adhoc

completed
2026-09-22T19:12:04.274416+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
304.5 s
total steps
278
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

done

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 mid-table with caps pointing away from the bases. Moving the left arm over the left bottle to line up a grasp near its neck.
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]: [-0.0204, 0.7937, 0.6083, -0.3771, -0.0223, -0.0284, 0.9986, -0.0166, 0.7898, 0.6041, -0.3859, -0.0292, -0.0345, 0.9998] state[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1826 left_yaw=-0.0005 left_pitch=-0.0004 left_roll=0.0001 left_gripper=0.9986 right_x=0.2937 right_y=0.0039 right_z=0.1799 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.4444, -1.4154, 9.7026, 1.7607, -0.0513, 0.1441, -0.1587, -0.841, -1.2513, 10.3726, 1.917, 0.0757, 0.1783, -0.0366] 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}, "note": "Three bottles lie on their sides mid-table with caps pointing away from the bases. Moving the left arm over the left bottle to line up a grasp near its neck."})
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 noteThe left wrist view shows the left bottle's cap just left of the jaws; shifting ~3 cm left to centre the jaws over its neck.
move_to
left_x0.4100left_y-0.0850left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4236, 1.4902, 0.8509, -0.0483, -0.3416, -0.2562, 0.9988, -0.02, 0.7925, 0.6033, -0.4034, -0.0292, -0.0357, 0.9998] state[eef_state]: left_x=0.4032 left_y=-0.113 left_z=0.1271 left_yaw=-0.0132 left_pitch=-0.0794 left_roll=0.0211 left_gripper=0.9988 right_x=0.2914 right_y=0.0029 right_z=0.1752 right_yaw=-0.0026 right_pitch=-0.0213 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.3214, -6.9812, 8.8821, 1.8095, -0.2662, 0.0513, -0.1392, 0.0342, -1.4427, 7.0632, 1.9219, -0.0611, -0.0562, -0.0122] 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": 0.41, "left_y": -0.085, "left_z": 0.12}, "note": "The left wrist view shows the left bottle's cap just left of the jaws; shifting ~3 cm left to centre the jaws over its neck."})
tool
executing move_to over 3 steps (0.3s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe bottle's cap is still left of and ahead of the jaw column; shifting further left and forward toward its neck.
move_to
left_x0.4300left_y-0.0500left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3355, 1.4902, 0.733, 0.086, -0.3031, -0.2249, 0.9984, -0.02, 0.7891, 0.5865, -0.4, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.401 left_y=-0.0802 left_z=0.1022 left_yaw=0.026 left_pitch=-0.0738 left_roll=0.0176 left_gripper=0.9984 right_x=0.2895 right_y=0.0029 right_z=0.1692 right_yaw=-0.0028 right_pitch=-0.0313 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-1.0051, -7.0769, 7.4051, 2.2002, 0.0952, 0.2027, -0.0464, -0.0889, -1.935, 6.8581, 1.9072, -0.0611, -0.0317, -0.0122] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.05, "left_z": 0.13}, "note": "The bottle's cap is still left of and ahead of the jaw column; shifting further left and forward toward its neck."})
tool
executing move_to over 3 steps (0.3s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe left arm's shoulder is at its limit around x≈0.41; the bottle lies just ahead with its cap slightly left. Descending to see where the jaws sit relative to the bottle.
move_to
left_x0.4100left_y-0.0650left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2928, 1.4902, 0.7101, 0.1677, -0.2775, -0.2096, 0.9984, -0.02, 0.7769, 0.5564, -0.3935, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.4091 left_y=-0.069 left_z=0.1077 left_yaw=0.0385 left_pitch=-0.0239 left_roll=-0.0043 left_gripper=0.9984 right_x=0.2858 right_y=0.0031 right_z=0.1601 right_yaw=-0.0025 right_pitch=-0.0427 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.1709, -6.612, 5.5179, 1.873, -0.0855, 0.149, -0.0171, -0.3761, -1.7709, 7.2, 2.0488, -0.0513, -0.0366, -0.0122] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.065, "left_z": 0.05}, "note": "The left arm's shoulder is at its limit around x\u22480.41; the bottle lies just ahead with its cap slightly left. Descending to see where the jaws sit relative to the bottle."})
tool
executing move_to over 4 steps (0.4s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe left arm is stuck at its shoulder limit and won't descend. Backing it off and raising so it is free and the overhead view is less occluded.
move_to
left_x0.3300left_y-0.1200left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2928, 1.4902, 0.7094, 0.1833, -0.2771, -0.2096, 0.9983, -0.02, 0.7555, 0.5175, -0.3744, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.4109 left_y=-0.0696 left_z=0.1104 left_yaw=0.0381 left_pitch=-0.0099 left_roll=-0.0093 left_gripper=0.9983 right_x=0.2821 right_y=0.0032 right_z=0.1519 right_yaw=-0.0025 right_pitch=-0.0412 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.1709, -6.5846, 5.8598, 1.8339, -0.1245, 0.1148, -0.0171, 0.1709, -1.6479, 6.735, 1.9951, -0.0513, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.12, "left_z": 0.2}, "note": "The left arm is stuck at its shoulder limit and won't descend. Backing it off and raising so it is free and the overhead view is less occluded."})
tool
executing move_to over 7 steps (0.7s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteOverhead view puts the middle bottle about 15 cm right of the left gripper (y≈-0.30). Moving over it to check the mapping between the overhead and wrist views.
move_to
left_x0.4000left_y-0.3000left_z0.1500left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.59, 1.2514, 0.794, -0.0612, -0.44, -0.3485, 0.9983, -0.02, 0.7303, 0.4755, -0.35, -0.0296, -0.0357, 0.9998] state[eef_state]: left_x=0.3623 left_y=-0.1477 left_z=0.1945 left_yaw=-0.0486 left_pitch=0.0953 left_roll=-0.0851 left_gripper=0.9983 right_x=0.2787 right_y=0.0032 right_z=0.1443 right_yaw=-0.0023 right_pitch=-0.0335 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [3.959, -4.8752, 9.0735, 1.5751, -0.9109, -0.1197, -0.0171, -0.335, -0.8137, 7.1453, 1.9707, -0.0659, -0.0757, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.3, "left_z": 0.15, "left_yaw": 0}, "note": "Overhead view puts the middle bottle about 15 cm right of the left gripper (y\u2248-0.30). Moving over it to check the mapping between the overhead and wrist views."})
tool
executing move_to over 14 steps (1.4s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteLeft gripper is over the middle bottle, which lies along the arm's forward axis with its cap ~8 cm ahead of the fingertips. Advancing to put the jaws over the bottle's neck.
move_to
left_x0.4600left_y-0.2850left_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8768, 1.8572, 1.309, -0.2672, -0.6979, -0.5941, 0.9983, -0.02, 0.7113, 0.4446, -0.3347, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.3944 left_y=-0.2909 left_z=0.1394 left_yaw=-0.0079 left_pitch=-0.03 left_roll=0.0157 left_gripper=0.9983 right_x=0.2758 right_y=0.0032 right_z=0.1383 right_yaw=-0.0028 right_pitch=-0.0301 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.6769, -9.4974, 9.1282, 1.3748, -0.486, 0.1783, -0.0122, -0.4308, -1.2376, 6.8718, 1.9902, -0.0464, -0.0073, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.285, "left_z": 0.14}, "note": "Left gripper is over the middle bottle, which lies along the arm's forward axis with its cap ~8 cm ahead of the fingertips. Advancing to put the jaws over the bottle's neck."})
tool
executing move_to over 6 steps (0.6s)
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 noteCap is now just above the jaws in the wrist view and the label sits under the fingertips; advancing ~4 cm more so the jaws straddle the neck.
move_to
left_x0.4950left_y-0.2800left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7574, 1.9774, 1.401, -0.2085, -0.6388, -0.5224, 0.9982, -0.02, 0.6971, 0.4187, -0.3237, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.4472 left_y=-0.273 left_z=0.1216 left_yaw=0.0302 left_pitch=-0.0417 left_roll=0.0238 left_gripper=0.9982 right_x=0.2732 right_y=0.0033 right_z=0.1323 right_yaw=-0.0028 right_pitch=-0.0309 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.5675, -10.3316, 9.5521, 1.6679, -0.1099, 0.4078, -0.0122, -0.3897, -1.388, 6.8034, 1.9512, -0.022, -0.0366, -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": 0.495, "left_y": -0.28, "left_z": 0.12}, "note": "Cap is now just above the jaws in the wrist view and the label sits under the fingertips; advancing ~4 cm more so the jaws straddle the neck."})
tool
executing move_to over 4 steps (0.4s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe bottle's neck is just ahead of the jaws and centred on the jaw column; descending to neck height to straddle it.
move_to
left_x0.5000left_y-0.2800left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7063, 2.0979, 1.4952, -0.1646, -0.6205, -0.5041, 0.9983, -0.02, 0.6796, 0.3908, -0.3134, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.4818 left_y=-0.2713 left_z=0.1024 left_yaw=0.0576 left_pitch=-0.0385 left_roll=0.0175 left_gripper=0.9983 right_x=0.2701 right_y=0.0034 right_z=0.1261 right_yaw=-0.0025 right_pitch=-0.0309 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.1026, -12.1231, 9.4564, 1.6532, -0.1001, 0.2564, -0.0073, -0.2667, -1.0051, 6.8991, 1.956, -0.0806, -0.0611, -0.0122] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.28, "left_z": 0.025}, "note": "The bottle's neck is just ahead of the jaws and centred on the jaw column; descending to neck height to straddle it."})
tool
executing move_to over 5 steps (0.5s)
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 noteThe arm can't descend at x≈0.49 (reach limit). Pulling back to x=0.45 and descending onto the bottle's shoulder to grip it and drag it closer.
move_to
left_x0.4500left_y-0.2750left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6941, 2.1113, 1.5139, -0.1619, -0.6136, -0.4973, 0.9982, -0.02, 0.6624, 0.3618, -0.2981, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.4884 left_y=-0.2695 left_z=0.1026 left_yaw=0.0609 left_pitch=-0.036 left_roll=0.0142 left_gripper=0.9982 right_x=0.2676 right_y=0.0034 right_z=0.1203 right_yaw=-0.0028 right_pitch=-0.0274 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.5812, -12.0, 9.2923, 1.6728, -0.1734, 0.2857, -0.0171, -0.3897, -1.0872, 6.9949, 1.917, -0.0659, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.275, "left_z": 0.03}, "note": "The arm can't descend at x\u22480.49 (reach limit). Pulling back to x=0.45 and descending onto the bottle's shoulder to grip it and drag it closer."})
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 is stalled at its reach limit and not responding to the descent. Pulling back and up to get it out of the stuck configuration.
move_to
left_x0.3800left_y-0.2750left_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6941, 2.1113, 1.5139, -0.1619, -0.6136, -0.4976, 0.9982, -0.02, 0.6468, 0.3382, -0.2901, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.4884 left_y=-0.2695 left_z=0.1026 left_yaw=0.0611 left_pitch=-0.036 left_roll=0.0139 left_gripper=0.9982 right_x=0.265 right_y=0.0034 right_z=0.115 right_yaw=-0.0028 right_pitch=-0.0274 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.6906, -12.1915, 9.347, 1.663, -0.1685, 0.3394, -0.0073, -0.4308, -0.759, 6.8308, 1.9853, -0.0073, -0.0513, -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": 0.38, "left_y": -0.275, "left_z": 0.18}, "note": "Left arm is stalled at its reach limit and not responding to the descent. Pulling back and up to get it out of the stuck configuration."})
tool
executing move_to over 9 steps (0.9s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteBottle lies along the jaw column with its body under the fingertips. Descending to grip the body so I can drag it closer to the base.
move_to
left_x0.4000left_y-0.2800left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8871, 1.8156, 1.3617, -0.3542, -0.7372, -0.6411, 0.9982, -0.02, 0.6319, 0.3134, -0.2867, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.3913 left_y=-0.2866 left_z=0.1695 left_yaw=0.034 left_pitch=-0.0029 left_roll=-0.0114 left_gripper=0.9982 right_x=0.2615 right_y=0.0036 right_z=0.108 right_yaw=-0.0025 right_pitch=-0.0339 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.3487, -12.3556, 5.8735, 1.3065, -0.5446, -0.1343, -0.0122, -0.2393, -0.6496, 6.9402, 2.0049, -0.0757, -0.022, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.28, "left_z": 0.03}, "note": "Bottle lies along the jaw column with its body under the fingertips. Descending to grip the body so I can drag it closer to the base."})
tool
executing move_to over 10 steps (1.0s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe bottle body sits squarely between the open jaws. Closing to grip it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.868, 2.0457, 1.0931, 0.1188, -0.7265, -0.6277, 0.9982, -0.02, 0.6083, 0.2821, -0.271, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.3944 left_y=-0.2786 left_z=0.0324 left_yaw=0.0389 left_pitch=-0.0248 left_roll=0.0153 left_gripper=0.9982 right_x=0.2589 right_y=0.0036 right_z=0.1027 right_yaw=-0.0025 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.4171, -10.0171, 5.3128, 1.4725, -0.3932, 0.149, -0.0122, -0.1983, -0.6496, 6.9538, 1.9072, -0.0611, -0.0366, -0.0122] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The bottle body sits squarely between the open jaws. Closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteGripper settled at 0.59 (≈5.6 cm), so the bottle is held. Dragging it ~8 cm toward the base so its neck comes within reach.
move_to
left_x0.3100left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8654, 2.0697, 1.0744, 0.1783, -0.7311, -0.6289, 0.5878, -0.02, 0.5934, 0.2592, -0.2653, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.396 left_y=-0.2775 left_z=0.0241 left_yaw=0.0451 left_pitch=-0.0118 left_roll=0.0031 left_gripper=0.5878 right_x=0.2562 right_y=0.0036 right_z=0.0969 right_yaw=-0.0028 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.5265, -12.1778, 4.7658, 1.3602, -0.4029, 0.0122, 0.9792, -0.1573, -0.4171, 6.9675, 1.9121, -0.0757, -0.0708, -0.0122] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_z": 0.035}, "note": "Gripper settled at 0.59 (\u22485.6 cm), so the bottle is held. Dragging it ~8 cm toward the base so its neck comes within reach."})
tool
executing move_to over 7 steps (0.7s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteBottle is sliding with the gripper; its neck is still ~15 cm ahead of the grip. Dragging another 11 cm back so the neck lands around x≈0.35.
move_to
left_x0.2000left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0531, 1.9457, 0.9066, 0.086, -0.8249, -0.7994, 0.5905, -0.02, 0.5747, 0.2363, -0.2626, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.3151 left_y=-0.2839 left_z=0.0222 left_yaw=0.0108 left_pitch=-0.0244 left_roll=0.0142 left_gripper=0.5905 right_x=0.2531 right_y=0.0037 right_z=0.0915 right_yaw=-0.0028 right_pitch=-0.0297 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.3761, -12.0, 4.6838, 1.2332, -0.5446, -0.188, 0.696, -0.2393, -0.4991, 6.7487, 1.9805, -0.0317, -0.0757, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.2, "left_z": 0.035}, "note": "Bottle is sliding with the gripper; its neck is still ~15 cm ahead of the grip. Dragging another 11 cm back so the neck lands around x\u22480.35."})
tool
executing move_to over 9 steps (0.9s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteBottle has been dragged back; its cap now sits around x≈0.37. Releasing so I can re-grip at the neck.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.3895, 1.8683, 0.8413, -0.271, -0.944, -1.2274, 0.5905, -0.02, 0.5541, 0.2104, -0.2565, -0.0296, -0.0349, 0.9998] state[eef_state]: left_x=0.2023 left_y=-0.2905 left_z=0.0187 left_yaw=-0.0314 left_pitch=-0.0386 left_roll=0.0206 left_gripper=0.5905 right_x=0.2502 right_y=0.0038 right_z=0.0857 right_yaw=-0.0027 right_pitch=-0.029 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.2803, -10.6872, 6.3248, 0.6911, -0.8718, -0.0317, 0.3492, -0.1436, -0.1709, 7.0769, 1.9365, -0.0708, 0.0073, -0.0073] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "Bottle has been dragged back; its cap now sits around x\u22480.37. Releasing so I can re-grip at the neck."})
tool
executing move_to over 5 steps (0.5s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteReleased the bottle. Rising and moving forward over its neck to line up the regrip.
move_to
left_x0.3200left_y-0.2900left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.4059, 1.8668, 0.8135, -0.2249, -0.9588, -1.2491, 0.9958, -0.02, 0.5316, 0.1841, -0.2455, -0.0292, -0.0349, 0.9998] state[eef_state]: left_x=0.1986 left_y=-0.2911 left_z=0.0172 left_yaw=-0.0325 left_pitch=-0.0204 left_roll=-0.014 left_gripper=0.9958 right_x=0.248 right_y=0.0038 right_z=0.0811 right_yaw=-0.003 right_pitch=-0.0217 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.335, -7.1043, 4.5607, 0.696, -0.6764, 0.1392, 0.0171, -0.3214, -0.2393, 7.0222, 1.8974, -0.0611, 0.0073, -0.0073] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.29, "left_z": 0.12}, "note": "Released the bottle. Rising and moving forward over its neck to line up the regrip."})
tool
executing move_to over 10 steps (1.0s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteWrist view shows the cap and neck just ahead of the jaws, slightly left. Nudging forward and left to centre over the neck before descending.
