adhoc

completed
2026-09-22T19:41:37.675528+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
234.8 s
total steps
182
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles lie on their sides, caps pointing away from the bases. My plan is to grab each bottle by the neck and swing it up so it pivots on its base. First I'm moving the right arm above the neck of the rightmost bottle.
move_to
right_x0.4700right_y0.2600right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7929, 0.609, -0.3763, -0.0223, -0.0284, 0.9986, -0.0158, 0.7887, 0.6037, -0.3866, -0.0219, -0.0353, 0.9985] state[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1834 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0028 right_z=0.1799 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9985 state[joint_eff]: [-0.4171, -1.4154, 9.6479, 1.7607, -0.0415, 0.1148, -0.1538, -1.0188, -0.9641, 10.2359, 1.8974, -0.0122, 0.1978, -0.1734] 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": 0.47, "right_y": 0.26, "right_z": 0.12, "right_gripper": 1}, "note": "Three bottles lie on their sides, caps pointing away from the bases. My plan is to grab each bottle by the neck and swing it up so it pivots on its base. First I'm moving the right arm above the neck of the rightmost bottle."})
tool
executing move_to over 22 steps (2.2s)
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 noteThe right wrist camera shows the bottle's cap a little right of the jaw column and just ahead of the fingertips. I'm shifting slightly right and forward, then going down to neck height.
move_to
right_x0.4800right_y0.2400right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7971, 0.6151, -0.3794, -0.0227, -0.0292, 0.9984, 0.667, 1.9526, 1.298, -0.0772, 0.503, 0.3428, 0.9985] state[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1844 left_yaw=0.0007 left_pitch=-0.0008 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4563 right_y=0.2555 right_z=0.1053 right_yaw=0.0445 right_pitch=-0.0541 right_roll=-0.0366 right_gripper=0.9985 state[joint_eff]: [-0.3761, -1.1145, 6.6256, 1.79, -0.022, -0.0073, -0.0317, -0.212, -10.1265, 8.7043, 1.746, 0.5006, 0.2564, -0.1734] 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": 0.48, "right_y": 0.24, "right_z": 0.03}, "note": "The right wrist camera shows the bottle's cap a little right of the jaw column and just ahead of the fingertips. I'm shifting slightly right and forward, then going down to neck height."})
tool
executing move_to over 5 steps (0.5s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe descent stopped at z=0.055 with the neck between the jaws in view, and the bottle still sits slightly right of centre. I'm nudging right and forward and continuing down to neck height.
move_to
right_x0.4900right_y0.2300right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.6125, 2.0727, 1.177, 0.2558, 0.4892, 0.2863, 0.9983] state[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1841 left_yaw=0.0007 left_pitch=-0.0019 left_roll=-0.0004 left_gripper=0.9983 right_x=0.478 right_y=0.2388 right_z=0.0549 right_yaw=0.0323 right_pitch=0.0164 right_roll=-0.0243 right_gripper=0.9983 state[joint_eff]: [-0.2667, -1.388, 6.9812, 1.7118, -0.0317, -0.0611, -0.0171, -1.1145, -6.8855, 5.1214, 1.3455, -0.1587, 0.2369, -0.0317] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_y": 0.23, "right_z": 0.025}, "note": "The descent stopped at z=0.055 with the neck between the jaws in view, and the bottle still sits slightly right of centre. I'm nudging right and forward and continuing down to neck height."})
tool
executing move_to over 2 steps (0.2s)
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 noteThe jaws seem to be resting on the bottle's body rather than straddling it: z is stuck at 0.055 and y won't shift. I'm lifting a little and moving right to centre over the upper body so I can grip there.
move_to
right_x0.4700right_y0.2250right_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.5995, 2.1017, 1.1732, 0.3489, 0.4671, 0.2619, 0.9983] state[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4881 right_y=0.2415 right_z=0.0548 right_yaw=0.049 right_pitch=0.0605 right_roll=-0.0024 right_gripper=0.9983 state[joint_eff]: [-0.1026, -1.3744, 6.8855, 1.7509, -0.022, -0.0513, -0.0122, -2.0718, -6.8581, 6.0923, 1.3651, -0.2418, 0.3639, -0.0171] 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": 0.47, "right_y": 0.225, "right_z": 0.08}, "note": "The jaws seem to be resting on the bottle's body rather than straddling it: z is stuck at 0.055 and y won't shift. I'm lifting a little and moving right to centre over the upper body so I can grip there."})
tool
executing move_to over 2 steps (0.2s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe arm isn't following small commands well; it stays near z=0.05 at the far edge of its reach. I'm pulling back and up to a clear hover above the bottle to reset.
move_to
right_x0.4400right_y0.2250right_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.5747, 2.1139, 1.1736, 0.3683, 0.4702, 0.2535, 0.9983] state[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4955 right_y=0.2298 right_z=0.0525 right_yaw=0.026 right_pitch=0.0679 right_roll=-0.0071 right_gripper=0.9983 state[joint_eff]: [-0.0479, -1.388, 6.8581, 1.7411, -0.0464, -0.0611, -0.0122, -0.335, -7.8154, 5.9282, 1.409, -0.2466, 0.2662, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.225, "right_z": 0.13}, "note": "The arm isn't following small commands well; it stays near z=0.05 at the far edge of its reach. I'm pulling back and up to a clear hover above the bottle to reset."})
tool
executing move_to over 6 steps (0.6s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe right arm didn't move at all on the last command, so the IK may be stuck. I'm trying a pure vertical lift to free it.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.5747, 2.1139, 1.1736, 0.3683, 0.4702, 0.2535, 0.9983] state[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0019 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4955 right_y=0.2298 right_z=0.0525 right_yaw=0.026 right_pitch=0.0679 right_roll=-0.0071 right_gripper=0.9983 state[joint_eff]: [-0.0479, -1.4017, 6.8991, 1.7851, -0.0317, -0.0366, -0.0122, -0.5402, -8.0068, 6.0239, 1.3602, -0.2076, 0.232, -0.0073] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18}, "note": "The right arm didn't move at all on the last command, so the IK may be stuck. I'm trying a pure vertical lift to free it."})
tool
executing move_to over 9 steps (0.9s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe arm is free again and the bottle is centred on the jaw column, but its neck is past table-level reach. I'll grip the upper body instead, going down at x=0.45.
move_to
right_x0.4500right_y0.2300right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.572, 1.9572, 1.4403, -0.1944, 0.4328, 0.26, 0.9983] state[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4895 right_y=0.2313 right_z=0.1373 right_yaw=0.05 right_pitch=-0.0632 right_roll=-0.0534 right_gripper=0.9983 state[joint_eff]: [-0.0479, -1.3744, 6.8718, 1.7656, -0.0464, -0.0464, -0.0122, -0.8684, -14.2701, 10.8786, 2.0342, 0.232, 0.1832, -0.0024] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.23, "right_z": 0.03}, "note": "The arm is free again and the bottle is centred on the jaw column, but its neck is past table-level reach. I'll grip the upper body instead, going down at x=0.45."})
tool
executing move_to over 7 steps (0.7s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe bottle's labelled body is centred between the jaws at z≈0.04. I'm going down a little more and closing to grip it.
move_to
right_z0.0250right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8005, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6117, 2.0079, 1.0374, 0.2859, 0.4606, 0.2848, 0.9983] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4496 right_y=0.2239 right_z=0.0387 right_yaw=0.0548 right_pitch=-0.0307 right_roll=-0.0348 right_gripper=0.9983 state[joint_eff]: [-0.253, -1.4017, 6.8718, 1.7558, -0.0317, -0.0415, -0.0122, 0.9778, -7.7607, 4.9709, 1.5751, -0.0171, 0.1783, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.025, "right_gripper": 0.0}, "note": "The bottle's labelled body is centred between the jaws at z\u22480.04. I'm going down a little more and closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe close came up empty (0.014): the jaws sat too high, around z=0.058, and slid over the top of the bottle. I'm opening and backing up a little so I can go down lower.
move_to
right_gripper1.0000right_z0.0800right_x0.4300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8005, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6094, 2.0171, 1.0077, 0.4717, 0.4629, 0.2829, 0.0144] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4623 right_y=0.2309 right_z=0.058 right_yaw=0.0493 right_pitch=0.0946 right_roll=0.0403 right_gripper=0.0144 state[joint_eff]: [-0.1983, -1.388, 6.7214, 1.8144, -0.0415, -0.0171, -0.0122, -0.1436, -7.788, 4.1504, 1.2039, 0.0269, 0.0806, 1.3553] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.08, "right_x": 0.43}, "note": "The close came up empty (0.014): the jaws sat too high, around z=0.058, and slid over the top of the bottle. I'm opening and backing up a little so I can go down lower."})
tool
executing move_to over 10 steps (1.0s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe jaws are open with the bottle's body centred between them. I'm pressing down to table level so the jaws straddle the bottle's widest part.
move_to
right_z-0.0100right_y0.2280
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8005, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6506, 1.9133, 1.0176, 0.1974, 0.4709, 0.3206, 0.9948] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4307 right_y=0.2316 right_z=0.0608 right_yaw=0.066 right_pitch=-0.0385 right_roll=-0.0183 right_gripper=0.9948 state[joint_eff]: [-0.0342, -1.3333, 6.8171, 1.8584, -0.0366, -0.0562, -0.0122, 0.4718, -12.5744, 5.7641, 1.536, 0.3199, 0.0415, -0.1441] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": -0.01, "right_y": 0.228}, "note": "The jaws are open with the bottle's body centred between them. I'm pressing down to table level so the jaws straddle the bottle's widest part."})
tool
executing move_to over 5 steps (0.5s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe jaws are at table level and straddle the bottle's lower body. Closing to grip it.
move_to
right_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6495, 2.083, 0.9173, 0.5011, 0.4679, 0.3138, 0.9942] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4286 right_y=0.23 right_z=0.0003 right_yaw=0.0714 right_pitch=-0.0115 right_roll=-0.0039 right_gripper=0.9942 state[joint_eff]: [-0.1983, -1.6479, 6.735, 1.7607, -0.0317, -0.0366, -0.0122, -0.7179, -7.5829, 4.1778, 1.2479, 0.1538, -0.0366, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.2}, "note": "The jaws are at table level and straddle the bottle's lower body. Closing to grip it."})
tool
executing move_to over 8 steps (0.8s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteI'm holding the bottle mid-body (gripper at 0.53, about 5 cm). Now I'll swing it up in an arc about its base, which sits toward the robot. This is the first step: up and slightly back.
move_to
right_x0.4150right_z0.0650
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6479, 2.0918, 0.9165, 0.5438, 0.4675, 0.3027, 0.5349] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4327 right_y=0.2322 right_z=0.0037 right_yaw=0.0761 right_pitch=0.0163 right_roll=0.005 right_gripper=0.5349 state[joint_eff]: [-0.0615, -1.6068, 6.7077, 1.7851, -0.0513, -0.0415, -0.0122, 0.1162, -10.3043, 4.1915, 1.4237, 0.105, 0.0415, 1.033] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_z": 0.065}, "note": "I'm holding the bottle mid-body (gripper at 0.53, about 5 cm). Now I'll swing it up in an arc about its base, which sits toward the robot. This is the first step: up and slightly back."})
tool
executing move_to over 4 steps (0.4s)
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 noteThe lift is lagging (z=0.019 so far). Continuing along the arc: higher and further back toward the bottle's base.
move_to
right_x0.3800right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0227, -0.0292, 0.9983, 0.6697, 1.948, 0.9127, 0.2668, 0.4561, 0.3107, 0.5386] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4054 right_y=0.2263 right_z=0.0186 right_yaw=0.0994 right_pitch=-0.1029 right_roll=-0.0563 right_gripper=0.5386 state[joint_eff]: [-0.1162, -1.5385, 6.5709, 1.8828, -0.0513, -0.0708, -0.0171, 0.5538, -13.9692, 6.6256, 2.7179, 0.5348, 0.1148, 0.8962] approver: 3 step(s) modified (delta_clamped ×3). 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": 0.38, "right_z": 0.1}, "note": "The lift is lagging (z=0.019 so far). Continuing along the arc: higher and further back toward the bottle's base."})
tool
executing move_to over 6 steps (0.6s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe arm is dragging the bottle back but not gaining height (z=0.04). I'm commanding a clearly higher target to raise the gripped end so the bottle tips up onto its base.
move_to
right_x0.3400right_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3779, -0.0223, -0.0292, 0.9983, 0.7174, 1.7462, 0.8116, 0.0994, 0.4519, 0.3237, 0.5387] state[eef_state]: left_x=0.297 left_y=0.0016 left_z=0.1832 left_yaw=0.0004 left_pitch=-0.0046 left_roll=-0.0006 left_gripper=0.9983 right_x=0.36 right_y=0.2165 right_z=0.0409 right_yaw=0.1384 right_pitch=-0.1602 right_roll=-0.0803 right_gripper=0.5387 state[joint_eff]: [-0.1026, -1.1829, 6.5983, 1.873, -0.0317, -0.0317, -0.0171, 0.3214, -11.9726, 9.2923, 2.6593, 0.6618, 0.1294, 0.9109] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_z": 0.16}, "note": "The arm is dragging the bottle back but not gaining height (z=0.04). I'm commanding a clearly higher target to raise the gripped end so the bottle tips up onto its base."})
tool
executing move_to over 8 steps (0.8s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteFrom the wrist view I'm actually holding the bottle near its base, with the cap end still forward on the table, so pivoting this way won't stand it up. I'm dragging it back toward the robot and setting it down so the neck comes within reach.
move_to
right_x0.2200right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0231, -0.0292, 0.9983, 0.7727, 1.4734, 0.8009, -0.1749, 0.448, 0.3294, 0.539] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3196 right_y=0.2097 right_z=0.0973 right_yaw=0.1924 right_pitch=-0.1718 right_roll=-0.0804 right_gripper=0.539 state[joint_eff]: [-0.2256, -1.5521, 6.6667, 1.8632, -0.022, -0.0757, -0.0122, 0.2803, -10.0718, 11.3846, 2.4298, 0.7692, 0.1734, 0.9255] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.22, "right_z": 0.03}, "note": "From the wrist view I'm actually holding the bottle near its base, with the cap end still forward on the table, so pivoting this way won't stand it up. I'm dragging it back toward the robot and setting it down so the neck comes within reach."})
tool
executing move_to over 8 steps (0.8s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe bottle is back on the table closer to the robot, pointing forward. I'm releasing it, lifting, and moving forward toward its neck to regrasp near the cap.
move_to
right_gripper1.0000right_z0.1200right_x0.3300right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0231, -0.0292, 0.9983, 1.1366, 1.4536, 0.321, 0.2005, 0.6601, 0.5663, 0.539] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2096 right_y=0.2031 right_z=0.0096 right_yaw=0.2666 right_pitch=-0.1169 right_roll=-0.081 right_gripper=0.539 state[joint_eff]: [-0.253, -1.5795, 6.6667, 1.7998, -0.0562, -0.0464, -0.0122, 0.3214, -4.0274, 5.6274, 1.9756, 0.7546, 0.0513, 0.906] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.12, "right_x": 0.33, "right_yaw": 0.0}, "note": "The bottle is back on the table closer to the robot, pointing forward. I'm releasing it, lifting, and moving forward toward its neck to regrasp near the cap."})
tool
executing move_to over 10 steps (1.0s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteIn the right wrist view the bottle's cap and neck sit just ahead of the jaws on the jaw column. I'm moving about 3 cm forward and going down to neck height to grip there.
move_to
right_x0.3500right_y0.2050right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.8406, 1.4578, 0.72, -0.0223, 0.6502, 0.4843, 0.9981] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1829 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3202 right_y=0.2027 right_z=0.1089 right_yaw=0.0302 right_pitch=-0.0089 right_roll=-0.0139 right_gripper=0.9981 state[joint_eff]: [-0.0615, -1.5932, 6.6667, 1.79, -0.0366, -0.0415, -0.0122, -0.7726, -5.2171, 8.4034, 1.6337, 0.2613, 0.1294, 0.0757] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.205, "right_z": 0.03}, "note": "In the right wrist view the bottle's cap and neck sit just ahead of the jaws on the jaw column. I'm moving about 3 cm forward and going down to neck height to grip there."})
tool
executing move_to over 6 steps (0.6s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe bottle's neck and shoulder are centred between the jaws, with the cap just ahead. Closing to grip the neck.
move_to
right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.7776, 1.7458, 0.6346, 0.3248, 0.5983, 0.4305, 0.9983] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3389 right_y=0.199 right_z=0.0262 right_yaw=0.0337 right_pitch=-0.0536 right_roll=-0.0508 right_gripper=0.9983 state[joint_eff]: [-0.1983, -1.6205, 6.5709, 1.7656, -0.0562, -0.0415, -0.0122, -1.0462, -6.065, 4.7385, 1.6435, 0.1148, 0.0855, 0.0171] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.15}, "note": "The bottle's neck and shoulder are centred between the jaws, with the cap just ahead. Closing to grip the neck."})
tool
executing move_to over 9 steps (0.9s)
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 noteGripping the bottle's shoulder (0.41, about 4 cm). Its base is toward the robot at about x≈0.18. Swinging up in an arc about the base, step 1.
move_to
right_x0.3200right_z0.1100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0227, -0.0292, 0.9983, 0.7784, 1.7493, 0.5915, 0.5129, 0.601, 0.4168, 0.4136] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3472 right_y=0.2072 right_z=0.0419 right_yaw=0.04 right_pitch=0.0522 right_roll=0.0318 right_gripper=0.4136 state[joint_eff]: [-0.1983, -1.6205, 6.8171, 1.8242, -0.0464, -0.0708, -0.0122, -0.4171, -6.4889, 3.7128, 1.1062, 0.1538, 0.1099, 0.652] 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_x": 0.32, "right_z": 0.11}, "note": "Gripping the bottle's shoulder (0.41, about 4 cm). Its base is toward the robot at about x\u22480.18. Swinging up in an arc about the base, step 1."})
tool
executing move_to over 5 steps (0.5s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe bottle is held by the shoulder and partly tilted up. Continuing the arc, higher and further back over its base.
move_to
right_x0.2600right_z0.1700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.8398, 1.4944, 0.6815, 0.0952, 0.6167, 0.4576, 0.4126] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3226 right_y=0.2121 right_z=0.0978 right_yaw=0.0688 right_pitch=0.005 right_roll=0.0097 right_gripper=0.4126 state[joint_eff]: [-0.0615, -1.1966, 6.7214, 1.8535, -0.0415, -0.0611, -0.0122, 0.5538, -7.1316, 8.8274, 1.6093, 0.3004, 0.0757, -0.1294] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.26, "right_z": 0.17}, "note": "The bottle is held by the shoulder and partly tilted up. Continuing the arc, higher and further back over its base."})
tool
executing move_to over 5 steps (0.5s)
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 noteFinishing the arc: bringing the gripped neck to directly above the bottle's base so the bottle ends up vertical.
move_to
right_x0.1900right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6147, -0.3782, -0.0231, -0.0292, 0.9983, 1.0275, 1.2697, 0.7837, -0.3237, 0.7128, 0.5823, 0.4124] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.183 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2648 right_y=0.222 right_z=0.1554 right_yaw=0.1192 right_pitch=-0.0082 right_roll=0.0017 right_gripper=0.4124 state[joint_eff]: [-0.3624, -1.5111, 6.8444, 1.8828, -0.0366, -0.0366, -0.0122, 0.212, -5.3949, 9.2513, 1.4676, 0.4469, 0.2125, -0.0269] 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": 0.19, "right_z": 0.2}, "note": "Finishing the arc: bringing the gripped neck to directly above the bottle's base so the bottle ends up vertical."})
tool
executing move_to over 6 steps (0.6s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe arm stalled at x≈0.26: the bottle is gripped too rigidly to rotate in the jaws, so its base is binding on the table. I'm easing the grip slightly so it can pivot, and retrying the move over the base.
