adhoc

completed
2026-09-22T18:51:18.354490+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
361.8 s
total steps
253
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. Plan: grab each by the cap, lift so it hangs vertical, set it down. Moving the left arm above the leftmost bottle's cap.
move_to
left_x0.4200left_y-0.1200left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.6079, -0.3767, -0.0204, -0.0284, 0.9986, -0.0158, 0.7883, 0.6033, -0.3855, -0.0132, -0.0216, 0.9984] state[eef_state]: left_x=0.2956 left_y=0.0013 left_z=0.1826 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0013 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9984 state[joint_eff]: [-0.2667, -1.4701, 9.7846, 1.7705, -0.0415, 0.1245, -0.1538, -0.9778, -0.9504, 10.2222, 1.8779, -0.1441, 0.0464, -0.1783] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.12, "left_z": 0.15, "left_gripper": 1.0}, "note": "Three bottles lie on their sides, caps pointing away from the bases. Plan: grab each by the cap, lift so it hangs vertical, set it down. Moving the left arm above the leftmost bottle's cap."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteLeft wrist cam shows the left bottle's cap ahead and to the left of the jaws. Shifting forward and left to be over the cap.
move_to
left_x0.4600left_y-0.0800left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.424, 1.491, 0.8532, -0.0444, -0.3389, -0.2512, 0.9988, -0.0193, 0.7921, 0.6033, -0.4034, -0.0227, -0.0288, 0.9983] state[eef_state]: left_x=0.4042 left_y=-0.1141 left_z=0.1284 left_yaw=-0.0168 left_pitch=-0.0752 left_roll=0.0224 left_gripper=0.9988 right_x=0.2914 right_y=0.002 right_z=0.1753 right_yaw=0.0085 right_pitch=-0.0216 right_roll=-0.0003 right_gripper=0.9983 state[joint_eff]: [-0.2803, -6.9402, 8.759, 1.7705, -0.2759, -0.0122, -0.1294, -0.0889, -1.4838, 7.0496, 1.8974, 0.0464, 0.0366, -0.0171] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.08, "left_z": 0.13}, "note": "Left wrist cam shows the left bottle's cap ahead and to the left of the jaws. Shifting forward and left to be over the cap."})
tool
executing move_to over 5 steps (0.5s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteCap now appears slightly left of the jaw column and ahead of the fingertips in the left wrist view. Nudging forward and left to hover over it.
move_to
left_x0.4900left_y-0.0550left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2661, 1.6238, 0.8772, 0.0814, -0.2459, -0.189, 0.9985, -0.0193, 0.7853, 0.5842, -0.4026, -0.0238, -0.0322, 0.9983] state[eef_state]: left_x=0.4412 left_y=-0.072 left_z=0.1045 left_yaw=0.0304 left_pitch=-0.0799 left_roll=0.0119 left_gripper=0.9985 right_x=0.2887 right_y=0.0022 right_z=0.1686 right_yaw=0.0113 right_pitch=-0.0331 right_roll=-0.0022 right_gripper=0.9983 state[joint_eff]: [0.3077, -7.7197, 9.4838, 2.083, -0.0171, 0.188, -0.0513, -0.1573, -1.8256, 6.8034, 1.9951, -0.0317, -0.0024, -0.0122] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.49, "left_y": -0.055, "left_z": 0.12}, "note": "Cap now appears slightly left of the jaw column and ahead of the fingertips in the left wrist view. Nudging forward and left to hover over it."})
tool
executing move_to over 4 steps (0.4s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe left arm stalled at x≈0.45 and my bottle position estimates look off. Raising the left arm to get a clearer top and wrist view of all three bottles.
move_to
left_x0.3000left_y-0.1000left_z0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2546, 1.6333, 0.8932, 0.1005, -0.2207, -0.1799, 0.9984, -0.0193, 0.7712, 0.5522, -0.3923, -0.0246, -0.0338, 0.9983] state[eef_state]: left_x=0.4486 left_y=-0.0731 left_z=0.11 left_yaw=0.0154 left_pitch=-0.0596 left_roll=-0.0026 left_gripper=0.9984 right_x=0.2851 right_y=0.0024 right_z=0.1599 right_yaw=0.0128 right_pitch=-0.0407 right_roll=-0.0028 right_gripper=0.9983 state[joint_eff]: [-0.5538, -7.8564, 8.9231, 1.9805, -0.0073, 0.2466, -0.022, -0.1983, -1.9214, 6.9675, 2.0488, -0.0806, -0.022, -0.0073] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.1, "left_z": 0.3}, "note": "The left arm stalled at x\u22480.45 and my bottle position estimates look off. Raising the left arm to get a clearer top and wrist view of all three bottles."})
tool
executing move_to over 13 steps (1.3s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteWrist view now shows all three bottles lying with caps pointing forward and tilted left; the leftmost bottle's neck should be near x≈0.45, y≈-0.07. Moving back there, lower, to line up on the neck.
move_to
left_x0.4500left_y-0.0750left_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6037, 1.0645, 1.1694, -0.6533, -0.4831, -0.366, 0.9983, -0.02, 0.7456, 0.5106, -0.3695, -0.0299, -0.036, 0.9983] state[eef_state]: left_x=0.3144 left_y=-0.1127 left_z=0.3103 left_yaw=-0.0171 left_pitch=0.0811 left_roll=-0.0655 left_gripper=0.9983 right_x=0.2815 right_y=0.0032 right_z=0.1524 right_yaw=0.0178 right_pitch=-0.0337 right_roll=-0.0019 right_gripper=0.9983 state[joint_eff]: [-0.253, -3.1385, 9.4974, 1.5409, -0.3492, 0.0562, -0.022, -0.2803, -1.1556, 7.1043, 2.0537, -0.0269, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.075, "left_z": 0.08}, "note": "Wrist view now shows all three bottles lying with caps pointing forward and tilted left; the leftmost bottle's neck should be near x\u22480.45, y\u2248-0.07. Moving back there, lower, to line up on the neck."})
tool
executing move_to over 15 steps (1.5s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteLeft wrist cam shows the bottle's neck slightly left and ahead of the jaws, cap at upper-left. Shifting forward/left to center the jaws on the neck.
move_to
left_x0.4700left_y-0.0550left_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2573, 1.6863, 0.7776, 0.2562, -0.2237, -0.1753, 0.9983, -0.0204, 0.7258, 0.4755, -0.358, -0.0303, -0.036, 0.9983] state[eef_state]: left_x=0.4374 left_y=-0.0709 left_z=0.0709 left_yaw=0.0131 left_pitch=-0.0717 left_roll=0.0064 left_gripper=0.9983 right_x=0.2774 right_y=0.0033 right_z=0.1439 right_yaw=0.0177 right_pitch=-0.0375 right_roll=-0.0015 right_gripper=0.9983 state[joint_eff]: [0.335, -7.9111, 5.6957, 1.873, -0.0464, 0.1783, -0.0122, -0.253, -1.2376, 7.1726, 2.0147, -0.0855, -0.0122, -0.0122] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.055, "left_z": 0.06}, "note": "Left wrist cam shows the bottle's neck slightly left and ahead of the jaws, cap at upper-left. Shifting forward/left to center the jaws on the neck."})
tool
executing move_to over 3 steps (0.3s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteNeck of the leftmost bottle is between the jaws in the wrist view. Descending to neck height to grip it.
move_to
left_z0.0300left_y-0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2008, 1.8011, 0.7818, 0.4107, -0.1902, -0.1574, 0.9983, -0.0204, 0.7052, 0.4412, -0.3431, -0.0307, -0.036, 0.9983] state[eef_state]: left_x=0.4578 left_y=-0.0555 left_z=0.0527 left_yaw=0.0313 left_pitch=-0.0342 left_roll=-0.0091 left_gripper=0.9983 right_x=0.274 right_y=0.0034 right_z=0.1366 right_yaw=0.018 right_pitch=-0.0364 right_roll=-0.0013 right_gripper=0.9983 state[joint_eff]: [0.1983, -7.9521, 8.1846, 1.3114, -0.2466, 0.2808, -0.0171, -0.2256, -1.4291, 7.0632, 2.0293, -0.105, -0.0073, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03, "left_y": -0.05}, "note": "Neck of the leftmost bottle is between the jaws in the wrist view. Descending to neck height to grip it."})
tool
executing move_to over 2 steps (0.2s)
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 noteDescent stopped at z≈0.053, possibly controller sag at long reach. Commanding lower to get the jaws around the bottle's neck.
move_to
left_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1898, 1.8156, 0.7906, 0.4301, -0.1829, -0.1555, 0.9983, -0.0204, 0.6903, 0.4202, -0.3286, -0.0307, -0.0357, 0.9983] state[eef_state]: left_x=0.4629 left_y=-0.0525 left_z=0.0534 left_yaw=0.0352 left_pitch=-0.0217 left_roll=-0.0146 left_gripper=0.9983 right_x=0.2726 right_y=0.0034 right_z=0.1337 right_yaw=0.0178 right_pitch=-0.028 right_roll=-0.0013 right_gripper=0.9983 state[joint_eff]: [0.0068, -7.9521, 7.1316, 1.8095, -0.0464, 0.2808, -0.0122, -0.4034, -1.1829, 6.8581, 2.0195, -0.0806, -0.0073, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.0}, "note": "Descent stopped at z\u22480.053, possibly controller sag at long reach. Commanding lower to get the jaws around the bottle's neck."})
tool
executing move_to over 4 steps (0.4s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteArm is frozen at x 0.46/z 0.05, which looks like the reach limit with pitch pinned. Pulling back to x 0.41 and trying to get low over the bottle's shoulder.
move_to
left_x0.4100left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1898, 1.8156, 0.7906, 0.4301, -0.1829, -0.1558, 0.9983, -0.0204, 0.6777, 0.3969, -0.3206, -0.0307, -0.036, 0.9983] state[eef_state]: left_x=0.4629 left_y=-0.0525 left_z=0.0534 left_yaw=0.0354 left_pitch=-0.0217 left_roll=-0.0149 left_gripper=0.9983 right_x=0.27 right_y=0.0035 right_z=0.1279 right_yaw=0.018 right_pitch=-0.0306 right_roll=-0.0015 right_gripper=0.9983 state[joint_eff]: [0.0479, -7.8838, 7.159, 1.7705, -0.0122, 0.2271, -0.0122, -0.4991, -1.1419, 6.8171, 2.0049, -0.0855, -0.0122, -0.0122] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_z": 0.03}, "note": "Arm is frozen at x 0.46/z 0.05, which looks like the reach limit with pitch pinned. Pulling back to x 0.41 and trying to get low over the bottle's shoulder."})
tool
executing move_to over 5 steps (0.5s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteLeft arm isn't responding at this pose. Raising and pulling back to free it before trying again.
move_to
left_x0.3600left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1898, 1.8156, 0.7906, 0.4301, -0.1829, -0.1558, 0.9983, -0.0204, 0.6605, 0.3721, -0.313, -0.0307, -0.036, 0.9983] state[eef_state]: left_x=0.4629 left_y=-0.0525 left_z=0.0534 left_yaw=0.0354 left_pitch=-0.0217 left_roll=-0.0149 left_gripper=0.9983 right_x=0.2671 right_y=0.0036 right_z=0.1224 right_yaw=0.018 right_pitch=-0.0306 right_roll=-0.0015 right_gripper=0.9983 state[joint_eff]: [0.0479, -7.9111, 7.3368, 1.7753, -0.022, 0.2076, -0.0122, -0.3624, -1.0462, 6.6667, 1.9658, -0.0757, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_z": 0.15}, "note": "Left arm isn't responding at this pose. Raising and pulling back to free it before trying again."})
tool
executing move_to over 8 steps (0.8s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteCap is out of reach at table height, so I'll grip the bottle body here and drag it ~10 cm toward the base first. Descending over the body.
move_to
left_x0.3800left_y-0.0650left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2813, 1.2201, 0.646, 0.0387, -0.2554, -0.1837, 0.9983, -0.0204, 0.6403, 0.3428, -0.2977, -0.0307, -0.036, 0.9983] state[eef_state]: left_x=0.3737 left_y=-0.0578 left_z=0.1545 left_yaw=0.0196 left_pitch=0.0457 left_roll=-0.0167 left_gripper=0.9983 right_x=0.2646 right_y=0.0036 right_z=0.1171 right_yaw=0.018 right_pitch=-0.0245 right_roll=-0.0018 right_gripper=0.9983 state[joint_eff]: [-0.1436, -4.5744, 6.5709, 1.8584, -0.2027, -0.0952, -0.0171, -0.5402, -0.3077, 7.1179, 1.9365, -0.0806, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.065, "left_z": 0.03}, "note": "Cap is out of reach at table height, so I'll grip the bottle body here and drag it ~10 cm toward the base first. Descending over the body."})
tool
executing move_to over 9 steps (0.9s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteAt table height now; the bottle body sits just ahead and slightly right of the jaws. Moving forward/right to straddle it.
move_to
left_x0.4050left_y-0.0800left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3016, 1.6386, 0.4458, 0.5407, -0.2703, -0.1867, 0.9983, -0.0204, 0.6262, 0.3214, -0.2905, -0.0307, -0.036, 0.9983] state[eef_state]: left_x=0.3733 left_y=-0.063 left_z=0.0241 left_yaw=0.0138 left_pitch=-0.063 left_roll=0.0241 left_gripper=0.9983 right_x=0.2623 right_y=0.0037 right_z=0.1123 right_yaw=0.018 right_pitch=-0.0245 right_roll=-0.0018 right_gripper=0.9983 state[joint_eff]: [-0.253, -6.3521, 4.041, 1.9414, -0.1392, -0.105, -0.0122, -0.5265, -0.7863, 6.9949, 1.917, -0.0757, -0.0513, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.405, "left_y": -0.08, "left_z": 0.03}, "note": "At table height now; the bottle body sits just ahead and slightly right of the jaws. Moving forward/right to straddle it."})
tool
executing move_to over 3 steps (0.3s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe left arm nudged the left bottle against the middle one, so I'm lifting it clear. Switching to the right arm, which has a clear view of the right bottle: moving over that bottle's middle.
move_to
left_x0.3000left_y-0.1000left_z0.1500right_x0.3600right_y0.1400right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3214, 1.7458, 0.4961, 0.6144, -0.2813, -0.1951, 0.9983, -0.0204, 0.6132, 0.3019, -0.2901, -0.0307, -0.036, 0.9983] state[eef_state]: left_x=0.3898 left_y=-0.0743 left_z=0.0163 left_yaw=0.0073 left_pitch=-0.0449 left_roll=0.0182 left_gripper=0.9983 right_x=0.2593 right_y=0.0037 right_z=0.1066 right_yaw=0.018 right_pitch=-0.0306 right_roll=-0.0015 right_gripper=0.9983 state[joint_eff]: [-0.5538, -6.8034, 6.8581, 1.7851, -0.2173, -0.1392, -0.0122, -0.3897, -0.6222, 6.9949, 1.9609, -0.0855, -0.0171, -0.0122] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.1, "left_z": 0.15, "right_x": 0.36, "right_y": 0.14, "right_z": 0.12}, "note": "The left arm nudged the left bottle against the middle one, so I'm lifting it clear. Switching to the right arm, which has a clear view of the right bottle: moving over that bottle's middle."})
tool
executing move_to over 12 steps (1.2s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteRight wrist view shows the right bottle centered, lying straight ahead with its base end at the jaws. Advancing a few cm and descending to grip its lower body so I can drag it closer.
move_to
right_x0.3800right_y0.1350right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3401, 1.7142, 0.4496, 0.6479, -0.2962, -0.2096, 0.9983, 0.5556, 1.3663, 0.6277, 0.0238, 0.4084, 0.2653, 0.9983] state[eef_state]: left_x=0.3803 left_y=-0.0761 left_z=0.0197 left_yaw=0.0085 left_pitch=-0.0242 left_roll=0.0082 left_gripper=0.9983 right_x=0.3439 right_y=0.1351 right_z=0.0979 right_yaw=0.0645 right_pitch=-0.0756 right_roll=-0.0428 right_gripper=0.9983 state[joint_eff]: [-0.0479, -7.9248, 4.1778, 1.7851, -0.1148, -0.022, -0.0171, -0.0205, -5.2855, 8.7453, 1.8632, 0.3883, 0.2271, -0.0122] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.135, "right_z": 0.03}, "note": "Right wrist view shows the right bottle centered, lying straight ahead with its base end at the jaws. Advancing a few cm and descending to grip its lower body so I can drag it closer."})
tool
executing move_to over 5 steps (0.5s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe right bottle's body is centered between the right jaws at table height. Closing to grip it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3408, 1.5208, 0.4751, 0.4549, -0.3027, -0.2169, 0.9983, 0.4969, 1.6947, 0.5255, 0.4946, 0.345, 0.231, 0.9983] state[eef_state]: left_x=0.3769 left_y=-0.074 left_z=0.061 left_yaw=0.0169 left_pitch=0.0015 left_roll=-0.0034 left_gripper=0.9983 right_x=0.3681 right_y=0.1357 right_z=0.0245 right_yaw=0.0766 right_pitch=-0.058 right_roll=-0.0163 right_gripper=0.9983 state[joint_eff]: [-0.5949, -5.9829, 5.7231, 2.0635, -0.0562, 0.0073, -0.0171, -0.9504, -6.6256, 5.1077, 1.9707, 0.2711, -0.0073, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The right bottle's body is centered between the right jaws at table height. Closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteRight gripper settled at 0.41, so the bottle is held. Dragging it ~14 cm toward the base so its cap end comes within reach.
move_to
right_x0.2200right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3416, 1.5204, 0.4728, 0.4515, -0.3038, -0.2169, 0.9983, 0.498, 1.7325, 0.4755, 0.5957, 0.3374, 0.2161, 0.407] state[eef_state]: left_x=0.3757 left_y=-0.0737 left_z=0.0596 left_yaw=0.017 left_pitch=-0.0033 left_roll=-0.0009 left_gripper=0.9983 right_x=0.362 right_y=0.1343 right_z=0.0128 right_yaw=0.0923 right_pitch=-0.0478 right_roll=-0.0187 right_gripper=0.407 state[joint_eff]: [-0.1573, -5.6274, 5.7094, 1.6728, -0.1587, -0.0317, -0.0171, 0.0889, -7.2684, 4.7521, 1.9756, 0.2515, 0.0708, 0.9646] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.22, "right_z": 0.03}, "note": "Right gripper settled at 0.41, so the bottle is held. Dragging it ~14 cm toward the base so its cap end comes within reach."})
tool
executing move_to over 11 steps (1.1s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteRight bottle is now pulled back, lying with its cap pointing forward and slightly left. Releasing and lifting to go grab its neck.
move_to
right_gripper1.0000right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3416, 1.5204, 0.4709, 0.4438, -0.3042, -0.2169, 0.9983, 0.981, 1.1908, 0.1276, 0.2508, 0.6361, 0.524, 0.407] state[eef_state]: left_x=0.3742 left_y=-0.0731 left_z=0.0574 left_yaw=0.0174 left_pitch=-0.0122 left_roll=0.0026 left_gripper=0.9983 right_x=0.2175 right_y=0.1427 right_z=0.0183 right_yaw=0.1726 right_pitch=-0.0532 right_roll=-0.0187 right_gripper=0.407 state[joint_eff]: [-0.2803, -5.4769, 5.4222, 1.8584, -0.1783, -0.0317, -0.0122, -0.294, -2.988, 5.7778, 2.0342, 0.6813, 0.022, 0.7302] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.1}, "note": "Right bottle is now pulled back, lying with its cap pointing forward and slightly left. Releasing and lifting to go grab its neck."})
tool
executing move_to over 6 steps (0.6s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteRight wrist view shows the bottle running straight ahead with the cap ~17 cm forward and slightly left. Moving over the neck.
move_to
right_x0.3700right_y0.1700right_z0.1000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3416, 1.5204, 0.4698, 0.4553, -0.3038, -0.2169, 0.9983, 1.0004, 0.8486, 0.2951, -0.1749, 0.6548, 0.5156, 0.9949] state[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.0592 left_yaw=0.017 left_pitch=-0.0026 left_roll=-0.0012 left_gripper=0.9983 right_x=0.2184 right_y=0.1479 right_z=0.0926 right_yaw=0.1842 right_pitch=0.014 right_roll=0.0263 right_gripper=0.9949 state[joint_eff]: [-0.2393, -5.094, 4.6017, 1.8535, -0.149, -0.0366, -0.0122, -0.212, -1.5248, 8.7453, 1.409, 0.3101, 0.1001, -0.1587] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.17, "right_z": 0.1, "right_yaw": 0.0}, "note": "Right wrist view shows the bottle running straight ahead with the cap ~17 cm forward and slightly left. Moving over the neck."})
tool
executing move_to over 12 steps (1.2s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteOvershot: the right wrist view is empty and the top view shows the dragged bottle behind and left of the gripper. Backing up and raising to see it again.
move_to
right_x0.2700right_y0.1900right_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3416, 1.5211, 0.4698, 0.4553, -0.3038, -0.2169, 0.9983, 0.6544, 1.5265, 0.683, 0.0891, 0.5171, 0.3603, 0.9947] state[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.059 left_yaw=0.017 left_pitch=-0.0033 left_roll=-0.0009 left_gripper=0.9983 right_x=0.3517 right_y=0.1643 right_z=0.0796 right_yaw=0.0252 right_pitch=-0.068 right_roll=-0.0495 right_gripper=0.9947 state[joint_eff]: [-0.3077, -5.6137, 5.2171, 1.6972, -0.1734, -0.0611, -0.0122, -0.5812, -6.2564, 8.4308, 1.8388, 0.3053, 0.0415, -0.0317] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.27, "right_y": 0.19, "right_z": 0.14}, "note": "Overshot: the right wrist view is empty and the top view shows the dragged bottle behind and left of the gripper. Backing up and raising to see it again."})
tool
executing move_to over 7 steps (0.7s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteRight wrist view shows the dragged bottle along the left edge, cap pointing forward. Shifting left to put it on the jaw column.
move_to
right_x0.3000right_y0.2700right_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3416, 1.5223, 0.4698, 0.4549, -0.3038, -0.2169, 0.9983, 0.9588, 1.2667, 0.6621, -0.2127, 0.6998, 0.572, 0.9947] state[eef_state]: left_x=0.3752 left_y=-0.0735 left_z=0.0585 left_yaw=0.017 left_pitch=-0.0048 left_roll=-0.0004 left_gripper=0.9983 right_x=0.2723 right_y=0.1962 right_z=0.1245 right_yaw=0.0795 right_pitch=-0.0215 right_roll=-0.0137 right_gripper=0.9947 state[joint_eff]: [-0.1436, -5.6274, 5.1487, 1.7705, -0.1538, -0.0464, -0.0171, -0.1573, -5.4359, 8.8684, 1.3895, 0.4127, 0.1245, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.27, "right_z": 0.14}, "note": "Right wrist view shows the dragged bottle along the left edge, cap pointing forward. Shifting left to put it on the jaw column."})
tool
executing move_to over 7 steps (0.7s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteDragged bottle's cap now appears just ahead and to the left of the right jaws. Moving further left and lower to line up on the neck.
move_to
right_x0.3100right_y0.3000right_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3416, 1.5223, 0.4698, 0.4557, -0.3038, -0.2169, 0.9983, 1.0222, 1.5394, 0.9092, -0.2474, 0.7315, 0.6014, 0.9947] state[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.0586 left_yaw=0.017 left_pitch=-0.004 left_roll=-0.0006 left_gripper=0.9983 right_x=0.2926 right_y=0.2593 right_z=0.1251 right_yaw=0.1041 right_pitch=-0.0399 right_roll=-0.0514 right_gripper=0.9947 state[joint_eff]: [-0.294, -5.4496, 5.2855, 1.7802, -0.1636, -0.0562, -0.0171, 0.5812, -6.3658, 8.9915, 1.3455, 0.4664, 0.2466, -0.0122] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_y": 0.3, "right_z": 0.08}, "note": "Dragged bottle's cap now appears just ahead and to the left of the right jaws. Moving further left and lower to line up on the neck."})
tool
executing move_to over 4 steps (0.4s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe dragged bottle's neck is under the left jaw, cap just ahead. Shifting ~4.5 cm left and 2 cm forward to center the neck between the jaws.
move_to
right_x0.3250right_y0.3300right_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3416, 1.5223, 0.4698, 0.4561, -0.3038, -0.2169, 0.9983, 1.0317, 1.7496, 0.8989, -0.0559, 0.7311, 0.6048, 0.9947] state[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.0587 left_yaw=0.017 left_pitch=-0.0037 left_roll=-0.0008 left_gripper=0.9983 right_x=0.3024 right_y=0.2828 right_z=0.0686 right_yaw=0.1109 right_pitch=-0.0576 right_roll=-0.0715 right_gripper=0.9947 state[joint_eff]: [-0.4034, -5.2718, 5.1077, 1.7851, -0.1587, -0.0317, -0.0122, 0.7453, -8.212, 8.4034, 1.4872, 0.4225, 0.0708, -0.0122] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.325, "right_y": 0.33, "right_z": 0.07}, "note": "The dragged bottle's neck is under the left jaw, cap just ahead. Shifting ~4.5 cm left and 2 cm forward to center the neck between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteRight arm held at y≈0.29 instead of 0.33. Retrying the lateral shift at a higher z, where the IK may have more room.
move_to
right_x0.3200right_y0.3300right_z0.1200right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3416, 1.5223, 0.4698, 0.4553, -0.3038, -0.2169, 0.9983, 1.0397, 1.7714, 0.8993, -0.0051, 0.7303, 0.6094, 0.9947] state[eef_state]: left_x=0.3752 left_y=-0.0735 left_z=0.0586 left_yaw=0.017 left_pitch=-0.0044 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3037 right_y=0.2914 right_z=0.0668 right_yaw=0.1181 right_pitch=-0.0402 right_roll=-0.044 right_gripper=0.9947 state[joint_eff]: [-0.3487, -5.4359, 5.1624, 1.8242, -0.149, -0.0366, -0.0171, 0.1162, -7.8838, 7.8974, 1.5556, 0.4274, 0.1197, -0.0122] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_y": 0.33, "right_z": 0.12, "right_yaw": 0.0}, "note": "Right arm held at y\u22480.29 instead of 0.33. Retrying the lateral shift at a higher z, where the IK may have more room."})
tool
executing move_to over 4 steps (0.4s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
assistant
agent noteBoth arms appear to be holding still instead of tracking. Sending small, conservative raise-and-retract targets near their current poses to get them moving again.
move_to
right_x0.2900right_y0.2900right_z0.1000left_x0.3500left_y-0.0800left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3412, 1.5223, 0.4698, 0.4549, -0.3042, -0.2169, 0.9983, 1.0397, 1.7714, 0.8993, -0.0055, 0.73, 0.6094, 0.9947] state[eef_state]: left_x=0.3752 left_y=-0.0733 left_z=0.0585 left_yaw=0.0177 left_pitch=-0.0047 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3036 right_y=0.2914 right_z=0.0667 right_yaw=0.1183 right_pitch=-0.0406 right_roll=-0.0442 right_gripper=0.9947 state[joint_eff]: [-0.1299, -5.3265, 5.1624, 1.8144, -0.1783, -0.0171, -0.0171, 0.1162, -8.1162, 7.7197, 1.5897, 0.4371, 0.1001, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.29, "right_z": 0.1, "left_x": 0.35, "left_y": -0.08, "left_z": 0.1}, "note": "Both arms appear to be holding still instead of tracking. Sending small, conservative raise-and-retract targets near their current poses to get them moving again."})
tool
executing move_to over 3 steps (0.3s)
step 167
assistant
agent noteLeft arm is responding again; the right arm is still stuck (its shoulder joint looks near a limit). Asking it to pull back and up to free it.
move_to
right_x0.2400right_y0.2600right_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4034, 1.3216, 0.4717, 0.2817, -0.3332, -0.2405, 0.9983, 1.0397, 1.7714, 0.8993, -0.0032, 0.73, 0.6094, 0.9947] state[eef_state]: left_x=0.3567 left_y=-0.0855 left_z=0.096 left_yaw=-0.0077 left_pitch=0.0285 left_roll=-0.0163 left_gripper=0.9983 right_x=0.3038 right_y=0.2917 right_z=0.067 right_yaw=0.1184 right_pitch=-0.0392 right_roll=-0.0423 right_gripper=0.9947 state[joint_eff]: [0.4034, -3.1795, 7.8564, 1.4042, -0.3297, -0.1538, -0.0171, 0.0342, -8.0752, 7.8974, 1.6288, 0.4078, 0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_x": 0.24, "right_y": 0.26, "right_z": 0.16}, "note": "Left arm is responding again; the right arm is still stuck (its shoulder joint looks near a limit). Asking it to pull back and up to free it."})
tool
executing move_to over 7 steps (0.7s)
step 174
assistant
agent noteRight arm is free again. Its wrist view shows the dragged bottle's neck ahead and ~3–4 cm left of the jaws. Moving over the neck.