move_to
left_x0.3350left_y-0.2750left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0569, 1.7481, 1.0046, -0.1989, -0.8238, -0.799, 0.9969, -0.02, 0.5152, 0.1654, -0.2451, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.3123 left_y=-0.2822 left_z=0.0965 left_yaw=0.0059 left_pitch=-0.0201 left_roll=0.0047 left_gripper=0.9969 right_x=0.2455 right_y=0.0038 right_z=0.0764 right_yaw=-0.0028 right_pitch=-0.0236 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.253, -10.6051, 8.4444, 1.1111, -0.3199, 0.2906, 0.0904, -0.4034, -0.1709, 6.9265, 1.9512, -0.0659, -0.0611, -0.0122] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.335, "left_y": -0.275, "left_z": 0.12}, "note": "Wrist view shows the cap and neck just ahead of the jaws, slightly left. Nudging forward and left to centre over the neck before descending."})
tool
executing move_to over 2 steps (0.2s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteNeck is centred just ahead of the jaws. Descending to neck height to straddle it.
move_to
left_x0.3450left_y-0.2720left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0187, 1.7412, 1.0256, -0.1982, -0.799, -0.7525, 0.9969, -0.02, 0.5014, 0.1551, -0.2447, -0.0296, -0.0349, 0.9998] state[eef_state]: left_x=0.3244 left_y=-0.2784 left_z=0.1038 left_yaw=0.0037 left_pitch=-0.0232 left_roll=0.0088 left_gripper=0.9969 right_x=0.2444 right_y=0.0039 right_z=0.0749 right_yaw=-0.0027 right_pitch=-0.0198 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [1.1556, -10.1812, 7.7744, 1.3407, -0.3101, 0.3053, -0.0024, -0.3897, 0.1026, 6.7897, 1.9853, -0.0464, -0.0171, -0.0122] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.345, "left_y": -0.272, "left_z": 0.03}, "note": "Neck is centred just ahead of the jaws. Descending to neck height to straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe last descent didn't happen (z held at 0.10). Retrying a smaller step down toward the neck.
move_to
left_x0.3400left_y-0.2700left_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9886, 1.7409, 1.0256, -0.1986, -0.7963, -0.7353, 0.997, -0.02, 0.4877, 0.1448, -0.2455, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.3324 left_y=-0.2688 left_z=0.1036 left_yaw=0.023 left_pitch=-0.0252 left_roll=0.022 left_gripper=0.997 right_x=0.2431 right_y=0.0039 right_z=0.0731 right_yaw=-0.0028 right_pitch=-0.0171 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.4444, -10.1675, 7.8291, 1.3016, -0.3199, 0.2076, -0.0073, -0.3897, -0.2803, 6.4889, 1.9121, -0.0806, -0.0171, -0.0122] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.27, "left_z": 0.06}, "note": "The last descent didn't happen (z held at 0.10). Retrying a smaller step down toward the neck."})
tool
executing move_to over 3 steps (0.3s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteLeft arm appears frozen at z≈0.10. Moving it up and back to break it out of the stuck state before retrying the descent.
move_to
left_x0.3000left_y-0.2700left_z0.1700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9886, 1.7409, 1.0256, -0.1986, -0.7959, -0.7349, 0.997, -0.02, 0.4755, 0.1379, -0.2451, -0.0292, -0.0349, 0.9998] state[eef_state]: left_x=0.3324 left_y=-0.2688 left_z=0.1036 left_yaw=0.0226 left_pitch=-0.0255 left_roll=0.0222 left_gripper=0.997 right_x=0.2426 right_y=0.0039 right_z=0.0728 right_yaw=-0.003 right_pitch=-0.0114 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.5675, -9.9897, 7.5966, 1.3309, -0.3785, 0.1929, -0.0122, -0.3897, -0.1299, 6.6256, 1.8779, -0.0611, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.27, "left_z": 0.17}, "note": "Left arm appears frozen at z\u22480.10. Moving it up and back to break it out of the stuck state before retrying the descent."})
tool
executing move_to over 5 steps (0.5s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteArm is responsive again; the neck is centred on the jaw column a few cm ahead. Descending diagonally onto the neck.
move_to
left_x0.3450left_y-0.2700left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0698, 1.6478, 1.0874, -0.3874, -0.8234, -0.8051, 0.997, -0.02, 0.4698, 0.1314, -0.2447, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.3044 left_y=-0.2787 left_z=0.1415 left_yaw=-0.0039 left_pitch=-0.0229 left_roll=0.0041 left_gripper=0.997 right_x=0.2418 right_y=0.004 right_z=0.0711 right_yaw=-0.0025 right_pitch=-0.0118 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.8, -9.3607, 8.6359, 1.1453, -0.5983, 0.1832, -0.0171, -0.1026, -0.0615, 6.7487, 1.8291, -0.0366, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.345, "left_y": -0.27, "left_z": 0.025}, "note": "Arm is responsive again; the neck is centred on the jaw column a few cm ahead. Descending diagonally onto the neck."})
tool
executing move_to over 8 steps (0.8s)
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 noteJaws straddle the bottle's neck just behind the cap. Closing moderately so the bottle can pivot in the grip when I lift the neck.
move_to
left_gripper0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9676, 1.9152, 0.8848, 0.1642, -0.7834, -0.7002, 0.997, -0.02, 0.4633, 0.1257, -0.2451, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.34 left_y=-0.2675 left_z=0.0327 left_yaw=0.0164 left_pitch=-0.0083 left_roll=0.0059 left_gripper=0.997 right_x=0.2411 right_y=0.0039 right_z=0.0699 right_yaw=-0.0028 right_pitch=-0.0114 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.9368, -6.9538, 4.0957, 0.9646, -0.0806, 0.3053, -0.0122, -0.4308, 0.0342, 6.7761, 1.8632, -0.0464, -0.0464, -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": {"left_gripper": 0.22}, "note": "Jaws straddle the bottle's neck just behind the cap. Closing moderately so the bottle can pivot in the grip when I lift the neck."})
tool
executing move_to over 8 steps (0.8s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
assistant
agent noteJaws are around the neck. Lifting the neck straight up so the bottle pivots about its base and swings upright underneath the gripper.
move_to
left_x0.3500left_y-0.2700left_z0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9672, 1.9015, 0.8818, 0.2546, -0.8391, -0.691, 0.2261, -0.02, 0.4561, 0.1177, -0.2455, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.3501 left_y=-0.2699 left_z=0.0543 left_yaw=0.0524 left_pitch=0.0804 left_roll=-0.0495 left_gripper=0.2261 right_x=0.2401 right_y=0.004 right_z=0.0677 right_yaw=-0.0025 right_pitch=-0.0126 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.0752, -7.788, 4.9299, 0.7057, 0.2173, -0.0708, 0.2808, -0.3897, 0.0889, 6.8855, 1.8095, -0.0952, -0.0464, -0.0122] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.27, "left_z": 0.22}, "note": "Jaws are around the neck. Lifting the neck straight up so the bottle pivots about its base and swings upright underneath the gripper."})
tool
executing move_to over 11 steps (1.1s)
step 164
assistant
agent noteThe overhead view shows the middle bottle now hanging vertically from the gripper by its neck. Lowering slightly so its base rests on the table before releasing.
move_to
left_z0.1750
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9585, 1.7096, 1.3533, -0.54, -0.8005, -0.7368, 0.2253, -0.02, 0.4492, 0.1112, -0.2459, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.3525 left_y=-0.275 left_z=0.1936 left_yaw=0.0563 left_pitch=-0.0131 left_roll=0.0076 left_gripper=0.2253 right_x=0.2393 right_y=0.004 right_z=0.0662 right_yaw=-0.0028 right_pitch=-0.0126 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.0068, -11.535, 9.1692, 1.2576, -0.398, 0.105, -0.0952, -0.4308, -0.0068, 6.694, 1.8437, -0.0464, -0.0415, -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": {"left_z": 0.175}, "note": "The overhead view shows the middle bottle now hanging vertically from the gripper by its neck. Lowering slightly so its base rests on the table before releasing."})
tool
executing move_to over 2 steps (0.2s)
step 166
assistant
agent noteDescent stopped at z≈0.19, meaning the bottle's base is on the table. Opening the jaws to leave it standing.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.96, 1.6962, 1.319, -0.5167, -0.8009, -0.7338, 0.2252, -0.02, 0.4442, 0.1108, -0.2455, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.3499 left_y=-0.2724 left_z=0.1891 left_yaw=0.0534 left_pitch=-0.0117 left_roll=0.0084 left_gripper=0.2252 right_x=0.2395 right_y=0.0039 right_z=0.0672 right_yaw=-0.0028 right_pitch=-0.0076 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.335, -7.2684, 5.9145, 1.3162, -0.4029, -0.0415, -0.0269, -0.4308, 0.0615, 6.2291, 1.8046, -0.0611, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "Descent stopped at z\u22480.19, meaning the bottle's base is on the table. Opening the jaws to leave it standing."})
tool
executing move_to over 8 steps (0.8s)
step 174
assistant
agent noteReleased; the wrist view shows the bottle's cap standing just below the jaws. Lifting straight up to clear it.
move_to
left_z0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9604, 1.7184, 1.2686, -0.4896, -0.8005, -0.7368, 0.9944, -0.02, 0.4423, 0.1001, -0.2455, -0.0296, -0.0349, 0.9998] state[eef_state]: left_x=0.3473 left_y=-0.269 left_z=0.1649 left_yaw=0.0553 left_pitch=-0.0359 left_roll=0.0442 left_gripper=0.9944 right_x=0.2379 right_y=0.004 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.294, -10.8786, 9.1692, 1.2625, -0.4127, 0.0171, -0.1685, -0.2667, 0.0205, 7.5145, 1.7753, -0.0659, -0.0317, -0.0122] 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": {"left_z": 0.3}, "note": "Released; the wrist view shows the bottle's cap standing just below the jaws. Lifting straight up to clear it."})
tool
executing move_to over 9 steps (0.9s)
step 183
assistant
agent noteMiddle bottle is now standing. Parking the left arm at home and bringing the right arm over the right-hand bottle's body, which lies pointing forward.
move_to
left_x0.2900left_y0.0000left_z0.2000right_x0.4000right_y0.2150right_z0.1300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9604, 1.7042, 1.713, -0.8696, -0.8005, -0.7414, 0.9955, -0.02, 0.4297, 0.0921, -0.2455, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.3507 left_y=-0.2739 left_z=0.2895 left_yaw=0.0567 left_pitch=0.0056 left_roll=-0.0264 left_gripper=0.9955 right_x=0.2372 right_y=0.0041 right_z=0.0618 right_yaw=-0.0025 right_pitch=-0.0118 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.1026, -7.5966, 8.2667, 1.1551, -0.442, 0.0024, 0.105, -0.4034, 0.3077, 6.5299, 1.8388, -0.0513, -0.0513, -0.0122] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": 0.0, "left_z": 0.2, "right_x": 0.4, "right_y": 0.215, "right_z": 0.13, "right_gripper": 1}, "note": "Middle bottle is now standing. Parking the left arm at home and bringing the right arm over the right-hand bottle's body, which lies pointing forward."})
tool
executing move_to over 25 steps (2.5s)
step 208
assistant
agent noteRight wrist view shows the right bottle centred on the jaw column, lying along the arm's forward axis. Descending onto its body to grip and drag it closer.
move_to
right_x0.4000right_y0.2100right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1169, 0.7921, 0.688, -0.482, -0.2031, -0.1551, 0.9958, 0.691, 1.652, 0.9463, -0.0307, 0.5205, 0.3603, 0.9998] state[eef_state]: left_x=0.2898 left_y=0.0055 left_z=0.1998 left_yaw=0.123 left_pitch=-0.0106 left_roll=-0.0063 left_gripper=0.9958 right_x=0.3869 right_y=0.2106 right_z=0.112 right_yaw=0.0403 right_pitch=-0.0509 right_roll=-0.0399 right_gripper=0.9998 state[joint_eff]: [0.0889, -1.3607, 6.7624, 1.8828, 0.0659, 0.2369, 0.0171, -0.0752, -7.4051, 9.1556, 1.6044, 0.4615, 0.2906, -0.0317] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.21, "right_z": 0.025}, "note": "Right wrist view shows the right bottle centred on the jaw column, lying along the arm's forward axis. Descending onto its body to grip and drag it closer."})
tool
executing move_to over 6 steps (0.6s)
step 214
assistant
agent noteThe right bottle's body is between the jaws. Closing to grip it.
move_to
right_gripper0.0000right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1242, 0.7868, 0.6788, -0.4789, -0.2024, -0.1421, 0.9961, 0.6724, 1.8626, 0.7986, 0.403, 0.5381, 0.3199, 0.9996] state[eef_state]: left_x=0.2888 left_y=0.0033 left_z=0.1977 left_yaw=0.1082 left_pitch=-0.0115 left_roll=0.0044 left_gripper=0.9961 right_x=0.4004 right_y=0.2076 right_z=0.0438 right_yaw=0.0307 right_pitch=0.016 right_roll=-0.0371 right_gripper=0.9996 state[joint_eff]: [-0.0068, -1.0735, 7.0359, 1.7949, -0.1783, -0.1245, 0.0171, -0.5128, -5.6684, 3.7538, 1.1453, -0.3394, 0.4029, -0.0269] 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": {"right_gripper": 0, "right_z": 0.03}, "note": "The right bottle's body is between the jaws. Closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 224
assistant
agent noteGripper settled at 0.52, so the bottle is held. Dragging it ~13 cm toward the base to bring its neck within reach.
move_to
right_x0.2600right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1238, 0.7849, 0.6773, -0.4755, -0.2016, -0.1413, 0.9962, 0.6655, 1.8896, 0.7803, 0.4164, 0.4969, 0.3393, 0.5161] state[eef_state]: left_x=0.289 left_y=0.0033 left_z=0.1982 left_yaw=0.1075 left_pitch=-0.0079 left_roll=0.0037 left_gripper=0.9962 right_x=0.3952 right_y=0.2077 right_z=0.0262 right_yaw=0.0454 right_pitch=-0.0251 right_roll=-0.0188 right_gripper=0.5161 state[joint_eff]: [-0.0342, -1.4427, 6.106, 1.7998, -0.0952, -0.0611, -0.0073, -0.7316, -7.8564, 5.3538, 1.8877, 0.2271, 0.0122, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.26, "right_z": 0.03}, "note": "Gripper settled at 0.52, so the bottle is held. Dragging it ~13 cm toward the base to bring its neck within reach."})
tool
executing move_to over 11 steps (1.1s)
step 235
assistant
agent noteBottle has been dragged back. Releasing and rising so I can come down on its neck.
move_to
right_gripper1.0000right_z0.1700right_x0.3300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1238, 0.7853, 0.6773, -0.4755, -0.2016, -0.1413, 0.9962, 1.0195, 1.6211, 0.4587, 0.326, 0.7162, 0.6033, 0.5203] state[eef_state]: left_x=0.289 left_y=0.0033 left_z=0.1981 left_yaw=0.1075 left_pitch=-0.0082 left_roll=0.0038 left_gripper=0.9962 right_x=0.2644 right_y=0.2154 right_z=0.0239 right_yaw=0.0922 right_pitch=-0.0231 right_roll=-0.0087 right_gripper=0.5203 state[joint_eff]: [-0.1026, -1.265, 6.4615, 1.8828, -0.105, -0.0464, -0.0073, 0.3897, -7.4462, 4.5744, 1.2772, 0.4713, 0.1685, 1.0379] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.17, "right_x": 0.33}, "note": "Bottle has been dragged back. Releasing and rising so I can come down on its neck."})
tool
executing move_to over 10 steps (1.0s)
step 245
assistant
agent noteRight wrist view shows the bottle's cap and neck centred ahead of the jaws. Descending diagonally onto the neck.
move_to
right_x0.4050right_y0.2100right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1242, 0.7849, 0.6773, -0.4755, -0.1997, -0.1413, 0.9963, 0.8291, 1.4162, 0.8448, -0.1886, 0.5831, 0.4198, 0.997] state[eef_state]: left_x=0.289 left_y=0.0029 left_z=0.1982 left_yaw=0.1055 left_pitch=-0.0081 left_roll=0.0027 left_gripper=0.9963 right_x=0.3228 right_y=0.2137 right_z=0.1411 right_yaw=0.0981 right_pitch=-0.0416 right_roll=-0.0392 right_gripper=0.997 state[joint_eff]: [0.0752, -1.2376, 6.2701, 1.8242, -0.1343, -0.0464, -0.0073, -0.6906, -8.1983, 9.2786, 1.6923, 0.2906, 0.0415, -0.1929] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.405, "right_y": 0.21, "right_z": 0.025}, "note": "Right wrist view shows the bottle's cap and neck centred ahead of the jaws. Descending diagonally onto the neck."})
tool
executing move_to over 8 steps (0.8s)
step 253
assistant
agent noteJaws straddle the bottle's shoulder just below the neck. Closing to grip it for the pivot lift.
