adhoc

completed
2026-09-22T20:31:19.630565+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 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
207.6 s
total steps
185
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 pointing forward, caps at the far end. Plan: grab each by the cap, lift so it hangs vertically, set it down on its base. Moving the right arm above the rightmost bottle's cap.
move_to
right_x0.4500right_y0.2100right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0193, 0.7937, 0.6083, -0.3767, -0.0227, -0.0322, 0.9986, -0.017, 0.7891, 0.6037, -0.3832, -0.0147, -0.0353, 0.9998] state[eef_state]: left_x=0.2957 left_y=0.0019 left_z=0.1827 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9986 right_x=0.294 right_y=0.0012 right_z=0.1805 right_yaw=0.0006 right_pitch=-0.0008 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.6085, -1.4838, 9.6889, 1.7607, -0.0171, 0.1587, -0.1538, -0.7726, -1.1966, 10.441, 1.8193, -0.0415, 0.2027, -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": {"right_x": 0.45, "right_y": 0.21, "right_z": 0.15}, "note": "Three bottles lie on their sides pointing forward, caps at the far end. Plan: grab each by the cap, lift so it hangs vertically, set it down on its base. Moving the right arm above the rightmost bottle's cap."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteRight wrist cam shows the rightmost bottle's cap just ahead of the jaws, slightly right of centre. Advancing ~3 cm forward and a touch right, lowering to 10 cm.
move_to
right_x0.4800right_y0.2000right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.387, -0.0231, -0.0296, 0.9984, 0.5961, 1.7519, 1.1477, -0.1108, 0.4637, 0.2913, 0.9998] state[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1819 left_yaw=-0.0019 left_pitch=-0.0088 left_roll=0.0026 left_gripper=0.9984 right_x=0.4359 right_y=0.2046 right_z=0.1325 right_yaw=0.04 right_pitch=-0.0595 right_roll=-0.0428 right_gripper=0.9998 state[joint_eff]: [-0.2667, -1.5932, 6.6393, 1.7705, -0.0366, -0.0757, -0.0317, -0.1299, -8.7726, 9.0188, 1.7314, 0.3004, 0.2515, -0.0073] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.2, "right_z": 0.1}, "note": "Right wrist cam shows the rightmost bottle's cap just ahead of the jaws, slightly right of centre. Advancing ~3 cm forward and a touch right, lowering to 10 cm."})
tool
executing move_to over 4 steps (0.4s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteCap is centred slightly right of the jaw column, a little ahead. Descending to neck height (~3.5 cm) with a small forward/right nudge.
move_to
right_x0.4750right_y0.1900right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3866, -0.0227, -0.0296, 0.9983, 0.5297, 1.8912, 1.1244, 0.0513, 0.4107, 0.2531, 0.9998] state[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1818 left_yaw=-0.0022 left_pitch=-0.0088 left_roll=0.0024 left_gripper=0.9983 right_x=0.4622 right_y=0.1931 right_z=0.0837 right_yaw=0.0363 right_pitch=-0.0782 right_roll=-0.0436 right_gripper=0.9998 state[joint_eff]: [-0.212, -1.7299, 6.3932, 1.8291, -0.022, -0.0855, -0.0171, -0.2803, -10.1128, 8.335, 2.1416, 0.149, -0.0366, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.475, "right_y": 0.19, "right_z": 0.035}, "note": "Cap is centred slightly right of the jaw column, a little ahead. Descending to neck height (~3.5 cm) with a small forward/right nudge."})
tool
executing move_to over 4 steps (0.4s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe descent stalled at z≈0.08, probably at the reach limit at x≈0.47. Pulling back slightly to x=0.45 so the arm can go down to neck height.
move_to
right_x0.4500right_y0.1900right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7967, 0.6086, -0.3866, -0.0227, -0.0296, 0.9983, 0.524, 1.916, 1.1248, 0.0963, 0.3882, 0.231, 0.9998] state[eef_state]: left_x=0.2946 left_y=0.002 left_z=0.18 left_yaw=-0.001 left_pitch=-0.0122 left_roll=0.0025 left_gripper=0.9983 right_x=0.4678 right_y=0.1973 right_z=0.079 right_yaw=0.0612 right_pitch=-0.0671 right_roll=-0.0389 right_gripper=0.9998 state[joint_eff]: [-0.0615, -1.6342, 6.7214, 1.8535, -0.0366, -0.0708, -0.0122, -0.4991, -10.5231, 8.294, 1.9951, 0.1929, 0.1197, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.19, "right_z": 0.035}, "note": "The descent stalled at z\u22480.08, probably at the reach limit at x\u22480.47. Pulling back slightly to x=0.45 so the arm can go down to neck height."})
tool
executing move_to over 3 steps (0.3s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteRight arm appears stuck at x=0.47, z=0.08 (joints not moving). Backing off up and in to free it.
move_to
right_x0.4000right_y0.1900right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7963, 0.6003, -0.3862, -0.0227, -0.0296, 0.9983, 0.524, 1.916, 1.1248, 0.0963, 0.3882, 0.2314, 0.9998] state[eef_state]: left_x=0.2936 left_y=0.0021 left_z=0.1763 left_yaw=-0.001 left_pitch=-0.0199 left_roll=0.0026 left_gripper=0.9983 right_x=0.4678 right_y=0.1973 right_z=0.079 right_yaw=0.061 right_pitch=-0.0671 right_roll=-0.0386 right_gripper=0.9998 state[joint_eff]: [-0.0752, -1.7026, 6.9128, 1.8779, -0.0073, -0.0904, -0.0122, -0.4171, -10.5368, 8.253, 1.9512, 0.1929, 0.1441, -0.0073] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.19, "right_z": 0.12}, "note": "Right arm appears stuck at x=0.47, z=0.08 (joints not moving). Backing off up and in to free it."})
tool
executing move_to over 6 steps (0.6s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe cap is at ~x=0.5, beyond low reach. The bottle body is directly below the jaws now, so I'll grasp the body, then pull the bottle closer to the base before doing the upright flip.
move_to
right_x0.4000right_y0.1870right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7891, 0.5823, -0.3725, -0.0227, -0.0296, 0.9983, 0.6056, 1.6772, 0.8925, 0.0734, 0.4248, 0.2657, 0.9998] state[eef_state]: left_x=0.2928 left_y=0.0021 left_z=0.1729 left_yaw=-0.001 left_pitch=-0.0168 left_roll=0.0026 left_gripper=0.9983 right_x=0.4002 right_y=0.1929 right_z=0.0932 right_yaw=0.0943 right_pitch=-0.0698 right_roll=-0.0396 right_gripper=0.9998 state[joint_eff]: [-0.1162, -1.2923, 6.8991, 1.8828, -0.0513, -0.0611, -0.0122, -1.1556, -7.7744, 8.0479, 2.2002, 0.398, 0.1245, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.187, "right_z": 0.025}, "note": "The cap is at ~x=0.5, beyond low reach. The bottle body is directly below the jaws now, so I'll grasp the body, then pull the bottle closer to the base before doing the upright flip."})
tool
executing move_to over 5 steps (0.5s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteJaws straddle the bottle body at ~3 cm height. Closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7841, 0.5781, -0.3714, -0.0227, -0.0292, 0.9983, 0.5945, 1.8286, 0.7151, 0.458, 0.4248, 0.2493, 0.9998] state[eef_state]: left_x=0.2921 left_y=0.0021 left_z=0.1726 left_yaw=-0.0012 left_pitch=-0.0149 left_roll=0.0028 left_gripper=0.9983 right_x=0.3971 right_y=0.185 right_z=0.0333 right_yaw=0.0933 right_pitch=-0.0213 right_roll=-0.0259 right_gripper=0.9998 state[joint_eff]: [-0.0889, -1.7299, 6.106, 1.9463, -0.0171, -0.0611, -0.0122, -0.1162, -5.0393, 3.7675, 1.326, 0.0073, 0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Jaws straddle the bottle body at ~3 cm height. Closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteEmpty close: the jaws squeezed over the top of the round bottle and rode up. Opening and lifting to retry lower.
move_to
right_gripper1.0000right_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7841, 0.5701, -0.3717, -0.0227, -0.0292, 0.9983, 0.5941, 1.8229, 0.7029, 0.5819, 0.4187, 0.2413, 0.0137] state[eef_state]: left_x=0.291 left_y=0.0021 left_z=0.1688 left_yaw=-0.0012 left_pitch=-0.0233 left_roll=0.003 left_gripper=0.9983 right_x=0.4074 right_y=0.1929 right_z=0.0548 right_yaw=0.1005 right_pitch=0.0803 right_roll=0.0263 right_gripper=0.0137 state[joint_eff]: [0.0615, -1.935, 6.4889, 1.9365, -0.0269, -0.0806, -0.0122, -0.4718, -7.2957, 4.2872, 1.1111, 0.0659, 0.1148, 1.2186] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.08}, "note": "Empty close: the jaws squeezed over the top of the round bottle and rode up. Opening and lifting to retry lower."})
tool
executing move_to over 10 steps (1.0s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteBottle lies centred between the open jaws. Descending to table level so the jaws straddle the bottle's widest part.
move_to
right_x0.4000right_y0.1900right_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7757, 0.5503, -0.3637, -0.0223, -0.0292, 0.9983, 0.5941, 1.7535, 0.783, 0.2836, 0.4034, 0.2375, 0.9956] state[eef_state]: left_x=0.2891 left_y=0.0021 left_z=0.1637 left_yaw=-0.0016 left_pitch=-0.0267 left_roll=0.0028 left_gripper=0.9983 right_x=0.3979 right_y=0.1895 right_z=0.056 right_yaw=0.1159 right_pitch=-0.0554 right_roll=-0.0387 right_gripper=0.9956 state[joint_eff]: [0.1299, -1.7846, 6.7487, 1.9658, -0.0122, -0.0659, -0.0122, -0.6222, -10.0855, 8.335, 1.8242, 0.1783, 0.1099, 0.022] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.19, "right_z": 0.0}, "note": "Bottle lies centred between the open jaws. Descending to table level so the jaws straddle the bottle's widest part."})
tool
executing move_to over 4 steps (0.4s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteJaws at table level around the bottle body. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7643, 0.5308, -0.3485, -0.0227, -0.0292, 0.9983, 0.5941, 1.9369, 0.6846, 0.5854, 0.3893, 0.2417, 0.9954] state[eef_state]: left_x=0.288 left_y=0.0022 left_z=0.161 left_yaw=-0.0012 left_pitch=-0.0195 left_roll=0.0029 left_gripper=0.9983 right_x=0.3933 right_y=0.1891 right_z=0.0003 right_yaw=0.1254 right_pitch=-0.0417 right_roll=-0.0183 right_gripper=0.9954 state[joint_eff]: [0.1299, -1.7026, 6.4479, 1.8828, -0.0024, -0.0659, -0.0122, -0.5538, -6.3932, 4.1778, 1.409, 0.188, -0.0269, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Jaws at table level around the bottle body. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteGrasped the bottle body (gripper 0.52 ≈ 5 cm). Lifting slightly and pulling it ~12 cm toward the base so its cap comes within reach.
move_to
right_z0.0600right_x0.2800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7578, 0.5152, -0.3412, -0.0227, -0.0292, 0.9983, 0.5941, 1.961, 0.6601, 0.6868, 0.3882, 0.2348, 0.5172] state[eef_state]: left_x=0.2865 left_y=0.0022 left_z=0.157 left_yaw=-0.0012 left_pitch=-0.0214 left_roll=0.003 left_gripper=0.9983 right_x=0.3956 right_y=0.1909 right_z=0.0016 right_yaw=0.1305 right_pitch=0.0053 right_roll=0.0004 right_gripper=0.5172 state[joint_eff]: [-0.1709, -1.6342, 6.735, 1.9023, -0.0073, -0.0659, -0.0122, -0.2803, -8.7316, 3.6581, 1.6484, 0.1197, 0.0317, 1.0281] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.06, "right_x": 0.28}, "note": "Grasped the bottle body (gripper 0.52 \u2248 5 cm). Lifting slightly and pulling it ~12 cm toward the base so its cap comes within reach."})
tool
executing move_to over 9 steps (0.9s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteBottle pulled closer (cap now visible nearer in overhead view). Releasing and lifting to go for the cap end.
move_to
right_gripper1.0000right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7498, 0.5007, -0.3298, -0.0227, -0.0292, 0.9983, 0.8799, 1.4807, 0.4118, 0.2287, 0.5301, 0.4061, 0.5172] state[eef_state]: left_x=0.2858 left_y=0.0022 left_z=0.1549 left_yaw=-0.0012 left_pitch=-0.0164 left_roll=0.0029 left_gripper=0.9983 right_x=0.2669 right_y=0.1883 right_z=0.0234 right_yaw=0.2038 right_pitch=-0.1315 right_roll=-0.0627 right_gripper=0.5172 state[joint_eff]: [0.0068, -1.0598, 6.5299, 1.9609, -0.0073, -0.0513, -0.0122, 0.1299, -7.4462, 6.8718, 2.5958, 0.8718, 0.0513, 0.989] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.12}, "note": "Bottle pulled closer (cap now visible nearer in overhead view). Releasing and lifting to go for the cap end."})
tool
executing move_to over 7 steps (0.7s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteRight wrist cam shows the bottle cap straight ahead of the jaws. Moving forward over the cap end, keeping jaws perpendicular to the bottle.
move_to
right_x0.3700right_y0.1850right_z0.1000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7456, 0.498, -0.3264, -0.0227, -0.0292, 0.9983, 0.8974, 1.1698, 0.4847, -0.0021, 0.5503, 0.3885, 0.9961] state[eef_state]: left_x=0.2857 left_y=0.0022 left_z=0.1555 left_yaw=-0.0012 left_pitch=-0.0115 left_roll=0.0028 left_gripper=0.9983 right_x=0.266 right_y=0.1911 right_z=0.1067 right_yaw=0.2219 right_pitch=-0.0036 right_roll=0.008 right_gripper=0.9961 state[joint_eff]: [-0.0479, -1.0051, 5.9829, 1.917, 0.0073, -0.0317, -0.0122, -0.1709, -4.5197, 8.7316, 1.6923, 0.3883, 0.0806, -0.1587] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.185, "right_z": 0.1, "right_yaw": 0.0}, "note": "Right wrist cam shows the bottle cap straight ahead of the jaws. Moving forward over the cap end, keeping jaws perpendicular to the bottle."})
tool
executing move_to over 8 steps (0.8s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteCap is just left of the jaw column and a few cm ahead. Advancing ~3 cm, shifting 1 cm left, and descending to cap height.
move_to
right_x0.3900right_y0.1950right_z0.0350right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7437, 0.498, -0.3267, -0.0227, -0.0292, 0.9983, 0.6979, 1.5616, 0.7235, 0.078, 0.5411, 0.366, 0.9961] state[eef_state]: left_x=0.2855 left_y=0.0022 left_z=0.1559 left_yaw=-0.0012 left_pitch=-0.0099 left_roll=0.0028 left_gripper=0.9983 right_x=0.3524 right_y=0.1815 right_z=0.0815 right_yaw=0.04 right_pitch=-0.0649 right_roll=-0.0508 right_gripper=0.9961 state[joint_eff]: [-0.0342, -1.4564, 6.1607, 1.8437, -0.0073, -0.0464, -0.0122, -0.8137, -6.5846, 8.2256, 1.9414, 0.4078, 0.1636, -0.0122] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.195, "right_z": 0.035, "right_yaw": 0.0}, "note": "Cap is just left of the jaw column and a few cm ahead. Advancing ~3 cm, shifting 1 cm left, and descending to cap height."})
tool
executing move_to over 4 steps (0.4s)
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 noteCap still slightly ahead and left of the jaw centre; readback lagged the target. Nudging forward and left, keeping low.
move_to
right_x0.4100right_y0.2050right_z0.0300right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7418, 0.498, -0.326, -0.0227, -0.0296, 0.9983, 0.6746, 1.8122, 0.7174, 0.3305, 0.5514, 0.3607, 0.9961] state[eef_state]: left_x=0.2856 left_y=0.0022 left_z=0.1566 left_yaw=-0.001 left_pitch=-0.0073 left_roll=0.0024 left_gripper=0.9983 right_x=0.3742 right_y=0.1854 right_z=0.0256 right_yaw=0.0116 right_pitch=-0.064 right_roll=-0.0634 right_gripper=0.9961 state[joint_eff]: [-0.1983, -1.347, 6.3385, 1.79, -0.022, -0.0855, -0.0122, -0.6769, -5.9692, 6.7077, 1.5995, 0.0806, 0.1099, -0.0122] 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": {"right_x": 0.41, "right_y": 0.205, "right_z": 0.03, "right_yaw": 0.0}, "note": "Cap still slightly ahead and left of the jaw centre; readback lagged the target. Nudging forward and left, keeping low."})
tool
executing move_to over 3 steps (0.3s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteJaws are around the bottle shoulder; cap still ahead and a bit left. Advancing ~3 cm so the jaws sit at the neck/cap.
move_to
right_x0.4350right_y0.2100right_z0.0300right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7418, 0.498, -0.3267, -0.0227, -0.0292, 0.9983, 0.6735, 1.8282, 0.7322, 0.3988, 0.5461, 0.3584, 0.9961] state[eef_state]: left_x=0.2855 left_y=0.0022 left_z=0.1564 left_yaw=-0.0012 left_pitch=-0.008 left_roll=0.0027 left_gripper=0.9983 right_x=0.385 right_y=0.1944 right_z=0.0351 right_yaw=0.0174 right_pitch=-0.0131 right_roll=-0.0213 right_gripper=0.9961 state[joint_eff]: [0.1162, -1.3744, 6.5573, 1.8046, -0.0024, -0.0562, -0.0122, -0.5128, -6.6667, 5.8735, 1.7802, 0.2027, 0.1538, -0.0122] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.435, "right_y": 0.21, "right_z": 0.03, "right_yaw": 0.0}, "note": "Jaws are around the bottle shoulder; cap still ahead and a bit left. Advancing ~3 cm so the jaws sit at the neck/cap."})
tool
executing move_to over 4 steps (0.4s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteArm stalled at low height again. Raising to 8 cm while moving forward over the cap, then I'll descend.
move_to
right_x0.4300right_y0.2050right_z0.0800right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7403, 0.498, -0.3267, -0.0227, -0.0296, 0.9983, 0.6735, 1.8282, 0.7322, 0.4023, 0.5461, 0.358, 0.9961] state[eef_state]: left_x=0.2854 left_y=0.0022 left_z=0.1568 left_yaw=-0.001 left_pitch=-0.0065 left_roll=0.0024 left_gripper=0.9983 right_x=0.3853 right_y=0.1947 right_z=0.0357 right_yaw=0.0176 right_pitch=-0.0104 right_roll=-0.0195 right_gripper=0.9961 state[joint_eff]: [-0.0752, -1.265, 6.4342, 1.8095, -0.022, -0.0708, -0.0122, -0.7453, -6.6667, 5.8462, 1.746, 0.1832, 0.1001, -0.0122] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.205, "right_z": 0.08, "right_yaw": 0.0}, "note": "Arm stalled at low height again. Raising to 8 cm while moving forward over the cap, then I'll descend."})
tool
executing move_to over 4 steps (0.4s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteRight arm joints are frozen. Trying a clear retreat up and back to free it, as worked earlier.
move_to
right_x0.3700right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7403, 0.498, -0.3271, -0.0227, -0.0292, 0.9983, 0.6735, 1.8282, 0.7322, 0.4023, 0.5461, 0.3584, 0.9961] state[eef_state]: left_x=0.2853 left_y=0.0022 left_z=0.1567 left_yaw=-0.0012 left_pitch=-0.0069 left_roll=0.0027 left_gripper=0.9983 right_x=0.3853 right_y=0.1947 right_z=0.0357 right_yaw=0.0174 right_pitch=-0.0104 right_roll=-0.0192 right_gripper=0.9961 state[joint_eff]: [0.0615, -1.2923, 6.7077, 1.8242, -0.0317, -0.022, -0.0171, -0.7179, -6.6667, 5.9556, 1.7656, 0.2515, 0.1392, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_z": 0.15}, "note": "Right arm joints are frozen. Trying a clear retreat up and back to free it, as worked earlier."})
tool
executing move_to over 8 steps (0.8s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteArm freed; cap of the right bottle is just ahead and slightly left of the jaws. Going forward and down in one move to grasp the neck just behind the cap.
move_to
right_x0.4100right_y0.2050right_z0.0350right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7403, 0.498, -0.3271, -0.0227, -0.0296, 0.9983, 0.7002, 1.5383, 0.8658, -0.054, 0.543, 0.363, 0.9961] state[eef_state]: left_x=0.2853 left_y=0.0022 left_z=0.1567 left_yaw=-0.001 left_pitch=-0.0069 left_roll=0.0024 left_gripper=0.9983 right_x=0.367 right_y=0.1945 right_z=0.1233 right_yaw=0.0435 right_pitch=-0.0376 right_roll=-0.0338 right_gripper=0.9961 state[joint_eff]: [-0.0752, -1.3197, 6.7077, 1.8388, 0.0073, -0.0366, -0.0122, 0.1709, -8.5402, 9.2923, 1.7753, 0.3639, 0.2369, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.205, "right_z": 0.035, "right_yaw": 0.0}, "note": "Arm freed; cap of the right bottle is just ahead and slightly left of the jaws. Going forward and down in one move to grasp the neck just behind the cap."})
tool
executing move_to over 6 steps (0.6s)
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 noteJaws straddle the bottle's shoulder but the arm won't go further forward at this height. Grasping here to drag the bottle closer once more.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7399, 0.498, -0.3283, -0.0227, -0.0292, 0.9983, 0.6647, 1.8713, 0.8104, 0.297, 0.5381, 0.3565, 0.9961] state[eef_state]: left_x=0.2852 left_y=0.0022 left_z=0.1566 left_yaw=-0.0012 left_pitch=-0.0076 left_roll=0.0027 left_gripper=0.9983 right_x=0.3923 right_y=0.197 right_z=0.0264 right_yaw=0.0141 right_pitch=-0.0695 right_roll=-0.0592 right_gripper=0.9961 state[joint_eff]: [0.0615, -1.2786, 6.7487, 1.7851, 0.0073, -0.0562, -0.0122, -1.1282, -7.0222, 7.2137, 1.6288, -0.0073, 0.1245, -0.0171] approver: 1 step(s) modified (delta_clamped). 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": {"right_gripper": 0.0}, "note": "Jaws straddle the bottle's shoulder but the arm won't go further forward at this height. Grasping here to drag the bottle closer once more."})
tool
executing move_to over 10 steps (1.0s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteEmpty close again: the jaws squeezed over the round bottle and rode up. Opening; next I'll press lower before closing.
move_to
right_gripper1.0000right_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7403, 0.498, -0.3279, -0.0227, -0.0296, 0.9983, 0.6674, 1.869, 0.7547, 0.5575, 0.5453, 0.3466, 0.0136] state[eef_state]: left_x=0.2852 left_y=0.0022 left_z=0.1566 left_yaw=-0.001 left_pitch=-0.0076 left_roll=0.0024 left_gripper=0.9983 right_x=0.4058 right_y=0.2077 right_z=0.0542 right_yaw=0.0146 right_pitch=0.0981 right_roll=0.0543 right_gripper=0.0136 state[joint_eff]: [0.1299, -1.2923, 6.4752, 1.9121, 0.0024, -0.0757, -0.0122, -0.4718, -7.4188, 3.8496, 0.8181, 0.0708, 0.1734, 0.9451] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.06}, "note": "Empty close again: the jaws squeezed over the round bottle and rode up. Opening; next I'll press lower before closing."})
tool
executing move_to over 10 steps (1.0s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteCap is now centred on the jaw column just ahead of the fingertips. Moving ~2 cm forward and down to put the jaws around the neck.