move_to
right_x0.2900right_y0.3000right_z0.0900right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4103, 1.3239, 0.4778, 0.205, -0.345, -0.2432, 0.9983, 1.1805, 1.4269, 0.8719, -0.3626, 0.7971, 0.7307, 0.9947] state[eef_state]: left_x=0.3484 left_y=-0.0825 left_z=0.0832 left_yaw=-0.0033 left_pitch=-0.036 left_roll=0.0161 left_gripper=0.9983 right_x=0.2428 right_y=0.2674 right_z=0.1416 right_yaw=0.1499 right_pitch=-0.0179 right_roll=-0.0066 right_gripper=0.9947 state[joint_eff]: [0.3077, -4.6564, 7.9658, 1.8486, -0.0855, 0.0073, -0.0122, 0.294, -6.8308, 8.9778, 1.3602, 0.5348, 0.105, -0.0171] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.3, "right_z": 0.09, "right_yaw": 0.0}, "note": "Right arm is free again. Its wrist view shows the dragged bottle's neck ahead and ~3\u20134 cm left of the jaws. Moving over the neck."})
tool
executing move_to over 4 steps (0.4s)
step 178
assistant
agent noteThe right arm hits its shoulder limit before it can center on the bottle's neck (it stays ~4 cm short to the left). Parking it out of the way so the left arm can take this bottle.
move_to
right_x0.2000right_y0.1000right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.411, 1.3239, 0.4484, 0.2581, -0.3458, -0.2436, 0.9983, 1.1259, 1.7638, 0.9585, -0.2745, 0.8272, 0.7883, 0.9947] state[eef_state]: left_x=0.3474 left_y=-0.0822 left_z=0.0817 left_yaw=-0.0034 left_pitch=-0.0141 left_roll=0.0068 left_gripper=0.9983 right_x=0.2747 right_y=0.2823 right_z=0.0689 right_yaw=0.0407 right_pitch=-0.0736 right_roll=-0.1134 right_gripper=0.9947 state[joint_eff]: [-0.0205, -4.4376, 5.4085, 1.7802, -0.1587, -0.0415, -0.0122, -0.1846, -9.8803, 8.8274, 1.2772, 0.6227, 0.2662, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.2, "right_y": 0.1, "right_z": 0.15}, "note": "The right arm hits its shoulder limit before it can center on the bottle's neck (it stays ~4 cm short to the left). Parking it out of the way so the left arm can take this bottle."})
tool
executing move_to over 16 steps (1.6s)
step 194
assistant
agent noteTop view shows the dragged bottle near the table centre line, cap pointing forward, neck around left-arm (0.30, -0.30). Moving the left arm over the neck.
move_to
left_x0.3000left_y-0.3000left_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.411, 1.3258, 0.4362, 0.279, -0.3454, -0.2432, 0.9983, 1.0447, 0.8577, 0.5003, -0.664, 0.7815, 0.6983, 0.9942] state[eef_state]: left_x=0.3467 left_y=-0.082 left_z=0.0803 left_yaw=-0.004 left_pitch=-0.0078 left_roll=0.0042 left_gripper=0.9983 right_x=0.2049 right_y=0.1122 right_z=0.1156 right_yaw=0.0363 right_pitch=-0.0843 right_roll=-0.1147 right_gripper=0.9942 state[joint_eff]: [-0.0752, -4.0, 5.9692, 1.8779, -0.1392, -0.022, -0.0122, -0.4308, 0.1299, 7.8701, 1.0525, 0.3883, -0.0806, -0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.3, "left_z": 0.08}, "note": "Top view shows the dragged bottle near the table centre line, cap pointing forward, neck around left-arm (0.30, -0.30). Moving the left arm over the neck."})
tool
executing move_to over 20 steps (2.0s)
step 214
assistant
agent noteLeft wrist view shows the bottle's upper body/neck running between the jaws, cap just ahead. Descending onto the shoulder of the bottle to grip it there.
move_to
left_y-0.2900left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.1061, 1.7977, 0.9592, -0.1135, -0.8356, -0.8219, 0.9983, 1.0534, 0.7502, 0.3954, -0.5743, 0.7845, 0.691, 0.9941] state[eef_state]: left_x=0.2983 left_y=-0.2948 left_z=0.0737 left_yaw=-0.0222 left_pitch=-0.016 left_roll=-0.0006 left_gripper=0.9983 right_x=0.2014 right_y=0.1089 right_z=0.107 right_yaw=0.0517 right_pitch=-0.033 right_roll=-0.0439 right_gripper=0.9941 state[joint_eff]: [-0.2393, -7.6923, 8.2256, 1.072, -0.5788, -0.0366, -0.0122, -0.1573, -1.1556, 7.0632, 1.5263, 0.4078, 0.0904, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.29, "left_z": 0.03}, "note": "Left wrist view shows the bottle's upper body/neck running between the jaws, cap just ahead. Descending onto the shoulder of the bottle to grip it there."})
tool
executing move_to over 3 steps (0.3s)
step 217
assistant
agent noteBottle's upper body is between the left jaws at z≈0.036. Closing to grip it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.111, 1.879, 0.8825, 0.0254, -0.8463, -0.831, 0.9982, 1.0538, 0.7101, 0.3599, -0.5579, 0.7822, 0.6903, 0.9941] state[eef_state]: left_x=0.2945 left_y=-0.2885 left_z=0.0361 left_yaw=-0.0158 left_pitch=-0.017 left_roll=0.0127 left_gripper=0.9982 right_x=0.1994 right_y=0.1061 right_z=0.1025 right_yaw=0.0545 right_pitch=-0.0232 right_roll=-0.0258 right_gripper=0.9941 state[joint_eff]: [0.6769, -8.3077, 5.3538, 1.0867, -0.2711, 0.3101, -0.0171, 0.2393, -0.8957, 6.4342, 1.5214, 0.3932, 0.0024, -0.0122] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Bottle's upper body is between the left jaws at z\u22480.036. Closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 227
assistant
agent noteGripper settled at 0.35, so the bottle is held near its neck. Lifting high so the bottle can swing down and hang vertically from the grip.
move_to
left_x0.2600left_z0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.1076, 1.8774, 0.8738, 0.1291, -0.8948, -0.8391, 0.3504, 1.0546, 0.6861, 0.3389, -0.551, 0.7818, 0.6899, 0.9941] state[eef_state]: left_x=0.3042 left_y=-0.2927 left_z=0.0508 left_yaw=0.0227 left_pitch=0.0603 left_roll=-0.0636 left_gripper=0.3504 right_x=0.1981 right_y=0.1041 right_z=0.0996 right_yaw=0.0558 right_pitch=-0.0181 right_roll=-0.0176 right_gripper=0.9941 state[joint_eff]: [-0.759, -8.5128, 4.6564, 0.6813, 0.0904, 0.105, 0.2808, 0.3077, -0.6906, 6.2701, 1.4432, 0.3687, -0.0269, -0.0122] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.26, "left_z": 0.3}, "note": "Gripper settled at 0.35, so the bottle is held near its neck. Lifting high so the bottle can swing down and hang vertically from the grip."})
tool
executing move_to over 17 steps (1.7s)
step 244
assistant
agent noteBottle is lifted; the wrist view shows its body hanging below the jaws. Lowering so its base touches down upright.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.2182, 1.6684, 1.71, -1.1084, -0.8993, -1.0328, 0.3491, 1.0546, 0.672, 0.3225, -0.5491, 0.7818, 0.6903, 0.9941] state[eef_state]: left_x=0.2626 left_y=-0.3029 left_z=0.2874 left_yaw=0.0141 left_pitch=-0.0148 left_roll=-0.0505 left_gripper=0.3491 right_x=0.1969 right_y=0.102 right_z=0.0961 right_yaw=0.0556 right_pitch=-0.0183 right_roll=-0.0177 right_gripper=0.9941 state[joint_eff]: [-0.8274, -6.8991, 7.8154, 0.7106, -0.7985, -0.0122, -0.149, 0.3761, -0.7316, 6.5162, 1.453, 0.3883, -0.0415, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17}, "note": "Bottle is lifted; the wrist view shows its body hanging below the jaws. Lowering so its base touches down upright."})
tool
executing move_to over 8 steps (0.8s)
step 252
assistant
agent noteI didn't stand any bottles up, and I've used almost all of the call budget. Pitch and roll are locked, so the gripper can't tip a lying bottle upright. My only option was to grab a bottle near its cap and lift it so it would swing down and hang vertically. That didn't work. The cap ends sit at about x 0.45–0.56, where both arms stopped responding at table height: their shoulder joints hit about 1.77–1.8 rad. I dragged the right bottle about 14 cm toward the bases and gripped its upper body with the left arm. When lifted, it stayed rigid and horizontal, pointing forward, and never swung. The left arm is still holding that bottle, lifted at z≈0.17.
give_up
hindsight- Pitch and roll are locked at 0, so the gripper can't rotate a lying bottle upright. Gripping the neck and lifting doesn't let the bottle swing to vertical: a full close (gripper settled at 0.35) holds it rigidly horizontal. To get a swing, grip loosely instead, e.g. command about 0.5 rather than 0 so it can pivot. Or plan to lift the cap end while the base stays on the table. - Arms stop responding in practice: at z < 0.06 the IK holds (no motion at all) once the shoulder joint (joint index 1 / 8) reaches about 1.77–1.82 rad. That happened at about 0.42–0.46 m horizontal distance from the base (e.g. left x 0.46 y -0.05 z 0.05; right x 0.30 y 0.29 z 0.07). The facts sheet's "table contact out to x≈0.49" is too optimistic. A stuck arm also ignores later targets until you command a lower x and higher z. Keep low grasps within about 0.40 m of the base. - In this scene the three bottles lay with caps pointing forward at about x 0.45–0.56, beyond low reach. Dragging a bottle back by gripping its body works: the gripper settled at 0.41, and it moved cleanly about 14 cm. - Top cam: table centre line at image x≈112. The left grasp point at left_y -0.08 appeared at about image x 40, so about 3 px/cm laterally in the middle rows. - The wrist cams look far ahead: objects in the upper half of the image are 10+ cm ahead of the fingertips, and the grasp point is below the bottom edge. With the tool at 0.10–0.14 height, lateral scale near the bottom rows is about 5–8 px/cm. - Uncommanded or partially tracked arms creep slowly, and tracking can lag by many seconds.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.2243, 1.6684, 1.2575, -0.7372, -0.9138, -1.0393, 0.3489, 1.0546, 0.6559, 0.3077, -0.5484, 0.7818, 0.6899, 0.9941] state[eef_state]: left_x=0.2596 left_y=-0.2967 left_z=0.1697 left_yaw=0.0197 left_pitch=-0.0291 left_roll=0.0251 left_gripper=0.3489 right_x=0.1957 right_y=0.1 right_z=0.0933 right_yaw=0.0559 right_pitch=-0.0173 right_roll=-0.0164 right_gripper=0.9941 state[joint_eff]: [-0.5128, -7.241, 6.8581, 1.0183, -0.6129, 0.1783, -0.0366, 0.3487, -0.3897, 6.2974, 1.4432, 0.3785, -0.0269, -0.0122] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I didn't stand any bottles up, and I've used almost all of the call budget. Pitch and roll are locked, so the gripper can't tip a lying bottle upright. My only option was to grab a bottle near its cap and lift it so it would swing down and hang vertically. That didn't work. The cap ends sit at about x 0.45\u20130.56, where both arms stopped responding at table height: their shoulder joints hit about 1.77\u20131.8 rad. I dragged the right bottle about 14 cm toward the bases and gripped its upper body with the left arm. When lifted, it stayed rigid and horizontal, pointing forward, and never swung. The left arm is still holding that bottle, lifted at z\u22480.17.", "hindsight": "- Pitch and roll are locked at 0, so the gripper can't rotate a lying bottle upright. Gripping the neck and lifting doesn't let the bottle swing to vertical: a full close (gripper settled at 0.35) holds it rigidly horizontal. To get a swing, grip loosely instead, e.g. command about 0.5 rather than 0 so it can pivot. Or plan to lift the cap end while the base stays on the table.\n- Arms stop responding in practice: at z < 0.06 the IK holds (no motion at all) once the shoulder joint (joint index 1 / 8) reaches about 1.77\u20131.82 rad. That happened at about 0.42\u20130.46 m horizontal distance from the base (e.g. left x 0.46 y -0.05 z 0.05; right x 0.30 y 0.29 z 0.07). The facts sheet's \"table contact out to x\u22480.49\" is too optimistic. A stuck arm also ignores later targets until you command a lower x and higher z. Keep low grasps within about 0.40 m of the base.\n- In this scene the three bottles lay with caps pointing forward at about x 0.45\u20130.56, beyond low reach. Dragging a bottle back by gripping its body works: the gripper settled at 0.41, and it moved cleanly about 14 cm.\n- Top cam: table centre line at image x\u2248112. The left grasp point at left_y -0.08 appeared at about image x 40, so about 3 px/cm laterally in the middle rows.\n- The wrist cams look far ahead: objects in the upper half of the image are 10+ cm ahead of the fingertips, and the grasp point is below the bottom edge. With the tool at 0.10\u20130.14 height, lateral scale near the bottom rows is about 5\u20138 px/cm.\n- Uncommanded or partially tracked arms creep slowly, and tracking can lag by many seconds."})
tool
give_up: I didn't stand any bottles up, and I've used almost all of the call budget. Pitch and roll are locked, so the gripper can't tip a lying bottle upright. My only option was to grab a bottle near its cap and lift it so it would swing down and hang vertically. That didn't work. The cap ends sit at about x 0.45–0.56, where both arms stopped responding at table height: their shoulder joints hit about 1.77–1.8 rad. I dragged the right bottle about 14 cm toward the bases and gripped its upper body with the left arm. When lifted, it stayed rigid and horizontal, pointing forward, and never swung. The left arm is still holding that bottle, lifted at z≈0.17.
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 · 16.43 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6079, -0.3767, -0.0204, -0.0284, 0.9986, -0.0158, 0.7883, 0.6033, -0.3855, -0.0132, -0.0216, 0.9984]\nstate[eef_state]: left_x=0.2956 left_y=0.0013 left_z=0.1826 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0013 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -1.4701, 9.7846, 1.7705, -0.0415, 0.1245, -0.1538, -0.9778, -0.9504, 10.2222, 1.8779, -0.1441, 0.0464, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59330518b33b5932311ad36604a00288a12977e0f1dd595fd7b3878acd066b4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ff2ac1d3999b7bb340768c81c8ad3593ecb2053ae4d9cd8a55a9fe17c10ec8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c62f9d62be65277459bd1cbebad60e48280b9b467c93cce2945a05039f24c7f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 6.596 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6079, -0.3767, -0.0204, -0.0284, 0.9986, -0.0158, 0.7883, 0.6033, -0.3855, -0.0132, -0.0216, 0.9984]\nstate[eef_state]: left_x=0.2956 left_y=0.0013 left_z=0.1826 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0013 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -1.4701, 9.7846, 1.7705, -0.0415, 0.1245, -0.1538, -0.9778, -0.9504, 10.2222, 1.8779, -0.1441, 0.0464, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59330518b33b5932311ad36604a00288a12977e0f1dd595fd7b3878acd066b4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ff2ac1d3999b7bb340768c81c8ad3593ecb2053ae4d9cd8a55a9fe17c10ec8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c62f9d62be65277459bd1cbebad60e48280b9b467c93cce2945a05039f24c7f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011r3gi2PEaXGd5ZQrVYaJxv",
      "input": {
        "note": "Three bottles lie on their sides, caps pointing away from the bases. Plan: grab each by the cap, lift so it hangs vertical, set it down. Moving the left arm above the leftmost bottle's cap.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.42,
          "left_y": -0.12,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_011r3gi2PEaXGd5ZQrVYaJxv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.424, 1.491, 0.8532, -0.0444, -0.3389, -0.2512, 0.9988, -0.0193, 0.7921, 0.6033, -0.4034, -0.0227, -0.0288, 0.9983]\nstate[eef_state]: left_x=0.4042 left_y=-0.1141 left_z=0.1284 left_yaw=-0.0168 left_pitch=-0.0752 left_roll=0.0224 left_gripper=0.9988 right_x=0.2914 right_y=0.002 right_z=0.1753 right_yaw=0.0085 right_pitch=-0.0216 right_roll=-0.0003 right_gripper=0.9983\nstate[joint_eff]: [-0.2803, -6.9402, 8.759, 1.7705, -0.2759, -0.0122, -0.1294, -0.0889, -1.4838, 7.0496, 1.8974, 0.0464, 0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:000e8730662e137bc3b4ae05e75f2eb3208bd1089eed97e5307aa10dd2e73a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68dff5d653142bad45ec6160f7d03ce73a3252bbcf45e8f9d8a2ecd8ada8a73b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ebaa303dd728b4b29051fe76f13d0382a691d187af006617de7f84429a3af8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 9.694 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6079, -0.3767, -0.0204, -0.0284, 0.9986, -0.0158, 0.7883, 0.6033, -0.3855, -0.0132, -0.0216, 0.9984]\nstate[eef_state]: left_x=0.2956 left_y=0.0013 left_z=0.1826 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0013 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -1.4701, 9.7846, 1.7705, -0.0415, 0.1245, -0.1538, -0.9778, -0.9504, 10.2222, 1.8779, -0.1441, 0.0464, -0.1783]",
      "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]: [-0.424, 1.491, 0.8532, -0.0444, -0.3389, -0.2512, 0.9988, -0.0193, 0.7921, 0.6033, -0.4034, -0.0227, -0.0288, 0.9983]\nstate[eef_state]: left_x=0.4042 left_y=-0.1141 left_z=0.1284 left_yaw=-0.0168 left_pitch=-0.0752 left_roll=0.0224 left_gripper=0.9988 right_x=0.2914 right_y=0.002 right_z=0.1753 right_yaw=0.0085 right_pitch=-0.0216 right_roll=-0.0003 right_gripper=0.9983\nstate[joint_eff]: [-0.2803, -6.9402, 8.759, 1.7705, -0.2759, -0.0122, -0.1294, -0.0889, -1.4838, 7.0496, 1.8974, 0.0464, 0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:000e8730662e137bc3b4ae05e75f2eb3208bd1089eed97e5307aa10dd2e73a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68dff5d653142bad45ec6160f7d03ce73a3252bbcf45e8f9d8a2ecd8ada8a73b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ebaa303dd728b4b29051fe76f13d0382a691d187af006617de7f84429a3af8c",
        "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+QoKEAgSGAI4AUIIdGhpbmtpbmcSDCu/BjHDCfNvM0W7jBoMZ0c1K6Zr/hd8GJp6IjDPM82y/SxT1KWsXI6KXqYA4gniCKsYdfSjx3cnZs0X4+ikzX9OOe5fay73w7LH2JMqlgqT8TAF5TpKHbetYQkvya/vPjjmyUozOjDWRfi3Ezxj7UQEja8+Z8nH0XAfNCNmnheUsRcKOylAklv20Vo8tctYb8LHv5uZXbaHulaVd5mhY9gA6KtD+odJnr4qB1AtQoLJfaClZgbDA7btI+wjGW7ZM0e69q9Zc64W+xL5ATKgJ6QNTTRKUWyG2Dv3721wyd/uIx3opG4JClEFXlkdpgvYtbVPVQCi26JXGsYVAIWoAr5updtdx6ukFdzAhN5Ub1qcCetQl19xBepey71pcnJpFArrq5GUK6CMWlpsucL5ixayq73bYIl0vcq24PZpF2INXWARguqsQcZeos91GeitbLwcQACEq2EI3cCpSW1SdEeRtenKIFQUFFTNdRUKm6UYtpVYcO7+fC5v4M+n94oA2b+vCcO7/ROOm8z4CgDQ8N3922HMZc8Ge1Vof4IhLDPDGMtacIdt+9D4Y934artCK299u6bKqrWDhtmj3gj9SIF0HLdEem/2NTfsmADi9XQ3PtXJQEqb+RTdkpQC7g/jbqcAtzf+t9SyzfQA1SMWu1Kg/pknmFXki8knRJ9XHa2Mkj/H+OZ44SEfuFukdluYQaHg4+G3SNP9VyCECx6EnLrK/JmxR9oWYmqiiNmYhpM3az+V9P/insx+R7MwOS3rwtRy3ePSJ1U/qD7uypnb0pgzN4+1HxzxSR0A8cNYvCKWJHSFZIOHJwYQnnHfAyU8ijAPsY6TXV847bCV5J+0OyKG89SIGjo9woOzH1lunJCJEVE01VDeTs2HeyhamBIyVnECMHCt3m3lFfi42qVGKteO2OptIlhPbSHQmzoTV3uoNRwVHF+ykWWLTUFRJvP5FW1hXcMhsu+ZDA1ajQNYFse6eR0dvbyNH/lkLDg9xLUH9d8CEMAOyN0j6gBR+2IY3emJTpygbbtlBukcHWeHNR9PdJsy4SqvZ4cvuUqKJ4ScLdN+8pphPH7sc9xrfzbcAiHqwU/BKPOmJYv12S8lQAreCl9wKLlZYcvqauf64AieHvljoeUxomiA8gRXk89T4EFyeTWmLQhbqv8OZ8hhZLFqnbpHr/b8E5/KMw/IS3XcAIdQXGmdhIsPWtZJNNwEASU+E9A3CchiMvdhKg9hJHNfqQQyVs6HGA2DRNglRasVrMMT4OZasUGeLTNbnotgY2oDuuZ1X3EKBZ+RBfSE6KxylrXMVceX6zjLNFdrT972Fjw7ZqFFfDVUgzeZ3kHFSbXkpqNIZ6JJhMnnX9G8fYRJZKSRUtxxXT50qs0JGZCsqh+jwLpeyB7JZI6i9QWunaoJDYlIEaKMci6eyVKlJKSnUVFU3s9wFp+S/p+6mV50Vi+8VUJkxSjm+kz/PBFE8HcvT1ChsVM2NJ1oUElkqTxtaw7OqnlU1wCALCNVqQ7ssvb5f6MkyfPyrCe5Aa8vK8pkbFfFZbzmOAY6dZE2M+rolh8xpo82fnpQNVxo2kq5080UEu1vTLK6Kw0yVGQ9E0xJJuDTgv9k1SaSYJMzQYszvNzetiZ47Z83TRD7UdxQpiueNqUlS8Ixb9t4JS5RdeYlZu13M1tZhFzMz7AiFQPo1w2EycbuH5W2q0atpQa8hpwwK/swKM/OIbbbFrQDCycM9uFvRNg3MYN1T7eFik2mYXFzUiXW9wbgs3J5+FsUoOvFeH7sDsMKu2D0EKoq4ir9meWLPgWYrZtIQD4V2END0CHWplZSJvbvtSXSX2s1I0VJLg0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013HvaLciTe7vJ9tGz3Fs1bV",
      "input": {
        "note": "Left wrist cam shows the left bottle's cap ahead and to the left of the jaws. Shifting forward and left to be over the cap.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.08,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_013HvaLciTe7vJ9tGz3Fs1bV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2661, 1.6238, 0.8772, 0.0814, -0.2459, -0.189, 0.9985, -0.0193, 0.7853, 0.5842, -0.4026, -0.0238, -0.0322, 0.9983]\nstate[eef_state]: left_x=0.4412 left_y=-0.072 left_z=0.1045 left_yaw=0.0304 left_pitch=-0.0799 left_roll=0.0119 left_gripper=0.9985 right_x=0.2887 right_y=0.0022 right_z=0.1686 right_yaw=0.0113 right_pitch=-0.0331 right_roll=-0.0022 right_gripper=0.9983\nstate[joint_eff]: [0.3077, -7.7197, 9.4838, 2.083, -0.0171, 0.188, -0.0513, -0.1573, -1.8256, 6.8034, 1.9951, -0.0317, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46ba083ca7982887f2e1aeab7061f04bf0499f4bf66b607734670a88d85784b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6211eb7659a0a968de37a5ddfa5d5644cba9f794b7947334b08a125059670fb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:afd54b480ace54b3ddaec2895ce1e8b99cd35e54dd2af775370fab1555a338cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 21.96 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6079, -0.3767, -0.0204, -0.0284, 0.9986, -0.0158, 0.7883, 0.6033, -0.3855, -0.0132, -0.0216, 0.9984]\nstate[eef_state]: left_x=0.2956 left_y=0.0013 left_z=0.1826 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0013 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -1.4701, 9.7846, 1.7705, -0.0415, 0.1245, -0.1538, -0.9778, -0.9504, 10.2222, 1.8779, -0.1441, 0.0464, -0.1783]",
      "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]: [-0.424, 1.491, 0.8532, -0.0444, -0.3389, -0.2512, 0.9988, -0.0193, 0.7921, 0.6033, -0.4034, -0.0227, -0.0288, 0.9983]\nstate[eef_state]: left_x=0.4042 left_y=-0.1141 left_z=0.1284 left_yaw=-0.0168 left_pitch=-0.0752 left_roll=0.0224 left_gripper=0.9988 right_x=0.2914 right_y=0.002 right_z=0.1753 right_yaw=0.0085 right_pitch=-0.0216 right_roll=-0.0003 right_gripper=0.9983\nstate[joint_eff]: [-0.2803, -6.9402, 8.759, 1.7705, -0.2759, -0.0122, -0.1294, -0.0889, -1.4838, 7.0496, 1.8974, 0.0464, 0.0366, -0.0171]",