move_to
right_gripper0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1238, 0.7845, 0.6773, -0.4759, -0.1993, -0.1413, 0.9963, 0.6411, 1.8709, 0.7441, 0.411, 0.4492, 0.2848, 0.999] state[eef_state]: left_x=0.2889 left_y=0.0029 left_z=0.1982 left_yaw=0.1056 left_pitch=-0.0082 left_roll=0.0025 left_gripper=0.9963 right_x=0.3888 right_y=0.1989 right_z=0.0184 right_yaw=0.0874 right_pitch=-0.0614 right_roll=-0.0504 right_gripper=0.999 state[joint_eff]: [-0.0205, -1.4291, 6.4479, 1.7753, -0.0855, -0.0855, -0.0171, -0.1299, -6.2701, 6.4615, 1.5556, 0.0611, 0.1245, 0.1929] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.3}, "note": "Jaws straddle the bottle's shoulder just below the neck. Closing to grip it for the pivot lift."})
tool
executing move_to over 7 steps (0.7s)
step 260
assistant
agent noteGripper settled at 0.40 on the bottle's neck. Lifting straight up so the bottle pivots to stand on its base below the gripper.
move_to
right_x0.4000right_y0.2100right_z0.2100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1242, 0.7849, 0.6773, -0.4759, -0.1997, -0.1413, 0.9962, 0.6403, 1.8744, 0.7036, 0.6376, 0.4343, 0.2855, 0.4034] state[eef_state]: left_x=0.289 left_y=0.0029 left_z=0.1981 left_yaw=0.1055 left_pitch=-0.0085 left_roll=0.0028 left_gripper=0.9962 right_x=0.4016 right_y=0.211 right_z=0.0448 right_yaw=0.0969 right_pitch=0.0901 right_roll=0.0529 right_gripper=0.4034 state[joint_eff]: [-0.1162, -1.6342, 6.4205, 1.8193, -0.1294, -0.0611, -0.0171, 0.0205, -7.2821, 3.3846, 1.0037, 0.1636, 0.0073, 0.4664] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.21, "right_z": 0.21}, "note": "Gripper settled at 0.40 on the bottle's neck. Lifting straight up so the bottle pivots to stand on its base below the gripper."})
tool
executing move_to over 11 steps (1.1s)
step 271
assistant
agent noteThe right bottle now hangs vertically with its base on the table (lift stopped at z≈0.18). Opening the jaws so it stays standing.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1238, 0.7849, 0.6773, -0.4759, -0.1993, -0.1413, 0.9963, 0.6418, 1.5673, 1.1301, -0.2485, 0.4213, 0.2752, 0.4025] state[eef_state]: left_x=0.289 left_y=0.0029 left_z=0.1981 left_yaw=0.1056 left_pitch=-0.0085 left_roll=0.0026 left_gripper=0.9963 right_x=0.398 right_y=0.2117 right_z=0.1803 right_yaw=0.1163 right_pitch=-0.0448 right_roll=-0.0272 right_gripper=0.4025 state[joint_eff]: [-0.0205, -1.4564, 6.4068, 1.8535, -0.0855, -0.0366, -0.0073, -0.3761, -9.7846, 9.7983, 1.6581, 0.2906, 0.1294, -0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The right bottle now hangs vertically with its base on the table (lift stopped at z\u22480.18). Opening the jaws so it stays standing."})
tool
executing move_to over 6 steps (0.6s)
step 277
assistant
agent noteOnly one bottle is standing at the end, so the goal of three was not met. I ran out of call budget. - Right bottle: standing. I dragged it toward the base, gripped it by the neck and lifted, so it swung upright onto its base, then let go. The overhead and right wrist views show it upright under the open right gripper, which is still hovering just above its cap. - Middle bottle: I stood it up the same way with the left arm, but it looks to have fallen over again. The overhead view shows it on its side, possibly knocked when the left arm moved back to its parked position. - Left bottle: never touched, still on its side.
done
hindsight- What worked for standing bottles with pitch and roll locked: lying bottles have caps pointing away from the bases. Grip the body at x≈0.40, z≈0.03 (jaws close sideways, across the bottle), drag it about 14–20 cm toward the base, and release. Then come down diagonally onto the neck from z≈0.15 (neck ≈ grip point + 0.145 m), close to about 0.2–0.3 and lift straight up to z≈0.21. The bottle swings upright, and the lift stops by itself at z≈0.18–0.19 when its base touches the table. Open the jaws, then lift straight up well clear of the cap before moving the arm sideways. Budget about 9 calls per bottle and skip the checking moves. - Reach: with the tool pointing forward/down, the left arm stalled at x≈0.41 (z 0.10) and x≈0.49 and would not descend. The arm often froze completely after small moves near those poses; raising to z≈0.17 and backing off in x fixed it. Descending in one diagonal move from z≈0.15–0.17 worked reliably. - Overhead camera: the left arm at y=-0.15 shows at image x≈50, and the right arm at y=0 at image x≈205, about 3.1 px/cm across. The three bottles sat near left-frame y≈-0.16, -0.28 and -0.44 (right-frame y≈0.21 for the last), x≈0.40. - An idle arm drifted down steadily (right arm went from z 0.18 to 0.06), so park it. - A bottle standing upright is easily knocked over: move a released arm straight up and away, and check that the bottle is still standing before starting the next one.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1238, 0.7849, 0.6773, -0.4755, -0.1993, -0.1413, 0.9963, 0.6411, 1.557, 1.0672, -0.2005, 0.4141, 0.2642, 0.9957] state[eef_state]: left_x=0.289 left_y=0.0029 left_z=0.1982 left_yaw=0.1056 left_pitch=-0.0082 left_roll=0.0025 left_gripper=0.9963 right_x=0.3927 right_y=0.2088 right_z=0.1662 right_yaw=0.1272 right_pitch=-0.0511 right_roll=-0.0345 right_gripper=0.9957 state[joint_eff]: [-0.0068, -1.6342, 6.2291, 1.8437, -0.1294, -0.0513, -0.0171, -0.1983, -8.0068, 7.4598, 1.9756, 0.1636, 0.1197, -0.0904] camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
done({"summary": "Only one bottle is standing at the end, so the goal of three was not met. I ran out of call budget.\n- Right bottle: standing. I dragged it toward the base, gripped it by the neck and lifted, so it swung upright onto its base, then let go. The overhead and right wrist views show it upright under the open right gripper, which is still hovering just above its cap.\n- Middle bottle: I stood it up the same way with the left arm, but it looks to have fallen over again. The overhead view shows it on its side, possibly knocked when the left arm moved back to its parked position.\n- Left bottle: never touched, still on its side.", "hindsight": "- What worked for standing bottles with pitch and roll locked: lying bottles have caps pointing away from the bases. Grip the body at x\u22480.40, z\u22480.03 (jaws close sideways, across the bottle), drag it about 14\u201320 cm toward the base, and release. Then come down diagonally onto the neck from z\u22480.15 (neck \u2248 grip point + 0.145 m), close to about 0.2\u20130.3 and lift straight up to z\u22480.21. The bottle swings upright, and the lift stops by itself at z\u22480.18\u20130.19 when its base touches the table. Open the jaws, then lift straight up well clear of the cap before moving the arm sideways. Budget about 9 calls per bottle and skip the checking moves.\n- Reach: with the tool pointing forward/down, the left arm stalled at x\u22480.41 (z 0.10) and x\u22480.49 and would not descend. The arm often froze completely after small moves near those poses; raising to z\u22480.17 and backing off in x fixed it. Descending in one diagonal move from z\u22480.15\u20130.17 worked reliably.\n- Overhead camera: the left arm at y=-0.15 shows at image x\u224850, and the right arm at y=0 at image x\u2248205, about 3.1 px/cm across. The three bottles sat near left-frame y\u2248-0.16, -0.28 and -0.44 (right-frame y\u22480.21 for the last), x\u22480.40.\n- An idle arm drifted down steadily (right arm went from z 0.18 to 0.06), so park it.\n- A bottle standing upright is easily knocked over: move a released arm straight up and away, and check that the bottle is still standing before starting the next one."})
tool
done: Only one bottle is standing at the end, so the goal of three was not met. I ran out of call budget. - Right bottle: standing. I dragged it toward the base, gripped it by the neck and lifted, so it swung upright onto its base, then let go. The overhead and right wrist views show it upright under the open right gripper, which is still hovering just above its cap. - Middle bottle: I stood it up the same way with the left arm, but it looks to have fallen over again. The overhead view shows it on its side, possibly knocked when the left arm moved back to its parked position. - Left bottle: never touched, still on its side.
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 · 13.24 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]: [-0.0204, 0.7937, 0.6083, -0.3771, -0.0223, -0.0284, 0.9986, -0.0166, 0.7898, 0.6041, -0.3859, -0.0292, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1826 left_yaw=-0.0005 left_pitch=-0.0004 left_roll=0.0001 left_gripper=0.9986 right_x=0.2937 right_y=0.0039 right_z=0.1799 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.4154, 9.7026, 1.7607, -0.0513, 0.1441, -0.1587, -0.841, -1.2513, 10.3726, 1.917, 0.0757, 0.1783, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bf8261a032a51c1ac120159c23ec93b8f413573ae8b7eb65377b66ac81ff526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65bedd94a26c5ea444d9e9812252143b66233d340fa7c5e4759097917cb0bdaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6222e7669a4076e590816b769874a0161591b194e41536e669f13defaff4bbef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 10.54 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]: [-0.0204, 0.7937, 0.6083, -0.3771, -0.0223, -0.0284, 0.9986, -0.0166, 0.7898, 0.6041, -0.3859, -0.0292, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1826 left_yaw=-0.0005 left_pitch=-0.0004 left_roll=0.0001 left_gripper=0.9986 right_x=0.2937 right_y=0.0039 right_z=0.1799 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.4154, 9.7026, 1.7607, -0.0513, 0.1441, -0.1587, -0.841, -1.2513, 10.3726, 1.917, 0.0757, 0.1783, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bf8261a032a51c1ac120159c23ec93b8f413573ae8b7eb65377b66ac81ff526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65bedd94a26c5ea444d9e9812252143b66233d340fa7c5e4759097917cb0bdaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6222e7669a4076e590816b769874a0161591b194e41536e669f13defaff4bbef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018FaLux9VVokjAwRDzN8QvY",
      "input": {
        "note": "Three bottles lie on their sides mid-table with caps pointing away from the bases. Moving the left arm over the left bottle to line up a grasp near its neck.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.42,
          "left_y": -0.12,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_018FaLux9VVokjAwRDzN8QvY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4236, 1.4902, 0.8509, -0.0483, -0.3416, -0.2562, 0.9988, -0.02, 0.7925, 0.6033, -0.4034, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4032 left_y=-0.113 left_z=0.1271 left_yaw=-0.0132 left_pitch=-0.0794 left_roll=0.0211 left_gripper=0.9988 right_x=0.2914 right_y=0.0029 right_z=0.1752 right_yaw=-0.0026 right_pitch=-0.0213 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -6.9812, 8.8821, 1.8095, -0.2662, 0.0513, -0.1392, 0.0342, -1.4427, 7.0632, 1.9219, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:192c8e04d788f97b28feebea51645cfea4f0f05e9f1a8ba5925df882e49324bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aefb9e6abdb3d0f8ae9008a96cbd8dd18e31afb647b177631126f5dd4644f69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:df7840039b324a40756472897553ab01dd118f29a76d63a8d674d407e4a30bee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 10.12 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]: [-0.0204, 0.7937, 0.6083, -0.3771, -0.0223, -0.0284, 0.9986, -0.0166, 0.7898, 0.6041, -0.3859, -0.0292, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1826 left_yaw=-0.0005 left_pitch=-0.0004 left_roll=0.0001 left_gripper=0.9986 right_x=0.2937 right_y=0.0039 right_z=0.1799 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.4154, 9.7026, 1.7607, -0.0513, 0.1441, -0.1587, -0.841, -1.2513, 10.3726, 1.917, 0.0757, 0.1783, -0.0366]",
      "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]: [-0.4236, 1.4902, 0.8509, -0.0483, -0.3416, -0.2562, 0.9988, -0.02, 0.7925, 0.6033, -0.4034, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4032 left_y=-0.113 left_z=0.1271 left_yaw=-0.0132 left_pitch=-0.0794 left_roll=0.0211 left_gripper=0.9988 right_x=0.2914 right_y=0.0029 right_z=0.1752 right_yaw=-0.0026 right_pitch=-0.0213 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -6.9812, 8.8821, 1.8095, -0.2662, 0.0513, -0.1392, 0.0342, -1.4427, 7.0632, 1.9219, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:192c8e04d788f97b28feebea51645cfea4f0f05e9f1a8ba5925df882e49324bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aefb9e6abdb3d0f8ae9008a96cbd8dd18e31afb647b177631126f5dd4644f69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df7840039b324a40756472897553ab01dd118f29a76d63a8d674d407e4a30bee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MHy92K4MfhigqgvA9E5TZK",
