb2ecc7c63ca0e2bf8f49cade556ab980155bd205fe81ddc3a9b0ee15af11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b21471d6705badfdd605b2e49e3674b2fed9f2c716fa39f97bcf18371f957b49",
        "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 · 7.53 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]: [-0.2481, 1.9369, 0.8474, 0.5282, -0.3305, -0.2363, 0.4871, -0.0212, 0.4175, 0.0925, -0.2535, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4822 left_y=-0.0593 left_z=0.043 left_yaw=0.1391 left_pitch=0.0339 left_roll=-0.015 left_gripper=0.4871 right_x=0.2368 right_y=0.004 right_z=0.063 right_yaw=0.0173 right_pitch=-0.0093 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -9.6205, 4.2325, 1.4823, -0.1197, 0.022, 0.9402, -0.4308, -0.1162, 6.5846, 1.7509, -0.0562, -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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2699, 1.5574, 1.4689, -0.5388, -0.3424, -0.263, 0.4872, -0.0212, 0.4118, 0.0921, -0.2539, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4576 left_y=-0.0613 left_z=0.2754 left_yaw=0.1413 left_pitch=-0.0243 left_roll=-0.0059 left_gripper=0.4872 right_x=0.237 right_y=0.0041 right_z=0.064 right_yaw=0.0178 right_pitch=-0.0043 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -9.3744, 9.2513, 1.5995, -0.2369, 0.1099, -0.0024, -0.3487, 0.3077, 6.7214, 1.7558, -0.0855, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.215, 1.8744, 0.7307, 0.58, -0.1936, -0.157, 0.9976, -0.0212, 0.4118, 0.0917, -0.2535, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4584 left_y=-0.0616 left_z=0.0359 left_yaw=0.0156 left_pitch=0.0097 left_roll=-0.0158 left_gripper=0.9976 right_x=0.237 right_y=0.004 right_z=0.0639 right_yaw=0.0175 right_pitch=-0.0043 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [0.5675, -5.5316, 3.4667, 1.1941, -0.0024, 0.1636, -0.1587, -0.1709, 0.3897, 6.9949, 1.7656, -0.0708, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:412370e0b88716b9fe47a13ef3ad08f308e6c27b27ff078fbda59f3409d99042",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:826eb2ecc7c63ca0e2bf8f49cade556ab980155bd205fe81ddc3a9b0ee15af11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b21471d6705badfdd605b2e49e3674b2fed9f2c716fa39f97bcf18371f957b49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2goKEAgSGAI4AUIIdGhpbmtpbmcSDAad6V4h+cUeBzmCjhoMQZtIp+EKy4KpKeYOIjBk/ZkjVSnW1pdL3D33hekeiEUSV4iI472+aV2RLou6HWVsNbAcjEo5SuaYQuxamksq9wnwRbdGpghcy3pMezNu4i8av6oQFaJdoqQcjxKkYoC5XeQOgm5xQoWDu+Mk8w9iimFDlzYMxkw+zd95TSDqHoigjVfceF1tNLzDF/ofSOr1nMOFWPtdDZkqWRQoXhxPwYKuCGEOcjvj5kBZzV3J8/Bmtle1AlYHBIw9yQnWGd/KjOBRM7/vWNoQbWYeYKYvc4YoBjFjR0VsgJoHLaYty4+mQEmRy0JhfW9s8NGzzfswXr35fOZzyjottJieIlFnZrTOy/MHpqkC2UkLHIlmWdWWj3pC0ljKx0wOdpEGeMCsWEWSFUdhxZGOxMFtYaNGmfsZTJtGa7z0CEpDW85k