      "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]: [-0.2661, 1.6238, 0.8772, 0.0814, -0.2459, -0.189, 0.9985, -0.0193, 0.7853, 0.5842, -0.4026, -0.0238, -0.0322, 0.9983]\nstate[eef_state]: left_x=0.4412 left_y=-0.072 left_z=0.1045 left_yaw=0.0304 left_pitch=-0.0799 left_roll=0.0119 left_gripper=0.9985 right_x=0.2887 right_y=0.0022 right_z=0.1686 right_yaw=0.0113 right_pitch=-0.0331 right_roll=-0.0022 right_gripper=0.9983\nstate[joint_eff]: [0.3077, -7.7197, 9.4838, 2.083, -0.0171, 0.188, -0.0513, -0.1573, -1.8256, 6.8034, 1.9951, -0.0317, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46ba083ca7982887f2e1aeab7061f04bf0499f4bf66b607734670a88d85784b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6211eb7659a0a968de37a5ddfa5d5644cba9f794b7947334b08a125059670fb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afd54b480ace54b3ddaec2895ce1e8b99cd35e54dd2af775370fab1555a338cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J16AkRdtczghWqYfbcBnVh",
      "input": {
        "note": "Cap now appears slightly left of the jaw column and ahead of the fingertips in the left wrist view. Nudging forward and left to hover over it.",
        "targets": {
          "left_x": 0.49,
          "left_y": -0.055,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01J16AkRdtczghWqYfbcBnVh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2546, 1.6333, 0.8932, 0.1005, -0.2207, -0.1799, 0.9984, -0.0193, 0.7712, 0.5522, -0.3923, -0.0246, -0.0338, 0.9983]\nstate[eef_state]: left_x=0.4486 left_y=-0.0731 left_z=0.11 left_yaw=0.0154 left_pitch=-0.0596 left_roll=-0.0026 left_gripper=0.9984 right_x=0.2851 right_y=0.0024 right_z=0.1599 right_yaw=0.0128 right_pitch=-0.0407 right_roll=-0.0028 right_gripper=0.9983\nstate[joint_eff]: [-0.5538, -7.8564, 8.9231, 1.9805, -0.0073, 0.2466, -0.022, -0.1983, -1.9214, 6.9675, 2.0488, -0.0806, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f1930c0019120c9d6db8e1eef0a8f4891d46468084573d480fe6acf3a575c86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02d731b7ebc4eeb7957cf971816f0fe53995146f9606ba8b6fbeb1833bf0cea2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:afcc47a955ba49ee8b8259359cd3d454e5cc92e5724a319783733dbe5679f0f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 13.76 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]: [-0.424, 1.491, 0.8532, -0.0444, -0.3389, -0.2512, 0.9988, -0.0193, 0.7921, 0.6033, -0.4034, -0.0227, -0.0288, 0.9983]\nstate[eef_state]: left_x=0.4042 left_y=-0.1141 left_z=0.1284 left_yaw=-0.0168 left_pitch=-0.0752 left_roll=0.0224 left_gripper=0.9988 right_x=0.2914 right_y=0.002 right_z=0.1753 right_yaw=0.0085 right_pitch=-0.0216 right_roll=-0.0003 right_gripper=0.9983\nstate[joint_eff]: [-0.2803, -6.9402, 8.759, 1.7705, -0.2759, -0.0122, -0.1294, -0.0889, -1.4838, 7.0496, 1.8974, 0.0464, 0.0366, -0.0171]",
      "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]: [-0.2661, 1.6238, 0.8772, 0.0814, -0.2459, -0.189, 0.9985, -0.0193, 0.7853, 0.5842, -0.4026, -0.0238, -0.0322, 0.9983]\nstate[eef_state]: left_x=0.4412 left_y=-0.072 left_z=0.1045 left_yaw=0.0304 left_pitch=-0.0799 left_roll=0.0119 left_gripper=0.9985 right_x=0.2887 right_y=0.0022 right_z=0.1686 right_yaw=0.0113 right_pitch=-0.0331 right_roll=-0.0022 right_gripper=0.9983\nstate[joint_eff]: [0.3077, -7.7197, 9.4838, 2.083, -0.0171, 0.188, -0.0513, -0.1573, -1.8256, 6.8034, 1.9951, -0.0317, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2546, 1.6333, 0.8932, 0.1005, -0.2207, -0.1799, 0.9984, -0.0193, 0.7712, 0.5522, -0.3923, -0.0246, -0.0338, 0.9983]\nstate[eef_state]: left_x=0.4486 left_y=-0.0731 left_z=0.11 left_yaw=0.0154 left_pitch=-0.0596 left_roll=-0.0026 left_gripper=0.9984 right_x=0.2851 right_y=0.0024 right_z=0.1599 right_yaw=0.0128 right_pitch=-0.0407 right_roll=-0.0028 right_gripper=0.9983\nstate[joint_eff]: [-0.5538, -7.8564, 8.9231, 1.9805, -0.0073, 0.2466, -0.022, -0.1983, -1.9214, 6.9675, 2.0488, -0.0806, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f1930c0019120c9d6db8e1eef0a8f4891d46468084573d480fe6acf3a575c86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02d731b7ebc4eeb7957cf971816f0fe53995146f9606ba8b6fbeb1833bf0cea2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afcc47a955ba49ee8b8259359cd3d454e5cc92e5724a319783733dbe5679f0f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BhPVz3r4soQRgqNznZK4HF",
      "input": {
        "note": "The left arm stalled at x≈0.45 and my bottle position estimates look off. Raising the left arm to get a clearer top and wrist view of all three bottles.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.1,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01BhPVz3r4soQRgqNznZK4HF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6037, 1.0645, 1.1694, -0.6533, -0.4831, -0.366, 0.9983, -0.02, 0.7456, 0.5106, -0.3695, -0.0299, -0.036, 0.9983]\nstate[eef_state]: left_x=0.3144 left_y=-0.1127 left_z=0.3103 left_yaw=-0.0171 left_pitch=0.0811 left_roll=-0.0655 left_gripper=0.9983 right_x=0.2815 right_y=0.0032 right_z=0.1524 right_yaw=0.0178 right_pitch=-0.0337 right_roll=-0.0019 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -3.1385, 9.4974, 1.5409, -0.3492, 0.0562, -0.022, -0.2803, -1.1556, 7.1043, 2.0537, -0.0269, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e4f86dfa1800789fbb97acc78c31dd518dbd99fdcc02922b09bc9496d20f9ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2ad12592e3401159da59a276f22b6108a667bf8a4322bd7ad836cdaac7d932e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e90187d2d3594d0b553a372665f354d113120022ea8b6c1c952eefb78d3c6e8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 5.936 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]: [-0.2661, 1.6238, 0.8772, 0.0814, -0.2459, -0.189, 0.9985, -0.0193, 0.7853, 0.5842, -0.4026, -0.0238, -0.0322, 0.9983]\nstate[eef_state]: left_x=0.4412 left_y=-0.072 left_z=0.1045 left_yaw=0.0304 left_pitch=-0.0799 left_roll=0.0119 left_gripper=0.9985 right_x=0.2887 right_y=0.0022 right_z=0.1686 right_yaw=0.0113 right_pitch=-0.0331 right_roll=-0.0022 right_gripper=0.9983\nstate[joint_eff]: [0.3077, -7.7197, 9.4838, 2.083, -0.0171, 0.188, -0.0513, -0.1573, -1.8256, 6.8034, 1.9951, -0.0317, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2546, 1.6333, 0.8932, 0.1005, -0.2207, -0.1799, 0.9984, -0.0193, 0.7712, 0.5522, -0.3923, -0.0246, -0.0338, 0.9983]\nstate[eef_state]: left_x=0.4486 left_y=-0.0731 left_z=0.11 left_yaw=0.0154 left_pitch=-0.0596 left_roll=-0.0026 left_gripper=0.9984 right_x=0.2851 right_y=0.0024 right_z=0.1599 right_yaw=0.0128 right_pitch=-0.0407 right_roll=-0.0028 right_gripper=0.9983\nstate[joint_eff]: [-0.5538, -7.8564, 8.9231, 1.9805, -0.0073, 0.2466, -0.022, -0.1983, -1.9214, 6.9675, 2.0488, -0.0806, -0.022, -0.0073]",
      "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]: [-0.6037, 1.0645, 1.1694, -0.6533, -0.4831, -0.366, 0.9983, -0.02, 0.7456, 0.5106, -0.3695, -0.0299, -0.036, 0.9983]\nstate[eef_state]: left_x=0.3144 left_y=-0.1127 left_z=0.3103 left_yaw=-0.0171 left_pitch=0.0811 left_roll=-0.0655 left_gripper=0.9983 right_x=0.2815 right_y=0.0032 right_z=0.1524 right_yaw=0.0178 right_pitch=-0.0337 right_roll=-0.0019 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -3.1385, 9.4974, 1.5409, -0.3492, 0.0562, -0.022, -0.2803, -1.1556, 7.1043, 2.0537, -0.0269, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e4f86dfa1800789fbb97acc78c31dd518dbd99fdcc02922b09bc9496d20f9ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2ad12592e3401159da59a276f22b6108a667bf8a4322bd7ad836cdaac7d932e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e90187d2d3594d0b553a372665f354d113120022ea8b6c1c952eefb78d3c6e8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MtdfdTYr9NvXcrZ8hy6Gg8",
      "input": {
        "note": "Wrist view now shows all three bottles lying with caps pointing forward and tilted left; the leftmost bottle's neck should be near x≈0.45, y≈-0.07. Moving back there, lower, to line up on the neck.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.075,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01MtdfdTYr9NvXcrZ8hy6Gg8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2573, 1.6863, 0.7776, 0.2562, -0.2237, -0.1753, 0.9983, -0.0204, 0.7258, 0.4755, -0.358, -0.0303, -0.036, 0.9983]\nstate[eef_state]: left_x=0.4374 left_y=-0.0709 left_z=0.0709 left_yaw=0.0131 left_pitch=-0.0717 left_roll=0.0064 left_gripper=0.9983 right_x=0.2774 right_y=0.0033 right_z=0.1439 right_yaw=0.0177 right_pitch=-0.0375 right_roll=-0.0015 right_gripper=0.9983\nstate[joint_eff]: [0.335, -7.9111, 5.6957, 1.873, -0.0464, 0.1783, -0.0122, -0.253, -1.2376, 7.1726, 2.0147, -0.0855, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a9105e07eb1ba32d8819bbd9f279ca2f8a2303c251d576a53a1cdaa32c729f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59e5a0f0e5f12b79c9980efc123ebb5552e201d087412a5d137341db23856951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70a08536c527d8da1c87bd57340a5fa49d6de341906a2deb1dbae731dd9f97bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 4.401 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]: [-0.2546, 1.6333, 0.8932, 0.1005, -0.2207, -0.1799, 0.9984, -0.0193, 0.7712, 0.5522, -0.3923, -0.0246, -0.0338, 0.9983]\nstate[eef_state]: left_x=0.4486 left_y=-0.0731 left_z=0.11 left_yaw=0.0154 left_pitch=-0.0596 left_roll=-0.0026 left_gripper=0.9984 right_x=0.2851 right_y=0.0024 right_z=0.1599 right_yaw=0.0128 right_pitch=-0.0407 right_roll=-0.0028 right_gripper=0.9983\nstate[joint_eff]: [-0.5538, -7.8564, 8.9231, 1.9805, -0.0073, 0.2466, -0.022, -0.1983, -1.9214, 6.9675, 2.0488, -0.0806, -0.022, -0.0073]",
      "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]: [-0.6037, 1.0645, 1.1694, -0.6533, -0.4831, -0.366, 0.9983, -0.02, 0.7456, 0.5106, -0.3695, -0.0299, -0.036, 0.9983]\nstate[eef_state]: left_x=0.3144 left_y=-0.1127 left_z=0.3103 left_yaw=-0.0171 left_pitch=0.0811 left_roll=-0.0655 left_gripper=0.9983 right_x=0.2815 right_y=0.0032 right_z=0.1524 right_yaw=0.0178 right_pitch=-0.0337 right_roll=-0.0019 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -3.1385, 9.4974, 1.5409, -0.3492, 0.0562, -0.022, -0.2803, -1.1556, 7.1043, 2.0537, -0.0269, -0.0317, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2573, 1.6863, 0.7776, 0.2562, -0.2237, -0.1753, 0.9983, -0.0204, 0.7258, 0.4755, -0.358, -0.0303, -0.036, 0.9983]\nstate[eef_state]: left_x=0.4374 left_y=-0.0709 left_z=0.0709 left_yaw=0.0131 left_pitch=-0.0717 left_roll=0.0064 left_gripper=0.9983 right_x=0.2774 right_y=0.0033 right_z=0.1439 right_yaw=0.0177 right_pitch=-0.0375 right_roll=-0.0015 right_gripper=0.9983\nstate[joint_eff]: [0.335, -7.9111, 5.6957, 1.873, -0.0464, 0.1783, -0.0122, -0.253, -1.2376, 7.1726, 2.0147, -0.0855, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a9105e07eb1ba32d8819bbd9f279ca2f8a2303c251d576a53a1cdaa32c729f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59e5a0f0e5f12b79c9980efc123ebb5552e201d087412a5d137341db23856951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70a08536c527d8da1c87bd57340a5fa49d6de341906a2deb1dbae731dd9f97bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwoKEAgSGAI4AUIIdGhpbmtpbmcSDD0HM00q3tqaYjR1XxoMjFi745y8lOFQNTsSIjDxT9fdrOuQx1srrNGgsGpUCL1O8BlF7wQZ9AcS/uNbMYsx7xwuN1XuoengADCqn8kqyAk+/rp/kQvvr9cp6Tm5Uld7zfPRiID+RBiI2LDA3zUs9xNcgix4ypPsTvaJSjy9+QE8lfLvhv+W3pG/LZ4koUKZr7L2Qd+lQrZsMNto02oh5p5c/Roy8lvQJSI/qnOog59mPJ2ydn/XP6bgrZGaLvWjzg9/s48PlaydYQMoB0j3CtltKEFDdrqbFgm6kqZemTliyjl+8Gw3f+NKBdW+QU8DtOyldkzMjmksGv/ZaUj1s72kgp0XImO6fP+GkGa3Bw4Hhxi3SlLbdZ6GrYclJJPj+KlbaQ33ldOF0YZ42hXm/09KDhw/BFMS3qeIAbRqnmg2MWEuhHtzRlI+3Y9vX1RTf9CM2DYJFys6k3NlIGIwBFJUK4DDf1uXsx9MrcpvRjFwr6akg4XZLtW4z1gmfoH0ybtp7nmZUq/bmZ0Y9SR0ABV7ef561Lmh5jaFgcEWjRGTSay2qlwXxSfHYWCQfY9n8+om8ePE0e0BmphjQLV2a269lJnmVS6cZs313uSsGilzFMwmrWIjM8mRSE9661XgsAY4Ozahq9re1nrDHdo0NCUnrmR9kfvbz15kge9B+PTtVHMuttpuiAkCFXWxwVG0SGa2FRq5uNPeK6eCpNJ+SLzFauzhjrBfF6Jf1I/3NLWMhJ+0rmFqKLwrOAlqBmYdrBusc5+UmMLwk7peYPvtsVLnH0Ga4YKddmUf+2jP60J5iKVfojzk/aXzNMo8XQPTEMGK9AO6f2whFsev6IUV7C1R6lOPQnggDWFJnAASqVqqS3cjW8nEHLUrBpeePM0+t79hs043wBygwGaRpCErMSWOzdU7CLWs+g+ofY55it81bOAZ3bt0G+7RbeA9GHDDdo6ecAZlQY28PxEUvtyDP1+iZRHepHtoX4WCVnN88hBxJ6brm0iKV//RJNmMBEPExrBTxQq4Jbr1y644z6UCeON1z63V4kOBuzlRUI7yi3+DeJpygbeiLxnJJ/dBF0Os8mvJiYEDpuMMEsM9JTb3E3XCT+Tzm7uh8NH/tsEtmbSuhwPsW2NKXjLNgvmjYa14kYRvaddaG6BtPcoEQRZEmeXL0E+nIMAOhs93OE+XwhpyCpqfYMMMsxacNrM+LQESxTr+d+QyGjUEhnxFq8ppfE9SQf6g3TBjW9TXbzLfnQNPZDH3VtyHpQ3A8Hmr05jJZ1MB+Nmm79OjZ3r15jaf+jWGKypgY9lFctg+VqtJZu5LhoP2Ihkobn8Mm4aT7xZP03G0eiCUXnSASnKX52xXA/Fs1X1jXh4pB/OIp3g+/faU4TWkrs11cKP74Frhf0PIgcvzxwBOJMSc7HgqH32dch4GUWVQhuL32+XeOIAuLgcHWubYdI1p72eFWJd38vwCUtxATw/tqXtNnev17F8/QV2HIleQWyoyrQQfkej1x9D6wx3yJoqDwwc2dh/da1UAlUnqVsgPGEFvhtwhJhzu6LziA+fFW/P0FcQO4ibfBsX05Keo5ih7utk0QQttecxjW8QCBIq5ML11iMK5rr+K86JFa4EXwt8WH6BiGMvX8hwA/YSwPwiC5I65XeJ7nFQBh84iP8PJcC/SfkhBCIWSRJnMNMHlObDqVf2+Bmmgz8VlMYzeSFlfmKDECa/tAX3TI02WMvq6C3MYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hi5wtoitn9uaH7osk7t8S6",
      "input": {
        "note": "Left wrist cam shows the bottle's neck slightly left and ahead of the jaws, cap at upper-left. Shifting forward/left to center the jaws on the neck.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.055,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Hi5wtoitn9uaH7osk7t8S6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2008, 1.8011, 0.7818, 0.4107, -0.1902, -0.1574, 0.9983, -0.0204, 0.7052, 0.4412, -0.3431, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.4578 left_y=-0.0555 left_z=0.0527 left_yaw=0.0313 left_pitch=-0.0342 left_roll=-0.0091 left_gripper=0.9983 right_x=0.274 right_y=0.0034 right_z=0.1366 right_yaw=0.018 right_pitch=-0.0364 right_roll=-0.0013 right_gripper=0.9983\nstate[joint_eff]: [0.1983, -7.9521, 8.1846, 1.3114, -0.2466, 0.2808, -0.0171, -0.2256, -1.4291, 7.0632, 2.0293, -0.105, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:518f3ab96c4338105592d0b22fb6c6af91ef8c4238595608e93ddd90b1970bc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a5907587e0d32b6138d7febb7f09e26bd4e6a4ffc7e1167416a07abb9b8b168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09b2f352ad2a1a46503362d972e90ec08a98b396b1689119f6bb3541ad01282e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 5.204 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]: [-0.6037, 1.0645, 1.1694, -0.6533, -0.4831, -0.366, 0.9983, -0.02, 0.7456, 0.5106, -0.3695, -0.0299, -0.036, 0.9983]\nstate[eef_state]: left_x=0.3144 left_y=-0.1127 left_z=0.3103 left_yaw=-0.0171 left_pitch=0.0811 left_roll=-0.0655 left_gripper=0.9983 right_x=0.2815 right_y=0.0032 right_z=0.1524 right_yaw=0.0178 right_pitch=-0.0337 right_roll=-0.0019 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -3.1385, 9.4974, 1.5409, -0.3492, 0.0562, -0.022, -0.2803, -1.1556, 7.1043, 2.0537, -0.0269, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.2573, 1.6863, 0.7776, 0.2562, -0.2237, -0.1753, 0.9983, -0.0204, 0.7258, 0.4755, -0.358, -0.0303, -0.036, 0.9983]\nstate[eef_state]: left_x=0.4374 left_y=-0.0709 left_z=0.0709 left_yaw=0.0131 left_pitch=-0.0717 left_roll=0.0064 left_gripper=0.9983 right_x=0.2774 right_y=0.0033 right_z=0.1439 right_yaw=0.0177 right_pitch=-0.0375 right_roll=-0.0015 right_gripper=0.9983\nstate[joint_eff]: [0.335, -7.9111, 5.6957, 1.873, -0.0464, 0.1783, -0.0122, -0.253, -1.2376, 7.1726, 2.0147, -0.0855, -0.0122, -0.0122]",
      "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]: [-0.2008, 1.8011, 0.7818, 0.4107, -0.1902, -0.1574, 0.9983, -0.0204, 0.7052, 0.4412, -0.3431, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.4578 left_y=-0.0555 left_z=0.0527 left_yaw=0.0313 left_pitch=-0.0342 left_roll=-0.0091 left_gripper=0.9983 right_x=0.274 right_y=0.0034 right_z=0.1366 right_yaw=0.018 right_pitch=-0.0364 right_roll=-0.0013 right_gripper=0.9983\nstate[joint_eff]: [0.1983, -7.9521, 8.1846, 1.3114, -0.2466, 0.2808, -0.0171, -0.2256, -1.4291, 7.0632, 2.0293, -0.105, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:518f3ab96c4338105592d0b22fb6c6af91ef8c4238595608e93ddd90b1970bc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a5907587e0d32b6138d7febb7f09e26bd4e6a4ffc7e1167416a07abb9b8b168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09b2f352ad2a1a46503362d972e90ec08a98b396b1689119f6bb3541ad01282e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6QcKEAgSGAI4AUIIdGhpbmtpbmcSDPx936i3r78KhwAgUhoM5+BYt3B4XNdELSlZIjADJmsuWZ98CusmtLsuoq1Vq1GOrgJTAxbeaiaS9iqL94v45SzlXLmaXyo3JFz3TZ4qhgfKCYrnXBLzRtHxHs2Wa85hEJIjj1UcWps0uPw7mha7hHchhuG02cy80XTde5WlKt9IO1YJnNOBPChpFAGc4rhT2yudlcSHpXmzkfy7BKzKiSYDgVscvCedq5h4q5dZPr9xP1P96jkLuV5LdNGfzwWu2e6FfZj0oZCRQNZi1dqAtNvxKOMUYs4qTDuCCksuPd73boW3mDvCusK55tkTW6PCqix3f7ruOmxaludJhIh9/kI+Q9D+Lwe5MjQnc33Dzz2rfRA7XBar5zFwV2LkWleFYR1YVBGCBVVPZx84fB4bmq2owJHOlPK5WibBrjxF96y7HlaysORbrPAc/4CizdOMJUd/dBYKmyLW9rp4CSNxYGd/Q2H1j8SOdnxXc8cxba1Mo1RnojgzE799s1b0KjYgLc+KwsGMWHqSUOunGFAMqyvvhxMB3JpGahENSxrn4JudBdWFkICfk50CN2Nbd7nO4uTB575c7A3EzI/x7UK0b1PZQAcAAWPCQ5ygx+NMR0eW56AhFCtSOu60teJSdstlfGaN/jl9dSMGuDU+AXK+8OvC0b8gZBBytpkgjBAgw9vyKXDftRwKDcu4ea1UVk/B9j2fxkFszblRsS9TBSz2CnaLqs0lLGyuTWAJN7P3yFVCduNfFN8JyEEeMuOvNKxg9nluamPSwfUj7/mNDkjj2CWb2NRcfDTeh5DpKdY9R5Xoop/K3MmyNqKWhfTXajzhKCw86cbZ9pMaUzVMGsDoQTrI5SzxFvFj5l/2GE5b5UUJ21NzF21FhoI0nkBHWJO+Oies3hkWd1nhS5Hxp++ghVmZvn9mF8gkxkF2rnN6LlJ1jKFkI7+TRfYCbnOIJr9aan5Kf95upzjIzITTaJJAdRkQ/nKLeQQEpzXCtgwlnY0KoyXf0Pb2aMJJRA5OtKG+rrVLdp/7uCaX7Eof+0FO92P3oonfmX7v1OzjqKnL2roFKoY60pu/eQvR5hPfqwopzs42+kOerTRHzVv9I6FbU3SZSYScglPChLxLUUM8SotbXxoHzlcLvogdeX8HiqLMKjhxrwaVS/JxCvF0AqDoYKLeXrxLzd2ttpQcDv5ToIqw1SlVhVNQXk7TNlHGGQpSOPRtm7K0kQqFrdiZcAKy7g0TtF9KRUJtoG/ANiQtnoV4wX2aCTGaxcxqdS9mlokIJkdqMbsh1f5eNgfHo332P1Fv+KcIjxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014R51Ygtyderv5vLEwJzhGz",
      "input": {
        "note": "Neck of the leftmost bottle is between the jaws in the wrist view. Descending to neck height to grip it.",
        "targets": {
          "left_y": -0.05,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_014R51Ygtyderv5vLEwJzhGz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1898, 1.8156, 0.7906, 0.4301, -0.1829, -0.1555, 0.9983, -0.0204, 0.6903, 0.4202, -0.3286, -0.0307, -0.0357, 0.9983]\nstate[eef_state]: left_x=0.4629 left_y=-0.0525 left_z=0.0534 left_yaw=0.0352 left_pitch=-0.0217 left_roll=-0.0146 left_gripper=0.9983 right_x=0.2726 right_y=0.0034 right_z=0.1337 right_yaw=0.0178 right_pitch=-0.028 right_roll=-0.0013 right_gripper=0.9983\nstate[joint_eff]: [0.0068, -7.9521, 7.1316, 1.8095, -0.0464, 0.2808, -0.0122, -0.4034, -1.1829, 6.8581, 2.0195, -0.0806, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:474fc58599a130c65458c5a397d2aecedf7db03056b77165275d512048d1fd6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdc705cd135710395a46d6ab8d4de339caa94a1e9b4674c00edeac7459e7d84d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c5cb740e95413e66c2ac1b142a00c76ef6b10cc54f50727f759e07d23e5008bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 5.725 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]: [-0.2573, 1.6863, 0.7776, 0.2562, -0.2237, -0.1753, 0.9983, -0.0204, 0.7258, 0.4755, -0.358, -0.0303, -0.036, 0.9983]\nstate[eef_state]: left_x=0.4374 left_y=-0.0709 left_z=0.0709 left_yaw=0.0131 left_pitch=-0.0717 left_roll=0.0064 left_gripper=0.9983 right_x=0.2774 right_y=0.0033 right_z=0.1439 right_yaw=0.0177 right_pitch=-0.0375 right_roll=-0.0015 right_gripper=0.9983\nstate[joint_eff]: [0.335, -7.9111, 5.6957, 1.873, -0.0464, 0.1783, -0.0122, -0.253, -1.2376, 7.1726, 2.0147, -0.0855, -0.0122, -0.0122]",
      "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]: [-0.2008, 1.8011, 0.7818, 0.4107, -0.1902, -0.1574, 0.9983, -0.0204, 0.7052, 0.4412, -0.3431, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.4578 left_y=-0.0555 left_z=0.0527 left_yaw=0.0313 left_pitch=-0.0342 left_roll=-0.0091 left_gripper=0.9983 right_x=0.274 right_y=0.0034 right_z=0.1366 right_yaw=0.018 right_pitch=-0.0364 right_roll=-0.0013 right_gripper=0.9983\nstate[joint_eff]: [0.1983, -7.9521, 8.1846, 1.3114, -0.2466, 0.2808, -0.0171, -0.2256, -1.4291, 7.0632, 2.0293, -0.105, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1898, 1.8156, 0.7906, 0.4301, -0.1829, -0.1555, 0.9983, -0.0204, 0.6903, 0.4202, -0.3286, -0.0307, -0.0357, 0.9983]\nstate[eef_state]: left_x=0.4629 left_y=-0.0525 left_z=0.0534 left_yaw=0.0352 left_pitch=-0.0217 left_roll=-0.0146 left_gripper=0.9983 right_x=0.2726 right_y=0.0034 right_z=0.1337 right_yaw=0.0178 right_pitch=-0.028 right_roll=-0.0013 right_gripper=0.9983\nstate[joint_eff]: [0.0068, -7.9521, 7.1316, 1.8095, -0.0464, 0.2808, -0.0122, -0.4034, -1.1829, 6.8581, 2.0195, -0.0806, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:474fc58599a130c65458c5a397d2aecedf7db03056b77165275d512048d1fd6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdc705cd135710395a46d6ab8d4de339caa94a1e9b4674c00edeac7459e7d84d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5cb740e95413e66c2ac1b142a00c76ef6b10cc54f50727f759e07d23e5008bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnwkKEAgSGAI4AUIIdGhpbmtpbmcSDMefmzIEKHaL9OazUBoMbd57mTDOuBu8U8DpIjBeCoTJ0VTkT8wycwpzZ04XOCwPf6gZMqR4lJyPB5q05cnuTP8jIBwLGQxc6B8d+qsqvAjjtrE+4VWIkoL/bPyYmrOS8tGY/40BCqhDlvElD4mbRDTuvceaXwuE0GWLkx+FZpCL8wvd3oKJrgsB4dV+HMqvhXoP4CXtjlVD5/LmAd63sG7podDWacYgTDLd3xk+8AV+j6IlFUU+kBFY3hO8QZBsi6Vee0iFiQsquNoN+yA+61ynShQ0jpwSDQlVoEQB84xv2Zl7JR+0TrgJJm9JB2klHc7iAmxOpaHEmi/wkXhEN7o8aPqFv4Vk/hI0i1gZL1zI/uK7RVT09o6580HPBX25XWg4GpG4SilieKiPEUklVJ5ufqxluKCvtgfCPCWasNXZHB8kAwhyd9ChxgfnkhcuXECwONYCoKiJPicECkFuYB5qLCgLeoXLi+yogTTZBM70+6crqU0flikpumd93rVV2pgjNiwXf6IV3DzNHvH6bYUoeFprSQfxfBPmchAVpStGKmuW2mk25rhtUTc47QRRXh9Db2n1YSi6QVRyRUEGtSxwN0GmVz0ag/p0pKcDTO8vUjzB77onbXpX7AXthfV70BbfFij2KP/w+gE8Aehl3qEdih8Pjp3IriGag0MtYtMUacy9K2GbK8iKB+cK7SkWQ9pyHrUMwBOivjbJ/OyugTWEWERi5VNlN5V0Ynx/0hHpMvrLMoHmXXrC4Ep5Fi299vy/GCn2BdPyON6v/SPlMjDOnzo1SOvr70ysx95Y7npYCEOj0OmV/KKbFSRvTI5/QwASunAurpwfjH5cpxkyBeLrD9o+uzS206F4jK/56mm0bcVmMzo6t5JT7Hik/oq+HqXKMvQ48lukgOVwIbsEtRhNW4y4Udf1yyo+3ClXXhR9q/F2xeuF9C9G8HVuJjYMWIccAE0EaHt6O7GTn63FUX2b3BC36zn/iH2DeSqIyok2tcUSixZ3+t0JfE2mzhwfh0ToDniIzW78MzAwZYdsKGScnhrxr4LixIEp7vu+elRnRhYIpMvk3MfSZE/A60TpS8NuCiMPxjoZqz2zZTz5TpsMHL3N69SW/yo1r6vYfnsFvYxomS8Oqs5+BBMjCBmUOWlY/LIOnePZ3NWR9MnGRAbCIExsLZVNdYx7GIOYZEvj/D2IlPQYHyj8g/ZXcalZrDJRQQfEkQ0HbxfrbAcfYzDYb+KIjkHSQW0CXmQCPEqmamApO5Fv96mTxxtMIXUxSN/zb7pRRKujYvJXYt3I4N4QHp1dmP4q46w7fczqWVQd/oJJOUpr1eR9Hd0tvU37bJlQQBzndo71sNXY9fseh+PmzoqHnPWWVpjNX2Z7tMlWfxGZobi4PD9EBqGLJ8B79nksue0zJFiaiPihIbOFo9Pt8nj0uB10qB5LzM4JiiCiKiJ7x682GIYN4dgvC8hhThvId6oUtZSvRAX6PMNsdngtBI9vyTJSoroKpJimdvFgSFwM90Oephc6a4Dfht9yEW+HZRDy2H6fBufvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PHu2dE5USwYPt2VhTv34qn",