      "input": {
        "note": "The left wrist view shows the left bottle's cap just left of the jaws; shifting ~3 cm left to centre the jaws over its neck.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.085,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01MHy92K4MfhigqgvA9E5TZK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3355, 1.4902, 0.733, 0.086, -0.3031, -0.2249, 0.9984, -0.02, 0.7891, 0.5865, -0.4, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.401 left_y=-0.0802 left_z=0.1022 left_yaw=0.026 left_pitch=-0.0738 left_roll=0.0176 left_gripper=0.9984 right_x=0.2895 right_y=0.0029 right_z=0.1692 right_yaw=-0.0028 right_pitch=-0.0313 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-1.0051, -7.0769, 7.4051, 2.2002, 0.0952, 0.2027, -0.0464, -0.0889, -1.935, 6.8581, 1.9072, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c504d4bd9f2320bb480c8715fd971b77c20b691cf8081e76a4a770a62c6738c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17918b93a541d3a04522b9f9c1956f46f7427d783b08459bf20beb5133d871db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:661556a14170ee8b110a20146c8dfb53542f4912a719c61e18132bc5625aa0ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 17.91 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]: [-0.0204, 0.7937, 0.6083, -0.3771, -0.0223, -0.0284, 0.9986, -0.0166, 0.7898, 0.6041, -0.3859, -0.0292, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1826 left_yaw=-0.0005 left_pitch=-0.0004 left_roll=0.0001 left_gripper=0.9986 right_x=0.2937 right_y=0.0039 right_z=0.1799 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.4154, 9.7026, 1.7607, -0.0513, 0.1441, -0.1587, -0.841, -1.2513, 10.3726, 1.917, 0.0757, 0.1783, -0.0366]",
      "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]: [-0.4236, 1.4902, 0.8509, -0.0483, -0.3416, -0.2562, 0.9988, -0.02, 0.7925, 0.6033, -0.4034, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4032 left_y=-0.113 left_z=0.1271 left_yaw=-0.0132 left_pitch=-0.0794 left_roll=0.0211 left_gripper=0.9988 right_x=0.2914 right_y=0.0029 right_z=0.1752 right_yaw=-0.0026 right_pitch=-0.0213 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -6.9812, 8.8821, 1.8095, -0.2662, 0.0513, -0.1392, 0.0342, -1.4427, 7.0632, 1.9219, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3355, 1.4902, 0.733, 0.086, -0.3031, -0.2249, 0.9984, -0.02, 0.7891, 0.5865, -0.4, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.401 left_y=-0.0802 left_z=0.1022 left_yaw=0.026 left_pitch=-0.0738 left_roll=0.0176 left_gripper=0.9984 right_x=0.2895 right_y=0.0029 right_z=0.1692 right_yaw=-0.0028 right_pitch=-0.0313 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-1.0051, -7.0769, 7.4051, 2.2002, 0.0952, 0.2027, -0.0464, -0.0889, -1.935, 6.8581, 1.9072, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c504d4bd9f2320bb480c8715fd971b77c20b691cf8081e76a4a770a62c6738c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17918b93a541d3a04522b9f9c1956f46f7427d783b08459bf20beb5133d871db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:661556a14170ee8b110a20146c8dfb53542f4912a719c61e18132bc5625aa0ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoxIKEAgSGAI4AUIIdGhpbmtpbmcSDNbFAXczD9mP7Z7vFBoMppJoEbtzItRil7koIjDyBusXOJxBYtbvxeYe91/86oyf4xbTrHrwbRgnw3bn3Rc2wFTPKczs8QXJY2n9tegqwBEsqrngRhxJ7YVWaGEx/SULnjKIZ+xXR5t6TA/EmQI6WLWlyVZmftfS9b99nb6BfdD7S1vmAF4EhHfOMjMayPxuC6lqcJ8cj1MwNiklcJZvjKO3GfDLFwyBcpCO8ABSo1HJDVy2nE8j79ZcC1k7mtWnZDEov+gYnR1QY3hmX1HJFry2bQb0Q5OIZS1lS1sNLDiks1VZlYyfQlUbpeH5uDszsH8L4SA/uKjieNnN/tjilz3BNM8Kwq3L+2bjLyakRIaoJqNxkbEmp67aorSIQoo8X4ahhqEjVP7hgau/5goTcGdtS60LdgLSVQqJMaZ+hu616uuZZvvCocS/TFEFZeLsZA3Ei+w8WYrxKqy/Yzh9haY5aLdHqrKNirQKDch5yIWtwPru5cOSAGt4Tnhn6SOcUH4tXvPQZPAHAnUL/lVUkyQ2juogEy+afHiTTfbd35QeVX5YXFAHgQCtG1TsGrGLC+L9UB+IGE+0k0iWDW/8B1cQEx0HGsyxtRWkrsznqfoEenhiEQ5Zzd2TwegmDIEO8kXZosuXrB6V/neJEWQnEYHi9Xy+Qhq+22qq9Q8yCSoFruTZlAVNyST6kXuIQ47rvrKyVLTH53SRNSgXKRWVoL77dUAQ2uoKxlIAIMNsM3ipGzn8BOlYtet6loYmwXPrbo4KdfW26CNICsw2FB8Q/xGGInR95tUBOO6fzzpb9snn/NkDGfjkSZDf3ndCxJrMwAUfXqtdKOhBx8kZbA/qD3plESR7aJKTT+p9cdMOLGiiHhP2yzUGhVnM4WkP2xdOaZfgwKe4F8LLffrCTlcBSLHppMysCM8ywl+gVrGdDSr24Nul8QwZDIX45aqu/GQXCjJL8lmgA8a3MBuHz3kqO6LiGaQrWiDVFtB7HkFMLtpTbLkVoZI89rry2mdTRZvIFOY1Jx1sKL3pKpa/JCyROgYvL3eCRJV2CCz4lKwm63CBzWPrtRL0BFbjEURiXC/2XCs5Yb93jlDtAXthSy1Qg8L+8jDFMGGPIHtv0isLp8qvpBwDZXQDIbbjUQUHmuNwZmpx5lOosVOzjdQD8p4tttZ1Imwfie/jeCx3xxAk02LZRl5tjGuGtGIWLvXrrlqLQ5gbq/THZsZshzvLl7ILnzzonpsJeE0PzlWRdecqmXENSL7y2RxIIj3GUuchhTJQwS36DvcuVUsAOIktcBQ3K7qXlDODnVX6pfNG6KXs35UK5QHuyiIMsTpLEPoAtxAQfJbn0URHkK/mohs7T1BSvdbuzdLYjAMx+/XqGNCR1rTlKbVymblvkXsJQAHjvF0L1t7kdLgAwl5Wl+1gOPGeU8kVryr5jerMSW4LY2u5OMPwz5vH9S6oS4aUjWD50ugH396liheFPPzz8mAeoEVZddgKoO2TKRCqqDNLiXHWanvHF7sNJuJAx+r/Za691Kscv6qCq1y9eTA/S6rYogXoP5LGT64TjQVecgeC3zfHyYR7YtcF3/BHrsEMf8v/Zvy1YC/OBKQMskLt5mpZBRtBBkXFgCQutxd6BzSO+qd8RO0Dv9BFAwjizcjUmLuFAHY9ETvUQcjKSjw58KlnzK4XumYR7uulowFrb/vjw5EKB5NflUsMWKMjzF4ZWwbFWTK1br2dW75/ErZrrZZqwXCyou/pO8BUop0j0wr/GMaHvJ7ZetG+U/Em9UcIVazkbhd5P9EFKnopAFgL9fx1xRUh7oaJGlBjOR+v8T8u/mtjuUIC85RPQHX2hb73AMlW43ZDJY63DHISp4cUBIseUiLC1ReJyrXr19OwQsT0VIbxldVsBkXkeeY0jPkMehhnPhcVpcqSJL2YzlUW2u06zg57qTTZ41HnT0mYnKvsmOWNiBjTsZrHppELfog9dpT93tcZURxlJxvcOCP3INM5+aVJNcrg70TrDeGwFnIf9ggOaEEfzFfU+OUucvUHeQIzMGGvbFDB41BWwDPKgXZJnv34ikLwRNW5Om/0vc5hv9IfjPNLbYt8DouKkowZQetHsemEMvNWrMKTStGio3+m7Yb2s9AsguDLjROlCyDAom0M/Zgf0zgkJJhFqAebsSMYcdFeOXoYLNB2bqxB/PLVZEMIPUlAnUsih1gPwqS/WF9uBpUcCwpCRVjIGGEnD8BKj6STfVq4tIhOgwrJdwNt0bXkhv1GrCIXEiAPQwXJvaY9gTFnPSZ+WF8YybEHQ+yssG0myPAJplfLgBrWi+G0Ry57vg+nBVnLJ/+PS3DjKhWGd4ZmzkSH8U82VLBM83X2M4fpBj7RHgkO1uGHxAX3gXymQF4FWBpS9bo1ELPfHVIH+yEpvSGuB4xcbtpgGsvLA4juT2kvcOtPd1o/VRDmbTUszuJ6Wo82KNu6h07MrnOR3l3DTW64tuHu/DLw8O5r2Cgi8v+kSvd5ZTEDXzb5UJMxn03aPf6hdS4ASh5GiZN5TVPu8pyGSXpc9OFVtIThkTWrJUENTKehxYBqQKgJOf0J6g46yPwwBHB89soWUAMZN6mpwBdISNs6U/acRD2zaMQDMHbWc2VmSja4sR00TXjhSqnBtCgkENeMKHiQ76MCfdYGOQBK7V16xheUaIL2Dwd/lMQfhSbvvm1tnJvVfLIVIDp/BTwudKlEcp7xa49OrIONs1bWHaww00J6fIGc6tJLUCe8H7zGlwX7/yGQvIefI8xtk/jradznco/uBBH9Gn+Z22l5AMdjAEe+ZBHTRJrqH7tc0/FIuF8MR71W9UiIKp0WdQV3Fl6CZ5yJjhiKUcgttd8pUEg/CPlehbwJXlxqVhZLE5LpMn5irTHL5yJUotfNK48vAxIBBHx1vtjq1M3gkD/qRREGO+jAaBwI8ddiafpZycdM8gplYg73Fz5nDsBWVnMDgBEqBy2IUDDBaJcsKgk953x+yZP4A3TnQ/dbVcLNb+iOmImXy3a0NZnJyG6qPzZxFhiKNVZAYsRsGqvwCucBbQ97d5/OzY4fZey85aBdAZ0wsw1UkHqMP8UMsRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012SDTCeTHkpJxxJ4P9UhXRh",
      "input": {
        "note": "The bottle's cap is still left of and ahead of the jaw column; shifting further left and forward toward its neck.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.05,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_012SDTCeTHkpJxxJ4P9UhXRh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2928, 1.4902, 0.7101, 0.1677, -0.2775, -0.2096, 0.9984, -0.02, 0.7769, 0.5564, -0.3935, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4091 left_y=-0.069 left_z=0.1077 left_yaw=0.0385 left_pitch=-0.0239 left_roll=-0.0043 left_gripper=0.9984 right_x=0.2858 right_y=0.0031 right_z=0.1601 right_yaw=-0.0025 right_pitch=-0.0427 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.612, 5.5179, 1.873, -0.0855, 0.149, -0.0171, -0.3761, -1.7709, 7.2, 2.0488, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ee6f60535766754c366fa5ba6431a2165a28c9bd3d4307ffba40e8ef37413db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:470c4308ef0ed0d2f1f7a025206aff582cd01d7b49965a7e0728be2633886c19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a29cf0fc5de312e79e4ce2d56eaf0ff83b7375fdf1590230948a9f55f67d6bbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 14.94 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]: [-0.4236, 1.4902, 0.8509, -0.0483, -0.3416, -0.2562, 0.9988, -0.02, 0.7925, 0.6033, -0.4034, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4032 left_y=-0.113 left_z=0.1271 left_yaw=-0.0132 left_pitch=-0.0794 left_roll=0.0211 left_gripper=0.9988 right_x=0.2914 right_y=0.0029 right_z=0.1752 right_yaw=-0.0026 right_pitch=-0.0213 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -6.9812, 8.8821, 1.8095, -0.2662, 0.0513, -0.1392, 0.0342, -1.4427, 7.0632, 1.9219, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3355, 1.4902, 0.733, 0.086, -0.3031, -0.2249, 0.9984, -0.02, 0.7891, 0.5865, -0.4, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.401 left_y=-0.0802 left_z=0.1022 left_yaw=0.026 left_pitch=-0.0738 left_roll=0.0176 left_gripper=0.9984 right_x=0.2895 right_y=0.0029 right_z=0.1692 right_yaw=-0.0028 right_pitch=-0.0313 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-1.0051, -7.0769, 7.4051, 2.2002, 0.0952, 0.2027, -0.0464, -0.0889, -1.935, 6.8581, 1.9072, -0.0611, -0.0317, -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]: [-0.2928, 1.4902, 0.7101, 0.1677, -0.2775, -0.2096, 0.9984, -0.02, 0.7769, 0.5564, -0.3935, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4091 left_y=-0.069 left_z=0.1077 left_yaw=0.0385 left_pitch=-0.0239 left_roll=-0.0043 left_gripper=0.9984 right_x=0.2858 right_y=0.0031 right_z=0.1601 right_yaw=-0.0025 right_pitch=-0.0427 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.612, 5.5179, 1.873, -0.0855, 0.149, -0.0171, -0.3761, -1.7709, 7.2, 2.0488, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ee6f60535766754c366fa5ba6431a2165a28c9bd3d4307ffba40e8ef37413db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:470c4308ef0ed0d2f1f7a025206aff582cd01d7b49965a7e0728be2633886c19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a29cf0fc5de312e79e4ce2d56eaf0ff83b7375fdf1590230948a9f55f67d6bbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiSAKEAgSGAI4AUIIdGhpbmtpbmcSDMSn02wAN2V33mjaexoM2Ord46DYDfT5Fa67IjD8KuetSALwQwmtGv2jSYwpamJrLuR1b5L5X8Zn6KgyTjBxO1tr0PWid8raGISpTXgqph8NgZ+3kEzs8/4pi6sUN9Vprf4h6OwVR3pgDMb7/6pcdlLkWD+aZI/teNFBMd8GcHuGu0Tci6gda/g2tiocQqfPTTjrWhcnhHHs0AYNz5IyeXEsQaCuyilf7UVL8Xrk7RLxfFHWGDO5PpRngf/6+/Gz4QJvlDgchQcFoubDY4YFG8VP5u0X9mptaxQLAi7xlr+EeER5kqF9fI81qhG2jswX59L3+yeQv1U+QyC+nsk+jpJz07rSaCaP9YaA31UFj9TCb/S2H2W07QjPg/nqLyUqHcXmxIDP8e+GWbit58oFWy6y95NM7rMDz5eWj+9Hdf4sXmP5lsCriL73gtloBcz/+RQT0izYddBGbUiXrXluggIfmnC03dC/aShsFc/6esEs16utTjmchAOAU4hXoeTX3N6aJ+eQqk9wM63guVRzsFibxl7li3j/6neT/JjRbyAbkAW4N3a6DNZVsJ9Fnnbh+5ws4z7i0zNfHdk3ETLW0zxIvKdhPL66KQnWjUnlS9SJPKVqBwIrhkxV6XpPGT0wsZ9UkNX4ABfUUVMp6xi8LYoVaixNx6TTtFfYGzAmN4R/xyNbbCt6uBc4cgjsfeeRndZUg2kml+mXBo1L+2kuhvhqREKNXdXPqGy1P6SP8dsPl9gcCKwIbiWVzWzPwvoHgj0vavkF3KAcXx+L8Neh2SqrBNGzrDeB51paND2jWUPlNF/g1p3fi3H0m2zwJXib2WRKQ67tb4AM6XQPm7lT1StiZ6tDgBstmJYL+KlfQ+B9iVDwVdg0975WB9Rv0MuZyPDhVdUJow9z9hKh5W0bZnYqpFqJPVPgFL8ZSgYP3IpY9bMR6ljHKvOmEmUuzLfqEw+KGp0dV4q6eaiFZ8RTbt22qTR7CSNJ4zXK/ekSVeVKY1Q/CLBR4kHJsy43mxQEpzDgPbM279GycxnJkfDxWmLNTczmCAXpwrKgpnHT77rAbWDw9/4/RUjZv9YDEY4KJF1t/cveB5HoakYeSBPPnVXDTkkA80i+iylOzYQy3FUwa+OCkKQ1TMnMeAUsidbcqLWiCiwf3SdRnID//WaPpN56xPEUYbHpHDznRfw5uTTyV6alPP1ltppBdzCs/37GoimZs+dsrrtf02EOBzkBtld8RQtkHfXXR3oa97BvXMsbbRgOH4qwrGNgPdL06zGNedMg3gTkyFPMum9R3qNBasyIBw4palV9rr4piGlR9g0XKKTDgYahvvHcjNKhM+o6ILVljJiRHVYM3+FvrvoySuj8gGyOYgdNuL2QAekmHwCrayh9CKZWjUgYtggh7JWJjxl0Nu/l8OWHwYRC0Mhqa5eyFjp6jSlP5IyDIYJ14VfFD/pDXCBnzpXxmlJyoRl4jlj2qjRXSlz2rHC5xbPNaligLjC3M7YJsExcV73tdcSSSEmGc7RJqM57VUJxbdC/7zejGWiCA95EeJb1faEXCTuJJ6e7YDv5g3e+Q4KdKPJYKvNyPM+wsfsUPnpAYf67dN8YX39lFATn+CJp8Ipq1BjzvEZ609GkSLaTPOVuwE5II/NUn6/ELBk3MiCHCoa0s2P7jynxIIqvF1O0ZJoDyjSbMwUt7YhFf+cFonTULISe1mhnn/gV4i87l5/ooUf5m8kfjujRym3+h23Bb8HkesC2ikBsc8VI6Tc232WWEAJsTDwyKMPHJplR6CBLH5Apz26ED460V+jSdyjM35HBqgG+3+eDMjrbxveCMj3SydjXreu8p2Y5FscCsjTv8Gmmk5Pz/xB557OZGviiIQ1GDddBUYcBqLCxusIuROSY4tG0XwGiEXCAOhUCVGZejOf0iWVRS91Cfi/5OrQEupAaGrz3knK65Y3jqf6P0sqgBYffRfQ9ckVGf8OTfhCvsPzdE5yv1nfud/wDQANIpW9pooVD0ul8KGdUdvNW6WW12N8jTYl/DITuGiVH7XlnoqEYcgpmTmxvqXfPwGfw4EevIabWP4JTgO8jenfOAWYCwpIyg8bTMEHSXf1PKc9QIOiRrRIhQNVaKsjnGQg1esd8BXby2rq5JctSgNKG9NV7OkVnFXNw4Fps9et2oqnlyJJ0lg0GoxvOH/sK0zvMlMOMwGzIfdZbfOMISTq9UmdJjZDO1jEMROsdAtkXXnE2IG2JmDndKDBe4oHVvPvIHkQCUJrj1Y/OzeWEnT3T51meZkluMvxqESYNn3IwEZLUsxh9lG/sVjT7IvxWH+AZXsSBr2ZFGgaWFz+DKKxV0ojU4aiuGvgiP8h1YKu9Eg9/GHQerGszxj5CO5lljeBIKAeGYfayJgRu0oyoLXg9iUvnLka6WlCE/cu8V0R9lrHxYvGu8ihxupz0a9ng/1SSUhsa8fa976sSwbw/qXRLocpcHMVDh/fW1vwv8QKfSVTd6tGuZgCfEn4ETJ+pchdiMR/x0pglYvXWxh5DEGo91j2n7ZGdTFzDnjemxHu5XtmCBSZa2ja7MokPPomdMjvuYmV2tbCbh5aY3VRz/wx2gKZmOYcAQtBhhUKx2qyhqgiYuvQvNNZdx3BOqxD6g6UYyYFJblnNDSArs5pXYkl34wcIp1sySR1WbIk7cOlR0QN2p5aadYAvbJpd1KuRQmHxOcDJ7Lvsx3Bc/w+2UfE15/bDys8JbAXc0v8OGiRmzsQBbl00/HRMXVJdR6PqgKf2wKjn8lRfPXmmAW/Sw8idR8WfAMQhqvq4/aqSQei2bHvRSlR0A2eAX9lhTfX7pvBI9/JHKjAVRDtqqqgxNLldjCoh+HTMM/9nFkNnqZ3ZPt9FyXVnUxE+hlUMPf5rH4j1XRVOFDs/kOV0Fb3EUrCTc01HZNVlJMJzgOwwclM3dszJ+Tn1BIdW/FldN5l0JmRscPwdQhirHzZxLNqs0/H5ZSawiwk+V91ncEVaZ+sm8V0Hizpuh7/sYphsrF1H/g4GBCmDcgksFaoJKdWWvopxn/90YQwwbrYu/HrgWdx5ivAT1VojHft8v3DCTptLxQUHpF0eiYaUp6d7Lcnt197xPlUrkkQwm6nrVWT+GToGi5jC363xG8xvMKm9ZkCXJGl2+nDu5XhdlejlH5PEQjo4JNoPKVXC9iyxK3vuVW6s3bdT+kZq02TTqPnccOMHt8WzehD3OvCbAgttGvql2VQMYuec2+kvAZkCWdocNxPY8sRSWQdCvaPl2Alo9AV0k05X02sZR4jQx88z6USN1QRb5U87lYy6X1kQfdcHMq7ObszPCR/sF28jdYxwYv51c1vts7fOcXD1/XhTdshzevHab1Za9SMMHIvnLfutt7ZdPgHrdpAZto3wVjr79hfrx9vsE22kHe4YuP+BRlN8m9JMzNDFZ8XDiYvcTNZMVcpnn/YDuurTvXQOjHrIyYB7W07HYG/yoHO53jU1uotJ5MeAmTHkLeP/ZGWyEyVHkffhJK5GBUwBV8lo2yC6spOWwHiY66kd0a2/RxjYSTKSZe3Z63cjneML/Wi8+6FH2/AoyWTtFv8u8yNRcDWbuniymXAYO9TrtC8BqblP4jSElCFtMlkOKTAMcKaY5jvQ68/TzrVDWEIeshzjlgZebSuJbS55uaPFaVRY9ky/EVhoopJaktI3z7zBX1slQgGnc9ckv8mWUcRlTZbsL7Jk4G+KkdSE+JkXEpjbyZ9f2D5mpcYRJ5RqYDWAXw0wB0U9+M8DxVejMhRmXcp7BVJxqW4kJmbPBucJ0vR/PqYVy/UM7aIoJS0Z5n3Z4s0LcnKRWqxMJsBkkmBpP9G8cCvIkD32qq8ZlOEAWAfQcgzTdQnHpM1wKR/hqDHGfsCHfv8MpE9EV2m10OnbjuNxDj2LWQceSks9zPvtzqs4fMFKMXhrgFJo3IcKLG5dcJ7h693+DdivFGto6wI40DvxxYwA+OArA1XVI+w/xm6oLIobacwKBbj8dZ9023oviVG5vTzUABG2OmclrsFHSwpLA6DUcCQlcahdb25IcLlz4Y4NOqAJdVqkBtMAzoNZGZ4Y3gZlL4xXAeDXrBI7vSEG0/hRexD8LfAj4IR0YP+I3d1I/rZ3giW0vfe3ZRk606S/ovXA3dfXIG1Azft/qXqlyxazCKohB6xLNBtH0HO3eMc2i54BrYZ8iG0qsVZSbvXt8L4hl9WmQG9fGtP8/fTnigGerXmfY04cfHBrerVUgt8HJDcpQfGRcVD7n9uf1afNmjMPo6/9dGLk5rYspNySmm1TFaomKTSEQF+BftyrOL18Qh0Udhsl469SlEH7ejuW8+bxTMTKTnmVajXLFWknJAlHVNKaQcLjGP6ckahrVeIaJxbiXCySByIfLBu836vDL4y86G4Ra4PAALST7ROn73sscYDNLjWl50f+TM3dq6YcqDfgMdg/073PqbGarrfGNBaMgOUFOS/haA3h3mfTe+SDibVLMtn2CydGrovwaO0VFsDic3Axk3nlgeAxKmKkGHIUaqVhlYneVJWbX1mA/QQOBdvTk7qzNN5fIgJEOtP+UwFH0sFfWqIJLSkgPsbzAuNAHIRKE0JLlUwzuu6T7IFOVkrv+3Q/fzyN11ze6slsWOGFhD5nS6hzLOcNLFUoaslvbYew59ofwsJXuUCOpJ0lDWx0oIY62IlPLvg8E0+S3GSubyHXJmWiMAQg313GgW9c3eBfDDN3QfvMHvgcPX/Xpz8IRuI4eq+Nw3HDUNweyP3oWbJI8MTlr/eec3111pTBB4Y1bISBkZ04+fnCGKWA/krvuo9FDYh9JOqWYnE6FPsXwORWnE3wcFDJGPPq9w/A8OYCPO9Nv+8ej76oky12nF6pWNhhHRuFqtyqTwkkBY/eGF63V4yPP2TEfuDi3uwNKqP64jVocVSZoNMv6IxwTxKHjlC8RSb6QTU6jPBM4is4xf5Eey7xyA1QcTaIWc0YICi3IQg2Xs/pieUmVZfKfsYF/Fae0aU7wIhNZA6j+ed743O5QjCml33aGs+TrOJqrOE9TKlrqsbrw63jkq3Q1l21AOa/wHcjPh9Z0dPPmzU8GfTQpusY7jD7+LFsiD/Y2/afce0a3yl2DVTmN+yVtouO6/J33m35gG87XdK+uizKRoWlF+XqjEz9ZxgZAeUnYV7N4Wgyq1M6Ow8uXP4EFXNB3679k/JHh1LbKYUQHc5hlp1Ltc5NKuIeM0wNqAlv3mmg+OBmaWgMg3R7WZmGzonl3sJYSEf+hf5gyoSg969UGKruGPF1jHrVx7zAyYUI2jWJlDMlW/cUlisEuM6/V/8V4B8cP3JRlkdEnqSD/Bu+Awjm/DJgXOCONX83APz02XOPn9T8XjS8bNqpvk/ohTSCEaNnRq0VNqUNL6Ao8xeR1WhUwgD5fstK4ZCWiF2vbZYFYpdCSVpf07Yf9tUXGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XdFs9RNdZPe1qm9iYmoMVJ",
      "input": {
        "note": "The left arm's shoulder is at its limit around x≈0.41; the bottle lies just ahead with its cap slightly left. Descending to see where the jaws sit relative to the bottle.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.065,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XdFs9RNdZPe1qm9iYmoMVJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2928, 1.4902, 0.7094, 0.1833, -0.2771, -0.2096, 0.9983, -0.02, 0.7555, 0.5175, -0.3744, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4109 left_y=-0.0696 left_z=0.1104 left_yaw=0.0381 left_pitch=-0.0099 left_roll=-0.0093 left_gripper=0.9983 right_x=0.2821 right_y=0.0032 right_z=0.1519 right_yaw=-0.0025 right_pitch=-0.0412 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.5846, 5.8598, 1.8339, -0.1245, 0.1148, -0.0171, 0.1709, -1.6479, 6.735, 1.9951, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b063e601355b748b96e35e2b831df3b36641a3597233991987d01fcb1526387",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0e32646430bd9536a0826d6cb90587e803d2a30eed930e358fe58c7a19977f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7752e917ed4b719476dc4a0b61620c17f74530ecc547a0310fe08e22e2977e53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 23.81 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]: [-0.3355, 1.4902, 0.733, 0.086, -0.3031, -0.2249, 0.9984, -0.02, 0.7891, 0.5865, -0.4, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.401 left_y=-0.0802 left_z=0.1022 left_yaw=0.026 left_pitch=-0.0738 left_roll=0.0176 left_gripper=0.9984 right_x=0.2895 right_y=0.0029 right_z=0.1692 right_yaw=-0.0028 right_pitch=-0.0313 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-1.0051, -7.0769, 7.4051, 2.2002, 0.0952, 0.2027, -0.0464, -0.0889, -1.935, 6.8581, 1.9072, -0.0611, -0.0317, -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]: [-0.2928, 1.4902, 0.7101, 0.1677, -0.2775, -0.2096, 0.9984, -0.02, 0.7769, 0.5564, -0.3935, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4091 left_y=-0.069 left_z=0.1077 left_yaw=0.0385 left_pitch=-0.0239 left_roll=-0.0043 left_gripper=0.9984 right_x=0.2858 right_y=0.0031 right_z=0.1601 right_yaw=-0.0025 right_pitch=-0.0427 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.612, 5.5179, 1.873, -0.0855, 0.149, -0.0171, -0.3761, -1.7709, 7.2, 2.0488, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2928, 1.4902, 0.7094, 0.1833, -0.2771, -0.2096, 0.9983, -0.02, 0.7555, 0.5175, -0.3744, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4109 left_y=-0.0696 left_z=0.1104 left_yaw=0.0381 left_pitch=-0.0099 left_roll=-0.0093 left_gripper=0.9983 right_x=0.2821 right_y=0.0032 right_z=0.1519 right_yaw=-0.0025 right_pitch=-0.0412 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.5846, 5.8598, 1.8339, -0.1245, 0.1148, -0.0171, 0.1709, -1.6479, 6.735, 1.9951, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b063e601355b748b96e35e2b831df3b36641a3597233991987d01fcb1526387",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0e32646430bd9536a0826d6cb90587e803d2a30eed930e358fe58c7a19977f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7752e917ed4b719476dc4a0b61620c17f74530ecc547a0310fe08e22e2977e53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U5Z6TUKfDYte9cN5HnM8os",
      "input": {
        "note": "The left arm is stuck at its shoulder limit and won't descend. Backing it off and raising so it is free and the overhead view is less occluded.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.12,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01U5Z6TUKfDYte9cN5HnM8os",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.59, 1.2514, 0.794, -0.0612, -0.44, -0.3485, 0.9983, -0.02, 0.7303, 0.4755, -0.35, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3623 left_y=-0.1477 left_z=0.1945 left_yaw=-0.0486 left_pitch=0.0953 left_roll=-0.0851 left_gripper=0.9983 right_x=0.2787 right_y=0.0032 right_z=0.1443 right_yaw=-0.0023 right_pitch=-0.0335 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [3.959, -4.8752, 9.0735, 1.5751, -0.9109, -0.1197, -0.0171, -0.335, -0.8137, 7.1453, 1.9707, -0.0659, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7e4072917e5cda3faf0d1c081529599c70bb02f9378d08667c0d5fe8fec068d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34f33a2ea687bbf7b95d19085735c49f0cc0d2cf915ec4ffc789f4276e90dcf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c5261495cfffb1a22b3053e66f7a872db67134bd34088f19f2bf9ba37fd4c3b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 6.963 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]: [-0.2928, 1.4902, 0.7101, 0.1677, -0.2775, -0.2096, 0.9984, -0.02, 0.7769, 0.5564, -0.3935, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4091 left_y=-0.069 left_z=0.1077 left_yaw=0.0385 left_pitch=-0.0239 left_roll=-0.0043 left_gripper=0.9984 right_x=0.2858 right_y=0.0031 right_z=0.1601 right_yaw=-0.0025 right_pitch=-0.0427 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.612, 5.5179, 1.873, -0.0855, 0.149, -0.0171, -0.3761, -1.7709, 7.2, 2.0488, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2928, 1.4902, 0.7094, 0.1833, -0.2771, -0.2096, 0.9983, -0.02, 0.7555, 0.5175, -0.3744, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4109 left_y=-0.0696 left_z=0.1104 left_yaw=0.0381 left_pitch=-0.0099 left_roll=-0.0093 left_gripper=0.9983 right_x=0.2821 right_y=0.0032 right_z=0.1519 right_yaw=-0.0025 right_pitch=-0.0412 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.5846, 5.8598, 1.8339, -0.1245, 0.1148, -0.0171, 0.1709, -1.6479, 6.735, 1.9951, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.59, 1.2514, 0.794, -0.0612, -0.44, -0.3485, 0.9983, -0.02, 0.7303, 0.4755, -0.35, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3623 left_y=-0.1477 left_z=0.1945 left_yaw=-0.0486 left_pitch=0.0953 left_roll=-0.0851 left_gripper=0.9983 right_x=0.2787 right_y=0.0032 right_z=0.1443 right_yaw=-0.0023 right_pitch=-0.0335 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [3.959, -4.8752, 9.0735, 1.5751, -0.9109, -0.1197, -0.0171, -0.335, -0.8137, 7.1453, 1.9707, -0.0659, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7e4072917e5cda3faf0d1c081529599c70bb02f9378d08667c0d5fe8fec068d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34f33a2ea687bbf7b95d19085735c49f0cc0d2cf915ec4ffc789f4276e90dcf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5261495cfffb1a22b3053e66f7a872db67134bd34088f19f2bf9ba37fd4c3b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017a22M8mwo9M41MhiYUNUKp",
      "input": {
        "note": "Overhead view puts the middle bottle about 15 cm right of the left gripper (y≈-0.30). Moving over it to check the mapping between the overhead and wrist views.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.3,
          "left_yaw": 0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_017a22M8mwo9M41MhiYUNUKp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8768, 1.8572, 1.309, -0.2672, -0.6979, -0.5941, 0.9983, -0.02, 0.7113, 0.4446, -0.3347, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3944 left_y=-0.2909 left_z=0.1394 left_yaw=-0.0079 left_pitch=-0.03 left_roll=0.0157 left_gripper=0.9983 right_x=0.2758 right_y=0.0032 right_z=0.1383 right_yaw=-0.0028 right_pitch=-0.0301 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -9.4974, 9.1282, 1.3748, -0.486, 0.1783, -0.0122, -0.4308, -1.2376, 6.8718, 1.9902, -0.0464, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9a4919d6f03bc6dc938a0d45ff70b74eb9ed9890ae428775e8568a7853892f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37d4773e5d601236aea61ec264f984cb397f8cd1e3e5771099c46c855c49b2c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7fe1039b886fb8abe7f782f13fe495ca0fb490d492f5cb5c40cc40d682fe2716",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 6.485 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]: [-0.2928, 1.4902, 0.7094, 0.1833, -0.2771, -0.2096, 0.9983, -0.02, 0.7555, 0.5175, -0.3744, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4109 left_y=-0.0696 left_z=0.1104 left_yaw=0.0381 left_pitch=-0.0099 left_roll=-0.0093 left_gripper=0.9983 right_x=0.2821 right_y=0.0032 right_z=0.1519 right_yaw=-0.0025 right_pitch=-0.0412 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.5846, 5.8598, 1.8339, -0.1245, 0.1148, -0.0171, 0.1709, -1.6479, 6.735, 1.9951, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.59, 1.2514, 0.794, -0.0612, -0.44, -0.3485, 0.9983, -0.02, 0.7303, 0.4755, -0.35, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3623 left_y=-0.1477 left_z=0.1945 left_yaw=-0.0486 left_pitch=0.0953 left_roll=-0.0851 left_gripper=0.9983 right_x=0.2787 right_y=0.0032 right_z=0.1443 right_yaw=-0.0023 right_pitch=-0.0335 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [3.959, -4.8752, 9.0735, 1.5751, -0.9109, -0.1197, -0.0171, -0.335, -0.8137, 7.1453, 1.9707, -0.0659, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8768, 1.8572, 1.309, -0.2672, -0.6979, -0.5941, 0.9983, -0.02, 0.7113, 0.4446, -0.3347, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3944 left_y=-0.2909 left_z=0.1394 left_yaw=-0.0079 left_pitch=-0.03 left_roll=0.0157 left_gripper=0.9983 right_x=0.2758 right_y=0.0032 right_z=0.1383 right_yaw=-0.0028 right_pitch=-0.0301 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -9.4974, 9.1282, 1.3748, -0.486, 0.1783, -0.0122, -0.4308, -1.2376, 6.8718, 1.9902, -0.0464, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9a4919d6f03bc6dc938a0d45ff70b74eb9ed9890ae428775e8568a7853892f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37d4773e5d601236aea61ec264f984cb397f8cd1e3e5771099c46c855c49b2c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fe1039b886fb8abe7f782f13fe495ca0fb490d492f5cb5c40cc40d682fe2716",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XtJhCws9oa4VqCVB2KqQs1",
      "input": {