move_to
right_gripper0.4300right_x0.2000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6147, -0.3786, -0.0227, -0.0292, 0.9983, 1.047, 1.253, 0.8066, -0.4305, 0.741, 0.6281, 0.4124] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1829 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2565 right_y=0.2128 right_z=0.1572 right_yaw=0.0938 right_pitch=-0.0315 right_roll=-0.0267 right_gripper=0.4124 state[joint_eff]: [-0.2256, -1.2923, 6.5846, 1.79, -0.0317, -0.0611, -0.0122, -0.2393, -5.0803, 8.3897, 1.2576, 0.5299, 0.0855, -0.0171] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.43, "right_x": 0.2, "right_z": 0.2}, "note": "The arm stalled at x\u22480.26: the bottle is gripped too rigidly to rotate in the jaws, so its base is binding on the table. I'm easing the grip slightly so it can pivot, and retrying the move over the base."})
tool
executing move_to over 5 steps (0.5s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe right arm is frozen (joints unchanged), the same IK stall I saw earlier. I'm trying a pure vertical move to free it while still holding the bottle.
move_to
right_z0.2100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6147, -0.3786, -0.0227, -0.0292, 0.9983, 1.047, 1.253, 0.8066, -0.4305, 0.741, 0.6281, 0.4299] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1829 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2565 right_y=0.2128 right_z=0.1572 right_yaw=0.0938 right_pitch=-0.0315 right_roll=-0.0267 right_gripper=0.4299 state[joint_eff]: [-0.2256, -1.5521, 6.5573, 1.8046, -0.0317, -0.0757, -0.0122, -0.3761, -5.0393, 8.1983, 1.2479, 0.4811, 0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.21}, "note": "The right arm is frozen (joints unchanged), the same IK stall I saw earlier. I'm trying a pure vertical move to free it while still holding the bottle."})
tool
executing move_to over 4 steps (0.4s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
assistant
agent noteThe wrist view looks like the bottle is lying on the table under the jaws, so it may have slipped out. Closing fully to check whether anything is still held.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0227, -0.0292, 0.9983, 1.058, 1.2293, 0.9089, -0.5571, 0.7395, 0.6201, 0.43] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2533 right_y=0.2146 right_z=0.1864 right_yaw=0.1102 right_pitch=-0.033 right_roll=-0.0333 right_gripper=0.43 state[joint_eff]: [-0.0479, -1.4564, 6.8991, 1.7949, -0.0366, -0.0317, -0.0122, -0.7043, -5.7231, 9.388, 1.37, 0.3492, 0.0024, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The wrist view looks like the bottle is lying on the table under the jaws, so it may have slipped out. Closing fully to check whether anything is still held."})
tool
executing move_to over 5 steps (0.5s)
step 167
assistant
agent noteThe gripper closed empty: the bottle slipped out and is lying on the table with its cap ahead of the jaws. New plan: grip the cap itself and lift straight up so the bottle hangs vertically, then set it down on its base. Moving over the cap now.
move_to
right_gripper1.0000right_x0.3700right_y0.2150right_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6147, -0.379, -0.0231, -0.0292, 0.9983, 1.0584, 1.2198, 0.9379, -0.6006, 0.7376, 0.6178, 0.0151] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1828 left_yaw=0.0011 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2518 right_y=0.2127 right_z=0.1944 right_yaw=0.1129 right_pitch=-0.0371 right_roll=-0.0383 right_gripper=0.0151 state[joint_eff]: [-0.1573, -1.6205, 6.612, 1.8046, -0.0904, -0.0269, -0.0122, -0.6085, -5.1624, 8.5265, 1.5067, 0.3492, 0.0366, 0.8425] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.37, "right_y": 0.215, "right_z": 0.08}, "note": "The gripper closed empty: the bottle slipped out and is lying on the table with its cap ahead of the jaws. New plan: grip the cap itself and lift straight up so the bottle hangs vertically, then set it down on its base. Moving over the cap now."})
tool
executing move_to over 10 steps (1.0s)
step 177
assistant
agent noteThe arm lagged, ending at y=0.176 and z=0.047 and tilted, and the bottle now shows at the left edge of the wrist view. I'm raising to a clear hover at the intended spot before going down on the cap.
move_to
right_x0.3700right_y0.2150right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8009, 0.614, -0.379, -0.0227, -0.0292, 0.9983, 0.7166, 1.6272, 0.7361, -0.0322, 0.548, 0.3641, 0.9948] state[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1829 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3362 right_y=0.1755 right_z=0.0467 right_yaw=0.0346 right_pitch=-0.1853 right_roll=-0.1635 right_gripper=0.9948 state[joint_eff]: [-0.1026, -1.306, 6.7897, 1.8046, -0.0317, -0.0415, -0.0171, -0.5538, -6.2701, 7.0906, 1.3211, 0.4518, 0.1538, -0.0562] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.215, "right_z": 0.1}, "note": "The arm lagged, ending at y=0.176 and z=0.047 and tilted, and the bottle now shows at the left edge of the wrist view. I'm raising to a clear hover at the intended spot before going down on the cap."})
tool
executing move_to over 4 steps (0.4s)
step 181
assistant
agent noteI couldn't stand any bottle upright, and with about 10 calls left there's no realistic way to get all three up. With the right arm I gripped the rightmost bottle twice, once around the body and once at the shoulder (readings 0.53 and 0.41, so both were real grasps). Each time I tried to swing it up in an arc about its base. Because pitch and roll are locked and the grip is firm, the bottle stays level with the jaws instead of tilting up. Its base dragged or jammed on the table, the arm stalled, and on the second try the bottle slipped out. It is still lying down, now pushed toward the middle of the table. The other two bottles haven't been touched.
give_up
hindsight- **Scene:** three 22 cm plastic bottles lie on their sides with the caps pointing forward, away from the bases. The rightmost one started with its body at about right_x 0.30–0.47, right_y ≈ 0.23. Its cap and neck were beyond table-level reach (x > 0.49). - **Far-reach stall:** out at x ≈ 0.46–0.49, descents stopped at z ≈ 0.05 and the arm froze. After a stall, sideways or combined moves often did nothing at all (joints identical). A pure z-only move freed it every time. The approver clamps per-step deltas, so large moves arrive late; re-read the state. - **Grasping:** you can grasp a lying bottle's body cleanly at x ≈ 0.43 by pressing to z = 0 before closing. Closing at z ≈ 0.05 slides over the top and comes up empty. - **Getting the neck in reach:** a bottle can be dragged toward the base while gripped (gripper reading 0.53), which brings its neck within reach. - **Arc tipping fails:** gripping the neck or body and swinging in an arc about the base does not work. With pitch and roll locked, the firm grip holds the bottle level, so the base jams, the arm stalls around x ≈ 0.25, z ≈ 0.16, and the bottle slips out. - **Checking a grasp:** a gripper command near the current reading holds nothing. Only a close to 0 confirms empty or held (0.015 = empty). - **Better strategies to try:** (a) Grip the cap very lightly, just enough to hold it, and lift straight up past ~0.25 m so the bottle swings down to hang vertically from the cap. Then lower until the base touches, and release. (b) Use both arms: one holds the base end down while the other lifts the neck. (c) Ask whether roll or pitch can be unlocked; tipping objects needs a tilting wrist. - **Wrist camera:** the grasp point sits below the bottom edge of the image, and anything visible sits several cm ahead of the fingertips. A bottle lying under the jaws looks nearly identical whether it is held or not.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.614, -0.3782, -0.0227, -0.0292, 0.9983, 0.7292, 1.6405, 0.6743, 0.2047, 0.5312, 0.3729, 0.9947] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1827 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3466 right_y=0.1945 right_z=0.0546 right_yaw=0.0676 right_pitch=-0.066 right_roll=-0.0455 right_gripper=0.9947 state[joint_eff]: [0.0068, -1.7299, 6.7487, 1.79, -0.0611, -0.0659, -0.0122, 0.1299, -9.0188, 5.6137, 1.8926, 0.5153, 0.2418, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I couldn't stand any bottle upright, and with about 10 calls left there's no realistic way to get all three up. With the right arm I gripped the rightmost bottle twice, once around the body and once at the shoulder (readings 0.53 and 0.41, so both were real grasps). Each time I tried to swing it up in an arc about its base. Because pitch and roll are locked and the grip is firm, the bottle stays level with the jaws instead of tilting up. Its base dragged or jammed on the table, the arm stalled, and on the second try the bottle slipped out. It is still lying down, now pushed toward the middle of the table. The other two bottles haven't been touched.", "hindsight": "- **Scene:** three 22 cm plastic bottles lie on their sides with the caps pointing forward, away from the bases. The rightmost one started with its body at about right_x 0.30\u20130.47, right_y \u2248 0.23. Its cap and neck were beyond table-level reach (x > 0.49).\n- **Far-reach stall:** out at x \u2248 0.46\u20130.49, descents stopped at z \u2248 0.05 and the arm froze. After a stall, sideways or combined moves often did nothing at all (joints identical). A pure z-only move freed it every time. The approver clamps per-step deltas, so large moves arrive late; re-read the state.\n- **Grasping:** you can grasp a lying bottle's body cleanly at x \u2248 0.43 by pressing to z = 0 before closing. Closing at z \u2248 0.05 slides over the top and comes up empty.\n- **Getting the neck in reach:** a bottle can be dragged toward the base while gripped (gripper reading 0.53), which brings its neck within reach.\n- **Arc tipping fails:** gripping the neck or body and swinging in an arc about the base does not work. With pitch and roll locked, the firm grip holds the bottle level, so the base jams, the arm stalls around x \u2248 0.25, z \u2248 0.16, and the bottle slips out.\n- **Checking a grasp:** a gripper command near the current reading holds nothing. Only a close to 0 confirms empty or held (0.015 = empty).\n- **Better strategies to try:** (a) Grip the cap very lightly, just enough to hold it, and lift straight up past ~0.25 m so the bottle swings down to hang vertically from the cap. Then lower until the base touches, and release. (b) Use both arms: one holds the base end down while the other lifts the neck. (c) Ask whether roll or pitch can be unlocked; tipping objects needs a tilting wrist.\n- **Wrist camera:** the grasp point sits below the bottom edge of the image, and anything visible sits several cm ahead of the fingertips. A bottle lying under the jaws looks nearly identical whether it is held or not."})
tool
give_up: I couldn't stand any bottle upright, and with about 10 calls left there's no realistic way to get all three up. With the right arm I gripped the rightmost bottle twice, once around the body and once at the shoulder (readings 0.53 and 0.41, so both were real grasps). Each time I tried to swing it up in an arc about its base. Because pitch and roll are locked and the grip is firm, the bottle stays level with the jaws instead of tilting up. Its base dragged or jammed on the table, the arm stalled, and on the second try the bottle slipped out. It is still lying down, now pushed toward the middle of the table. The other two bottles haven't been touched.
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 · 25.34 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.609, -0.3763, -0.0223, -0.0284, 0.9986, -0.0158, 0.7887, 0.6037, -0.3866, -0.0219, -0.0353, 0.9985]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1834 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0028 right_z=0.1799 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9985\nstate[joint_eff]: [-0.4171, -1.4154, 9.6479, 1.7607, -0.0415, 0.1148, -0.1538, -1.0188, -0.9641, 10.2359, 1.8974, -0.0122, 0.1978, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fdcb7aafa519035a425d3b47c81c2230929c82ae79ea754c710fcc7844e80bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34ad038191b5f5c9d86875f3e8e3d8351dd49bcd865b2f072e472ed925670ca5",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
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      "source": {
        "data": "$blob:f8afaba9ba540cfe3350eeed6931e270197a8464669307a33125416e3f767abc",
        "media_type": "image/png",
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    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 5.718 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.609, -0.3763, -0.0223, -0.0284, 0.9986, -0.0158, 0.7887, 0.6037, -0.3866, -0.0219, -0.0353, 0.9985]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1834 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0028 right_z=0.1799 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9985\nstate[joint_eff]: [-0.4171, -1.4154, 9.6479, 1.7607, -0.0415, 0.1148, -0.1538, -1.0188, -0.9641, 10.2359, 1.8974, -0.0122, 0.1978, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fdcb7aafa519035a425d3b47c81c2230929c82ae79ea754c710fcc7844e80bd",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
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    {
      "source": {
        "data": "$blob:34ad038191b5f5c9d86875f3e8e3d8351dd49bcd865b2f072e472ed925670ca5",
        "media_type": "image/png",
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    {
      "text": "camera 'right_cam' (step 0):",
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        "data": "$blob:f8afaba9ba540cfe3350eeed6931e270197a8464669307a33125416e3f767abc",
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012uaCBwvww3JropR8pgEfKo",
      "input": {
        "note": "Three bottles lie on their sides, caps pointing away from the bases. My plan is to grab each bottle by the neck and swing it up so it pivots on its base. First I'm moving the right arm above the neck of the rightmost bottle.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.47,
          "right_y": 0.26,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_012uaCBwvww3JropR8pgEfKo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7971, 0.6151, -0.3794, -0.0227, -0.0292, 0.9984, 0.667, 1.9526, 1.298, -0.0772, 0.503, 0.3428, 0.9985]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1844 left_yaw=0.0007 left_pitch=-0.0008 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4563 right_y=0.2555 right_z=0.1053 right_yaw=0.0445 right_pitch=-0.0541 right_roll=-0.0366 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -1.1145, 6.6256, 1.79, -0.022, -0.0073, -0.0317, -0.212, -10.1265, 8.7043, 1.746, 0.5006, 0.2564, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4e817ae77b3a8b45856e08f1b4bc5ce1f49386c5acc4b9d36a4b9f335372a5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e9cb9df25d945c3265be2ed6a8ab86cfcded5ccbd157324786d3d2b870de6ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d16f192cc7b3ca3779b55b6c2040c2a6eb83584b3936b048f9e20ffaf5f7fc8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 5.541 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]: [-0.02, 0.7929, 0.609, -0.3763, -0.0223, -0.0284, 0.9986, -0.0158, 0.7887, 0.6037, -0.3866, -0.0219, -0.0353, 0.9985]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1834 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0028 right_z=0.1799 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9985\nstate[joint_eff]: [-0.4171, -1.4154, 9.6479, 1.7607, -0.0415, 0.1148, -0.1538, -1.0188, -0.9641, 10.2359, 1.8974, -0.0122, 0.1978, -0.1734]",