move_to
right_x0.4200right_y0.2050right_z0.0200right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7403, 0.498, -0.3279, -0.0227, -0.0292, 0.9983, 0.6662, 1.8576, 0.8345, 0.3016, 0.5346, 0.3557, 0.9953] state[eef_state]: left_x=0.2852 left_y=0.0022 left_z=0.1566 left_yaw=-0.0012 left_pitch=-0.0076 left_roll=0.0027 left_gripper=0.9983 right_x=0.3996 right_y=0.2042 right_z=0.0407 right_yaw=0.02 right_pitch=-0.0371 right_roll=-0.0323 right_gripper=0.9953 state[joint_eff]: [0.1162, -1.0188, 6.4615, 1.8095, 0.0024, -0.0415, -0.0122, -0.1983, -11.1795, 6.8581, 1.4872, 0.1929, 0.0904, 0.1099] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.205, "right_z": 0.02, "right_yaw": 0.0}, "note": "Cap is now centred on the jaw column just ahead of the fingertips. Moving ~2 cm forward and down to put the jaws around the neck."})
tool
executing move_to over 2 steps (0.2s)
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 noteJaws are around the bottle neck just behind the cap. Closing to grip the neck.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7383, 0.498, -0.3283, -0.0227, -0.0296, 0.9983, 0.6559, 1.9194, 0.8452, 0.3721, 0.5289, 0.3489, 0.9954] state[eef_state]: left_x=0.2851 left_y=0.0022 left_z=0.157 left_yaw=-0.001 left_pitch=-0.0061 left_roll=0.0024 left_gripper=0.9983 right_x=0.4085 right_y=0.2065 right_z=0.0297 right_yaw=0.0182 right_pitch=-0.0239 right_roll=-0.0234 right_gripper=0.9954 state[joint_eff]: [0.0342, -1.0735, 6.4615, 1.7753, 0.0122, -0.0611, -0.0122, -1.265, -6.5983, 5.8598, 1.3016, 0.0806, 0.1441, 0.0024] 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": {"right_gripper": 0.0}, "note": "Jaws are around the bottle neck just behind the cap. Closing to grip the neck."})
tool
executing move_to over 10 steps (1.0s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteEmpty again: the jaws closed just above the cap and rode up. Opening and pressing the open jaws down to table level astride the neck.
move_to
right_gripper1.0000right_x0.4150right_y0.2100right_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7399, 0.498, -0.3294, -0.0227, -0.0296, 0.9983, 0.6544, 1.9156, 0.8379, 0.5068, 0.524, 0.3408, 0.0138] state[eef_state]: left_x=0.285 left_y=0.0022 left_z=0.1564 left_yaw=-0.001 left_pitch=-0.0088 left_roll=0.0024 left_gripper=0.9983 right_x=0.4212 right_y=0.2163 right_z=0.0527 right_yaw=0.0227 right_pitch=0.0801 right_roll=0.0499 right_gripper=0.0138 state[joint_eff]: [0.1026, -1.1692, 6.5983, 1.8486, -0.0122, -0.0855, -0.0122, -0.3214, -8.4718, 3.8085, 1.0085, 0.1245, 0.1245, 0.9109] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.415, "right_y": 0.21, "right_z": 0.0}, "note": "Empty again: the jaws closed just above the cap and rode up. Opening and pressing the open jaws down to table level astride the neck."})
tool
executing move_to over 10 steps (1.0s)
step 169
assistant
agent noteCap is centred between the jaws a little ahead; the arm stopped at 4 cm height. Pushing forward and down so the open jaws straddle the neck at table level.
move_to
right_x0.4400right_y0.2100right_z-0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.6552, 1.9858, 0.8577, 0.5827, 0.5209, 0.3283, 0.9953] state[eef_state]: left_x=0.285 left_y=0.0022 left_z=0.1564 left_yaw=-0.0012 left_pitch=-0.0088 left_roll=0.0027 left_gripper=0.9983 right_x=0.4294 right_y=0.2236 right_z=0.0423 right_yaw=0.0314 right_pitch=0.1002 right_roll=0.0551 right_gripper=0.9953 state[joint_eff]: [0.0889, -1.4291, 6.4479, 1.8584, -0.0269, -0.0513, -0.0122, -0.6906, -4.6838, 2.8923, 1.0574, 0.1148, 0.1832, 0.105] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.21, "right_z": -0.02}, "note": "Cap is centred between the jaws a little ahead; the arm stopped at 4 cm height. Pushing forward and down so the open jaws straddle the neck at table level."})
tool
executing move_to over 5 steps (0.5s)
step 174
assistant
agent noteThe gripper is resting on the bottle near the neck (it slid the bottle forward). Trying one close here around the neck.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7399, 0.498, -0.3294, -0.0227, -0.0296, 0.9983, 0.6243, 2.0743, 0.9306, 0.6636, 0.5014, 0.2859, 0.9955] state[eef_state]: left_x=0.285 left_y=0.0022 left_z=0.1564 left_yaw=-0.001 left_pitch=-0.0088 left_roll=0.0024 left_gripper=0.9983 right_x=0.4558 right_y=0.2281 right_z=0.0414 right_yaw=0.0347 right_pitch=0.1497 right_roll=0.0619 right_gripper=0.9955 state[joint_eff]: [0.0342, -1.4427, 6.4068, 1.8095, -0.022, -0.0904, -0.0122, -1.3607, -3.8769, 3.4393, 0.3687, -0.1636, 0.3932, 0.0073] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The gripper is resting on the bottle near the neck (it slid the bottle forward). Trying one close here around the neck."})
tool
executing move_to over 10 steps (1.0s)
step 184
assistant
agent noteI couldn't stand any of the bottles up. Pitch and roll are pinned, so the tool can't tilt a lying bottle through 90°. My fallback was to grab a bottle by the neck or cap, lift it so it hangs straight down, then set it on its base. That failed because I could never get a grip at the neck: every full close came back empty (reading about 0.014) as the jaws squeezed over the top of the round bottle and rode up to z≈0.055. The only success was a grip on the bottle's body at z=0 (0.52 open, about 5 cm), which I used to drag the right bottle about 12 cm closer. With 11 calls left and all three bottles still lying down, I can't finish.
give_up
hindsight- The bottles here are clear ~6.5 cm plastic water bottles, lying along the arm's +x axis with caps pointing away from the base. The rightmost cap started at right-arm x≈0.50, y≈0.20, beyond low reach. - With pitch and roll pinned, standing a lying bottle up means hanging it from the cap. That needs a grip on the narrow neck with fingertips at or below the neck's centre height (~3 cm). In practice, near the neck the arm stops at fingertip z≈0.04: it sat there while pushing the bottle forward, so something is resting on the bottle. Closing from there wedges the jaws upward and comes back empty. - Body grasps only held when the fingertips were at z≈0.00 over the middle of the bottle: gripper 0.52 means held. A body grasp works well for dragging a bottle closer. - At low z (≈0.03–0.08) and x≈0.39–0.47, the right arm several times froze completely: joints unchanged, readback stuck. Re-sending small deltas did nothing. A larger move up and back (e.g. z +7 cm, x −4 cm) freed it. - When moving low, the x readback lags the target by 1.5–2.5 cm. The yaw readback drifts (up to 0.2 rad), so command yaw 0 explicitly. - In the right wrist cam, a cap at row ~180 on the jaw column is still ahead of the fingertips. - Rotating the bottle to vertical is probably not possible with pitch and roll pinned. Consider asking the operator to unpin pitch or roll, or give up early.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7399, 0.498, -0.3298, -0.0227, -0.0292, 0.9983, 0.6071, 2.0926, 0.9363, 0.7681, 0.4934, 0.2913, 0.0136] state[eef_state]: left_x=0.285 left_y=0.0022 left_z=0.1563 left_yaw=-0.0012 left_pitch=-0.0092 left_roll=0.0027 left_gripper=0.9983 right_x=0.468 right_y=0.2276 right_z=0.0556 right_yaw=0.0117 right_pitch=0.2238 right_roll=0.122 right_gripper=0.0136 state[joint_eff]: [0.0479, -1.1829, 6.5162, 1.8584, -0.0122, -0.0757, -0.0122, -0.4444, -4.8752, 2.906, 0.2271, -0.0366, 0.1392, 0.823] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I couldn't stand any of the bottles up. Pitch and roll are pinned, so the tool can't tilt a lying bottle through 90\u00b0. My fallback was to grab a bottle by the neck or cap, lift it so it hangs straight down, then set it on its base. That failed because I could never get a grip at the neck: every full close came back empty (reading about 0.014) as the jaws squeezed over the top of the round bottle and rode up to z\u22480.055. The only success was a grip on the bottle's body at z=0 (0.52 open, about 5 cm), which I used to drag the right bottle about 12 cm closer. With 11 calls left and all three bottles still lying down, I can't finish.", "hindsight": "- The bottles here are clear ~6.5 cm plastic water bottles, lying along the arm's +x axis with caps pointing away from the base. The rightmost cap started at right-arm x\u22480.50, y\u22480.20, beyond low reach.\n- With pitch and roll pinned, standing a lying bottle up means hanging it from the cap. That needs a grip on the narrow neck with fingertips at or below the neck's centre height (~3 cm). In practice, near the neck the arm stops at fingertip z\u22480.04: it sat there while pushing the bottle forward, so something is resting on the bottle. Closing from there wedges the jaws upward and comes back empty.\n- Body grasps only held when the fingertips were at z\u22480.00 over the middle of the bottle: gripper 0.52 means held. A body grasp works well for dragging a bottle closer.\n- At low z (\u22480.03\u20130.08) and x\u22480.39\u20130.47, the right arm several times froze completely: joints unchanged, readback stuck. Re-sending small deltas did nothing. A larger move up and back (e.g. z +7 cm, x \u22124 cm) freed it.\n- When moving low, the x readback lags the target by 1.5\u20132.5 cm. The yaw readback drifts (up to 0.2 rad), so command yaw 0 explicitly.\n- In the right wrist cam, a cap at row ~180 on the jaw column is still ahead of the fingertips.\n- Rotating the bottle to vertical is probably not possible with pitch and roll pinned. Consider asking the operator to unpin pitch or roll, or give up early."})
tool
give_up: I couldn't stand any of the bottles up. Pitch and roll are pinned, so the tool can't tilt a lying bottle through 90°. My fallback was to grab a bottle by the neck or cap, lift it so it hangs straight down, then set it on its base. That failed because I could never get a grip at the neck: every full close came back empty (reading about 0.014) as the jaws squeezed over the top of the round bottle and rode up to z≈0.055. The only success was a grip on the bottle's body at z=0 (0.52 open, about 5 cm), which I used to drag the right bottle about 12 cm closer. With 11 calls left and all three bottles still lying down, I can't finish.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 15.95 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]: [-0.0193, 0.7937, 0.6083, -0.3767, -0.0227, -0.0322, 0.9986, -0.017, 0.7891, 0.6037, -0.3832, -0.0147, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0019 left_z=0.1827 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9986 right_x=0.294 right_y=0.0012 right_z=0.1805 right_yaw=0.0006 right_pitch=-0.0008 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -1.4838, 9.6889, 1.7607, -0.0171, 0.1587, -0.1538, -0.7726, -1.1966, 10.441, 1.8193, -0.0415, 0.2027, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:405307cb664ce521b7448dde035cc51050341afb6b52e5fa1e582e5e9410bbb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cdc47a044410b2aaeb9889ce555ba2429f4311da73265ef1d733a916c8b0865",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
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      "source": {
        "data": "$blob:abc6164a3d9d6010189ab0d6b645ff8a5a06e31a58d905578019414db7f1e710",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 7.311 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]: [-0.0193, 0.7937, 0.6083, -0.3767, -0.0227, -0.0322, 0.9986, -0.017, 0.7891, 0.6037, -0.3832, -0.0147, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0019 left_z=0.1827 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9986 right_x=0.294 right_y=0.0012 right_z=0.1805 right_yaw=0.0006 right_pitch=-0.0008 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -1.4838, 9.6889, 1.7607, -0.0171, 0.1587, -0.1538, -0.7726, -1.1966, 10.441, 1.8193, -0.0415, 0.2027, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:405307cb664ce521b7448dde035cc51050341afb6b52e5fa1e582e5e9410bbb7",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cdc47a044410b2aaeb9889ce555ba2429f4311da73265ef1d733a916c8b0865",
        "media_type": "image/png",
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      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
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        "data": "$blob:abc6164a3d9d6010189ab0d6b645ff8a5a06e31a58d905578019414db7f1e710",
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EbBrgeEU1Zcw2GFZ7v76yJ",
      "input": {
        "note": "Three bottles lie on their sides pointing forward, caps at the far end. Plan: grab each by the cap, lift so it hangs vertically, set it down on its base. Moving the right arm above the rightmost bottle's cap.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.21,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01EbBrgeEU1Zcw2GFZ7v76yJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.387, -0.0231, -0.0296, 0.9984, 0.5961, 1.7519, 1.1477, -0.1108, 0.4637, 0.2913, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1819 left_yaw=-0.0019 left_pitch=-0.0088 left_roll=0.0026 left_gripper=0.9984 right_x=0.4359 right_y=0.2046 right_z=0.1325 right_yaw=0.04 right_pitch=-0.0595 right_roll=-0.0428 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.5932, 6.6393, 1.7705, -0.0366, -0.0757, -0.0317, -0.1299, -8.7726, 9.0188, 1.7314, 0.3004, 0.2515, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8725c6940938e8c8af871f4e949df6799bb2b714f76692d8def1e51c757cdca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b4de1071216f260cfc64d93810b993d4725ade828481c445a97132729350284",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f34f0abc5796be822a78b8dad38475385fd570858d25e79c4927cdb53c879b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 6.541 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]: [-0.0193, 0.7937, 0.6083, -0.3767, -0.0227, -0.0322, 0.9986, -0.017, 0.7891, 0.6037, -0.3832, -0.0147, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0019 left_z=0.1827 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9986 right_x=0.294 right_y=0.0012 right_z=0.1805 right_yaw=0.0006 right_pitch=-0.0008 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -1.4838, 9.6889, 1.7607, -0.0171, 0.1587, -0.1538, -0.7726, -1.1966, 10.441, 1.8193, -0.0415, 0.2027, -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]: [-0.02, 0.7982, 0.614, -0.387, -0.0231, -0.0296, 0.9984, 0.5961, 1.7519, 1.1477, -0.1108, 0.4637, 0.2913, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1819 left_yaw=-0.0019 left_pitch=-0.0088 left_roll=0.0026 left_gripper=0.9984 right_x=0.4359 right_y=0.2046 right_z=0.1325 right_yaw=0.04 right_pitch=-0.0595 right_roll=-0.0428 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.5932, 6.6393, 1.7705, -0.0366, -0.0757, -0.0317, -0.1299, -8.7726, 9.0188, 1.7314, 0.3004, 0.2515, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8725c6940938e8c8af871f4e949df6799bb2b714f76692d8def1e51c757cdca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b4de1071216f260cfc64d93810b993d4725ade828481c445a97132729350284",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f34f0abc5796be822a78b8dad38475385fd570858d25e79c4927cdb53c879b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStAsKEAgSGAI4AUIIdGhpbmtpbmcSDO32soTmiDeTk0/FUhoM0B06H1bMDmA9jAHHIjCydAJyxJStUEUfy1l2wvnT2xuDZbd+dHHYx5W+zMRwh7iGYvFfOzEwZfUVgMT8964q0Qqi2NQAJymyE/eupw9wzvG/orPY5AtglgvZDU1nn7/5KOfHjLT1WPS4tjxeM2BnaH0hAClGm7exse5h8rkrxBQYwAfoyvcmiqEH88bJzssof9tDRHtUnwG78yuYFKfxr/8nnsgV/0U3id5cj+1+xQBAGjxSwYSRn/JmCDnJAG+sDk0/K/CRExZPsNx07PxiFstrxsMf0lMwCOpPIGDIFXVQOpvIVMa74HYQtpJMNhb69Ytq+ynNvf8mDfNXRZIfr1IMHpSEmENePHJGeMENbBWBYODqklLf+kzD2DZdMHsrbVxS5p6GVmWyTfqGs8fxVKap1p9BJuw8TqmoJ/H1dM1Oea46LeHfxu6aZQ9BTQRy1b52xzLl+Eu5D9LWlOIjFM2O5Mm8qnlQUXXQab2OrFSRkb30xvHkleqqmmxwB/gd6KlIDrCTvF/+UUreBkQiAndb79kr1CbwtcHzZFtb6/AIVMprAShZKEofYSj1c6GpBhdtD0OapdJnsP60H4xReC3pGpZ4smf9vPkBWK6nItXB1gmnnRRN4Kserhq2I2MmbQwiOu0OZmd7OZ4cecyoIoNmSqCkqtYBTmjA19jiuFx1nZtzi768pr5+eTNxSxaeRr0xTu0GWeIdydQBhoL6UST/ivUnRCUUwp+rlVTzolJpEbBp7kW70KWAYw8qfXSjRW/sArKeRXDZRTYJDfSYJnQ5sRiX4S93YsRFBCzLzOdzxvK8vFa0vlbQq0UKusuFrnDX5VdyqtxsBI6k+pVUvf1a3R7Nn4s4pYzPnVnX12ScMf/ddhxyVwibKwHfBYohXorw1qJQyujNQ2CXvAIVOBe0kxP+kSBD/kYuqk7djDSx6tJVmsGpUIehbvas6TlvGaPlYK4+UPnv0f5WB+8e90NgSz45SbV8dbxX/HJunjncWbrRt+ktxq7kDZHzoTAr84EvU/StiMSuqhDqv1svvqkyjpdvobYJ2qB4ftOVG6iVq6fjeXyVNimFjlogI7KDHS1qweAYwT5m67QyhC2QNaau4nUg+00kvFC2PzS+8YnxxynRO3/QAxIo0JxV8yyfehaEpRgpzT/nIh+gW5ZeUwRhIYYUMHg6a4CWDyS/C5PAhyKahLo+9GMQn2xw3qnGdjgV2VhvYCHP+4prLICwj+9vNjZvNfNcBfTUv6JwDam9WtC2AO21J4+QB7lURng+imM3JPG4TOFFvHjhMTIH+ImsthoGvTe1rk3JTWsu/HNdHL4ms+WBz+8ZvngYQRh+8SvA8gy2wHya8AK9NFgAd6ytwpqF3My7BVMPacCsY+7OviHmE62ZL1JggXLLC2MH/6YNWrZXwobiC4+31hOMcNZhNxeUhDEMwrnKYsQPp/WKg6xE9DXng4oAU4NgUkwLF5L+4tDN0+RQCE0AoCoi2CObn0Uf7/5dHcMowbhIaNapw5CP5CWe9CHiz/52gdbUZA19kD7be9/YTDiiJgt6HdE2IDcFPmeSdhBRJhOnEhmbF6oM4rv50qi0noiFZFB50VD40b+9uicXbquvezuvnnkWreBU+wVBZxLCMLqOB+NZ1w/yPh4LsUM2qNSqovfaPbKh9IsTZDmN6xxEs303iFrUrYUyWPf26kgzSowAw4jB3qfVXcT+8MpdPPMliH1sZs1jqMUQ5hIa0vGGTq9qbUTe5oOovnYhs9AG/9Uva4UOKepDBgiwEsqBqSAusYV52lWeJh7Gm+uJW55AJ2cf2IQ+c5j2O4/SmnYJnCghsOQ4MJTmaIceLId64no6fBGUpswyrSVp0+cZId70KxMJJQJXcL/ff5dfknFof05W+QoFYBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G8VkNRRxiq9nvNPoZyQAK3",
      "input": {
        "note": "Right wrist cam shows the rightmost bottle's cap just ahead of the jaws, slightly right of centre. Advancing ~3 cm forward and a touch right, lowering to 10 cm.",
        "targets": {
          "right_x": 0.48,
          "right_y": 0.2,