      "input": {
        "note": "Descent stopped at z≈0.053, possibly controller sag at long reach. Commanding lower to get the jaws around the bottle's neck.",
        "targets": {
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01PHu2dE5USwYPt2VhTv34qn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1898, 1.8156, 0.7906, 0.4301, -0.1829, -0.1558, 0.9983, -0.0204, 0.6777, 0.3969, -0.3206, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.4629 left_y=-0.0525 left_z=0.0534 left_yaw=0.0354 left_pitch=-0.0217 left_roll=-0.0149 left_gripper=0.9983 right_x=0.27 right_y=0.0035 right_z=0.1279 right_yaw=0.018 right_pitch=-0.0306 right_roll=-0.0015 right_gripper=0.9983\nstate[joint_eff]: [0.0479, -7.8838, 7.159, 1.7705, -0.0122, 0.2271, -0.0122, -0.4991, -1.1419, 6.8171, 2.0049, -0.0855, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:007d64505c5d11f7bfe45ed12b7267ff9696649ac41e361cf6836a743187eb0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b04e2eb898cb0dede0c44b6b1fd0becedfae61e08bec8cf622ce3cb5070555a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b05ad383fbeb5695185ceeab50550ae65fc61002efacefe213c4c7d52ab03051",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 4.246 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]: [-0.2008, 1.8011, 0.7818, 0.4107, -0.1902, -0.1574, 0.9983, -0.0204, 0.7052, 0.4412, -0.3431, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.4578 left_y=-0.0555 left_z=0.0527 left_yaw=0.0313 left_pitch=-0.0342 left_roll=-0.0091 left_gripper=0.9983 right_x=0.274 right_y=0.0034 right_z=0.1366 right_yaw=0.018 right_pitch=-0.0364 right_roll=-0.0013 right_gripper=0.9983\nstate[joint_eff]: [0.1983, -7.9521, 8.1846, 1.3114, -0.2466, 0.2808, -0.0171, -0.2256, -1.4291, 7.0632, 2.0293, -0.105, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1898, 1.8156, 0.7906, 0.4301, -0.1829, -0.1555, 0.9983, -0.0204, 0.6903, 0.4202, -0.3286, -0.0307, -0.0357, 0.9983]\nstate[eef_state]: left_x=0.4629 left_y=-0.0525 left_z=0.0534 left_yaw=0.0352 left_pitch=-0.0217 left_roll=-0.0146 left_gripper=0.9983 right_x=0.2726 right_y=0.0034 right_z=0.1337 right_yaw=0.0178 right_pitch=-0.028 right_roll=-0.0013 right_gripper=0.9983\nstate[joint_eff]: [0.0068, -7.9521, 7.1316, 1.8095, -0.0464, 0.2808, -0.0122, -0.4034, -1.1829, 6.8581, 2.0195, -0.0806, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1898, 1.8156, 0.7906, 0.4301, -0.1829, -0.1558, 0.9983, -0.0204, 0.6777, 0.3969, -0.3206, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.4629 left_y=-0.0525 left_z=0.0534 left_yaw=0.0354 left_pitch=-0.0217 left_roll=-0.0149 left_gripper=0.9983 right_x=0.27 right_y=0.0035 right_z=0.1279 right_yaw=0.018 right_pitch=-0.0306 right_roll=-0.0015 right_gripper=0.9983\nstate[joint_eff]: [0.0479, -7.8838, 7.159, 1.7705, -0.0122, 0.2271, -0.0122, -0.4991, -1.1419, 6.8171, 2.0049, -0.0855, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:007d64505c5d11f7bfe45ed12b7267ff9696649ac41e361cf6836a743187eb0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b04e2eb898cb0dede0c44b6b1fd0becedfae61e08bec8cf622ce3cb5070555a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b05ad383fbeb5695185ceeab50550ae65fc61002efacefe213c4c7d52ab03051",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgwoKEAgSGAI4AUIIdGhpbmtpbmcSDJil0gytxFBc+ed/LhoMOHfqAozSTqsq1DDWIjCnriKPIMsR/kWMh3G6yOFkSneTyua39i0dVAvwXd5DTOhZM9XIqvuTT7kBlvokuooqoAkqGiXNV0Sz8zqqGiw02GjLIZGVeWRpbuH2hxa5wMuUV4Q3DvtTrhET62U7ZHEmXE8DFwk5mhKSq+6HqnnI9c7Hpf//UJicpcBV+VpuuWQrsCkwqJSXOYWNKUFv3ElmJedAvMBW6Y50i6+OyaXflR2K+4qk5cxEov8EPeGOHEQfRx+HfxEKzhWVGzOue/Q4m6NjXphw7VJEmP6ton6JbzSv4NVmj5qmRYpSq7cOSHpBXHPNxt+k53EqzOYjr2tRJt+pR7PxftqLgWrn89I/UPhUjtU5T1n8aAYtKwliq9sHQ7tWR5W02oUToGfaZ4NdMVA+RM7CYaxOdaTwPSwER9kdxvDb/NQ03P6SLLhLx2wgsIoNs1Z4iXfPkXRDOLSSHp7j/D5Y0wiBfJh4tPQOOFRgwD5poAMR5REWb2j6+VJyHwFe6ng/nF62RdqI3a88oTAJ2VVgKKa7UiuiwHvbc6d/D9WeBoUDyiyKFLMyVur4xRFMqMqzUTU5+xhKJzzJi9HMqX4NYJwM8hDdynvrVUNCnPw+PlcmnIhTHCNvuMRbbsaTwzjFs/MvU7xgJuSt6uLfv5HzIuT93XCVjFPVOkXsgyxMOlHgs+axuullb/n/n2pLgidF05FmSpsqNuFIapJ9QR2U48/LbK9xjoiL1Uvuk3JUbjHGUO7wp7H1q2dmzVKRpeKod6pE1AfL/Aj/HyPbzUGKj6CAb5ZY+HQzUlfskNjpHHLsUUDjqKDv3O00unPUQeVLnoIVqpKViO3bpMvtDqwQTwYgL/+emeYC+TiTW13YHxe8E4kWd5/4xppWnlx4a1cGZjqAdN3kYDtQlss5iG69qZyZrj1EWdJdbz/U4WCCmzrXR/eF/4idqE2ikI/oOQzk8jGyR/CurLHZODKGoxUbSuNY0LjfVFvePfHnACEVVm1/Qc3rRHpxMs5BbUfMyN7hGXt8XhImTGuAyqN5r3LQ9Ah2wyO+ojs95uH32mLhl7dcS8aVfCM8MMxX4YdXhBglCsNvLu8mtupklDKlGK+IL35+RIsB3mAMzMGu+j99H8JHDxxgkc1FfPV7uoXPCtnJdvov2g9/Wosz/VfODGu2VonuddJxvuViP+36ITNNzyBhGHb7Xh9EqsMDeUnMIGuoLwzcUnw9Ie1ChLd53Ms57zLKoS3u/JnmG8lxuJpbXkzzVc8BRfbmOvrlglN9UfmUiLnrCsq64RPnn+HPnfm+MyPmH+zSJyMBqk3RvkZPUdMjgYEYDGn9vkso+WCNbXCcASlXIM2vs7acbgUgJcBRmIZmoybOaS2abU2Cd2JZV8HsHu/RQTPj1A6lzTlae1FLqwniqSGeQRJUZPI6qdShzmFBNNioDMld680xdZzNbaLJ0U5HyfIMWxHJ/6ytW5TefQ3mRtJ0/JTmyBWhsgTpENFXI5LKIxwKxoEtlNJpMRLNemiCeYcBeMYJyYSWXp9W0U2oFtEjRyDgqdNsiz/5OAz/OpcBHc3HNurI9/6aKpg8qQfp99bpI44ISRKL9TN/EwjPWpguAr0ahl8GtnUCkmoso27vqbLWUxqVTDxbIB+TA6rqC4du8V4IZxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HrCD4yHB8ML67QMy77BAkk",
      "input": {
        "note": "Arm is frozen at x 0.46/z 0.05, which looks like the reach limit with pitch pinned. Pulling back to x 0.41 and trying to get low over the bottle's shoulder.",
        "targets": {
          "left_x": 0.41,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01HrCD4yHB8ML67QMy77BAkk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1898, 1.8156, 0.7906, 0.4301, -0.1829, -0.1558, 0.9983, -0.0204, 0.6605, 0.3721, -0.313, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.4629 left_y=-0.0525 left_z=0.0534 left_yaw=0.0354 left_pitch=-0.0217 left_roll=-0.0149 left_gripper=0.9983 right_x=0.2671 right_y=0.0036 right_z=0.1224 right_yaw=0.018 right_pitch=-0.0306 right_roll=-0.0015 right_gripper=0.9983\nstate[joint_eff]: [0.0479, -7.9111, 7.3368, 1.7753, -0.022, 0.2076, -0.0122, -0.3624, -1.0462, 6.6667, 1.9658, -0.0757, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3b6b67276b3e5e90d0750d4279d0f35cb42aa6b9d6608ceef4d4fb520028ed7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:130fb2bfe984afc541aeb6d166c839edab402576dd6e880b8bfdadb065195ea5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f2b1d86d8b6174f8db12d4cb90e8633adcc5b21ce107a0a499bd16ec175c7d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 7.084 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]: [-0.1898, 1.8156, 0.7906, 0.4301, -0.1829, -0.1555, 0.9983, -0.0204, 0.6903, 0.4202, -0.3286, -0.0307, -0.0357, 0.9983]\nstate[eef_state]: left_x=0.4629 left_y=-0.0525 left_z=0.0534 left_yaw=0.0352 left_pitch=-0.0217 left_roll=-0.0146 left_gripper=0.9983 right_x=0.2726 right_y=0.0034 right_z=0.1337 right_yaw=0.0178 right_pitch=-0.028 right_roll=-0.0013 right_gripper=0.9983\nstate[joint_eff]: [0.0068, -7.9521, 7.1316, 1.8095, -0.0464, 0.2808, -0.0122, -0.4034, -1.1829, 6.8581, 2.0195, -0.0806, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1898, 1.8156, 0.7906, 0.4301, -0.1829, -0.1558, 0.9983, -0.0204, 0.6777, 0.3969, -0.3206, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.4629 left_y=-0.0525 left_z=0.0534 left_yaw=0.0354 left_pitch=-0.0217 left_roll=-0.0149 left_gripper=0.9983 right_x=0.27 right_y=0.0035 right_z=0.1279 right_yaw=0.018 right_pitch=-0.0306 right_roll=-0.0015 right_gripper=0.9983\nstate[joint_eff]: [0.0479, -7.8838, 7.159, 1.7705, -0.0122, 0.2271, -0.0122, -0.4991, -1.1419, 6.8171, 2.0049, -0.0855, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1898, 1.8156, 0.7906, 0.4301, -0.1829, -0.1558, 0.9983, -0.0204, 0.6605, 0.3721, -0.313, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.4629 left_y=-0.0525 left_z=0.0534 left_yaw=0.0354 left_pitch=-0.0217 left_roll=-0.0149 left_gripper=0.9983 right_x=0.2671 right_y=0.0036 right_z=0.1224 right_yaw=0.018 right_pitch=-0.0306 right_roll=-0.0015 right_gripper=0.9983\nstate[joint_eff]: [0.0479, -7.9111, 7.3368, 1.7753, -0.022, 0.2076, -0.0122, -0.3624, -1.0462, 6.6667, 1.9658, -0.0757, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3b6b67276b3e5e90d0750d4279d0f35cb42aa6b9d6608ceef4d4fb520028ed7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:130fb2bfe984afc541aeb6d166c839edab402576dd6e880b8bfdadb065195ea5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f2b1d86d8b6174f8db12d4cb90e8633adcc5b21ce107a0a499bd16ec175c7d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpAcKEAgSGAI4AUIIdGhpbmtpbmcSDD5cWdR54KfdghPc+xoM3rMO+DMITyyTGBeiIjBn0J/OXNXqzLNH2KLj/hyfvJBOwXnQbOFH46xYsisDhixyrbsDTwKIXK10Y7th6vYqwQYGTg7bzX2bB8jMIoO5DLkPbLyNdFs4G5rFwGYuAr7kkRjQYFnKOQdQywkbGYc6Wc1Nw/Gp9iXcSMsoXbF5UvQl7XxjocwGaefM7K0MXX1ySTy1Ukv0IWLoLynCvqLlXp8mICYVH8LN+GnwvMWARuoC8suzIvgM6ohMVoK7c2yi1qYviwms7XvUztiB2tzvU7GSmM+DQOFusiQbzo256dt2rnKmOLFjR7Nv8Yjte6nuqYV08HhVqNOzKzDjVHf+PapOSQEx/bw3cYidEiZl/gs2tSIrqMHcMMOekZA35vQydJtL1fVYgKCqdg9WlMQvU8OYN0xmHOqmy8kXwBMBAtxaFArVSQMCLambSbZDdYy3rFINEdw3nXAztmAnc96lL+Uhc5n1iza4U3PCx7A0zDcSA10dUl+33hHRKKK/tXW2EbOj1JM3VUMmUDI2me6stWwI4pLD+V3PpjwpFZ9wjg2KLmbFI5OgnfQMLoxhFUVOuL/fo/S00KIvCV32zglaN5QopSpQKBkRJ9kTDATYsV07Sfh2sTkgh0vkJMLogHrzgVfBibOvcKrh81iMv6d9QfzvnkS3Hvw2cApyIjHJZZSvuMC1ukkhzeVYQwA4tOFhkOYIVcrNnM744x6ihlr7IUHtCMHAp6k8i40tQcYYLtG/zGPxFMWaRL+VqMl0Jctg5HknXxeiwSzCqU1X8thZSW/0kGL1GLXm+kn4XTN82I8DghPIuhgaVla53CddbzMwrDmzkxq2anfEemptrlaO4nMU4vn+IFqnuPyWjONxQSoOyMrxiV1H1Qpv6fTCPSPUrYePQD+evwGUEg3p955clR7Epp2DcI1966jVumDJbvk6axOt1R533UAlPZhtqU9qoicmTgyAujI62pp/4ybuB2aArsZd/GDMDsWIQKeEUe6v0mjZxjqEUgmBoBJ7ZREqDfuguBxdkTwPVpolMRYIkdYwMMIdrhgp0qabmCi9RwP1xQ8CspBS5AmJFIrOoRMInSc6cMzI1LdYX542pVxAwpan8lYfd1AyGg6Heky6vOuRko2FF0BOmK2pgrgbB4vaBXYh6ONrKhuay4/FYipkfv1OblAk7Qo53JehMI8eiruQwhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019VyNfsxq5FgWtpn8V2Q4mE",
      "input": {
        "note": "Left arm isn't responding at this pose. Raising and pulling back to free it before trying again.",
        "targets": {
          "left_x": 0.36,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_019VyNfsxq5FgWtpn8V2Q4mE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2813, 1.2201, 0.646, 0.0387, -0.2554, -0.1837, 0.9983, -0.0204, 0.6403, 0.3428, -0.2977, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.3737 left_y=-0.0578 left_z=0.1545 left_yaw=0.0196 left_pitch=0.0457 left_roll=-0.0167 left_gripper=0.9983 right_x=0.2646 right_y=0.0036 right_z=0.1171 right_yaw=0.018 right_pitch=-0.0245 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -4.5744, 6.5709, 1.8584, -0.2027, -0.0952, -0.0171, -0.5402, -0.3077, 7.1179, 1.9365, -0.0806, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c86736a4277d8104470826d9ce273e62fe873f3b18dd67a7140907506cd00ea5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1417c2633f3d13386fa4f35abd16100d0e8a7ecff137c92ea07ea35b0857764f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b34ca462cf5e1a64300c2b8624b62f1400df3607ed4c17453b3f55e849533ee1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 6.29 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]: [-0.1898, 1.8156, 0.7906, 0.4301, -0.1829, -0.1558, 0.9983, -0.0204, 0.6777, 0.3969, -0.3206, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.4629 left_y=-0.0525 left_z=0.0534 left_yaw=0.0354 left_pitch=-0.0217 left_roll=-0.0149 left_gripper=0.9983 right_x=0.27 right_y=0.0035 right_z=0.1279 right_yaw=0.018 right_pitch=-0.0306 right_roll=-0.0015 right_gripper=0.9983\nstate[joint_eff]: [0.0479, -7.8838, 7.159, 1.7705, -0.0122, 0.2271, -0.0122, -0.4991, -1.1419, 6.8171, 2.0049, -0.0855, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1898, 1.8156, 0.7906, 0.4301, -0.1829, -0.1558, 0.9983, -0.0204, 0.6605, 0.3721, -0.313, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.4629 left_y=-0.0525 left_z=0.0534 left_yaw=0.0354 left_pitch=-0.0217 left_roll=-0.0149 left_gripper=0.9983 right_x=0.2671 right_y=0.0036 right_z=0.1224 right_yaw=0.018 right_pitch=-0.0306 right_roll=-0.0015 right_gripper=0.9983\nstate[joint_eff]: [0.0479, -7.9111, 7.3368, 1.7753, -0.022, 0.2076, -0.0122, -0.3624, -1.0462, 6.6667, 1.9658, -0.0757, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2813, 1.2201, 0.646, 0.0387, -0.2554, -0.1837, 0.9983, -0.0204, 0.6403, 0.3428, -0.2977, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.3737 left_y=-0.0578 left_z=0.1545 left_yaw=0.0196 left_pitch=0.0457 left_roll=-0.0167 left_gripper=0.9983 right_x=0.2646 right_y=0.0036 right_z=0.1171 right_yaw=0.018 right_pitch=-0.0245 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -4.5744, 6.5709, 1.8584, -0.2027, -0.0952, -0.0171, -0.5402, -0.3077, 7.1179, 1.9365, -0.0806, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c86736a4277d8104470826d9ce273e62fe873f3b18dd67a7140907506cd00ea5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1417c2633f3d13386fa4f35abd16100d0e8a7ecff137c92ea07ea35b0857764f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b34ca462cf5e1a64300c2b8624b62f1400df3607ed4c17453b3f55e849533ee1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0QsKEAgSGAI4AUIIdGhpbmtpbmcSDNQkuplbaxVmV7CF2BoMIQB7ESIWSaORff6UIjAB1NzTjbL0knRrHG86mAb5SQXh9EWySxX1lql4jRbOfclKnL40I3yE5AIjnsl6VcAq7grDbJVZIvNPzqxXagLPzE9OHr6Tqe+akQ9aQuJi3S3UgUMfmE5djGcH8aMXeUW1CvdXkuo+9chjuO2qzAR6dO2QMrl74iL5jWGXFgy5jnjNkfZ9CIg7zTa1Fu0SD68bMESeQcihzWInucuezulY3hFgn8kuqXnv+f5GbJs/v8S6SylYgrO6imVmSpGgEl7F3PojNIuNdn8VTEEpWQrj7zvq/OiRnexJOpHWX7zs/ewIrkVy+YHkhyG+ju3Px9fqL5EMGywJZkcKQNBksMtWQ3dvWIlviOi+JWTIKBWWqjKOee/yOTOvLnjRYZGWOMxE2H/uJ2fs+Ny/WRmTjfo160l1pWscUFKFE/2P/js6gW8qDkXjNAqYaPHIQJ5Uw0nn+WjpBCXw/ht5FngAJkNaX3fYt0r3Tr7zNLwmjvYsM0unYFvbPaxMkNTqYkoiybNehaWsGLDwZjFZ9wHqERFuz+eVHlH41i60vxU6lkUsJJeaxELrrn6numGLZxGvgKHLzNwNJcPFB6zMFdBTOzuuiX9ZUDrRBM2+A9g+2+1pndIRolKj5DjjauHKIg2YDL6iuerzP6lnOo209Ot7SM1bxBR6/xcPD83X2PicEd23uYdHXNFR4H/qn0CFOkcsoa9sjky+w0I/iOCiipso6y0vh8LK9LYV43RLNBpz7GKB6q/9dyye6r0k8fstNb3pC435i+3J6TctbU+GVlieavWvBZpenIzQOUlNYhCJ5hOZACXxfVEsNxQFX5W8qKLOlC9cPMndO7XY6GFCzVRQB/XwMuqs992n5GM/KpAOMC4t6IWkbyoq/eROp0IzwCr07ztZgKSSTFyO/0CgCYjRZ/VGcxjX9Xd4HnNxtC10okV2FPTyQUKU5gvKqGYujK0llDpSNeIRy91KTR7xZtDZc8DwXT17cXphqotytlWCmTuBTD5+eLJ8DFG0bMJ82r1pg8iEqh3vA56lFWdRIDXHkwcO3V/D2ubZ1PTtbRuL+SHtZ7WRSb7EG7SugH1oD2K7uw8m4jaI/lMD32bRCCLR6mx5fWm8NiNW3a6dBfc23/eBBx9o+oZh6l/Ej7sMQlsuf3lWAolS0YM8ue9DzbmwiRn8X8Tfn/H5XQx8F87ZK4dz/v5wUwhwqc8/ElnFox5xCRopS1s6kDEp1CpYKAoiEBALiaZYOPBDk/Nm6an7DHIoafb3mv8fYtW6j02AigNqz/kEVO26fwEG+xCfGAwytA3iVAqhF/OWztYD6LPRQNpcS87pfKEtbiRKoV1Dox3Eoytu889xj+/yNhJZBHBXU/Pdn2dvKXPF+kn33TIUNsPNlbAZiLK/+c7GBDz8iKlU10qfjoF84ZU8Yq5xt9jzxE0+2A9BZWD8jUIoq+T3vhzUT89hIIQ3Y6yBaG6zWkd2cxgVvVdCPNv4BIVNE/vNfIcXjsrlgYI1zOPaOMIRIWrlMK1drxFyLu2IU1/zJ135E18i9Kd07OoMpLwqbFQ0bo9hZXUpHdOILWQ/eCilJK61dsz061mFconBPdiObelNShmfkm+7CxB4T/zI8/doeFcF1GpdUKYrYaeCVgJyLm3wZjXvKe7GVy0NtM1QJtwG60ozap2CnAmycTVdwzT903mW1MnPAohzXf1aTSG8vu0F5M5MsXrBxr88jCU5clOlf9oj8e8W7XZbgBZH+RhEbdIEYxOZhPWRTOw4VnzsaeOJgppHAskDZZTD59GwRrECWJzHb1rMsoLMvZjaLBwjxE60g6xwKIQXsnYZkCfWSMOWLBtQ54Vlb8KunRA0Wivih0xthRuHtCDbt/NAR+lBarEST9fChh/AfFkWVyr+vlrKKKbE32ZML0dyG66IAq+yMVPyGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RRFAQZ4Dc5jc5bneYY5jWQ",
      "input": {
        "note": "Cap is out of reach at table height, so I'll grip the bottle body here and drag it ~10 cm toward the base first. Descending over the body.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.065,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01RRFAQZ4Dc5jc5bneYY5jWQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3016, 1.6386, 0.4458, 0.5407, -0.2703, -0.1867, 0.9983, -0.0204, 0.6262, 0.3214, -0.2905, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.3733 left_y=-0.063 left_z=0.0241 left_yaw=0.0138 left_pitch=-0.063 left_roll=0.0241 left_gripper=0.9983 right_x=0.2623 right_y=0.0037 right_z=0.1123 right_yaw=0.018 right_pitch=-0.0245 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -6.3521, 4.041, 1.9414, -0.1392, -0.105, -0.0122, -0.5265, -0.7863, 6.9949, 1.917, -0.0757, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21f6d931c55297246ff69810d29771ed5ce21174190a4967d59c1269484b6685",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bee20362ead76f5aab3e7f2ab5d9530df221fc632dedb581d30fcf19579a3be9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:803bd4e519f8823ea6d2de1d23e3c10144a9463baa0c72d026709a3717c51bf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 13.54 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]: [-0.1898, 1.8156, 0.7906, 0.4301, -0.1829, -0.1558, 0.9983, -0.0204, 0.6605, 0.3721, -0.313, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.4629 left_y=-0.0525 left_z=0.0534 left_yaw=0.0354 left_pitch=-0.0217 left_roll=-0.0149 left_gripper=0.9983 right_x=0.2671 right_y=0.0036 right_z=0.1224 right_yaw=0.018 right_pitch=-0.0306 right_roll=-0.0015 right_gripper=0.9983\nstate[joint_eff]: [0.0479, -7.9111, 7.3368, 1.7753, -0.022, 0.2076, -0.0122, -0.3624, -1.0462, 6.6667, 1.9658, -0.0757, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2813, 1.2201, 0.646, 0.0387, -0.2554, -0.1837, 0.9983, -0.0204, 0.6403, 0.3428, -0.2977, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.3737 left_y=-0.0578 left_z=0.1545 left_yaw=0.0196 left_pitch=0.0457 left_roll=-0.0167 left_gripper=0.9983 right_x=0.2646 right_y=0.0036 right_z=0.1171 right_yaw=0.018 right_pitch=-0.0245 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -4.5744, 6.5709, 1.8584, -0.2027, -0.0952, -0.0171, -0.5402, -0.3077, 7.1179, 1.9365, -0.0806, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3016, 1.6386, 0.4458, 0.5407, -0.2703, -0.1867, 0.9983, -0.0204, 0.6262, 0.3214, -0.2905, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.3733 left_y=-0.063 left_z=0.0241 left_yaw=0.0138 left_pitch=-0.063 left_roll=0.0241 left_gripper=0.9983 right_x=0.2623 right_y=0.0037 right_z=0.1123 right_yaw=0.018 right_pitch=-0.0245 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -6.3521, 4.041, 1.9414, -0.1392, -0.105, -0.0122, -0.5265, -0.7863, 6.9949, 1.917, -0.0757, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21f6d931c55297246ff69810d29771ed5ce21174190a4967d59c1269484b6685",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bee20362ead76f5aab3e7f2ab5d9530df221fc632dedb581d30fcf19579a3be9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:803bd4e519f8823ea6d2de1d23e3c10144a9463baa0c72d026709a3717c51bf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsAkKEAgSGAI4AUIIdGhpbmtpbmcSDOiNlJaK5VmX1O9nMhoMQ4hs57JeTdMSHryCIjBmnN1m46FkFLgxvqxQ7osPWKoxUqO9+grWIXjQ9znEt81d00tBtoebBSkkZzajUpcqzQgDAZJqX49j4FFXKEMS5amhquM7qMioFIpnrCG+pG1rOloUUJ+5wlZDFFCGG/Hk0cEtgBotWgd6lRHwPTLpr1pPVU4xM+ucnO6rm3FKK9R0f4pXiqZBXe5F7SfYDUeXpXMF0Llzk2UhjcB31jyGO5zYl7fiRn4Ulv4ytjS8MveW9G3OcwMmkJ37VQNMXmrPX33GMvs+SVnONXcOUvcw3DDZjN7HRukGJdnGLwmAeAGZfHDLaqXWSMk2EuBmb5pEWgu7A6hruoxQMxNM58rrzK8vfd/mjOB5KGIImMR5uXh86bOMOO64JAE1EWyGF8pr/UQ2y/y5h1HL9DS6Hib0JEx5yhIz7xQgyEE5/m/rlN1JvEB8iWTgswzcESlaPv20kLEjKc5Sq2DVn0obg5MvEkXytTXvSXCPJW/ffeh41MtXhvtB8mzi2AMP3yqONWzDjYAuLTyydgEUDOKhtHRNAO0Omsz+iz+q4dgE5eldGvWO9KT+gQEcaY7OROZ/I5hH/67yVTzo6orosSYsT1pvHd0FlO1N11C0/ZvG28j2KHpgYKUrUCNA9aruyvQFzepQS8UCKkDKIuNGpFhgcJoatDg+kiErApXHmNt13MDM7YRLQ8Oo1cK3gtnWDmUEnj0cnjDPu0HPtCa4V2TJRloYt3ZtN0+BzmQ8UYvw8Mge/1SBwHBtj1U9ZMFcn83DRw0IYcyiALnaJxMXgtNUlk1dY5/imngT1LSOCU/Wzmv3yLp/9y588TbUUkuIJNmEgUYXK1dIeEclFwmnf7j5/K4yERUaf1m4XwIMeOwKhiiQRidlPCpDOmCHSKfdrb5V2PbUQv6V8yq/6xb7fT3ka6Cni3qkTB/8IdhoYzGZJtIZJonSTwTrI1DxOfTnT3IgOwBTxM0jf+lkYX4E8ZHYusWf/BAtP1N82m1CwRAGynOt+Ph+pYrxtMdOKfASHgvh+XdDy1H4La3lEs6HVKwQJNk2BpVtILgY/HmCHtqjWw3/zuwwezFqljWzaDHmrl/JbuldD3+F6ZmOJu2o4uUqeGB4+DhgNYE0Ptk0UyJv8sn/Rg+ptIAUsz7aSyXip1mEmBKkBs4Guv2/e6QkMxay1LaKXe3Gx3RcrGEajJavjdPht4n6tKjS759ol4C+/1QQWuNv4KaoVSOv0PCr3pf7QrTqM71CVuGF5IGe5HNnPty6LHh9sZQF9mI9n+9Vae0b8gAOR6eWiRAhhJPia2/IOPKb75yrFmaHWftFpJLkxzq1HIG+Bk6ZfLKIAZoRxtl0I+CxqTR/m6sj6/maanU1q+JGzvRpYl7rzyTXKbiWhoxSrQesKDrVIcVK/kMFxw0qyGgzFOh+Bg05C7C6icxgLRM9K2gxz2WqJv8XNgHGsQxZqPBfC+Pj4PhBqwFqdF27OhQSPf+BL7nPez3Qxy8MHhhf4g79gW7Pyu1Y82x4RfT1vbRzM1Bp80s864QyAMDUAqYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QGATXSEKX8RkQNbiZ9ATfc",
      "input": {
        "note": "At table height now; the bottle body sits just ahead and slightly right of the jaws. Moving forward/right to straddle it.",
        "targets": {
          "left_x": 0.405,