9HttozP75RITiEU6GbJyNz7HGRg8/hbBdV30+Q6LOOLUJbVSASrKkmY3Ha4Av8Z1QjHAiA6tgwQdKAN8QO3cDcIw0qADCFgqfu7ttYsM3lJysJH5Z5T7OV4eIFNXOg3CvVw5xUIo0VpnmpNTLNckcX12KhQwkEY6BqUm2Jiw70oAlbJ3p7PwJHL+zbpEUHDvYEAhdT0Kx6Q8fQTLudKeqNMafWWgYYs7OxirUDKaBkcPpXRz7PYEkNUV2H3t5drxNCbxdW34aK6U44iujD/KvE3iAws6i8FlhNLI5lBZLv3/umZE9QdN3U+RPBiwuYrhm5ZlPnzRbpHPINwpc9lbcPw4HAZ3iXuSDnI793dwttgIx/Jke8QXZ2+8juGZdnVLh5diTRWnspy3HvA068sb/fsrdbXkjGkPLCTU6VQXmZPzEyqvMHxhG0zncxWwmYgmbcyyYqkZnVdxWhZ82GgX9jdgXnC9cjgak/z1e29xeivwgSHfFqLP6Y2vjQoBeLK37YzLYQa6E8LXfpjC7fXK3cI2n+AEZAoRq54CC50WNiWV2ZPoKIQ6cRYeIJWX89pnqaSFjkefBKdm2k4Cs22lMG/wAElENUw+CGQJ+ugebw8xUjOueBqW95njH5j16+BMOcD11t5Z5G4PK1OaSqONCbi4rdF9s2xiH8XnxTdsaCbAsYVDPZGTlhJeWqngbO3V5sjY8YAoYZ13JZCkILMBcs3G5AWYR4vFKDaztVxGYyiFoWbYJHwoCsHLdOQM7LZagjfY1cEnLNONHilU+Cs27NfP0XGtB7xWd8L37E4rCcn2+T4v7zaRiCpBFwl2qDfz5XKPqUiVWyY01K3l7xROP29MkOfHguRcFrHIYN0AwoWZ3KG4QYB1IcIJY5n0yLSuxZf0RaoZld8vygPKsRXjsq6LwE04K+uF1nKuQ33p/MXYNLvYl0qMpJNld7/Z8V+BtEMzp1CLLTN5/IhFIPPdcvzC9T7jZ4dFfA8N+kAtKs0KwoL3wVCzJn2ZsxM7UjrIQQuZ5DvCYDDtZJv6+q20fSMBR+CBr0WrXKgPKSU1xNlhd9tz3/fxQ7X+3yerBX/yPxbjdjXaJmO+/S00N6kkHfQkXFqgIKnODPiQf54dbbvN74TzVldLP/8B0n/lFlN9dpRU46IQ+1R6+M6ztdMxoG0ZdFpONbNt324EJ8W+eGeeRTKIGzzhdx051SA6HeDre3lRctHGXv4aUX66CBIN1z4D5mlZHhKoFYiANOwG08tEglItp48qmDkZmomr99l5GP7QDw3Qwiely/36wFYMI7fHe/6w/U8Wi/kTGAOcmZE7wQ+Ptz1suOVc+zs2AKu+g+EUODgr2U0TJxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HiZsEPjrcqu89ENfoiHCVK",
      "input": {
        "note": "Descent stopped at 3.6 cm, and the overhead view shows the bottle sitting a little to the right of the jaws. Shifting right and pushing lower to straddle the bottle's shoulder.",
        "targets": {
          "left_y": -0.078,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01HiZsEPjrcqu89ENfoiHCVK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2382, 1.9266, 0.7361, 0.7002, -0.2264, -0.1684, 0.9976, -0.0212, 0.4118, 0.0917, -0.2539, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4693 left_y=-0.0695 left_z=0.0403 left_yaw=0.0269 left_pitch=0.0847 left_roll=-0.0278 left_gripper=0.9976 right_x=0.2369 right_y=0.004 right_z=0.0638 right_yaw=0.0175 right_pitch=-0.0047 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-1.2376, -5.9145, 4.9573, 0.9109, 0.0269, -0.0024, -0.0122, -0.6085, 0.2803, 6.8171, 1.7265, -0.0757, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d626a96d22d61b84915d2b8ae41f1f6a8c463055cf28a136bae1dcabb78d04c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c49c79a6393b2a695c2659871b8a105bab54055a4a82c3b6220bbb3948a457c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8737d38db613a9ae96e42176d98ba139195898d777c863352fbda13720fcf4d1",