          "right_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_01G8VkNRRxiq9nvNPoZyQAK3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3866, -0.0227, -0.0296, 0.9983, 0.5297, 1.8912, 1.1244, 0.0513, 0.4107, 0.2531, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1818 left_yaw=-0.0022 left_pitch=-0.0088 left_roll=0.0024 left_gripper=0.9983 right_x=0.4622 right_y=0.1931 right_z=0.0837 right_yaw=0.0363 right_pitch=-0.0782 right_roll=-0.0436 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.7299, 6.3932, 1.8291, -0.022, -0.0855, -0.0171, -0.2803, -10.1128, 8.335, 2.1416, 0.149, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7f42041af7f9ee6fc3866f1cb8518e52652395b1fd2703ebd2a551831c3aeb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53e8fa9d040a64bc235adf9f300893545baa47edfe503124d2e2844d3790a404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7778c2c1a0e597f89342c075e1569870e4e079244c95fd2eda2bedffca20e385",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 7.665 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]: [-0.0193, 0.7937, 0.6083, -0.3767, -0.0227, -0.0322, 0.9986, -0.017, 0.7891, 0.6037, -0.3832, -0.0147, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0019 left_z=0.1827 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9986 right_x=0.294 right_y=0.0012 right_z=0.1805 right_yaw=0.0006 right_pitch=-0.0008 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -1.4838, 9.6889, 1.7607, -0.0171, 0.1587, -0.1538, -0.7726, -1.1966, 10.441, 1.8193, -0.0415, 0.2027, -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]: [-0.02, 0.7982, 0.614, -0.387, -0.0231, -0.0296, 0.9984, 0.5961, 1.7519, 1.1477, -0.1108, 0.4637, 0.2913, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1819 left_yaw=-0.0019 left_pitch=-0.0088 left_roll=0.0026 left_gripper=0.9984 right_x=0.4359 right_y=0.2046 right_z=0.1325 right_yaw=0.04 right_pitch=-0.0595 right_roll=-0.0428 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.5932, 6.6393, 1.7705, -0.0366, -0.0757, -0.0317, -0.1299, -8.7726, 9.0188, 1.7314, 0.3004, 0.2515, -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]: [-0.02, 0.7982, 0.6136, -0.3866, -0.0227, -0.0296, 0.9983, 0.5297, 1.8912, 1.1244, 0.0513, 0.4107, 0.2531, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1818 left_yaw=-0.0022 left_pitch=-0.0088 left_roll=0.0024 left_gripper=0.9983 right_x=0.4622 right_y=0.1931 right_z=0.0837 right_yaw=0.0363 right_pitch=-0.0782 right_roll=-0.0436 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.7299, 6.3932, 1.8291, -0.022, -0.0855, -0.0171, -0.2803, -10.1128, 8.335, 2.1416, 0.149, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7f42041af7f9ee6fc3866f1cb8518e52652395b1fd2703ebd2a551831c3aeb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53e8fa9d040a64bc235adf9f300893545baa47edfe503124d2e2844d3790a404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7778c2c1a0e597f89342c075e1569870e4e079244c95fd2eda2bedffca20e385",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwsKEAgSGAI4AUIIdGhpbmtpbmcSDMe2EDrLa6eHMXZOzBoMwLJ53+CD5FHPlglvIjAIiouCcaUTPl7i6cGhk0A4m9jpeeoDupZg0l8PTBFPjbx6dPXQzdNHaK9TeqX9S+gq3AogdqyRcgO/cGXulTBL1QAFRiZrjHdrIgOUeta0mcLRLSerR630BLu6DMHoM1inoKGNeK18g1YY1sYknLER1bLGyxzPNln/zPbWgfeNA0qXk/jFR7owHBjz0bTiZOdV856q2OfqBIAQnmfI8gcs4Yu5VFARQmgp9d7Uajr2XZf5WgdG4Y9x7LR3nYHAqu+iLwvjN1R52Tc164gcwOHWfm/s9u82Z4ODL3Ev+d8KIoUkJFcuUxdVjQbw+L2c0NGw/MusNc9iqb/VSSBBTPj4cJ51XCRlKn7uNjZ/Lxy9wmd57WxrU1pdM7zwR1czmGUrf+IS3cir+wwJ5nwDE9YXcm6pBsJDOzJlSjuUUnteKVBAvX6N4/9RjUDHPrIE2kI0zswWBEpLk3F0XKfBiBxlczLQl9CU5AJw5N2jDcyp6zLJXT9fhtCMvdBTdo0szqh4vv1DyVlAbP02uJ4g1WywUIbhYTwExUNmPjriLXwoEzF6fMgY/9E9UVsCCf7HLfzGC4e/IHrkPwaqCsfr936rJyHfQ7mwQ8lARpR0zZF2LQus5YMoSUH9yDHUcFsjCltQcjtXsXqnj0gkGCGQX0SIJYE0b32zqY7koXf1Kfj7nFg937nQTFHez521Bw1S8UqIfwAw/h/ArC6gLlV+coeT/EnC7m4F4efQwTeL8wCF8Q35Kv5kTLULwtwGnxqRhki7BcKRU/qK1YeK2opIvvrQLGYZC0dkdYz+4RbkDDnJott9lotUpQ4K3LZIpkjYuix/vlGgrKuDfpaaKelJSt4zUXUto8i6rxs8QhoEUYe0vTPLa+GDtKaFkcSbxUzI2fZRxezdl2iedf8ZQ1hn5BrDO4VaYY4nrCnCHml0AcJ2PS0zianvl0bSDzFQXOAjRhsGhK/YB6e38kgo+Awypa4MjTbqNBQiAtLZq5BVIGH8q5iAeca/13PEQ2Zsd83Ke3JTVkJbw1Pf9FoUnnVMHLdwPJz7vv8sVh4VO5Q5hs+QIoEJLNFjTsHpg/bZ8d4va6QcjIRSpkHecSCkQDsxQkBIrPp+38H1rKIBc4biWsJ/zjdjb26FS8XtZ0itdeDuilswxV6FNmmP8M59VBTh2A0Ip9OQjNrUvYqmq6buVfRwovKCKl/fsO2aapy9AvjzT6AT3E6zx2Fj2RmISb3Lm2JdbDXSJFLNRWI3+4h75Gbq/o3i6XMHa7levOyLJdFTNGl4ExK7+PJ5MUGFkkcFMP1nJVjXs/XbkFauOXNJUtEk3/FbUvOnoUZYXFiuUPIl6X1IbTQ11uunuaJECEXluaZ8yKtkyJXBjkS9zuNPUof0MyaH8jsckWvh77oSiXxYBqqblisMcL1zP7SEJ8NF5YP5+DcFzoeisDBPLlbUcvccvcuKRMmAcAX6x6urzTXCrQtNJ+zEyqoMLCoHfSlVlGV3Vd5YWZ7d3kZjHdUFEaRtnnKy6UkA+jESof4Jbibiz+JutEKhRpTBZ/2XgGfXVp1AkLMIaMaUn1Iz4frQXeuzbU0q01+d1FavYvS3Wrw5gw+nq7Ul38IAhZhVDDDIzNvU9VcsQUud/nF5epHAP0sETzmNir5jWaKVVMVOk0vGqpNPS73sQxlzy8U14gj7RMrCQ8yTe5aIK13TVYzySrKPXCz6a+/ha7gwiA8GaK8/qGpHkc0r/v+e77zx5Qi6vHfaBnlQc2mPNcV3xv52KAGzEoM257XgxtZGzZnR+l0gDDNRh2zbGLTeBAEsnuR66LAmSOKFqTvTBQ+peXUsmaPxAnAzlNEsAip4PBrCnerr7fOLnex8WhQclqDwbEYqu6/sXJBofdxxnxJvfRPvVjtfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NqZKgakZQHhrFWg6Xnwt4v",
      "input": {
        "note": "Cap is centred slightly right of the jaw column, a little ahead. Descending to neck height (~3.5 cm) with a small forward/right nudge.",
        "targets": {
          "right_x": 0.475,
          "right_y": 0.19,
          "right_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_01NqZKgakZQHhrFWg6Xnwt4v",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6086, -0.3866, -0.0227, -0.0296, 0.9983, 0.524, 1.916, 1.1248, 0.0963, 0.3882, 0.231, 0.9998]\nstate[eef_state]: left_x=0.2946 left_y=0.002 left_z=0.18 left_yaw=-0.001 left_pitch=-0.0122 left_roll=0.0025 left_gripper=0.9983 right_x=0.4678 right_y=0.1973 right_z=0.079 right_yaw=0.0612 right_pitch=-0.0671 right_roll=-0.0389 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.6342, 6.7214, 1.8535, -0.0366, -0.0708, -0.0122, -0.4991, -10.5231, 8.294, 1.9951, 0.1929, 0.1197, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eec40cd68e3d62b65755bc2cc0687cb847760a3da4bf75af2225dcf818d6e1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:744e90df7f07e46a0eb4e699598bbb2edabf9cf7e6a95688aac104ffcce54fda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6335fe01e1c63e5efae28d68a0a9ff21cbb6ff9a24bf2d4a150c998aa56f205",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 4.756 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]: [-0.02, 0.7982, 0.614, -0.387, -0.0231, -0.0296, 0.9984, 0.5961, 1.7519, 1.1477, -0.1108, 0.4637, 0.2913, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1819 left_yaw=-0.0019 left_pitch=-0.0088 left_roll=0.0026 left_gripper=0.9984 right_x=0.4359 right_y=0.2046 right_z=0.1325 right_yaw=0.04 right_pitch=-0.0595 right_roll=-0.0428 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.5932, 6.6393, 1.7705, -0.0366, -0.0757, -0.0317, -0.1299, -8.7726, 9.0188, 1.7314, 0.3004, 0.2515, -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]: [-0.02, 0.7982, 0.6136, -0.3866, -0.0227, -0.0296, 0.9983, 0.5297, 1.8912, 1.1244, 0.0513, 0.4107, 0.2531, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1818 left_yaw=-0.0022 left_pitch=-0.0088 left_roll=0.0024 left_gripper=0.9983 right_x=0.4622 right_y=0.1931 right_z=0.0837 right_yaw=0.0363 right_pitch=-0.0782 right_roll=-0.0436 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.7299, 6.3932, 1.8291, -0.022, -0.0855, -0.0171, -0.2803, -10.1128, 8.335, 2.1416, 0.149, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6086, -0.3866, -0.0227, -0.0296, 0.9983, 0.524, 1.916, 1.1248, 0.0963, 0.3882, 0.231, 0.9998]\nstate[eef_state]: left_x=0.2946 left_y=0.002 left_z=0.18 left_yaw=-0.001 left_pitch=-0.0122 left_roll=0.0025 left_gripper=0.9983 right_x=0.4678 right_y=0.1973 right_z=0.079 right_yaw=0.0612 right_pitch=-0.0671 right_roll=-0.0389 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.6342, 6.7214, 1.8535, -0.0366, -0.0708, -0.0122, -0.4991, -10.5231, 8.294, 1.9951, 0.1929, 0.1197, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eec40cd68e3d62b65755bc2cc0687cb847760a3da4bf75af2225dcf818d6e1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:744e90df7f07e46a0eb4e699598bbb2edabf9cf7e6a95688aac104ffcce54fda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6335fe01e1c63e5efae28d68a0a9ff21cbb6ff9a24bf2d4a150c998aa56f205",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K44hDfBeouUi7pekGbHooj",
      "input": {
        "note": "The descent stalled at z≈0.08, probably at the reach limit at x≈0.47. Pulling back slightly to x=0.45 so the arm can go down to neck height.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.19,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01K44hDfBeouUi7pekGbHooj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6003, -0.3862, -0.0227, -0.0296, 0.9983, 0.524, 1.916, 1.1248, 0.0963, 0.3882, 0.2314, 0.9998]\nstate[eef_state]: left_x=0.2936 left_y=0.0021 left_z=0.1763 left_yaw=-0.001 left_pitch=-0.0199 left_roll=0.0026 left_gripper=0.9983 right_x=0.4678 right_y=0.1973 right_z=0.079 right_yaw=0.061 right_pitch=-0.0671 right_roll=-0.0386 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.7026, 6.9128, 1.8779, -0.0073, -0.0904, -0.0122, -0.4171, -10.5368, 8.253, 1.9512, 0.1929, 0.1441, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:652bd1a9d94c3756049038c3da3128dc7138365071fb6ed9925ead32985b01c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02117d02bf793f2e334dc30a6783cc5650113477c8be9d6c6a7bd883ba64d63e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee9dceb54c3507d34f1c6241b5b07f564035d6e750e1794cf76025b945e39055",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 11.29 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]: [-0.02, 0.7982, 0.6136, -0.3866, -0.0227, -0.0296, 0.9983, 0.5297, 1.8912, 1.1244, 0.0513, 0.4107, 0.2531, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1818 left_yaw=-0.0022 left_pitch=-0.0088 left_roll=0.0024 left_gripper=0.9983 right_x=0.4622 right_y=0.1931 right_z=0.0837 right_yaw=0.0363 right_pitch=-0.0782 right_roll=-0.0436 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.7299, 6.3932, 1.8291, -0.022, -0.0855, -0.0171, -0.2803, -10.1128, 8.335, 2.1416, 0.149, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6086, -0.3866, -0.0227, -0.0296, 0.9983, 0.524, 1.916, 1.1248, 0.0963, 0.3882, 0.231, 0.9998]\nstate[eef_state]: left_x=0.2946 left_y=0.002 left_z=0.18 left_yaw=-0.001 left_pitch=-0.0122 left_roll=0.0025 left_gripper=0.9983 right_x=0.4678 right_y=0.1973 right_z=0.079 right_yaw=0.0612 right_pitch=-0.0671 right_roll=-0.0389 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.6342, 6.7214, 1.8535, -0.0366, -0.0708, -0.0122, -0.4991, -10.5231, 8.294, 1.9951, 0.1929, 0.1197, -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]: [-0.0189, 0.7963, 0.6003, -0.3862, -0.0227, -0.0296, 0.9983, 0.524, 1.916, 1.1248, 0.0963, 0.3882, 0.2314, 0.9998]\nstate[eef_state]: left_x=0.2936 left_y=0.0021 left_z=0.1763 left_yaw=-0.001 left_pitch=-0.0199 left_roll=0.0026 left_gripper=0.9983 right_x=0.4678 right_y=0.1973 right_z=0.079 right_yaw=0.061 right_pitch=-0.0671 right_roll=-0.0386 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.7026, 6.9128, 1.8779, -0.0073, -0.0904, -0.0122, -0.4171, -10.5368, 8.253, 1.9512, 0.1929, 0.1441, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:652bd1a9d94c3756049038c3da3128dc7138365071fb6ed9925ead32985b01c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02117d02bf793f2e334dc30a6783cc5650113477c8be9d6c6a7bd883ba64d63e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee9dceb54c3507d34f1c6241b5b07f564035d6e750e1794cf76025b945e39055",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSugcKEAgSGAI4AUIIdGhpbmtpbmcSDHMA/iuYtb33shVp1hoM4dG4QUecGon2PwJ0IjBN3irzqmb3sxN3HMUT/7i9HPUYdGkUenNzyU7FYAMyQgv9OFksjMyi67dBrvp1QxAq1wYNT8/OA3NrNc7v+62VB9JF2YeRF7sJXkEHohCQXw8BniRSylJS7DlmDDQuTVpHXOzxe/r36H3qql/U+cCT4YK+1itoU9kn8vhafv6ssN0SSODU+SJAJ4a/lnqmEM16gCbcZbTTjJ8VuYliD5lid8NEJ5/rhP5sRVmkjKjX872b7bCE3Le41W/RP5uZQYu1pBTL8sZd6SBPVgR8/gEaPk1Fb/mEFTV3sHEjtwRnWR0SyekqMmRZmqO/zkBnuC1NuLHhzo/iwzeOBo11X/r2XtQYIpro4y6H1bjUtgSHy0NJ5ZtAUWKwWogRFX3obS6EM6q8wTWr4FItrxeVLxtpcA2BGkq69phY0PG6T7Ds5CngNnZFxIOGmu+MkevmRz/ZbJiRSv8rLVuxrcJ85wPYBqKFpx/AEwJmz2I1C9vTzWhIPe+r0NbfCKCDCzqSkNNxxisnMumB6vnpN2TsfOtWIupG70ocdbCfCkxbvO9eXqRhv1p1qZ7OOFJ4FaQUW61dXD+eDuLWRd2gWuv7ea2BrXBQGgSvpxhaRn2eyXF/URGnuTvfYSYm6xUmcGCUTMKbqO7LqY5SB6q3t6jFFV/0HlFFJDvh46zB/IdzOP6OBC1EBMaIpOL7QrIaFrUyFf8Vqzy3g0AM8y2URrAuMSi938CQl51E+lOYpVf530loxf3S7aUtFmfFHCzMpPMAV7gg71BrtZgaZ9gKYcLwUxwSD4/+EIztPwGP/iTeC313YiJnSdnvqbDeYyeP23Cu7X5pFtk7ZxDOBUr8KzBPQA5vGtaQ0/QaRmD0eKpvBpcerdO08/x0OSx7rcuOmMpqBpX7JNWsklGoGXx3R7VS4VdT9tDakBNSnoGpZMypcZYLePRxb2lWsjk90uAc60eWCjdjRg10cibdFkKXKSauEZGEAqVZWgw7rfoXu9Synkg7fH02KNB+2Jtr9hN3N8mMPPKATxFiJxo3MKjYcDB58psJCjRdgvuMk/p3B1iVbkpW3xoJOBGpzeSmkMkcEYvnjtENozygEvoxBKGTjzx6bgHIHOlb80Hd3rPsuzFFWWoJTNiB9M849X+APcWruwaBWwRlAjMxm45VKYca1XQwSYmOe3qfB7az+vQSvDJL+TgoZws5B0X6g0RgaXcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014kibuvo24JwdeGcPMDw4Ne",
      "input": {
        "note": "Right arm appears stuck at x=0.47, z=0.08 (joints not moving). Backing off up and in to free it.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.19,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_014kibuvo24JwdeGcPMDw4Ne",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7891, 0.5823, -0.3725, -0.0227, -0.0296, 0.9983, 0.6056, 1.6772, 0.8925, 0.0734, 0.4248, 0.2657, 0.9998]\nstate[eef_state]: left_x=0.2928 left_y=0.0021 left_z=0.1729 left_yaw=-0.001 left_pitch=-0.0168 left_roll=0.0026 left_gripper=0.9983 right_x=0.4002 right_y=0.1929 right_z=0.0932 right_yaw=0.0943 right_pitch=-0.0698 right_roll=-0.0396 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.2923, 6.8991, 1.8828, -0.0513, -0.0611, -0.0122, -1.1556, -7.7744, 8.0479, 2.2002, 0.398, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd0f4e2a8d37cd9e58a2e5754d36ca7ee58c70a1ff4f7dee440a7c4f98a7bb5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de3f9a0f2aac9dde1a49440bc77c3936e89a1dab7d11db726d87020d9b6784cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:55c532a68ec8bd51ff85a141f79da2d975fe218eb4844ada48a92fbc00ddcc54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 3.206 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]: [-0.0189, 0.7967, 0.6086, -0.3866, -0.0227, -0.0296, 0.9983, 0.524, 1.916, 1.1248, 0.0963, 0.3882, 0.231, 0.9998]\nstate[eef_state]: left_x=0.2946 left_y=0.002 left_z=0.18 left_yaw=-0.001 left_pitch=-0.0122 left_roll=0.0025 left_gripper=0.9983 right_x=0.4678 right_y=0.1973 right_z=0.079 right_yaw=0.0612 right_pitch=-0.0671 right_roll=-0.0389 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.6342, 6.7214, 1.8535, -0.0366, -0.0708, -0.0122, -0.4991, -10.5231, 8.294, 1.9951, 0.1929, 0.1197, -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]: [-0.0189, 0.7963, 0.6003, -0.3862, -0.0227, -0.0296, 0.9983, 0.524, 1.916, 1.1248, 0.0963, 0.3882, 0.2314, 0.9998]\nstate[eef_state]: left_x=0.2936 left_y=0.0021 left_z=0.1763 left_yaw=-0.001 left_pitch=-0.0199 left_roll=0.0026 left_gripper=0.9983 right_x=0.4678 right_y=0.1973 right_z=0.079 right_yaw=0.061 right_pitch=-0.0671 right_roll=-0.0386 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.7026, 6.9128, 1.8779, -0.0073, -0.0904, -0.0122, -0.4171, -10.5368, 8.253, 1.9512, 0.1929, 0.1441, -0.0073]",
      "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]: [-0.0189, 0.7891, 0.5823, -0.3725, -0.0227, -0.0296, 0.9983, 0.6056, 1.6772, 0.8925, 0.0734, 0.4248, 0.2657, 0.9998]\nstate[eef_state]: left_x=0.2928 left_y=0.0021 left_z=0.1729 left_yaw=-0.001 left_pitch=-0.0168 left_roll=0.0026 left_gripper=0.9983 right_x=0.4002 right_y=0.1929 right_z=0.0932 right_yaw=0.0943 right_pitch=-0.0698 right_roll=-0.0396 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.2923, 6.8991, 1.8828, -0.0513, -0.0611, -0.0122, -1.1556, -7.7744, 8.0479, 2.2002, 0.398, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd0f4e2a8d37cd9e58a2e5754d36ca7ee58c70a1ff4f7dee440a7c4f98a7bb5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de3f9a0f2aac9dde1a49440bc77c3936e89a1dab7d11db726d87020d9b6784cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c532a68ec8bd51ff85a141f79da2d975fe218eb4844ada48a92fbc00ddcc54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M2Lay7dHA4ZzyXsKzsfif6",
      "input": {
        "note": "The cap is at ~x=0.5, beyond low reach. The bottle body is directly below the jaws now, so I'll grasp the body, then pull the bottle closer to the base before doing the upright flip.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.187,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01M2Lay7dHA4ZzyXsKzsfif6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7841, 0.5781, -0.3714, -0.0227, -0.0292, 0.9983, 0.5945, 1.8286, 0.7151, 0.458, 0.4248, 0.2493, 0.9998]\nstate[eef_state]: left_x=0.2921 left_y=0.0021 left_z=0.1726 left_yaw=-0.0012 left_pitch=-0.0149 left_roll=0.0028 left_gripper=0.9983 right_x=0.3971 right_y=0.185 right_z=0.0333 right_yaw=0.0933 right_pitch=-0.0213 right_roll=-0.0259 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.7299, 6.106, 1.9463, -0.0171, -0.0611, -0.0122, -0.1162, -5.0393, 3.7675, 1.326, 0.0073, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b135c928e8c13a6c0fb18784a3fbf180cdaf621d160c0393325e1a748e0dcd42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dec6e782568ab4f2cd3f62b0ff28e9d64c33af9cc4da7b1799fa3feba6b4d564",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25e3cb29d308652d4043fa61e6b0038ad828b98d6f1c1af75bdf7f6a8a677cfd",
        "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 · 8.118 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]: [-0.0189, 0.7963, 0.6003, -0.3862, -0.0227, -0.0296, 0.9983, 0.524, 1.916, 1.1248, 0.0963, 0.3882, 0.2314, 0.9998]\nstate[eef_state]: left_x=0.2936 left_y=0.0021 left_z=0.1763 left_yaw=-0.001 left_pitch=-0.0199 left_roll=0.0026 left_gripper=0.9983 right_x=0.4678 right_y=0.1973 right_z=0.079 right_yaw=0.061 right_pitch=-0.0671 right_roll=-0.0386 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.7026, 6.9128, 1.8779, -0.0073, -0.0904, -0.0122, -0.4171, -10.5368, 8.253, 1.9512, 0.1929, 0.1441, -0.0073]",