      "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, 0.7971, 0.6151, -0.3794, -0.0227, -0.0292, 0.9984, 0.667, 1.9526, 1.298, -0.0772, 0.503, 0.3428, 0.9985]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1844 left_yaw=0.0007 left_pitch=-0.0008 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4563 right_y=0.2555 right_z=0.1053 right_yaw=0.0445 right_pitch=-0.0541 right_roll=-0.0366 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -1.1145, 6.6256, 1.79, -0.022, -0.0073, -0.0317, -0.212, -10.1265, 8.7043, 1.746, 0.5006, 0.2564, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4e817ae77b3a8b45856e08f1b4bc5ce1f49386c5acc4b9d36a4b9f335372a5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e9cb9df25d945c3265be2ed6a8ab86cfcded5ccbd157324786d3d2b870de6ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d16f192cc7b3ca3779b55b6c2040c2a6eb83584b3936b048f9e20ffaf5f7fc8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS0QgKEAgSGAI4AUIIdGhpbmtpbmcSDF2wGpd5WFVxD17XShoMyS/jqXZQhJbfbuvaIjBEj5ZfUPZekrmESZuCFVMq2Zj9Lno20L+kyifjUIDdO9ZgjVySdiuWWfnW1w9S3moq7gcVDIVD/zL9RFDu22119AtOrYmB+5Xh5ryQocOR1QuKi7hh10SOD2EWRZuOE1g+7mjRnIU/sFMcoJ4KLyssiu5mn+ChVI/xFO9NmGO8AgpHLlSsYS909pezh0DcbK06u+PPFVZ11nLYFpzvLMeHDRuAZySMAYDjF4LCyG9DwUH4NVK9fUjDzJ19ZBi0MWUIjLEAOmxvqzbc7300GNmAf1E0sfGseCySUvcNLTYFjXgjUdcXILa2J5nqA9CiO/bEEDfEdrHxtEknakI5TXeKVQLJIZ8tj2E8eV9gpaRCzfntRMEmOATaPZx6T39H+FSiOPqTyjOI5UcXYgDsptciD6VjAjvRJNLZsfJr998od2IUTTnCv3bbu0IAk2Tb/1yWnu6EHEljdVRkpp+/qJLV/pYOu+o6HaDuh0VfVsFCXASZc4Ckns7U++IWD+V7UpZUplxtiMObrwIA1yIKtOcHaTsoVbgMlIAQJUt82ndbsXehBLcz1Vz/sCPLYydcyrKJcKyMymbCTKjAZNzTaX4SQrXptS3y0LJkpOtAcbhAhGAmEl2ycdN20KlEaWIhyIv+v+UErHx2vu/WQqljtF2jgZP7xbx6NLjx0gHOCU6GO4R7zfoKTfDsb/QHIB97QeJ1zLzWxtmgNqZAwEl09WNm1Rw/9pwqHHvrA9vvY1ZqgMIFnQ88HLYpFWEVpoGCnK5B237On3vUBWsq+6QEibZvkRRzGXzZe+WVDYK/OuK0D3gOWbWqNIRGYN69Xdo+UFuqMVJGt3kWS7FE8J3AdUzZamfi1q2JvZCNNETj8xXJcgBpNiOkNDW9raZHWoV5OMJRzbIBmGvj873pA21dnYQQtIX6Fb2cGCkUcznWwJ7hJH6nZxev0KFapouYZEV6Vovc1qaYU8ZeICE2pRxAVI8JDJSTfiFYaKXnJcIK2YU7yvnoygZNjF3RN5h7K3YyFKkOy0EKJkC43UOzgA4XuDuIE729g0g/taVN8lLfRJGxwiOD3GTc1JQUEQZlzP4mzrUeFzC9hU6YW7Ys2VB+T3m6RsaSzOFFW2BlcxgIwBxIcRGCKgGJHDU0tn0Vs5CJFDzaPsneLWXQW4WIOVJKnDgG7yLNgaCLYmN0WPdFZNJ2wz3ZSdAWr+QCfFE5Olbo1XT6Xupe1y5FAdmpGkO/GBawzLU8vM/b4fNVGtSC/JCHrJYRmgjOL+nr3JBLvThYmxjciGwlo7hbVW+UJQlt7myXDYmmk1qjZhComBpa6a6Gh7y3TreblmOOthYSKv8sbv7FRe6aa5ftEF6jfBdYj4mt+3GRFDLOIXxGN+URSe+bYns6tTGwRGRfnTOYWeuUlMhzGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PdERWZggkcnVC5ZpmvanUP",
      "input": {
        "note": "The right wrist camera shows the bottle's cap a little right of the jaw column and just ahead of the fingertips. I'm shifting slightly right and forward, then going down to neck height.",
        "targets": {
          "right_x": 0.48,
          "right_y": 0.24,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01PdERWZggkcnVC5ZpmvanUP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.6125, 2.0727, 1.177, 0.2558, 0.4892, 0.2863, 0.9983]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1841 left_yaw=0.0007 left_pitch=-0.0019 left_roll=-0.0004 left_gripper=0.9983 right_x=0.478 right_y=0.2388 right_z=0.0549 right_yaw=0.0323 right_pitch=0.0164 right_roll=-0.0243 right_gripper=0.9983\nstate[joint_eff]: [-0.2667, -1.388, 6.9812, 1.7118, -0.0317, -0.0611, -0.0171, -1.1145, -6.8855, 5.1214, 1.3455, -0.1587, 0.2369, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccff2854b031a2f8b5712e8b7e8332a16cfdc1845caa38f4b99f1af048b1bc31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34cd4757e830fe2ac50b06d7ca258f9ed3fa5d33963ddefeaf5a45848bcb8e13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:125aa4a553a62509ef3d0105433444eefcdf4902ec83b91df7f4b9551086c9f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 8.131 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.609, -0.3763, -0.0223, -0.0284, 0.9986, -0.0158, 0.7887, 0.6037, -0.3866, -0.0219, -0.0353, 0.9985]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1834 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0028 right_z=0.1799 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9985\nstate[joint_eff]: [-0.4171, -1.4154, 9.6479, 1.7607, -0.0415, 0.1148, -0.1538, -1.0188, -0.9641, 10.2359, 1.8974, -0.0122, 0.1978, -0.1734]",
      "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, 0.7971, 0.6151, -0.3794, -0.0227, -0.0292, 0.9984, 0.667, 1.9526, 1.298, -0.0772, 0.503, 0.3428, 0.9985]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1844 left_yaw=0.0007 left_pitch=-0.0008 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4563 right_y=0.2555 right_z=0.1053 right_yaw=0.0445 right_pitch=-0.0541 right_roll=-0.0366 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -1.1145, 6.6256, 1.79, -0.022, -0.0073, -0.0317, -0.212, -10.1265, 8.7043, 1.746, 0.5006, 0.2564, -0.1734]",
      "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, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.6125, 2.0727, 1.177, 0.2558, 0.4892, 0.2863, 0.9983]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1841 left_yaw=0.0007 left_pitch=-0.0019 left_roll=-0.0004 left_gripper=0.9983 right_x=0.478 right_y=0.2388 right_z=0.0549 right_yaw=0.0323 right_pitch=0.0164 right_roll=-0.0243 right_gripper=0.9983\nstate[joint_eff]: [-0.2667, -1.388, 6.9812, 1.7118, -0.0317, -0.0611, -0.0171, -1.1145, -6.8855, 5.1214, 1.3455, -0.1587, 0.2369, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccff2854b031a2f8b5712e8b7e8332a16cfdc1845caa38f4b99f1af048b1bc31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34cd4757e830fe2ac50b06d7ca258f9ed3fa5d33963ddefeaf5a45848bcb8e13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:125aa4a553a62509ef3d0105433444eefcdf4902ec83b91df7f4b9551086c9f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5ggKEAgSGAI4AUIIdGhpbmtpbmcSDA4V7cGZ8e4Blrds7BoMSYDnHuylcE6U4RX+IjBByFZc1MdOqtzELE89oB7T0760HbPRRJ8HEUtmLHMWxZGet8vxk88sbteVjpKnonMqgwiYEYLFhmIvPdEs5Bb+w8Ihny3wDbiffuKB+8uOpC1xxYJkeRSg4nefbsWUmCndN7N135MJZ3V23LklGBQnKVdeYWFcjPDQYn4RE9pWue8YtX2MMoylpo8H7daPNTCB1ooYsDnyJDMTfC5XX6Tr02ylnXzL9F6j0lK1iPV3PX+Rp2OA3lk7CpSjBJD8/eS9yf701XQH5zy9IvLyw7/Kf/spw7bQmim6H7/KRfjODRm7nczoOFiY+wFtWRVYMoVtcRkhL1GfzKlM7z41qDtBF+sRG/bsvqd/pVTiF3uZb7p9roGD4/x9vLcoLIeogT2luqSM8uPGtS7q/3hy3hq9+yOj4wsUzEOUi9ox97QYejp8JZxLCbEkg9rj2oCDIS/dvlYRa3C95mDFbwIo3zmKQR0uqYEBUoGL3Db1VwJb36GNeDXZ2CASPkAeeFWV6SLh3URr4awT9/5MSSBx+1Xx0MQbuhbMidNeaJ0q0sKoSi41x0tzxycHTgD07b95nJQsCVEH1Ag97Snck/H6eXb0LjuIwQIuZJHwabXauK7LU5OYO9NTVwQNGrG6EHegsaNntOXF3nKb3KUfcWiHjoic8q201gu5Z0plUA5mKdL+70eVSM4Yas4C/22nPldPXh+pb3Zhf8JjNGXAXFnJVtbKcAYpRrwkeiDAaVw/DduSSQ6cltql3ykBwt0egB7qXVyqalBznd3bfsVeS0k5yaeZuUS/XVweqDmxdASMHw1W/vwmi8LLWkuX/wmRvxdF+AZkISUn2PuJUZfI8INZqfRFroDoWuiaEF/Wa4XtB1gjh5WmHYr4agTu5esHkv0A8yjXMIF+coCd5HLPziHoTGswL5JbRsswknPPhX+psP/Nd8nD7sh3dwiJYU59jKdgbidbajkpx2YYmB8t0GY0JpRU4wJFfbBxkL4hPpgChukPmLROUbTZJUG2pdWxuz7RoqZ+RPbO2drxXerQaBQuJ7+KkqbEx3wt9Soc7HjyZKXf9Mm/OfZYoal4mwD1ZtqFK9kZA1a9nTJLsph12+7sPWwE5rgEihzINa03Vr/oH1PGbMReR0hLsIz0kG7pJMpDZtbW216T9Nk/rjcovxqS0tP1PjngZe81Kv09mGrrZXxTgkhH2YAqMCU2FFePikBOfrtOwOH6eU0L/JBxJUmmbo+uXcF5jjqmHQEy+IgLSQS4lWkOgaySeR+XL/x3UjXbc5+5DqFPsigwV382xgOXnVx6lIrWYU/Yp+WuA82HVbhwuIE6Z8VlPcysVKDGl6yj8BzOXnAfYBxzJBbKxHM3a9zonPvSF8N4DCcI5xzq6SuNfgV7/t/xzyrF2DIKvwacpa60y9R6DEvbn6rtVo1KSbk4IPn3lYIDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017yw7N7XnaU1zZPrK8NykK4",
      "input": {
        "note": "The descent stopped at z=0.055 with the neck between the jaws in view, and the bottle still sits slightly right of centre. I'm nudging right and forward and continuing down to neck height.",
        "targets": {
          "right_x": 0.49,
          "right_y": 0.23,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_017yw7N7XnaU1zZPrK8NykK4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.5995, 2.1017, 1.1732, 0.3489, 0.4671, 0.2619, 0.9983]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4881 right_y=0.2415 right_z=0.0548 right_yaw=0.049 right_pitch=0.0605 right_roll=-0.0024 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -1.3744, 6.8855, 1.7509, -0.022, -0.0513, -0.0122, -2.0718, -6.8581, 6.0923, 1.3651, -0.2418, 0.3639, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8345af7689100e33ca5d2769ecd7d7726ed06f20b566425bc29a2e7a61544784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48b611b703b711324b8f967b960f5f0c08279aa53b93231f420fedb1de92f1b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b3267456fffa4e8ca029c119264aa15158ca21b67cfec208b1a924d892a093c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 4.367 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, 0.7971, 0.6151, -0.3794, -0.0227, -0.0292, 0.9984, 0.667, 1.9526, 1.298, -0.0772, 0.503, 0.3428, 0.9985]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1844 left_yaw=0.0007 left_pitch=-0.0008 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4563 right_y=0.2555 right_z=0.1053 right_yaw=0.0445 right_pitch=-0.0541 right_roll=-0.0366 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -1.1145, 6.6256, 1.79, -0.022, -0.0073, -0.0317, -0.212, -10.1265, 8.7043, 1.746, 0.5006, 0.2564, -0.1734]",
      "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, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.6125, 2.0727, 1.177, 0.2558, 0.4892, 0.2863, 0.9983]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1841 left_yaw=0.0007 left_pitch=-0.0019 left_roll=-0.0004 left_gripper=0.9983 right_x=0.478 right_y=0.2388 right_z=0.0549 right_yaw=0.0323 right_pitch=0.0164 right_roll=-0.0243 right_gripper=0.9983\nstate[joint_eff]: [-0.2667, -1.388, 6.9812, 1.7118, -0.0317, -0.0611, -0.0171, -1.1145, -6.8855, 5.1214, 1.3455, -0.1587, 0.2369, -0.0317]",
      "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]: [-0.02, 0.7986, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.5995, 2.1017, 1.1732, 0.3489, 0.4671, 0.2619, 0.9983]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4881 right_y=0.2415 right_z=0.0548 right_yaw=0.049 right_pitch=0.0605 right_roll=-0.0024 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -1.3744, 6.8855, 1.7509, -0.022, -0.0513, -0.0122, -2.0718, -6.8581, 6.0923, 1.3651, -0.2418, 0.3639, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8345af7689100e33ca5d2769ecd7d7726ed06f20b566425bc29a2e7a61544784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48b611b703b711324b8f967b960f5f0c08279aa53b93231f420fedb1de92f1b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3267456fffa4e8ca029c119264aa15158ca21b67cfec208b1a924d892a093c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017vxRriQ8veAZpAr8fWHALD",
      "input": {
        "note": "The jaws seem to be resting on the bottle's body rather than straddling it: z is stuck at 0.055 and y won't shift. I'm lifting a little and moving right to centre over the upper body so I can grip there.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.225,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_017vxRriQ8veAZpAr8fWHALD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.5747, 2.1139, 1.1736, 0.3683, 0.4702, 0.2535, 0.9983]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4955 right_y=0.2298 right_z=0.0525 right_yaw=0.026 right_pitch=0.0679 right_roll=-0.0071 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.388, 6.8581, 1.7411, -0.0464, -0.0611, -0.0122, -0.335, -7.8154, 5.9282, 1.409, -0.2466, 0.2662, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03edab15b92ac51858a9bc0f72e267c4056da413b3bb07840015bfad986df012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5217a91524f772ae2f9e128d0c66166e2e56e5d70d4a1031d147b6ed22aaf66d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1390c6799830f8e791f361dfce9ee79fb816414d71fb9a2db93798c022efb563",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 4.533 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, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.6125, 2.0727, 1.177, 0.2558, 0.4892, 0.2863, 0.9983]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1841 left_yaw=0.0007 left_pitch=-0.0019 left_roll=-0.0004 left_gripper=0.9983 right_x=0.478 right_y=0.2388 right_z=0.0549 right_yaw=0.0323 right_pitch=0.0164 right_roll=-0.0243 right_gripper=0.9983\nstate[joint_eff]: [-0.2667, -1.388, 6.9812, 1.7118, -0.0317, -0.0611, -0.0171, -1.1145, -6.8855, 5.1214, 1.3455, -0.1587, 0.2369, -0.0317]",
      "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]: [-0.02, 0.7986, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.5995, 2.1017, 1.1732, 0.3489, 0.4671, 0.2619, 0.9983]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4881 right_y=0.2415 right_z=0.0548 right_yaw=0.049 right_pitch=0.0605 right_roll=-0.0024 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -1.3744, 6.8855, 1.7509, -0.022, -0.0513, -0.0122, -2.0718, -6.8581, 6.0923, 1.3651, -0.2418, 0.3639, -0.0171]",
      "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]: [-0.02, 0.7986, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.5747, 2.1139, 1.1736, 0.3683, 0.4702, 0.2535, 0.9983]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4955 right_y=0.2298 right_z=0.0525 right_yaw=0.026 right_pitch=0.0679 right_roll=-0.0071 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.388, 6.8581, 1.7411, -0.0464, -0.0611, -0.0122, -0.335, -7.8154, 5.9282, 1.409, -0.2466, 0.2662, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03edab15b92ac51858a9bc0f72e267c4056da413b3bb07840015bfad986df012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5217a91524f772ae2f9e128d0c66166e2e56e5d70d4a1031d147b6ed22aaf66d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1390c6799830f8e791f361dfce9ee79fb816414d71fb9a2db93798c022efb563",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwgKEAgSGAI4AUIIdGhpbmtpbmcSDEEnCipg7EhSO8WNjxoMkeSJKbV9oWHldYesIjBgZzjyw9wTopfS5bbBreY7adbmSoTNkHhYmhWngC9zus2xIXCgC+aDhy68gc1GFOYqyAcMyPgiT8JMhNsqpXvPa5o5RHVyKWuhyZkFzov8QTxsc6wWpg36ONZSplBvLlZhXOntSy0q6zqB2AWXlzF8cXk3WUWZfme5dYPJQqDXt+H3wlb/M/IkdosnNkk5upCFL17yPRmRkoR7BopLwWn5AJnWeBXtR+i8P0PiYe54TJzHSki4Ud7reHIAraWscQrRSM10IEwGe3G36d46caOFKT9JaVNAW88ijKtfm2qGtOvAhMwpUG5gzJ3LDSouuBi2u1by/c6iOVIPcbhmmyK/AGuJrCtOxVOeSolJkk59aqRf1uYymMpM3drYDYSdqNuqSFN2yFQGVqZFDXhV58MBV396vIoyLMqqcatMoxOLFblrS+OryTb1OerzmIUaiSbfpqPaDSRZRmxWfB4EpuG8mFXKkBeiOqpz76j12F3KsPwWPbbY15sf46LNjVEAiKDvDgWMyXn92JQbf+ZIjSmkOwneg7+8pRQTCs3t2Y2mvR8TtwhmneSrj84pUaME5cjrB2REBJ7FJxoLlKgolJCok9RdYt2a69YMhId/9CNO9jcFU6Y13gi+n2z+9XiPHsHp9+eAn2YmovFt6G6ldkJFcVe1YbnnryBx6O18V540uYDCtXu5kX7nQAlLhwTnrJTVnSbemdy2LpglNkokI8K4LDdxG2u9u095GZ643S5zUWPl17OCf3iu8htOYPrPIYI8QNAlrlWbTk1laKQ/Rd+KZrP/hC/KV8mUCqXiQcYGPNZ6cUOagqT0KexzAmPlemZHoDCVEqhMXA+rHPBsx3JXMAHRlapbktsd6iUGdspBsEfnuZlp7S0ne6j4DHNPiYz/qE7CIFFD6nAaopuQ+BoWEVGzRj6ofMGpSI6vQnSt3/E/aYu579WOR9ITzhkkVRboFPCyabgETpsJsKumOd0jdajJO8uiMv+/zzykuYXeyRBtT3xwn3E5FJskJcAhOkBwiNjAPFwMPl/NQ26nAe1AO9x2Nnk8hzXj74G2hZETZ2xPZblrPR8zYDOb2QTa/ZuUWwe6VbNKmxPQ3LoC8Pu415fjhsQJXQLpa4wpkhwn7W9edNuEGqvUFPouYV4qynY+dPOHOH42X0LsefSBXh8vs8LYmRRYv3nkRxlgD6f3L8H4ZK9cc9e5Neqi6FDftTEbKSxCSGYWvojEvm1wGPCB+sjYsq9/GTXZ43DLmjIRCA+T1P1VYQUZf14x8g/mQGbNfqDU+J6HywL9+LUI/uE40VRH5Bnnp4qit5ZfyzW0xcpOhcoT4lMLKsHUfFXTKZAX/H3SOPQjaitIjRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JkCmryaqBc69Kj6AUEMavk",
      "input": {
        "note": "The arm isn't following small commands well; it stays near z=0.05 at the far edge of its reach. I'm pulling back and up to a clear hover above the bottle to reset.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.225,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01JkCmryaqBc69Kj6AUEMavk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.5747, 2.1139, 1.1736, 0.3683, 0.4702, 0.2535, 0.9983]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0019 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4955 right_y=0.2298 right_z=0.0525 right_yaw=0.026 right_pitch=0.0679 right_roll=-0.0071 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.4017, 6.8991, 1.7851, -0.0317, -0.0366, -0.0122, -0.5402, -8.0068, 6.0239, 1.3602, -0.2076, 0.232, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b261bbdc8aafcb1f144a5648a4d87dc5d5b37a1b4510691aa61df321d08cd24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d2e4c2bbabc1f00e4c43c8d372f28deb95ece0a984e366ecdcfffe291a73738",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ebbd488123f6069570a655c35b3482631195078d0e291f92204cb0984ff8b1f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 12.28 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]: [-0.02, 0.7986, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.5995, 2.1017, 1.1732, 0.3489, 0.4671, 0.2619, 0.9983]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4881 right_y=0.2415 right_z=0.0548 right_yaw=0.049 right_pitch=0.0605 right_roll=-0.0024 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -1.3744, 6.8855, 1.7509, -0.022, -0.0513, -0.0122, -2.0718, -6.8581, 6.0923, 1.3651, -0.2418, 0.3639, -0.0171]",