        "note": "Left gripper is over the middle bottle, which lies along the arm's forward axis with its cap ~8 cm ahead of the fingertips. Advancing to put the jaws over the bottle's neck.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.285,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01XtJhCws9oa4VqCVB2KqQs1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7574, 1.9774, 1.401, -0.2085, -0.6388, -0.5224, 0.9982, -0.02, 0.6971, 0.4187, -0.3237, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4472 left_y=-0.273 left_z=0.1216 left_yaw=0.0302 left_pitch=-0.0417 left_roll=0.0238 left_gripper=0.9982 right_x=0.2732 right_y=0.0033 right_z=0.1323 right_yaw=-0.0028 right_pitch=-0.0309 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.5675, -10.3316, 9.5521, 1.6679, -0.1099, 0.4078, -0.0122, -0.3897, -1.388, 6.8034, 1.9512, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da2385612b9e7a2089414c24c8bf60e33ac242e8c9fb83a602b925f030e7adf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76c11169e50e78fbb6cd048db7b227324cb36f99fb03214bf8b8592e940a7de5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1661a53e7110b4c5fc3238ba9ac661bf83867966e3a4f66e2afdbb082a581836",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 5.109 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]: [-0.59, 1.2514, 0.794, -0.0612, -0.44, -0.3485, 0.9983, -0.02, 0.7303, 0.4755, -0.35, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3623 left_y=-0.1477 left_z=0.1945 left_yaw=-0.0486 left_pitch=0.0953 left_roll=-0.0851 left_gripper=0.9983 right_x=0.2787 right_y=0.0032 right_z=0.1443 right_yaw=-0.0023 right_pitch=-0.0335 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [3.959, -4.8752, 9.0735, 1.5751, -0.9109, -0.1197, -0.0171, -0.335, -0.8137, 7.1453, 1.9707, -0.0659, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.8768, 1.8572, 1.309, -0.2672, -0.6979, -0.5941, 0.9983, -0.02, 0.7113, 0.4446, -0.3347, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3944 left_y=-0.2909 left_z=0.1394 left_yaw=-0.0079 left_pitch=-0.03 left_roll=0.0157 left_gripper=0.9983 right_x=0.2758 right_y=0.0032 right_z=0.1383 right_yaw=-0.0028 right_pitch=-0.0301 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -9.4974, 9.1282, 1.3748, -0.486, 0.1783, -0.0122, -0.4308, -1.2376, 6.8718, 1.9902, -0.0464, -0.0073, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7574, 1.9774, 1.401, -0.2085, -0.6388, -0.5224, 0.9982, -0.02, 0.6971, 0.4187, -0.3237, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4472 left_y=-0.273 left_z=0.1216 left_yaw=0.0302 left_pitch=-0.0417 left_roll=0.0238 left_gripper=0.9982 right_x=0.2732 right_y=0.0033 right_z=0.1323 right_yaw=-0.0028 right_pitch=-0.0309 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.5675, -10.3316, 9.5521, 1.6679, -0.1099, 0.4078, -0.0122, -0.3897, -1.388, 6.8034, 1.9512, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da2385612b9e7a2089414c24c8bf60e33ac242e8c9fb83a602b925f030e7adf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76c11169e50e78fbb6cd048db7b227324cb36f99fb03214bf8b8592e940a7de5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1661a53e7110b4c5fc3238ba9ac661bf83867966e3a4f66e2afdbb082a581836",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQsKEAgSGAI4AUIIdGhpbmtpbmcSDF/TkHiro4Bf68QWJBoMpgLUMjfiT4Wu8oa7IjDA4kPRirgW2u62JAXCkchEEBJfR6zDJNeLrPTKNgkK2M6ZJaxrjcVd1gLW2NldXtkq3gpmn5+Lxlhc4Vf4PjiYjtW/IGgXuR9pzWxeg9QxN76CcypeEOqFvx06Hi1571zjD8RbFtzniNyKQoviToYgs8ZL+uwZAudTLs80VrI2rlBfUOnuZqn7O3VoO053toLygjEp7YdI489D4YIVKdkj3qQ1fzjjzOpSrSCmP3O/Drjkk9b5OD/283Yi9oO/G0A88aiQsaQ+N9ffkBoL18DfGm2jAherQreKxYKRtRxtr+L7S3cWVYsd5i2JCfaRps1akJeXco38YWtOypNS7j9FxpIltSSRrbe5SjVScrpXvDS7nvQP9hTPVkK3XhcsZ5q3MvaJrg8q48BP1MApWol2S+msTTXN4TcaT/6bT4PHzet2fRuSlGXZNJrwH+4fObGino0Kdwya4AcLUO0l51rC04J6ee4coItW90Mn7zR5bwv53km00mC2spCvO+MZBku8JL+0Dt6mSVih/n67jX2/gkpvcn2rS+wkJQncisL9bpdo93Auky+eOWd2Q6MWXDGnRflbkqN4FkknLetuQBUObiPJijPAtn/CljeP6nIpb8ganCWk7n+bzMgpEsTgIKHR/tki4F/Sk1cWTDDbbcNsjTsC0iXJM3M3CX0CatEXaCXorOQm4H+uKFYDYAvWu61OiNJFd0xO7yQPYeeGp8MppE8vKUN4RWE92Q/76GW6SBcj2a7HOYdTCnyX+CEydN9dcqivXLa9zv71rUVnNsDoM9J2H/enk5xyj4IP3jZGKT5oiIpcn49ORinLNromtZmbJKR1J+HLEprhx8yDyiNcfS5r3BQAqsiQ6Ayq6nHBpXiDEhpqEt8WP7X7wS0f+N+rzsnMQpfDUGW/TBcl/ph6vBlXEM10nXzHgdBdVC8P4dyyGJLBP2nBKhiq2Won29+YKc0RT4MPMHPZVDFokOAXuztce/XLk3QSVCc6z4ZoTukDCCNwmxJRVGVIv0/cbywQleI9+va30EJ/MMYk+3bhRe0Jiai/4gGAJMvJY+L/1fELw211jmNBCCONBMFL5Pb1PNYi6PkTh9FIzPWnUO75916yXk0ek8Ho9kffgX0DELrh52eBhz6IM4hExb6bVODl+knUzMmB9qhEcDfyrpi0aYn5/0GJSNXGmLgKdZwrDntYlahgjbuRNvPNS9ZoCDmkk9/X6X/Pc1FrweYHBEClmTEAB0ITCFHRDJMK8PtMki+zcYeba6L0YsBgOyX/fUSa4e+nybhasUJAEEmeXqjIAXcESXIl4OK44ZwB9W2vM0DtuAdCWZxaf8jZL/x/YeC2K2GY5jzpnXZkCDs3r6cBicek933MOvWefvV+erlD3KDD1YdEEr555w6fYD7bg1yAGXO2oGn18pfjUlXsvm+RI/EpZFxp/3rkj6zl0fJGgfQq6vuXcvEUj4N+Ez03j/yic/JOHtp2Jlg5Q1AD3vBrqdqU6Rn6HhGeRvQJ53I/gG02fyiA+3bpG0ModxYE51hdJ1mauo85cNCrnuUFn7q5/ShBzXjUP92A9cQ8EtJ99jPxYjo3C0e6beKWeo9xTKqNEhueULxHDoQTb2QGu83YbdvFsKw3OheZ8QF7BZRiQzdzrafPYq1+Yrj5op8H5MbYe6S1cneKRH9nZhXclwuhAVr7XswuiyZjPN9ZmCY8dP60oVTs821ye9IOtABVttuTPjTifIjTGRGxJupmZzw+gW1GQeJYruHDG/noXi3xJP5IBjd92WQHArrYqjG0F0kbO03dibSH3hE660UGt+biJmRnFd/GMhZqISLvjtEkCHZqtVxPkJ3wm36Ycovnxb2JTb8Nx55gKG005ucmA7n/dcANeCO4VTSlN4PqDmENxYUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MGqzVxQicbmaQCqLW3kBr4",
      "input": {
        "note": "Cap is now just above the jaws in the wrist view and the label sits under the fingertips; advancing ~4 cm more so the jaws straddle the neck.",
        "targets": {
          "left_x": 0.495,
          "left_y": -0.28,
          "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_01MGqzVxQicbmaQCqLW3kBr4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7063, 2.0979, 1.4952, -0.1646, -0.6205, -0.5041, 0.9983, -0.02, 0.6796, 0.3908, -0.3134, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4818 left_y=-0.2713 left_z=0.1024 left_yaw=0.0576 left_pitch=-0.0385 left_roll=0.0175 left_gripper=0.9983 right_x=0.2701 right_y=0.0034 right_z=0.1261 right_yaw=-0.0025 right_pitch=-0.0309 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -12.1231, 9.4564, 1.6532, -0.1001, 0.2564, -0.0073, -0.2667, -1.0051, 6.8991, 1.956, -0.0806, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c5cfdad2a9fe6ded774735e65e5a1898e445fd1e0345c688310082e67526ce1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51c209c34665478f2e40d40bbec2dfbba3d2ab5a7426020f02a1df38583eeb46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:543a83c3f129c9cea60775c57ca4ca2b7c3d19ccb4daa60abab5e11f62689cff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 5.114 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]: [-0.8768, 1.8572, 1.309, -0.2672, -0.6979, -0.5941, 0.9983, -0.02, 0.7113, 0.4446, -0.3347, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3944 left_y=-0.2909 left_z=0.1394 left_yaw=-0.0079 left_pitch=-0.03 left_roll=0.0157 left_gripper=0.9983 right_x=0.2758 right_y=0.0032 right_z=0.1383 right_yaw=-0.0028 right_pitch=-0.0301 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -9.4974, 9.1282, 1.3748, -0.486, 0.1783, -0.0122, -0.4308, -1.2376, 6.8718, 1.9902, -0.0464, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7574, 1.9774, 1.401, -0.2085, -0.6388, -0.5224, 0.9982, -0.02, 0.6971, 0.4187, -0.3237, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4472 left_y=-0.273 left_z=0.1216 left_yaw=0.0302 left_pitch=-0.0417 left_roll=0.0238 left_gripper=0.9982 right_x=0.2732 right_y=0.0033 right_z=0.1323 right_yaw=-0.0028 right_pitch=-0.0309 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.5675, -10.3316, 9.5521, 1.6679, -0.1099, 0.4078, -0.0122, -0.3897, -1.388, 6.8034, 1.9512, -0.022, -0.0366, -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]: [-0.7063, 2.0979, 1.4952, -0.1646, -0.6205, -0.5041, 0.9983, -0.02, 0.6796, 0.3908, -0.3134, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4818 left_y=-0.2713 left_z=0.1024 left_yaw=0.0576 left_pitch=-0.0385 left_roll=0.0175 left_gripper=0.9983 right_x=0.2701 right_y=0.0034 right_z=0.1261 right_yaw=-0.0025 right_pitch=-0.0309 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -12.1231, 9.4564, 1.6532, -0.1001, 0.2564, -0.0073, -0.2667, -1.0051, 6.8991, 1.956, -0.0806, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c5cfdad2a9fe6ded774735e65e5a1898e445fd1e0345c688310082e67526ce1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51c209c34665478f2e40d40bbec2dfbba3d2ab5a7426020f02a1df38583eeb46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:543a83c3f129c9cea60775c57ca4ca2b7c3d19ccb4daa60abab5e11f62689cff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8wgKEAgSGAI4AUIIdGhpbmtpbmcSDI+sckNCBr2FqNg6GxoMQoJm4ND2Hw75yD99IjDRUet7StFxsFyS14gTQLRdSRlb1EfS1JZX3AaIieGDiGxPQtNoyf1cXIoxRoGJd6YqkAgb5xTK90le9L2hunVXq7PnbivWQksLHpGDKz81grPQ9fiFPjl8MUVdF4WlEmhB5zDe6rTUyNKXTW1/yK0OhDc8og0rNPRiqFuYAUzezePhvvew4DKDV4E40D+9t1MdlD59C+2qTX6EnyuP7ggGQ28bpnHw/D4uTNAbSACmnpgMto7R7DZ/1i2SLRB1pzx//BpcHyswY1PzFyQppf/JSuWWlPoDeTY/tbU5CYkiqmHiQGkBxBnSlb/tonauvrtphC9uUrJ6yI/+GFZy7zziGCEJlsXUyl6uifkyqmk+r5AUVDUwh77ChJ7Xy4za/PRyzxNTrt/XnVrR2UO4FOaHwUIy8IOfUVmaweEF4gHQvA9Qg20mPmpizVgQE1xgWaQ7REkNUJ4ALQU5LgxUZlMlBfJuag0Hgf9JnT7yh6QmNkQ35WOt5DVY3BvQj4Vx4rO/xyDcrnZ+bods2lMs8X8TPvE2kqUS9tKokf2OjV/7ZmfQklm6jMuLImvhWU3scTK24X/clNVGdcqcLTFT+O2a4cQV/PJQfFPYMVph7y0JXbYU6jBJebbrLYmyK5bag1MPRhdncYGwQc/IQ+2/Ru6hxvDosmBcP/uPmICbsGqzmekZaARN6eJspj3bEWomuUnBVwTEiyiTIpwQ9qHKy2Q0nMlLI26dFfrzw89q4u3OSD9Fwa0Q3lyBHf3fqf3d7Pe/EmdOEQaS094O/tFQGLpynFzIQaLAjidWQsaZygj8O1sPJpA+SDZgqDXHwsDGV/yN9cPUPiefP1WNBXRn3w+geO5jXZn3bB9DUu8ak3Irq5Q/+iJUJtZbwdTJVjyQ0VHbfs2iZULtm0G2JLIwb/VG6Ru+H6wBCMqq3WwEEznqLQKxRiNfSQn3OjqNQExFvOpffyJIkj+1pBfdWQOFqpnPZPL7oxRPwoerfNBNBeAJuqjBUt77UvtQqHnUYtD8CwlRoWWG1ybHaTp7utk9viztcdbfo41FGomQw44/l5E9UhdCIhyt1gScyJYpiI6XyXawUZPHIdt19RImDoL6c2GVcaZSo6KLWRFi4bnhC42XcqpyUQ/TAOhGMjAbtBANxoSVnCHq4JghNp3lQGuVWlLH+Kl/bUtutqQ2tRrL6yj1tO0/HD30o5vBasGqDoML6VPzJVk81pddGUezKah1DPtv0ANeSBJH0Dq3HAMvRXrvaZPTgqzMVR63NBYWqocpnv5HkqDWcwvk/s6ItePdBmgxC4q5U25TkDfM4ZUk/hHhW1yGxFI/vr7QTYYG+lZQ2tRhwzqofywPa/TxCfikR71Xv3Hx3VQ6cSstcfSFnr4Sxp515GNj7fOBOptRdH8H9Zom6OTYbr9yr6D/zy+//4vH1A+xowUOTIbQFUJ7PXGJTKgM+xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BwE288LaWFTdBrKb9e5BGc",
      "input": {
        "note": "The bottle's neck is just ahead of the jaws and centred on the jaw column; descending to neck height to straddle it.",
        "targets": {
          "left_x": 0.5,
          "left_y": -0.28,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BwE288LaWFTdBrKb9e5BGc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6941, 2.1113, 1.5139, -0.1619, -0.6136, -0.4973, 0.9982, -0.02, 0.6624, 0.3618, -0.2981, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4884 left_y=-0.2695 left_z=0.1026 left_yaw=0.0609 left_pitch=-0.036 left_roll=0.0142 left_gripper=0.9982 right_x=0.2676 right_y=0.0034 right_z=0.1203 right_yaw=-0.0028 right_pitch=-0.0274 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -12.0, 9.2923, 1.6728, -0.1734, 0.2857, -0.0171, -0.3897, -1.0872, 6.9949, 1.917, -0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc2aff1173313e53716c4c0148f377214624260a4ba475bc15492cb567b5ef64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce45d8c793171d7e8ea698745faeacb3d47465f56c6c90558dc76b6b142dacc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc54fad9b00e209be0b8e3ee9aab160eb1322bd3034f850f053a65ed11ae3606",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 3.683 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]: [-0.7574, 1.9774, 1.401, -0.2085, -0.6388, -0.5224, 0.9982, -0.02, 0.6971, 0.4187, -0.3237, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4472 left_y=-0.273 left_z=0.1216 left_yaw=0.0302 left_pitch=-0.0417 left_roll=0.0238 left_gripper=0.9982 right_x=0.2732 right_y=0.0033 right_z=0.1323 right_yaw=-0.0028 right_pitch=-0.0309 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.5675, -10.3316, 9.5521, 1.6679, -0.1099, 0.4078, -0.0122, -0.3897, -1.388, 6.8034, 1.9512, -0.022, -0.0366, -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]: [-0.7063, 2.0979, 1.4952, -0.1646, -0.6205, -0.5041, 0.9983, -0.02, 0.6796, 0.3908, -0.3134, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4818 left_y=-0.2713 left_z=0.1024 left_yaw=0.0576 left_pitch=-0.0385 left_roll=0.0175 left_gripper=0.9983 right_x=0.2701 right_y=0.0034 right_z=0.1261 right_yaw=-0.0025 right_pitch=-0.0309 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -12.1231, 9.4564, 1.6532, -0.1001, 0.2564, -0.0073, -0.2667, -1.0051, 6.8991, 1.956, -0.0806, -0.0611, -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]: [-0.6941, 2.1113, 1.5139, -0.1619, -0.6136, -0.4973, 0.9982, -0.02, 0.6624, 0.3618, -0.2981, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4884 left_y=-0.2695 left_z=0.1026 left_yaw=0.0609 left_pitch=-0.036 left_roll=0.0142 left_gripper=0.9982 right_x=0.2676 right_y=0.0034 right_z=0.1203 right_yaw=-0.0028 right_pitch=-0.0274 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -12.0, 9.2923, 1.6728, -0.1734, 