      "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]: [-0.0189, 0.7891, 0.5823, -0.3725, -0.0227, -0.0296, 0.9983, 0.6056, 1.6772, 0.8925, 0.0734, 0.4248, 0.2657, 0.9998]\nstate[eef_state]: left_x=0.2928 left_y=0.0021 left_z=0.1729 left_yaw=-0.001 left_pitch=-0.0168 left_roll=0.0026 left_gripper=0.9983 right_x=0.4002 right_y=0.1929 right_z=0.0932 right_yaw=0.0943 right_pitch=-0.0698 right_roll=-0.0396 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.2923, 6.8991, 1.8828, -0.0513, -0.0611, -0.0122, -1.1556, -7.7744, 8.0479, 2.2002, 0.398, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7841, 0.5781, -0.3714, -0.0227, -0.0292, 0.9983, 0.5945, 1.8286, 0.7151, 0.458, 0.4248, 0.2493, 0.9998]\nstate[eef_state]: left_x=0.2921 left_y=0.0021 left_z=0.1726 left_yaw=-0.0012 left_pitch=-0.0149 left_roll=0.0028 left_gripper=0.9983 right_x=0.3971 right_y=0.185 right_z=0.0333 right_yaw=0.0933 right_pitch=-0.0213 right_roll=-0.0259 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.7299, 6.106, 1.9463, -0.0171, -0.0611, -0.0122, -0.1162, -5.0393, 3.7675, 1.326, 0.0073, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b135c928e8c13a6c0fb18784a3fbf180cdaf621d160c0393325e1a748e0dcd42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dec6e782568ab4f2cd3f62b0ff28e9d64c33af9cc4da7b1799fa3feba6b4d564",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25e3cb29d308652d4043fa61e6b0038ad828b98d6f1c1af75bdf7f6a8a677cfd",
        "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/wYKEAgSGAI4AUIIdGhpbmtpbmcSDL+XFggNmaV4b6IowxoMyeTdYP6SH7Guqa/OIjB45txBeH2+FInTMWvvxPQUEtTOr2cRrCxdFw/YmBrNVWgtebtAzEFEA/itJsB3q6kqnAbMQ87n1X7hkYJBozxU5PP+DCwjGpmo84twGVhC44H4BxO2hvFmYlGfwEFARhZ+pIMUgvAuSu1oKcVMLPAqHQhraYILColbKxVMEEiGetTGS7TPOkBtXwaGAsGLbJZBDtNASIbz+wNUZaEZ3VI9e0ECLvKoCglBxqaRQ9BmcGcxh4FoLwDW8eG1JnEG7C+7sKQw/+GemgAWuQ5OA51ZrT9mHPXlkeIncZY4xSywBvMGPhrVj/UDfoagR91Jy/W4YUKG4V5w9L9JvkWn/O9rjrg9aO89OzKHL3U2aFBppy7NK5ausryQrBmzi1RhlpnRuA5mBaUAAgVn70RUX2/gWLieL3s/5X3Hi2l/Z/2ghJ8FrLONSj+0TA3Qp81PcpVcAC419J/hGJBkMkIURSZszQAOU/wL3oNVPe3TANzAqjLhgwsJdh5sVuSnL4vGMg2lp6Tvx0ChgwpUrmjbK8x1u4xu7jMtROvcGqhshCS/OFcUI+24VY/k/a37Vr9tSXR3NB9afumEoXSYSGXHQCgAzrj8EHkySR8Y77I/33KWpIikqInlJ6oNx4LEK0geMAdMYlMQZIIv4H3IKrw4AJgb1hNgBUGrcgCFTf6q/Dhe+i2SWUdo5llUayDDZvV5uwy5LMBr6Qt479QVqyHbrMgCoUVsjhrF7QRAeB8/XhLGMn7n1AzIjI+8MhL6SWquz+5QwPZWvk5GMehZAB3gzwQhyck9FrC63vDn06azm1LQ23/Fjy2iiML8Q+U5Jb/49z8Wwks7BNC7XRI7W2fsOaIJF0PFeZTVVFDYJAQmuk3tIm/dEdL5SYnISqs5gfMJf7x2bLRW2lyTxxbJyduMeBTrdmp044lYYVOhL0gCXwxZHH6QvPqPAnWIFBlYqhWkX4Whygaa/B2lOSjOKYYCWmn0TlT0qX8XYUuysdTISUrMT7z5zqL1y7PAw9sjps6t6M6UWX5D5KoS331Qq0zR+USoEtoJM5sBFi+WzT3SnDC1bLKYq02v1rsPr3YRJUMsUiORsgJYBZxp18lN/hbmiV8vn/3blXK0r45PRCURUV10GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0126TG5BfTi315CnFzG8rgXp",
      "input": {
        "note": "Jaws straddle the bottle body at ~3 cm height. Closing to grasp it.",
        "targets": {
          "right_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_0126TG5BfTi315CnFzG8rgXp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7841, 0.5701, -0.3717, -0.0227, -0.0292, 0.9983, 0.5941, 1.8229, 0.7029, 0.5819, 0.4187, 0.2413, 0.0137]\nstate[eef_state]: left_x=0.291 left_y=0.0021 left_z=0.1688 left_yaw=-0.0012 left_pitch=-0.0233 left_roll=0.003 left_gripper=0.9983 right_x=0.4074 right_y=0.1929 right_z=0.0548 right_yaw=0.1005 right_pitch=0.0803 right_roll=0.0263 right_gripper=0.0137\nstate[joint_eff]: [0.0615, -1.935, 6.4889, 1.9365, -0.0269, -0.0806, -0.0122, -0.4718, -7.2957, 4.2872, 1.1111, 0.0659, 0.1148, 1.2186]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd1857f14889964d1c3c750c007e0415ac7dae65e4e4136ea7406f261af91fcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0d3381fc6aa73a6139aa71e9f85e8e2ffc974a19b335c25f76620df30459614",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3518348adf2c5fcbb83f51f5016c9f727565bd4d28f4e767f36261866f841126",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 5.684 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]: [-0.0189, 0.7891, 0.5823, -0.3725, -0.0227, -0.0296, 0.9983, 0.6056, 1.6772, 0.8925, 0.0734, 0.4248, 0.2657, 0.9998]\nstate[eef_state]: left_x=0.2928 left_y=0.0021 left_z=0.1729 left_yaw=-0.001 left_pitch=-0.0168 left_roll=0.0026 left_gripper=0.9983 right_x=0.4002 right_y=0.1929 right_z=0.0932 right_yaw=0.0943 right_pitch=-0.0698 right_roll=-0.0396 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.2923, 6.8991, 1.8828, -0.0513, -0.0611, -0.0122, -1.1556, -7.7744, 8.0479, 2.2002, 0.398, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7841, 0.5781, -0.3714, -0.0227, -0.0292, 0.9983, 0.5945, 1.8286, 0.7151, 0.458, 0.4248, 0.2493, 0.9998]\nstate[eef_state]: left_x=0.2921 left_y=0.0021 left_z=0.1726 left_yaw=-0.0012 left_pitch=-0.0149 left_roll=0.0028 left_gripper=0.9983 right_x=0.3971 right_y=0.185 right_z=0.0333 right_yaw=0.0933 right_pitch=-0.0213 right_roll=-0.0259 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.7299, 6.106, 1.9463, -0.0171, -0.0611, -0.0122, -0.1162, -5.0393, 3.7675, 1.326, 0.0073, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7841, 0.5701, -0.3717, -0.0227, -0.0292, 0.9983, 0.5941, 1.8229, 0.7029, 0.5819, 0.4187, 0.2413, 0.0137]\nstate[eef_state]: left_x=0.291 left_y=0.0021 left_z=0.1688 left_yaw=-0.0012 left_pitch=-0.0233 left_roll=0.003 left_gripper=0.9983 right_x=0.4074 right_y=0.1929 right_z=0.0548 right_yaw=0.1005 right_pitch=0.0803 right_roll=0.0263 right_gripper=0.0137\nstate[joint_eff]: [0.0615, -1.935, 6.4889, 1.9365, -0.0269, -0.0806, -0.0122, -0.4718, -7.2957, 4.2872, 1.1111, 0.0659, 0.1148, 1.2186]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd1857f14889964d1c3c750c007e0415ac7dae65e4e4136ea7406f261af91fcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0d3381fc6aa73a6139aa71e9f85e8e2ffc974a19b335c25f76620df30459614",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3518348adf2c5fcbb83f51f5016c9f727565bd4d28f4e767f36261866f841126",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GjW3ALR7N6CqiPEbz7hTrA",
      "input": {
        "note": "Empty close: the jaws squeezed over the top of the round bottle and rode up. Opening and lifting to retry lower.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GjW3ALR7N6CqiPEbz7hTrA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7757, 0.5503, -0.3637, -0.0223, -0.0292, 0.9983, 0.5941, 1.7535, 0.783, 0.2836, 0.4034, 0.2375, 0.9956]\nstate[eef_state]: left_x=0.2891 left_y=0.0021 left_z=0.1637 left_yaw=-0.0016 left_pitch=-0.0267 left_roll=0.0028 left_gripper=0.9983 right_x=0.3979 right_y=0.1895 right_z=0.056 right_yaw=0.1159 right_pitch=-0.0554 right_roll=-0.0387 right_gripper=0.9956\nstate[joint_eff]: [0.1299, -1.7846, 6.7487, 1.9658, -0.0122, -0.0659, -0.0122, -0.6222, -10.0855, 8.335, 1.8242, 0.1783, 0.1099, 0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c321befc8f02992cf8413ea6a33af64d83a9560543e3eaf4f2944aa4f738ed62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcc462d18d5315ae4929084fd4085741c901abb027b6ca9182472238bf75eeac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c65a046bd8ed798ec87910a1530e0470ad0b66b6d0c8a242a73b553b64369cd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 3.137 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]: [-0.0189, 0.7841, 0.5781, -0.3714, -0.0227, -0.0292, 0.9983, 0.5945, 1.8286, 0.7151, 0.458, 0.4248, 0.2493, 0.9998]\nstate[eef_state]: left_x=0.2921 left_y=0.0021 left_z=0.1726 left_yaw=-0.0012 left_pitch=-0.0149 left_roll=0.0028 left_gripper=0.9983 right_x=0.3971 right_y=0.185 right_z=0.0333 right_yaw=0.0933 right_pitch=-0.0213 right_roll=-0.0259 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.7299, 6.106, 1.9463, -0.0171, -0.0611, -0.0122, -0.1162, -5.0393, 3.7675, 1.326, 0.0073, 0.0366, -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]: [-0.0189, 0.7841, 0.5701, -0.3717, -0.0227, -0.0292, 0.9983, 0.5941, 1.8229, 0.7029, 0.5819, 0.4187, 0.2413, 0.0137]\nstate[eef_state]: left_x=0.291 left_y=0.0021 left_z=0.1688 left_yaw=-0.0012 left_pitch=-0.0233 left_roll=0.003 left_gripper=0.9983 right_x=0.4074 right_y=0.1929 right_z=0.0548 right_yaw=0.1005 right_pitch=0.0803 right_roll=0.0263 right_gripper=0.0137\nstate[joint_eff]: [0.0615, -1.935, 6.4889, 1.9365, -0.0269, -0.0806, -0.0122, -0.4718, -7.2957, 4.2872, 1.1111, 0.0659, 0.1148, 1.2186]",
      "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]: [-0.0189, 0.7757, 0.5503, -0.3637, -0.0223, -0.0292, 0.9983, 0.5941, 1.7535, 0.783, 0.2836, 0.4034, 0.2375, 0.9956]\nstate[eef_state]: left_x=0.2891 left_y=0.0021 left_z=0.1637 left_yaw=-0.0016 left_pitch=-0.0267 left_roll=0.0028 left_gripper=0.9983 right_x=0.3979 right_y=0.1895 right_z=0.056 right_yaw=0.1159 right_pitch=-0.0554 right_roll=-0.0387 right_gripper=0.9956\nstate[joint_eff]: [0.1299, -1.7846, 6.7487, 1.9658, -0.0122, -0.0659, -0.0122, -0.6222, -10.0855, 8.335, 1.8242, 0.1783, 0.1099, 0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c321befc8f02992cf8413ea6a33af64d83a9560543e3eaf4f2944aa4f738ed62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcc462d18d5315ae4929084fd4085741c901abb027b6ca9182472238bf75eeac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c65a046bd8ed798ec87910a1530e0470ad0b66b6d0c8a242a73b553b64369cd3",
        "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/QkKEAgSGAI4AUIIdGhpbmtpbmcSDGH3pEDNLx8j/9IKfBoM5ceSDnzTGB/ukbdYIjAnGWgXxaWrX6lx+JQ1sbjNleSZpsl4O4z6om7F40J8fBFIMSRqw1gvMYuzhZqJUF8qmglJa5Qof7iNHAec7/bODFM0isTTej8CPAxIT6poZBq3FdBCCusuXlFtsOh2qa7bZmZKZMGp1s4XZbFO4r5ZVKY+ocVVO0jQrP6qBLl2NLVVjWxfiiVmV7dT/JgcI7dWxGLOfHcSqaau/kR39995EG41TOqnMFYKON3YBxT9mbmem+QXJBpNN1UCE6534lWgRt4b6mVPxtHovkcx6Dnvc4bCwKKmvgtiMZecZpy3eM+91jDzjm9x37tmZe/osrO9F40l3S446qQ0UbF6BMUOvls6ckbn7Uv9ZCx/9hEEwtAYOAgvp6MQVlJtFa4mF4w930hRTJ5z2OH5OCezBUdzNAiOe5buXpMaka3z0tVn7aQYchcbpm6Aw453IK1HnRdGCTR+qnhPiasnHqRNprx4Cg7gOg2EoMRIFwnRwzTceHgWS5BA9l/4u178+1cVXlcMG4NDC2P34xjkBL7lMbzn3AWtRlUENVFimrjvpLP+98W7TMdqJjJl+IvHslYQubssV8oRV0Aku2bDG+wVAZjXgGbr69sh3uAS4qIPF3tj1OUvJmYzJnavZMgvs6UTv6wdE8tb1mYdp6w5eWvsBYlmkLazdAFrklFldSMKmpICn30Jc4RwWvEguU2kzqVKsfaE1TdbSAKWC3uLsoWyz8GZdEb1Azq2ngGOlvqjEYmSeXlGFo92Q0ryHlUTvL/rWMrvDP0h5xXIQOaKfCybINghpT5JydPCGuJthRNsfSnJ95ZPUQpWupfdVpdE+1ErjN/fXIH4zFATawHmg4nDXD+/O5SyDaxRIa6jw25p5xc3zBhPOeeV3s/mPW+HxP0p73mMAxxNQgIo/0vk9oelzXNlBHNxflhbn3Ei6WW3dcZ452sFsKSb9ycDiwUhTud6wGgwFPC8EUt0UAsGYdZCTBA1xnJAXj/q1PJzcWSw8WtAwE7+Ep+cMJOc48Qedm15mCEEl8ocxP95nTML8HBPG88RnHs25Ilyl33aIi83d5KCpkLsG3pSaWPok4/nSPIibdBDSifpk537y8QaUDPeiK2oJXevvDoBzoYqRcpEOmYKpmpKEg5HQdgVlOzR2ISA/HoHWU9fqaHkooYxfgJWqjQB+PKhfqal57qllEENzd/Znc+MpUmgf/EzwAdi1ZGrhivmfMZ31COCWb4yIbAgs9/6oaXwgk82Y4lwm0Hqp4NugnUhvGZjPiwNvYMNzn8ZZxVZ7FbdZ6vuLX2eMdSpevlBq2uQaJh7Ol2fcWEPBdgKX1ZrMvW11b2TZ/7YAdpXkoEHRnaYlH4GCIRKPKxtH/Q7nKenAbz/O8MDQYzgQeY39TIVeDMq0SCS70nCt3bP4Si91T7SbMRuhZWQMKrqCtFZ71d2dLvMO4WOyz3OJRAubIiWNw+QYcPZiJ1MMiEdgYr+499sm9TigJQK3gmKk7gdf4gSR0EIJ+iywpdYVaEw5ll/Hdebf2QhJML3AAyG/tyCFnbPjQzSr4qKdOQ6VgJCwibumB7EkQ1mWgvaQbkonHL+Ra+nJaZ/UAzwFQxSPML9QK8juQWebk1XYyBydrt5yXQFFaQQEHEIbzzBmRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D7j1YqiNQMw3BDk917mxP9",
      "input": {
        "note": "Bottle lies centred between the open jaws. Descending to table level so the jaws straddle the bottle's widest part.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.19,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01D7j1YqiNQMw3BDk917mxP9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7643, 0.5308, -0.3485, -0.0227, -0.0292, 0.9983, 0.5941, 1.9369, 0.6846, 0.5854, 0.3893, 0.2417, 0.9954]\nstate[eef_state]: left_x=0.288 left_y=0.0022 left_z=0.161 left_yaw=-0.0012 left_pitch=-0.0195 left_roll=0.0029 left_gripper=0.9983 right_x=0.3933 right_y=0.1891 right_z=0.0003 right_yaw=0.1254 right_pitch=-0.0417 right_roll=-0.0183 right_gripper=0.9954\nstate[joint_eff]: [0.1299, -1.7026, 6.4479, 1.8828, -0.0024, -0.0659, -0.0122, -0.5538, -6.3932, 4.1778, 1.409, 0.188, -0.0269, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:889b68ae065c58a2c75ae6f9b45e99c31722346f0120c97d0a359b567cd11a91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b72f08eaa1d8fcafd19862c14850463b4cb76283c03f953b43a2065fc73b046e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:28ebe5cceaf1c26653df15816aaf66013dec30ab1ae66429c312b0dcced981c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 5.007 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]: [-0.0189, 0.7841, 0.5701, -0.3717, -0.0227, -0.0292, 0.9983, 0.5941, 1.8229, 0.7029, 0.5819, 0.4187, 0.2413, 0.0137]\nstate[eef_state]: left_x=0.291 left_y=0.0021 left_z=0.1688 left_yaw=-0.0012 left_pitch=-0.0233 left_roll=0.003 left_gripper=0.9983 right_x=0.4074 right_y=0.1929 right_z=0.0548 right_yaw=0.1005 right_pitch=0.0803 right_roll=0.0263 right_gripper=0.0137\nstate[joint_eff]: [0.0615, -1.935, 6.4889, 1.9365, -0.0269, -0.0806, -0.0122, -0.4718, -7.2957, 4.2872, 1.1111, 0.0659, 0.1148, 1.2186]",
      "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]: [-0.0189, 0.7757, 0.5503, -0.3637, -0.0223, -0.0292, 0.9983, 0.5941, 1.7535, 0.783, 0.2836, 0.4034, 0.2375, 0.9956]\nstate[eef_state]: left_x=0.2891 left_y=0.0021 left_z=0.1637 left_yaw=-0.0016 left_pitch=-0.0267 left_roll=0.0028 left_gripper=0.9983 right_x=0.3979 right_y=0.1895 right_z=0.056 right_yaw=0.1159 right_pitch=-0.0554 right_roll=-0.0387 right_gripper=0.9956\nstate[joint_eff]: [0.1299, -1.7846, 6.7487, 1.9658, -0.0122, -0.0659, -0.0122, -0.6222, -10.0855, 8.335, 1.8242, 0.1783, 0.1099, 0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7643, 0.5308, -0.3485, -0.0227, -0.0292, 0.9983, 0.5941, 1.9369, 0.6846, 0.5854, 0.3893, 0.2417, 0.9954]\nstate[eef_state]: left_x=0.288 left_y=0.0022 left_z=0.161 left_yaw=-0.0012 left_pitch=-0.0195 left_roll=0.0029 left_gripper=0.9983 right_x=0.3933 right_y=0.1891 right_z=0.0003 right_yaw=0.1254 right_pitch=-0.0417 right_roll=-0.0183 right_gripper=0.9954\nstate[joint_eff]: [0.1299, -1.7026, 6.4479, 1.8828, -0.0024, -0.0659, -0.0122, -0.5538, -6.3932, 4.1778, 1.409, 0.188, -0.0269, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:889b68ae065c58a2c75ae6f9b45e99c31722346f0120c97d0a359b567cd11a91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b72f08eaa1d8fcafd19862c14850463b4cb76283c03f953b43a2065fc73b046e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28ebe5cceaf1c26653df15816aaf66013dec30ab1ae66429c312b0dcced981c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wd8Cm59rntjMjeWLCQFA8V",
      "input": {
        "note": "Jaws at table level around the bottle body. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Wd8Cm59rntjMjeWLCQFA8V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7578, 0.5152, -0.3412, -0.0227, -0.0292, 0.9983, 0.5941, 1.961, 0.6601, 0.6868, 0.3882, 0.2348, 0.5172]\nstate[eef_state]: left_x=0.2865 left_y=0.0022 left_z=0.157 left_yaw=-0.0012 left_pitch=-0.0214 left_roll=0.003 left_gripper=0.9983 right_x=0.3956 right_y=0.1909 right_z=0.0016 right_yaw=0.1305 right_pitch=0.0053 right_roll=0.0004 right_gripper=0.5172\nstate[joint_eff]: [-0.1709, -1.6342, 6.735, 1.9023, -0.0073, -0.0659, -0.0122, -0.2803, -8.7316, 3.6581, 1.6484, 0.1197, 0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cff5d52b1356d8464b71105ce9a875cc809e7657f7061e76fb32e8668fddc54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eac80114017d779ea7db5358342fa888899e22e0bfcaeeb1e997b3351aeaa088",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35d64e6c1532b31455ee16d3f9041529f8ed15bce92342cc8da16b1f1b0b0fe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 4.188 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]: [-0.0189, 0.7757, 0.5503, -0.3637, -0.0223, -0.0292, 0.9983, 0.5941, 1.7535, 0.783, 0.2836, 0.4034, 0.2375, 0.9956]\nstate[eef_state]: left_x=0.2891 left_y=0.0021 left_z=0.1637 left_yaw=-0.0016 left_pitch=-0.0267 left_roll=0.0028 left_gripper=0.9983 right_x=0.3979 right_y=0.1895 right_z=0.056 right_yaw=0.1159 right_pitch=-0.0554 right_roll=-0.0387 right_gripper=0.9956\nstate[joint_eff]: [0.1299, -1.7846, 6.7487, 1.9658, -0.0122, -0.0659, -0.0122, -0.6222, -10.0855, 8.335, 1.8242, 0.1783, 0.1099, 0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7643, 0.5308, -0.3485, -0.0227, -0.0292, 0.9983, 0.5941, 1.9369, 0.6846, 0.5854, 0.3893, 0.2417, 0.9954]\nstate[eef_state]: left_x=0.288 left_y=0.0022 left_z=0.161 left_yaw=-0.0012 left_pitch=-0.0195 left_roll=0.0029 left_gripper=0.9983 right_x=0.3933 right_y=0.1891 right_z=0.0003 right_yaw=0.1254 right_pitch=-0.0417 right_roll=-0.0183 right_gripper=0.9954\nstate[joint_eff]: [0.1299, -1.7026, 6.4479, 1.8828, -0.0024, -0.0659, -0.0122, -0.5538, -6.3932, 4.1778, 1.409, 0.188, -0.0269, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7578, 0.5152, -0.3412, -0.0227, -0.0292, 0.9983, 0.5941, 1.961, 0.6601, 0.6868, 0.3882, 0.2348, 0.5172]\nstate[eef_state]: left_x=0.2865 left_y=0.0022 left_z=0.157 left_yaw=-0.0012 left_pitch=-0.0214 left_roll=0.003 left_gripper=0.9983 right_x=0.3956 right_y=0.1909 right_z=0.0016 right_yaw=0.1305 right_pitch=0.0053 right_roll=0.0004 right_gripper=0.5172\nstate[joint_eff]: [-0.1709, -1.6342, 6.735, 1.9023, -0.0073, -0.0659, -0.0122, -0.2803, -8.7316, 3.6581, 1.6484, 0.1197, 0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cff5d52b1356d8464b71105ce9a875cc809e7657f7061e76fb32e8668fddc54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eac80114017d779ea7db5358342fa888899e22e0bfcaeeb1e997b3351aeaa088",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35d64e6c1532b31455ee16d3f9041529f8ed15bce92342cc8da16b1f1b0b0fe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7AkKEAgSGAI4AUIIdGhpbmtpbmcSDEsSGCiYoNL2gj1NARoMxNXMbIS3Gn5N7umqIjASatIP3y3mE3lhYxyPLc7iHTkthubECVEGLGw5l3iFR2c9EQTsWwBXnMXlPqePkoUqiQkv7rkY0fCtlT9HTL4yc1D5Qw60GsO1K9E6C6Z4XY/7gXJOb5uqExv1XMCfaQc5loW1alHNbuW6N4R5gFhtZrpy6Z71Psx2uZL1wWmSf2a7rsWbiXboWCie/JTxKFl0wSljE0hBVW4M/LViND4tuuWNF1PpqJUqEd1Hgn18XvrOrAhuLYIXkjlb82UFAPPRFLtT9iS97sLHOeGDJY1Zg1D9iwrgo80bT39RcWrK7OBlOusMmgtS/dc2yKqiqi7LZcaPlA5mU/RXSGyCH0h9AZECRZJnXBD7kpt8+zjKqfthITSN/5BNYnURYDsa76MZkSjmVQypH/mmJ3l0x6FBEVDKI1LTJviVlrEmqLEqemqnw0GmVnDuxQIgQBRGLuiGstfnkGIMiDsh9uLQ/hIR56u7CL71fJapqkv7lQw1Y9PXrlvlMkSw6Z+RqeXfiWtAidNodSUfxoIDTsEfC3QjzDtafMfxYNORGGt5XgQdpUhRByukTGYbjfEPLB3PKc0BEhF6EepfSuzA6UGgAVr7ZlqNpFiZRyzYyWYrxSIDgZq8u0xK9bcj+yZ0MVzyQJUebzQN6CmcUYI4OxBKcTgmbxaij1phFI5NIahWjsTN7IDZVgJTcJgF8D1ECvmS81cqjMoOyGMQvrfa9Y5BbKcQGWi1w60ZQMyGm1TPSiZ0lNs3QPDKD/2Teg5CyCGvhvnC2q45c7chGBdKHulY5QYx2AN26DYeLO6QDZ9o6SoEtZ8kc3f0dUzMGKo1VLBwNdACXxmmT/rUelVJvgFoftsi2XRSW8QuXhW2/JCkyKFIRl8YjVTulLUCbUaLqrVaIcIheTYLS3YVabNMHV1uibVJy5RzeMgys/UtyJUzWUTkzQHoEwiFuWl8LpuB8NFMPMCYCsYLNF7OzP+dxYyrPltn76uCVIWdchRyEqZgUKzrK0U6tt3LRjM+x+920xfIPezXakgr6oiy50DaC4xuW0q9WVVyJaucRgbSM41QenFsxLapi+g0xRIUUg0hotgr+EkgxpwYxF7YLn/XvoBX9QjnIO6Xo1E1nFPxN7n2BRhHNUV/WOarcVMcIby2UEVhodlZa4gRHpRW3XQr/nhwIOR5ke6z7TpSeggUP1Fx+MGuzAzpyScdodhoZAgmp0l1IOthiqujrdgQ+v9lj3/vTKXSU3WDb9gA75/d5sBohFj1Bxo2BlBxQ+VfMkTdQEZad5qx8RCZKUDWOkcJBr5osTQ2eaWTCgnJdA6bilV40Vtpoowgru5YMXIF4lhXSE2v3GAc5OMsI/f5OKUu8wf2rFz4BjltMcrhvxE3XoqX8jt03BP/1f654ha07K8lLiCkUtb9+bFIYkqBKx4AEHN9tR8Xi7prikp4VakZAl2ryPfuFDe/t++YF2I1U+K7YVt0p6R3IGqfvzUpCwPgCHv1XHeRmDOwFUvjpTtvhsbOyhVa3J9XPt0gV2BIzF7iQtdOJHPQwwlr4Gp/7vVBDceflzNiWUw3RBlomrvmxnO4axIgr64KTOmJYcpJPgfrDVWj/560cdmDr62VN+iwMOkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JBaWYVFESWVfwsB41KzbB9",