          "left_y": -0.08,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01QGATXSEKX8RkQNbiZ9ATfc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3214, 1.7458, 0.4961, 0.6144, -0.2813, -0.1951, 0.9983, -0.0204, 0.6132, 0.3019, -0.2901, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.3898 left_y=-0.0743 left_z=0.0163 left_yaw=0.0073 left_pitch=-0.0449 left_roll=0.0182 left_gripper=0.9983 right_x=0.2593 right_y=0.0037 right_z=0.1066 right_yaw=0.018 right_pitch=-0.0306 right_roll=-0.0015 right_gripper=0.9983\nstate[joint_eff]: [-0.5538, -6.8034, 6.8581, 1.7851, -0.2173, -0.1392, -0.0122, -0.3897, -0.6222, 6.9949, 1.9609, -0.0855, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e47909d9eec3daeeb8851480f2b39995d63ea3236d79038341e84ed54b191ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdf3922d7b45a2a12a4db7950e974f966e6e3c635f557e49ad971be42e89f839",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b52999bfb7f2db0ed9e583f5d54568244bf037a103d0f67e29ccbfb38c62817f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 8.506 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]: [-0.2813, 1.2201, 0.646, 0.0387, -0.2554, -0.1837, 0.9983, -0.0204, 0.6403, 0.3428, -0.2977, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.3737 left_y=-0.0578 left_z=0.1545 left_yaw=0.0196 left_pitch=0.0457 left_roll=-0.0167 left_gripper=0.9983 right_x=0.2646 right_y=0.0036 right_z=0.1171 right_yaw=0.018 right_pitch=-0.0245 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -4.5744, 6.5709, 1.8584, -0.2027, -0.0952, -0.0171, -0.5402, -0.3077, 7.1179, 1.9365, -0.0806, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3016, 1.6386, 0.4458, 0.5407, -0.2703, -0.1867, 0.9983, -0.0204, 0.6262, 0.3214, -0.2905, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.3733 left_y=-0.063 left_z=0.0241 left_yaw=0.0138 left_pitch=-0.063 left_roll=0.0241 left_gripper=0.9983 right_x=0.2623 right_y=0.0037 right_z=0.1123 right_yaw=0.018 right_pitch=-0.0245 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -6.3521, 4.041, 1.9414, -0.1392, -0.105, -0.0122, -0.5265, -0.7863, 6.9949, 1.917, -0.0757, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3214, 1.7458, 0.4961, 0.6144, -0.2813, -0.1951, 0.9983, -0.0204, 0.6132, 0.3019, -0.2901, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.3898 left_y=-0.0743 left_z=0.0163 left_yaw=0.0073 left_pitch=-0.0449 left_roll=0.0182 left_gripper=0.9983 right_x=0.2593 right_y=0.0037 right_z=0.1066 right_yaw=0.018 right_pitch=-0.0306 right_roll=-0.0015 right_gripper=0.9983\nstate[joint_eff]: [-0.5538, -6.8034, 6.8581, 1.7851, -0.2173, -0.1392, -0.0122, -0.3897, -0.6222, 6.9949, 1.9609, -0.0855, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e47909d9eec3daeeb8851480f2b39995d63ea3236d79038341e84ed54b191ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdf3922d7b45a2a12a4db7950e974f966e6e3c635f557e49ad971be42e89f839",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b52999bfb7f2db0ed9e583f5d54568244bf037a103d0f67e29ccbfb38c62817f",
        "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_017LamkJaGZ61ururo66VQTT",
      "input": {
        "note": "The left arm nudged the left bottle against the middle one, so I'm lifting it clear. Switching to the right arm, which has a clear view of the right bottle: moving over that bottle's middle.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.1,
          "left_z": 0.15,
          "right_x": 0.36,
          "right_y": 0.14,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_017LamkJaGZ61ururo66VQTT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3401, 1.7142, 0.4496, 0.6479, -0.2962, -0.2096, 0.9983, 0.5556, 1.3663, 0.6277, 0.0238, 0.4084, 0.2653, 0.9983]\nstate[eef_state]: left_x=0.3803 left_y=-0.0761 left_z=0.0197 left_yaw=0.0085 left_pitch=-0.0242 left_roll=0.0082 left_gripper=0.9983 right_x=0.3439 right_y=0.1351 right_z=0.0979 right_yaw=0.0645 right_pitch=-0.0756 right_roll=-0.0428 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -7.9248, 4.1778, 1.7851, -0.1148, -0.022, -0.0171, -0.0205, -5.2855, 8.7453, 1.8632, 0.3883, 0.2271, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f49319876e5c155fe06d3429f9e4aa456f73b4b3fab4a23d9ed3722ad7abbd2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f900102cff57470ea119c31c3c176c3e3abb6670946255e2b4265406c25a7be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:37fd0ff26974e16e07b8e8fb099d4b594f0d612f98586b61a707860696809fde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 4.115 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]: [-0.3016, 1.6386, 0.4458, 0.5407, -0.2703, -0.1867, 0.9983, -0.0204, 0.6262, 0.3214, -0.2905, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.3733 left_y=-0.063 left_z=0.0241 left_yaw=0.0138 left_pitch=-0.063 left_roll=0.0241 left_gripper=0.9983 right_x=0.2623 right_y=0.0037 right_z=0.1123 right_yaw=0.018 right_pitch=-0.0245 right_roll=-0.0018 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -6.3521, 4.041, 1.9414, -0.1392, -0.105, -0.0122, -0.5265, -0.7863, 6.9949, 1.917, -0.0757, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3214, 1.7458, 0.4961, 0.6144, -0.2813, -0.1951, 0.9983, -0.0204, 0.6132, 0.3019, -0.2901, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.3898 left_y=-0.0743 left_z=0.0163 left_yaw=0.0073 left_pitch=-0.0449 left_roll=0.0182 left_gripper=0.9983 right_x=0.2593 right_y=0.0037 right_z=0.1066 right_yaw=0.018 right_pitch=-0.0306 right_roll=-0.0015 right_gripper=0.9983\nstate[joint_eff]: [-0.5538, -6.8034, 6.8581, 1.7851, -0.2173, -0.1392, -0.0122, -0.3897, -0.6222, 6.9949, 1.9609, -0.0855, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3401, 1.7142, 0.4496, 0.6479, -0.2962, -0.2096, 0.9983, 0.5556, 1.3663, 0.6277, 0.0238, 0.4084, 0.2653, 0.9983]\nstate[eef_state]: left_x=0.3803 left_y=-0.0761 left_z=0.0197 left_yaw=0.0085 left_pitch=-0.0242 left_roll=0.0082 left_gripper=0.9983 right_x=0.3439 right_y=0.1351 right_z=0.0979 right_yaw=0.0645 right_pitch=-0.0756 right_roll=-0.0428 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -7.9248, 4.1778, 1.7851, -0.1148, -0.022, -0.0171, -0.0205, -5.2855, 8.7453, 1.8632, 0.3883, 0.2271, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f49319876e5c155fe06d3429f9e4aa456f73b4b3fab4a23d9ed3722ad7abbd2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f900102cff57470ea119c31c3c176c3e3abb6670946255e2b4265406c25a7be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37fd0ff26974e16e07b8e8fb099d4b594f0d612f98586b61a707860696809fde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014nDEzkATEyxtmPe9wi9v23",
      "input": {
        "note": "Right wrist view shows the right bottle centered, lying straight ahead with its base end at the jaws. Advancing a few cm and descending to grip its lower body so I can drag it closer.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.135,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014nDEzkATEyxtmPe9wi9v23",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3408, 1.5208, 0.4751, 0.4549, -0.3027, -0.2169, 0.9983, 0.4969, 1.6947, 0.5255, 0.4946, 0.345, 0.231, 0.9983]\nstate[eef_state]: left_x=0.3769 left_y=-0.074 left_z=0.061 left_yaw=0.0169 left_pitch=0.0015 left_roll=-0.0034 left_gripper=0.9983 right_x=0.3681 right_y=0.1357 right_z=0.0245 right_yaw=0.0766 right_pitch=-0.058 right_roll=-0.0163 right_gripper=0.9983\nstate[joint_eff]: [-0.5949, -5.9829, 5.7231, 2.0635, -0.0562, 0.0073, -0.0171, -0.9504, -6.6256, 5.1077, 1.9707, 0.2711, -0.0073, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fc06333f2aee9bfa3d34b1bfc48ef21ca20f46d4f92c7729766981db2dbb157",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2441684d16b6eb1072b9e60fbeba60e8c878fa6e5315648b820edbddd7b47a00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:952b979d439420ae1644a0c3cbf6c3689a12d035600cc1e4d92f3368a366151f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 4.248 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]: [-0.3214, 1.7458, 0.4961, 0.6144, -0.2813, -0.1951, 0.9983, -0.0204, 0.6132, 0.3019, -0.2901, -0.0307, -0.036, 0.9983]\nstate[eef_state]: left_x=0.3898 left_y=-0.0743 left_z=0.0163 left_yaw=0.0073 left_pitch=-0.0449 left_roll=0.0182 left_gripper=0.9983 right_x=0.2593 right_y=0.0037 right_z=0.1066 right_yaw=0.018 right_pitch=-0.0306 right_roll=-0.0015 right_gripper=0.9983\nstate[joint_eff]: [-0.5538, -6.8034, 6.8581, 1.7851, -0.2173, -0.1392, -0.0122, -0.3897, -0.6222, 6.9949, 1.9609, -0.0855, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3401, 1.7142, 0.4496, 0.6479, -0.2962, -0.2096, 0.9983, 0.5556, 1.3663, 0.6277, 0.0238, 0.4084, 0.2653, 0.9983]\nstate[eef_state]: left_x=0.3803 left_y=-0.0761 left_z=0.0197 left_yaw=0.0085 left_pitch=-0.0242 left_roll=0.0082 left_gripper=0.9983 right_x=0.3439 right_y=0.1351 right_z=0.0979 right_yaw=0.0645 right_pitch=-0.0756 right_roll=-0.0428 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -7.9248, 4.1778, 1.7851, -0.1148, -0.022, -0.0171, -0.0205, -5.2855, 8.7453, 1.8632, 0.3883, 0.2271, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3408, 1.5208, 0.4751, 0.4549, -0.3027, -0.2169, 0.9983, 0.4969, 1.6947, 0.5255, 0.4946, 0.345, 0.231, 0.9983]\nstate[eef_state]: left_x=0.3769 left_y=-0.074 left_z=0.061 left_yaw=0.0169 left_pitch=0.0015 left_roll=-0.0034 left_gripper=0.9983 right_x=0.3681 right_y=0.1357 right_z=0.0245 right_yaw=0.0766 right_pitch=-0.058 right_roll=-0.0163 right_gripper=0.9983\nstate[joint_eff]: [-0.5949, -5.9829, 5.7231, 2.0635, -0.0562, 0.0073, -0.0171, -0.9504, -6.6256, 5.1077, 1.9707, 0.2711, -0.0073, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fc06333f2aee9bfa3d34b1bfc48ef21ca20f46d4f92c7729766981db2dbb157",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2441684d16b6eb1072b9e60fbeba60e8c878fa6e5315648b820edbddd7b47a00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:952b979d439420ae1644a0c3cbf6c3689a12d035600cc1e4d92f3368a366151f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7wcKEAgSGAI4AUIIdGhpbmtpbmcSDA2ez1fWpx8s+xlc+xoMy4RV/285gQF5z3C7IjDqaQussuQPHhDb5WEQAcbgJ6T+E51nHIsy9M7Cnwvkqm0DDrEp0MZn8bfe9n8/b94qjAcWkX06zssI4fYzcjyjF2I4Cpxxnf+TVVU6r4juU0bjBO9cBzQIY3CDbdzdW+IKTazEvwzd9KRr9xYmun4+h+GB1PbHudUpeWbqohQjtojlqrU50MMaEOheFAoLlyqC8JQSHgsBYyrhikhjOjJW11sua/53QbR/ZJSSBzktTmEeaDvTtY3xgVwulXKhsXVxqThNjd13JFyKA8ZHoW/e+yEGzGkmdTlRZ2/COOvNcICK3bUwd6OnILezG/zx1Y9XU4Sg7ft8Fnzx1JPVWOCCHQT0tSZ6hcc9hJBxZZJKOBYv7e2elJQmIorl0nJiJMFsBbYKpVoNKbzTR39QHoD2QszxigNncaanexkrBbj0tW224hcU4un7P4bNfMOvvo360CsRIhfiBoDF8JybjaVu3R1cLWUcQ3bjCRhQFgwQkFrYUWZnm8wDJg3srFJrmf4NIZvCHhk0at8l2MO3vRc8BIRet+eQQrjOiZg8+lE7p94Mi51r1SvYRNQNzHMH0Y3wOCMKd1qWzDvwMvmDqW36ytPyctwFCrIGPiUNKw1z/XcEGu9hwGJG3aOVoPuwZSKlZj4b1XH0vCCNge10tu0t90ebPN11ku7MRrFsZyaEE0w5Yd2y+RpdlZHMouKb+WZ/5CAsbf2yRHbJGyH47KL6ZS0RGhzcIIr9X88W09hB8eLoO5+YB/6CKRz2eXvSlGlMJK55OQfeuWwa2M5LukANIG84dvhixbAu7y9xF95bPKw24A5jqW0MTg3Lk7o9HjXjUFYgIyvcncWHSCrzxMPlfSUAXu6H6mI8qmfCmLE/c7GEpwogFwp46uKFtLwQX9CDwj9n3hCyyCBHIkbGe1SWI3E9DlFdb6JpkAlUD3jUiTJj1fkeq8ZilJzE/JuaC9h+eBzBVq9ZtZGazW/IhMBskJR9/wVDJBc7peggtT7Wb361isqJkDUrhLxxLbng/OV4UvK6X5NsmfFwQODxtGAzmN3MZi+yY8gMRs8Cg1Cq7Au9CcUvKUdPiBTDELpey7kwq3aojZcT3WQpsWaGSHim8hAhciTdZE7atK7YQal8S86yq0rCCUfg+5FRDVNEhZYM5Jc3WEMSsSTCgaNzaMO1VOAjoHG0ihRGnWmpHZfhL1niKtSYDS68vwu+D1vof6TfOYm2nDYvdY/ht3Fyvb9NI267TMQNy5Rd7ZxJhrglkKXLjreR3KrDbm7+6a8mQRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ua4oi4WfkFHnPKq5gXgXim",
      "input": {
        "note": "The right bottle's body is centered between the right jaws at table height. Closing to grip it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ua4oi4WfkFHnPKq5gXgXim",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3416, 1.5204, 0.4728, 0.4515, -0.3038, -0.2169, 0.9983, 0.498, 1.7325, 0.4755, 0.5957, 0.3374, 0.2161, 0.407]\nstate[eef_state]: left_x=0.3757 left_y=-0.0737 left_z=0.0596 left_yaw=0.017 left_pitch=-0.0033 left_roll=-0.0009 left_gripper=0.9983 right_x=0.362 right_y=0.1343 right_z=0.0128 right_yaw=0.0923 right_pitch=-0.0478 right_roll=-0.0187 right_gripper=0.407\nstate[joint_eff]: [-0.1573, -5.6274, 5.7094, 1.6728, -0.1587, -0.0317, -0.0171, 0.0889, -7.2684, 4.7521, 1.9756, 0.2515, 0.0708, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8ad108bf5d991e59f7c8a5aac9bb4148f942de138d0f68fdd9cc73b5cadd105",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:105882f59bc4fb9ce37b4b022281f26b40a001fbc42df1a7dca0acfc1488c161",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b051df2b4d1ad4c9d92877a88e507c96d1611e550deea8485cadc6d6ba4cb445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 7.147 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]: [-0.3401, 1.7142, 0.4496, 0.6479, -0.2962, -0.2096, 0.9983, 0.5556, 1.3663, 0.6277, 0.0238, 0.4084, 0.2653, 0.9983]\nstate[eef_state]: left_x=0.3803 left_y=-0.0761 left_z=0.0197 left_yaw=0.0085 left_pitch=-0.0242 left_roll=0.0082 left_gripper=0.9983 right_x=0.3439 right_y=0.1351 right_z=0.0979 right_yaw=0.0645 right_pitch=-0.0756 right_roll=-0.0428 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -7.9248, 4.1778, 1.7851, -0.1148, -0.022, -0.0171, -0.0205, -5.2855, 8.7453, 1.8632, 0.3883, 0.2271, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3408, 1.5208, 0.4751, 0.4549, -0.3027, -0.2169, 0.9983, 0.4969, 1.6947, 0.5255, 0.4946, 0.345, 0.231, 0.9983]\nstate[eef_state]: left_x=0.3769 left_y=-0.074 left_z=0.061 left_yaw=0.0169 left_pitch=0.0015 left_roll=-0.0034 left_gripper=0.9983 right_x=0.3681 right_y=0.1357 right_z=0.0245 right_yaw=0.0766 right_pitch=-0.058 right_roll=-0.0163 right_gripper=0.9983\nstate[joint_eff]: [-0.5949, -5.9829, 5.7231, 2.0635, -0.0562, 0.0073, -0.0171, -0.9504, -6.6256, 5.1077, 1.9707, 0.2711, -0.0073, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3416, 1.5204, 0.4728, 0.4515, -0.3038, -0.2169, 0.9983, 0.498, 1.7325, 0.4755, 0.5957, 0.3374, 0.2161, 0.407]\nstate[eef_state]: left_x=0.3757 left_y=-0.0737 left_z=0.0596 left_yaw=0.017 left_pitch=-0.0033 left_roll=-0.0009 left_gripper=0.9983 right_x=0.362 right_y=0.1343 right_z=0.0128 right_yaw=0.0923 right_pitch=-0.0478 right_roll=-0.0187 right_gripper=0.407\nstate[joint_eff]: [-0.1573, -5.6274, 5.7094, 1.6728, -0.1587, -0.0317, -0.0171, 0.0889, -7.2684, 4.7521, 1.9756, 0.2515, 0.0708, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8ad108bf5d991e59f7c8a5aac9bb4148f942de138d0f68fdd9cc73b5cadd105",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:105882f59bc4fb9ce37b4b022281f26b40a001fbc42df1a7dca0acfc1488c161",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b051df2b4d1ad4c9d92877a88e507c96d1611e550deea8485cadc6d6ba4cb445",
        "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/gYKEAgSGAI4AUIIdGhpbmtpbmcSDMA+D+HueO7LE0l5EhoMyQOq8NeyBSi6D8bYIjC82cWdqwfk0ozChXtC+rifIUqbNXb36ecOkicKjRq+HtrvIVVJEzBlHFGh6n90v9YqmwbP+wEH37bdx9x/+XV8bCQ87KtpiyEeS28rUdyT2scC51PtmBZMeueI7gVUoTiWJLup71LI8MBzbn0Ez1M9XrDKYbBYLiRk+1wp8N9wFrimhYa25Uj+bK85LK7BkOiHlcRpdHlhEQJlcQ7jq9wYtWxyFYyrurU2OPEo6biQsY6VSfp+auyblt7x63C1lX72BpA+FyoDjKR5ruan0BwIQJwPhtQRjR2qD1KyEYfmVXr1tJGEijHvgi5k+SE8DePs5lHsgDnxBIlbUsge0XrJ4Dd0qudW8Y3no+KHCFYKN8oqYnU78mJ18OL2QnuwDywzy+g4KnaH2+fNi2sJNqp+U8IUHzf1u9JlHc0H6AUlXWeViU/eFElZIN5VdbW75yUPLVG5dg8y0a7vsjqqKedny7Lt5H5gq0j8Td4BSQNI+OenVjNngf5XFkhHHEcPUYLPF1OWWqRF9mvq5Itzd9i9lJeN2j2KF+P0Rm/Hyvoe8urc0sjqiqzItS43jBccotvM2rsSdg6139Rn3+nWM5X96gSBm0hdE3aeuapvPvz9MyjoeG/c0LeJvpfbHkXJS74o7MKK8/UIljP2psQ9badzDQf8yl73sfIs0ITW8J46B4xXglo1lzy7ZNAAJSpC2QT25NZOtLBrniy56lOsRv9FjeWWpv9l630vlxmplydDEdYIda5yt5F67GRoT2EcZeLs4uv8g5OhTKgIQ18qcf09v4Lj6lk6r7aCtH1HxD8Ig+Dojb9lHDzG+EZUEE/61rUPVJ5qAbC6HpsbnTJ+9ThUMmo7kQyuHqcT4cUmea8/UrOwuu1meDFQMFmWarLbE2ZOImrz8BNEZvGKyrVORN6OSGLE+fTsNqSYFUDPCXkcTlKjMHVfaRUi8xMXTnX4DrcBglrgYd9/uf4CDuUgHsBK7TM5vqgCY0Mq4K7RbeZqE5OHWANZCmAOxvpOIZzdOZWojjhW9NESpjq6qh7o2V0gFtEoY4e7DJ0FphdzRy0ejrPZtlY84tXmD2be4aTOGFHXpM+7+S1oIRor5Yp7gl5XoXYyU9ku3qNmSBpV/AIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ACnsbEgbUyqfiAv7jGYe84",
      "input": {
        "note": "Right gripper settled at 0.41, so the bottle is held. Dragging it ~14 cm toward the base so its cap end 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 11 steps (1.1s)",
      "tool_use_id": "toolu_01ACnsbEgbUyqfiAv7jGYe84",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3416, 1.5204, 0.4709, 0.4438, -0.3042, -0.2169, 0.9983, 0.981, 1.1908, 0.1276, 0.2508, 0.6361, 0.524, 0.407]\nstate[eef_state]: left_x=0.3742 left_y=-0.0731 left_z=0.0574 left_yaw=0.0174 left_pitch=-0.0122 left_roll=0.0026 left_gripper=0.9983 right_x=0.2175 right_y=0.1427 right_z=0.0183 right_yaw=0.1726 right_pitch=-0.0532 right_roll=-0.0187 right_gripper=0.407\nstate[joint_eff]: [-0.2803, -5.4769, 5.4222, 1.8584, -0.1783, -0.0317, -0.0122, -0.294, -2.988, 5.7778, 2.0342, 0.6813, 0.022, 0.7302]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29b8fd48c47fec8a2b66769da20b2f44234c4a2a80c74d5043f1d99e0ccafc77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40b16b8a9b69c2db211487146784d21832339713fb6959807d99d10718098997",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:183bd4986981805b5551b83ab830518780925d915f70aea256b8e463e5a19a0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 6.348 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]: [-0.3408, 1.5208, 0.4751, 0.4549, -0.3027, -0.2169, 0.9983, 0.4969, 1.6947, 0.5255, 0.4946, 0.345, 0.231, 0.9983]\nstate[eef_state]: left_x=0.3769 left_y=-0.074 left_z=0.061 left_yaw=0.0169 left_pitch=0.0015 left_roll=-0.0034 left_gripper=0.9983 right_x=0.3681 right_y=0.1357 right_z=0.0245 right_yaw=0.0766 right_pitch=-0.058 right_roll=-0.0163 right_gripper=0.9983\nstate[joint_eff]: [-0.5949, -5.9829, 5.7231, 2.0635, -0.0562, 0.0073, -0.0171, -0.9504, -6.6256, 5.1077, 1.9707, 0.2711, -0.0073, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.3416, 1.5204, 0.4728, 0.4515, -0.3038, -0.2169, 0.9983, 0.498, 1.7325, 0.4755, 0.5957, 0.3374, 0.2161, 0.407]\nstate[eef_state]: left_x=0.3757 left_y=-0.0737 left_z=0.0596 left_yaw=0.017 left_pitch=-0.0033 left_roll=-0.0009 left_gripper=0.9983 right_x=0.362 right_y=0.1343 right_z=0.0128 right_yaw=0.0923 right_pitch=-0.0478 right_roll=-0.0187 right_gripper=0.407\nstate[joint_eff]: [-0.1573, -5.6274, 5.7094, 1.6728, -0.1587, -0.0317, -0.0171, 0.0889, -7.2684, 4.7521, 1.9756, 0.2515, 0.0708, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3416, 1.5204, 0.4709, 0.4438, -0.3042, -0.2169, 0.9983, 0.981, 1.1908, 0.1276, 0.2508, 0.6361, 0.524, 0.407]\nstate[eef_state]: left_x=0.3742 left_y=-0.0731 left_z=0.0574 left_yaw=0.0174 left_pitch=-0.0122 left_roll=0.0026 left_gripper=0.9983 right_x=0.2175 right_y=0.1427 right_z=0.0183 right_yaw=0.1726 right_pitch=-0.0532 right_roll=-0.0187 right_gripper=0.407\nstate[joint_eff]: [-0.2803, -5.4769, 5.4222, 1.8584, -0.1783, -0.0317, -0.0122, -0.294, -2.988, 5.7778, 2.0342, 0.6813, 0.022, 0.7302]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29b8fd48c47fec8a2b66769da20b2f44234c4a2a80c74d5043f1d99e0ccafc77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40b16b8a9b69c2db211487146784d21832339713fb6959807d99d10718098997",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:183bd4986981805b5551b83ab830518780925d915f70aea256b8e463e5a19a0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAsKEAgSGAI4AUIIdGhpbmtpbmcSDJ2LlaLgycNzfRmVsRoMXcDOKic+migeMTgiIjAaRlKWbc3JNODa2rCqBFT93DmI+fIprzvprBu8D9b678xaYqlDB84KiZxUIY9b11Iq2QqYFYHatXxm/mZeTRMlZHz3HLsJyLfne0jRwbUmS+TvyW1k0fAbYA0Ffq72a5XDgmlIf+3uKLYQM9Rugt/XLwVwRZL6f3oEPAmetKbCKst6k/KsSkpErB7KXzlwJydBKbs3ncyM01L5Ov+OJoGpzG0xePflGehYAjDXy/lpHSGwNKLURfVW/vvRSGGW/QJgt39q0E81FJRm7F1KMSdiDED1IKGNDopGLDVM/T/8zd9rV99XbVY8s16WWvUXOkFMXLsbbyTaH5MoFgzysw1WtYqC/LoKsGDQWw/A8VcG4mamQ3gbDJkloDE+LZgoEbds16ix2RJheiNqifribzbZYuVHjsbCQo+U+p+yfb8nqCtU6QPYO5fQ6iVgwiJ+cDVs5vag8ZpKOyEwxrfZQLpi9bASkRCPkexcayNZ8IXOuD+9+PExZTZyMRQUNCMAAwseiXkPiFJsBDVq70G0XiiZEIUMuW2UzGJWHJEEmtrpfjdKQRDWthTtGqGCgSILKObo++VpOXLFHGDSbaT5ZcquJZmtzue/P0ekLSjYCTfhKfk7D8Hi/lPMwWw6dKzL9H7MP1sBsfvfsaW2RGBB6S63itdBzVs5Y16BgRcEzbBcCMYGsSRStXcls59Ug9KqMOvNLJ/P1NKRKs8oOHeP/ryulsQU8NMd6nGByHzk1piZ0lE5Hi96UDKSoX0PX3qWb6Kbk3kPB16MJmpRgPZhdiXxDHoR2LdiEXMnVvCZdPsA37y7AmWDkjo4gRtGQdaTzIY9bt3dy8E8gZVRQZyR7Oq2WcZYbbp19iqnULGMZ8hVe5GMGmnwBQUFWjzWaiH4PGMvuQg2Ly3KGlYsnDPah2dBQEb50msMw1CUsM+0ZdXhRi/RDHFT8Uhdko3pYupxzMMVaT9J9bqW8vO7aTGNaD3haufoze18Lw5kT1At3TPia+UE4CVeoKKmUrHUj/5aiQ33maqE/qklyYRgxWNLISov5t2d6gIo9EKCb4f2BtoX/wn5ULpV+7P7ns4LujAkdw+vaFfOCF6ndh//nwLrPzKUQZKgLXbkcTyx2PdSrN0Ct57DS7cUbqEOHcKXxJebkJaL3EzW77JDfAqZvqovsX96cs8Kc6HNdvZoKvZ1jA9uqmtFlbivjLk8eAaBgmsxWqyojEVJ2vtWyiTqGHzdAGnOP+02pREO8K0JAligA4VKC/D+yRZ35s3cRja73Axky/p6FzLGlPTtbnex0dmlJeQ3r5QZ6zmMw1ZIFDdJwI+f7kJy2/LDLQd0zNlCvDCClnrdEob7XHNkcvrmVx23wNPPLWIP9wN8E2XY2Uw6J3z+TGAeLVRRzc/PqXevJ8zoNIpu+zqeReA/TbGRmm9nf1R2myLt7M8LMmU5H5xtTnNK0p4DP3IuXeDbOBq60/femP+7AN23xLKelGGteJ9qR1ajpIhsW9xXcMicZ92iuqJIwB2OT1WD7R7Q3eEi8HNoHUfHh3aJQxrucSCB8gNdNkrl0Hd+nnBwL41iJJXrXCfwLASld3bp4Z+1SPC9Q4qwZHxxYVUsTA0KxZIlJgya57dEzRAKjVxkrhHcvVTKOfFb9de7FVESr2pGIrfl/0VEfBv+Egt2rG6bq7DoLhdhdjdyI9aoZ7bAEtCPfM5b2vQKsbsyUmx8gR1dMnP+RCuqLgMDMGba6efU9FMyVbq8mHXjPhks/NWEdRGM1u0NEcXlbUu5RaHWW9qSQgWa4qSKIoYOE0VjkoQBOMDEWfbScAwRJhABN0KZL0krU6EvTSY2prJ8jPQuYg73AIQs2TNB7kfcKbSwtVM1eVi7u7YjKpd1SE+0BlkDovNe9FOvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WBiVVxrck7pUaqDJTrQVhG",
      "input": {
        "note": "Right bottle is now pulled back, lying with its cap pointing forward and slightly left. Releasing and lifting to go grab its neck.",
        "targets": {
          "right_gripper": 1.0,