0.2857, -0.0171, -0.3897, -1.0872, 6.9949, 1.917, -0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc2aff1173313e53716c4c0148f377214624260a4ba475bc15492cb567b5ef64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce45d8c793171d7e8ea698745faeacb3d47465f56c6c90558dc76b6b142dacc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc54fad9b00e209be0b8e3ee9aab160eb1322bd3034f850f053a65ed11ae3606",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkQkKEAgSGAI4AUIIdGhpbmtpbmcSDKwzjzgqcTd15NhMFBoM6fiZlx5mikrui+iHIjA+fyvnaZpg85tdLHyhCXc+RwQ8Z3vUvyrnCw5mYsPhl3k04Y0xcjoYH3PnzxwSB3Uqrgg4dD5ti5Ql9jteZaWir2i0yxiUgB1UysyxW32IV1WXDVICxMhdjO9RCpuJ6AjRLnm4/8UxHoxlUWlNo6t4IDwjf0qJYvY5UxSq2Bm6EWMK8kZrSHDI/dtMI3A3qeB0/Bnn+eCOutc0hgzZErvrk06DXd+DPQtFnz3/7FDRKiOE5sDV6X2GFnoAwX5Z6lJQWFYeI84CaDQxV0ExdWqvqQ3M3QcuzEAiDHioJonLmQa6u3RjU7KOMOp9YzKrdya49YDGW/HFQJNWqrHwqUtSaxvAoCLY2f0gtzLJR5KLBWiW3c4r/JyjktKy07uQyinQU4o+rMz6kfOG4HBCxLOOJrfe0gky5z0EE5xj4dwW4gquwf35DSJ7EsMWVxJCxRkWqmIkBJ1cyGEUKI05SGcLSWxitVQwS79QH27n3VOr4ZRUFYW1hKqj2fIScFNIzNC2H9N6ZKIP1DdhCaSt3eR456na4KjG66L9W+AQl5IKM6tq7KqnYU2yBKV+CTWIM0DqxmTAwAye48Ie+xbzVPT4tjx0ioNKVrDvI3bqhgrZkHl8xirHCM48Tx9s70nrcsoZ5h5l7hV6SFT3fc5tTRMuD5UnK/VFuzMCcVyThKOFe3A/KAvSrRfgkdJmLK1xpsaBIeh+0NRlf8yyu8RSHVwSSZMdCoPwQ8dSuYWKb98hhDAHV7U5PKL71++JXUgoPTYeSm9bO0dX2IV5wzyVyWWji3iuRpVuZxheY+AFT0tMN5tlme8fjV77eXAXo1DrytibZxSeLcyl6XPelV7vcRIUyjDpTcXP+/4Ca6HujpHPLSwtP/foKjK4JQIb/mmQXOIJsRqSKKxJjIIO0juwfVueYVMwkYjXe6Jz1h13Vci0acDpxiTdz9M3+W9SlsDup/+KRfSnushyZeTJNjRGCOF+SzEV5Gq0zm+fhGV8GBZx6y2DaJQO7c/99yAgvl04jCRlbo1JhzDnKKIUo9QXKdotE4iRECg0bBWfOKRXDcSyO44WK9SxuuvetPkjFBvs2kxjKy1Y5PSBXlVkYbmqJMAGSIqNCEoUZvMxRc3bpGdl5xwWN16+xOtDxo4yMoacFHq7ScwC9Gv5Ls606ZjT6n/GbODspOhELJPIMKY4pxz0CvkAM/lm342INFKv0AIpR4R18X/1lmblQDRU3AgviKV4skSph3Qev+VngD305MQDca0bhHQKEUbLk9gVZhQb+ZsEGclVudtL+QydmVlg0lGZlsZzbst/dWwMtYuPeLQhT0X1pZhXmonM7TT92CPn42VpveHuO2+VKeixVJxZ/oeIZTkQBjalkyYjgr7RW1kZljkDxf3CV09MwvD5UiPdok6oZZvllHhhXp+PDUCzF4adZd5neDCnEz+BHkIHuHYsZaHYcmodfU5jxpVMmKwWPQXsayUX3WWnghzkFgx8ofUYjxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QeS3aF68AJytsWDa4i9zmf",
      "input": {
        "note": "The arm can't descend at x≈0.49 (reach limit). Pulling back to x=0.45 and descending onto the bottle's shoulder to grip it and drag it closer.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.275,
          "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_01QeS3aF68AJytsWDa4i9zmf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6941, 2.1113, 1.5139, -0.1619, -0.6136, -0.4976, 0.9982, -0.02, 0.6468, 0.3382, -0.2901, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4884 left_y=-0.2695 left_z=0.1026 left_yaw=0.0611 left_pitch=-0.036 left_roll=0.0139 left_gripper=0.9982 right_x=0.265 right_y=0.0034 right_z=0.115 right_yaw=-0.0028 right_pitch=-0.0274 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -12.1915, 9.347, 1.663, -0.1685, 0.3394, -0.0073, -0.4308, -0.759, 6.8308, 1.9853, -0.0073, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce1143d9fb6e66af875cdefce2e9401e655a57a07cbbcd50c2c5f8ff2262ccb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48e4bf08e3ecabc455a3c511ae5745e9b283c22c5e41468bfd54300391e7ac09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e636ad0323b3a3e54c8f9db04fb6ad6103a32903af924aaf783210f391a9aaed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 5.848 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]: [-0.7063, 2.0979, 1.4952, -0.1646, -0.6205, -0.5041, 0.9983, -0.02, 0.6796, 0.3908, -0.3134, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4818 left_y=-0.2713 left_z=0.1024 left_yaw=0.0576 left_pitch=-0.0385 left_roll=0.0175 left_gripper=0.9983 right_x=0.2701 right_y=0.0034 right_z=0.1261 right_yaw=-0.0025 right_pitch=-0.0309 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -12.1231, 9.4564, 1.6532, -0.1001, 0.2564, -0.0073, -0.2667, -1.0051, 6.8991, 1.956, -0.0806, -0.0611, -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]: [-0.6941, 2.1113, 1.5139, -0.1619, -0.6136, -0.4973, 0.9982, -0.02, 0.6624, 0.3618, -0.2981, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4884 left_y=-0.2695 left_z=0.1026 left_yaw=0.0609 left_pitch=-0.036 left_roll=0.0142 left_gripper=0.9982 right_x=0.2676 right_y=0.0034 right_z=0.1203 right_yaw=-0.0028 right_pitch=-0.0274 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -12.0, 9.2923, 1.6728, -0.1734, 0.2857, -0.0171, -0.3897, -1.0872, 6.9949, 1.917, -0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6941, 2.1113, 1.5139, -0.1619, -0.6136, -0.4976, 0.9982, -0.02, 0.6468, 0.3382, -0.2901, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4884 left_y=-0.2695 left_z=0.1026 left_yaw=0.0611 left_pitch=-0.036 left_roll=0.0139 left_gripper=0.9982 right_x=0.265 right_y=0.0034 right_z=0.115 right_yaw=-0.0028 right_pitch=-0.0274 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -12.1915, 9.347, 1.663, -0.1685, 0.3394, -0.0073, -0.4308, -0.759, 6.8308, 1.9853, -0.0073, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce1143d9fb6e66af875cdefce2e9401e655a57a07cbbcd50c2c5f8ff2262ccb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48e4bf08e3ecabc455a3c511ae5745e9b283c22c5e41468bfd54300391e7ac09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e636ad0323b3a3e54c8f9db04fb6ad6103a32903af924aaf783210f391a9aaed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpQcKEAgSGAI4AUIIdGhpbmtpbmcSDChaUksL0daieXkh7xoMxjFWkcF0ZJMn0d2cIjBmLvQmVDAQ6+NjJFwDchtbbSqAIFwvO+FAUefk6epWwISt1myXkxA+qnmizbdzpAIqwgYXos5P+7iM4ep7fAdnSg7GYP67x9E2WiMu+gX/mtJgTmxgBy8x0TW8g01IkXheR0V6FMyYqFzdFL+NQK0Mh0p3ManYc4wKs6TrfoUjNF/2Jzj2WQIqDhz4tFQX1Y1Wx2+/YTQpzpciLbMMnL/EaLzVnxsLz3BQhn4nshT298ILqvjCQIZbg8QTrtPOJxNAL/2qUTgCTUMQ8xCTtNbjfakDOE1Y/ne4e72ssgd/WpqVuQzB0T6IaPJPUwvkv4K1YR5nV6ynm63olJXm2ip39CxEM+C5fox3xboQCjKYnParp5eRUkzL73TvrcIKZkDAUwo3pBTwmaoesL1deI/iCMwupSrWvoq4i3XnIzknaTLKBKqy0NkojpMZ0cuhJOucPiow23A16evajqso5pFXUtT/0JuSKC7wPKRZCFioJgpyYghfXu0Wa+wgaSGHZv8ySd+Dzix44yi3eTRP21CF5SdOBGlC8xVmmSrh9GrV9TWPsguB6zHH7uWGIgVdLMjmvus3J3g0O/V8iE4ZKwYtzoDMZu8jT50uSQo3RIJGiE4Yib65mKg/ha0eWU2u92nVG5OAAwfSKr6qmSFo3QTxL4eYy7A79b7BeBjr46LsL0Ju/b272ex7zqGpybYu0CB3QZFHCeG24bWIxzWwHHSjFWXOgvYJHdo2Q6ZPB7lA3AYFOkFilbdtRscvMphOhDeXkEwsIXCD5I/aw5VxF5rPhQrgIu0fA9tqX3aFd/ofV+q/QRKGTIeGil0Iz2JPGR4IAxIqH8oDJS1GQ3lXh0l9k1TMn3g9hHvIDN/T317BLp2UZXYRxgh9QnfybPiTQgyf/HtZ763vw8ANXnNH4xY5OcjIMw4UT2N8EZwoB+XI5ew9Y/cbGsDBalSayXm2GyubHqsQ1vAHixgHkoyDTkG0Z751Q4aTqrhcFYd9cGk4Fqxfz/9OKN4+zUPv9i4wrZ/rbOU31bMjiTN3RHINOCPuMWLEoNcBcLLQaYkiNqMEJbxuDNjVXCkJy5vnmpIPJyRM6HQHy5wraGz+WUc5naEJQty4q+ggTJGrhtjA31sLCdrxJfxqymPSZQoLQcGsjeqX45XYB7lKjP7TXegejWAlp1Tkug8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018RBZ3HisQATrePkp8YmtxU",
      "input": {
        "note": "Left arm is stalled at its reach limit and not responding to the descent. Pulling back and up to get it out of the stuck configuration.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.275,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_018RBZ3HisQATrePkp8YmtxU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8871, 1.8156, 1.3617, -0.3542, -0.7372, -0.6411, 0.9982, -0.02, 0.6319, 0.3134, -0.2867, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3913 left_y=-0.2866 left_z=0.1695 left_yaw=0.034 left_pitch=-0.0029 left_roll=-0.0114 left_gripper=0.9982 right_x=0.2615 right_y=0.0036 right_z=0.108 right_yaw=-0.0025 right_pitch=-0.0339 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -12.3556, 5.8735, 1.3065, -0.5446, -0.1343, -0.0122, -0.2393, -0.6496, 6.9402, 2.0049, -0.0757, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17ddadad8b5a9a64987ecab3ddf6246cf93545df50f1ca07e77b6667ec2e0d0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd79e2d7b69da53cc7a4a897522d112c828d7c3e19ddcecbe1f2f88c7e6a30a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c14e600585f8118b3d4441f45a6a741dae09a3cdc4cfcd9d8eb0d24a52bef8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 3.92 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]: [-0.6941, 2.1113, 1.5139, -0.1619, -0.6136, -0.4973, 0.9982, -0.02, 0.6624, 0.3618, -0.2981, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4884 left_y=-0.2695 left_z=0.1026 left_yaw=0.0609 left_pitch=-0.036 left_roll=0.0142 left_gripper=0.9982 right_x=0.2676 right_y=0.0034 right_z=0.1203 right_yaw=-0.0028 right_pitch=-0.0274 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -12.0, 9.2923, 1.6728, -0.1734, 0.2857, -0.0171, -0.3897, -1.0872, 6.9949, 1.917, -0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6941, 2.1113, 1.5139, -0.1619, -0.6136, -0.4976, 0.9982, -0.02, 0.6468, 0.3382, -0.2901, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4884 left_y=-0.2695 left_z=0.1026 left_yaw=0.0611 left_pitch=-0.036 left_roll=0.0139 left_gripper=0.9982 right_x=0.265 right_y=0.0034 right_z=0.115 right_yaw=-0.0028 right_pitch=-0.0274 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -12.1915, 9.347, 1.663, -0.1685, 0.3394, -0.0073, -0.4308, -0.759, 6.8308, 1.9853, -0.0073, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8871, 1.8156, 1.3617, -0.3542, -0.7372, -0.6411, 0.9982, -0.02, 0.6319, 0.3134, -0.2867, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3913 left_y=-0.2866 left_z=0.1695 left_yaw=0.034 left_pitch=-0.0029 left_roll=-0.0114 left_gripper=0.9982 right_x=0.2615 right_y=0.0036 right_z=0.108 right_yaw=-0.0025 right_pitch=-0.0339 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -12.3556, 5.8735, 1.3065, -0.5446, -0.1343, -0.0122, -0.2393, -0.6496, 6.9402, 2.0049, -0.0757, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17ddadad8b5a9a64987ecab3ddf6246cf93545df50f1ca07e77b6667ec2e0d0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd79e2d7b69da53cc7a4a897522d112c828d7c3e19ddcecbe1f2f88c7e6a30a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c14e600585f8118b3d4441f45a6a741dae09a3cdc4cfcd9d8eb0d24a52bef8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStAoKEAgSGAI4AUIIdGhpbmtpbmcSDODBSpdQQEaZeA72MhoMaNFzjIfc+BE/2mSOIjBNv89IaKy8RIQ26RF6pqbfBM/RSubEIOjXx+Nscvj+ohnhLIz/4Wyi/beuZh6ZCicq0QlAzN75SLLBGWk2nqcW8/0MGMLKZHKpb2OE5aeqZuoamaBlJnD3iZL64nuGQoKXPcO5tl7+jl32tvUBQu19Q3osleAcWOGFsQcenXvEwp97SbTLkXxKMeMRbWigTCAbQCk1k2T7Cd81B+5Rsp/SsOj/7EfKJFvPQPeBxojvdnX5n8ATQB5oahJ2SmB8Ol3s0xSRjQqn5o5pi2PWebV0ElurB8CNi9zAKM/A2w9dVofTDN37+A8El4D9xvO0GTtPTi3b06Hs9x/YQvWQr4kalqSFzjHPNcmo+UIxjxKRt0quo/5OPouT/e8IUsXuES2HMSmqFoNwDwe61eqJw/gRrrUp9SzbasGFFjEuelNncSZ9SHNk+3mfrTg+gD2T5B2N7QlBxf5E906294P//mDjxMDRns0Kn9ufiCTroAv4yky9L61b76YttE+BQMKUHoZ7/5gD/gu6kHTpPAKJM7JjddiU2uzRp7cT7i0562delF93bXDJ8WScvC1aK7a+wDJsXQJ/j6e9Pb8EOC6KLh7pNcMTkb0dC78KdRkoI+BJmkckFm7G2S4QApSrlooZWCmoa+SLPiFXJwbDWmwI2kHVfY/Wvk9A6ImmYV2bTbFcLxng9h6tttxtSbC0QX1RQZQnIt7ASGUmIvOIcLoaZNvMU9Zwu7KwIsRx/rpaLJD8Eet0cGElOvHX4OuoHXYe5Uw8lAIgMcci4OFfTvLWidFnoMkFZgqK+cODt1+yqHnPDXyeW1dHQBlYt/nLUHF+1hKpuy0M9Md7t8o7xtcpA/wSQGt6NkT+0ttLN+V9AOKAxacfIpJMTjcfIDeVslpOj2oWE7lPKPTt1jrpI6C/Kf9UA18S4+gJtaQrCYd9s5tRiGEXeiBBy6l+4HjHUGE6s+QiipuozT2bt4YCsvBMs+jYr842zZntHoShduiSJtyIpCDPj+PETp4JRiJdlsLmxniI1KwfDxEhvxfEnthsfqPjlDfgk+ArmsdRf9XlVZ3E9U/x5DSNGhS/S2dpmI8PT+BMrFqpwCc44GI0LA7DMoiP2m0GgH3TchlRtxr2G5f0XacN6I+4vTTpq9AhO1gMDkG3dkCjOPVKEgaBRP7rzWDZuPhrZFB1XJ+MAqbUOCUywpx3qB4ul3ZS0Cf6pnKk4Yf+K/unPVWTeaLG7Wmnl9P1nwf9bpP45sTp5wPHx20uzAo6dNYuB6bV6QMCZoyr5dKvR7MeQ3MO9gl0bKJDwkuGM4KkrMNyNw+2R2TH+JrBFsjiJd2M/zg9HQGMqfEifUfrlZ64N93vcetnZBNePrWAfaw8OFARuO+9iSyxc+GV38y9cucU5CX/lR7G4hGnZdZ0ktFlbbbHlTkwwR0lgcz0k2+xJLDbY1h9sEzZ8M6ZRxSvtlIgocdZ90HTcR1b4GpW/nCiGQGj4sZwTtnK2m0sXOHQhf1ht3tB7XvQr1HVqesh94pGmt+Kr6CRmcHQfZ/Xp//0mE7Yb9AcN1xVXCuXLCCZ2uNHgtZgls2bfx0YnQn35Qd87IvknuaERe11Fq8N+SDVCALttN41Y8dZg0hO4Ds4Yws4Zh9XFvM7mPOQrXrA+0iC4pt8SN49yMjVu4qJkcXEWxAQK5glMaS5h47emb7+6zi/GviloIYDvgP48GnlDYwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SrV85xgRoA9WEVrScujQnK",
      "input": {
        "note": "Bottle lies along the jaw column with its body under the fingertips. Descending to grip the body so I can drag it closer to the base.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.28,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SrV85xgRoA9WEVrScujQnK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.868, 2.0457, 1.0931, 0.1188, -0.7265, -0.6277, 0.9982, -0.02, 0.6083, 0.2821, -0.271, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3944 left_y=-0.2786 left_z=0.0324 left_yaw=0.0389 left_pitch=-0.0248 left_roll=0.0153 left_gripper=0.9982 right_x=0.2589 right_y=0.0036 right_z=0.1027 right_yaw=-0.0025 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -10.0171, 5.3128, 1.4725, -0.3932, 0.149, -0.0122, -0.1983, -0.6496, 6.9538, 1.9072, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:054102326932009cfbb068392ed1ccf6d1fea9ffac2f6f39a38fa30e89af267b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a678153c73c3af602e7ee52f7f2441052a5ec4f3e632cfc34cfc1f244d57622",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7df6189895422d1985611242398d1b6e6e82c33e7d89d0b9c41495ffdf5e325d",