      "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]: [-0.02, 0.7986, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.5747, 2.1139, 1.1736, 0.3683, 0.4702, 0.2535, 0.9983]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4955 right_y=0.2298 right_z=0.0525 right_yaw=0.026 right_pitch=0.0679 right_roll=-0.0071 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.388, 6.8581, 1.7411, -0.0464, -0.0611, -0.0122, -0.335, -7.8154, 5.9282, 1.409, -0.2466, 0.2662, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.5747, 2.1139, 1.1736, 0.3683, 0.4702, 0.2535, 0.9983]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0019 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4955 right_y=0.2298 right_z=0.0525 right_yaw=0.026 right_pitch=0.0679 right_roll=-0.0071 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.4017, 6.8991, 1.7851, -0.0317, -0.0366, -0.0122, -0.5402, -8.0068, 6.0239, 1.3602, -0.2076, 0.232, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b261bbdc8aafcb1f144a5648a4d87dc5d5b37a1b4510691aa61df321d08cd24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d2e4c2bbabc1f00e4c43c8d372f28deb95ece0a984e366ecdcfffe291a73738",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebbd488123f6069570a655c35b3482631195078d0e291f92204cb0984ff8b1f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpggKEAgSGAI4AUIIdGhpbmtpbmcSDA5iQultBzmdzjrYnhoMARTLFXOlKKTXuBJRIjDOMqulnLu0iJusopCqATQpY2tyrr9LhT+zTIg3YNSMmRfVpYS+p/kCppeolxoOp7EqwweVaUL35nr7PL4eid6PrQRyc7nBynwkDQlxagSXzjzx3nAqFNqUKBAAseXWIfVlJuKb5QTNBQqKEXZBVpJBasKk/zm+0ySA/u1XVpXUGyN+hvMOe03tLhkY25tJKIC/wVwnTcGO+t4JLcWcoJPDZJUzKQpJeGSr0lcGNRKIoheXnn5y6S76YPPKknMkZzPEWVglDLgza2EZAwmQ57xXzX8IBzZsvfCjKpTUw9cJtriFntLkBS+5nCf/pbDzayyOrI4w15C7ReyE56ooM94e6d9so4Zv56QUUdCz3NKCdJOxJRUx4JHicSUuUg8ckRl1uZpl3xLh84PmUOxxgt8l/jim2r0MCE6SC96dgWNrBubY5tF5LFoTljobNejNx/aGsyVa5wdIC9FNXL73bux05lOI3hEq8W8aIukaAlr8yNnK4g0U3/KP2SelzUjTs1cu1gGyRaAeZkSXbXZfRpg5zYkS9K3TQNglYXj8g0E5IIn0xelBZHtiF5FF49Q0l/T2DpfQ4qW3cjVjpJYPG9k13CGyXndwTLpvPBZTf3l2gHVtV8oiTz7+oPaVsklx/0KGLlAHwe5Snk94ahi2TM6EmywsxLhN6jPkOZniRwEZUzJ90UHRIg3msREoWIElm3vFHbIhHe0n+kiaL18NrMgoRLHhFxsrA9SGEpYkHzwCQnxsKqlLQEg4wJnDapkFuirxdKhdcSvQ6zNj+0Hacifat6XPb4FrJEyhMakWZBgDSrsyROd97KdBcGHV4pL0cykrbru2evPZDFjOLiblbzJAaUPObXItfKePtx99Glpx6qDv+J6ZTDaGrJRUQv7nGHAVprQyuRS5BUz8VVbBF8VBzmovZVNmzHsBYRS9wDmuFWawL7EhajaynSdIouj9fM1RBMSMr+uekvXoyETFHdmYmx/9+JbvPEv0hCWwyNIecfypg9UF6wFpFaLUzn8VxyUoxSpb4O/v5IQa0wggUytRDSTMrIiIxm8anaaPBQWBdPs5MH4pt2Ej7Rtrp7X6JIaiYV2vCwq6uKXv6p51xFLfObgbXyL9KZiaKLVJnrgjRXbxBo00yx88wS5KS1FoVD7r/SgXPWDfkTsEFxPJyQaIHwCVlSUHyaDqspgP2YFMPIRh6sgSa8vyn7SL+pdOCnrjdrABo3KFhWhwJJGlxMjo1I/l2Jts0GMr+35v2ZQEA/oiBkoJ/JOnJ2uI2iTB8uHxZzZwk5d5sE5y+qhQQEqrLs2WupMuzkuzB/r0lkYotaJFuLfhIh6VRLj6rhq8FfmUW0JGZvQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RfvzqMaaNJtTQt8P7MarZt",
      "input": {
        "note": "The right arm didn't move at all on the last command, so the IK may be stuck. I'm trying a pure vertical lift to free it.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01RfvzqMaaNJtTQt8P7MarZt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.572, 1.9572, 1.4403, -0.1944, 0.4328, 0.26, 0.9983]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4895 right_y=0.2313 right_z=0.1373 right_yaw=0.05 right_pitch=-0.0632 right_roll=-0.0534 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.3744, 6.8718, 1.7656, -0.0464, -0.0464, -0.0122, -0.8684, -14.2701, 10.8786, 2.0342, 0.232, 0.1832, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adae3d74d53ae364b192fa4bdad3ae5c5231c16c61a851ed8fbbec5334d3f508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2cdf9b6f4ddb2e283d30448b23bdb4e02e36a3b7abe6c159a970d5b1a958b28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2077cd1ec640e7fa6fd892bc8df0fbbab23f78413930b2d8fae876d50d9e5f9",
        "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 · 4.306 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]: [-0.02, 0.7986, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.5747, 2.1139, 1.1736, 0.3683, 0.4702, 0.2535, 0.9983]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4955 right_y=0.2298 right_z=0.0525 right_yaw=0.026 right_pitch=0.0679 right_roll=-0.0071 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.388, 6.8581, 1.7411, -0.0464, -0.0611, -0.0122, -0.335, -7.8154, 5.9282, 1.409, -0.2466, 0.2662, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.5747, 2.1139, 1.1736, 0.3683, 0.4702, 0.2535, 0.9983]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0019 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4955 right_y=0.2298 right_z=0.0525 right_yaw=0.026 right_pitch=0.0679 right_roll=-0.0071 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.4017, 6.8991, 1.7851, -0.0317, -0.0366, -0.0122, -0.5402, -8.0068, 6.0239, 1.3602, -0.2076, 0.232, -0.0073]",
      "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]: [-0.02, 0.7986, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.572, 1.9572, 1.4403, -0.1944, 0.4328, 0.26, 0.9983]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4895 right_y=0.2313 right_z=0.1373 right_yaw=0.05 right_pitch=-0.0632 right_roll=-0.0534 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.3744, 6.8718, 1.7656, -0.0464, -0.0464, -0.0122, -0.8684, -14.2701, 10.8786, 2.0342, 0.232, 0.1832, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adae3d74d53ae364b192fa4bdad3ae5c5231c16c61a851ed8fbbec5334d3f508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2cdf9b6f4ddb2e283d30448b23bdb4e02e36a3b7abe6c159a970d5b1a958b28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2077cd1ec640e7fa6fd892bc8df0fbbab23f78413930b2d8fae876d50d9e5f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019175oCEcjBgkaSAra6Wwsq",
      "input": {
        "note": "The arm is free again and the bottle is centred on the jaw column, but its neck is past table-level reach. I'll grip the upper body instead, going down at x=0.45.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.23,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_019175oCEcjBgkaSAra6Wwsq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6117, 2.0079, 1.0374, 0.2859, 0.4606, 0.2848, 0.9983]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4496 right_y=0.2239 right_z=0.0387 right_yaw=0.0548 right_pitch=-0.0307 right_roll=-0.0348 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -1.4017, 6.8718, 1.7558, -0.0317, -0.0415, -0.0122, 0.9778, -7.7607, 4.9709, 1.5751, -0.0171, 0.1783, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61bd2699c162484ad27388d6794c3d51ffa9364349db85c75a0a78d5e923fa41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fc47cf1e6be19c8d263ac25329d23380602d32394092808724c6ae150f411c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e8f078a935bf2cff488661bee6d1413445bb7c3d597000880df7d6c01b38a464",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 11.32 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]: [-0.02, 0.7986, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.5747, 2.1139, 1.1736, 0.3683, 0.4702, 0.2535, 0.9983]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0019 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4955 right_y=0.2298 right_z=0.0525 right_yaw=0.026 right_pitch=0.0679 right_roll=-0.0071 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.4017, 6.8991, 1.7851, -0.0317, -0.0366, -0.0122, -0.5402, -8.0068, 6.0239, 1.3602, -0.2076, 0.232, -0.0073]",
      "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]: [-0.02, 0.7986, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.572, 1.9572, 1.4403, -0.1944, 0.4328, 0.26, 0.9983]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4895 right_y=0.2313 right_z=0.1373 right_yaw=0.05 right_pitch=-0.0632 right_roll=-0.0534 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.3744, 6.8718, 1.7656, -0.0464, -0.0464, -0.0122, -0.8684, -14.2701, 10.8786, 2.0342, 0.232, 0.1832, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6117, 2.0079, 1.0374, 0.2859, 0.4606, 0.2848, 0.9983]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4496 right_y=0.2239 right_z=0.0387 right_yaw=0.0548 right_pitch=-0.0307 right_roll=-0.0348 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -1.4017, 6.8718, 1.7558, -0.0317, -0.0415, -0.0122, 0.9778, -7.7607, 4.9709, 1.5751, -0.0171, 0.1783, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61bd2699c162484ad27388d6794c3d51ffa9364349db85c75a0a78d5e923fa41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fc47cf1e6be19c8d263ac25329d23380602d32394092808724c6ae150f411c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8f078a935bf2cff488661bee6d1413445bb7c3d597000880df7d6c01b38a464",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjggKEAgSGAI4AUIIdGhpbmtpbmcSDOimSV0THFMKlGKqthoM0CsdUgdGjHP8wx0bIjC3dVech15eCdwgJk6ncTODvtPQcctzzvFr8CaYU4Gc70t+ycdG9Ie4gPxtv1XHI1UqqwdNt8ppBFbAMI65bl852Q0u754OD/gt0SJOtqojgFNWVQWbE5T7E/nsJR7wOdaj7qjbZEWZprMXl78rJ78YwnUhi+mdMNhBlCqQ8SQgnLQsWsitwxKNC9cL4FFuWBjucPI2W7sXYjAm3TAiqEj6KN5Aa9K8B1Z2owRihxt0p/sNic7g+T/g6ut9pn0PcWpJ6hWh/bDx5B2Xc5a9bW1U39kaQlUYUzs334et8Iu0emRfiSuTkPkJ8cYE+EUu8imgKbvwMmZdO5Ngsim2dINnG83hriRtZgF9MdGMxSrOkkVmiuI0wLxGHnas1rbvnNXIHKS1VxCGVX0T5tj8MNTWXtxV008NCNzHY9waGOj7EqUTdRG9BgsAPm4fEqMcvyxB2RZaxPgb+ZB9svkEcEdBIuIuKNRgF4xRvUga1DSYwIyhqXk8+gcwSd8srA8dWpXRJENLmWEkDFp25Pps0qRTMydo66KEPNy9VxqulFlv8INkEEI2je5134GcEkGv9JEMeduJzDxkKnQ13Z9k9YepRyOVwCajbWPEXN6qLz7MPlSQEm1fc4Db6SOQEwU5+Ee6UNCx5P35gDbJPgE2voocWV0ZzKDAWex0BRva89Ht0yiWQerfd7dtBM1RycsaKIcpgwhaAtPd9IYl7e4dram+jnjmjC0NjQxzLhw4gF7pDr4YBz6+A5wJ4Sc2jHj4SYf90l1pV2PJKgZLL7odLnwYtzy/i4iOB0ZSbH9XJ1KmRkeQPgHAtNBwdi5OiBL9LBv0hxQCrR4kKmKc7w6EBY4eSteuMv5aNBJEdqO0++5Y2kTyUiiYZzbk/XUmPvFS9/HR3NDcEU3w0WNt4GXOsijZLS4ra78AhvSH1EebgSUe8BeFMoeOTUMxP+H6TXDn5khmypcYJz8++l73VUQzAVCcKae9PbF7T0Vs3h63gWaHrfVQna7XQV20lJv50p3K+LbNX8DPai1Yfi7ZloXgDM6xwPIFIm6piGkbmV+nTqokywgycuTpAjAgxEyGnZ3y5I8xGOefQBItcIlWyN3IXtNjqI5mAf5yf4YoTymT3+TCuneIpAlgTxCFvCXR29J1YPLThnP21iXM2YvmwFNuby2xm4wlH762BguVJSPzoU+QIlulO6kvKcQ2GyuIOem3IGsyE7inA2sZrSol8bOswkuEOfAUlnWpcBHqAXcOGHd/O+3czlmOkvnbQRY6JUpsC+HaAViyx9APNT0ZgpULSpxkYAKxbCXLhw9gfzZ75HIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F2bTzM8h94j6Wgx93y18y8",
      "input": {
        "note": "The bottle's labelled body is centred between the jaws at z≈0.04. I'm going down a little more and closing to grip it.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01F2bTzM8h94j6Wgx93y18y8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6094, 2.0171, 1.0077, 0.4717, 0.4629, 0.2829, 0.0144]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4623 right_y=0.2309 right_z=0.058 right_yaw=0.0493 right_pitch=0.0946 right_roll=0.0403 right_gripper=0.0144\nstate[joint_eff]: [-0.1983, -1.388, 6.7214, 1.8144, -0.0415, -0.0171, -0.0122, -0.1436, -7.788, 4.1504, 1.2039, 0.0269, 0.0806, 1.3553]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f0fc7410fe0c633238cb95be797772b4d0b3d83313814e28bc1ef5a86b70d1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5051f3efbbfc54ffd2f08d512608e84784f6cb78b643f6f906a79f51963f7b3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:de3bf87b95d646af9d7d4ac2fccd9a30763424c6388922b8057aa4f33f4a4332",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 3.605 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]: [-0.02, 0.7986, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.572, 1.9572, 1.4403, -0.1944, 0.4328, 0.26, 0.9983]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.184 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4895 right_y=0.2313 right_z=0.1373 right_yaw=0.05 right_pitch=-0.0632 right_roll=-0.0534 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.3744, 6.8718, 1.7656, -0.0464, -0.0464, -0.0122, -0.8684, -14.2701, 10.8786, 2.0342, 0.232, 0.1832, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.02, 0.8005, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6117, 2.0079, 1.0374, 0.2859, 0.4606, 0.2848, 0.9983]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4496 right_y=0.2239 right_z=0.0387 right_yaw=0.0548 right_pitch=-0.0307 right_roll=-0.0348 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -1.4017, 6.8718, 1.7558, -0.0317, -0.0415, -0.0122, 0.9778, -7.7607, 4.9709, 1.5751, -0.0171, 0.1783, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6094, 2.0171, 1.0077, 0.4717, 0.4629, 0.2829, 0.0144]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4623 right_y=0.2309 right_z=0.058 right_yaw=0.0493 right_pitch=0.0946 right_roll=0.0403 right_gripper=0.0144\nstate[joint_eff]: [-0.1983, -1.388, 6.7214, 1.8144, -0.0415, -0.0171, -0.0122, -0.1436, -7.788, 4.1504, 1.2039, 0.0269, 0.0806, 1.3553]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f0fc7410fe0c633238cb95be797772b4d0b3d83313814e28bc1ef5a86b70d1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5051f3efbbfc54ffd2f08d512608e84784f6cb78b643f6f906a79f51963f7b3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de3bf87b95d646af9d7d4ac2fccd9a30763424c6388922b8057aa4f33f4a4332",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PBptHkrjGaMJJLwP5pef18",
      "input": {
        "note": "The close came up empty (0.014): the jaws sat too high, around z=0.058, and slid over the top of the bottle. I'm opening and backing up a little so I can go down lower.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.43,
          "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_01PBptHkrjGaMJJLwP5pef18",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6506, 1.9133, 1.0176, 0.1974, 0.4709, 0.3206, 0.9948]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4307 right_y=0.2316 right_z=0.0608 right_yaw=0.066 right_pitch=-0.0385 right_roll=-0.0183 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -1.3333, 6.8171, 1.8584, -0.0366, -0.0562, -0.0122, 0.4718, -12.5744, 5.7641, 1.536, 0.3199, 0.0415, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70742a26e766bd8a64ee41476dde5559a8e3acf42c6f95cca5e41fc689ce7883",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b7f96bd3dbc0c17560d8bd6da4af0809362ebffe840a8084b5a248cb252ae54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3866e31f16e3a4addfe1c194c9a5b1a5059e9272bf653817333adf3b6e533f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 3.879 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]: [-0.02, 0.8005, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6117, 2.0079, 1.0374, 0.2859, 0.4606, 0.2848, 0.9983]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4496 right_y=0.2239 right_z=0.0387 right_yaw=0.0548 right_pitch=-0.0307 right_roll=-0.0348 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -1.4017, 6.8718, 1.7558, -0.0317, -0.0415, -0.0122, 0.9778, -7.7607, 4.9709, 1.5751, -0.0171, 0.1783, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.02, 0.8005, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6094, 2.0171, 1.0077, 0.4717, 0.4629, 0.2829, 0.0144]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4623 right_y=0.2309 right_z=0.058 right_yaw=0.0493 right_pitch=0.0946 right_roll=0.0403 right_gripper=0.0144\nstate[joint_eff]: [-0.1983, -1.388, 6.7214, 1.8144, -0.0415, -0.0171, -0.0122, -0.1436, -7.788, 4.1504, 1.2039, 0.0269, 0.0806, 1.3553]",
      "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]: [-0.02, 0.8005, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6506, 1.9133, 1.0176, 0.1974, 0.4709, 0.3206, 0.9948]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4307 right_y=0.2316 right_z=0.0608 right_yaw=0.066 right_pitch=-0.0385 right_roll=-0.0183 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -1.3333, 6.8171, 1.8584, -0.0366, -0.0562, -0.0122, 0.4718, -12.5744, 5.7641, 1.536, 0.3199, 0.0415, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70742a26e766bd8a64ee41476dde5559a8e3acf42c6f95cca5e41fc689ce7883",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b7f96bd3dbc0c17560d8bd6da4af0809362ebffe840a8084b5a248cb252ae54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3866e31f16e3a4addfe1c194c9a5b1a5059e9272bf653817333adf3b6e533f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wYKEAgSGAI4AUIIdGhpbmtpbmcSDOc9SwGQPlorCQMJXBoMEKpieNX73amvhnxIIjD5AS10IzWdFpM7K8VoJ7MfNe6qyvrXZi0L+nKvPTJjo8Tl/qqXG/jVQgy4/OPgUcMqlAYssbC2RqL+BExpGne5ywVvJnAmWrLIZg+EUufBRY+EdbqDQ1mb+pi4xjhP9UQhaq8RoDdwFsN1ePZpS2Jy7joI13y2YYpwPt90F9dvg1FSDIGblA2Q3Jne5B6FvlDeLDaMu95iCqweEsGhTYthICLOCgzkUkGs8nUoKcEW6pzr+FZ/2JQRo5mEWI7tMGODwKruS1pD5Lm2OpBftptkKaNivtJCiwM7Olt7hHp8K8DFIOQgeN+8ZnV1XIWKs86jO2QevlD7Zu4wSoCB6GHFf+C8YKmcuF/8FOdim6FU9bRemBy5wrPVZSKrK1g45kCg0LSS2wyLDe0qqtDvAro5mVtYkxOnDP2pQXmjDyqac92OxL6ZwqfOsEBxMlQkP4RvX1zXaD2SwNDvDjbjudp/uchnFyfm1OxyCpY+P0vGhQnx3bzvl/A0wv5Dx+z4UQVHOSbJRcvECA/qAgAwuW1QaGRkYGCgWh4BxLrsgfyb00ut6hhAoPOlXKemBHHgLh/0mmppEidmmxSP9PcjXmwTWHAbgXfvvRLUh9GlnCPDxz/5RvCR9uQqyAu9Q6Hbf5h3bSkY5y/hRdTkJ+WqzGS39N21oLEokfBqio9MSR68g+D7ruCIS6OaVghnDj6YxdQlsCNxHuE2zWJCy/Q4Rb/rKuxw13pzu+07Y7lwF+hmAt3qCgZzpzJq2IeVeAUYm0rV/EoNtD7fFQLeDJB/xsS5i9pHMyjUtXSCuK7Kp02v/lnitaiqgtLo5yyFBwzWtVTUR6PqbCj4xwNTz91QwtgUlpZRN76q9zToqyrusV4uKZLdTODOfjBNSAjIGH0GVnj8PdJoZkTQiuCkS+qHt1R84axJSpHo5ubOiYZ/3EZiB5YPsurDUCXLqi2jp+/XDlu5hmYGP7SWquN55+7V6zJ1eOTRHypNbWqJhQctn2NsilLZAPu8HAMi7Nv19zqfROF0U38MLrhmh+rHahGb8sZPal51CIhu7Vw8iNPKUYayWI9jwqCzxw8PMr5jhqxczne0phFrl5QAEq/BYnlHN4zDbLkPeJdpwRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LcfasphwkGuxNCiKyU3q55",
      "input": {
        "note": "The jaws are open with the bottle's body centred between them. I'm pressing down to table level so the jaws straddle the bottle's widest part.",
        "targets": {
          "right_y": 0.228,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LcfasphwkGuxNCiKyU3q55",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6495, 2.083, 0.9173, 0.5011, 0.4679, 0.3138, 0.9942]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4286 right_y=0.23 right_z=0.0003 right_yaw=0.0714 right_pitch=-0.0115 right_roll=-0.0039 right_gripper=0.9942\nstate[joint_eff]: [-0.1983, -1.6479, 6.735, 1.7607, -0.0317, -0.0366, -0.0122, -0.7179, -7.5829, 4.1778, 1.2479, 0.1538, -0.0366, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f21a0e3e290de1e32b60a94402450165f4e6546f5c963f6d2ca6803536a9a2a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02ebdca8f95dd8fa1ca07c6da546ac65358fbdf92ca5f19be3e9c05a107b203b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3583c8d6a37c4947dfc85b2066f8dadb12360af3c2817c875788af8712acedc9",
        "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 · 14.45 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]: [-0.02, 0.8005, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6094, 2.0171, 1.0077, 0.4717, 0.4629, 0.2829, 0.0144]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4623 right_y=0.2309 right_z=0.058 right_yaw=0.0493 right_pitch=0.0946 right_roll=0.0403 right_gripper=0.0144\nstate[joint_eff]: [-0.1983, -1.388, 6.7214, 1.8144, -0.0415, -0.0171, -0.0122, -0.1436, -7.788, 4.1504, 1.2039, 0.0269, 0.0806, 1.3553]",
      "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]: [-0.02, 0.8005, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6506, 1.9133, 1.0176, 0.1974, 0.4709, 0.3206, 0.9948]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4307 right_y=0.2316 right_z=0.0608 right_yaw=0.066 right_pitch=-0.0385 right_roll=-0.0183 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -1.3333, 6.8171, 1.8584, -0.0366, -0.0562, -0.0122, 0.4718, -12.5744, 5.7641, 1.536, 0.3199, 0.0415, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6495, 2.083, 0.9173, 0.5011, 0.4679, 0.3138, 0.9942]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4286 right_y=0.23 right_z=0.0003 right_yaw=0.0714 right_pitch=-0.0115 right_roll=-0.0039 right_gripper=0.9942\nstate[joint_eff]: [-0.1983, -1.6479, 6.735, 1.7607, -0.0317, -0.0366, -0.0122, -0.7179, -7.5829, 4.1778, 1.2479, 0.1538, -0.0366, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f21a0e3e290de1e32b60a94402450165f4e6546f5c963f6d2ca6803536a9a2a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02ebdca8f95dd8fa1ca07c6da546ac65358fbdf92ca5f19be3e9c05a107b203b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3583c8d6a37c4947dfc85b2066f8dadb12360af3c2817c875788af8712acedc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoAcKEAgSGAI4AUIIdGhpbmtpbmcSDJ2tDgF2NZXQnwZmORoM8/9q9ppqiFFAfUmNIjDXfzWtUGWoRCYMJ1i71+ejshYmCQaL3wz4hQ3Ev5a4krlvCOtszr83N8eOq4DcxQsqvQbww6dj/OsZBQPxNISsfSUaZh1zLRyQH+q2LiXVuRgRlA7YV6xo9hghCq/sRzY4knc3BpYEkb51jX6ynT5F9lxmWEatIxjgfxxkJRFkZX70pgKPCggUVj//ikLUOcRaXzIhekgjI+b9CxKkJjMG9fv74qWd53yfx4qDmzQHcMCa5QFwNFDLxjhjvKpr2SnlB79b+umLbsOg3EzEgO6fjsYOqzab+dK9M3uyXwYu6IQadNVu2GmfzkAq097XHcgc1z8rurXMDmXq1l3QjrkR3NLEty9fr1HN7Tnut5k9yKt5OZlFLvqfsAZAAfnKQgqUwr8tI6FxXICo9/TfdOJLtZvcpX6Kn+bDCKH+/SH1e8QZJ7RM34MBBOxt20AJL4ZO4s0fIlbKdN5YhjEQ5g76OylVL6lXlf2zM5UCvoeWV7iITmSveEfdsc1WKKt3+fXEzS4mUHqQAqR8j8RPed+OxRO20eC52jNSK6YMzLVhtdONH4LBrd2Vz+kRCYFmynib5/ugAO9PXNmwStxaGJ96+EVAvo5sPwl4gyp0f0yC1TrP20fXAQMSxzBkRQkq0dXelgozYXnP/v5nHlJvu9h4JffmOT+ozLpdsi6b6rzvlkcUJecIyygl1lYkuKAdtqRrk3mbvBtNLtuPnggSb1VmWcLmb1/sw472nBntRJL1PyQGocx+zRdTE0zziicjDkI4BzFagwza3BApSAL2nKVREmuPVIGElnWOOuH210juh6oh9LtoXVTAURFprS5Inx+MqEy2fve9lvZCDmftlVt5AtPhYnK3kniGzsZnS9Ooy17jG9FfQDYdYj+qks9Co3Ak4AHdquH1WNuQWDcYlhV2vXy3nVxaD1jqS8qQGdbIxNYjT5BlGlGoZD12VivW4SKeBCIzR8o+ZU37VfV3D/g8+x8W6KqrhjldyAeWqlPeOJwwazFMUZSJWBuzoIAorH7I5dXD4K1DlAOFL1cSvvnnGKp/dg4Wxfy7d6y6dkP1XnY04WCzjZJu2m3TcEVMDB7szK2v99pbFL6IkUTbaDlbS8EFTmCRouHEn6jGSQ3lC/M86e9JB27tBHaRGrHlnKH28ZhA5/IhZqocJuu9B3BzGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012FcVviAxgRGJH8WbgvhnqJ",
      "input": {
        "note": "The jaws are at table level and straddle the bottle's lower body. Closing to grip it.",
        "targets": {
          "right_gripper": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_012FcVviAxgRGJH8WbgvhnqJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6479, 2.0918, 0.9165, 0.5438, 0.4675, 0.3027, 0.5349]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4327 right_y=0.2322 right_z=0.0037 right_yaw=0.0761 right_pitch=0.0163 right_roll=0.005 right_gripper=0.5349\nstate[joint_eff]: [-0.0615, -1.6068, 6.7077, 1.7851, -0.0513, -0.0415, -0.0122, 0.1162, -10.3043, 4.1915, 1.4237, 0.105, 0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f6f0fa40d5c44190ea469d7e6f04bc030a2fa5301919fb5e950e7e9a5b381c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b7a66d57a1b41367323d7efcdc8a670e728b2fd92b3f47e7f4fac340a21b6e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e13dcf91e5d1ac6325d781164509ea65653bdc1b84a9d69987986c06398b272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 3.218 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]: [-0.02, 0.8005, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6506, 1.9133, 1.0176, 0.1974, 0.4709, 0.3206, 0.9948]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4307 right_y=0.2316 right_z=0.0608 right_yaw=0.066 right_pitch=-0.0385 right_roll=-0.0183 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -1.3333, 6.8171, 1.8584, -0.0366, -0.0562, -0.0122, 0.4718, -12.5744, 5.7641, 1.536, 0.3199, 0.0415, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6495, 2.083, 0.9173, 0.5011, 0.4679, 0.3138, 0.9942]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4286 right_y=0.23 right_z=0.0003 right_yaw=0.0714 right_pitch=-0.0115 right_roll=-0.0039 right_gripper=0.9942\nstate[joint_eff]: [-0.1983, -1.6479, 6.735, 1.7607, -0.0317, -0.0366, -0.0122, -0.7179, -7.5829, 4.1778, 1.2479, 0.1538, -0.0366, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6479, 2.0918, 0.9165, 0.5438, 0.4675, 0.3027, 0.5349]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4327 right_y=0.2322 right_z=0.0037 right_yaw=0.0761 right_pitch=0.0163 right_roll=0.005 right_gripper=0.5349\nstate[joint_eff]: [-0.0615, -1.6068, 6.7077, 1.7851, -0.0513, -0.0415, -0.0122, 0.1162, -10.3043, 4.1915, 1.4237, 0.105, 0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f6f0fa40d5c44190ea469d7e6f04bc030a2fa5301919fb5e950e7e9a5b381c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b7a66d57a1b41367323d7efcdc8a670e728b2fd92b3f47e7f4fac340a21b6e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e13dcf91e5d1ac6325d781164509ea65653bdc1b84a9d69987986c06398b272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JfQQ2QPwphacuo4SqyUHav",
      "input": {
        "note": "I'm holding the bottle mid-body (gripper at 0.53, about 5 cm). Now I'll swing it up in an arc about its base, which sits toward the robot. This is the first step: up and slightly back.",
        "targets": {
          "right_x": 0.415,
          "right_z": 0.065
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JfQQ2QPwphacuo4SqyUHav",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0227, -0.0292, 0.9983, 0.6697, 1.948, 0.9127, 0.2668, 0.4561, 0.3107, 0.5386]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4054 right_y=0.2263 right_z=0.0186 right_yaw=0.0994 right_pitch=-0.1029 right_roll=-0.0563 right_gripper=0.5386\nstate[joint_eff]: [-0.1162, -1.5385, 6.5709, 1.8828, -0.0513, -0.0708, -0.0171, 0.5538, -13.9692, 6.6256, 2.7179, 0.5348, 0.1148, 0.8962]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cded3237e0189a85f2498c085110fda9bafb6e3f6a8667116210d2d7a2beed3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46746a132025efc256c31e2aeec6280f471e7629d131e7635e5c2f21815f012e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f036fcc684f4afe0627f6d185f012b6d9d78883a7d83705323f0c60e9d98114b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 4.283 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]: [-0.02, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6495, 2.083, 0.9173, 0.5011, 0.4679, 0.3138, 0.9942]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4286 right_y=0.23 right_z=0.0003 right_yaw=0.0714 right_pitch=-0.0115 right_roll=-0.0039 right_gripper=0.9942\nstate[joint_eff]: [-0.1983, -1.6479, 6.735, 1.7607, -0.0317, -0.0366, -0.0122, -0.7179, -7.5829, 4.1778, 1.2479, 0.1538, -0.0366, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6479, 2.0918, 0.9165, 0.5438, 0.4675, 0.3027, 0.5349]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4327 right_y=0.2322 right_z=0.0037 right_yaw=0.0761 right_pitch=0.0163 right_roll=0.005 right_gripper=0.5349\nstate[joint_eff]: [-0.0615, -1.6068, 6.7077, 1.7851, -0.0513, -0.0415, -0.0122, 0.1162, -10.3043, 4.1915, 1.4237, 0.105, 0.0415, 1.033]",
      "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]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0227, -0.0292, 0.9983, 0.6697, 1.948, 0.9127, 0.2668, 0.4561, 0.3107, 0.5386]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4054 right_y=0.2263 right_z=0.0186 right_yaw=0.0994 right_pitch=-0.1029 right_roll=-0.0563 right_gripper=0.5386\nstate[joint_eff]: [-0.1162, -1.5385, 6.5709, 1.8828, -0.0513, -0.0708, -0.0171, 0.5538, -13.9692, 6.6256, 2.7179, 0.5348, 0.1148, 0.8962]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cded3237e0189a85f2498c085110fda9bafb6e3f6a8667116210d2d7a2beed3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46746a132025efc256c31e2aeec6280f471e7629d131e7635e5c2f21815f012e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f036fcc684f4afe0627f6d185f012b6d9d78883a7d83705323f0c60e9d98114b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0gYKEAgSGAI4AUIIdGhpbmtpbmcSDN5PkEL+ZizMXBsL8hoMSYF1DevnnCDFkzVAIjDc32NRCDaaexOSHDmxljmyjqQe8tAulREYVaEav4lPj8R652VQyG2yGixvkbYtCEIq7wVaeAwJWax012Tn177p49ERgeLBcv5v8vXZhmI7ZH2IRHBBtdC6pfYMIhbTWNXB/rKlgo+l4uNUZ/qMQma+BNmXQa/WkdInutdu9M/InikyccQAHgz4PidEKm+Wd199VmoqHArgqLNUoSTrvxtmrnSBCSMNCBbmyRFqLstMBjV6Ai2ACXjrGpKrrjTZCwbnnZ4gwbm5g6xcB5IBo2/yL30ZowbxA4Nq9Klm1CRBIrqY0gIBweVfe3bWmotT9P5fMxWP3/HSBAryju89h72XREZUvQyeLuAcDN/iROk4VvMD6396QMCWl05m21PYVL1QHJTXHPC4I3anEHiW3ClCpMo4mdgm671GfGNzUvRf98PmTJ8Vm1ceW+vrRNKhwAEfKziszdSuzqlDDN+XNtWD/0vRDFtJqrOi0N5pfq9b6h/22Kuz9IKvY9qnTPS4viXraflPn0+xOBt4lBApIqzFzI99+YTU+IT15fHWQT7lIjvN0rGTuorPuKypCMxD3PNHuzc9bvHhjABDExUNCL/+ZIOeK/jCL85LLPpQWpvTPwQAhkRKIiz7PD5mfecnVpnhJuQ3tpUxjnBGB0EnN4xaNmtzOAxWS+07mDSjwUu21lh34GKEzAasvwc3nWS1KzZZaEHJjbbMhTsDhEfM7eRV1j6S2ygAohRqag1EQ58j7ZbcrbaTr+jnoioC/iTauzM/25Pn6CQeqv4GvlMTike9cXdNlNquJkhAgenAYvCsXLILymQ1Zt4dnVg/DBsM4CM06nwpkYCset1v1ADLqVSwXxt/qNe/NLkPuKs0XdPPsR/Tu3wB2jMufp41LHp7VbIgNR5MRj15T469XbCc+J2Qtbc7bi+5DfzIWGUxq8VtV3JdSt3l0zuQXC7vUmGdItZD/JFnyFQZpO0E58amOkEz0/ZrspMk354ie6HgAfhnNVhdwyABBd7doH01vdq98oGmn+cr6WLw6U8XZcD0chTKTo0/Fawv8dmu12EvnYs6zWiRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012oKhDBaenWX2m5c962vFaZ",
      "input": {
        "note": "The lift is lagging (z=0.019 so far). Continuing along the arc: higher and further back toward the bottle's base.",
        "targets": {
          "right_x": 0.38,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_012oKhDBaenWX2m5c962vFaZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3779, -0.0223, -0.0292, 0.9983, 0.7174, 1.7462, 0.8116, 0.0994, 0.4519, 0.3237, 0.5387]\nstate[eef_state]: left_x=0.297 left_y=0.0016 left_z=0.1832 left_yaw=0.0004 left_pitch=-0.0046 left_roll=-0.0006 left_gripper=0.9983 right_x=0.36 right_y=0.2165 right_z=0.0409 right_yaw=0.1384 right_pitch=-0.1602 right_roll=-0.0803 right_gripper=0.5387\nstate[joint_eff]: [-0.1026, -1.1829, 6.5983, 1.873, -0.0317, -0.0317, -0.0171, 0.3214, -11.9726, 9.2923, 2.6593, 0.6618, 0.1294, 0.9109]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f00c4a506ae46665128a63fe40703e724566cefbc3dcf20bb06d30ac19263c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13829db9992b276f46230e8c7250753182d57a4409832b5c79f2b04ef159aa95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9403be7a7e6e899367da9374587c96c99838894e231ba86a747c66c66cba1982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 12.03 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]: [-0.02, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.6479, 2.0918, 0.9165, 0.5438, 0.4675, 0.3027, 0.5349]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4327 right_y=0.2322 right_z=0.0037 right_yaw=0.0761 right_pitch=0.0163 right_roll=0.005 right_gripper=0.5349\nstate[joint_eff]: [-0.0615, -1.6068, 6.7077, 1.7851, -0.0513, -0.0415, -0.0122, 0.1162, -10.3043, 4.1915, 1.4237, 0.105, 0.0415, 1.033]",
      "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]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0227, -0.0292, 0.9983, 0.6697, 1.948, 0.9127, 0.2668, 0.4561, 0.3107, 0.5386]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4054 right_y=0.2263 right_z=0.0186 right_yaw=0.0994 right_pitch=-0.1029 right_roll=-0.0563 right_gripper=0.5386\nstate[joint_eff]: [-0.1162, -1.5385, 6.5709, 1.8828, -0.0513, -0.0708, -0.0171, 0.5538, -13.9692, 6.6256, 2.7179, 0.5348, 0.1148, 0.8962]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3779, -0.0223, -0.0292, 0.9983, 0.7174, 1.7462, 0.8116, 0.0994, 0.4519, 0.3237, 0.5387]\nstate[eef_state]: left_x=0.297 left_y=0.0016 left_z=0.1832 left_yaw=0.0004 left_pitch=-0.0046 left_roll=-0.0006 left_gripper=0.9983 right_x=0.36 right_y=0.2165 right_z=0.0409 right_yaw=0.1384 right_pitch=-0.1602 right_roll=-0.0803 right_gripper=0.5387\nstate[joint_eff]: [-0.1026, -1.1829, 6.5983, 1.873, -0.0317, -0.0317, -0.0171, 0.3214, -11.9726, 9.2923, 2.6593, 0.6618, 0.1294, 0.9109]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f00c4a506ae46665128a63fe40703e724566cefbc3dcf20bb06d30ac19263c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13829db9992b276f46230e8c7250753182d57a4409832b5c79f2b04ef159aa95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9403be7a7e6e899367da9374587c96c99838894e231ba86a747c66c66cba1982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS3gcKEAgSGAI4AUIIdGhpbmtpbmcSDN8g9ijm73X0TS+MTRoMzLKewwDynkl4Etk+IjDvoZblw4Lx4ClQWPptcquQn4xp8y+7tPtNZ2F62T87Vx//KRGIYAH1k0EYu0Xuczwq+wabwmbQGaz47JWcxfw9Lm7MIZDlJ3gzjQza557JnsFON17DDXPfCtti9FdqdCKrh1k8ezAHodHhMAh4cscHO0ENcfdaNcPJtq17lHL5O1zyIFjOBepPoeRIYQnuiS+fOZPT2RxeobsvFhJBsNImQcYrJxar2cJBy0dvcXqIyTiRrsjXmNfEkqH4I42QUzKtJgEjdCS2LfNmsv6Pz6wmeXCICg0vZe9PUyyqI17Wgwrfr8NwCfGPhTbNFgbU6/LcyaK6HCjs8mO3TRII2YOfP46oYzttRMpLrURMvuQpm8b2btRO4+Q+tVjUMid6+vWZ3gziPqvBg1o+Z8chn84UiFMgV/lgylW+cGo/XWvxy3tSII2YQA5Qwo1JVo5rgkp28ECOBrupgcfp/jDbIDjACC+qWShzs3VAohBmFb543NprG+8Ft1K0CjWUYpGIQ76kptpJDdqvo0Ua1oaCJLA5el9Upvcmj1hSQc9BzqHHmbKOM99yyRnlGPWJyb7hqpgkhBerIhGm7esI3tdP+96QWHrTy3joYuwsj9xZ28Q3cO7eVqWXE2NigzEKn5ROMBR2BzJeVLul8a2Rx7jwz0QpUdBGv1D2+bViiaE+kPEhTVI76SK93LpMCAA20rGWE+HIjEK0A5TiFZJOU3yn+rS65ZC7Eo5wHA9Uv8JpGF2McXggiOoWB/zoDlqzCeh8DEBqGrPl3mNrsOJxO5Q+f70NBt8x/tt9Jhn0tFbmiJsL+h8TLi7dQlm6lSQa34Rda0mjbfYJROZOeeGx9vpcfAf1gNIEPr+fcSv+uWD5mc5cFzuZn0zWEG2JheLb9IxCsxcGD2kKt2YER4zf3gXHxAuy8aZHxVoCRvaJWIX12wtfkBk4Y8gL2Elp/9ums09rdcXJ2b0odb9sIlsLvd6jydikFnBTMTcHU0NH8RAdSjrW+y7SaktTSee8R5KKQdZbgbc5jd23xueK2OXby++bayAxN8LxVWWDdMmsh4DpDJE7Z3TAaGQUanU5pnAY1lZUNFfR2pzoB8YCI+TIzWcv5j8kIT3QjGTQd/p6RmL7dAwa5b49BMM5Np2K1TfsCKipmAxaQeVSuFflDNxEleaTFtWzpUmae/DtFuR+BONM+e5XAG2uBgeXtvsity1MekAtokLbcBzZhNj78x4z8wdViNFDW16ZJe9wx7BfwOitAXwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0156vprCfkgkvquYnesbw1kC",
      "input": {
        "note": "The arm is dragging the bottle back but not gaining height (z=0.04). I'm commanding a clearly higher target to raise the gripped end so the bottle tips up onto its base.",
        "targets": {