      "input": {
        "note": "Grasped the bottle body (gripper 0.52 ≈ 5 cm). Lifting slightly and pulling it ~12 cm toward the base so its cap comes within reach.",
        "targets": {
          "right_x": 0.28,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01JBaWYVFESWVfwsB41KzbB9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7498, 0.5007, -0.3298, -0.0227, -0.0292, 0.9983, 0.8799, 1.4807, 0.4118, 0.2287, 0.5301, 0.4061, 0.5172]\nstate[eef_state]: left_x=0.2858 left_y=0.0022 left_z=0.1549 left_yaw=-0.0012 left_pitch=-0.0164 left_roll=0.0029 left_gripper=0.9983 right_x=0.2669 right_y=0.1883 right_z=0.0234 right_yaw=0.2038 right_pitch=-0.1315 right_roll=-0.0627 right_gripper=0.5172\nstate[joint_eff]: [0.0068, -1.0598, 6.5299, 1.9609, -0.0073, -0.0513, -0.0122, 0.1299, -7.4462, 6.8718, 2.5958, 0.8718, 0.0513, 0.989]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66976f8005ad4e235b6b2e124568c7e5ce4527abe395d0039ca989b5cec6879d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0558c5b8bffd5de4697d45cbd13785feff31b010d6d7bd4e7a3043f2af5839e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d994f13d94e6de5c479e32baa214e402d9b37dcf002880e80bfe3ab46317c529",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 6.913 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]: [-0.0189, 0.7643, 0.5308, -0.3485, -0.0227, -0.0292, 0.9983, 0.5941, 1.9369, 0.6846, 0.5854, 0.3893, 0.2417, 0.9954]\nstate[eef_state]: left_x=0.288 left_y=0.0022 left_z=0.161 left_yaw=-0.0012 left_pitch=-0.0195 left_roll=0.0029 left_gripper=0.9983 right_x=0.3933 right_y=0.1891 right_z=0.0003 right_yaw=0.1254 right_pitch=-0.0417 right_roll=-0.0183 right_gripper=0.9954\nstate[joint_eff]: [0.1299, -1.7026, 6.4479, 1.8828, -0.0024, -0.0659, -0.0122, -0.5538, -6.3932, 4.1778, 1.409, 0.188, -0.0269, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7578, 0.5152, -0.3412, -0.0227, -0.0292, 0.9983, 0.5941, 1.961, 0.6601, 0.6868, 0.3882, 0.2348, 0.5172]\nstate[eef_state]: left_x=0.2865 left_y=0.0022 left_z=0.157 left_yaw=-0.0012 left_pitch=-0.0214 left_roll=0.003 left_gripper=0.9983 right_x=0.3956 right_y=0.1909 right_z=0.0016 right_yaw=0.1305 right_pitch=0.0053 right_roll=0.0004 right_gripper=0.5172\nstate[joint_eff]: [-0.1709, -1.6342, 6.735, 1.9023, -0.0073, -0.0659, -0.0122, -0.2803, -8.7316, 3.6581, 1.6484, 0.1197, 0.0317, 1.0281]",
      "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]: [-0.0189, 0.7498, 0.5007, -0.3298, -0.0227, -0.0292, 0.9983, 0.8799, 1.4807, 0.4118, 0.2287, 0.5301, 0.4061, 0.5172]\nstate[eef_state]: left_x=0.2858 left_y=0.0022 left_z=0.1549 left_yaw=-0.0012 left_pitch=-0.0164 left_roll=0.0029 left_gripper=0.9983 right_x=0.2669 right_y=0.1883 right_z=0.0234 right_yaw=0.2038 right_pitch=-0.1315 right_roll=-0.0627 right_gripper=0.5172\nstate[joint_eff]: [0.0068, -1.0598, 6.5299, 1.9609, -0.0073, -0.0513, -0.0122, 0.1299, -7.4462, 6.8718, 2.5958, 0.8718, 0.0513, 0.989]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66976f8005ad4e235b6b2e124568c7e5ce4527abe395d0039ca989b5cec6879d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0558c5b8bffd5de4697d45cbd13785feff31b010d6d7bd4e7a3043f2af5839e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d994f13d94e6de5c479e32baa214e402d9b37dcf002880e80bfe3ab46317c529",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AcKEAgSGAI4AUIIdGhpbmtpbmcSDM29TlXls/8OU22y7BoMrN5AOq3/7/kcuU+SIjAlL4TvRqtO+sO8AMRKFxS1qZytFCR6/85PIKpze6elaP8vuk7BVLXGOEQ19LZ5tpgqhQcVNtyy6o/3uyAHV2kq5Xt7PwDfIxJNyFI7ahDbSeI/dMmERxRPz05jMPpVi37AJaORgZztRxY2op0HpoJSpOfQJYO76YbqdDnO8H24iGx2PmHyZmVNErRKUFHoK6kzwbf3C+9F91AxC4EJE9PBQtPErrdnhZ1Gn9aCpoOc1eFfpWY29tUkOLIyOeAQzaONBkcy9+Y0Y+rKw5BU3YFkGasOtkf5zfc28gLqGgrSowRRBsPexv1gBcuR6p38VfQJqxiUDmssPUfmu5LnX3ub9x4i3BZ0eb7VEVhpbrsshdWAqWMp8JULDYlEQhJZxT1FXrtbqilXJvXQFZUrHOjLANlMaTjAJ2mK+ce6QQynEMzu6JBYHthVs292DHNc0jXpedoGOM8qUM7rQCbVVPLh3tkLObdQS3mvgBpYsFkLYtlyYsvSkrWLIIk4LzmPbRlRcWn4utx74yl7AjrLYx4GoLyaeQ6fsnc2SW5mCl189Q4sVFvfTlbwjLyiTqYe+52v9NKcAIoE/hWhqN7Rrn4WZQ9HcadB2WPfcFmaHUJ1IuvnTwiKlXYEFiQX5wrXMUtpRj6uK3srRiqFwwlAUl30HzP89vkfICa5tF3aeFhtib4jz8L6WGRhbgS0tmAriaP+pO1qtHYlAhlPXnp0QPEMhiCDIYMdCZt41pdMYSbwxktYA1DLDOk8wdH3q5+N/afdw+iA5yaIF7iBnEaY02QgeQ13mGS1rviClCkmRp1s55voke0FfE7lNz1ZkSEa9VSKbblg7H2Ntems1/k9snAwD4JYOByZV2+RB2fUQm3JagwKF1H3bkTHr9NywqBVdHlsoSjhOAixFF0kZR4I6Y0CSMppZh7u3FaLCwYz/CyGoSzrvw9uymrXPHzKO5mMgNL18mplFG19I3c6AaJevhOGTr4n/cfLJyjwvteOa6RSUwxjQDWgdRNeimO/xZo5HqKk5BkqhLtVacrKC3KNaG7/6wdXBIWl7gOFwmvHWBal/2aZD5moz1hzuoQlB0cbwVpeUXyWTdlibuUC5d/GCgfouy83VWER7IHGs1cmBuA3QWP9hMLAeaxpS51HyG4ZuvPsLff7GemKZ5+Vls+eDJZ2DwNmUQ1bBN4+RwvRsOGb2FWSLMVV+13TwLpMY3cVGysZmHQylvHPDTuQDEfSxKfAqG6GB3cevYJgLkb6S2aj9j8TxtteA4JDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VKr176Ba2jcqXeBrsggXzV",
      "input": {
        "note": "Bottle pulled closer (cap now visible nearer in overhead view). Releasing and lifting to go for the cap end.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01VKr176Ba2jcqXeBrsggXzV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7456, 0.498, -0.3264, -0.0227, -0.0292, 0.9983, 0.8974, 1.1698, 0.4847, -0.0021, 0.5503, 0.3885, 0.9961]\nstate[eef_state]: left_x=0.2857 left_y=0.0022 left_z=0.1555 left_yaw=-0.0012 left_pitch=-0.0115 left_roll=0.0028 left_gripper=0.9983 right_x=0.266 right_y=0.1911 right_z=0.1067 right_yaw=0.2219 right_pitch=-0.0036 right_roll=0.008 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.0051, 5.9829, 1.917, 0.0073, -0.0317, -0.0122, -0.1709, -4.5197, 8.7316, 1.6923, 0.3883, 0.0806, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebf7753d747ded37bf7c696db1377dc2a9267e8a96a0a75e02e4a3e95130e757",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf4b0d2eeef3cb5433c897fda7a569c1d000eae565035652835e68fb733a64cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a5a2bf6f6fb776921956b21fdfe3be3106117e81769a57ca1942829fc4ba22b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 6.035 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]: [-0.0189, 0.7578, 0.5152, -0.3412, -0.0227, -0.0292, 0.9983, 0.5941, 1.961, 0.6601, 0.6868, 0.3882, 0.2348, 0.5172]\nstate[eef_state]: left_x=0.2865 left_y=0.0022 left_z=0.157 left_yaw=-0.0012 left_pitch=-0.0214 left_roll=0.003 left_gripper=0.9983 right_x=0.3956 right_y=0.1909 right_z=0.0016 right_yaw=0.1305 right_pitch=0.0053 right_roll=0.0004 right_gripper=0.5172\nstate[joint_eff]: [-0.1709, -1.6342, 6.735, 1.9023, -0.0073, -0.0659, -0.0122, -0.2803, -8.7316, 3.6581, 1.6484, 0.1197, 0.0317, 1.0281]",
      "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]: [-0.0189, 0.7498, 0.5007, -0.3298, -0.0227, -0.0292, 0.9983, 0.8799, 1.4807, 0.4118, 0.2287, 0.5301, 0.4061, 0.5172]\nstate[eef_state]: left_x=0.2858 left_y=0.0022 left_z=0.1549 left_yaw=-0.0012 left_pitch=-0.0164 left_roll=0.0029 left_gripper=0.9983 right_x=0.2669 right_y=0.1883 right_z=0.0234 right_yaw=0.2038 right_pitch=-0.1315 right_roll=-0.0627 right_gripper=0.5172\nstate[joint_eff]: [0.0068, -1.0598, 6.5299, 1.9609, -0.0073, -0.0513, -0.0122, 0.1299, -7.4462, 6.8718, 2.5958, 0.8718, 0.0513, 0.989]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7456, 0.498, -0.3264, -0.0227, -0.0292, 0.9983, 0.8974, 1.1698, 0.4847, -0.0021, 0.5503, 0.3885, 0.9961]\nstate[eef_state]: left_x=0.2857 left_y=0.0022 left_z=0.1555 left_yaw=-0.0012 left_pitch=-0.0115 left_roll=0.0028 left_gripper=0.9983 right_x=0.266 right_y=0.1911 right_z=0.1067 right_yaw=0.2219 right_pitch=-0.0036 right_roll=0.008 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.0051, 5.9829, 1.917, 0.0073, -0.0317, -0.0122, -0.1709, -4.5197, 8.7316, 1.6923, 0.3883, 0.0806, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebf7753d747ded37bf7c696db1377dc2a9267e8a96a0a75e02e4a3e95130e757",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf4b0d2eeef3cb5433c897fda7a569c1d000eae565035652835e68fb733a64cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5a2bf6f6fb776921956b21fdfe3be3106117e81769a57ca1942829fc4ba22b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQsKEAgSGAI4AUIIdGhpbmtpbmcSDAlPGvA4xTWrJx7YLBoMEop4ZbdPE0fmdqilIjADgo0TKNxRFw3tZlbxU0hE6toXrvE47vYYo5yOffxzBaYtn+9ePMkVop5n+8Ue108qzgoydvr5XL7+HHrfmhyD+1E0CopYEK26F8OHiN+P26AzIMi08wnNzrl/kry1lgmywpLY1ecUcmuxSEc2xnO5hAL+pbi07aSsQh6a+U+rxpA3IaARrPQzCnr7YsofhAUV5sdGkxwDYIRQ6wHxdZytxDCWvz7wxhTJ1PTFaZvZUs1OTgrKArJi00VmgbN91cb5sIazdZT18AC6GyP04vVNgoZWQyoZTRbaMbKsBq+FOS/gCBS0FkiqnNbEDH7IK3U3vLUDhHBniwYZJX3U2z0BsvKI6E9TW66KVIW1QxMOY0cHSQJ4ODzE1pCos9pHuAhF29815oSmVFYpkRypYTBVZAU9ZtXrMlU3304kI2EvI/DCijSqj8r8KgIk/u04AZ1hgcG6Q/6jnzN4AOmQjGqzqRUxnUHPmRu8fNtGtHFa4GU/zglFPQu+E41v8dE6hBa2oyC6KAA4iGwTHUzRp6iB5XqHbp7dR2fMb2vetqyCG9jnyir+0cMlFszfntckrsCPP2b3Ur0rGudi0sD+8sliecUB85H/2DOA2Kqk+cbYLWKTxRa08wVEjxk5CB2kposXbPpHVEDQal2/lvpSnItZSRRI5loMG8h6kyF18U/tyyOg0L14pwQ4PlqAjgkP08ili/+nM66Uunadi8Gm/1l50NmpyV6Zf1AG2a12dS4WXtVYZ0nQxLepBNIz6S3JQTfCkptDRvkQHrZGVw2jlxkyZ6Lx8YczFhoVjq5FVSBJ42S43khQK7sFNgeAfVSiU6ivl8I4E15f1+/1CnCJE1IPP7vudSfAfx0+OkyOuykzfxuqD/L5ubQJBko+pY2u+igvvv7hNDmGIuAt+q/G7Si0xugDrNSzw3IElg3GxSEZMJVP+ZyP2UDnQEwisqaMY5faNqSS5Eu0wR3GhOH8eZ65zRw9Bfpxc5+ftwcHfxWMQjVe43Ha0cycv/AkfDwB1aV/fjIKlwPHtN3EkkNvpxafbDT2cYkxVygdnvSQggIe2DT5EtTlrlXj+6GtL4W98aaCZoA6PiSKEygbaEX0M4+6V70br43aM+vYavx1GuYSILSw0Yxsw/d/XSSaifr7ngUFsoCSPoWMNPJQV39mw4ZBvNpzA8x7fu05SjVLkLJjo9HGSMMmQ/XTu7AXxs4Ani8P7jbaGbDu177+3U/GYUy1htadHQphe4OKZVJ0J3AMmZa4ZluijnvXQb1pb5FnVUJ9VEwKaXZbMUcOqkB0l1JlnZyp4n1rpDpv7Zjt18OEce3YD3EavHmprZ+slj2wwCEugJ3M7RGDvyXpf/l7A9oUcZ622K+yiMfM1mgUfTYiS67wJbI785gdlpz4NH/E5850pkXmFmwyC/+1Ph6laexm6JH9grHs4zvneNtcSebUkzRD2Ey970OjHOnW8flASnrsAyWItqBFqiQJLk7zqdKZCDGvejnrKg7DfcTaN9TxrCaNJwFeh+K3RkmE/BHUFRxdGpBih8Rr+iMmres3uIDjxjAnB5cMmu0hxeTliCTvDoPaRAM7X8rpL4qELJIHm3c9MRnwh25mnIwa9TpIQ3MAs1FkPGaGhFzf1MA5ER162DrxiP/udh5cpuksq3J9fUaw+uit1R1rCq/jW9e51PbRhozGOV/xzdeS2e/ck0cdomO+E6tgcK6GmPIxYM/EqkIRDTbM3/H8NVXsxLwDJVq+Z9McUmGY0YNC33ldmtXBqRv5wZYXOpNYdZxlxjX4SXeSfeiQhj71HLwwI5E6PkjU3qy4ZuEBm3VdM/zpj0nwP0FB9wdf1O1cliPIBUhP6L2etFR9shWmHZDn2ji+UM4NixgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EueUzmfcjnaZgUTdq1Cm7p",
      "input": {
        "note": "Right wrist cam shows the bottle cap straight ahead of the jaws. Moving forward over the cap end, keeping jaws perpendicular to the bottle.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.185,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01EueUzmfcjnaZgUTdq1Cm7p",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7437, 0.498, -0.3267, -0.0227, -0.0292, 0.9983, 0.6979, 1.5616, 0.7235, 0.078, 0.5411, 0.366, 0.9961]\nstate[eef_state]: left_x=0.2855 left_y=0.0022 left_z=0.1559 left_yaw=-0.0012 left_pitch=-0.0099 left_roll=0.0028 left_gripper=0.9983 right_x=0.3524 right_y=0.1815 right_z=0.0815 right_yaw=0.04 right_pitch=-0.0649 right_roll=-0.0508 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -1.4564, 6.1607, 1.8437, -0.0073, -0.0464, -0.0122, -0.8137, -6.5846, 8.2256, 1.9414, 0.4078, 0.1636, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdc7958e4df705f6110240aab9777ee671536982f834ddff820e166d813fe2c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2904b6c2c088444d261dd3d9ef9900512ccb0e0657797fd4bdf46734f45f2ddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9064382f4f17f1f88c74e74e0aab641a0df3ca270af06710d680f25e2b0dcc0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 4.447 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7498, 0.5007, -0.3298, -0.0227, -0.0292, 0.9983, 0.8799, 1.4807, 0.4118, 0.2287, 0.5301, 0.4061, 0.5172]\nstate[eef_state]: left_x=0.2858 left_y=0.0022 left_z=0.1549 left_yaw=-0.0012 left_pitch=-0.0164 left_roll=0.0029 left_gripper=0.9983 right_x=0.2669 right_y=0.1883 right_z=0.0234 right_yaw=0.2038 right_pitch=-0.1315 right_roll=-0.0627 right_gripper=0.5172\nstate[joint_eff]: [0.0068, -1.0598, 6.5299, 1.9609, -0.0073, -0.0513, -0.0122, 0.1299, -7.4462, 6.8718, 2.5958, 0.8718, 0.0513, 0.989]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.0189, 0.7456, 0.498, -0.3264, -0.0227, -0.0292, 0.9983, 0.8974, 1.1698, 0.4847, -0.0021, 0.5503, 0.3885, 0.9961]\nstate[eef_state]: left_x=0.2857 left_y=0.0022 left_z=0.1555 left_yaw=-0.0012 left_pitch=-0.0115 left_roll=0.0028 left_gripper=0.9983 right_x=0.266 right_y=0.1911 right_z=0.1067 right_yaw=0.2219 right_pitch=-0.0036 right_roll=0.008 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.0051, 5.9829, 1.917, 0.0073, -0.0317, -0.0122, -0.1709, -4.5197, 8.7316, 1.6923, 0.3883, 0.0806, -0.1587]",
      "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]: [-0.0189, 0.7437, 0.498, -0.3267, -0.0227, -0.0292, 0.9983, 0.6979, 1.5616, 0.7235, 0.078, 0.5411, 0.366, 0.9961]\nstate[eef_state]: left_x=0.2855 left_y=0.0022 left_z=0.1559 left_yaw=-0.0012 left_pitch=-0.0099 left_roll=0.0028 left_gripper=0.9983 right_x=0.3524 right_y=0.1815 right_z=0.0815 right_yaw=0.04 right_pitch=-0.0649 right_roll=-0.0508 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -1.4564, 6.1607, 1.8437, -0.0073, -0.0464, -0.0122, -0.8137, -6.5846, 8.2256, 1.9414, 0.4078, 0.1636, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdc7958e4df705f6110240aab9777ee671536982f834ddff820e166d813fe2c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2904b6c2c088444d261dd3d9ef9900512ccb0e0657797fd4bdf46734f45f2ddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9064382f4f17f1f88c74e74e0aab641a0df3ca270af06710d680f25e2b0dcc0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrQkKEAgSGAI4AUIIdGhpbmtpbmcSDH5eiTpnLTtVUTZljxoM9VO4E94uP8dxGNq9IjDNvsphj84U4/97Vpan8A1+3OAfZyijw2HCsdxiDpgikZg1EppKv0Hf7C5oz6A4mIUqyginWyuSTQRoTe+nLc9JrvSc8Z8vnUDX3dup98i9nizgab5twOK+DJpwKcazaJiJBgDE8wUE7gi+yBoE5c2L+SF9rcAa2qX6qUr3oPxF0jpP01XN+2QPd0VYfHW12K+wSPZb+t99n8T7DApUmW2y1ZwZlMJV1pUv4bI7v6S4TEs28gMA3V1VE6VGMDFlMZDHB6MXT4n42QcUXxJA1pQL6w+OVZ/auTG/hia1MaUAZfBI6fB2Bkxpm6J4t3epR2umAkDgtcOy594Z5tducMX+VzaGAn3xmuzJv24vA6TdZw6aKdCvv+WeN+kf8rgZ6QTWEIsgQhVBNFSi1o5B8JtPBw4N+17acyyBi1m0XQsrVFUOamK1l91/PLo/0HDt/yiE6zqxy+6GyJLythuwyjkS0BO79stash3kWOoWNI5CgKu+x5xwlaTAMUxy7zdb7AjA2T7shrmhP57EHT1VHPCzyQbSVy5dfPGhHEqjOPlcH6RQdU6RIzhIf6kTpbq7Je4MeszfsztjCiskAvrDxutBfjARmKHmYtV097AcT2wP1TacjSdyxik0TWirE48RP+Xbo6S8iq1QHQ0OihUNljAvcVJzjB89uVuRcjL1m+IDBOSPJ8LIAJd4xqoHHyu5QWgugAJhfs2m0rQzsDS+CSdHhJGYS5fHMin8oEsNi3dO5/WezysAwdmr3YPx2rlFsC3kbMbLNjoJ57JlitcAmUDi1J2OsmVZbeSV4T0gtuMFOoHi5uYdK3zHloOrYdkxFO0RD28mUDtSlFEcKmwLIW//MQAc80q/Xk5yVrbNDF1KsnO3LqGclc0WyOhyLbqJSM44iet7YGED45ITrCHuvzR+EYEnNi5kpdtAb7vBZ0xmq7St62gB4/Ngls1tE4KlviQe+c6AexK+GpMf+WTCfIkuLicfLkL2QGQhy6t8hHq0tB14dnbR4iZUB5Fx24YJUSpm6qKcZfsQ2Mk5PVX0p145avgZXcyRjVnd/FNIKupAakpbwMvwA9DQN98Dos8NnyRnbuVzkrn/jWExPnWpA2Ho+obayUdIREXb89kkna6dcjj3gPCjxJDV8XvU7U6XFztCVa/RmRYGZGOym0OiwLW3fyxJUcvWW3NMQsNxyKvMuOY9ruXa5dc1L2cIaXXYQZM2o9tvmhQKIbP0G8vHzNDoY4+5XmeZLprbBUrrZCCEagZIChADgTDXRfi8q81aSJY2T5BNCr+68f64Mmx6OuYLQXVTUJWwI6azRPGIctt8bDE3w6Sz9VNmFNhflsJS09bNLZXVd1KeettanIxU7Bm/z2/amE4zJXlH6h6aaUOU+cwzdvG2h4qMfQGC10TsV+JE5/SlljuhQQm4syyQbom853iBYFOy7DALxrEqHQAdYd3FHQO8LeshiBV4l4RE2Vtx3TTqaN3Ne9maws4NfoF5wfdwNjYx+mxNsXuRoIeuKOA0hjSKinGSoIu3XRwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012349F2scjB5LZhDXQEcAwi",
      "input": {
        "note": "Cap is just left of the jaw column and a few cm ahead. Advancing ~3 cm, shifting 1 cm left, and descending to cap height.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.195,
          "right_yaw": 0.0,
          "right_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_012349F2scjB5LZhDXQEcAwi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7418, 0.498, -0.326, -0.0227, -0.0296, 0.9983, 0.6746, 1.8122, 0.7174, 0.3305, 0.5514, 0.3607, 0.9961]\nstate[eef_state]: left_x=0.2856 left_y=0.0022 left_z=0.1566 left_yaw=-0.001 left_pitch=-0.0073 left_roll=0.0024 left_gripper=0.9983 right_x=0.3742 right_y=0.1854 right_z=0.0256 right_yaw=0.0116 right_pitch=-0.064 right_roll=-0.0634 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -1.347, 6.3385, 1.79, -0.022, -0.0855, -0.0122, -0.6769, -5.9692, 6.7077, 1.5995, 0.0806, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5d4eff205abb49b655d46e98e10b1781b12f4545080158e51b5f75c3929af79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:986b1e47101ecc785c82804ac6ee363e6a4b1e933d92e73abfd96ff41425c73a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94af5c9d91575ea66ab900e9978e6343f779f9b1fccbca799b3041f1c409a6c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 5.973 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]: [-0.0189, 0.7456, 0.498, -0.3264, -0.0227, -0.0292, 0.9983, 0.8974, 1.1698, 0.4847, -0.0021, 0.5503, 0.3885, 0.9961]\nstate[eef_state]: left_x=0.2857 left_y=0.0022 left_z=0.1555 left_yaw=-0.0012 left_pitch=-0.0115 left_roll=0.0028 left_gripper=0.9983 right_x=0.266 right_y=0.1911 right_z=0.1067 right_yaw=0.2219 right_pitch=-0.0036 right_roll=0.008 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.0051, 5.9829, 1.917, 0.0073, -0.0317, -0.0122, -0.1709, -4.5197, 8.7316, 1.6923, 0.3883, 0.0806, -0.1587]",