        "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 · 13.15 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]: [-0.2699, 1.5574, 1.4689, -0.5388, -0.3424, -0.263, 0.4872, -0.0212, 0.4118, 0.0921, -0.2539, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4576 left_y=-0.0613 left_z=0.2754 left_yaw=0.1413 left_pitch=-0.0243 left_roll=-0.0059 left_gripper=0.4872 right_x=0.237 right_y=0.0041 right_z=0.064 right_yaw=0.0178 right_pitch=-0.0043 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -9.3744, 9.2513, 1.5995, -0.2369, 0.1099, -0.0024, -0.3487, 0.3077, 6.7214, 1.7558, -0.0855, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.215, 1.8744, 0.7307, 0.58, -0.1936, -0.157, 0.9976, -0.0212, 0.4118, 0.0917, -0.2535, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4584 left_y=-0.0616 left_z=0.0359 left_yaw=0.0156 left_pitch=0.0097 left_roll=-0.0158 left_gripper=0.9976 right_x=0.237 right_y=0.004 right_z=0.0639 right_yaw=0.0175 right_pitch=-0.0043 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [0.5675, -5.5316, 3.4667, 1.1941, -0.0024, 0.1636, -0.1587, -0.1709, 0.3897, 6.9949, 1.7656, -0.0708, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2382, 1.9266, 0.7361, 0.7002, -0.2264, -0.1684, 0.9976, -0.0212, 0.4118, 0.0917, -0.2539, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4693 left_y=-0.0695 left_z=0.0403 left_yaw=0.0269 left_pitch=0.0847 left_roll=-0.0278 left_gripper=0.9976 right_x=0.2369 right_y=0.004 right_z=0.0638 right_yaw=0.0175 right_pitch=-0.0047 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-1.2376, -5.9145, 4.9573, 0.9109, 0.0269, -0.0024, -0.0122, -0.6085, 0.2803, 6.8171, 1.7265, -0.0757, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d626a96d22d61b84915d2b8ae41f1f6a8c463055cf28a136bae1dcabb78d04c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c49c79a6393b2a695c2659871b8a105bab54055a4a82c3b6220bbb3948a457c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8737d38db613a9ae96e42176d98ba139195898d777c863352fbda13720fcf4d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQStw0KEAgSGAI4AUIIdGhpbmtpbmcSDMEo1faVmD+hiA8J0BoMTSz5lVdrGX3biiIIIjCURx27wLbBzJVDQWHbZE/9b9cGSUnTaFL4k+7RpDn0DS7VfXVHTzzvqZZP1WUbF1gq1AxL4VHlNcSPEWtBrXz2P6IIwHmTVuO3rvYes6Nu43L16SYNid/YM4VWMFeVwUFKhEc6788noCckF9q/C0kWiEfOPW1kBD16GONvgDMuGtk4+WTP9nSAkfZ8ztKwK2PMSl/lVIzZB6/NzEKJauVmFGxQjdl+/mMYSd72y4M1pbedZkgq3SFMbMxDzCEVJjCSujSvEiN/68BJ/RDJcvC2QT9pRuKamtULSgTjcdrJmmkW7GusjmgEe84m6ygJPifDa7lW4ITF+FBFpO9EthjsvtHuZ8oi/fDrCQg1F/nJs7DxVu/aBD/ad+LPQCT0t2qNM5JjRid/hpBfTWPdMIx8o98gmh19n17871fSI/EozbAFonKiX4abiQAFKMbPxCmvghvkwXz9lSAYoKIo6vpS9oZ8Rfl+JqZI+rgWisUzV9KIqjaJkWakYL/SyhxSKpAZcI+4WouBQlW7qs9jOO6ZWOJFkyObc9NFltUABu2ButCW4d086EztwuzuD6Js0jLzajwQ5+7fPEiq2fZOVH38KSwiB4yrVfJklHZsMXIVuwap1hX7W+qZn3lOl3n8NsXew1FynpV1s3Z42EoyG0ulnV4s4Hab6WTFKsX0gAWJrsVz4b5ouJie31mCsj4cRAiOwfD2CL2+oH+u8FTX7GJLXLkBfEb40TVSITWy2