          "right_x": 0.34,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_0156vprCfkgkvquYnesbw1kC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0231, -0.0292, 0.9983, 0.7727, 1.4734, 0.8009, -0.1749, 0.448, 0.3294, 0.539]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3196 right_y=0.2097 right_z=0.0973 right_yaw=0.1924 right_pitch=-0.1718 right_roll=-0.0804 right_gripper=0.539\nstate[joint_eff]: [-0.2256, -1.5521, 6.6667, 1.8632, -0.022, -0.0757, -0.0122, 0.2803, -10.0718, 11.3846, 2.4298, 0.7692, 0.1734, 0.9255]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b402484ad564f0b0bed4bda36608db5005308f8a823fd5082c03572888e7d1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6461d3ea47691b11e8a37c6b1f1b24790fe1d6a1ee1806251aa8a2099b5c7433",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84dc114b07a7b9b5a7e5d0565532984cd4f96b917f9ae9cc0ed46fa56d6524d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 5.533 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]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0227, -0.0292, 0.9983, 0.6697, 1.948, 0.9127, 0.2668, 0.4561, 0.3107, 0.5386]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4054 right_y=0.2263 right_z=0.0186 right_yaw=0.0994 right_pitch=-0.1029 right_roll=-0.0563 right_gripper=0.5386\nstate[joint_eff]: [-0.1162, -1.5385, 6.5709, 1.8828, -0.0513, -0.0708, -0.0171, 0.5538, -13.9692, 6.6256, 2.7179, 0.5348, 0.1148, 0.8962]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3779, -0.0223, -0.0292, 0.9983, 0.7174, 1.7462, 0.8116, 0.0994, 0.4519, 0.3237, 0.5387]\nstate[eef_state]: left_x=0.297 left_y=0.0016 left_z=0.1832 left_yaw=0.0004 left_pitch=-0.0046 left_roll=-0.0006 left_gripper=0.9983 right_x=0.36 right_y=0.2165 right_z=0.0409 right_yaw=0.1384 right_pitch=-0.1602 right_roll=-0.0803 right_gripper=0.5387\nstate[joint_eff]: [-0.1026, -1.1829, 6.5983, 1.873, -0.0317, -0.0317, -0.0171, 0.3214, -11.9726, 9.2923, 2.6593, 0.6618, 0.1294, 0.9109]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0231, -0.0292, 0.9983, 0.7727, 1.4734, 0.8009, -0.1749, 0.448, 0.3294, 0.539]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3196 right_y=0.2097 right_z=0.0973 right_yaw=0.1924 right_pitch=-0.1718 right_roll=-0.0804 right_gripper=0.539\nstate[joint_eff]: [-0.2256, -1.5521, 6.6667, 1.8632, -0.022, -0.0757, -0.0122, 0.2803, -10.0718, 11.3846, 2.4298, 0.7692, 0.1734, 0.9255]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b402484ad564f0b0bed4bda36608db5005308f8a823fd5082c03572888e7d1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6461d3ea47691b11e8a37c6b1f1b24790fe1d6a1ee1806251aa8a2099b5c7433",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84dc114b07a7b9b5a7e5d0565532984cd4f96b917f9ae9cc0ed46fa56d6524d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JYJcrpNXdiRfVHaCscd9Zt",
      "input": {
        "note": "From the wrist view I'm actually holding the bottle near its base, with the cap end still forward on the table, so pivoting this way won't stand it up. I'm dragging it back toward the robot and setting it down so the neck comes within reach.",
        "targets": {
          "right_x": 0.22,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01JYJcrpNXdiRfVHaCscd9Zt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0231, -0.0292, 0.9983, 1.1366, 1.4536, 0.321, 0.2005, 0.6601, 0.5663, 0.539]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2096 right_y=0.2031 right_z=0.0096 right_yaw=0.2666 right_pitch=-0.1169 right_roll=-0.081 right_gripper=0.539\nstate[joint_eff]: [-0.253, -1.5795, 6.6667, 1.7998, -0.0562, -0.0464, -0.0122, 0.3214, -4.0274, 5.6274, 1.9756, 0.7546, 0.0513, 0.906]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd7d9000480f37cf8c6e5903849760f6dc67abefb22d7c888f5e30aa69dce533",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f24a79586a75775b0323de03a44dc9e41904d9249da69d95c665a9f4d2ba887c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d813a29b70408b78796479ff12d6042b47ef8bb1f5bf92363b0d453a26bd0ba8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 6.522 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]: [-0.02, 0.8024, 0.6151, -0.3779, -0.0223, -0.0292, 0.9983, 0.7174, 1.7462, 0.8116, 0.0994, 0.4519, 0.3237, 0.5387]\nstate[eef_state]: left_x=0.297 left_y=0.0016 left_z=0.1832 left_yaw=0.0004 left_pitch=-0.0046 left_roll=-0.0006 left_gripper=0.9983 right_x=0.36 right_y=0.2165 right_z=0.0409 right_yaw=0.1384 right_pitch=-0.1602 right_roll=-0.0803 right_gripper=0.5387\nstate[joint_eff]: [-0.1026, -1.1829, 6.5983, 1.873, -0.0317, -0.0317, -0.0171, 0.3214, -11.9726, 9.2923, 2.6593, 0.6618, 0.1294, 0.9109]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0231, -0.0292, 0.9983, 0.7727, 1.4734, 0.8009, -0.1749, 0.448, 0.3294, 0.539]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3196 right_y=0.2097 right_z=0.0973 right_yaw=0.1924 right_pitch=-0.1718 right_roll=-0.0804 right_gripper=0.539\nstate[joint_eff]: [-0.2256, -1.5521, 6.6667, 1.8632, -0.022, -0.0757, -0.0122, 0.2803, -10.0718, 11.3846, 2.4298, 0.7692, 0.1734, 0.9255]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0231, -0.0292, 0.9983, 1.1366, 1.4536, 0.321, 0.2005, 0.6601, 0.5663, 0.539]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2096 right_y=0.2031 right_z=0.0096 right_yaw=0.2666 right_pitch=-0.1169 right_roll=-0.081 right_gripper=0.539\nstate[joint_eff]: [-0.253, -1.5795, 6.6667, 1.7998, -0.0562, -0.0464, -0.0122, 0.3214, -4.0274, 5.6274, 1.9756, 0.7546, 0.0513, 0.906]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd7d9000480f37cf8c6e5903849760f6dc67abefb22d7c888f5e30aa69dce533",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f24a79586a75775b0323de03a44dc9e41904d9249da69d95c665a9f4d2ba887c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d813a29b70408b78796479ff12d6042b47ef8bb1f5bf92363b0d453a26bd0ba8",
        "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/gkKEAgSGAI4AUIIdGhpbmtpbmcSDJqLK+/IKRO93Bw7lxoM9eUazVMl2IBdaPgLIjAPl5DQyCutBcrOkMkc5eF5lV7Z0rfZh2PhItLn26GmIOHTLQMzTuIXgYnfBxW72xgqmwkkgAN7w0a+soMS8KmGX3A9l0JQSX4F7DZnfHuuHl5JTzLGvYJH7HIjf8b4LfqyPcW6YJY9iHiz6aBR00lhEFq3dJ0yEzqS5AJu/+2T+k162IBf+4/uam/7+h/W6RaPE3VkWWrtbbnGdygNnp3J8p/mrzJA26e1q5wsQOy7wh638peGMEKkTqTyE51DY9q/7WF2u0gToratZhZ1S7wVprtPXJ4kPKZVBh22yw3zKzdb7GIkHyDgYel2NmQidI7tJSIQDy/x//R7VuYhsqUh9cCxPfjBNTud0qa8mAC5ombX+pNwRMtMQG8+HFt8F0ZJlOXPSjrMM7RcDYJHZnQfP+I8+1pd1u9RIOk1oppR7IcooWfJXOQSP9KJMTuxsTI4a/T6SGcpQvXqYjQ+rmjdWQEDnIDxh9YF2UyDJhSkVy4RZDiaY8ljAQ60eZLUhdtG+HLqUyEULYNcmGWTRR4QN+JKXuMmI+oiqX47Fi1y6gCCKAteipXBTjRAR4aAuG34s9jM7Eqw9hMOD+sMEPYJhMzAwrGnsruBhqLi2Exp2561mbKsqfv2cz8bjVsdpY6+2o/b2smwKEGw3mC8AF4iXzbOOwGzOXZc2VqihDKAPcVVn68Oa4459K77hwyblopqI9gB/0y5ADY1Fe7xeYKf0jaQrTNxn10fJlSAoOhKJdGKuQIYga4KKv8PEK4UIzeJ4NPhP82rMQYGqIqfHac816G1gjb0QKHq+73DjJd1t3bclpOMlMhSi2yTXA9srddutauzcCaCBWO4H/mmkvQwy3xNlPrWbpro4rRuKnMYoCcGYJxVz0Rt+f/Wxm4FCTSdae1CSVy9mkyKEcXgC/NSJdJiE5DWu6jccDLa6OZ3fXh498LkKQDMGW25+UYXcPJBGrSseUxYDV/mOd2PWxCZSjZXU3T8qaIkABB+9bc3nkuRLVZUgnfZPTrp6vWSq58kGbkFs6bEv/D10wTSYZduGpZ6KJAQgvRLOTnLtGpjo6oKrPMwOqw96vSr9FgxXfLlUHS/bTuUgn/StFnhm7SNbo+MxfCLdoFOGHQKE9jxmPGkgw+1XJZW2/G83GDrEiFoUViiebMb8nfYdwv8abCX/irRnXhKLF/XY3mzheDQFA+rO5yJ8jcKxA48Fswt2ec0Q+0E2OI0pORfyz+l9ZBTvnA/Ax+UsTbMvS8DwyNyRrYuTNhvtagRtJY2e8FD4AP8fvmAU1vQW7cjDEHQjHjA9PWhpOXxdkzegamGW5HZwDLcIGfdZ0z5CwC1Eqzi1kN0UUY/uSlF6NmpFMDYzTVzWifEzFCo6u4ditgEofOOA14GGH7VT9A21AK1wbzuMYDxOHJkWURUvkxPhWG/oBFEVon+E/csJouGB6G3nXRlQTRKb1rhh+HgTwsxDrW1u+UvlYlWa7ZYqArVeJKlvW3v2a9IbRY3Rim3Vj9iAaCkhH6aTvT2SC6r1eq49spp1u+Townw0GbQot4YSElTiVuipkFpa7Vy0r3650wV4XtdGfe7czWhksG2LatIyLaJpFXhoxYuyZl96FNiWwfBXRHSUburXzAxDLXj7FOPNtwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019kX5oRtCd9AB5QXAg3s5mP",
      "input": {
        "note": "The bottle is back on the table closer to the robot, pointing forward. I'm releasing it, lifting, and moving forward toward its neck to regrasp near the cap.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.33,
          "right_yaw": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019kX5oRtCd9AB5QXAg3s5mP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.8406, 1.4578, 0.72, -0.0223, 0.6502, 0.4843, 0.9981]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1829 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3202 right_y=0.2027 right_z=0.1089 right_yaw=0.0302 right_pitch=-0.0089 right_roll=-0.0139 right_gripper=0.9981\nstate[joint_eff]: [-0.0615, -1.5932, 6.6667, 1.79, -0.0366, -0.0415, -0.0122, -0.7726, -5.2171, 8.4034, 1.6337, 0.2613, 0.1294, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:567efa793b6180bcf5a6c7a41feff4f25826c7d9cc36a03c47976bf38d7030b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:462da65f94ac6be7ae1732b0bcb656590f7282778e14fc68db8da5062e0a5907",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7c0743dec371a2104138ce95c0c80070e60d394710cdd7d937a8373b3221cec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 17 attempt 0 · /messages · status 200 · 3.571 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]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0231, -0.0292, 0.9983, 0.7727, 1.4734, 0.8009, -0.1749, 0.448, 0.3294, 0.539]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3196 right_y=0.2097 right_z=0.0973 right_yaw=0.1924 right_pitch=-0.1718 right_roll=-0.0804 right_gripper=0.539\nstate[joint_eff]: [-0.2256, -1.5521, 6.6667, 1.8632, -0.022, -0.0757, -0.0122, 0.2803, -10.0718, 11.3846, 2.4298, 0.7692, 0.1734, 0.9255]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0231, -0.0292, 0.9983, 1.1366, 1.4536, 0.321, 0.2005, 0.6601, 0.5663, 0.539]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2096 right_y=0.2031 right_z=0.0096 right_yaw=0.2666 right_pitch=-0.1169 right_roll=-0.081 right_gripper=0.539\nstate[joint_eff]: [-0.253, -1.5795, 6.6667, 1.7998, -0.0562, -0.0464, -0.0122, 0.3214, -4.0274, 5.6274, 1.9756, 0.7546, 0.0513, 0.906]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.8406, 1.4578, 0.72, -0.0223, 0.6502, 0.4843, 0.9981]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1829 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3202 right_y=0.2027 right_z=0.1089 right_yaw=0.0302 right_pitch=-0.0089 right_roll=-0.0139 right_gripper=0.9981\nstate[joint_eff]: [-0.0615, -1.5932, 6.6667, 1.79, -0.0366, -0.0415, -0.0122, -0.7726, -5.2171, 8.4034, 1.6337, 0.2613, 0.1294, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:567efa793b6180bcf5a6c7a41feff4f25826c7d9cc36a03c47976bf38d7030b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:462da65f94ac6be7ae1732b0bcb656590f7282778e14fc68db8da5062e0a5907",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7c0743dec371a2104138ce95c0c80070e60d394710cdd7d937a8373b3221cec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0QkKEAgSGAI4AUIIdGhpbmtpbmcSDJqvmvHtmQPzBZgJWRoMJxntibzwt/6wxC6JIjC9vFpCdLrAMFkPDLbX95KdhGVOW6pfGrmceQQwtLeIXSfdI0tb9bNdM9osfxOy7G8q7giZajLAEox8XPMGFdnn4S7F0yA7hHlgbSrKQ/ExREMKxjxrFqqXS73XjmtzVSYubpNvzyt1qfK3jD00VSn2NurUr1Sm69xOFo2EVyxaUpN0B4vDqd+taWUjbgjo03XkpUYZj0gTD4sizG9Q+Gfi+99CkGg/Z5hhJ4L9aFD+wiBuNCU+fnttuobDNRBZ034gbczLDVip4BoT3dIo5YwC5oEtNJGK30HsNgvJ99j3OW2HKu6FjK9J6+VBB9ClfioOnVVU0XphtDB3LeewHmXcNhFMUtkQuyc36G5o9wniuNGIabA832ZWbi2QUy1+M7h3w2GdOpF4BVDUHNofBQe9OTtxGWZaKs7ShGpc6jhZeAx3wXY7ZQludah4HeJZBes+oLDehoWKaNpgp5frEXL4TjT45ycQDUMw1M6z4WX4ayTVqhjdAjP9qMEUxVr0NkokblRRijT5rlrMOd4OsGnep7kj+C38VxBYQXiKN3rxM9kPiG9zfvOtSllP8XFtyrNWfa96ZWX2mhwSMVxE8rWcSI71olr8I7LyqyoB/lbgeFeJyOKTNSl5BI+1pqKMR9btLHzNEwM3keEvbAjfnVauDmTLS8xeQHuhU39+Fv2laFQjRo4TYXU6TLY0zniGIH/e2tfrt/HpS5MBzwlOwggqCthj5BIEeJ1mqr0asW+BDZSQkd2pzzHilAaBaQ9+rkAfolbRQjVvpoPkedFafxOkC+f6RNNa+flVQJZdVTXT/cft1klUpRbz8J6NQPHipw1m0L8cyayQb4OamBsU7JPVw4Rcjl1gEf+wnEFY6aUxACDOm1HM0keAW/3tmm1gR6hyRRQ1b6Fo1pMazzp+HXRcJwlAp+PRu5EyCI125Crew+JcLyfyEuuQ99KxX88C3dOhIOTWVJSGA5jGAikDyKnsyQhifvmSxsiJnxAg7BM5u7RCDgIC72a2h1t438H4ltfrhrU4abCi6+xQmpBXukNaR/uQjZtsQBWQpV1onIJGyoR1tQHW1l0zESVxOd0XzskBh64OVCra33eHfXQPjUnvqMa+eu6PUhuxxKFKpKjRc89KF5Wogzi4jxHh9Fua4ACGcwWcAEqsIPqxwvfBF22LJlJhz9huarKbZPKhZMBfV84S8Lfin4v6NZg701CJXEkbKJouScX7ZZcQBX2L2cNL915fkPKi1vbMfrYW/qTsmqrgaNRwWIyZJBJGbyqPpgNUKZN9ELxEd/qsF88W57sCUmKEyHKvZAbO2U1LhiLG2IDiMrLaRsjmfjStjwWuMUAUiHJOFeEt+QnE6PUYVQP7JUvY7x2f34eKWZI2SaQvXydhP0pgtPHlENrwthrB6P36DoZRlqmJjymi0/7XzFIpZ8kAcnZQrHrPZbXoF40B18/DHH8XdjYJDe/f7h9X6bjjC8DknDqj9RbcjTJklh0DSMw1G3QckuGY1m+qkuo6JefGWTn9im/AkQIMr1yISq0LXZ4Db0wBp++UEGrlQQFgYatdzRu8OjJ7Mk05rOBuutEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016UDRJse5YFP3i5r2GZtm5J",
      "input": {
        "note": "In the right wrist view the bottle's cap and neck sit just ahead of the jaws on the jaw column. I'm moving about 3 cm forward and going down to neck height to grip there.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.205,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_016UDRJse5YFP3i5r2GZtm5J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.7776, 1.7458, 0.6346, 0.3248, 0.5983, 0.4305, 0.9983]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3389 right_y=0.199 right_z=0.0262 right_yaw=0.0337 right_pitch=-0.0536 right_roll=-0.0508 right_gripper=0.9983\nstate[joint_eff]: [-0.1983, -1.6205, 6.5709, 1.7656, -0.0562, -0.0415, -0.0122, -1.0462, -6.065, 4.7385, 1.6435, 0.1148, 0.0855, 0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7b929fc639268448ac12f0e4b096d1e7c9de434a00bcb771076ed1723ff6195",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f00f37e702c5904d244a91a77394a6631d27673c9b5aa9ae4816d72dbfd4b0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72bae60f664f0e5e137cd3495ba573cd5e9bf5e27b219e9e662835dfba2cf219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 5.522 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]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0231, -0.0292, 0.9983, 1.1366, 1.4536, 0.321, 0.2005, 0.6601, 0.5663, 0.539]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2096 right_y=0.2031 right_z=0.0096 right_yaw=0.2666 right_pitch=-0.1169 right_roll=-0.081 right_gripper=0.539\nstate[joint_eff]: [-0.253, -1.5795, 6.6667, 1.7998, -0.0562, -0.0464, -0.0122, 0.3214, -4.0274, 5.6274, 1.9756, 0.7546, 0.0513, 0.906]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.8406, 1.4578, 0.72, -0.0223, 0.6502, 0.4843, 0.9981]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1829 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3202 right_y=0.2027 right_z=0.1089 right_yaw=0.0302 right_pitch=-0.0089 right_roll=-0.0139 right_gripper=0.9981\nstate[joint_eff]: [-0.0615, -1.5932, 6.6667, 1.79, -0.0366, -0.0415, -0.0122, -0.7726, -5.2171, 8.4034, 1.6337, 0.2613, 0.1294, 0.0757]",
      "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]: [-0.02, 0.8021, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.7776, 1.7458, 0.6346, 0.3248, 0.5983, 0.4305, 0.9983]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3389 right_y=0.199 right_z=0.0262 right_yaw=0.0337 right_pitch=-0.0536 right_roll=-0.0508 right_gripper=0.9983\nstate[joint_eff]: [-0.1983, -1.6205, 6.5709, 1.7656, -0.0562, -0.0415, -0.0122, -1.0462, -6.065, 4.7385, 1.6435, 0.1148, 0.0855, 0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7b929fc639268448ac12f0e4b096d1e7c9de434a00bcb771076ed1723ff6195",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f00f37e702c5904d244a91a77394a6631d27673c9b5aa9ae4816d72dbfd4b0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72bae60f664f0e5e137cd3495ba573cd5e9bf5e27b219e9e662835dfba2cf219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwcKEAgSGAI4AUIIdGhpbmtpbmcSDLr5HJ539wQDoTKBJhoMVYxvsOPxlWl/IEjcIjArmhQU4krtH1PkbMSRslnudIZ3sgHBH3lGI6NKXYWAE5OfdikFsA+xzJ0eRXEa2Jkq3Aa3RF3EdUDqvcXhMeKcnPWmWQeh9IX9EoL+HhYAXszc9jxGZq0EuKYgjQrXRkmeqqmEwjF5gL0Iq+UiVnWPcL+3KD5e3aVpk34PqACUiEq0ps8g+5PHBHr/1BrkEskyZ9DfZSXocrsPte6cPJfMcfXdRCIyKJuDOBuhtkHYr8P4F++rZY4fDzg5elKWVrC/vac6JMVYLFgyg9PgHpxphrYahvHFXsJGRJDlNjxobqJDPRBoUucS+TNNOnZNc6WprQGjsLGfs0UZRmbuBAtmI/Rhey9BJa5x8siCgIdYAYiIoJDmTKozToYTsRo9EfzR7YdpGtM8Gf7qM6bhtR7p9ud9TQROoe+oEAIhMAeePQG1z5u/VYKgKxWJHar9Y5d0M598MGTATzhIO1BfDkPTxeO1OAX40D9xJwHLUu6JKyoaZbhPc3Vo4UmajZoQDsoYjUzn5TyLy0ZGp0yrt1g42vCAmfFU+Md6srC9A/dgzMxlJDor+0we50YkMLKx5lk04Ut/V8KGD0iYJ2N5rHiuSYYjg2gxdtkzvtyk/hubZmKCAe8LvOjugcRBwybISHMxIWzDBpBezrujgppLxEY1OEcBEcngS5okRyOx/91WVNA4YyHUfl8QlPMQee7YTNnsg1OpdB8S9ADfXJ7IuA0d/BTkz/f41W2FfOuSdt/5lFc5Dn56ZkCglWDZtBa0c39CzTyV98jQFV+LyCeRn829z2lJYmILScQqaDnDLnn5rKv4SjkUhXIb4B0jj/nc4oaZqm9RUAW0Nd4SAA7MaIPmC/e2h3V58q//P4TSx/lZ4NPiGe+gk/DnX3iAusveiyeVxRZHRLInqrRRnkS4Z8j0qo/Sdimzp23niOF6FFRMNWl5MVCtSO7/KNaFU1VZmMk/adG/eXxhq1EdYKIHD4dQjrO/4CzXU0V0nXOHxKSGbEr52Qw0zam/GFeemfnYpBViCNrg6XxpOz+mC3+HSXe8I4CnI0eY/CReOPd3dhjAE8ZLunLtKC+RvR1KD6Yj/gUpCU1xKhCV1VSE3xIdjvZOKj/gZaGAEuiHrB36hKS/jJnQ9M/WkdC0+yGf7zaLU7XswOLLEtkqYflDOAj1y8DO/vsEKnVopAkoDnPni89Z0bW6XcHmipciP5zVRpDGOhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01StTx4LtSWHVsmR2Xv37e4z",
      "input": {