      "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]: [-0.0189, 0.7437, 0.498, -0.3267, -0.0227, -0.0292, 0.9983, 0.6979, 1.5616, 0.7235, 0.078, 0.5411, 0.366, 0.9961]\nstate[eef_state]: left_x=0.2855 left_y=0.0022 left_z=0.1559 left_yaw=-0.0012 left_pitch=-0.0099 left_roll=0.0028 left_gripper=0.9983 right_x=0.3524 right_y=0.1815 right_z=0.0815 right_yaw=0.04 right_pitch=-0.0649 right_roll=-0.0508 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -1.4564, 6.1607, 1.8437, -0.0073, -0.0464, -0.0122, -0.8137, -6.5846, 8.2256, 1.9414, 0.4078, 0.1636, -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]: [-0.0189, 0.7418, 0.498, -0.326, -0.0227, -0.0296, 0.9983, 0.6746, 1.8122, 0.7174, 0.3305, 0.5514, 0.3607, 0.9961]\nstate[eef_state]: left_x=0.2856 left_y=0.0022 left_z=0.1566 left_yaw=-0.001 left_pitch=-0.0073 left_roll=0.0024 left_gripper=0.9983 right_x=0.3742 right_y=0.1854 right_z=0.0256 right_yaw=0.0116 right_pitch=-0.064 right_roll=-0.0634 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -1.347, 6.3385, 1.79, -0.022, -0.0855, -0.0122, -0.6769, -5.9692, 6.7077, 1.5995, 0.0806, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5d4eff205abb49b655d46e98e10b1781b12f4545080158e51b5f75c3929af79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:986b1e47101ecc785c82804ac6ee363e6a4b1e933d92e73abfd96ff41425c73a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94af5c9d91575ea66ab900e9978e6343f779f9b1fccbca799b3041f1c409a6c7",
        "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+QcKEAgSGAI4AUIIdGhpbmtpbmcSDLyRpwKkovPPav4sWRoM1TfRX8OwmAhUYe8SIjCzz25DxW4s++YdFKYtWwW9A0R+WTxmFLH0S+/bPuzicVDizuhWASoMt4usDHoLJ8cqlgdmHZWXlAD8iazjDoN//UIRzkUH4UFtJVLGJY4f2Drabf25/87hrvLjUUDrXpfVJ96LwFmhW0jvqrRV65u0Ld10B6Q2H5BCUQtu3Y2P9Ol35C6wyRJoXw5p/PbG5mSodk/BVCcBSiBBY6Cu2AjRvn0hzz/d/+tPF5RFJCOPD4hqaJIyeBoVFsGH9CKflv3np1OYmGtAfaUK3lvYn/6Ec3ABL3/bE/t+Bs01j1EXmvsUtHtSY8gZKa21Noq8iNhmwhoAm+HpTmMW7PaJh1YuI6Pp06GxrmT4YaMn3jq2JFoSDyiLG+RZaFLFrodD4HvqQrfAWtI1IRNwinm3KKqZk9xn21gZ37AkYFhXxP3dV8WzZTkDCMwasA3PZ9ZCpaBBOMKL/ECxvafQjfO8rTkRdLtgf7FprbaJuNNhfIF/izN5aDsrjKpX166M1VlyP8ScoDoJrbD7gphnn9MWTfBBIpGmtbxMhDrsTzu+EsKIKOs3K95eedusB7N6f7Vt2U4N/SKzpYeGF3zw/SAQqfRxT9jstyYAA7pjYJfnedwhAnmLIGT2rHiqvxFUnA9P+DbMGSTHwZZPgMeSvTPgbkOrF3vhxnzPmGixSjHNJKYipUFL6QuOAj67oiMInJXWsoPv+dRlTzsrXo6eLR4mK94RqWFg0/yFXozM5Zay2f95b8u7VrquuaSc30XjwM7MoFt46nZoYOUfC1RQjhjswn1mCHbESf+IWa5gxQgw9Zign3z13KTy7ArpH1W3Bfnq1NKfmCS0/TD7UjyFj7daWeeW1wPFJHNeTZ+SoFOBQFi+HOjHIl5m62JfKXbUkRO6o3kJczEnbV9kCf2InzB7XvSGsnmuSKxn0o8nDo+M+IDkwsXnfr+lh4WiVpHNIbBeBs8f2UFDQGcZepi/MAHJTitctowruB6Olu0HIAIsqdHdMdrbiYxzuO031ayZCoQ+NGHjKUqWWRGXa4A+ffJ1SiUVPLe4y3xLCdZMAoAa38rtjbFxKuzrPnNyi7qWRkoFxy8OuOfCSg8J/gQmJPTda2qoDjoZhthA+1qri49F3Wndvb8kx5FXrJWP5XKH+F7DBpnXCGaF4ZU2K0pkc1UUriYH4kh4jtjvF7jrIT6JniryXbN7TchDb8lj0yGSMoyqBIduo91NEPuOr1vVMebPMKcPyPYw9W9+tZEP9B0X2Dc8GVlSNWE91hIZ4ts1xvrM0ch7jzT0F+wH3jkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pjej4gLB48ChzBVwHTnfLr",
      "input": {
        "note": "Cap still slightly ahead and left of the jaw centre; readback lagged the target. Nudging forward and left, keeping low.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.205,
          "right_yaw": 0.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Pjej4gLB48ChzBVwHTnfLr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7418, 0.498, -0.3267, -0.0227, -0.0292, 0.9983, 0.6735, 1.8282, 0.7322, 0.3988, 0.5461, 0.3584, 0.9961]\nstate[eef_state]: left_x=0.2855 left_y=0.0022 left_z=0.1564 left_yaw=-0.0012 left_pitch=-0.008 left_roll=0.0027 left_gripper=0.9983 right_x=0.385 right_y=0.1944 right_z=0.0351 right_yaw=0.0174 right_pitch=-0.0131 right_roll=-0.0213 right_gripper=0.9961\nstate[joint_eff]: [0.1162, -1.3744, 6.5573, 1.8046, -0.0024, -0.0562, -0.0122, -0.5128, -6.6667, 5.8735, 1.7802, 0.2027, 0.1538, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a42366f2672fef2ea5c4ebe982afdfeb04ca62a4e000214966ee3296df61579f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16ead253d9b3fc061f863770cabb56e64d8aff5ed37fd4019a72920b6e781de3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:64174237790684a1f5e1bb9ea84dbd757feea8f79c3a3132e910a6e111550e71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 4.57 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]: [-0.0189, 0.7437, 0.498, -0.3267, -0.0227, -0.0292, 0.9983, 0.6979, 1.5616, 0.7235, 0.078, 0.5411, 0.366, 0.9961]\nstate[eef_state]: left_x=0.2855 left_y=0.0022 left_z=0.1559 left_yaw=-0.0012 left_pitch=-0.0099 left_roll=0.0028 left_gripper=0.9983 right_x=0.3524 right_y=0.1815 right_z=0.0815 right_yaw=0.04 right_pitch=-0.0649 right_roll=-0.0508 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -1.4564, 6.1607, 1.8437, -0.0073, -0.0464, -0.0122, -0.8137, -6.5846, 8.2256, 1.9414, 0.4078, 0.1636, -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]: [-0.0189, 0.7418, 0.498, -0.326, -0.0227, -0.0296, 0.9983, 0.6746, 1.8122, 0.7174, 0.3305, 0.5514, 0.3607, 0.9961]\nstate[eef_state]: left_x=0.2856 left_y=0.0022 left_z=0.1566 left_yaw=-0.001 left_pitch=-0.0073 left_roll=0.0024 left_gripper=0.9983 right_x=0.3742 right_y=0.1854 right_z=0.0256 right_yaw=0.0116 right_pitch=-0.064 right_roll=-0.0634 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -1.347, 6.3385, 1.79, -0.022, -0.0855, -0.0122, -0.6769, -5.9692, 6.7077, 1.5995, 0.0806, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7418, 0.498, -0.3267, -0.0227, -0.0292, 0.9983, 0.6735, 1.8282, 0.7322, 0.3988, 0.5461, 0.3584, 0.9961]\nstate[eef_state]: left_x=0.2855 left_y=0.0022 left_z=0.1564 left_yaw=-0.0012 left_pitch=-0.008 left_roll=0.0027 left_gripper=0.9983 right_x=0.385 right_y=0.1944 right_z=0.0351 right_yaw=0.0174 right_pitch=-0.0131 right_roll=-0.0213 right_gripper=0.9961\nstate[joint_eff]: [0.1162, -1.3744, 6.5573, 1.8046, -0.0024, -0.0562, -0.0122, -0.5128, -6.6667, 5.8735, 1.7802, 0.2027, 0.1538, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a42366f2672fef2ea5c4ebe982afdfeb04ca62a4e000214966ee3296df61579f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16ead253d9b3fc061f863770cabb56e64d8aff5ed37fd4019a72920b6e781de3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64174237790684a1f5e1bb9ea84dbd757feea8f79c3a3132e910a6e111550e71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS/wgKEAgSGAI4AUIIdGhpbmtpbmcSDHR3VaG5lq3vhdaLYRoMC+IxCmnlpUd85Hr8IjARMSSI0EqAihr33RoqeVzIbuMqIGQfU7/W+YNJpyrrYylmN0vVvbXMfPkUdj5Zjr0qnAgxPuIYpelwi40/h8+8X4Y3BvMJHGpieQytC7m10IXaAqiPDXpOLJDwcQ5LGybVdz5JbxsaeabsOVpJYis8+R2Wf3i+hZ8yaL7fmV4UO9+OyyIabd9Xd5BXL7txMQzTPluGemH1qQm0j1t9rqPIM0etRZ6WzmQLNriY1Yd5U18usJAjLkqwbo9BMQJ4J+4Jn+HGT956w7/vypDF8Ua4ICuJVgyr8BprzaB1DfXYFzc5YxGOfQXeUD1ZzzEAOP8cCzM2KkTB+EWzRVnYVKRNxQ2HhzCNZmSmbFEyn+O1cH56bWWnvA69GwwTueRlcCGrjjVr2lyNf2llR1uMX/PArf+Zotqi/EFuZ6FedWtLexLCeX+ZioZL28S8ILajPt3Pp7ZScTswc/CqcH2hcUdspd+FTbLcAecrF5kHlftYeXtxp99LOSsCpwcEWXRp9rnwyi9/Z2qFxF5UDmmNeMzMyCXCBedGIlwqGmib9N8SjIsdGGwAAJidm5DgQQK3OaeD273dBXJbAR2bMsh5mYKOy5JyH3pxKqzdyDpCYs51Si0b9pFaYwxDdIhntqAMmHo3GBlE3mwerHzU53Hfi1PnWZ6fkaJnrW5eqZ03i49s8B+SHzrbyuW3esGVlqCIgcSCbcyEMTZBsUyfMU4E+dahKjqa4RCVOI5QvfG5r9mVuQE4VydhhFte6gMVkmVt8/oIVGmXX9p7sANjyB0RtsEUFpRS1YNQrkEP67CJqpVDD+9DsT+v89ea3zbZays7xvZRLzUDjg3MQr7DXnLxgtjEDstF2FuC2BM7FnnryszFgBaXfMSUKQjYiqRmfv5anEaKXjgQ0vLdY6edAzvTIE78tK3elIbY1KArGVhLdwrmjJgqlUh6QpLIudO9snkzdR8UK7meWYdIHMArGQXU+pEcgH4vRDhQYRfnXZQLvXdt3XnscFn5PgNy2kDspBdwoF+AJS1bapcX8GjRWAKxCYPiWwVPygdS4s2Sfq7/z9h4Rak9Ns2aEGFpMwfQlXxcxehChZCJ9IuFg9VRhy+7PZRVpedErCxDck8fstOVDH80JrZeyOE/VXB2AHhBy5A7UBcC0XQp+HsTYC7QNweTxR0wuYgiuEyuLAXZGllYBaNHyxNNNmbbacE4JA8TQgOoX4A0IHUhnA+OtN2A5zG7BNnNwYCQEdq7ou6MfNnVbhtECOSayj9P5KvGdmggoiClm5TExMsWGSNkGnVElqETlz1pLO4TSDvONxCM6qR8nC3tk744mukJfVu+3P28uy9c0PSwSCFJGibF0mfCPlPW4O2sLmaIYYFMkbLkx1mqPRKqGHG2YjSi5kPc4FJf9vEc/F9cTgsxeKKGKyJ0AL9xHNlJQXv251c6eZlXz+54iOO4D0JffKO4xYD+j8BzC4GWQxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ETkYCLZezjgAsapGLtzvHs",
      "input": {
        "note": "Jaws are around the bottle shoulder; cap still ahead and a bit left. Advancing ~3 cm so the jaws sit at the neck/cap.",
        "targets": {
          "right_x": 0.435,
          "right_y": 0.21,
          "right_yaw": 0.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01ETkYCLZezjgAsapGLtzvHs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7403, 0.498, -0.3267, -0.0227, -0.0296, 0.9983, 0.6735, 1.8282, 0.7322, 0.4023, 0.5461, 0.358, 0.9961]\nstate[eef_state]: left_x=0.2854 left_y=0.0022 left_z=0.1568 left_yaw=-0.001 left_pitch=-0.0065 left_roll=0.0024 left_gripper=0.9983 right_x=0.3853 right_y=0.1947 right_z=0.0357 right_yaw=0.0176 right_pitch=-0.0104 right_roll=-0.0195 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -1.265, 6.4342, 1.8095, -0.022, -0.0708, -0.0122, -0.7453, -6.6667, 5.8462, 1.746, 0.1832, 0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:251180eb93ba054eff784f7a6dbd064ede22943fe28ab6b80be4d6f284483856",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d359f2a15c1624119f0f557a28a60d87a933a0ea7c7cfb9078aa7b5f0cb3b1b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf3807d991a1d6efa7054dee8a138120bfc0a3374e8d9fb42c469f4d1106cf13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 4.386 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]: [-0.0189, 0.7418, 0.498, -0.326, -0.0227, -0.0296, 0.9983, 0.6746, 1.8122, 0.7174, 0.3305, 0.5514, 0.3607, 0.9961]\nstate[eef_state]: left_x=0.2856 left_y=0.0022 left_z=0.1566 left_yaw=-0.001 left_pitch=-0.0073 left_roll=0.0024 left_gripper=0.9983 right_x=0.3742 right_y=0.1854 right_z=0.0256 right_yaw=0.0116 right_pitch=-0.064 right_roll=-0.0634 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -1.347, 6.3385, 1.79, -0.022, -0.0855, -0.0122, -0.6769, -5.9692, 6.7077, 1.5995, 0.0806, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7418, 0.498, -0.3267, -0.0227, -0.0292, 0.9983, 0.6735, 1.8282, 0.7322, 0.3988, 0.5461, 0.3584, 0.9961]\nstate[eef_state]: left_x=0.2855 left_y=0.0022 left_z=0.1564 left_yaw=-0.0012 left_pitch=-0.008 left_roll=0.0027 left_gripper=0.9983 right_x=0.385 right_y=0.1944 right_z=0.0351 right_yaw=0.0174 right_pitch=-0.0131 right_roll=-0.0213 right_gripper=0.9961\nstate[joint_eff]: [0.1162, -1.3744, 6.5573, 1.8046, -0.0024, -0.0562, -0.0122, -0.5128, -6.6667, 5.8735, 1.7802, 0.2027, 0.1538, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7403, 0.498, -0.3267, -0.0227, -0.0296, 0.9983, 0.6735, 1.8282, 0.7322, 0.4023, 0.5461, 0.358, 0.9961]\nstate[eef_state]: left_x=0.2854 left_y=0.0022 left_z=0.1568 left_yaw=-0.001 left_pitch=-0.0065 left_roll=0.0024 left_gripper=0.9983 right_x=0.3853 right_y=0.1947 right_z=0.0357 right_yaw=0.0176 right_pitch=-0.0104 right_roll=-0.0195 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -1.265, 6.4342, 1.8095, -0.022, -0.0708, -0.0122, -0.7453, -6.6667, 5.8462, 1.746, 0.1832, 0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:251180eb93ba054eff784f7a6dbd064ede22943fe28ab6b80be4d6f284483856",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d359f2a15c1624119f0f557a28a60d87a933a0ea7c7cfb9078aa7b5f0cb3b1b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf3807d991a1d6efa7054dee8a138120bfc0a3374e8d9fb42c469f4d1106cf13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7AgKEAgSGAI4AUIIdGhpbmtpbmcSDFXm7BZqxPdZeFqlShoMFed9my1WQRdrbMjgIjDoHIMTTDoF7LpWqmy0FyBcPQeTtAqL9a6eeq4PunUyesXchz0YlP3UHCYgTykk450qiQjcT5PYvxl/MnEXpPQSPzYPzY9j6jTG7Xp+wqYGuIZopFHnB/hykX6m1hmi64kXM4REkJLEY1uT/n9x31xkpdhOkdieonnQoa7e4pmxXPaghDLOfV9BzQg7pZal5CnCP9uJ554tanE8VYOf/AveC/bHeWb7VjElYKsbi/NeMTQC46DNtW7U75tpmS4qsWAoguQ4EMUgYgzNnf294o/f+X7S/ERH/gHLbClQE2ivjldZ1d5HusSpMe/XqKctYBka9O2pqC6TNAtZk5yumiFWiMhMghOsW89z3ML1uerewMTKq3gAqT3sd3Yxvzf8zLLQnsq0uwWMZ2zFJA/sH2FGhevlpCBzGOTTyTyUe2/petWeGxYZG+3WGBJik7vjDZMZ3xIzfij0u8Bq/aUl/bNBFZAqQ8Uwm/0GLVpoFKQst2BQD0qKElVKQ1V7pvgsJoDG1tM19LSEuctDcMMLdJdOs0W5AmkCv+bMUQfuio4YLGm4Nvn1+s62kn/KS2ENeUNRmBFNPkv72QckQ67YITauehPB0e3YIORKCu6MHBiWSuco4T+sK3XY0aDhhsREmtGZRJz9E/Pak5vbVhzkcDz4Vht4gBMXr94PrPvswVmVSkpZkNkbcbRz0fu1CBxq3keMSNrfGyUseV++tTbmBPYxZutIpYWgfo4pbrLgW5iXDHVynP3zOnRsYdcV9XToDAPRtVO2acDdWedB+mQm+OW2kFZ4a0j7ljqSFWmdSW5udgRDKZdnoH533ilFR/XkmhiyiMfS3iRXndLNbPjVvwLMXQwmoD2ERGhB4VsLnmCNwUYGnwhpJ03uDvgVfZoK6WW1c8ZJrBxu84x1CR3batTuBnRaa6XwAVKbJAkprEW3Aos5aZohmQ4WyfqKadMugAmbML7tjGpb1Chz3eQSnO7cSA7xDR386PvD7NZG0ZYANyMznyeciV4x2nAYUM66a9SM6yUjuUvrBxXRvUORiEPcc7JtKcieDhFZjKr4mkcIjFXsK6MqI+yXWloWoZZ06p9gNM7sl54HdV0fWJSnxsbOT6v+7d5mLQ/UHFMSp6eUVLrD/Hp+r67annY76CZqQMZhsXJMv/su5esqYiimvzJ4QbT08KNcz+5b1UNpmIgXd+hV/SyrJbhEu3E9Gnq4LqQ6D7AM7kkSUmJHdaAtkDifJwzIIDqyj4Wgv4wTUOjyx6ApufA4/1Y3xJl5AWiMXWlij1gHZGryS9U87+/ujvtj0qhL6Q+19As5VOBe1KonlHQ3Wj1EdtWZZHmCkEjQe63x8iqhMnM+FKjDJTfgwOwKrNTZdMHnBmZUXcVs567iO7C9mWHXhWOGE1X5qtm81GrhgC1hNfwaoMjk79MZpS8qXMeM2HIkDmysMSEZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NUkpJiZMdJx7o5hSk72xik",
      "input": {
        "note": "Arm stalled at low height again. Raising to 8 cm while moving forward over the cap, then I'll descend.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.205,
          "right_yaw": 0.0,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NUkpJiZMdJx7o5hSk72xik",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7403, 0.498, -0.3271, -0.0227, -0.0292, 0.9983, 0.6735, 1.8282, 0.7322, 0.4023, 0.5461, 0.3584, 0.9961]\nstate[eef_state]: left_x=0.2853 left_y=0.0022 left_z=0.1567 left_yaw=-0.0012 left_pitch=-0.0069 left_roll=0.0027 left_gripper=0.9983 right_x=0.3853 right_y=0.1947 right_z=0.0357 right_yaw=0.0174 right_pitch=-0.0104 right_roll=-0.0192 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -1.2923, 6.7077, 1.8242, -0.0317, -0.022, -0.0171, -0.7179, -6.6667, 5.9556, 1.7656, 0.2515, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2e19e98c5185bdc5abfc1c5aefe4385e44c66a58b2f880c51eb1403614a5561",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fad72428c84b6118cae16778a0f4426b25fcd2c96b39b9f5004948db0b8bbdc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c56952ad21883872d9b0a5f580ba0303569bb868ff54e8005968bbbfccd8c380",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 6.116 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]: [-0.0189, 0.7418, 0.498, -0.3267, -0.0227, -0.0292, 0.9983, 0.6735, 1.8282, 0.7322, 0.3988, 0.5461, 0.3584, 0.9961]\nstate[eef_state]: left_x=0.2855 left_y=0.0022 left_z=0.1564 left_yaw=-0.0012 left_pitch=-0.008 left_roll=0.0027 left_gripper=0.9983 right_x=0.385 right_y=0.1944 right_z=0.0351 right_yaw=0.0174 right_pitch=-0.0131 right_roll=-0.0213 right_gripper=0.9961\nstate[joint_eff]: [0.1162, -1.3744, 6.5573, 1.8046, -0.0024, -0.0562, -0.0122, -0.5128, -6.6667, 5.8735, 1.7802, 0.2027, 0.1538, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7403, 0.498, -0.3267, -0.0227, -0.0296, 0.9983, 0.6735, 1.8282, 0.7322, 0.4023, 0.5461, 0.358, 0.9961]\nstate[eef_state]: left_x=0.2854 left_y=0.0022 left_z=0.1568 left_yaw=-0.001 left_pitch=-0.0065 left_roll=0.0024 left_gripper=0.9983 right_x=0.3853 right_y=0.1947 right_z=0.0357 right_yaw=0.0176 right_pitch=-0.0104 right_roll=-0.0195 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -1.265, 6.4342, 1.8095, -0.022, -0.0708, -0.0122, -0.7453, -6.6667, 5.8462, 1.746, 0.1832, 0.1001, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7403, 0.498, -0.3271, -0.0227, -0.0292, 0.9983, 0.6735, 1.8282, 0.7322, 0.4023, 0.5461, 0.3584, 0.9961]\nstate[eef_state]: left_x=0.2853 left_y=0.0022 left_z=0.1567 left_yaw=-0.0012 left_pitch=-0.0069 left_roll=0.0027 left_gripper=0.9983 right_x=0.3853 right_y=0.1947 right_z=0.0357 right_yaw=0.0174 right_pitch=-0.0104 right_roll=-0.0192 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -1.2923, 6.7077, 1.8242, -0.0317, -0.022, -0.0171, -0.7179, -6.6667, 5.9556, 1.7656, 0.2515, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2e19e98c5185bdc5abfc1c5aefe4385e44c66a58b2f880c51eb1403614a5561",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fad72428c84b6118cae16778a0f4426b25fcd2c96b39b9f5004948db0b8bbdc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c56952ad21883872d9b0a5f580ba0303569bb868ff54e8005968bbbfccd8c380",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS2gcKEAgSGAI4AUIIdGhpbmtpbmcSDHgKcd4FZkY41BWRXxoMpi97gK92dKIjjF8HIjBEENIpgJIS+AWuPDD6OtMDSdvJWd/DOquTX/rOvSMyHtxKXVdJj9hN61u0DOSPBKEq9waf0n8oCBZcYQzx4BoyoVxEooew60zX4E0uOvQvBmpNZ+ochO/BCZuljCav3XPqLmuIybvQZde4YAqdUjfcG2R0U4YHpuepNgZAn67HIdglttBs40H9gYz5YPL7Me4+MzSk5FesMz3BtiI9m/Ew0j9//nCq16Las9QqEEXrU6QMoUtXUB1KOauijcxUf4Qt4+pz+n+0fu8INQkEwYXXqm33S5FIcBFV4yhPmTgdw4+mD1VblEc5/sl45oXdJzxv60/dGdUwzQECprr/msuC58hlAb8t8ghWgO1s80mR+Y4Lwj6T35FyuQRJ8wiFbBc0OmhSAC6XSVoU30tsZEGlVwG2ovcY19w3u2iuR31ClckrcqwkJRCMkTnBEmop9V5xs3I6SHQxrPbmGOkcJU5M29DKe3xvW2KJJZJBBucgUYPliE1Ak3Yhw7pACU1DoDPQO8QWoT6DJtO6Mc3IzE+kgNrgvF+2gm3OiA7IdkVBj3KQ9LwIhLqqmHjV97u60yxhY+Dx62M0dB5euL2VGGJG7myX5/pRIlR28j95b8DJ5nOU8yVaaNpzdwqbNcjj6pQoEL56zruEyFddoqXadVI5rD8EDl6BdAkuDpZzLgSDL/4slVzR47E6GlzcZJjMbodwKBXsypUais/N7RTIm/wYmObPihhTXg/oWJMd2R/bLzEfICofgwieoNZJ6QltRgIWY8g/Gx97xNKEEEqyWDOlrlpr2kAnwSU8ptwxN+0YR7BdMAaJeU+zu9lqzc5Nd5C3Mj+AFdQTMkoMI1utM1jB5fHlBnNMTwzXAVA001hjt6AM2Yt3iNLMBSSaFFtX6zh2YEP+yXKCO4gAkYxOKk3AfofP12JTGWlwfiWGHBs9m4xBVGYOT3rOTp1OIIlYv5Ubi4xL4d9aAIGbra2Vqfw+Eba6zD99CeNPaoWqjxvur966uZs/FdCz/i75hQEnDOZhTmkqBG57rBOqdFl34EFjd2BEEAn1Sg4gK2zk7tt5OFZaIIz6XKyTWmSIiVehg42kkEalZ6AVfH6mDsyzfELYaj0m7laeBMVO0VicsH5/miApEO48U470isQ8DfTM5DH74CLTScsoBALgcorEpZhm9XIofGeWqFGOPehrCLgYQi5VNrlq6gMaxZ4rhlXpMEdRtuB6+fRf/tGnaMualq4AftTC1HXG3QOxkxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011HpKkTyHmUvszm4aAZ6K13",
      "input": {
        "note": "Right arm joints are frozen. Trying a clear retreat up and back to free it, as worked earlier.",
        "targets": {