AlelyY3xwgndXlIOhcGQsIum/3P6Tn1D+qxTY8W6Y4CAVGOehFgpccuW3OcaBdxRMDdzkdxOk/P+2uqn5iNRSn/mTehCiRZ9yX34rMPDJsIU+FO1H4vFZFNocDhv/DvWrnT88VjxSiNCPxBQLBzs3k6iVkwAHXZjrynHTcxl1KwNjK2WQKtTrvhJqap+6/CHfp4vUi2N9uMocolpzWdxZx4WnzQvRcKKhzJNZqR9w4t+t3x5Q40Arcdp6mI3Orzhmoz20wRvcSUjREDCGCyRy/seiZnevLazggL9gIO731zDSj5uI7iuIhnNFv57IRhpmNpWll4YEhXSXbUar9bW5u14RWuuKDSie6CmuusmxKjTXsUKrZ5K/D6/RippwQF0UEm7cfmZI9AF9KIM+Q1tg5acET2NY54tjOJJVaD49GKwsQ0z6CDXAPseLGHYN8z1nDpTf8b7Hn6L41Y1wyyNohKZSOSLVUTDWCM9yrjEq5j84rOqVJcnp+pj/c/D0XioNaPzMiLT93w6f1hACz5xx2kgWb0w2PqvTglB/CMxrJCbN8boM91MYdFPCBum4DAzrmHjRGY9ItvT8G84RgFHdX1d3hIvnetnnp/JpSBzMPEi8sKO8xV6T+AAkb7rG5uzavcLooqBZ0rKmkSDipjFBdEXjGskGonHSd1cJe13kn/vGLpxYMv+sVHtFvUzBpCJ1/ei1wGLEDyg6gWUpqeT/0Xtr8YXmLis8tAMUJZMm0+oaKqMUwA+HfEGThgH+y2AeVn927FJn4slXi2LWiLHfA4B9SR8WWwxF+9JgJMdlwKFaung1oICRlHpdyntrE9Dm2dKFfperTWor18THbxhhH1/Io++h3HNLSCEEigPSqdCpU0oj5/qPLfQnO2bOBTGMAttu3MUC063DROwJTkVvT0UHfoy0rw1ggosSOXv8Y8j4VdPYLlMB0Zb/+QOxKcFq4WeKKYAPxzrv1nbtwwO/8D5W6GWvYFHfj2GOOPcARP0lO31r6tEkjhsR/KjbyozZndRs+NOQ+YfWjSLJVal5p1gwpsect0fAQh2bKgjJh9Jnj8Ya7yoo31LmmHuhhZlGaeQsk8GlSAr0ftnT1+z7fZYFN5fsUZ9HfTMwZoyTtsdmVaiOqX36cwNXclKgflTyYLiR1+ehF1Xrj1CBoo2H3n95IoJ7J+iegR3U71tfdA4gpeNXKyJQKxDkyxvbc7iUhvM/XqPAmFVWNpMQ8YfWBMbRyEZW13dA82TkCK8hW6qOlnAB4OLbblpASvG/atU9HC0p/YledJLJZSp8c9D8P/hi+CxwoH8Z+srROUrTkWNwCJMrMco3jaSsWQyNSf/1+0AN0jBa/q8Qzh2YxVAHJsU9GMTPgw+5ntvOgL9D3Ae7l5j/TkfwtrX2/jYJCxCJYJFMsXdk4WsbMrvtWk1MH6pxN4LhwCmC0CB/ZS5/PtdpCC+hXqp5i3BvArsP+oVzieb2WbIWwF/yYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SetNZYSuFbRPpxxdBZdran",
      "input": {
        "note": "Arm won't go below z≈0.04 here, and the bottle's shoulder sits between the jaws. Closing fully for one more grasp attempt.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SetNZYSuFbRPpxxdBZdran",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.268, 1.9411, 0.7555, 0.7906, -0.271, -0.1837, 0.0139, -0.0212, 0.4118, 0.0917, -0.2539, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4813 left_y=-0.0794 left_z=0.0613 left_yaw=0.047 left_pitch=0.1813 left_roll=-0.0508 left_gripper=0.0139 right_x=0.2369 right_y=0.0041 right_z=0.0638 right_yaw=0.0178 right_pitch=-0.0047 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.0103, 3.4803, 0.5788, 0.2076, 0.0269, 1.2137, -0.6085, 0.3077, 6.7487, 1.7265, -0.1197, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3f5019414e73f02aed7200b82c8b2c1753d363fb73eef3dfc9a88c4d39a1a56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c013f96f0226abab3837ece9b52e4c0bb5237a38700f49f912db7a8347f5bf52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1a43653c24af0e01b88cf4e30c55f43ac47e80546d7e753536b1bedeeedbaff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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