          "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_01WBiVVxrck7pUaqDJTrQVhG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3416, 1.5204, 0.4698, 0.4553, -0.3038, -0.2169, 0.9983, 1.0004, 0.8486, 0.2951, -0.1749, 0.6548, 0.5156, 0.9949]\nstate[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.0592 left_yaw=0.017 left_pitch=-0.0026 left_roll=-0.0012 left_gripper=0.9983 right_x=0.2184 right_y=0.1479 right_z=0.0926 right_yaw=0.1842 right_pitch=0.014 right_roll=0.0263 right_gripper=0.9949\nstate[joint_eff]: [-0.2393, -5.094, 4.6017, 1.8535, -0.149, -0.0366, -0.0122, -0.212, -1.5248, 8.7453, 1.409, 0.3101, 0.1001, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa5cd211d0f7f0df02bb8d94b318d75197b93a5310e72fff7733c43b0b6332f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:360c282495b97e010b9a0ba9f4fdc6f747b5e81a9722eaf34481815f8d6fd803",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a42b17614121b977586988df7ac0cbb38141e1db72506d0c21cc723997b36914",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 8.812 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]: [-0.3416, 1.5204, 0.4728, 0.4515, -0.3038, -0.2169, 0.9983, 0.498, 1.7325, 0.4755, 0.5957, 0.3374, 0.2161, 0.407]\nstate[eef_state]: left_x=0.3757 left_y=-0.0737 left_z=0.0596 left_yaw=0.017 left_pitch=-0.0033 left_roll=-0.0009 left_gripper=0.9983 right_x=0.362 right_y=0.1343 right_z=0.0128 right_yaw=0.0923 right_pitch=-0.0478 right_roll=-0.0187 right_gripper=0.407\nstate[joint_eff]: [-0.1573, -5.6274, 5.7094, 1.6728, -0.1587, -0.0317, -0.0171, 0.0889, -7.2684, 4.7521, 1.9756, 0.2515, 0.0708, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3416, 1.5204, 0.4709, 0.4438, -0.3042, -0.2169, 0.9983, 0.981, 1.1908, 0.1276, 0.2508, 0.6361, 0.524, 0.407]\nstate[eef_state]: left_x=0.3742 left_y=-0.0731 left_z=0.0574 left_yaw=0.0174 left_pitch=-0.0122 left_roll=0.0026 left_gripper=0.9983 right_x=0.2175 right_y=0.1427 right_z=0.0183 right_yaw=0.1726 right_pitch=-0.0532 right_roll=-0.0187 right_gripper=0.407\nstate[joint_eff]: [-0.2803, -5.4769, 5.4222, 1.8584, -0.1783, -0.0317, -0.0122, -0.294, -2.988, 5.7778, 2.0342, 0.6813, 0.022, 0.7302]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3416, 1.5204, 0.4698, 0.4553, -0.3038, -0.2169, 0.9983, 1.0004, 0.8486, 0.2951, -0.1749, 0.6548, 0.5156, 0.9949]\nstate[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.0592 left_yaw=0.017 left_pitch=-0.0026 left_roll=-0.0012 left_gripper=0.9983 right_x=0.2184 right_y=0.1479 right_z=0.0926 right_yaw=0.1842 right_pitch=0.014 right_roll=0.0263 right_gripper=0.9949\nstate[joint_eff]: [-0.2393, -5.094, 4.6017, 1.8535, -0.149, -0.0366, -0.0122, -0.212, -1.5248, 8.7453, 1.409, 0.3101, 0.1001, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa5cd211d0f7f0df02bb8d94b318d75197b93a5310e72fff7733c43b0b6332f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:360c282495b97e010b9a0ba9f4fdc6f747b5e81a9722eaf34481815f8d6fd803",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a42b17614121b977586988df7ac0cbb38141e1db72506d0c21cc723997b36914",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsggKEAgSGAI4AUIIdGhpbmtpbmcSDA6z34CkHc6DYvSgShoMDC1MkmQ+5r+5t5VlIjCixhtZnpmcYfnQd6lTh+/oDnZqCEYONrbMslpePtdeZpXtm8+TG6DJUfRBgA/rKv4qzwe93dU2uwcq91XyXIjiSbxBh/DQVgO2frVsp9Gco/+QMsyABMadPb3xx83ygei7j3lTSw0HPk4eL6PVvcpy6sVf1ldHuPeed/3AW7Ne/zJVq6kW4/QlAUSH6JBRxqnuxenBeP7AS04TuqSL1zKu71S7ghfpNJlWem780gO7eLjP8eGEyLvyvO4FARtpTZ1GVVy45kn9P9EafyQMqcxDjypFDqPaTLwz2KcBGjFgpzAyOQWXxOZDcOq0g5C5fmawuF75X3QzO34USanOSUz4NK//uW1dYG+GBpsdJOOKZY01Uto51BAxT9i10PfRZccd8vt68kxjhSbKdqre0253a35ssBiGlI1oObMAz7HEfA60DG1H5WAh+vl2FZiBC+/t6RALTyoAFNZ7Sbd+P21AlJVX2mEF3kDN3AMiEesdIJhr3n+hlv7DJYB35vgUeg8rIAFqK83AqWIEnbOR07OKDAm+UiHXZe0NaMHE20ffaJkmRNYwRavNdVnzh0Y+Bl5qCXOsCSsT0eE29jSqXsWtqS3qZQATVJ3WbsfWd/LecrxbX7HfZP+eTS98oOhMwDSWuW9xP+tm6pnB9/ltZyjrA61z6wp3GVTrWOvRwH9Bq+YHYSbLh+5tJTl4IdClcQ4Qsucmq8WHYNY7BAS/YLGGu2vUy/xrtvgoXqrYPIFfbUUouxcWa0Z5QNSeV0+c/pNNRDA4NXAasNFsWrZu+dNAiWa3DVuMA4Yb8oSu+W/x5LZpvCclqBd/WGYTddYe9tpsCvQ7mn9YZ3VbWn28F8+1FKovRHX1zJEpC/loA16dpwV4FlyK7Q1KNuZG9m65tC1M5xs9m6iFMLVNMiJRutWyGnxZ1dw1/yZzsI/pQuKlfvkmKJmrBlkB6pCW8/FoigbP/P4TsPxbIVHY5oFENouKH6agSpKLxukq5xaYlZOU4txPnOUMyNWwyrzw5PORRiTaX2/DVTiphOy4mmk+4/0EfpcqlFXDFjUT2HAUva485foXFVYMMpy5dFtfGOT6WAd1Ws0gxblK6kO+1wlc1wKQUYTg7h6HeOAgTrh2VnweRmxMKy9SpS1g/k6IxTPiqQE7qYCG15Mkq4Ky27FRcQl9P+Jpjd5r3rtINZtYsKwU5asFBkeQQ1wPUr8DLUr8jxU06nmON2rY9ljiVaql/LV33JYz+hdGL61xeCvcWuwPLWdeYruF1E2kgtBjsyM1Gy0SpND8UTUaYTmIB3NojM1HvlDDdcdOuAtjUI5VETrMKyYpX2bMRKvBqWqVQdV5hQKFdkGT/u20oP0+fdX7fhCegmIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GpevDHNdaLGegqrPpFC22j",
      "input": {
        "note": "Right wrist view shows the bottle running straight ahead with the cap ~17 cm forward and slightly left. Moving over the neck.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.17,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01GpevDHNdaLGegqrPpFC22j",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3416, 1.5211, 0.4698, 0.4553, -0.3038, -0.2169, 0.9983, 0.6544, 1.5265, 0.683, 0.0891, 0.5171, 0.3603, 0.9947]\nstate[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.059 left_yaw=0.017 left_pitch=-0.0033 left_roll=-0.0009 left_gripper=0.9983 right_x=0.3517 right_y=0.1643 right_z=0.0796 right_yaw=0.0252 right_pitch=-0.068 right_roll=-0.0495 right_gripper=0.9947\nstate[joint_eff]: [-0.3077, -5.6137, 5.2171, 1.6972, -0.1734, -0.0611, -0.0122, -0.5812, -6.2564, 8.4308, 1.8388, 0.3053, 0.0415, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe195b80f31b5eb7c74a41ccce28d170208c64b7d16fa737a686fcfc185c0b56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41b1f29ef08d4b24f3074bf450d8eb04e4950ae2982d8eb8384a6a141fb06355",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:987493eaaf3481b8c0a3aef58d20dd9028a8fccafff6932419d06bee3ae8dadb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 8.497 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]: [-0.3416, 1.5204, 0.4709, 0.4438, -0.3042, -0.2169, 0.9983, 0.981, 1.1908, 0.1276, 0.2508, 0.6361, 0.524, 0.407]\nstate[eef_state]: left_x=0.3742 left_y=-0.0731 left_z=0.0574 left_yaw=0.0174 left_pitch=-0.0122 left_roll=0.0026 left_gripper=0.9983 right_x=0.2175 right_y=0.1427 right_z=0.0183 right_yaw=0.1726 right_pitch=-0.0532 right_roll=-0.0187 right_gripper=0.407\nstate[joint_eff]: [-0.2803, -5.4769, 5.4222, 1.8584, -0.1783, -0.0317, -0.0122, -0.294, -2.988, 5.7778, 2.0342, 0.6813, 0.022, 0.7302]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.3416, 1.5204, 0.4698, 0.4553, -0.3038, -0.2169, 0.9983, 1.0004, 0.8486, 0.2951, -0.1749, 0.6548, 0.5156, 0.9949]\nstate[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.0592 left_yaw=0.017 left_pitch=-0.0026 left_roll=-0.0012 left_gripper=0.9983 right_x=0.2184 right_y=0.1479 right_z=0.0926 right_yaw=0.1842 right_pitch=0.014 right_roll=0.0263 right_gripper=0.9949\nstate[joint_eff]: [-0.2393, -5.094, 4.6017, 1.8535, -0.149, -0.0366, -0.0122, -0.212, -1.5248, 8.7453, 1.409, 0.3101, 0.1001, -0.1587]",
      "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]: [-0.3416, 1.5211, 0.4698, 0.4553, -0.3038, -0.2169, 0.9983, 0.6544, 1.5265, 0.683, 0.0891, 0.5171, 0.3603, 0.9947]\nstate[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.059 left_yaw=0.017 left_pitch=-0.0033 left_roll=-0.0009 left_gripper=0.9983 right_x=0.3517 right_y=0.1643 right_z=0.0796 right_yaw=0.0252 right_pitch=-0.068 right_roll=-0.0495 right_gripper=0.9947\nstate[joint_eff]: [-0.3077, -5.6137, 5.2171, 1.6972, -0.1734, -0.0611, -0.0122, -0.5812, -6.2564, 8.4308, 1.8388, 0.3053, 0.0415, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe195b80f31b5eb7c74a41ccce28d170208c64b7d16fa737a686fcfc185c0b56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41b1f29ef08d4b24f3074bf450d8eb04e4950ae2982d8eb8384a6a141fb06355",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:987493eaaf3481b8c0a3aef58d20dd9028a8fccafff6932419d06bee3ae8dadb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011cjrKqymzgwapjRGsbnaLV",
      "input": {
        "note": "Overshot: the right wrist view is empty and the top view shows the dragged bottle behind and left of the gripper. Backing up and raising to see it again.",
        "targets": {
          "right_x": 0.27,
          "right_y": 0.19,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_011cjrKqymzgwapjRGsbnaLV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3416, 1.5223, 0.4698, 0.4549, -0.3038, -0.2169, 0.9983, 0.9588, 1.2667, 0.6621, -0.2127, 0.6998, 0.572, 0.9947]\nstate[eef_state]: left_x=0.3752 left_y=-0.0735 left_z=0.0585 left_yaw=0.017 left_pitch=-0.0048 left_roll=-0.0004 left_gripper=0.9983 right_x=0.2723 right_y=0.1962 right_z=0.1245 right_yaw=0.0795 right_pitch=-0.0215 right_roll=-0.0137 right_gripper=0.9947\nstate[joint_eff]: [-0.1436, -5.6274, 5.1487, 1.7705, -0.1538, -0.0464, -0.0171, -0.1573, -5.4359, 8.8684, 1.3895, 0.4127, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c0ac95550fb120bb8721e8931241232b4483cf266628f660acb197b54292403",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:770cc4c32272c96be9e77d935a62174a57da4c1460f3c727223e6cedb85d1bf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34bdc591c274a2a801b5685df6453cede953568b1c5b3804dcdca4ef8d0e5878",
        "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 · 7.977 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]: [-0.3416, 1.5204, 0.4698, 0.4553, -0.3038, -0.2169, 0.9983, 1.0004, 0.8486, 0.2951, -0.1749, 0.6548, 0.5156, 0.9949]\nstate[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.0592 left_yaw=0.017 left_pitch=-0.0026 left_roll=-0.0012 left_gripper=0.9983 right_x=0.2184 right_y=0.1479 right_z=0.0926 right_yaw=0.1842 right_pitch=0.014 right_roll=0.0263 right_gripper=0.9949\nstate[joint_eff]: [-0.2393, -5.094, 4.6017, 1.8535, -0.149, -0.0366, -0.0122, -0.212, -1.5248, 8.7453, 1.409, 0.3101, 0.1001, -0.1587]",
      "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]: [-0.3416, 1.5211, 0.4698, 0.4553, -0.3038, -0.2169, 0.9983, 0.6544, 1.5265, 0.683, 0.0891, 0.5171, 0.3603, 0.9947]\nstate[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.059 left_yaw=0.017 left_pitch=-0.0033 left_roll=-0.0009 left_gripper=0.9983 right_x=0.3517 right_y=0.1643 right_z=0.0796 right_yaw=0.0252 right_pitch=-0.068 right_roll=-0.0495 right_gripper=0.9947\nstate[joint_eff]: [-0.3077, -5.6137, 5.2171, 1.6972, -0.1734, -0.0611, -0.0122, -0.5812, -6.2564, 8.4308, 1.8388, 0.3053, 0.0415, -0.0317]",
      "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]: [-0.3416, 1.5223, 0.4698, 0.4549, -0.3038, -0.2169, 0.9983, 0.9588, 1.2667, 0.6621, -0.2127, 0.6998, 0.572, 0.9947]\nstate[eef_state]: left_x=0.3752 left_y=-0.0735 left_z=0.0585 left_yaw=0.017 left_pitch=-0.0048 left_roll=-0.0004 left_gripper=0.9983 right_x=0.2723 right_y=0.1962 right_z=0.1245 right_yaw=0.0795 right_pitch=-0.0215 right_roll=-0.0137 right_gripper=0.9947\nstate[joint_eff]: [-0.1436, -5.6274, 5.1487, 1.7705, -0.1538, -0.0464, -0.0171, -0.1573, -5.4359, 8.8684, 1.3895, 0.4127, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c0ac95550fb120bb8721e8931241232b4483cf266628f660acb197b54292403",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:770cc4c32272c96be9e77d935a62174a57da4c1460f3c727223e6cedb85d1bf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34bdc591c274a2a801b5685df6453cede953568b1c5b3804dcdca4ef8d0e5878",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XmHmTVV7xc76ERA9gUWLM2",
      "input": {
        "note": "Right wrist view shows the dragged bottle along the left edge, cap pointing forward. Shifting left to put it on the jaw column.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.27,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01XmHmTVV7xc76ERA9gUWLM2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3416, 1.5223, 0.4698, 0.4557, -0.3038, -0.2169, 0.9983, 1.0222, 1.5394, 0.9092, -0.2474, 0.7315, 0.6014, 0.9947]\nstate[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.0586 left_yaw=0.017 left_pitch=-0.004 left_roll=-0.0006 left_gripper=0.9983 right_x=0.2926 right_y=0.2593 right_z=0.1251 right_yaw=0.1041 right_pitch=-0.0399 right_roll=-0.0514 right_gripper=0.9947\nstate[joint_eff]: [-0.294, -5.4496, 5.2855, 1.7802, -0.1636, -0.0562, -0.0171, 0.5812, -6.3658, 8.9915, 1.3455, 0.4664, 0.2466, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e144c09be0129b04e0db3e6f3b425eaf3bb3c670f7fd91510ba08095d5e2b23b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62fe3c83933e0fbc009c287d5968efa47ba964addad043d90a63a12b238b478f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:516df1f0bb556e7821b8b6f23ffd66fd544c78b6983c4de8aba8867558d7a441",
        "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 · 5.896 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]: [-0.3416, 1.5211, 0.4698, 0.4553, -0.3038, -0.2169, 0.9983, 0.6544, 1.5265, 0.683, 0.0891, 0.5171, 0.3603, 0.9947]\nstate[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.059 left_yaw=0.017 left_pitch=-0.0033 left_roll=-0.0009 left_gripper=0.9983 right_x=0.3517 right_y=0.1643 right_z=0.0796 right_yaw=0.0252 right_pitch=-0.068 right_roll=-0.0495 right_gripper=0.9947\nstate[joint_eff]: [-0.3077, -5.6137, 5.2171, 1.6972, -0.1734, -0.0611, -0.0122, -0.5812, -6.2564, 8.4308, 1.8388, 0.3053, 0.0415, -0.0317]",
      "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]: [-0.3416, 1.5223, 0.4698, 0.4549, -0.3038, -0.2169, 0.9983, 0.9588, 1.2667, 0.6621, -0.2127, 0.6998, 0.572, 0.9947]\nstate[eef_state]: left_x=0.3752 left_y=-0.0735 left_z=0.0585 left_yaw=0.017 left_pitch=-0.0048 left_roll=-0.0004 left_gripper=0.9983 right_x=0.2723 right_y=0.1962 right_z=0.1245 right_yaw=0.0795 right_pitch=-0.0215 right_roll=-0.0137 right_gripper=0.9947\nstate[joint_eff]: [-0.1436, -5.6274, 5.1487, 1.7705, -0.1538, -0.0464, -0.0171, -0.1573, -5.4359, 8.8684, 1.3895, 0.4127, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3416, 1.5223, 0.4698, 0.4557, -0.3038, -0.2169, 0.9983, 1.0222, 1.5394, 0.9092, -0.2474, 0.7315, 0.6014, 0.9947]\nstate[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.0586 left_yaw=0.017 left_pitch=-0.004 left_roll=-0.0006 left_gripper=0.9983 right_x=0.2926 right_y=0.2593 right_z=0.1251 right_yaw=0.1041 right_pitch=-0.0399 right_roll=-0.0514 right_gripper=0.9947\nstate[joint_eff]: [-0.294, -5.4496, 5.2855, 1.7802, -0.1636, -0.0562, -0.0171, 0.5812, -6.3658, 8.9915, 1.3455, 0.4664, 0.2466, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e144c09be0129b04e0db3e6f3b425eaf3bb3c670f7fd91510ba08095d5e2b23b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62fe3c83933e0fbc009c287d5968efa47ba964addad043d90a63a12b238b478f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:516df1f0bb556e7821b8b6f23ffd66fd544c78b6983c4de8aba8867558d7a441",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0143iw99bMkUQjoi7yDBytHA",
      "input": {
        "note": "Dragged bottle's cap now appears just ahead and to the left of the right jaws. Moving further left and lower to line up on the neck.",
        "targets": {
          "right_x": 0.31,
          "right_y": 0.3,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0143iw99bMkUQjoi7yDBytHA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3416, 1.5223, 0.4698, 0.4561, -0.3038, -0.2169, 0.9983, 1.0317, 1.7496, 0.8989, -0.0559, 0.7311, 0.6048, 0.9947]\nstate[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.0587 left_yaw=0.017 left_pitch=-0.0037 left_roll=-0.0008 left_gripper=0.9983 right_x=0.3024 right_y=0.2828 right_z=0.0686 right_yaw=0.1109 right_pitch=-0.0576 right_roll=-0.0715 right_gripper=0.9947\nstate[joint_eff]: [-0.4034, -5.2718, 5.1077, 1.7851, -0.1587, -0.0317, -0.0122, 0.7453, -8.212, 8.4034, 1.4872, 0.4225, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c96095b5b96ca653281d95890d31480fa9021c84a50d9209ccd111b739c480c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a38c5184c8a064eeee9ac0b98f66f690f2012743b42cf0cc5df84c55387a678e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:563cef21ca1b5355975f304c34dd216802575322f281ebb6379464244fc4e2f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 8.116 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]: [-0.3416, 1.5223, 0.4698, 0.4549, -0.3038, -0.2169, 0.9983, 0.9588, 1.2667, 0.6621, -0.2127, 0.6998, 0.572, 0.9947]\nstate[eef_state]: left_x=0.3752 left_y=-0.0735 left_z=0.0585 left_yaw=0.017 left_pitch=-0.0048 left_roll=-0.0004 left_gripper=0.9983 right_x=0.2723 right_y=0.1962 right_z=0.1245 right_yaw=0.0795 right_pitch=-0.0215 right_roll=-0.0137 right_gripper=0.9947\nstate[joint_eff]: [-0.1436, -5.6274, 5.1487, 1.7705, -0.1538, -0.0464, -0.0171, -0.1573, -5.4359, 8.8684, 1.3895, 0.4127, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3416, 1.5223, 0.4698, 0.4557, -0.3038, -0.2169, 0.9983, 1.0222, 1.5394, 0.9092, -0.2474, 0.7315, 0.6014, 0.9947]\nstate[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.0586 left_yaw=0.017 left_pitch=-0.004 left_roll=-0.0006 left_gripper=0.9983 right_x=0.2926 right_y=0.2593 right_z=0.1251 right_yaw=0.1041 right_pitch=-0.0399 right_roll=-0.0514 right_gripper=0.9947\nstate[joint_eff]: [-0.294, -5.4496, 5.2855, 1.7802, -0.1636, -0.0562, -0.0171, 0.5812, -6.3658, 8.9915, 1.3455, 0.4664, 0.2466, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3416, 1.5223, 0.4698, 0.4561, -0.3038, -0.2169, 0.9983, 1.0317, 1.7496, 0.8989, -0.0559, 0.7311, 0.6048, 0.9947]\nstate[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.0587 left_yaw=0.017 left_pitch=-0.0037 left_roll=-0.0008 left_gripper=0.9983 right_x=0.3024 right_y=0.2828 right_z=0.0686 right_yaw=0.1109 right_pitch=-0.0576 right_roll=-0.0715 right_gripper=0.9947\nstate[joint_eff]: [-0.4034, -5.2718, 5.1077, 1.7851, -0.1587, -0.0317, -0.0122, 0.7453, -8.212, 8.4034, 1.4872, 0.4225, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c96095b5b96ca653281d95890d31480fa9021c84a50d9209ccd111b739c480c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a38c5184c8a064eeee9ac0b98f66f690f2012743b42cf0cc5df84c55387a678e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:563cef21ca1b5355975f304c34dd216802575322f281ebb6379464244fc4e2f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQkKEAgSGAI4AUIIdGhpbmtpbmcSDDKCZXWOSXG1JiddcRoMh5qATcn6VlPGLp5mIjD5LGaYta6ds5G+I8xiYY6GCrOfEoXnf0HqPmU3LIEC8CX2f5ldIl+780aBgizuZsUq5gjo/A4KuhGaufb/93voKFLZHayGbK4H1Y1PhVuyqeNjZxtV1ZK6Ctgyzw6mRmAJ4/kxNOh/sMjdEFhJpvwS9yo7/f0txHVGD8dpsvXwGayXhJXZWsvqJVoehHR+VeHXH6Ttw7qDeCkMQXqBsnLPIzR/NLFnZeTKJnjzyA1a4F5irHQRrha+21KIyqVpcRbWo1H0yrkjTL8+QqR68JexKYNs7KAEANTqr1CmzjTVzH6Jqlqy+4cn65BGvGmpAb/lwFcyVR37f9cCCxjhEi033waXZTC0YNU8E3a5QQYJfLOrcIdmGlfGfH0L1t8l3+6OVSTQsdYQEVkHrwS4isAJGeIZd32FALpVc/kqvaC0Al4osoj8avz/+vkxt0q5G4NqVwKYzvoYMt+nPcJcRGpzD7+gVrSeWJPgs7/FaBfhHyv0EA3uEj9k1UyPribxJbBbjmks47K0h+DHHCCDQbvj2GNbG5brPL3c9Od9c9NzLDwFppXNfi4MMdZHGM4YLJKrUPd9Cv53m4L9siSEl8DaNPlNL45NJSWPreE1LysdMvXY4nIWpScZCs+lkQK4WSbERMflD4DapMDKql0zINGAyaWTG8RE9XZ2AC+nlcq+4DSfIwnso9kDC+ng9Gimp2WX9QSDBwvgX32nTHUN6auefdlbWDa4AkSeQkuXMQQL+WhCFAbJdwahqPznrlsE31p37SribNxSslsb5uCKfeKCVCVCPimtW5VVV4WQEURN01Mk3rZlEblAv6C21zJTnT3JQixa6s1zenZas86aFAt83fgn5fgR9DWbIXTjRKjVJ3CN7NahbDpGQNcqRse+gPdskqVNVY1YZwHdk3PexqUjvPYw0W8luOuxnYTKcaSGkifqWw67XBesFfvjDWzt5erBlkDprMt/ObDrRaH9tuwge6nyEUtmPfb4+G0rDYfJrl3FStzk1zPS2PxvY4GlQkrX5m3+oQj3DLsHtajv8XeMJrBJYJMe+XdaMg2f8cC8eWH8UXio+metI0utcmL3u8Fd58dzVztgb/EaeMNp/nwqJ4pRX4Ap4MnivYIDqjy7Pk+HglLUf6uEx/yrSiiBJeXnlWpkW6hFUMFoTGlbvaeL1oe7k9DF2y4fOAxO1DM9ehED9Su8M30/LkZTQxAr/ixA9G08SCpgn2rlQvthwpVEeD4I1DfUbXxKgOUw0AbLokKH6GHLc7jgScpGjOjgmVpNU+oZaTgZtmbuxUZy1DCLt03nee9C0wA7LfIy3JaLNHLk05YIYDbCrvJIvJboNErgYG9HI25QPxLTpa1+RxCu34oOuycTsz3+v5Bgzpzu2g2xJTX1vPxQDJpnATJeGkHuoZqjYHChRUbqGNKduDZFkHknJz87rbG3m//BGdNRV+3UIaklwc9ll5j95+B98dEnrbVkasbdp8J08JPl64SmMR1hUDMgV9zSlwm6GXbBb1G+VJ0lOK3+KzDALIQWqtO6hbpTbgY+BoZX4v5HiSuKl0BA7r9Ar2w6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NM7jCat18XkREAoPW744zg",
      "input": {
        "note": "The dragged bottle's neck is under the left jaw, cap just ahead. Shifting ~4.5 cm left and 2 cm forward to center the neck between the jaws.",
        "targets": {
          "right_x": 0.325,
          "right_y": 0.33,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NM7jCat18XkREAoPW744zg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3416, 1.5223, 0.4698, 0.4553, -0.3038, -0.2169, 0.9983, 1.0397, 1.7714, 0.8993, -0.0051, 0.7303, 0.6094, 0.9947]\nstate[eef_state]: left_x=0.3752 left_y=-0.0735 left_z=0.0586 left_yaw=0.017 left_pitch=-0.0044 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3037 right_y=0.2914 right_z=0.0668 right_yaw=0.1181 right_pitch=-0.0402 right_roll=-0.044 right_gripper=0.9947\nstate[joint_eff]: [-0.3487, -5.4359, 5.1624, 1.8242, -0.149, -0.0366, -0.0171, 0.1162, -7.8838, 7.8974, 1.5556, 0.4274, 0.1197, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2bc2fe10159ece55f9a90d06cc54bfbe0baa9fcd13af6c0aabe3f5f0d0ac842",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e0d2c9bd4c067ced8a62b4ca71ed3cb3290598227e4269ecb6c5a3cca196763",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1125a6ce116dfccbc8c53fed0c8da2764812b3c58aab6f54023b71b387c71b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 8.085 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]: [-0.3416, 1.5223, 0.4698, 0.4557, -0.3038, -0.2169, 0.9983, 1.0222, 1.5394, 0.9092, -0.2474, 0.7315, 0.6014, 0.9947]\nstate[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.0586 left_yaw=0.017 left_pitch=-0.004 left_roll=-0.0006 left_gripper=0.9983 right_x=0.2926 right_y=0.2593 right_z=0.1251 right_yaw=0.1041 right_pitch=-0.0399 right_roll=-0.0514 right_gripper=0.9947\nstate[joint_eff]: [-0.294, -5.4496, 5.2855, 1.7802, -0.1636, -0.0562, -0.0171, 0.5812, -6.3658, 8.9915, 1.3455, 0.4664, 0.2466, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3416, 1.5223, 0.4698, 0.4561, -0.3038, -0.2169, 0.9983, 1.0317, 1.7496, 0.8989, -0.0559, 0.7311, 0.6048, 0.9947]\nstate[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.0587 left_yaw=0.017 left_pitch=-0.0037 left_roll=-0.0008 left_gripper=0.9983 right_x=0.3024 right_y=0.2828 right_z=0.0686 right_yaw=0.1109 right_pitch=-0.0576 right_roll=-0.0715 right_gripper=0.9947\nstate[joint_eff]: [-0.4034, -5.2718, 5.1077, 1.7851, -0.1587, -0.0317, -0.0122, 0.7453, -8.212, 8.4034, 1.4872, 0.4225, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3416, 1.5223, 0.4698, 0.4553, -0.3038, -0.2169, 0.9983, 1.0397, 1.7714, 0.8993, -0.0051, 0.7303, 0.6094, 0.9947]\nstate[eef_state]: left_x=0.3752 left_y=-0.0735 left_z=0.0586 left_yaw=0.017 left_pitch=-0.0044 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3037 right_y=0.2914 right_z=0.0668 right_yaw=0.1181 right_pitch=-0.0402 right_roll=-0.044 right_gripper=0.9947\nstate[joint_eff]: [-0.3487, -5.4359, 5.1624, 1.8242, -0.149, -0.0366, -0.0171, 0.1162, -7.8838, 7.8974, 1.5556, 0.4274, 0.1197, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2bc2fe10159ece55f9a90d06cc54bfbe0baa9fcd13af6c0aabe3f5f0d0ac842",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e0d2c9bd4c067ced8a62b4ca71ed3cb3290598227e4269ecb6c5a3cca196763",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1125a6ce116dfccbc8c53fed0c8da2764812b3c58aab6f54023b71b387c71b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XaMeJbpHxCccGbEmRRqgZF",