          "right_x": 0.37,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_011HpKkTyHmUvszm4aAZ6K13",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7403, 0.498, -0.3271, -0.0227, -0.0296, 0.9983, 0.7002, 1.5383, 0.8658, -0.054, 0.543, 0.363, 0.9961]\nstate[eef_state]: left_x=0.2853 left_y=0.0022 left_z=0.1567 left_yaw=-0.001 left_pitch=-0.0069 left_roll=0.0024 left_gripper=0.9983 right_x=0.367 right_y=0.1945 right_z=0.1233 right_yaw=0.0435 right_pitch=-0.0376 right_roll=-0.0338 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -1.3197, 6.7077, 1.8388, 0.0073, -0.0366, -0.0122, 0.1709, -8.5402, 9.2923, 1.7753, 0.3639, 0.2369, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9fe199db72f0a88f0c73edcf05f07ca61a09bba7219bd3c257e9a807a8e4d32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a755b96ea761e81843cf2c1b26d30551555f57596358fecc1112f7f106d4bf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f684c22b549a0af9b472cdc46f377bbbc5d1b65a6e87317615d4955770be242",
        "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 · 9.555 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]: [-0.0189, 0.7403, 0.498, -0.3267, -0.0227, -0.0296, 0.9983, 0.6735, 1.8282, 0.7322, 0.4023, 0.5461, 0.358, 0.9961]\nstate[eef_state]: left_x=0.2854 left_y=0.0022 left_z=0.1568 left_yaw=-0.001 left_pitch=-0.0065 left_roll=0.0024 left_gripper=0.9983 right_x=0.3853 right_y=0.1947 right_z=0.0357 right_yaw=0.0176 right_pitch=-0.0104 right_roll=-0.0195 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -1.265, 6.4342, 1.8095, -0.022, -0.0708, -0.0122, -0.7453, -6.6667, 5.8462, 1.746, 0.1832, 0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7403, 0.498, -0.3271, -0.0227, -0.0292, 0.9983, 0.6735, 1.8282, 0.7322, 0.4023, 0.5461, 0.3584, 0.9961]\nstate[eef_state]: left_x=0.2853 left_y=0.0022 left_z=0.1567 left_yaw=-0.0012 left_pitch=-0.0069 left_roll=0.0027 left_gripper=0.9983 right_x=0.3853 right_y=0.1947 right_z=0.0357 right_yaw=0.0174 right_pitch=-0.0104 right_roll=-0.0192 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -1.2923, 6.7077, 1.8242, -0.0317, -0.022, -0.0171, -0.7179, -6.6667, 5.9556, 1.7656, 0.2515, 0.1392, -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]: [-0.0189, 0.7403, 0.498, -0.3271, -0.0227, -0.0296, 0.9983, 0.7002, 1.5383, 0.8658, -0.054, 0.543, 0.363, 0.9961]\nstate[eef_state]: left_x=0.2853 left_y=0.0022 left_z=0.1567 left_yaw=-0.001 left_pitch=-0.0069 left_roll=0.0024 left_gripper=0.9983 right_x=0.367 right_y=0.1945 right_z=0.1233 right_yaw=0.0435 right_pitch=-0.0376 right_roll=-0.0338 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -1.3197, 6.7077, 1.8388, 0.0073, -0.0366, -0.0122, 0.1709, -8.5402, 9.2923, 1.7753, 0.3639, 0.2369, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9fe199db72f0a88f0c73edcf05f07ca61a09bba7219bd3c257e9a807a8e4d32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a755b96ea761e81843cf2c1b26d30551555f57596358fecc1112f7f106d4bf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f684c22b549a0af9b472cdc46f377bbbc5d1b65a6e87317615d4955770be242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+AkKEAgSGAI4AUIIdGhpbmtpbmcSDD1DdWnQ5FAnew+34BoM+4dn+yFkeUbn9cepIjB6wWQYqQJIQKxT7GUzMppB1euz8OUE6RewyTf2xeetSgCh2U6TP8f3u7BVheVnQXEqlQmxEIgv8o42c/qx/zgIUv57V4Gd26icOjiEG3oL1paQo+7M2w8dACVHbHEyFJVdA1ps7WYb171F7N6yh/VuV82rToEFlAK0vUNbpf6zSnbF3FYqlPdN2abk9NFNLvpSlNL3ClbMWg5hvhr63KXLrO6k/5HvnZJEmUgozqbX8jFET/a1cnd0AfyOTWzmNcKU/jyl1lr5HZZ8jKjc7rwUyUA8uYfrpAGrWz2MMTcNsBq4crxj9AH8BibqEFFeo3BUE61ziefLmxMA9+pqIimE8wcFED5u49HJNywpk9324JJOY/0b01ZmNBmT7qhFWuAe0gr9ZeNHFpIIGlV6NWU2XwRq1nwDu1X3tq8d3VdsjUUOmYkyfccZxXpxL6337sGkZ9AwoQyze8QnN3jOr6zgXA8x4Skv2KAd/S+m0fLW2NTpCVc53oXQfzLJLhvy3LxRp2Xtt5PsC9fXQSJhr+bxgiHUxl/7cF84jHNy9Y4VPqIzJgvWpYj5VEpvOv0e6iSfyOBV/jH9FeJS82khpTHEJ3jIIynhgdfiPfZLRiPy14VexR35A8ATiXJNuuW+WO/S39LbGoXbKf9KmbUfeD9ToXvRqyHU8/FjFctnVIVdSOFwo7ST6wM8IFudLeRRy32+uF/SLUFTtfXNwao8FfCg8p5mInqal3YWdUOngO1mHLllIQD8cNCuI1WXeErmkU+YIAWi69LCBUhyDYnpkRXhBKRjnND8cvIWQx9yserU1Dv+vCQv+OO6orFKWt66E1uJpfQflitxrFYP+PgqH7Eg6q7v/3syuZVJtRDYSzH6oTWFnnRZf3jJeA9vG80/L9PMV2CIU6lsi19TV2rw+ZmGXoMg7V2JeyGQJd5ERashKsbbOQB/PJ4fzebbFOL4IdMpR+tTqybXTHkNQwPV1WTP4K2WiIe1MXA5ek1wM8RKrskVrOertrlxfd8m7kSektWKKbabK0E/nm5c8p6mio2/7RmnlA11G3FgZCLfrd3M8aI5KNwpnUcZIsNzkJS1oGycAUOqEwV/74fkZDu2mMX/93gld1X0evvvyOQrp+IeLbZTFPWY+xgzTV2N6Nfpp5E6HLZTa0CCmCgyVwep8JXqrEH/0XfKhH6TYShzbl8C5gsjftvLNLrxuH3hlrhUmL1NwpgFQZO1Esb76tqMmKwf/kakzoP7Cp531I9a0HZj8mdQDdfSDjoUIQZ6szt4CkjJ9vXb3Yckl2ABLGvWP/h2q5I04xwQbxC0hqSJsJ2aHyPDz8kSb09GYR8frFkFz9KF5jTKtyYmtTXSowjayijOG3Uz2j1eWdrEIN+3kQA7Lzd2+m5BryAZN3wX5Ek8jtblptwr2jE/7r2TH7CzZ1/6eHINTydNONzK3ushpbdIBONOKkDwCETF5fnxFvxsXGdSseztep/jsEU+8qdJhl15xaUUJD4v/gFGok/Y3/37YVW0lYViKwUdS91wKofcaQ9SEmGCnmZMte88626jYMfFaBt6OMmFcz7WNccCchCxNbmbxRsKp4yw7ZfrjQ229U2YuPRq6/jVpV83pu0/8SHyz37w9/KJfnwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q52d6BVyuh4DQQ84A3FJEX",
      "input": {
        "note": "Arm freed; cap of the right bottle is just ahead and slightly left of the jaws. Going forward and down in one move to grasp the neck just behind the cap.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.205,
          "right_yaw": 0.0,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Q52d6BVyuh4DQQ84A3FJEX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7399, 0.498, -0.3283, -0.0227, -0.0292, 0.9983, 0.6647, 1.8713, 0.8104, 0.297, 0.5381, 0.3565, 0.9961]\nstate[eef_state]: left_x=0.2852 left_y=0.0022 left_z=0.1566 left_yaw=-0.0012 left_pitch=-0.0076 left_roll=0.0027 left_gripper=0.9983 right_x=0.3923 right_y=0.197 right_z=0.0264 right_yaw=0.0141 right_pitch=-0.0695 right_roll=-0.0592 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -1.2786, 6.7487, 1.7851, 0.0073, -0.0562, -0.0122, -1.1282, -7.0222, 7.2137, 1.6288, -0.0073, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85efec02aba7f8dec4c90068d94ce7809b6d6a208422e364f8634f0b205e0689",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:935816e175016498fbfd3eac365d726fd06a3fc42935d198f6c6b55f55d9b95d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d6adc958e492c95afb1f7eaf0a58623642ea29dc3d89ee34768b92c55358426",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 6.473 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]: [-0.0189, 0.7403, 0.498, -0.3271, -0.0227, -0.0292, 0.9983, 0.6735, 1.8282, 0.7322, 0.4023, 0.5461, 0.3584, 0.9961]\nstate[eef_state]: left_x=0.2853 left_y=0.0022 left_z=0.1567 left_yaw=-0.0012 left_pitch=-0.0069 left_roll=0.0027 left_gripper=0.9983 right_x=0.3853 right_y=0.1947 right_z=0.0357 right_yaw=0.0174 right_pitch=-0.0104 right_roll=-0.0192 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -1.2923, 6.7077, 1.8242, -0.0317, -0.022, -0.0171, -0.7179, -6.6667, 5.9556, 1.7656, 0.2515, 0.1392, -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]: [-0.0189, 0.7403, 0.498, -0.3271, -0.0227, -0.0296, 0.9983, 0.7002, 1.5383, 0.8658, -0.054, 0.543, 0.363, 0.9961]\nstate[eef_state]: left_x=0.2853 left_y=0.0022 left_z=0.1567 left_yaw=-0.001 left_pitch=-0.0069 left_roll=0.0024 left_gripper=0.9983 right_x=0.367 right_y=0.1945 right_z=0.1233 right_yaw=0.0435 right_pitch=-0.0376 right_roll=-0.0338 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -1.3197, 6.7077, 1.8388, 0.0073, -0.0366, -0.0122, 0.1709, -8.5402, 9.2923, 1.7753, 0.3639, 0.2369, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7399, 0.498, -0.3283, -0.0227, -0.0292, 0.9983, 0.6647, 1.8713, 0.8104, 0.297, 0.5381, 0.3565, 0.9961]\nstate[eef_state]: left_x=0.2852 left_y=0.0022 left_z=0.1566 left_yaw=-0.0012 left_pitch=-0.0076 left_roll=0.0027 left_gripper=0.9983 right_x=0.3923 right_y=0.197 right_z=0.0264 right_yaw=0.0141 right_pitch=-0.0695 right_roll=-0.0592 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -1.2786, 6.7487, 1.7851, 0.0073, -0.0562, -0.0122, -1.1282, -7.0222, 7.2137, 1.6288, -0.0073, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85efec02aba7f8dec4c90068d94ce7809b6d6a208422e364f8634f0b205e0689",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:935816e175016498fbfd3eac365d726fd06a3fc42935d198f6c6b55f55d9b95d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d6adc958e492c95afb1f7eaf0a58623642ea29dc3d89ee34768b92c55358426",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018X1vKf5bVVMytthejnYChG",
      "input": {
        "note": "Jaws straddle the bottle's shoulder but the arm won't go further forward at this height. Grasping here to drag the bottle closer once more.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018X1vKf5bVVMytthejnYChG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7403, 0.498, -0.3279, -0.0227, -0.0296, 0.9983, 0.6674, 1.869, 0.7547, 0.5575, 0.5453, 0.3466, 0.0136]\nstate[eef_state]: left_x=0.2852 left_y=0.0022 left_z=0.1566 left_yaw=-0.001 left_pitch=-0.0076 left_roll=0.0024 left_gripper=0.9983 right_x=0.4058 right_y=0.2077 right_z=0.0542 right_yaw=0.0146 right_pitch=0.0981 right_roll=0.0543 right_gripper=0.0136\nstate[joint_eff]: [0.1299, -1.2923, 6.4752, 1.9121, 0.0024, -0.0757, -0.0122, -0.4718, -7.4188, 3.8496, 0.8181, 0.0708, 0.1734, 0.9451]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7869f4b8fbeadfd360442b22a475780e35b46c29a3131baff13863e638e02a62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0836db0f5d2064e2bf92f1797f414596c1c29e9b4bc8d62a6bac38adba964fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:90b25b821f8f32a7ee76e43e0f74c63da595c8dfb30aad43e1871190b5f2dfd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 5.502 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]: [-0.0189, 0.7403, 0.498, -0.3271, -0.0227, -0.0296, 0.9983, 0.7002, 1.5383, 0.8658, -0.054, 0.543, 0.363, 0.9961]\nstate[eef_state]: left_x=0.2853 left_y=0.0022 left_z=0.1567 left_yaw=-0.001 left_pitch=-0.0069 left_roll=0.0024 left_gripper=0.9983 right_x=0.367 right_y=0.1945 right_z=0.1233 right_yaw=0.0435 right_pitch=-0.0376 right_roll=-0.0338 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -1.3197, 6.7077, 1.8388, 0.0073, -0.0366, -0.0122, 0.1709, -8.5402, 9.2923, 1.7753, 0.3639, 0.2369, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7399, 0.498, -0.3283, -0.0227, -0.0292, 0.9983, 0.6647, 1.8713, 0.8104, 0.297, 0.5381, 0.3565, 0.9961]\nstate[eef_state]: left_x=0.2852 left_y=0.0022 left_z=0.1566 left_yaw=-0.0012 left_pitch=-0.0076 left_roll=0.0027 left_gripper=0.9983 right_x=0.3923 right_y=0.197 right_z=0.0264 right_yaw=0.0141 right_pitch=-0.0695 right_roll=-0.0592 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -1.2786, 6.7487, 1.7851, 0.0073, -0.0562, -0.0122, -1.1282, -7.0222, 7.2137, 1.6288, -0.0073, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7403, 0.498, -0.3279, -0.0227, -0.0296, 0.9983, 0.6674, 1.869, 0.7547, 0.5575, 0.5453, 0.3466, 0.0136]\nstate[eef_state]: left_x=0.2852 left_y=0.0022 left_z=0.1566 left_yaw=-0.001 left_pitch=-0.0076 left_roll=0.0024 left_gripper=0.9983 right_x=0.4058 right_y=0.2077 right_z=0.0542 right_yaw=0.0146 right_pitch=0.0981 right_roll=0.0543 right_gripper=0.0136\nstate[joint_eff]: [0.1299, -1.2923, 6.4752, 1.9121, 0.0024, -0.0757, -0.0122, -0.4718, -7.4188, 3.8496, 0.8181, 0.0708, 0.1734, 0.9451]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7869f4b8fbeadfd360442b22a475780e35b46c29a3131baff13863e638e02a62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0836db0f5d2064e2bf92f1797f414596c1c29e9b4bc8d62a6bac38adba964fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90b25b821f8f32a7ee76e43e0f74c63da595c8dfb30aad43e1871190b5f2dfd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015mRGFVDFeoYPNYkh9Gtg12",
      "input": {
        "note": "Empty close again: the jaws squeezed over the round bottle and rode up. Opening; next I'll press lower before closing.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015mRGFVDFeoYPNYkh9Gtg12",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7403, 0.498, -0.3279, -0.0227, -0.0292, 0.9983, 0.6662, 1.8576, 0.8345, 0.3016, 0.5346, 0.3557, 0.9953]\nstate[eef_state]: left_x=0.2852 left_y=0.0022 left_z=0.1566 left_yaw=-0.0012 left_pitch=-0.0076 left_roll=0.0027 left_gripper=0.9983 right_x=0.3996 right_y=0.2042 right_z=0.0407 right_yaw=0.02 right_pitch=-0.0371 right_roll=-0.0323 right_gripper=0.9953\nstate[joint_eff]: [0.1162, -1.0188, 6.4615, 1.8095, 0.0024, -0.0415, -0.0122, -0.1983, -11.1795, 6.8581, 1.4872, 0.1929, 0.0904, 0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6b32f9128584710e25a30d671ae775b2df31dcc03ebd6a3d011b6335fd50959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82de03fdc8c160308b328e920f0d5ba604ab42eebbbd496dd0a3bb3b99456765",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c39be4b678cc9cb502425bc676018bbd4a4211b9fd9f71f8b158f7ced5a7d50",
        "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 · 4.851 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]: [-0.0189, 0.7399, 0.498, -0.3283, -0.0227, -0.0292, 0.9983, 0.6647, 1.8713, 0.8104, 0.297, 0.5381, 0.3565, 0.9961]\nstate[eef_state]: left_x=0.2852 left_y=0.0022 left_z=0.1566 left_yaw=-0.0012 left_pitch=-0.0076 left_roll=0.0027 left_gripper=0.9983 right_x=0.3923 right_y=0.197 right_z=0.0264 right_yaw=0.0141 right_pitch=-0.0695 right_roll=-0.0592 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -1.2786, 6.7487, 1.7851, 0.0073, -0.0562, -0.0122, -1.1282, -7.0222, 7.2137, 1.6288, -0.0073, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7403, 0.498, -0.3279, -0.0227, -0.0296, 0.9983, 0.6674, 1.869, 0.7547, 0.5575, 0.5453, 0.3466, 0.0136]\nstate[eef_state]: left_x=0.2852 left_y=0.0022 left_z=0.1566 left_yaw=-0.001 left_pitch=-0.0076 left_roll=0.0024 left_gripper=0.9983 right_x=0.4058 right_y=0.2077 right_z=0.0542 right_yaw=0.0146 right_pitch=0.0981 right_roll=0.0543 right_gripper=0.0136\nstate[joint_eff]: [0.1299, -1.2923, 6.4752, 1.9121, 0.0024, -0.0757, -0.0122, -0.4718, -7.4188, 3.8496, 0.8181, 0.0708, 0.1734, 0.9451]",
      "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]: [-0.0189, 0.7403, 0.498, -0.3279, -0.0227, -0.0292, 0.9983, 0.6662, 1.8576, 0.8345, 0.3016, 0.5346, 0.3557, 0.9953]\nstate[eef_state]: left_x=0.2852 left_y=0.0022 left_z=0.1566 left_yaw=-0.0012 left_pitch=-0.0076 left_roll=0.0027 left_gripper=0.9983 right_x=0.3996 right_y=0.2042 right_z=0.0407 right_yaw=0.02 right_pitch=-0.0371 right_roll=-0.0323 right_gripper=0.9953\nstate[joint_eff]: [0.1162, -1.0188, 6.4615, 1.8095, 0.0024, -0.0415, -0.0122, -0.1983, -11.1795, 6.8581, 1.4872, 0.1929, 0.0904, 0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6b32f9128584710e25a30d671ae775b2df31dcc03ebd6a3d011b6335fd50959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82de03fdc8c160308b328e920f0d5ba604ab42eebbbd496dd0a3bb3b99456765",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c39be4b678cc9cb502425bc676018bbd4a4211b9fd9f71f8b158f7ced5a7d50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwoKEAgSGAI4AUIIdGhpbmtpbmcSDJPlTYYTmy7uPtMjMBoMii+0u2qYytGwJy64IjCFY+rGiVBzurKzczhcZzlA5g4ERuxGG+447fKfdFHMCpvOtiSR5jT/XsJBjJjp5xoqtAnv4neg2JX2v7/hVVmKkUIXahGCw3gin0lz5MaFGKXuoDbBixfHaWHDAclI2BXHw2xeOphy3baDj4WqwWrqqKhsBUTv6Fk7f6UXdMe9yjP1OLdjaGHjyftUmyHTgNpf82oPSGtXWAUtJT2ZhCHtd5PDDi/xINNaQr+A9sw2ISERLOU9djVddoh0973kXjWmC16EXCvpbMHJAn0ZrLPEiyc5rU8i20lS2p/horsWrh//NX3y/oasFL8brAwjpZ6JFSh6fSGoK+xvFMH7yQeYLTN0CslXG4kAhPXxKQ1uFPXIgsz/tFdSFJ29NhzM706EEtNQ5RMcQriVbcmRiKbkrge0sxh2lfuP+hLMT0V0mGb5B6O5GoePlofAGIDVx493YR2K9rcjwD3EJf+4hrTscPasPeHpzbK40pluV3pNK2d7MYH7BBho8kKYZpSmAZyGm4seg1ZGTUdFFPWX5Lyq6WdxX6ZNSrA7VeuVhYirofu82M31pfQrP6jB54sv81ePTqK7cxK1nILtcRJiQcykHzJRUp7aTMxZMSCVB5U5N58Nsi61vlBdtTaPAocFw5B2qYD0tSqpma6FDmxnKgFkijJRV5yLBd+aB5lTfJojEybn4uzmWb2Evm6E4CfGnCf2vbQleeg+VJV90rRKaCZqNd3E6I5FSG6YpV5ZdEmLPnIg2XrOl+Pwimup1GtVplFPvpDznPh3e3FkUL75Dh0tUiRJe7PbecFCB3YR62K/FyqGkkeIxDOahn4N0bql9qh8e5LMDYc+1BOrPJ0g0oIFatYtCCGRTt/xWUhJK7i+UE0viDZoq01KncfSiizGLl1P8dqAcgLSaaBjhB7aXhEp4Jk83IgEBAjKSl/FnxgXtzURWqtiDx1n80Gu60kXTQKHD1QHL0VIeSQKzqXzXOagbbP0AR4BNkdTgs+N+8E2z7ZUhBz86hD9JnOp2ckG8OREgU38yoWxsh+xRG8XT7m/MYxa+PPW+uw3csZ5MFzzgUuh+AjvJ9rHX3jzGa7foanrOXn04KZ5kKmu8ymU/XAeSwvZjjIuzFePfHK1LIqo76Ajdx2n8/KZUDzCDGNQbVgrqq4top0NCYW7JGZhVztqeHOSxTERroBxQqCyGW4Uf88wl/GqueNm6CCRX+mg35coEEzIU16y1OLj/nWHnvX9CXErPWyN+03LczQwsOsBwA+PoIUpKaPoVvEwZQdaVmkE85FxWdZQC2EDkVXhf8H40R1vHl7lKEZcRQzpbjmnIOOwS8VwKIdOE4MK4mISvIqEXcY0WZG/CiREmc0MLovp1AYI4YX4jNyMDRHbkkOkRL3/sm/C1V+JleQ7sHCKU7OFfzHhGX8yCGlrHgHLgdTqR+3DfBX+NtgEPn8qKzLUch23SP3NKK8IQxhL63FTlRiZOKmBRTHPskTi2yoGjv7ZkoEBx0F9e6dcDE4O0ihoLmbOl+jHikVxdpz+hYYrx36RHmqa83Ob0HlA8J7BtVq7BACUpvOz/bBaMeP6GlN2Fb+YcemaIrFpl1sxhjunKHvT821tK6T9m23XLbLoiAc/gx3FVAi7vwoeX6DqaBJtXMhlmoXDWqvHwXe58uKIijT7DLo+6//aGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P6U2BRxVAEL35dDFohfwEo",
      "input": {
        "note": "Cap is now centred on the jaw column just ahead of the fingertips. Moving ~2 cm forward and down to put the jaws around the neck.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.205,
          "right_yaw": 0.0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01P6U2BRxVAEL35dDFohfwEo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7383, 0.498, -0.3283, -0.0227, -0.0296, 0.9983, 0.6559, 1.9194, 0.8452, 0.3721, 0.5289, 0.3489, 0.9954]\nstate[eef_state]: left_x=0.2851 left_y=0.0022 left_z=0.157 left_yaw=-0.001 left_pitch=-0.0061 left_roll=0.0024 left_gripper=0.9983 right_x=0.4085 right_y=0.2065 right_z=0.0297 right_yaw=0.0182 right_pitch=-0.0239 right_roll=-0.0234 right_gripper=0.9954\nstate[joint_eff]: [0.0342, -1.0735, 6.4615, 1.7753, 0.0122, -0.0611, -0.0122, -1.265, -6.5983, 5.8598, 1.3016, 0.0806, 0.1441, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f0fbaf74695798791d631009dd0a37a037afff5a23998d8d2839e3e17618e71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:053499950a8035546b4187bf6614cdd2247eb8426ba6cd3ad19b0faa62834232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9619409ac0b5a220f837a36c59c3ed49c288306bb0eaad6fdad7247f2a541123",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 7.25 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]: [-0.0189, 0.7403, 0.498, -0.3279, -0.0227, -0.0296, 0.9983, 0.6674, 1.869, 0.7547, 0.5575, 0.5453, 0.3466, 0.0136]\nstate[eef_state]: left_x=0.2852 left_y=0.0022 left_z=0.1566 left_yaw=-0.001 left_pitch=-0.0076 left_roll=0.0024 left_gripper=0.9983 right_x=0.4058 right_y=0.2077 right_z=0.0542 right_yaw=0.0146 right_pitch=0.0981 right_roll=0.0543 right_gripper=0.0136\nstate[joint_eff]: [0.1299, -1.2923, 6.4752, 1.9121, 0.0024, -0.0757, -0.0122, -0.4718, -7.4188, 3.8496, 0.8181, 0.0708, 0.1734, 0.9451]",