        "note": "The bottle's neck and shoulder are centred between the jaws, with the cap just ahead. Closing to grip the neck.",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01StTx4LtSWHVsmR2Xv37e4z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0227, -0.0292, 0.9983, 0.7784, 1.7493, 0.5915, 0.5129, 0.601, 0.4168, 0.4136]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3472 right_y=0.2072 right_z=0.0419 right_yaw=0.04 right_pitch=0.0522 right_roll=0.0318 right_gripper=0.4136\nstate[joint_eff]: [-0.1983, -1.6205, 6.8171, 1.8242, -0.0464, -0.0708, -0.0122, -0.4171, -6.4889, 3.7128, 1.1062, 0.1538, 0.1099, 0.652]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90f0ce775acf9e3daddf0334edfe1bfdc91d7195844027fa49036187ec114dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f18667a1397349e744eeb93add301fad2e8a4b08d59a784cbefe2c741408064",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac422814c42c39f02dc5651a84ff8532cd906594a5be2141b8b7007bb8c5b37d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 3.817 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]: [-0.02, 0.8024, 0.6151, -0.3794, -0.0227, -0.0292, 0.9983, 0.8406, 1.4578, 0.72, -0.0223, 0.6502, 0.4843, 0.9981]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1829 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3202 right_y=0.2027 right_z=0.1089 right_yaw=0.0302 right_pitch=-0.0089 right_roll=-0.0139 right_gripper=0.9981\nstate[joint_eff]: [-0.0615, -1.5932, 6.6667, 1.79, -0.0366, -0.0415, -0.0122, -0.7726, -5.2171, 8.4034, 1.6337, 0.2613, 0.1294, 0.0757]",
      "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]: [-0.02, 0.8021, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.7776, 1.7458, 0.6346, 0.3248, 0.5983, 0.4305, 0.9983]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3389 right_y=0.199 right_z=0.0262 right_yaw=0.0337 right_pitch=-0.0536 right_roll=-0.0508 right_gripper=0.9983\nstate[joint_eff]: [-0.1983, -1.6205, 6.5709, 1.7656, -0.0562, -0.0415, -0.0122, -1.0462, -6.065, 4.7385, 1.6435, 0.1148, 0.0855, 0.0171]",
      "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]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0227, -0.0292, 0.9983, 0.7784, 1.7493, 0.5915, 0.5129, 0.601, 0.4168, 0.4136]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3472 right_y=0.2072 right_z=0.0419 right_yaw=0.04 right_pitch=0.0522 right_roll=0.0318 right_gripper=0.4136\nstate[joint_eff]: [-0.1983, -1.6205, 6.8171, 1.8242, -0.0464, -0.0708, -0.0122, -0.4171, -6.4889, 3.7128, 1.1062, 0.1538, 0.1099, 0.652]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90f0ce775acf9e3daddf0334edfe1bfdc91d7195844027fa49036187ec114dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f18667a1397349e744eeb93add301fad2e8a4b08d59a784cbefe2c741408064",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac422814c42c39f02dc5651a84ff8532cd906594a5be2141b8b7007bb8c5b37d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkQkKEAgSGAI4AUIIdGhpbmtpbmcSDC41ojJYJ7DKkf0k1BoMaWM3ZOty4iuMMG8vIjBRznxQ2Qjyn64aPqGDWsdg1Oyi03mwCEraNGa/xHRvWFfFNjCZtiaPtaAlDnMpIHcqrgg8451xn2akKPr3mpQmkieVqzpi+xPi0In3ViiPaGAzKzOLOymk+DfT4Z2XZxcq/hHkYlTY5cK1D/aEQxp3DhZ0vnTP396jTRZjLk2GWg2Fp7nzBny5lBnZsKkKy6fCm4UWrs/BN/0aQ0KlmksqzLEdTTz3SNwb8plZ4w/Impk0eq+OiH1Kvh4tl+an7a5H9+rrCUxG2parD76CWp1L4T6phahvXEvYrCQH8AaNCH5cP729OJn/G5LEZ/f/X/V6Znmd+Li+0daJeAoMd2Jm0fQtnVmsIO3akPV13nmk7b0CMujxwqLu2vU7GUwNGwSV2rya3Y2xNF/Dt16BEQfIUxeHG4ZShmIHP1X5IlH7/XUj9MP03GYh/QKpzNHzjvE67hMnepgQMsfWLTHw0BariJiUVmynEQ+kcJbajtbZ9b9h9naD4+S7EskkwS6Qvs+UheQV3efRlEVzyl2FgMfnx0j9A7MdQQ8itpCz6BbRrRLj7XrAxVjZGEO9kz4gOybuBh20DDu09dStw97e7dr1AxH9VdIpbZlyZJGCq5LkOYJ+ZbixvgplXWJI3PNCerHnlBFFwQ6hvXermRoyaKsvakcfXDdMHUkBSwU8i6AZl6u4jeUcwcxH6TDds9wyyNQEX07rQZRSIxHcX59aJnnb5zikQxtWqHQ8kyJ8JoI/s2ZObxxgsCHkiUhIQ+8CFAAaCBalS7lSafPt0iByz1somK6GUXArse+vlSLucXh33+21NrHhXFbFJCAdPlpBonxUMNFdoT6q+851chJivv2G1NNfNwWyezNTbAWyDZumMQqlFlHu9seNEi1VFKHO7GF8lX7uAPUFYzdFYqHPtNJNKlYQ+c54GQyKSAlEMTGi+AZs09DSS1tkfIsA3hItNMEdzcqN+nZbcjAP7Qor8qeZVoEU8NAv8OYpIqR5LhWmIZOrZH4hi4sZUQqIO/PI8PNvkm6JbrKqCI8oGM3ju1eTjw0GJTfc0uBCDNdD4qk4eDxmujr+SYE3ia30noGS8NNWVJuf3M7smWC3GQKZ8FGMI+TlBWTgkoeqPvsB1rDTxOqqE+t5U2k7ITpyHbsspDCjeqGnXyC5E4dkd410z6ratIJj6Q9E/Ol39S3I0zQgFVMUmlK/i2at0NbUQCkSC1KGSvQzUB8u822BDSf9t8pEEltRkTqctaR+jGnW+4E62vX2KiL2RwluWd9beV+mZrE73cp/Xa1fKrHmZWhCSHE0iIZrQRzfWsCPybzODp7hBD68mO4FCns5qetVUAcNqM8fWIHW6eoLic8AxcyAluPTaJ4VVeyCCaslD1X/qPnhGm66OGAjw6vx1Ezvz1bAvMmwxpZwch2PUtCXy88Ww9CUPGGLMLWgNr9XY/wQGvzX2pyouJWbUYqniwKlgk9gCeIGmsh4hW3aqMxNbV5VKgabWxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P94MQPeLYuc3v5L4F9K8bv",
      "input": {
        "note": "Gripping the bottle's shoulder (0.41, about 4 cm). Its base is toward the robot at about x≈0.18. Swinging up in an arc about the base, step 1.",
        "targets": {
          "right_x": 0.32,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01P94MQPeLYuc3v5L4F9K8bv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.8398, 1.4944, 0.6815, 0.0952, 0.6167, 0.4576, 0.4126]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3226 right_y=0.2121 right_z=0.0978 right_yaw=0.0688 right_pitch=0.005 right_roll=0.0097 right_gripper=0.4126\nstate[joint_eff]: [-0.0615, -1.1966, 6.7214, 1.8535, -0.0415, -0.0611, -0.0122, 0.5538, -7.1316, 8.8274, 1.6093, 0.3004, 0.0757, -0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69351b139d9c89bc711b7e97ab67866e520b1b1c79a0cc6d06c788adecd6663a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f06487742c6f3ff68ee961ed3881d1d3a5c20491f098339ffdd71b1de4df175b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:105bab5356692588c7323897abcbcd43ad35f0bb4b1cd6528abc8d9b1433a921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 6.177 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]: [-0.02, 0.8021, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.7776, 1.7458, 0.6346, 0.3248, 0.5983, 0.4305, 0.9983]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3389 right_y=0.199 right_z=0.0262 right_yaw=0.0337 right_pitch=-0.0536 right_roll=-0.0508 right_gripper=0.9983\nstate[joint_eff]: [-0.1983, -1.6205, 6.5709, 1.7656, -0.0562, -0.0415, -0.0122, -1.0462, -6.065, 4.7385, 1.6435, 0.1148, 0.0855, 0.0171]",
      "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]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0227, -0.0292, 0.9983, 0.7784, 1.7493, 0.5915, 0.5129, 0.601, 0.4168, 0.4136]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3472 right_y=0.2072 right_z=0.0419 right_yaw=0.04 right_pitch=0.0522 right_roll=0.0318 right_gripper=0.4136\nstate[joint_eff]: [-0.1983, -1.6205, 6.8171, 1.8242, -0.0464, -0.0708, -0.0122, -0.4171, -6.4889, 3.7128, 1.1062, 0.1538, 0.1099, 0.652]",
      "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]: [-0.02, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.8398, 1.4944, 0.6815, 0.0952, 0.6167, 0.4576, 0.4126]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3226 right_y=0.2121 right_z=0.0978 right_yaw=0.0688 right_pitch=0.005 right_roll=0.0097 right_gripper=0.4126\nstate[joint_eff]: [-0.0615, -1.1966, 6.7214, 1.8535, -0.0415, -0.0611, -0.0122, 0.5538, -7.1316, 8.8274, 1.6093, 0.3004, 0.0757, -0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69351b139d9c89bc711b7e97ab67866e520b1b1c79a0cc6d06c788adecd6663a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f06487742c6f3ff68ee961ed3881d1d3a5c20491f098339ffdd71b1de4df175b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:105bab5356692588c7323897abcbcd43ad35f0bb4b1cd6528abc8d9b1433a921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwcKEAgSGAI4AUIIdGhpbmtpbmcSDGNEu4+2T9Q4QjgHghoMxqgboAJmk6M4IW7oIjAk5jqzVnbkqQVfr66VyJ5L1J07g0XxjFp9WrXVTLyuoYOWA4VU630BomAPMNmHN/0qzAbZ10Rhycm5ruyDGAPZTqvtDqMAC/l82vqVdACrBWids8MqTaywqYZ3XV3iniHQQ0/yc5ukRpRIZUEXPoewnvLrHsNXjr4BwHLDfU9gTn2e2P+Um0Mn8nfgeSp6jgEXsX7KshRVHg2gyxsj2C1WsbBWZY87JRV31pamdsj60ioZytunYwuiMy19i2Qa25Nygpc8y+2MkxpQ6EtL/C63av0NLS9S8pGZhj3YouGIO4DBsBh2zcAJm75F8wToS9pDFBmtWUL75iqQDQLYgsZM93/6WJr51JTSsDfgiNVwU8K3KPxelMIMeWQXomNSDRvYLEES1+JHi7iEu1eS3nOjfAWuM+H7NddAwIAs3ROxSblsetCEJiV4Y8znmn7hntQlA3qImVI/dFjCp6KWX6MpT16IP3hSjrH9cj83BEJXlaYdytczSZdXDADZW7Ej1rX6Fd+hwXWytrm0vqSfEODSQeO95gfF6A+jYDE/bN2BWaUbE2+yg2FeYu/keQTt5JCU6P1JaxgCCzmXiZGeLuc52Rf+lv3rgE6z3VK4qx7zj+fQFnrqHkNmQcUWyBII1Ftw6WoEy8QQJpEgbVdVNtfW1YAaZKKC5XLz0DM5t14HcJK/2Tio7MwyQmktPFDuQBAzNZPt3UZi3jArHm//eeUa/J/xNvr06ub4VbwLul8A4kcFb2thUgfeVAlgfKYH2f2UgIe2qVH1gM119WgH8oW74LXx2lAdUoUu8ZZWFrxv/JQDDF3kTGf3ZHMqFsuubuaWPapTUK3FyHHPyq6AHishoVhBHCwldK4qzJmnIeUlipnl7k+7ZMwsk+VxMEKuHw2a7VUzzeKs/DZ7RrDWTV5/UZW9Ao+sfPY9/d1874by++Wb7jLcTNhB8EuDi6xQbcq/qkoCZE+KWmTSdtX5bLB65nyX3/0F4qV3b4LmNtdNLLRCjdczIyvmJ0oan+/UViYakrJMxXIqAYENtcoDpS9Cl6IN+ivNBs+Hz1W36R7/hxZmlPt2UVsK/+7JOVSsmjNwp7X6T3K1ArBsE6OPIBQOVKtjs+a8t+TIeOSgJHrUsDSZfJp9M4loBe86yPEJMU36m9Dh4xGRjXB5FI8UKhcAAHywCNarkWnIPVAHYJa5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vvcpa1FopzetuvF2tZBaPK",
      "input": {
        "note": "The bottle is held by the shoulder and partly tilted up. Continuing the arc, higher and further back over its base.",
        "targets": {
          "right_x": 0.26,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Vvcpa1FopzetuvF2tZBaPK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6147, -0.3782, -0.0231, -0.0292, 0.9983, 1.0275, 1.2697, 0.7837, -0.3237, 0.7128, 0.5823, 0.4124]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.183 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2648 right_y=0.222 right_z=0.1554 right_yaw=0.1192 right_pitch=-0.0082 right_roll=0.0017 right_gripper=0.4124\nstate[joint_eff]: [-0.3624, -1.5111, 6.8444, 1.8828, -0.0366, -0.0366, -0.0122, 0.212, -5.3949, 9.2513, 1.4676, 0.4469, 0.2125, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e099b7f84230e886e3bdadaac561bc6dc4cab0af8964089136bc1db443f6b34f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55840a88f9cc11ebcbe5537214887858eadd620273da404a51b3a3b8a5ef78f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d810f70a580a0906ce7770076a344269b031fb20411686ee84c6dbf899e37447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 7.388 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]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0227, -0.0292, 0.9983, 0.7784, 1.7493, 0.5915, 0.5129, 0.601, 0.4168, 0.4136]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3472 right_y=0.2072 right_z=0.0419 right_yaw=0.04 right_pitch=0.0522 right_roll=0.0318 right_gripper=0.4136\nstate[joint_eff]: [-0.1983, -1.6205, 6.8171, 1.8242, -0.0464, -0.0708, -0.0122, -0.4171, -6.4889, 3.7128, 1.1062, 0.1538, 0.1099, 0.652]",
      "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]: [-0.02, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.8398, 1.4944, 0.6815, 0.0952, 0.6167, 0.4576, 0.4126]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3226 right_y=0.2121 right_z=0.0978 right_yaw=0.0688 right_pitch=0.005 right_roll=0.0097 right_gripper=0.4126\nstate[joint_eff]: [-0.0615, -1.1966, 6.7214, 1.8535, -0.0415, -0.0611, -0.0122, 0.5538, -7.1316, 8.8274, 1.6093, 0.3004, 0.0757, -0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6147, -0.3782, -0.0231, -0.0292, 0.9983, 1.0275, 1.2697, 0.7837, -0.3237, 0.7128, 0.5823, 0.4124]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.183 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2648 right_y=0.222 right_z=0.1554 right_yaw=0.1192 right_pitch=-0.0082 right_roll=0.0017 right_gripper=0.4124\nstate[joint_eff]: [-0.3624, -1.5111, 6.8444, 1.8828, -0.0366, -0.0366, -0.0122, 0.212, -5.3949, 9.2513, 1.4676, 0.4469, 0.2125, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e099b7f84230e886e3bdadaac561bc6dc4cab0af8964089136bc1db443f6b34f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55840a88f9cc11ebcbe5537214887858eadd620273da404a51b3a3b8a5ef78f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d810f70a580a0906ce7770076a344269b031fb20411686ee84c6dbf899e37447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQ0KEAgSGAI4AUIIdGhpbmtpbmcSDHfAb56ktFuyam4Y/RoM7ve1iAPhiOkcdNHWIjB1yMqXU9tnWymrs37dH+V/3gcfZ+tsjkq5x1PGgwA0sgNzJXWJ3WpYEqpRY+Mn33MqsgyKyUXTBpRaOJP85cbdWyIIGDMukoVDPXYSaYGakC7tADGPkxnythF+m6tc1I18X8LPLBMMvSRdDSB9LAsuPQgLbdhmc5Qb+hSsfrOQRzC5cfyJgsGCr9C3WlQXmFD2QAfONn4awqcmxaBFOq2o2Vm3rtqu3weRRLDYxo+eFDZdnyv//7Yx69da935uB4wthb5WsKaZX797N3KOA4WUB3sWUJV0ZPbxAIHY7y+6DSLk8B+VV8RB4inepWsQrKvnas2SlqNfJoxebIX0QdyVP2ZeesHNabD+yPlmddFJpbQZLn3RBdjyJEQqklkkbtjHF80CRTicNfpKTqmDtgi2IH09apTyXbN2Yj7nlDkW1SPJescj9/nSwiUFKlJaEU40CJVnoLSIFZ8LfWxIF6k/GSgOMREGgIr4sBq7N+XOfiB0ZbWrLGsVA/FAaNT4bgtu+6bpfXHxpn0z+COnhZsHwZRpch90Nk3naleahXqXMseVcnjC3OBnAbzF4lOBLCx/SjSNH8wzLCW+rJmmZpJtK/kbE+DJl8klBHnooWehtS8+Kjv+2dou88h+i+wtTuDUjakGfqwSZaLB/QjfSwHOoyw8Vr5v2fiGimnO3eaS4ANDnm84fft1ajnYAIQ5ScMdXkF3iaefStsSP2p6HrAB9J5BYsbqhJ01M3/WRjX88tldGnZZDWOfMIVT7hgJjwxlP3jlj3FakGEw/vgRn81g9/KdXnJb5tczL0ZWTfsdFjQHT8gTeChyNrFdIYdTS1GRiHUdMKMFedN6aD2tLYao9ffWp54fn0wDL8IUY/Etb8l1/Sk+XgW9f4QMQW8PVNEz2JgCFjVN316hwX9QVVLx1lIdLRCnpWdKisBo5xksM4aI4UslVoD+487piPZPY6yIDbhayuv01DYCDcJcaYoGvBCEtWA7YoK4bJBXSEdGxKJFq27ss+831rVKLHvTbQOgh8TdKrsvUhQqgjR64k1UXmpBiGvJtZGibreVN/ass9xVaUA5VUM6wEkFcHhLUmt95fopoHFQovDvC3UUGcj66yhx45Gzgfi2jVkLKnAQqSizrRSAjueOuBk/WeTnNi1Ac6prLsvmE6FXRsO3zMEBc7hyI/4RRwI7hOg19SDZWc3JaopntZ9LegdJWZXkYdZ6DhMZq1ku6OwLwsZGmh1wh4QhXiD8LtFHCOdyjcg8sCsHKjin6wb2p+iqGwbiF5DqMo4bOuUx6SpEH9zEZolMpGsMx8Q6m9JMNUKh5pOztwXl8ZVpG/ePl6A6ohyiBp0t0iD8YLtYErMZaOt/yPTKlNFLxb9zkTrwkbGDgoC3VS0eNulxP7lSNCTRKaT3RTIdfPHFrjuTz0RpBKU/DPc3l6ZHU0munkNHin8el6UXQT/DAILL+JcvVW7drBbw9RiVl5aCRDohyFneqNTMkHstvi+sBtCmeuXwafO1R9UyPsF9nBuj3klmE4Bmwj3410KK1W0zq42fvP70JMGffSsmctqtmUOYGgIB69eDmeB+gMzknfk/5TeqCqrPitRwPuTmOH1xcxfda3Rpuo9QP74U/ZkSuhsB3gxXaqbtKZkIgxW3NdAuVENKD7szE59qx4KcR+t3VrwjPcwCDE3yflSfBuiAk0i2slbv6OsdHiBe8QhFYpiy8WwuwT4Wiy9UxkmvFB2TyIhyrQOVovUZH5yM4CMDjMIaVQY1svoae9LKtCxqdH+w5meL/YcdtuCGQa3/hp/JdJac7qKNTOHJTUsV5Ns8HWd1CybZlPM6QVefueCFeewNuLt7CE8KXahxgMdU3X8mi7l+By/8QHCFl6Ms1wSGkBokOAjI8ngC/1YK2vZUrh1dj42DssFu5E9Zs2nJllK3RvlOkpAaBrPiuzJD8ru+AFnZtBw0gLF/BRU5y1/dKt4IbljjPZJShWji+0HujFyMd1TGWs0DxyTRiYcXhIO6guBpZe6jWXzmPiOIXpEWLqtTWSAI+y91+M+79n5vJJz6zycyk1xIeLcjWw0ZofCDIa5HayjVqAPp/LfXzfCBW85advjK8BuPFZF5lTj/nizL5g6CdD/jnC+LqAhovVHeu7IMkM4oqrC9E9az1ydCg+uIoh92uMVmE/CNJ5qVjtp5bxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018FF8Lo4BhGNy2Zr4EKtCBL",
      "input": {
        "note": "Finishing the arc: bringing the gripped neck to directly above the bottle's base so the bottle ends up vertical.",
        "targets": {
          "right_x": 0.19,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_018FF8Lo4BhGNy2Zr4EKtCBL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6147, -0.3786, -0.0227, -0.0292, 0.9983, 1.047, 1.253, 0.8066, -0.4305, 0.741, 0.6281, 0.4124]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1829 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2565 right_y=0.2128 right_z=0.1572 right_yaw=0.0938 right_pitch=-0.0315 right_roll=-0.0267 right_gripper=0.4124\nstate[joint_eff]: [-0.2256, -1.2923, 6.5846, 1.79, -0.0317, -0.0611, -0.0122, -0.2393, -5.0803, 8.3897, 1.2576, 0.5299, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1673662f7ddbd8ad8cde26d4c2be4629746db3ae5223ee64e0908b04ad499281",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c379690f227f96f6e8e317240a960c6263289a603f051bce8179b08177f4fbed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:349ac2f4bdb0b10c8b48f112a3b5169b6a108ff1d800b5c5e65ea343936e1ee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 6.417 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]: [-0.02, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.8398, 1.4944, 0.6815, 0.0952, 0.6167, 0.4576, 0.4126]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.183 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3226 right_y=0.2121 right_z=0.0978 right_yaw=0.0688 right_pitch=0.005 right_roll=0.0097 right_gripper=0.4126\nstate[joint_eff]: [-0.0615, -1.1966, 6.7214, 1.8535, -0.0415, -0.0611, -0.0122, 0.5538, -7.1316, 8.8274, 1.6093, 0.3004, 0.0757, -0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.02, 0.8024, 0.6147, -0.3782, -0.0231, -0.0292, 0.9983, 1.0275, 1.2697, 0.7837, -0.3237, 0.7128, 0.5823, 0.4124]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.183 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2648 right_y=0.222 right_z=0.1554 right_yaw=0.1192 right_pitch=-0.0082 right_roll=0.0017 right_gripper=0.4124\nstate[joint_eff]: [-0.3624, -1.5111, 6.8444, 1.8828, -0.0366, -0.0366, -0.0122, 0.212, -5.3949, 9.2513, 1.4676, 0.4469, 0.2125, -0.0269]",