      "input": {
        "note": "Right arm held at y≈0.29 instead of 0.33. Retrying the lateral shift at a higher z, where the IK may have more room.",
        "targets": {
          "right_x": 0.32,
          "right_y": 0.33,
          "right_yaw": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XaMeJbpHxCccGbEmRRqgZF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3412, 1.5223, 0.4698, 0.4549, -0.3042, -0.2169, 0.9983, 1.0397, 1.7714, 0.8993, -0.0055, 0.73, 0.6094, 0.9947]\nstate[eef_state]: left_x=0.3752 left_y=-0.0733 left_z=0.0585 left_yaw=0.0177 left_pitch=-0.0047 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3036 right_y=0.2914 right_z=0.0667 right_yaw=0.1183 right_pitch=-0.0406 right_roll=-0.0442 right_gripper=0.9947\nstate[joint_eff]: [-0.1299, -5.3265, 5.1624, 1.8144, -0.1783, -0.0171, -0.0171, 0.1162, -8.1162, 7.7197, 1.5897, 0.4371, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d61c168638e4fddc2cdc5846a2fcf7400ed08ebe003006dee3610b02cb1e1154",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6ec70ff4d38d0efcaa122fae303a339feb15bfcc4c3a6efad3109e018a30256",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d49163862a20509205faf5c8d82a5b574a31116f91b63582d882da523fb5561a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 5.03 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]: [-0.3416, 1.5223, 0.4698, 0.4561, -0.3038, -0.2169, 0.9983, 1.0317, 1.7496, 0.8989, -0.0559, 0.7311, 0.6048, 0.9947]\nstate[eef_state]: left_x=0.3753 left_y=-0.0735 left_z=0.0587 left_yaw=0.017 left_pitch=-0.0037 left_roll=-0.0008 left_gripper=0.9983 right_x=0.3024 right_y=0.2828 right_z=0.0686 right_yaw=0.1109 right_pitch=-0.0576 right_roll=-0.0715 right_gripper=0.9947\nstate[joint_eff]: [-0.4034, -5.2718, 5.1077, 1.7851, -0.1587, -0.0317, -0.0122, 0.7453, -8.212, 8.4034, 1.4872, 0.4225, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3416, 1.5223, 0.4698, 0.4553, -0.3038, -0.2169, 0.9983, 1.0397, 1.7714, 0.8993, -0.0051, 0.7303, 0.6094, 0.9947]\nstate[eef_state]: left_x=0.3752 left_y=-0.0735 left_z=0.0586 left_yaw=0.017 left_pitch=-0.0044 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3037 right_y=0.2914 right_z=0.0668 right_yaw=0.1181 right_pitch=-0.0402 right_roll=-0.044 right_gripper=0.9947\nstate[joint_eff]: [-0.3487, -5.4359, 5.1624, 1.8242, -0.149, -0.0366, -0.0171, 0.1162, -7.8838, 7.8974, 1.5556, 0.4274, 0.1197, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3412, 1.5223, 0.4698, 0.4549, -0.3042, -0.2169, 0.9983, 1.0397, 1.7714, 0.8993, -0.0055, 0.73, 0.6094, 0.9947]\nstate[eef_state]: left_x=0.3752 left_y=-0.0733 left_z=0.0585 left_yaw=0.0177 left_pitch=-0.0047 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3036 right_y=0.2914 right_z=0.0667 right_yaw=0.1183 right_pitch=-0.0406 right_roll=-0.0442 right_gripper=0.9947\nstate[joint_eff]: [-0.1299, -5.3265, 5.1624, 1.8144, -0.1783, -0.0171, -0.0171, 0.1162, -8.1162, 7.7197, 1.5897, 0.4371, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d61c168638e4fddc2cdc5846a2fcf7400ed08ebe003006dee3610b02cb1e1154",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6ec70ff4d38d0efcaa122fae303a339feb15bfcc4c3a6efad3109e018a30256",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d49163862a20509205faf5c8d82a5b574a31116f91b63582d882da523fb5561a",
        "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_01Y3uC3jxZKdVfQH9Efs69Y9",
      "input": {
        "note": "Both arms appear to be holding still instead of tracking. Sending small, conservative raise-and-retract targets near their current poses to get them moving again.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.08,
          "left_z": 0.1,
          "right_x": 0.29,
          "right_y": 0.29,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Y3uC3jxZKdVfQH9Efs69Y9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4034, 1.3216, 0.4717, 0.2817, -0.3332, -0.2405, 0.9983, 1.0397, 1.7714, 0.8993, -0.0032, 0.73, 0.6094, 0.9947]\nstate[eef_state]: left_x=0.3567 left_y=-0.0855 left_z=0.096 left_yaw=-0.0077 left_pitch=0.0285 left_roll=-0.0163 left_gripper=0.9983 right_x=0.3038 right_y=0.2917 right_z=0.067 right_yaw=0.1184 right_pitch=-0.0392 right_roll=-0.0423 right_gripper=0.9947\nstate[joint_eff]: [0.4034, -3.1795, 7.8564, 1.4042, -0.3297, -0.1538, -0.0171, 0.0342, -8.0752, 7.8974, 1.6288, 0.4078, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bef650997180f23777c3eecba14b05c6ff6e6f62fbd95addcf4ddd636c785305",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cce31e9e6fcbbcab76b5810fe6dc3284be53f70ebdd7291f7ee3beaadfae5284",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9d48d45583d4fb2b012084bbfd75c4baaf13b6f83cb495a85fb706d068ff6d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 12.09 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]: [-0.3416, 1.5223, 0.4698, 0.4553, -0.3038, -0.2169, 0.9983, 1.0397, 1.7714, 0.8993, -0.0051, 0.7303, 0.6094, 0.9947]\nstate[eef_state]: left_x=0.3752 left_y=-0.0735 left_z=0.0586 left_yaw=0.017 left_pitch=-0.0044 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3037 right_y=0.2914 right_z=0.0668 right_yaw=0.1181 right_pitch=-0.0402 right_roll=-0.044 right_gripper=0.9947\nstate[joint_eff]: [-0.3487, -5.4359, 5.1624, 1.8242, -0.149, -0.0366, -0.0171, 0.1162, -7.8838, 7.8974, 1.5556, 0.4274, 0.1197, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3412, 1.5223, 0.4698, 0.4549, -0.3042, -0.2169, 0.9983, 1.0397, 1.7714, 0.8993, -0.0055, 0.73, 0.6094, 0.9947]\nstate[eef_state]: left_x=0.3752 left_y=-0.0733 left_z=0.0585 left_yaw=0.0177 left_pitch=-0.0047 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3036 right_y=0.2914 right_z=0.0667 right_yaw=0.1183 right_pitch=-0.0406 right_roll=-0.0442 right_gripper=0.9947\nstate[joint_eff]: [-0.1299, -5.3265, 5.1624, 1.8144, -0.1783, -0.0171, -0.0171, 0.1162, -8.1162, 7.7197, 1.5897, 0.4371, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4034, 1.3216, 0.4717, 0.2817, -0.3332, -0.2405, 0.9983, 1.0397, 1.7714, 0.8993, -0.0032, 0.73, 0.6094, 0.9947]\nstate[eef_state]: left_x=0.3567 left_y=-0.0855 left_z=0.096 left_yaw=-0.0077 left_pitch=0.0285 left_roll=-0.0163 left_gripper=0.9983 right_x=0.3038 right_y=0.2917 right_z=0.067 right_yaw=0.1184 right_pitch=-0.0392 right_roll=-0.0423 right_gripper=0.9947\nstate[joint_eff]: [0.4034, -3.1795, 7.8564, 1.4042, -0.3297, -0.1538, -0.0171, 0.0342, -8.0752, 7.8974, 1.6288, 0.4078, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bef650997180f23777c3eecba14b05c6ff6e6f62fbd95addcf4ddd636c785305",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cce31e9e6fcbbcab76b5810fe6dc3284be53f70ebdd7291f7ee3beaadfae5284",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9d48d45583d4fb2b012084bbfd75c4baaf13b6f83cb495a85fb706d068ff6d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmQgKEAgSGAI4AUIIdGhpbmtpbmcSDAeiw9MjK6P1tkA3KRoM+YHVB2KTv5f+VigMIjClYXP8M9xtLSrdMJhB/1vbNb/TuE9V9GOPlqk53m1A8XzL9xT70lVcmEsg7e2+zr8qtge4ZbSApWJPm/GJxGL/vxHC0n3Bcw4ab8JySGyEEQV5nbXEoNjyqdaw2FJ98X8XuIGN7YKqkLumkcSKz4uWs6jQtnzkSOVb4dHo008+7Vf2bVDSTz5X5d55YVZ9PlVQI/SDNBtuXtNzwPtVCEdGbCzV35XpAxEXEXEQjNzUhtfNjkIYWXNxtwd7fPfe91BTkexe63n/+xHqcUZ1amLSEaBIrHYPpm/FMXNDnqU0KBduZyJZNv1b8lq6AOUPg5tc0VOG0xgEvo4BJYciLzi83PpmjuONrBGz7W5dU+Ssro8o61jOBSa5kLm9hDciuCsL0D97g8C4fp6C491DMFxOzc+909hQ/PnkvKYW+bid2/+ExvGSuLKFgypgTM9+/G8iSWcAaFxyNTBn8wsD7qV9vWesgnNpU/Ytz5QTJOYwJI9hfPothvYU4Fpt1lmm4JSsRGarJghiFx0/qkPfLu0jOZNG0quUzlYOmvtdZxJ0LLuHQArYN1WcL9ffje9IpshyoaJZvSFxMdUbNHKS4F/dtNMaJsyknECJuI+/isC7jAfgR8O+0QtJN/fnAGp50+DPZPjgyvkFORCSb2B1QmKCeWmRCHQvkRYFmp7z+/vVTmdf+9FJx8hoCGVYtsEUDQE5CJqjzUCwRPZ1WeA28Y0Yo6ybMftfr+9mlD7Bd9l5P33ZLKqzAjBfppz/XUbctiMacw+ttpYnKj7HEeK5JwVb6hoYDiSyYmIxIg+jRklXmaIBUCwSe5/TPq2x+d07nhvgglqH2wxV4OfhOLjgxzBBaUF+otNoMkKhyCgjQyRM9BwpKvH7embiB9A2e3PxJel5QxgIymi5T8OhsANdOiUQIncZv+0IfUzrx3a62YLR9xSFUua0WIvAyctMDy+Q7CBoXFl4XgtWVdufG4D+oYdZCbSye+mWYwga5zZnpS5bnifcCbteV6zSpb1SkbV3SjXt8C2yyK2+FFknP/yP+qH4I+hI2lRm/sY/Tq6OsXW1cqhQasAu4ASbWc5DIkQDoQHVy+m+Op5V0AoOj6Hz+Mex/iuToQl+UXNIgEP4VNSSO30D3BX2xl6mnVeMUmyV6BJuaIvHLvxyM3XhTdkEcG5Q6Xs2FFOXeaWURWCPcJCqH9x/UT9gY0tLnN0ZBfDCSyaWzd2YfMQjo52rKS6qA9590hKd+XmZNh/AI/Ju6WfYlteALOWHMEXwNbDezoZQiWM5ycRnAlFlv4bkAnsmFYQH9jGGiEgnDa4qUTyLkUN6rW2ahB0tb8SIhRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MDDzUA8hbVpES2SMNsj86X",
      "input": {
        "note": "Left arm is responding again; the right arm is still stuck (its shoulder joint looks near a limit). Asking it to pull back and up to free it.",
        "targets": {
          "right_x": 0.24,
          "right_y": 0.26,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01MDDzUA8hbVpES2SMNsj86X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4103, 1.3239, 0.4778, 0.205, -0.345, -0.2432, 0.9983, 1.1805, 1.4269, 0.8719, -0.3626, 0.7971, 0.7307, 0.9947]\nstate[eef_state]: left_x=0.3484 left_y=-0.0825 left_z=0.0832 left_yaw=-0.0033 left_pitch=-0.036 left_roll=0.0161 left_gripper=0.9983 right_x=0.2428 right_y=0.2674 right_z=0.1416 right_yaw=0.1499 right_pitch=-0.0179 right_roll=-0.0066 right_gripper=0.9947\nstate[joint_eff]: [0.3077, -4.6564, 7.9658, 1.8486, -0.0855, 0.0073, -0.0122, 0.294, -6.8308, 8.9778, 1.3602, 0.5348, 0.105, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e6b9e30dbba00b2ed930fa6d53082b499466238226d9aa6bd4248ab4cbac625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef9f9d1d32274936daf38e7aeb26d88395d8778b431dcc97f99e7e01df3aba67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:608b33e3f00ae3f2d50f8f624ca0e499b25c9ae98d1eb0d90116b060e68821df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 11.18 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]: [-0.3412, 1.5223, 0.4698, 0.4549, -0.3042, -0.2169, 0.9983, 1.0397, 1.7714, 0.8993, -0.0055, 0.73, 0.6094, 0.9947]\nstate[eef_state]: left_x=0.3752 left_y=-0.0733 left_z=0.0585 left_yaw=0.0177 left_pitch=-0.0047 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3036 right_y=0.2914 right_z=0.0667 right_yaw=0.1183 right_pitch=-0.0406 right_roll=-0.0442 right_gripper=0.9947\nstate[joint_eff]: [-0.1299, -5.3265, 5.1624, 1.8144, -0.1783, -0.0171, -0.0171, 0.1162, -8.1162, 7.7197, 1.5897, 0.4371, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4034, 1.3216, 0.4717, 0.2817, -0.3332, -0.2405, 0.9983, 1.0397, 1.7714, 0.8993, -0.0032, 0.73, 0.6094, 0.9947]\nstate[eef_state]: left_x=0.3567 left_y=-0.0855 left_z=0.096 left_yaw=-0.0077 left_pitch=0.0285 left_roll=-0.0163 left_gripper=0.9983 right_x=0.3038 right_y=0.2917 right_z=0.067 right_yaw=0.1184 right_pitch=-0.0392 right_roll=-0.0423 right_gripper=0.9947\nstate[joint_eff]: [0.4034, -3.1795, 7.8564, 1.4042, -0.3297, -0.1538, -0.0171, 0.0342, -8.0752, 7.8974, 1.6288, 0.4078, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4103, 1.3239, 0.4778, 0.205, -0.345, -0.2432, 0.9983, 1.1805, 1.4269, 0.8719, -0.3626, 0.7971, 0.7307, 0.9947]\nstate[eef_state]: left_x=0.3484 left_y=-0.0825 left_z=0.0832 left_yaw=-0.0033 left_pitch=-0.036 left_roll=0.0161 left_gripper=0.9983 right_x=0.2428 right_y=0.2674 right_z=0.1416 right_yaw=0.1499 right_pitch=-0.0179 right_roll=-0.0066 right_gripper=0.9947\nstate[joint_eff]: [0.3077, -4.6564, 7.9658, 1.8486, -0.0855, 0.0073, -0.0122, 0.294, -6.8308, 8.9778, 1.3602, 0.5348, 0.105, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e6b9e30dbba00b2ed930fa6d53082b499466238226d9aa6bd4248ab4cbac625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef9f9d1d32274936daf38e7aeb26d88395d8778b431dcc97f99e7e01df3aba67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:608b33e3f00ae3f2d50f8f624ca0e499b25c9ae98d1eb0d90116b060e68821df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018yrF4f4L4iEqt7hFgo1Ldy",
      "input": {
        "note": "Right arm is free again. Its wrist view shows the dragged bottle's neck ahead and ~3–4 cm left of the jaws. Moving over the neck.",
        "targets": {
          "right_x": 0.29,
          "right_y": 0.3,
          "right_yaw": 0.0,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018yrF4f4L4iEqt7hFgo1Ldy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.411, 1.3239, 0.4484, 0.2581, -0.3458, -0.2436, 0.9983, 1.1259, 1.7638, 0.9585, -0.2745, 0.8272, 0.7883, 0.9947]\nstate[eef_state]: left_x=0.3474 left_y=-0.0822 left_z=0.0817 left_yaw=-0.0034 left_pitch=-0.0141 left_roll=0.0068 left_gripper=0.9983 right_x=0.2747 right_y=0.2823 right_z=0.0689 right_yaw=0.0407 right_pitch=-0.0736 right_roll=-0.1134 right_gripper=0.9947\nstate[joint_eff]: [-0.0205, -4.4376, 5.4085, 1.7802, -0.1587, -0.0415, -0.0122, -0.1846, -9.8803, 8.8274, 1.2772, 0.6227, 0.2662, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91cb326a6076959be1aa9da6c0d30e492181c5bdd385761f7fd7a2a9d890d11d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dccb5862b4a6e201dc0bbb1f22d1b3144bff88b969a89c5a55de56600aa35e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b1708367ba824e0780e7c34daa7c195c4eb18984e291de18502559d5c65c0ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 8.134 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4034, 1.3216, 0.4717, 0.2817, -0.3332, -0.2405, 0.9983, 1.0397, 1.7714, 0.8993, -0.0032, 0.73, 0.6094, 0.9947]\nstate[eef_state]: left_x=0.3567 left_y=-0.0855 left_z=0.096 left_yaw=-0.0077 left_pitch=0.0285 left_roll=-0.0163 left_gripper=0.9983 right_x=0.3038 right_y=0.2917 right_z=0.067 right_yaw=0.1184 right_pitch=-0.0392 right_roll=-0.0423 right_gripper=0.9947\nstate[joint_eff]: [0.4034, -3.1795, 7.8564, 1.4042, -0.3297, -0.1538, -0.0171, 0.0342, -8.0752, 7.8974, 1.6288, 0.4078, 0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4103, 1.3239, 0.4778, 0.205, -0.345, -0.2432, 0.9983, 1.1805, 1.4269, 0.8719, -0.3626, 0.7971, 0.7307, 0.9947]\nstate[eef_state]: left_x=0.3484 left_y=-0.0825 left_z=0.0832 left_yaw=-0.0033 left_pitch=-0.036 left_roll=0.0161 left_gripper=0.9983 right_x=0.2428 right_y=0.2674 right_z=0.1416 right_yaw=0.1499 right_pitch=-0.0179 right_roll=-0.0066 right_gripper=0.9947\nstate[joint_eff]: [0.3077, -4.6564, 7.9658, 1.8486, -0.0855, 0.0073, -0.0122, 0.294, -6.8308, 8.9778, 1.3602, 0.5348, 0.105, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.411, 1.3239, 0.4484, 0.2581, -0.3458, -0.2436, 0.9983, 1.1259, 1.7638, 0.9585, -0.2745, 0.8272, 0.7883, 0.9947]\nstate[eef_state]: left_x=0.3474 left_y=-0.0822 left_z=0.0817 left_yaw=-0.0034 left_pitch=-0.0141 left_roll=0.0068 left_gripper=0.9983 right_x=0.2747 right_y=0.2823 right_z=0.0689 right_yaw=0.0407 right_pitch=-0.0736 right_roll=-0.1134 right_gripper=0.9947\nstate[joint_eff]: [-0.0205, -4.4376, 5.4085, 1.7802, -0.1587, -0.0415, -0.0122, -0.1846, -9.8803, 8.8274, 1.2772, 0.6227, 0.2662, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91cb326a6076959be1aa9da6c0d30e492181c5bdd385761f7fd7a2a9d890d11d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dccb5862b4a6e201dc0bbb1f22d1b3144bff88b969a89c5a55de56600aa35e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b1708367ba824e0780e7c34daa7c195c4eb18984e291de18502559d5c65c0ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D5jckKPdSuZZ2WjAq9hQLx",
      "input": {
        "note": "The right arm hits its shoulder limit before it can center on the bottle's neck (it stays ~4 cm short to the left). Parking it out of the way so the left arm can take this bottle.",
        "targets": {
          "right_x": 0.2,
          "right_y": 0.1,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01D5jckKPdSuZZ2WjAq9hQLx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.411, 1.3258, 0.4362, 0.279, -0.3454, -0.2432, 0.9983, 1.0447, 0.8577, 0.5003, -0.664, 0.7815, 0.6983, 0.9942]\nstate[eef_state]: left_x=0.3467 left_y=-0.082 left_z=0.0803 left_yaw=-0.004 left_pitch=-0.0078 left_roll=0.0042 left_gripper=0.9983 right_x=0.2049 right_y=0.1122 right_z=0.1156 right_yaw=0.0363 right_pitch=-0.0843 right_roll=-0.1147 right_gripper=0.9942\nstate[joint_eff]: [-0.0752, -4.0, 5.9692, 1.8779, -0.1392, -0.022, -0.0122, -0.4308, 0.1299, 7.8701, 1.0525, 0.3883, -0.0806, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92a4ba2b13ccbfa74d63cba64d794e782b89e0fefd07fee778175b7a43a4401e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eabd7e76556a2527d553461ca3717d9bf9f7b689db7aed8f550c97f594b4308",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a5102d79ff04bb4fa66cc2fa9762171c4d0f6b15665ccc6ea48c7168dc22f6b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 7.282 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4103, 1.3239, 0.4778, 0.205, -0.345, -0.2432, 0.9983, 1.1805, 1.4269, 0.8719, -0.3626, 0.7971, 0.7307, 0.9947]\nstate[eef_state]: left_x=0.3484 left_y=-0.0825 left_z=0.0832 left_yaw=-0.0033 left_pitch=-0.036 left_roll=0.0161 left_gripper=0.9983 right_x=0.2428 right_y=0.2674 right_z=0.1416 right_yaw=0.1499 right_pitch=-0.0179 right_roll=-0.0066 right_gripper=0.9947\nstate[joint_eff]: [0.3077, -4.6564, 7.9658, 1.8486, -0.0855, 0.0073, -0.0122, 0.294, -6.8308, 8.9778, 1.3602, 0.5348, 0.105, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.411, 1.3239, 0.4484, 0.2581, -0.3458, -0.2436, 0.9983, 1.1259, 1.7638, 0.9585, -0.2745, 0.8272, 0.7883, 0.9947]\nstate[eef_state]: left_x=0.3474 left_y=-0.0822 left_z=0.0817 left_yaw=-0.0034 left_pitch=-0.0141 left_roll=0.0068 left_gripper=0.9983 right_x=0.2747 right_y=0.2823 right_z=0.0689 right_yaw=0.0407 right_pitch=-0.0736 right_roll=-0.1134 right_gripper=0.9947\nstate[joint_eff]: [-0.0205, -4.4376, 5.4085, 1.7802, -0.1587, -0.0415, -0.0122, -0.1846, -9.8803, 8.8274, 1.2772, 0.6227, 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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.411, 1.3258, 0.4362, 0.279, -0.3454, -0.2432, 0.9983, 1.0447, 0.8577, 0.5003, -0.664, 0.7815, 0.6983, 0.9942]\nstate[eef_state]: left_x=0.3467 left_y=-0.082 left_z=0.0803 left_yaw=-0.004 left_pitch=-0.0078 left_roll=0.0042 left_gripper=0.9983 right_x=0.2049 right_y=0.1122 right_z=0.1156 right_yaw=0.0363 right_pitch=-0.0843 right_roll=-0.1147 right_gripper=0.9942\nstate[joint_eff]: [-0.0752, -4.0, 5.9692, 1.8779, -0.1392, -0.022, -0.0122, -0.4308, 0.1299, 7.8701, 1.0525, 0.3883, -0.0806, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92a4ba2b13ccbfa74d63cba64d794e782b89e0fefd07fee778175b7a43a4401e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eabd7e76556a2527d553461ca3717d9bf9f7b689db7aed8f550c97f594b4308",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5102d79ff04bb4fa66cc2fa9762171c4d0f6b15665ccc6ea48c7168dc22f6b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwsKEAgSGAI4AUIIdGhpbmtpbmcSDNjIQaeunxD6C3i0IBoMBN6x8I9C+Fg+bEUuIjCzzE9H+oEK+drkmrTe81Q0R4NMEwhhkDQYID32RYUMdiQEUOrb56qJy+eMPQ6+1y8qtAqUSk9xJF0v3IL1kGZeTyVp7C5Jq6t4uGrynim8ZOHvoPuSLWPQBVCIDQ31+zho9sMQo7BYQeURdpRmf7u1/E7MaIGaOdA8wMqFc1IJ1nMLNGIjNYO7/PUBsnosa88Ognw/sKfTuGRMuIBZfVDKJOkm8bqOJ0PvGvir9kGyCGfJEVjBKq4HD2FSqNF8+OQmMBaj/Ioqyi28Tq3lq7PAQtiqN0A/1JH2nPSl121snSndGJCyq/ZqrEHhugdzj4wvCcn4+PuTp0MGDRNbLh8ZGWI/KsEM4RO57HOy/uZlv8Y9kjkvWrP5Fp6xxvLyi9W0fy2oKGXg5Wowjn/o+WdnIVttw92z9gTycdk7biuJKJ2OBIYcuUbasu9+7RdQp6Qi9A944qv6laa7FMsW/xXNNRBHRgCXxQEsU1m6H0XYmyQGDo7PfR/xOOqdYdH4Ej7Pqf+tEoMw+Nb5BxK9luUZqoTunK+6dbZDjNyZ98Xjadq+fdLin9Fq8r90yYG+DgdrPng2PoAHdIoWYn3aYx3reujQgBIzxX/0wkwBArJZeYf/fykRVXdUq7pRLSgugh2Upa1J1A6gbWP28PJ5q2/zzTy7t15bUhlXWT7/tAYtgpTIWCQH5QRg6Yc87RSK0vUYN7IvvnUsJaA+QBhhbBrX9yqb/h+GXlS1IiNYI1NqeKNrV/AhyXOctO+kGkFEnsobM3ZLBOqOAJLb8pyre7yD8+Yr9/iYgk0Ivyn/2fckj3BvPJPnvls2/2VUjkrGjW08Vewm3zKVC1Wqqs3vWvVfYpZaqe7evAhgA9KEIPLyZelwY574MMybcRa5NBpQZ8Uv1G1Tz19jCqwJZRalkPoFmeVcDqSaMaloeqJEj+KXqhrNd9/nM+AmfAsPAxOwFpVM5iwDOhFfqnuHTz5DQX3bkmlwmdanw3IY5xU0gAOMnefaPcqBHuBx7azvOhZCDq9lMaXzuywS9Vk4E6J8VUKLROEHeerr758B4pCCsrME/9R9E/T5leMLQjh+FKmhWWL6cazRSTq9MxsVxpxhorEsIXROnYSMmy5vAW8KQ/u1pSRUw7/wjmbrkNRmikj5oQh6vFvCuhE/r1pzImYfOWhsiR4aQ7qGigXmrNOaxYa153dx3LZAu/JDkakwY9hcRlqX2ocww4b8u20MfaUSWBzxDBz7p54v+f/4puvJF/z+jyj+VCaBBtXsvSF0XTr54/b+xL2T8TzmjqjntN7noNuW5LAJrxieb6VadgeSY0qvKRdvLdZSCz5fubNIBJAqYNrhRh2tTXbm0MIUodjFYo3u9mgg4HeiVLf7WlSn7LOTDNj3KYjl8ufbwBz/vh32WjaU4SR8DLK/M/dwGFCjBw2Z+CbKpwHbSVZ0hd+mlX+yYo3oQNLuV06s5rHSbOkpSbyX3ljMrsuoHWUJfbdXTHtTUJyaZnXK/ytSeCmSmp6E0EE6SKUFPq8HudpTttUq/qzfCWIYCZUAiGwAmhAT0iOVE5U0H9fapQiTR3GZ8xU+i5ecw7jXQoA7iGB9jBXTPk1PJBGT5wFp0kw5WbUgRDqA+fMFGNV/DssIFSEOk+bVs9zmnp63nor1hIWz06tCHBYRqBY41wwb+qqFd/ScbmGD3f0oPlExlDXl9Xy+rZCDDnBsyrJMYY0FxspmkeV/2/Qyf7YnazdBAxvXUH6d4iADiAVFCmGUQJh4HycHm59bajezYtFpwGU7qUdjDsfgW75x+P3a6hBMTMBNC430RGbTvu8hanDX6IyqPebJNglFsxG6+0g+iqsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M8hXWFS8dBjWTHezTMeU6T",