      "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]: [-0.0189, 0.7403, 0.498, -0.3279, -0.0227, -0.0292, 0.9983, 0.6662, 1.8576, 0.8345, 0.3016, 0.5346, 0.3557, 0.9953]\nstate[eef_state]: left_x=0.2852 left_y=0.0022 left_z=0.1566 left_yaw=-0.0012 left_pitch=-0.0076 left_roll=0.0027 left_gripper=0.9983 right_x=0.3996 right_y=0.2042 right_z=0.0407 right_yaw=0.02 right_pitch=-0.0371 right_roll=-0.0323 right_gripper=0.9953\nstate[joint_eff]: [0.1162, -1.0188, 6.4615, 1.8095, 0.0024, -0.0415, -0.0122, -0.1983, -11.1795, 6.8581, 1.4872, 0.1929, 0.0904, 0.1099]\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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7383, 0.498, -0.3283, -0.0227, -0.0296, 0.9983, 0.6559, 1.9194, 0.8452, 0.3721, 0.5289, 0.3489, 0.9954]\nstate[eef_state]: left_x=0.2851 left_y=0.0022 left_z=0.157 left_yaw=-0.001 left_pitch=-0.0061 left_roll=0.0024 left_gripper=0.9983 right_x=0.4085 right_y=0.2065 right_z=0.0297 right_yaw=0.0182 right_pitch=-0.0239 right_roll=-0.0234 right_gripper=0.9954\nstate[joint_eff]: [0.0342, -1.0735, 6.4615, 1.7753, 0.0122, -0.0611, -0.0122, -1.265, -6.5983, 5.8598, 1.3016, 0.0806, 0.1441, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f0fbaf74695798791d631009dd0a37a037afff5a23998d8d2839e3e17618e71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:053499950a8035546b4187bf6614cdd2247eb8426ba6cd3ad19b0faa62834232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9619409ac0b5a220f837a36c59c3ed49c288306bb0eaad6fdad7247f2a541123",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQkKEAgSGAI4AUIIdGhpbmtpbmcSDNfJx33SApPmQCsE7hoMyXUxCw3e0ZEtnj9eIjA1xl1fe0DuQo569mRntueJMz3QhO522AseHYSvFV3RmyAV56AzMkU8FVTfuzukV0AqsgjLfViAfWPvYl5Ey/Z3AjRnQgSUQg+MkrhZg7h1yjAHi1FEpwnv2ivz+ZOUgvmtE6KMkyS3SYRAgA+TYH+JSthRFbnxPGU7JFZoZrithWEUEuUZWgMN7y9ZIWbJ6yawvWoJQbJ6vG8rarVcaEeAc6nT+wVncQQO19qP3pGgphVXd0ohXuftBQ1pudNvKNj56YcoPTmC1qd+95tIRfHg0GLUa+GwMcFvk8jJ7dmRtxZAzIxHavbYFzBPSWx6F9JVIih9wdjKfdZIjp0ng1WVYR44jgcXEdYj9B55TEKZXHVN0RaGohNjRNIzDE1Fw3lg0ZkzV2+sTigqzMBX3A7qPrzjZOMhiMb4UlRfgnt4kXcHgK4fe9w9kTO/VL5MUNxsnI7XNGuSWmP5VLwrTpEkLgT2eEUaL4VEZlERLyTiDAZMfYXuHltBcdzzu+iLPfT2SmZ1XFGQwD2ZmJSrsL7VDigj9TEMAv2mtKnogjdCi0KE9UPvAenFJUYGMVsvoMU0IPw1NmaN6kkusnYnN4iNHNVeb/03jBr4XmLwIWaGNYjAypVM33PqvALYtmR9PmRwqJFpp9ZzAKHYNd0FHYaheuabSLae0LUjm01yAo4jXX1A/iS4Ym7UGw8C4g3zg34IFwQo7PWfZzG6U8kiTuXlcBdplWokvtUxMWWLBY0dVIZGYuyk6P5BtIrPb4eC/IVFXSFzg0GFhBB96yHmXqegtwITX2EtSHLahMecBBkUjNBsq6L1nga7Ii42lGE4GOkcVHEBTSK0KyLsK9CazBcdOrRFb1w8qDjHAGxwfbV9TCw3UErlARuJ78HoYmgJcK7DNWUzAZzbWOzmoqxmm+037T5sHGyvVr81JCXNe/4q+XO9dTCK/uaGBK4x2507gnoGs0tvm+Zm+29iBCvDqJhPDhT4ewf73svRXb/E5Qx3AoNtoG6WtgU27i1XQ9UEp0RIkxoqjS5YRnhv7dlNpxo9fWiBDtvxtkwjEQJBAVIxFpFWFPGw81U8TnC5fpfmp6mazfRCsz0OWhOnKhhRDCkD2e7W5axMjhMk/TJGdiOGhfJEanRIVIx3ya7AlOoFwSEl+fSmqYmGPkyUh1h5iJyR2M6jlmTzs3R0WZvTzouHmsBqxKls8ZfV4s3nujp3yDq17ltEuxvHJ7i+6nReQfQtru4UensBic7ylwNr4MnpL0yknbycz3XbVO3dN3w02WVbbmGirPgZCh/xgiIOvg8pXdXBe3ITjXSfn5djQ4qRD+K/jXA5hn5vnfzZzbBv+oEwzuHS6aCd2O4dQwk6sw6W527YEOdzZAd3uax08TExXcYGG9QWougvIw5NaiQDNN6x0gh5RV+wX/t3Z6490v3Ygm4Ev5VIwcoVntiSevat7s0zTCFYcC5LMa2F28kF2rsx1Kyez5lw/Ktr47sVo08nAnrvFLcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HKud5mAsrNLwNnZaYVDDYp",
      "input": {
        "note": "Jaws are around the bottle neck just behind the cap. Closing to grip the neck.",
        "targets": {
          "right_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_01HKud5mAsrNLwNnZaYVDDYp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7399, 0.498, -0.3294, -0.0227, -0.0296, 0.9983, 0.6544, 1.9156, 0.8379, 0.5068, 0.524, 0.3408, 0.0138]\nstate[eef_state]: left_x=0.285 left_y=0.0022 left_z=0.1564 left_yaw=-0.001 left_pitch=-0.0088 left_roll=0.0024 left_gripper=0.9983 right_x=0.4212 right_y=0.2163 right_z=0.0527 right_yaw=0.0227 right_pitch=0.0801 right_roll=0.0499 right_gripper=0.0138\nstate[joint_eff]: [0.1026, -1.1692, 6.5983, 1.8486, -0.0122, -0.0855, -0.0122, -0.3214, -8.4718, 3.8085, 1.0085, 0.1245, 0.1245, 0.9109]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f9dd583b31d1ac0cc25f235fac0ba99254cf4321f95a6aa35fc51203a58e424",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81c8ed8637abd20cd7eeeb61b46095d731c1b49d55bbd21a8785700f47c8651b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14b3e3feee46f9bd08f251412814199749078e8a06c54c3642da4398f6686aa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 6.336 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]: [-0.0189, 0.7403, 0.498, -0.3279, -0.0227, -0.0292, 0.9983, 0.6662, 1.8576, 0.8345, 0.3016, 0.5346, 0.3557, 0.9953]\nstate[eef_state]: left_x=0.2852 left_y=0.0022 left_z=0.1566 left_yaw=-0.0012 left_pitch=-0.0076 left_roll=0.0027 left_gripper=0.9983 right_x=0.3996 right_y=0.2042 right_z=0.0407 right_yaw=0.02 right_pitch=-0.0371 right_roll=-0.0323 right_gripper=0.9953\nstate[joint_eff]: [0.1162, -1.0188, 6.4615, 1.8095, 0.0024, -0.0415, -0.0122, -0.1983, -11.1795, 6.8581, 1.4872, 0.1929, 0.0904, 0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0189, 0.7383, 0.498, -0.3283, -0.0227, -0.0296, 0.9983, 0.6559, 1.9194, 0.8452, 0.3721, 0.5289, 0.3489, 0.9954]\nstate[eef_state]: left_x=0.2851 left_y=0.0022 left_z=0.157 left_yaw=-0.001 left_pitch=-0.0061 left_roll=0.0024 left_gripper=0.9983 right_x=0.4085 right_y=0.2065 right_z=0.0297 right_yaw=0.0182 right_pitch=-0.0239 right_roll=-0.0234 right_gripper=0.9954\nstate[joint_eff]: [0.0342, -1.0735, 6.4615, 1.7753, 0.0122, -0.0611, -0.0122, -1.265, -6.5983, 5.8598, 1.3016, 0.0806, 0.1441, 0.0024]",
      "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]: [-0.0189, 0.7399, 0.498, -0.3294, -0.0227, -0.0296, 0.9983, 0.6544, 1.9156, 0.8379, 0.5068, 0.524, 0.3408, 0.0138]\nstate[eef_state]: left_x=0.285 left_y=0.0022 left_z=0.1564 left_yaw=-0.001 left_pitch=-0.0088 left_roll=0.0024 left_gripper=0.9983 right_x=0.4212 right_y=0.2163 right_z=0.0527 right_yaw=0.0227 right_pitch=0.0801 right_roll=0.0499 right_gripper=0.0138\nstate[joint_eff]: [0.1026, -1.1692, 6.5983, 1.8486, -0.0122, -0.0855, -0.0122, -0.3214, -8.4718, 3.8085, 1.0085, 0.1245, 0.1245, 0.9109]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f9dd583b31d1ac0cc25f235fac0ba99254cf4321f95a6aa35fc51203a58e424",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81c8ed8637abd20cd7eeeb61b46095d731c1b49d55bbd21a8785700f47c8651b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14b3e3feee46f9bd08f251412814199749078e8a06c54c3642da4398f6686aa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017AefDXKE9nJEkcaPvTjtKp",
      "input": {
        "note": "Empty again: the jaws closed just above the cap and rode up. Opening and pressing the open jaws down to table level astride the neck.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.415,
          "right_y": 0.21,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017AefDXKE9nJEkcaPvTjtKp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.6552, 1.9858, 0.8577, 0.5827, 0.5209, 0.3283, 0.9953]\nstate[eef_state]: left_x=0.285 left_y=0.0022 left_z=0.1564 left_yaw=-0.0012 left_pitch=-0.0088 left_roll=0.0027 left_gripper=0.9983 right_x=0.4294 right_y=0.2236 right_z=0.0423 right_yaw=0.0314 right_pitch=0.1002 right_roll=0.0551 right_gripper=0.9953\nstate[joint_eff]: [0.0889, -1.4291, 6.4479, 1.8584, -0.0269, -0.0513, -0.0122, -0.6906, -4.6838, 2.8923, 1.0574, 0.1148, 0.1832, 0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4948e98ccfc3ab7e191d87e37db3b14ea8d8fd1ff1e55d76e06c243b61559d4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8ce36d2b6013312501cc1f3d647524803e72ea3566ebbd6b72a52162750721a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b1f240dc6b1acebcd96b902cbac3ed940a6f8281d16b284134bdeae13278e90b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 10.01 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]: [-0.0189, 0.7383, 0.498, -0.3283, -0.0227, -0.0296, 0.9983, 0.6559, 1.9194, 0.8452, 0.3721, 0.5289, 0.3489, 0.9954]\nstate[eef_state]: left_x=0.2851 left_y=0.0022 left_z=0.157 left_yaw=-0.001 left_pitch=-0.0061 left_roll=0.0024 left_gripper=0.9983 right_x=0.4085 right_y=0.2065 right_z=0.0297 right_yaw=0.0182 right_pitch=-0.0239 right_roll=-0.0234 right_gripper=0.9954\nstate[joint_eff]: [0.0342, -1.0735, 6.4615, 1.7753, 0.0122, -0.0611, -0.0122, -1.265, -6.5983, 5.8598, 1.3016, 0.0806, 0.1441, 0.0024]",
      "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]: [-0.0189, 0.7399, 0.498, -0.3294, -0.0227, -0.0296, 0.9983, 0.6544, 1.9156, 0.8379, 0.5068, 0.524, 0.3408, 0.0138]\nstate[eef_state]: left_x=0.285 left_y=0.0022 left_z=0.1564 left_yaw=-0.001 left_pitch=-0.0088 left_roll=0.0024 left_gripper=0.9983 right_x=0.4212 right_y=0.2163 right_z=0.0527 right_yaw=0.0227 right_pitch=0.0801 right_roll=0.0499 right_gripper=0.0138\nstate[joint_eff]: [0.1026, -1.1692, 6.5983, 1.8486, -0.0122, -0.0855, -0.0122, -0.3214, -8.4718, 3.8085, 1.0085, 0.1245, 0.1245, 0.9109]",
      "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]: [-0.0189, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.6552, 1.9858, 0.8577, 0.5827, 0.5209, 0.3283, 0.9953]\nstate[eef_state]: left_x=0.285 left_y=0.0022 left_z=0.1564 left_yaw=-0.0012 left_pitch=-0.0088 left_roll=0.0027 left_gripper=0.9983 right_x=0.4294 right_y=0.2236 right_z=0.0423 right_yaw=0.0314 right_pitch=0.1002 right_roll=0.0551 right_gripper=0.9953\nstate[joint_eff]: [0.0889, -1.4291, 6.4479, 1.8584, -0.0269, -0.0513, -0.0122, -0.6906, -4.6838, 2.8923, 1.0574, 0.1148, 0.1832, 0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4948e98ccfc3ab7e191d87e37db3b14ea8d8fd1ff1e55d76e06c243b61559d4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8ce36d2b6013312501cc1f3d647524803e72ea3566ebbd6b72a52162750721a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1f240dc6b1acebcd96b902cbac3ed940a6f8281d16b284134bdeae13278e90b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cw1QttTMPRnNx4xirYc8Az",
      "input": {
        "note": "Cap is centred between the jaws a little ahead; the arm stopped at 4 cm height. Pushing forward and down so the open jaws straddle the neck at table level.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.21,
          "right_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Cw1QttTMPRnNx4xirYc8Az",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7399, 0.498, -0.3294, -0.0227, -0.0296, 0.9983, 0.6243, 2.0743, 0.9306, 0.6636, 0.5014, 0.2859, 0.9955]\nstate[eef_state]: left_x=0.285 left_y=0.0022 left_z=0.1564 left_yaw=-0.001 left_pitch=-0.0088 left_roll=0.0024 left_gripper=0.9983 right_x=0.4558 right_y=0.2281 right_z=0.0414 right_yaw=0.0347 right_pitch=0.1497 right_roll=0.0619 right_gripper=0.9955\nstate[joint_eff]: [0.0342, -1.4427, 6.4068, 1.8095, -0.022, -0.0904, -0.0122, -1.3607, -3.8769, 3.4393, 0.3687, -0.1636, 0.3932, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3ccbc28d5531eeaedbc36d6d64fde4e6a90797fded7b15cc22b6f4cac2d3e04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bfb8c1f631212531e94fff569a89646e78ffdb8be8be968ca2cd70f0e0e8107",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:879597be9e6322fda2fdfcf13556ef6f9298aa0916b0f3a58900ce8d794727c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 11.9 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]: [-0.0189, 0.7399, 0.498, -0.3294, -0.0227, -0.0296, 0.9983, 0.6544, 1.9156, 0.8379, 0.5068, 0.524, 0.3408, 0.0138]\nstate[eef_state]: left_x=0.285 left_y=0.0022 left_z=0.1564 left_yaw=-0.001 left_pitch=-0.0088 left_roll=0.0024 left_gripper=0.9983 right_x=0.4212 right_y=0.2163 right_z=0.0527 right_yaw=0.0227 right_pitch=0.0801 right_roll=0.0499 right_gripper=0.0138\nstate[joint_eff]: [0.1026, -1.1692, 6.5983, 1.8486, -0.0122, -0.0855, -0.0122, -0.3214, -8.4718, 3.8085, 1.0085, 0.1245, 0.1245, 0.9109]",
      "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]: [-0.0189, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.6552, 1.9858, 0.8577, 0.5827, 0.5209, 0.3283, 0.9953]\nstate[eef_state]: left_x=0.285 left_y=0.0022 left_z=0.1564 left_yaw=-0.0012 left_pitch=-0.0088 left_roll=0.0027 left_gripper=0.9983 right_x=0.4294 right_y=0.2236 right_z=0.0423 right_yaw=0.0314 right_pitch=0.1002 right_roll=0.0551 right_gripper=0.9953\nstate[joint_eff]: [0.0889, -1.4291, 6.4479, 1.8584, -0.0269, -0.0513, -0.0122, -0.6906, -4.6838, 2.8923, 1.0574, 0.1148, 0.1832, 0.105]\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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7399, 0.498, -0.3294, -0.0227, -0.0296, 0.9983, 0.6243, 2.0743, 0.9306, 0.6636, 0.5014, 0.2859, 0.9955]\nstate[eef_state]: left_x=0.285 left_y=0.0022 left_z=0.1564 left_yaw=-0.001 left_pitch=-0.0088 left_roll=0.0024 left_gripper=0.9983 right_x=0.4558 right_y=0.2281 right_z=0.0414 right_yaw=0.0347 right_pitch=0.1497 right_roll=0.0619 right_gripper=0.9955\nstate[joint_eff]: [0.0342, -1.4427, 6.4068, 1.8095, -0.022, -0.0904, -0.0122, -1.3607, -3.8769, 3.4393, 0.3687, -0.1636, 0.3932, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3ccbc28d5531eeaedbc36d6d64fde4e6a90797fded7b15cc22b6f4cac2d3e04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bfb8c1f631212531e94fff569a89646e78ffdb8be8be968ca2cd70f0e0e8107",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:879597be9e6322fda2fdfcf13556ef6f9298aa0916b0f3a58900ce8d794727c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSphIKEAgSGAI4AUIIdGhpbmtpbmcSDOOV7wHRG2bLecTH+BoMSpr95x1ZJ9T9RBERIjAO2TfZTb9lFTZ4tvrRjkrctNCDu0sLtDxYWfQXsi17RvUMfDAtb73RbgIjRxpsWPwqwxGSCVHH8f0rryxfsSot4jlBT2OrkvUsCr96Ebp5pLznc5oM3BPTZrHd65kXfjkQaZQ1M6/xAdxPooFYk5R8BVYwlVjynWCl3tJpNAzHueJUHOtMpY+htO+E1qJ1Jgx5HgAHV49MSXq5gk48L+/1ZlgL0aAPmro9HaNcYkoJzXS96jgYawqSP+sGVGFX8yoSId6lZq8hj9EAwZH+XMX/NZUh+NisViU+0yq8GhFEiJ/xHj97x0adPXaEGXzncQvIOzkVJf6wy2D7XGcI95bghbXG+GjfV5iO6820eWYYi2AgOwdDITAykX/am+/6DCJEyS0gWcNbxjuMS2QsyXS9KUuu/+rrsqHimG6I6iezq1kP0gSPhCvRlnwpgpY6zntZpYtOPFoGTunP0xUGwYzXnGVpbJhue02ZUW2Cr29wgunVHqnlQQ0ahNC3zEPXX84BEsigoyWql0ac5eEoBOvLgWJPUHGqsJ/WAg5B94mOWxvd0xT+bv0J/rdnAtZydMyPGaaU+AfLJ9XkVfclqqIV3bryHjEZNiIHsGcqAljVEuXjZb5JzlyJgPnZtwqN9LtCJMoAfDkEBHR7M46PKoFi41b05BMm1hPUZTE1K9VdbtmMurvW3KyCb0IZhiEwEfen295aSMJx1R8jYl81L+OvjAIn9+yj5EU2FEWG0yWroAIvZO1TigscwGAHyHgSwig5f5/CuFoakFj5N2T5ulJC6ddIt3P12I5r0oJgSwSQq+JvLHLgD6JiGrWqpBrOuLVb6frI/9H878JeDhv7Lq/ZsND0YVetszcQYgJSG2Y1OIGQ1nt1zpn8SYhTGSvMYQZAYz2/j0Oa2h4O5/GRSjTrXgv5PI9fM2dXvc8/c0O+2MpZhvDloirVI56TWYNU6iUTtQaKD4rkossHAfRafGBHTPgkKZ8ebvyYu14QzsvMjEcr/m07KMJ8n1zXKQMPpUp6USoHxFvEZEmqKRMIznT2kz1lN6ZHquwiYHzWPTRhoeIwb9gqBHYWnV0Mk8clxuNRVNiJA6oBi+tLeSMkVBCkC9zZnmcv4ZBizR9cFQg/k9xRdcjFLBUpEUzfeI0F8CO7FczVPQlixNZ+ITsQwrI5eRB/38Se6o/kSPOEkwccAQvmYeQg/OeUTG2lm8O/maJd6B51JFJxpumrKRKRWiDOXc27qah2SerW+wIk70kvS1pawtHAnx6L3Og6DQukxFcRHWTvUByS/qCyCYlsL1+PqwqlX/nbvdFtESrB3T+qLokuBq6G/zAgLfRPdrfTeJFw2LlT50OZHNvawNB1KxlrwvD/rXyJiFgN/Qa1t/eBZLYk4vYOiQL1rZgM4zRDhGPmDuy+sohJduUkdHq/I47EEKombyRG7SUZ/mWU6gheBJlWyzXq6+N4+AVGUILGvTfJUEPKuP+uvf4Vb2yJXDRCV925KcCxNnX8hsiwFdqvgqDA94SpoPB99XDJWYcRvQzHChOjkLkDLMyqbX6aaVVUn0g0qMttaEd2fEb7QEBPzL7cXR4nVvGtQ0uAmfP84C4P24XE3EIZByl2Tq74J1WtW8jJCGXfbpHO9zWV2rFkzvLuPJOK/0VF66WHmFBE6C4l1zKoivzLPmzP7gQRAoyiuLn065tsp2GsqdevROkW39LcMMDw4g2plQiPvzGa8obyJEy0h1l8vBEf7TdOnJHhvfNe7ycNGgMoyAyMJkltXIsrGM0AqzSlENJPVr6T+VTDV6WT9FP2wj/GA1LFsm+pblY+5ydFGgQvoBgKFlpLTm0+cTLNQT9D25UwrF/BYBrCHO7B8H+zgdfCuvkSSY/ahDCMjAKu+siGf3xoXImwqfULukpePNYkNASdI+OQ5TWkWso/upzyg3PqhXlTreln9qEZXxz4sn19TSROrqsDyBPu8s2mah1nU3I2OymmWedm9wvbbklvDQMLc6e4CdS32Wqy4z+4reRRJibWPGirYAa7C3WxNzEMaBf4/hyH/uaMjcXUc3AzxCr0qnC8k7BxvE2QoeUyStPLdriFENNtiAnDQ+tnxxs+CKWCDk4ZeVG7tbE/YsUVgBFJBLcUD2WBDdyD3ieOGNYtqQDwupMgufJqP8b4aU+OP+EhOr9edp2g6ZIPllMfms39h1vS1wzxNvJ0emQvXDTyJzjBLy5tp9B04GuyUl0PiGg7BpBe6XLsuucD4gbvt5UV9nA8Xr3IGYe/FFfn9qpX5BdZH49A56Jsmpv80wKvQiMp/InRejExEXmNaP93h90LZsgegun9LMM/SmbVqtVTDaN2YS2AJ/ic49k9q4FYIgRNlIgpUDrGYgACT8SCqbhSZ8HOOQTMDFoAS35+fZ59riRq4KOw33fodLGZtIv6sULIZayPWptcNS5+hgIURwQ0zdTMszt+sl4PNPzI7XJazwQA1jz5L/ra6W8PjC1M9SdnrWiqHcxv4b3BUneip0aY40FqNkjOp0UFVFbuPWxZF8SCs3f1IOKDFJGcIzJbzj5wSxskpP7XKBt/sA2MA6cdDJY8OMPg3KEfSa0TuiwRp4zafgl5L3JVgpZEo2BJtdixPHiICmhh7/bwobGx0rXu9rHIe7f2kIJUfJyWNtQ/BZwCGbcqW5J9frpMQGkon15cIKH2udUCIBKoln3IUb72+SORPDkrnQpWbkBB+3avM+GoG7nNx/HlT0LEYM+++GsD0IXR9qB1oCheS8HzY8CKF8x89HqnQqwIOQ40rOz7sUCWX4rtVEe5tUH2KTesLfgjJGl5jdal94sCAJzg/k4wFyO2IvL2ET1wJNyUcDl0hS48ZU+wlDhX0c/KebvSYZjJW9kikjJfMAqvqm6AvpNRtuORyC/w+EO7Zz1duXk/O4JsIAaQjLs3vp3N3U/9CC9z4UKVk3K16ge2koa32GUS5TAjE9cmK9mQZBGmDzvD8VK0s7+tLv/ihqwTetywIvVCKgxcVfXlE1bn2dDFaVAbJFxjmPvZngrIYHR+OoKUAp5v7qvUxd2AfYeDLRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NPbHT1ST9ToHQyQg6JY4sT",
      "input": {
        "note": "The gripper is resting on the bottle near the neck (it slid the bottle forward). Trying one close here around the neck.",
        "targets": {
          "right_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_01NPbHT1ST9ToHQyQg6JY4sT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7399, 0.498, -0.3298, -0.0227, -0.0292, 0.9983, 0.6071, 2.0926, 0.9363, 0.7681, 0.4934, 0.2913, 0.0136]\nstate[eef_state]: left_x=0.285 left_y=0.0022 left_z=0.1563 left_yaw=-0.0012 left_pitch=-0.0092 left_roll=0.0027 left_gripper=0.9983 right_x=0.468 right_y=0.2276 right_z=0.0556 right_yaw=0.0117 right_pitch=0.2238 right_roll=0.122 right_gripper=0.0136\nstate[joint_eff]: [0.0479, -1.1829, 6.5162, 1.8584, -0.0122, -0.0757, -0.0122, -0.4444, -4.8752, 2.906, 0.2271, -0.0366, 0.1392, 0.823]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62d932c5f0ccb6d5e2a7c0d7abed2c353b48559df9c52b6809a7d029cb57896c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cd0de3dcea29a3863f522add28cc19e8c797cd47db756dab6a11d19969b0151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e2183ca201aa2b1c80be71129f53882ac94520cc093f8656a7ebf13e96a0c21c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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