      "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]: [-0.02, 0.8024, 0.6147, -0.3786, -0.0227, -0.0292, 0.9983, 1.047, 1.253, 0.8066, -0.4305, 0.741, 0.6281, 0.4124]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1829 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2565 right_y=0.2128 right_z=0.1572 right_yaw=0.0938 right_pitch=-0.0315 right_roll=-0.0267 right_gripper=0.4124\nstate[joint_eff]: [-0.2256, -1.2923, 6.5846, 1.79, -0.0317, -0.0611, -0.0122, -0.2393, -5.0803, 8.3897, 1.2576, 0.5299, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1673662f7ddbd8ad8cde26d4c2be4629746db3ae5223ee64e0908b04ad499281",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c379690f227f96f6e8e317240a960c6263289a603f051bce8179b08177f4fbed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:349ac2f4bdb0b10c8b48f112a3b5169b6a108ff1d800b5c5e65ea343936e1ee8",
        "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_01HErkgH2j4gCcmdUk6M5vKv",
      "input": {
        "note": "The arm stalled at x≈0.26: the bottle is gripped too rigidly to rotate in the jaws, so its base is binding on the table. I'm easing the grip slightly so it can pivot, and retrying the move over the base.",
        "targets": {
          "right_gripper": 0.43,
          "right_x": 0.2,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01HErkgH2j4gCcmdUk6M5vKv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6147, -0.3786, -0.0227, -0.0292, 0.9983, 1.047, 1.253, 0.8066, -0.4305, 0.741, 0.6281, 0.4299]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1829 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2565 right_y=0.2128 right_z=0.1572 right_yaw=0.0938 right_pitch=-0.0315 right_roll=-0.0267 right_gripper=0.4299\nstate[joint_eff]: [-0.2256, -1.5521, 6.5573, 1.8046, -0.0317, -0.0757, -0.0122, -0.3761, -5.0393, 8.1983, 1.2479, 0.4811, 0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f750e651867f55b96a082d17c97631969c13838ac3c18b4901897f73bbeb745",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f91803c30de0c6661b731af128e8e0747969d1d0a70e60618c4b7079e2c32334",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:89730d4131176dd5e0fcec22ed742f81f64eff65ec1456124de7b8a1e27769e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 7.762 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]: [-0.02, 0.8024, 0.6147, -0.3782, -0.0231, -0.0292, 0.9983, 1.0275, 1.2697, 0.7837, -0.3237, 0.7128, 0.5823, 0.4124]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.183 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2648 right_y=0.222 right_z=0.1554 right_yaw=0.1192 right_pitch=-0.0082 right_roll=0.0017 right_gripper=0.4124\nstate[joint_eff]: [-0.3624, -1.5111, 6.8444, 1.8828, -0.0366, -0.0366, -0.0122, 0.212, -5.3949, 9.2513, 1.4676, 0.4469, 0.2125, -0.0269]",
      "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]: [-0.02, 0.8024, 0.6147, -0.3786, -0.0227, -0.0292, 0.9983, 1.047, 1.253, 0.8066, -0.4305, 0.741, 0.6281, 0.4124]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1829 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2565 right_y=0.2128 right_z=0.1572 right_yaw=0.0938 right_pitch=-0.0315 right_roll=-0.0267 right_gripper=0.4124\nstate[joint_eff]: [-0.2256, -1.2923, 6.5846, 1.79, -0.0317, -0.0611, -0.0122, -0.2393, -5.0803, 8.3897, 1.2576, 0.5299, 0.0855, -0.0171]",
      "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]: [-0.02, 0.8024, 0.6147, -0.3786, -0.0227, -0.0292, 0.9983, 1.047, 1.253, 0.8066, -0.4305, 0.741, 0.6281, 0.4299]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1829 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2565 right_y=0.2128 right_z=0.1572 right_yaw=0.0938 right_pitch=-0.0315 right_roll=-0.0267 right_gripper=0.4299\nstate[joint_eff]: [-0.2256, -1.5521, 6.5573, 1.8046, -0.0317, -0.0757, -0.0122, -0.3761, -5.0393, 8.1983, 1.2479, 0.4811, 0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f750e651867f55b96a082d17c97631969c13838ac3c18b4901897f73bbeb745",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f91803c30de0c6661b731af128e8e0747969d1d0a70e60618c4b7079e2c32334",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89730d4131176dd5e0fcec22ed742f81f64eff65ec1456124de7b8a1e27769e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J79zZeTLPBquKVtLMhBVc6",
      "input": {
        "note": "The right arm is frozen (joints unchanged), the same IK stall I saw earlier. I'm trying a pure vertical move to free it while still holding the bottle.",
        "targets": {
          "right_z": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01J79zZeTLPBquKVtLMhBVc6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0227, -0.0292, 0.9983, 1.058, 1.2293, 0.9089, -0.5571, 0.7395, 0.6201, 0.43]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2533 right_y=0.2146 right_z=0.1864 right_yaw=0.1102 right_pitch=-0.033 right_roll=-0.0333 right_gripper=0.43\nstate[joint_eff]: [-0.0479, -1.4564, 6.8991, 1.7949, -0.0366, -0.0317, -0.0122, -0.7043, -5.7231, 9.388, 1.37, 0.3492, 0.0024, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01efd847ff95786a5f87de2fa644d2f76f5018cbef79825a90e8b9aa544ce83e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a002e5c25436169676e7beb857e49a1ab5bcc9f7afe07d029fc9f4f6a0a46c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b1c3098a9d9f3809f343710222aa96526c5831734cea80865fabc5b773281544",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 11.35 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]: [-0.02, 0.8024, 0.6147, -0.3786, -0.0227, -0.0292, 0.9983, 1.047, 1.253, 0.8066, -0.4305, 0.741, 0.6281, 0.4124]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1829 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2565 right_y=0.2128 right_z=0.1572 right_yaw=0.0938 right_pitch=-0.0315 right_roll=-0.0267 right_gripper=0.4124\nstate[joint_eff]: [-0.2256, -1.2923, 6.5846, 1.79, -0.0317, -0.0611, -0.0122, -0.2393, -5.0803, 8.3897, 1.2576, 0.5299, 0.0855, -0.0171]",
      "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]: [-0.02, 0.8024, 0.6147, -0.3786, -0.0227, -0.0292, 0.9983, 1.047, 1.253, 0.8066, -0.4305, 0.741, 0.6281, 0.4299]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1829 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2565 right_y=0.2128 right_z=0.1572 right_yaw=0.0938 right_pitch=-0.0315 right_roll=-0.0267 right_gripper=0.4299\nstate[joint_eff]: [-0.2256, -1.5521, 6.5573, 1.8046, -0.0317, -0.0757, -0.0122, -0.3761, -5.0393, 8.1983, 1.2479, 0.4811, 0.0806, -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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0227, -0.0292, 0.9983, 1.058, 1.2293, 0.9089, -0.5571, 0.7395, 0.6201, 0.43]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2533 right_y=0.2146 right_z=0.1864 right_yaw=0.1102 right_pitch=-0.033 right_roll=-0.0333 right_gripper=0.43\nstate[joint_eff]: [-0.0479, -1.4564, 6.8991, 1.7949, -0.0366, -0.0317, -0.0122, -0.7043, -5.7231, 9.388, 1.37, 0.3492, 0.0024, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01efd847ff95786a5f87de2fa644d2f76f5018cbef79825a90e8b9aa544ce83e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a002e5c25436169676e7beb857e49a1ab5bcc9f7afe07d029fc9f4f6a0a46c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1c3098a9d9f3809f343710222aa96526c5831734cea80865fabc5b773281544",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XLgAMW1u2wWCtLqdiJKMbc",
      "input": {
        "note": "The wrist view looks like the bottle is lying on the table under the jaws, so it may have slipped out. Closing fully to check whether anything is still held.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XLgAMW1u2wWCtLqdiJKMbc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6147, -0.379, -0.0231, -0.0292, 0.9983, 1.0584, 1.2198, 0.9379, -0.6006, 0.7376, 0.6178, 0.0151]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1828 left_yaw=0.0011 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2518 right_y=0.2127 right_z=0.1944 right_yaw=0.1129 right_pitch=-0.0371 right_roll=-0.0383 right_gripper=0.0151\nstate[joint_eff]: [-0.1573, -1.6205, 6.612, 1.8046, -0.0904, -0.0269, -0.0122, -0.6085, -5.1624, 8.5265, 1.5067, 0.3492, 0.0366, 0.8425]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9007c0ffae92199c0cd310b5ab6b07fec4f3d0719442d9a80016aa25ef23d3ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0be933ac19473fcf6749f278d723b1438d9aaf7f29f662473f4448128579636e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d504ba4136ef24a4d9599e61bf22937349947713aabee71f138db0110b7bf837",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 6.349 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]: [-0.02, 0.8024, 0.6147, -0.3786, -0.0227, -0.0292, 0.9983, 1.047, 1.253, 0.8066, -0.4305, 0.741, 0.6281, 0.4299]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1829 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2565 right_y=0.2128 right_z=0.1572 right_yaw=0.0938 right_pitch=-0.0315 right_roll=-0.0267 right_gripper=0.4299\nstate[joint_eff]: [-0.2256, -1.5521, 6.5573, 1.8046, -0.0317, -0.0757, -0.0122, -0.3761, -5.0393, 8.1983, 1.2479, 0.4811, 0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0227, -0.0292, 0.9983, 1.058, 1.2293, 0.9089, -0.5571, 0.7395, 0.6201, 0.43]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2533 right_y=0.2146 right_z=0.1864 right_yaw=0.1102 right_pitch=-0.033 right_roll=-0.0333 right_gripper=0.43\nstate[joint_eff]: [-0.0479, -1.4564, 6.8991, 1.7949, -0.0366, -0.0317, -0.0122, -0.7043, -5.7231, 9.388, 1.37, 0.3492, 0.0024, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6147, -0.379, -0.0231, -0.0292, 0.9983, 1.0584, 1.2198, 0.9379, -0.6006, 0.7376, 0.6178, 0.0151]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1828 left_yaw=0.0011 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2518 right_y=0.2127 right_z=0.1944 right_yaw=0.1129 right_pitch=-0.0371 right_roll=-0.0383 right_gripper=0.0151\nstate[joint_eff]: [-0.1573, -1.6205, 6.612, 1.8046, -0.0904, -0.0269, -0.0122, -0.6085, -5.1624, 8.5265, 1.5067, 0.3492, 0.0366, 0.8425]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9007c0ffae92199c0cd310b5ab6b07fec4f3d0719442d9a80016aa25ef23d3ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0be933ac19473fcf6749f278d723b1438d9aaf7f29f662473f4448128579636e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d504ba4136ef24a4d9599e61bf22937349947713aabee71f138db0110b7bf837",
        "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_01Gf3gi8pYoA47zVDAZcQwk8",
      "input": {
        "note": "The gripper closed empty: the bottle slipped out and is lying on the table with its cap ahead of the jaws. New plan: grip the cap itself and lift straight up so the bottle hangs vertically, then set it down on its base. Moving over the cap now.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.37,
          "right_y": 0.215,
          "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_01Gf3gi8pYoA47zVDAZcQwk8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8009, 0.614, -0.379, -0.0227, -0.0292, 0.9983, 0.7166, 1.6272, 0.7361, -0.0322, 0.548, 0.3641, 0.9948]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1829 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3362 right_y=0.1755 right_z=0.0467 right_yaw=0.0346 right_pitch=-0.1853 right_roll=-0.1635 right_gripper=0.9948\nstate[joint_eff]: [-0.1026, -1.306, 6.7897, 1.8046, -0.0317, -0.0415, -0.0171, -0.5538, -6.2701, 7.0906, 1.3211, 0.4518, 0.1538, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1e3476bb0e953bb2edd3b6a554ccd08001f1f5731374e7430d35ab863afcf2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8036f3be55890fa9f2a971a867c7b684569d6fa667d97c57f94bad76de9421c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6de832f91b6be0c3e77f29f04e4231a2ee6d2649f3cbd7876260998ee31b0e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 17.25 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]: [-0.02, 0.8024, 0.6151, -0.3786, -0.0227, -0.0292, 0.9983, 1.058, 1.2293, 0.9089, -0.5571, 0.7395, 0.6201, 0.43]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2533 right_y=0.2146 right_z=0.1864 right_yaw=0.1102 right_pitch=-0.033 right_roll=-0.0333 right_gripper=0.43\nstate[joint_eff]: [-0.0479, -1.4564, 6.8991, 1.7949, -0.0366, -0.0317, -0.0122, -0.7043, -5.7231, 9.388, 1.37, 0.3492, 0.0024, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.02, 0.8024, 0.6147, -0.379, -0.0231, -0.0292, 0.9983, 1.0584, 1.2198, 0.9379, -0.6006, 0.7376, 0.6178, 0.0151]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1828 left_yaw=0.0011 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2518 right_y=0.2127 right_z=0.1944 right_yaw=0.1129 right_pitch=-0.0371 right_roll=-0.0383 right_gripper=0.0151\nstate[joint_eff]: [-0.1573, -1.6205, 6.612, 1.8046, -0.0904, -0.0269, -0.0122, -0.6085, -5.1624, 8.5265, 1.5067, 0.3492, 0.0366, 0.8425]",
      "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]: [-0.02, 0.8009, 0.614, -0.379, -0.0227, -0.0292, 0.9983, 0.7166, 1.6272, 0.7361, -0.0322, 0.548, 0.3641, 0.9948]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1829 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3362 right_y=0.1755 right_z=0.0467 right_yaw=0.0346 right_pitch=-0.1853 right_roll=-0.1635 right_gripper=0.9948\nstate[joint_eff]: [-0.1026, -1.306, 6.7897, 1.8046, -0.0317, -0.0415, -0.0171, -0.5538, -6.2701, 7.0906, 1.3211, 0.4518, 0.1538, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1e3476bb0e953bb2edd3b6a554ccd08001f1f5731374e7430d35ab863afcf2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8036f3be55890fa9f2a971a867c7b684569d6fa667d97c57f94bad76de9421c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6de832f91b6be0c3e77f29f04e4231a2ee6d2649f3cbd7876260998ee31b0e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS5wgKEAgSGAI4AUIIdGhpbmtpbmcSDOmo4BQpDqXmQChuQhoMNdqHSJ+3a+wht06bIjD/JPMs+t+o6H0oqjPRRTHSluh45u0LvVOXIhRd5lxbfkzyuaZp1wVPlSHhQ5NXtPAqhAg3sEtB1R6QiEl07D0tOWLiHSTyUlw3/B9yJxSXjQDECzTgXb0gyWMugJcKRO9TN7hsTHMI4v4/j1ujXvVuSsBjW06tRKdeaAZ7Iazysl1KjKLv6faG5+BTqA5elo+oHsOsF5hLpxJ0BeLFvZ+GvHT1az0jCHnmFEg4BDbinhPFqcW52r/REY6hRTNbnRcPhNdOAEKY3KKozbKfG74C7ppWdKFq4Ex0mk/0QjF8ZQiCv7gA1dNgAk3z1H17hHSy6wFT003zKZyw/2nuzj4U3Cd880sQ6YYMAMao2feTHLaSvSvT1B5tmzpC3ymQDt9B8mBd4SyIXluCmdzdNFg6tBaDMxoNiHJPhWemHizSJ3jEVSF06Czj6s6uMaZlg51w9Z7MML8dHLTxw+Sl4a7cGbwd9uZXfa+xWYrz6kS46M15ujB+l/b4x7bGWzBsH2TbcBpEAPUDCpxe1UbKnJHiI6WvmNNIU8wQe3nTZG7o8OXYrLJEWOa9uZGk2zu31VML7GiZDzDytqqT3GK+ecB8Uc4aim9SNrFkpcas4cHNdRj3LlS30z148rHGuyDsk4v2CRFutfzxTsQDjRbOfkq4jt2HQd48q8w4K9RIwFxtmrDgGl1HhNHtkVBz1fDwoG0X9o0XaZ35cWDLlTRGm2ONWFzNep9sxGiUb+UZO98qcz6bd4k1BhHNdxf7aTwH0vcviJhLaIw5bn0BvuFc02/H/e7Eahmk1kCsHvQT7qpZQkJkdaXJqWAr4QhpqtrcMO729ORGboLjgg0g3H3ELt0RYpuJO2hTk8IqI64oHLpCar0SzZqTttZIBJic3A+mlbUGgrjLatfUTNt/BnVcnNGCQccaWdbwzHilAlk4O7y+QoEdheRXsgz6PJwr5GVY4l9qomrbcaUNHihdx7sciXpZl9LpjMUmP4mUy/7Mh01OwWsRjWlH+aCZMEJCigUQMZz3QgDYk5k2tgNRowDQLfVRkeKuNG9w9NfonWbWLrQ/zuhGcuylFpCU1qoJ5F6s95Do5tXtawlEfqki3PsFX98kjmPb3Mh6F7hplAmhDSdVmx3eBcbonpYhrYBB90N1B0x5qv3U+zOqypI4ABRxryW+uY/URZaQsvVxLWmpUzGvLAEhVnTUAhDNjbkTGsota+dWk1WqUvMpq3yVI334Kv5y6ZhmWPtBfoyHC4xmrTwyBhhR0V3mB2yj68X4BIdbIzTjfYVpf3wT1tjmsFLZNMyCBURUKk18UzN7STDmlGgjcRCp1OXS0th6XfhKikH5ZAoO59dzHhha1251VCteIXHXGRzCMbWZm3OYwXA0em24vr3DyMuzJw3fGSQWU/6vH24BRfj7s26Iobi3d/pUT+zNXIARpNRtKxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F14EYBscsvnp7BbbZshzwf",
      "input": {
        "note": "The arm lagged, ending at y=0.176 and z=0.047 and tilted, and the bottle now shows at the left edge of the wrist view. I'm raising to a clear hover at the intended spot before going down on the cap.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.215,
          "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_01F14EYBscsvnp7BbbZshzwf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3782, -0.0227, -0.0292, 0.9983, 0.7292, 1.6405, 0.6743, 0.2047, 0.5312, 0.3729, 0.9947]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1827 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3466 right_y=0.1945 right_z=0.0546 right_yaw=0.0676 right_pitch=-0.066 right_roll=-0.0455 right_gripper=0.9947\nstate[joint_eff]: [0.0068, -1.7299, 6.7487, 1.79, -0.0611, -0.0659, -0.0122, 0.1299, -9.0188, 5.6137, 1.8926, 0.5153, 0.2418, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b67ef4f2cfd0e175b0cc864744df7d80f3e5b9776bda27bd6f11fd296221c052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:166f633897ee5539599a9cba1c5ec42cb41188d62de68aa029214d4052c0ce3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b14f40bcd3d335c570dc2d76bbb902d47d54e9549895d0284ef7f5fce040b10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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