      "input": {
        "note": "Top view shows the dragged bottle near the table centre line, cap pointing forward, neck around left-arm (0.30, -0.30). Moving the left arm over the neck.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.3,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01M8hXWFS8dBjWTHezTMeU6T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1061, 1.7977, 0.9592, -0.1135, -0.8356, -0.8219, 0.9983, 1.0534, 0.7502, 0.3954, -0.5743, 0.7845, 0.691, 0.9941]\nstate[eef_state]: left_x=0.2983 left_y=-0.2948 left_z=0.0737 left_yaw=-0.0222 left_pitch=-0.016 left_roll=-0.0006 left_gripper=0.9983 right_x=0.2014 right_y=0.1089 right_z=0.107 right_yaw=0.0517 right_pitch=-0.033 right_roll=-0.0439 right_gripper=0.9941\nstate[joint_eff]: [-0.2393, -7.6923, 8.2256, 1.072, -0.5788, -0.0366, -0.0122, -0.1573, -1.1556, 7.0632, 1.5263, 0.4078, 0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91c5018ebb16a4de0479779bd8cacbb735e49e8ba1e1992d53a070747b5c9528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:348ad9d7122c81e325cd0473c4d54128720c99b5dd35682c314fe83d09227de4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b3f8b98431c5c01492353538a67ebe1a5351a702a26e3777e6347fa335676c74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 60.33 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.411, 1.3239, 0.4484, 0.2581, -0.3458, -0.2436, 0.9983, 1.1259, 1.7638, 0.9585, -0.2745, 0.8272, 0.7883, 0.9947]\nstate[eef_state]: left_x=0.3474 left_y=-0.0822 left_z=0.0817 left_yaw=-0.0034 left_pitch=-0.0141 left_roll=0.0068 left_gripper=0.9983 right_x=0.2747 right_y=0.2823 right_z=0.0689 right_yaw=0.0407 right_pitch=-0.0736 right_roll=-0.1134 right_gripper=0.9947\nstate[joint_eff]: [-0.0205, -4.4376, 5.4085, 1.7802, -0.1587, -0.0415, -0.0122, -0.1846, -9.8803, 8.8274, 1.2772, 0.6227, 0.2662, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.411, 1.3258, 0.4362, 0.279, -0.3454, -0.2432, 0.9983, 1.0447, 0.8577, 0.5003, -0.664, 0.7815, 0.6983, 0.9942]\nstate[eef_state]: left_x=0.3467 left_y=-0.082 left_z=0.0803 left_yaw=-0.004 left_pitch=-0.0078 left_roll=0.0042 left_gripper=0.9983 right_x=0.2049 right_y=0.1122 right_z=0.1156 right_yaw=0.0363 right_pitch=-0.0843 right_roll=-0.1147 right_gripper=0.9942\nstate[joint_eff]: [-0.0752, -4.0, 5.9692, 1.8779, -0.1392, -0.022, -0.0122, -0.4308, 0.1299, 7.8701, 1.0525, 0.3883, -0.0806, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1061, 1.7977, 0.9592, -0.1135, -0.8356, -0.8219, 0.9983, 1.0534, 0.7502, 0.3954, -0.5743, 0.7845, 0.691, 0.9941]\nstate[eef_state]: left_x=0.2983 left_y=-0.2948 left_z=0.0737 left_yaw=-0.0222 left_pitch=-0.016 left_roll=-0.0006 left_gripper=0.9983 right_x=0.2014 right_y=0.1089 right_z=0.107 right_yaw=0.0517 right_pitch=-0.033 right_roll=-0.0439 right_gripper=0.9941\nstate[joint_eff]: [-0.2393, -7.6923, 8.2256, 1.072, -0.5788, -0.0366, -0.0122, -0.1573, -1.1556, 7.0632, 1.5263, 0.4078, 0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91c5018ebb16a4de0479779bd8cacbb735e49e8ba1e1992d53a070747b5c9528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:348ad9d7122c81e325cd0473c4d54128720c99b5dd35682c314fe83d09227de4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3f8b98431c5c01492353538a67ebe1a5351a702a26e3777e6347fa335676c74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7wsKEAgSGAI4AUIIdGhpbmtpbmcSDMkKdgss7HKz5ukPeBoMDcirnBobSVUmoTzpIjBiC08ruNB1HhdzQ4iXHmHV+JHkcTHxmNsd6t/IkZEg9UAAcgd1llLP2D7PXnDfVlEqjAuNT0dqmHiFLWo1eRhp9xQDaO91WA2c69BhCCBi2ADpbG3OVVRYyn+XpO7RnLVtPgm5y+RKUX2cQ6SvTtnDQ+1ChIAUDTmg6+7AAzi9A+u/ZlrC6lVxOfBk/9QQH0HHbCCToFHhYCcxmM6gKpphrU4SXaPmanqEfghwfmaYLGGeDQOvhw4K47wxOUQHxVK84WcaY+ExhUPB//eEEYn7NUXfWIPfz9OowxP8e6YrPprEDnuWiOLHsIgSQ2bixu6B1SVHcYjcqdPB3LOGNm0goFpaW6q2QLqJk+dSbEfat32a1w9ull28iQYAA/7QUDsXjmg9ytLqZ0FXhk4dlSLm8KLZcFn/zF/kILTGePZfVGLFM/qDk+pV/5zP2mE+NHyOXxWMQ4/aY17Rr1aIDnlLYYNaVzkJY83zl0PVidVtONUX2bnXJ2ctOyOpRwLOeu+9my1ku8bj8TOrFMpxVOmRsrimia9x0e0U778dZLarZepU0ZuyGhUfT/8X8svPIx73WDIwflJ141l85NRzdfMssFN7TbCsaUI4/WAjgGORQKLRvGg3FURqnlnksMwwQhT67kxjHV2L5t9ibTTLio4mfI5q6NJSKFarT0ZhReVFWRZnIRIt2sG2Dercd/CxfB7eziHNOKDJEtmKRbTi64LQfTivNX3OI6SM+2svmyXPLEHyG6eF9L8q9GpA0pFUIVfXGMOrufcogwUiQGAO3TVC42sPBrd/VB3ikXBYPfm4nG+vTCPuLunpYwRsChsCFOWfjPOWSSwjjWfN4Pqfjq5f01ofMK4qRzlS5uKFfoV0nWsBwxOI7/O8PP+A0EiyGjCOQPriKWAkRmo5s1EKiIA7VDYkV966p3wFhsHNFitMpxpMFnb4l/8vW42K8UqCmU5IhSSpKrQA2yd++6Z7Ml7Tou4Lb8N9dFkJ7H51PEZ8vwI+uKBNnqHV1VWdox5KgPNJnEc1Bka3Bk3hjPT5CTkWnKdEPNJct0Tx7vLZHObm7cZu6N8FzEzxnZUupRxz+unmPygSqJSGfACRiBV74AbNDyAmE/J8XNh+bTYWPiy1oI2iV68Nl6bsY645mXTx+yFAjpoRoShr9NrylzHrkVCyv3iiiESM6zHXCPWjHQ/dpj0R8UXupXiZmazG5bLNctpqNViGmLI/0enCZq/jH1o9EywYnocNVXlO1ltucVa6PI7+vRzFqIw8t1ebmpgINxd1bzjYmaVvu+dv5zv+ZIRWRRpQ8F1wwtaHi8e6PYeTJdN5wIcLVUnebLLdgueDbPdYPPGVOOz2npqmVMJtP8EJBHBMngsmSjY0UIsXpTw3scJyL1t2cYLs9j12d8nvDUh130a39ch4crB7iUPGw0GylD5uu+HCMrk4MuF05QZSmUrs6CEcs5epJKthcIs9ntQc94H73Q6bcdZjiCd8BY92An8byqeC0wPA2ZXhZYWntZ/4KfCOWC+8AZrF94UxHJ1j4BRCE8hYIWwPcxJZCEUg5L2UJ3PsMwt0bSHNOwyt7Cl3cNg/MDZOg9kFJTpn7aI8m5pzaEWza5/SIwjJSCphpB8PKgjqA+IEJO2F3z/yaYggYH24JCZj0Ac/7hwkEWGlutxJfXlnWchcMQwvPN9tu92ePJqVsNnQ9HJH6sOIvd7l9fHCIV/vhxtBJlco5LZVhuR2RDKqzZm1dM908VXJF3fYbQSuCU72rhI4/FfmdzENOH88zrgfyGtojjwGHyDecg5gfbiwYs6AmDr+8EW4VrE1IBT98JhKTZW35bKsxkQuX/b0+uo6jnZsyh2NDQ9ybe+v6l2aKfYWsXuFI2tXLkrS0LLnKFLTanmDSN5d8p/CkWhQfZV43NRCFMdwOd7f+ricluUamQCguD5p2bJvwEjDSOsew6tMPwY3dt4/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WYrNwtkTLJYSnRivQqe2Fk",
      "input": {
        "note": "Left wrist view shows the bottle's upper body/neck running between the jaws, cap just ahead. Descending onto the shoulder of the bottle to grip it there.",
        "targets": {
          "left_y": -0.29,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WYrNwtkTLJYSnRivQqe2Fk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.111, 1.879, 0.8825, 0.0254, -0.8463, -0.831, 0.9982, 1.0538, 0.7101, 0.3599, -0.5579, 0.7822, 0.6903, 0.9941]\nstate[eef_state]: left_x=0.2945 left_y=-0.2885 left_z=0.0361 left_yaw=-0.0158 left_pitch=-0.017 left_roll=0.0127 left_gripper=0.9982 right_x=0.1994 right_y=0.1061 right_z=0.1025 right_yaw=0.0545 right_pitch=-0.0232 right_roll=-0.0258 right_gripper=0.9941\nstate[joint_eff]: [0.6769, -8.3077, 5.3538, 1.0867, -0.2711, 0.3101, -0.0171, 0.2393, -0.8957, 6.4342, 1.5214, 0.3932, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60e042b99d5e5e41f3c8316326a8052df5b970e45096ef1c523d6738d216ca52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91d4608547133e210206ebdfebac36f2e04bab3cd2ad02943a89f02e238de793",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c95698f8d6dc3e767f5ef6af975af5ad5fd788247459d08a87f71444afb77965",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /messages · status 200 · 5.193 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.411, 1.3258, 0.4362, 0.279, -0.3454, -0.2432, 0.9983, 1.0447, 0.8577, 0.5003, -0.664, 0.7815, 0.6983, 0.9942]\nstate[eef_state]: left_x=0.3467 left_y=-0.082 left_z=0.0803 left_yaw=-0.004 left_pitch=-0.0078 left_roll=0.0042 left_gripper=0.9983 right_x=0.2049 right_y=0.1122 right_z=0.1156 right_yaw=0.0363 right_pitch=-0.0843 right_roll=-0.1147 right_gripper=0.9942\nstate[joint_eff]: [-0.0752, -4.0, 5.9692, 1.8779, -0.1392, -0.022, -0.0122, -0.4308, 0.1299, 7.8701, 1.0525, 0.3883, -0.0806, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1061, 1.7977, 0.9592, -0.1135, -0.8356, -0.8219, 0.9983, 1.0534, 0.7502, 0.3954, -0.5743, 0.7845, 0.691, 0.9941]\nstate[eef_state]: left_x=0.2983 left_y=-0.2948 left_z=0.0737 left_yaw=-0.0222 left_pitch=-0.016 left_roll=-0.0006 left_gripper=0.9983 right_x=0.2014 right_y=0.1089 right_z=0.107 right_yaw=0.0517 right_pitch=-0.033 right_roll=-0.0439 right_gripper=0.9941\nstate[joint_eff]: [-0.2393, -7.6923, 8.2256, 1.072, -0.5788, -0.0366, -0.0122, -0.1573, -1.1556, 7.0632, 1.5263, 0.4078, 0.0904, -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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.111, 1.879, 0.8825, 0.0254, -0.8463, -0.831, 0.9982, 1.0538, 0.7101, 0.3599, -0.5579, 0.7822, 0.6903, 0.9941]\nstate[eef_state]: left_x=0.2945 left_y=-0.2885 left_z=0.0361 left_yaw=-0.0158 left_pitch=-0.017 left_roll=0.0127 left_gripper=0.9982 right_x=0.1994 right_y=0.1061 right_z=0.1025 right_yaw=0.0545 right_pitch=-0.0232 right_roll=-0.0258 right_gripper=0.9941\nstate[joint_eff]: [0.6769, -8.3077, 5.3538, 1.0867, -0.2711, 0.3101, -0.0171, 0.2393, -0.8957, 6.4342, 1.5214, 0.3932, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60e042b99d5e5e41f3c8316326a8052df5b970e45096ef1c523d6738d216ca52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91d4608547133e210206ebdfebac36f2e04bab3cd2ad02943a89f02e238de793",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c95698f8d6dc3e767f5ef6af975af5ad5fd788247459d08a87f71444afb77965",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3gYKEAgSGAI4AUIIdGhpbmtpbmcSDKIG7XA1MqK0InzAvBoMOlUmL74j2W9xXNaWIjD5wLdpgqCjxZxfzeUvXLGsWb6Pu6LkGG2OWJzPJrzE+qVFDM71YvSWee1leNQnAEIq+wX88zQPFplWPMIl4T6CNg3EuFCGhlzYba+D9r9D78QnjI/T/cRG5tYpEgHPE0plqvn+oSJdeHlB8D4tf9Gqt8Q0daEDT2ri61Fl51/SPwA0Auy0tG7FJ89cAYzLBqEEYKe3bYB/8qPUyPRN3FksPzdOKvIvOgCNF/hbJoxYSeWg2msMqEoxXCvcUaEsFOl4T3OVHE4O74gcyL5gug6wgP/lSkNYfykuhtevQOmEvZ01oQAQf7lS2/S7ZJdBxwed78/1YCrkZV1DYEI+kuHIkaKKfZeolDbavsN3c4lIiwmWcDTmVsNMVpr4xhOXNBgx4QR/M06ndHb2rKodqC6kJlWqAE8krm/3FDsuy+Ny8lH7ITYzU5p3BdZ1Obzl25n3MPSaZ4hW/PzFdsHzO8cF+MAwRd0oH2M2VjQ0gAdPZzJSIYvX6ZjvOO5uepaJWxa6jQUC1a0yY+/QTA7T4hqzgOvAda+kpSpVudIUvF0d41oqTdWwHs9zPyKoZuz1b5VpExqTtkZqxycZuVrBCNksr2eRJhybWTddp/8QH+DWqvRz6MWMIGDj3nmzpf0PBLi8nbd/932cT3xoyghpzKzExow5kcGPbOcYlt4TrNPSGJxZoO/Wut3SWRRNhfoSepRFqZSL3YdpIiSOr4hWNxyvJv/H/HM5crWk2AJixfda+l3/Z2kry/2DTqVEVOwd9QT7QEQCVMbECbvSaBJGIw3OYAagSJHPYQ17vOZ5h9pWJX9xu268IrK28ebbn0K94kSGPEcBv8eRi+lQ2HWjvcGMmxxiO3Ji2ZZNqjDptp9W0K0Gp2r1cAeeiWE3o1W7gOMFCMSH6XXRiojeo/+kNJ8bChqeKQxbKrVLqIADzU8WqeiuHKTsIaX4slaI5XekwSAn4oC0Bk1W2B1zceGHdFPDh4LX0tRn87EnkP0nQo/X3PYeQhsmoR1bLJWwn0C5n4GZAV0NntjQAh+0WkZlVmaXvVDYQaUjSSsKyL29c71+pKdNWWFzTGdqmIlS9CC9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XTJwPypuvJJN2sy64EExhQ",
      "input": {
        "note": "Bottle's upper body is between the left jaws at z≈0.036. Closing to grip it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XTJwPypuvJJN2sy64EExhQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1076, 1.8774, 0.8738, 0.1291, -0.8948, -0.8391, 0.3504, 1.0546, 0.6861, 0.3389, -0.551, 0.7818, 0.6899, 0.9941]\nstate[eef_state]: left_x=0.3042 left_y=-0.2927 left_z=0.0508 left_yaw=0.0227 left_pitch=0.0603 left_roll=-0.0636 left_gripper=0.3504 right_x=0.1981 right_y=0.1041 right_z=0.0996 right_yaw=0.0558 right_pitch=-0.0181 right_roll=-0.0176 right_gripper=0.9941\nstate[joint_eff]: [-0.759, -8.5128, 4.6564, 0.6813, 0.0904, 0.105, 0.2808, 0.3077, -0.6906, 6.2701, 1.4432, 0.3687, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27a8850666d6bdea5e58adcd60521e2372fb982f6fcaace04d0be671d2a6292b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5733ba5116b874760db224501034325a45fb86e8af13ec9f9bba784bbc86652",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:605cf22395926a02e06c1202777cdbc4c10117dc6d7912478ebc6e1a20be9767",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 7.491 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1061, 1.7977, 0.9592, -0.1135, -0.8356, -0.8219, 0.9983, 1.0534, 0.7502, 0.3954, -0.5743, 0.7845, 0.691, 0.9941]\nstate[eef_state]: left_x=0.2983 left_y=-0.2948 left_z=0.0737 left_yaw=-0.0222 left_pitch=-0.016 left_roll=-0.0006 left_gripper=0.9983 right_x=0.2014 right_y=0.1089 right_z=0.107 right_yaw=0.0517 right_pitch=-0.033 right_roll=-0.0439 right_gripper=0.9941\nstate[joint_eff]: [-0.2393, -7.6923, 8.2256, 1.072, -0.5788, -0.0366, -0.0122, -0.1573, -1.1556, 7.0632, 1.5263, 0.4078, 0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.111, 1.879, 0.8825, 0.0254, -0.8463, -0.831, 0.9982, 1.0538, 0.7101, 0.3599, -0.5579, 0.7822, 0.6903, 0.9941]\nstate[eef_state]: left_x=0.2945 left_y=-0.2885 left_z=0.0361 left_yaw=-0.0158 left_pitch=-0.017 left_roll=0.0127 left_gripper=0.9982 right_x=0.1994 right_y=0.1061 right_z=0.1025 right_yaw=0.0545 right_pitch=-0.0232 right_roll=-0.0258 right_gripper=0.9941\nstate[joint_eff]: [0.6769, -8.3077, 5.3538, 1.0867, -0.2711, 0.3101, -0.0171, 0.2393, -0.8957, 6.4342, 1.5214, 0.3932, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1076, 1.8774, 0.8738, 0.1291, -0.8948, -0.8391, 0.3504, 1.0546, 0.6861, 0.3389, -0.551, 0.7818, 0.6899, 0.9941]\nstate[eef_state]: left_x=0.3042 left_y=-0.2927 left_z=0.0508 left_yaw=0.0227 left_pitch=0.0603 left_roll=-0.0636 left_gripper=0.3504 right_x=0.1981 right_y=0.1041 right_z=0.0996 right_yaw=0.0558 right_pitch=-0.0181 right_roll=-0.0176 right_gripper=0.9941\nstate[joint_eff]: [-0.759, -8.5128, 4.6564, 0.6813, 0.0904, 0.105, 0.2808, 0.3077, -0.6906, 6.2701, 1.4432, 0.3687, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27a8850666d6bdea5e58adcd60521e2372fb982f6fcaace04d0be671d2a6292b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5733ba5116b874760db224501034325a45fb86e8af13ec9f9bba784bbc86652",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:605cf22395926a02e06c1202777cdbc4c10117dc6d7912478ebc6e1a20be9767",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7AcKEAgSGAI4AUIIdGhpbmtpbmcSDJ3BWOKOee1fX4179BoMw96H8x7t1dk5zu+kIjCXQTbKz9tyI2KXKhwUhtkn2qUcj7bNTe8FtOAOwBERehyfH/GZL/qs2jyWApS0MQAqiQfUC7zwtb1HRJnJDqwX3S8g25hfqblM7u8m61VQuyohUyU79NiD84c1hg97RY0x2hW43YPP3PMevQOJNs8VtyMi2qMs0Fm7MFBY6oD4IjzsY2aHgqVEuzqDeV6pryI6GZ4NbG/2WOWCNfL00I4bKR4HMUXUNXTOWFofkoX1QBC9wIouhJEBeSw2UYtTmyZ05KrApnK/wFL7TB9VFr6GPINfqNZAAAYH65PWQaTrkoQgXjOg4OC6K9rjhyMctbTvGRZnTRfIBiSzVY7BEpjVCxo560ZVC5ZrniGobXl1Al0qGfWt9EsIdu9msD1ZyP+L6MpwqMOIKFYB+vARnXAz1DpZDqhQOi4bURdtxe7pp37O5/h21xsjN120PsbEZFf5y5MH1zJvk+WbCcHZl2RYkfDbyneXWwaeUhBePSAa4v8RrfkicD+2VrdsAu7N8g5ncaHcZcvrv/6FUcS7JfrvdLRZXdpHhzy2NUCRHUGKB3CeWfgPzLyElH0kXzueu3BVXvcpxGxVhQeh7xSzXMn1es6Veovtbf6HTJcMKHZb96MRCoPyeUMCuPTVGQkESUs7Ojy4x1Fx8FoA1HZM9Cpe32nups8/bj5RFVCAfBiUPJ6zSTBOGtkqmKB+Q42AFpLplgVdNCK+MBcsLUPEqgYFgdHN/aIcdMc1qqkSz32SaezhGLEST4EuahHMMewAqB90kGSVnpGLVhIpGi7YeQmkWUrQ4plojjzPPkTu5iNQJYqTZcL7aiVXsjkiXS6jp6uC1UBe+N0X7seJM+D3zRzGi4eArE1EcrLQoy2Km9u+W9Wde7Yw8jfuYcQz2PnpIxLsjCpFemrWdKm2xszhhGUlgXN9kWGRq9OXJmmQfsJ6Xu/d85RNNBIWbXlUC+W5015/zQsRZtb4Tw/rTLrNiTm6QNPyzDWph9CqLZFXrKz2Ze27+h2nJQkl0PEbXzzhwixeLufoWVe6sQINubPVyejXz/R1vKYSKLdOr4d14vGfWd+j91pfrwUFvhn3Gv5M8EMhDMAd0Ic+JzgZCFJ6se9yURHPlTIURzsQU6DU4hoc+hBH109S6Y24zzphH8+YJQ/ajmw2Kez/hcldmeCBL/0heioMPjMmG13WlVJfR1IHlwvKcg2y7Q/ecqvmB/yiCx33tr/Id9UF9Hd52uVv9L9KeGfXrY1on1raj83w36sbYDzd81k5skJPyXfefBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015Fg9evUHnUXUNNw1CeMoFj",
      "input": {
        "note": "Gripper settled at 0.35, so the bottle is held near its neck. Lifting high so the bottle can swing down and hang vertically from the grip.",
        "targets": {
          "left_x": 0.26,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_015Fg9evUHnUXUNNw1CeMoFj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.2182, 1.6684, 1.71, -1.1084, -0.8993, -1.0328, 0.3491, 1.0546, 0.672, 0.3225, -0.5491, 0.7818, 0.6903, 0.9941]\nstate[eef_state]: left_x=0.2626 left_y=-0.3029 left_z=0.2874 left_yaw=0.0141 left_pitch=-0.0148 left_roll=-0.0505 left_gripper=0.3491 right_x=0.1969 right_y=0.102 right_z=0.0961 right_yaw=0.0556 right_pitch=-0.0183 right_roll=-0.0177 right_gripper=0.9941\nstate[joint_eff]: [-0.8274, -6.8991, 7.8154, 0.7106, -0.7985, -0.0122, -0.149, 0.3761, -0.7316, 6.5162, 1.453, 0.3883, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02f6dc8a9427c82b163a9d6bb43d666de0d0d07803144360c91e2a5353798f4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcd4ee831da038c6491e1b8d740deb08dd93688a57c3c0205151a29c7e15f59e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:997cca2e6101d9bb229f52755c618179b95c3eb0419ec44950cb853f080a359b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 15.63 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.111, 1.879, 0.8825, 0.0254, -0.8463, -0.831, 0.9982, 1.0538, 0.7101, 0.3599, -0.5579, 0.7822, 0.6903, 0.9941]\nstate[eef_state]: left_x=0.2945 left_y=-0.2885 left_z=0.0361 left_yaw=-0.0158 left_pitch=-0.017 left_roll=0.0127 left_gripper=0.9982 right_x=0.1994 right_y=0.1061 right_z=0.1025 right_yaw=0.0545 right_pitch=-0.0232 right_roll=-0.0258 right_gripper=0.9941\nstate[joint_eff]: [0.6769, -8.3077, 5.3538, 1.0867, -0.2711, 0.3101, -0.0171, 0.2393, -0.8957, 6.4342, 1.5214, 0.3932, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1076, 1.8774, 0.8738, 0.1291, -0.8948, -0.8391, 0.3504, 1.0546, 0.6861, 0.3389, -0.551, 0.7818, 0.6899, 0.9941]\nstate[eef_state]: left_x=0.3042 left_y=-0.2927 left_z=0.0508 left_yaw=0.0227 left_pitch=0.0603 left_roll=-0.0636 left_gripper=0.3504 right_x=0.1981 right_y=0.1041 right_z=0.0996 right_yaw=0.0558 right_pitch=-0.0181 right_roll=-0.0176 right_gripper=0.9941\nstate[joint_eff]: [-0.759, -8.5128, 4.6564, 0.6813, 0.0904, 0.105, 0.2808, 0.3077, -0.6906, 6.2701, 1.4432, 0.3687, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.2182, 1.6684, 1.71, -1.1084, -0.8993, -1.0328, 0.3491, 1.0546, 0.672, 0.3225, -0.5491, 0.7818, 0.6903, 0.9941]\nstate[eef_state]: left_x=0.2626 left_y=-0.3029 left_z=0.2874 left_yaw=0.0141 left_pitch=-0.0148 left_roll=-0.0505 left_gripper=0.3491 right_x=0.1969 right_y=0.102 right_z=0.0961 right_yaw=0.0556 right_pitch=-0.0183 right_roll=-0.0177 right_gripper=0.9941\nstate[joint_eff]: [-0.8274, -6.8991, 7.8154, 0.7106, -0.7985, -0.0122, -0.149, 0.3761, -0.7316, 6.5162, 1.453, 0.3883, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02f6dc8a9427c82b163a9d6bb43d666de0d0d07803144360c91e2a5353798f4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcd4ee831da038c6491e1b8d740deb08dd93688a57c3c0205151a29c7e15f59e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:997cca2e6101d9bb229f52755c618179b95c3eb0419ec44950cb853f080a359b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS1QsKEAgSGAI4AUIIdGhpbmtpbmcSDBOfVH4vTOWjtVBvXxoMKysN2VayPq4LtyHcIjD++gj0tzvpESyVFmmuzhiLY3LfzhrSXSuha9ZKY2NweSi46K+Hupzffs/PNIT8qVIq8goH07+Wqf85oB+n/uibhSL6uju/irJvVHYG8bxBpu1SluHcqsPyq6EMfR/6oGg6+7W+Vtt/enVMa9TQO+7ZvLZOv+LawHhU+iTO7ni7PBz2mKhoQCK2AiQJfcecfIZgwWfldtSoCIMADon85vyL2JE0fpuPtpVSmih38XF4dGi3PCz9RSfLDcLzwXy6ku43AprzbUsoobHY4/sfrX5QTXojduc3VE1/lfWrFI2xfdpNGYKB5RdMVQzDReiGPkb2Q58ub53Plsyw+7ydkvR1qWRP6Kb25DdR5PZ9U4kuNK62iJqMax6kojzlYU3tu4PcPnsTGVf/VkPNW615T7pgEZ5FE15+DKFf/Ihww+YWr4YB+5Rgq27h9quZ2hGN4zPU1eqsQmPgG/HRfM3XbSxikEk8rtUR84DZwchI4Irv34kgdDH5YZBJ7Hh8nP+1c1HzObPlzqsthhxSx+aNhYO/7UEFIi0cV1+UMVmK2nCHfktj4yBCvZhBERn1eVB7BotmQKhM0hJdFq9+wPCWE6cV47DhHAKu7n6ui5kJc0sX8O7gvGzZuNxDWl9c0E6k/+W8Is9euyoKxaXLF52oLDrPUnZRU8RopKqSCF1LNxJnutCwOUVA/haufNBLiauIKqhyV0JJiy5UDT/HVo4a0qtRczxbMiVLDOf5Nb+eL5W4gGHUpE3TB34NoqwbcxGlcpqwxy6Fy8/EzKxkuTyOdo8HVH6g/d40GvCa64Ffl7odr7N+FlfOvqO2FJ0zntRnzQ0CyLfhoQ5cz9Lhg43ClYNJ+GBiNSBLA7w7DU6KIBhiKNgrHVmhGlFY/bQrCpQJSodoRwdHEFOapcWibcTgMK1fSi0gqbyR9K7lHK6hnYFpaK5Ts+n5EhanM0MHu+cv9FkrO5F9BhPhr9itKHY+HdsIUiKMNZoF7hAVo+v2xZxZUUi5G9DXAolifjIxFSNr98ZXVcPVzaKlL8SqXHgq7zJMDZeSW7B6vrH19u6QtLAYBBXwR7g4plCnj3Q5zayRa+HqQC5QVSjd/Jyg5rEPGKL9x+jzTV1IccJkE93A2z4rfV884sGOQivZG2uijeyulKjSbeZT4W5noT/wuXH66CcTWOXRlMz9C62igVBPlqo9cEnmKHP/oGMYl7h5VJu9dKPUsXmsseSXmj1AgyKuP6s2b3+rzBTV0kbRBRr0dO76eZiu0v0PwVYiXqSxy+cggfXO1p8RaaMqz/PAceLEF6QigWm/vGCZyKN59QzY6/WrAQ5XfzAcuB+lsuCazwJBTDn4Z3wpcOfkr6xJ6DMioIjQDCTCbr9JEF8vSm7JfuyB+q+BUpmzOjfWfk/3L7Blpncy7Ej/0Rk76y0WwJ70QWRGIDvcoGg0tcGXenCiFury2pj3bRDGy/O9NR1rbcwbXG+humcJflOxjRQ2k/AgMyY0XducyCxdZPqikIc3R8T225N9SPjRU1RNjYTZBowIFnlCXJzzGdEbx0zSvBUfg2Ki2InBSMVVQLjDGIBbmBAsC7qTyrcH5CFogdEQ4H5U7/+uEKQ/12hAgYb9/J/pg+tIkfUSQsy/wXwkmxvDJqWc0zG79v0ivFIPHtf06QaGHqR9UGzwAuoR65rooyhrq0SjIAWDhc5L1Yf/D317age6rLIGPFxKUb19H3KNJJbhHMxJ3XjxZwpTUmQHjncVWpXfsAg2aDJulMDJ4T+FmOwxHS1XHxK/q2ATIlC72vH04gZQaBin+V+rCJ8WHHbsTzyuWOzF07V/dJY+sa3LlldAKv3+wCakr9NauzvF9VWfvXzmv8d1P5GwEpf02JouFAxUt2CsNKzdMFnXPOeThoCiu6HMc22pgaBYveRsrIVOTfNg+BoU3BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HMBoBdG8RR2AZLECkSCAiu",
      "input": {
        "note": "Bottle is lifted; the wrist view shows its body hanging below the jaws. Lowering so its base touches down upright.",
        "targets": {
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01HMBoBdG8RR2AZLECkSCAiu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.2243, 1.6684, 1.2575, -0.7372, -0.9138, -1.0393, 0.3489, 1.0546, 0.6559, 0.3077, -0.5484, 0.7818, 0.6899, 0.9941]\nstate[eef_state]: left_x=0.2596 left_y=-0.2967 left_z=0.1697 left_yaw=0.0197 left_pitch=-0.0291 left_roll=0.0251 left_gripper=0.3489 right_x=0.1957 right_y=0.1 right_z=0.0933 right_yaw=0.0559 right_pitch=-0.0173 right_roll=-0.0164 right_gripper=0.9941\nstate[joint_eff]: [-0.5128, -7.241, 6.8581, 1.0183, -0.6129, 0.1783, -0.0366, 0.3487, -0.3897, 6.2974, 1.4432, 0.3785, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d80166f9e16917bc8a9575406a2c4986e1e46298040868446f294fcd088d4c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cff5b1c718d362e2474bea17422f1a1db5a4234561cbea73d0f9f640586b6e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b30330fb934939875d633a00c977428cc79fd4a9ee99badfa2ac3baf3cd660c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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