        "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 · 3.631 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]: [-0.6941, 2.1113, 1.5139, -0.1619, -0.6136, -0.4976, 0.9982, -0.02, 0.6468, 0.3382, -0.2901, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4884 left_y=-0.2695 left_z=0.1026 left_yaw=0.0611 left_pitch=-0.036 left_roll=0.0139 left_gripper=0.9982 right_x=0.265 right_y=0.0034 right_z=0.115 right_yaw=-0.0028 right_pitch=-0.0274 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -12.1915, 9.347, 1.663, -0.1685, 0.3394, -0.0073, -0.4308, -0.759, 6.8308, 1.9853, -0.0073, -0.0513, -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]: [-0.8871, 1.8156, 1.3617, -0.3542, -0.7372, -0.6411, 0.9982, -0.02, 0.6319, 0.3134, -0.2867, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3913 left_y=-0.2866 left_z=0.1695 left_yaw=0.034 left_pitch=-0.0029 left_roll=-0.0114 left_gripper=0.9982 right_x=0.2615 right_y=0.0036 right_z=0.108 right_yaw=-0.0025 right_pitch=-0.0339 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -12.3556, 5.8735, 1.3065, -0.5446, -0.1343, -0.0122, -0.2393, -0.6496, 6.9402, 2.0049, -0.0757, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.868, 2.0457, 1.0931, 0.1188, -0.7265, -0.6277, 0.9982, -0.02, 0.6083, 0.2821, -0.271, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3944 left_y=-0.2786 left_z=0.0324 left_yaw=0.0389 left_pitch=-0.0248 left_roll=0.0153 left_gripper=0.9982 right_x=0.2589 right_y=0.0036 right_z=0.1027 right_yaw=-0.0025 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -10.0171, 5.3128, 1.4725, -0.3932, 0.149, -0.0122, -0.1983, -0.6496, 6.9538, 1.9072, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:054102326932009cfbb068392ed1ccf6d1fea9ffac2f6f39a38fa30e89af267b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a678153c73c3af602e7ee52f7f2441052a5ec4f3e632cfc34cfc1f244d57622",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7df6189895422d1985611242398d1b6e6e82c33e7d89d0b9c41495ffdf5e325d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlggKEAgSGAI4AUIIdGhpbmtpbmcSDPWck9Uxo0pwE0GVAxoMd1IWn+GaIQSn5yx6IjAKal6JXCLLjQJEMP0L4FXAQdOUN5T2UsJdL0Hs5v3ggczXt/xVTceDkjnRLD24tJUqswdc9/MSGekTpGDZfcaqzdQ97eYNkuM5hrWvH7yxJ6eagxVquffFDkD6z+F4JqkeqsB/gFM1gXf/Mhew2nSoar3FOlg4lsJcs+JXGvpPH5oZHEO5SB1gs9jMyVcAkUi4FYn0i7IABI90pAFhG1L9yQNeu7KgYMpTAT1DsV9iqKoBgJeCWsMYbC5r7ld2hdX3n7PUHIZBAByD2cy++7kN2cs3AIJdDTqJ/tClgTFC3Op1OgOcAIFlwhVR/hk0DSqZnGjpKv0FuomiJPkjAFL1+fi06xYgVJw1O9wvUuoBaaz1nnJu/YM8BB7whiYqBBQ9ICu4n81Djq+o5/PxHEeLcahTzUGRAI7UhWbF5jIWQbt4EyjCjWA2zbAB5mxgapc1fsVU2InyPpaCjJ549UbUqPjyo7nQuAZ3OXa+UR6KndqNB9ZPmhFiZuW3g+Ms4MTBufzwBdHFMzi5YYbtqAwMWn3CLNCZKNK3IvyQOMjxZMS6a3LZ8qtHe7RfuShNaW/Z2UDJcAWjOQTKbqL7uSDm4Tem58Bd3+9v1JeQMah8kgUrnQ34KP0+r/sj3iJYu1hraiienSQl2ewrQxjX82HMrPTzZ+od/Ridc01bRxKF6YnEza8AcOtLBObZn/0S7o4qDZtJhUTJkLEwCqmbslaVQ8dmK1r2Fwvb8SXB7FW+Ndpmr+LnaTXL1iZ3THNPyKWUDDYaASXHy3Z3qUs9q9vJTVVsOKInqf+oq1LkhsiIlOxvlx2YLX/NNtmULS6O+UE1t8N4ABf5oAU3i2abeAuCrUajSlqMUGGaPVU5rc0sAg8vu/u2EL/TFKDJi8tQZgRnQl1WIjUuDepxh9iTabGVXphQOJOCxuyyTjDstqr/tKPysIg3U3XDf2lcavW3YK7tphN7+/egbWDGI3shg6ZKASgU+GMUOmTB+picoP/etDAX8dhRyAJkjW8zAeenTI7hOqkLjToksioJTUxECEYJRqvq0sCz2W/v41xAwjVkcsGyPp1FCUZKWS1lh7j1P10/YmNwyjV7umVw7MHFxwLiE6fTd9SPaQlvTgtu+q/02JHwnfSH6CPkF0O0v3htGTST/KJtd4IRQJz1QfNxBdYlscWV2CSaY7ZxfiURymefu9YKx2vuSXD98RakO5vzmB+S1CBcz47PXz3csSObjSby/Pa3ZaEy2X8KgzHjFADEEiyp/V743OX57kdgTTOazNeLB0nniXVLVRqJTHeQUSdKhaaUtWYPSbMPweA0hii7m1uNLyjvuhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KUVuncvjHWktYUuWXRV1qB",
      "input": {
        "note": "The bottle body sits squarely between the open jaws. Closing to grip it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KUVuncvjHWktYUuWXRV1qB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8654, 2.0697, 1.0744, 0.1783, -0.7311, -0.6289, 0.5878, -0.02, 0.5934, 0.2592, -0.2653, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.396 left_y=-0.2775 left_z=0.0241 left_yaw=0.0451 left_pitch=-0.0118 left_roll=0.0031 left_gripper=0.5878 right_x=0.2562 right_y=0.0036 right_z=0.0969 right_yaw=-0.0028 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -12.1778, 4.7658, 1.3602, -0.4029, 0.0122, 0.9792, -0.1573, -0.4171, 6.9675, 1.9121, -0.0757, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:285e2e1b74d24e67709bd07d019628f12574a075a3ebd601c348e9edac1afcd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38d2ec634c17fff6e98777a2c8e1eb4740c60a16c81b067edbcfbe55d6c379ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d238fc883212b197355d0e41233d2ad7897d648a81b23d4e3dde90dca7d4ccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 16.9 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]: [-0.8871, 1.8156, 1.3617, -0.3542, -0.7372, -0.6411, 0.9982, -0.02, 0.6319, 0.3134, -0.2867, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3913 left_y=-0.2866 left_z=0.1695 left_yaw=0.034 left_pitch=-0.0029 left_roll=-0.0114 left_gripper=0.9982 right_x=0.2615 right_y=0.0036 right_z=0.108 right_yaw=-0.0025 right_pitch=-0.0339 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -12.3556, 5.8735, 1.3065, -0.5446, -0.1343, -0.0122, -0.2393, -0.6496, 6.9402, 2.0049, -0.0757, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.868, 2.0457, 1.0931, 0.1188, -0.7265, -0.6277, 0.9982, -0.02, 0.6083, 0.2821, -0.271, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3944 left_y=-0.2786 left_z=0.0324 left_yaw=0.0389 left_pitch=-0.0248 left_roll=0.0153 left_gripper=0.9982 right_x=0.2589 right_y=0.0036 right_z=0.1027 right_yaw=-0.0025 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -10.0171, 5.3128, 1.4725, -0.3932, 0.149, -0.0122, -0.1983, -0.6496, 6.9538, 1.9072, -0.0611, -0.0366, -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]: [-0.8654, 2.0697, 1.0744, 0.1783, -0.7311, -0.6289, 0.5878, -0.02, 0.5934, 0.2592, -0.2653, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.396 left_y=-0.2775 left_z=0.0241 left_yaw=0.0451 left_pitch=-0.0118 left_roll=0.0031 left_gripper=0.5878 right_x=0.2562 right_y=0.0036 right_z=0.0969 right_yaw=-0.0028 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -12.1778, 4.7658, 1.3602, -0.4029, 0.0122, 0.9792, -0.1573, -0.4171, 6.9675, 1.9121, -0.0757, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:285e2e1b74d24e67709bd07d019628f12574a075a3ebd601c348e9edac1afcd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38d2ec634c17fff6e98777a2c8e1eb4740c60a16c81b067edbcfbe55d6c379ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d238fc883212b197355d0e41233d2ad7897d648a81b23d4e3dde90dca7d4ccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wYKEAgSGAI4AUIIdGhpbmtpbmcSDGePZ0/DUPmqMFGfpBoMKgsNX8aUWVeMus/nIjDenTQYN6hUu0VTdUCNdiyO90wOHdZSKmbK/d9ndKoEP9F339k13J+RuhRX4u6CAJEqlAZ/bjEg7mXKVmImPZSWQQ1ZtZQlcYB4V16ntJY9ly+r54H0wYEGVbxXzyY8WW2QZkJoFSgPhRscpK/bhIZGkoe4OTfUsKP8hoPGvxiS341Y+2ou7E6QyJtJrmpDWq672HYVN8cwVlMDaj0cZoArm10zSYMCb3qC+aeCG0aLEWlmO+ita3qD6teFY4BTGxswlaMQ7dbCNMPbkmo5MnAoqc+8eHmaabBZ4yet09TNU/JEMa0ViTR/J/KH8/kRvMnBrhwy8ofm8jtL/th4t6IeV7vz4z13lEW4zJsHW/5z5RpvQbExvUoaXgRir3S9C2WswtQFe8D1w2aHsn6ak3rmgFLQlzR/f59oHDPG139X4kFv+Fpr6ndFlIbP7UYQUBHt+w03pDdqIdE+d0zglMTaeBqTtk+dVCu4RW7PZB5RDaVr2oZKULVqNIJj7ochnpAKHIlLD+k3qI9UQ6EnyTtwizEMkKXUhMy0rflSejhmOi1hjEHqh4bTp3i5E1BF2mA3vvPi2hu/jtPLVWDNriBA1FPSpBt9i2iCcywObVPma9xRlLciNjInYbftCJtwzUDHh1y/aiqOy9ueXSgRqklNMRJny7ps6TRJTq7fGZ06Cm4FdgAdPjJtzwlGzOwwls3squdveZyQ95d8s+SFgeZVxxcIdVwliWw1pGIGIbeJp+8oAY+YrLdeCeyjrI3goFLTSZeIH7MDAXuW6eR2S1/K6I5EwYPWhMlbXTAAwQVyMkRH6OU8vBUajTmsOCL1jH2rM8CTtpE22MGJMXDqrDl8y8vSreM2BouOzfZmG+BOSFmykXaw7w6p4eeSCsc/pzIEafxTA2zNMz4jz2/kbU2yLzla3rSZf9jQmaJQ2FCl3he3890ZsBAiClNa4bev6lYPdyNAgX7klh9bTo1boaQEcsuwZGptygJlJ9c2bjhAXW65K2NhQK1L48jWe92OXZ2bBUCFaFZrsejCNb/BFgE7MmW0NQm61uU0FdYIRCOTTpnaK0VH1QB2fkJ+ZL7xhty183cEfk39n0Ty5lKj3ZNK7oyxUZMs2RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NymSkSuh76NdjcT7FmWTvA",
      "input": {
        "note": "Gripper settled at 0.59 (≈5.6 cm), so the bottle is held. Dragging it ~8 cm toward the base so its neck comes within reach.",
        "targets": {
          "left_x": 0.31,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01NymSkSuh76NdjcT7FmWTvA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0531, 1.9457, 0.9066, 0.086, -0.8249, -0.7994, 0.5905, -0.02, 0.5747, 0.2363, -0.2626, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3151 left_y=-0.2839 left_z=0.0222 left_yaw=0.0108 left_pitch=-0.0244 left_roll=0.0142 left_gripper=0.5905 right_x=0.2531 right_y=0.0037 right_z=0.0915 right_yaw=-0.0028 right_pitch=-0.0297 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -12.0, 4.6838, 1.2332, -0.5446, -0.188, 0.696, -0.2393, -0.4991, 6.7487, 1.9805, -0.0317, -0.0757, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:723f031386651c7b564b90b6a6c72d398078420d9170f100128c4ebbae3e0532",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88c47b8d467623112c95b1033a1fa79acb087574eabf89a4c428cc5848ec80f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b3b9a144b12f65c0f841a1928a9d522c98a8682a094d600034c2603d019deacd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 5.399 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]: [-0.868, 2.0457, 1.0931, 0.1188, -0.7265, -0.6277, 0.9982, -0.02, 0.6083, 0.2821, -0.271, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3944 left_y=-0.2786 left_z=0.0324 left_yaw=0.0389 left_pitch=-0.0248 left_roll=0.0153 left_gripper=0.9982 right_x=0.2589 right_y=0.0036 right_z=0.1027 right_yaw=-0.0025 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -10.0171, 5.3128, 1.4725, -0.3932, 0.149, -0.0122, -0.1983, -0.6496, 6.9538, 1.9072, -0.0611, -0.0366, -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]: [-0.8654, 2.0697, 1.0744, 0.1783, -0.7311, -0.6289, 0.5878, -0.02, 0.5934, 0.2592, -0.2653, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.396 left_y=-0.2775 left_z=0.0241 left_yaw=0.0451 left_pitch=-0.0118 left_roll=0.0031 left_gripper=0.5878 right_x=0.2562 right_y=0.0036 right_z=0.0969 right_yaw=-0.0028 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -12.1778, 4.7658, 1.3602, -0.4029, 0.0122, 0.9792, -0.1573, -0.4171, 6.9675, 1.9121, -0.0757, -0.0708, -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]: [-1.0531, 1.9457, 0.9066, 0.086, -0.8249, -0.7994, 0.5905, -0.02, 0.5747, 0.2363, -0.2626, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3151 left_y=-0.2839 left_z=0.0222 left_yaw=0.0108 left_pitch=-0.0244 left_roll=0.0142 left_gripper=0.5905 right_x=0.2531 right_y=0.0037 right_z=0.0915 right_yaw=-0.0028 right_pitch=-0.0297 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -12.0, 4.6838, 1.2332, -0.5446, -0.188, 0.696, -0.2393, -0.4991, 6.7487, 1.9805, -0.0317, -0.0757, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:723f031386651c7b564b90b6a6c72d398078420d9170f100128c4ebbae3e0532",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88c47b8d467623112c95b1033a1fa79acb087574eabf89a4c428cc5848ec80f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3b9a144b12f65c0f841a1928a9d522c98a8682a094d600034c2603d019deacd",
        "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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t2S+Yp9s2Rb7uLhSGqzY7ZTG9K00zoO+vMqqP54QlAkkfrXORGQinUmb2gR4Un4EWUBm6mQ7nHO2jed/p9zmU4peVOegtH7tUkpiQgvweN2jFOQjpY/++uswkVShCAgoaMH60AzUPJi/sLt1lsD5JXHioBrTidB6Mxaypq7dBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NMHuffAWZ6UCBNm8s5c1zb",
      "input": {
        "note": "Bottle is sliding with the gripper; its neck is still ~15 cm ahead of the grip. Dragging another 11 cm back so the neck lands around x≈0.35.",
        "targets": {
          "left_x": 0.2,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01NMHuffAWZ6UCBNm8s5c1zb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3895, 1.8683, 0.8413, -0.271, -0.944, -1.2274, 0.5905, -0.02, 0.5541, 0.2104, -0.2565, -0.0296, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2023 left_y=-0.2905 left_z=0.0187 left_yaw=-0.0314 left_pitch=-0.0386 left_roll=0.0206 left_gripper=0.5905 right_x=0.2502 right_y=0.0038 right_z=0.0857 right_yaw=-0.0027 right_pitch=-0.029 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -10.6872, 6.3248, 0.6911, -0.8718, -0.0317, 0.3492, -0.1436, -0.1709, 7.0769, 1.9365, -0.0708, 0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:261a54cd7efb95a630037964a7357819a4c685f5fbfa91d3ab1eed8447618dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bf21a861732b585eb29959862c634c1a63a7d1bf64ec0daf6741bc1e0e16252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8eb83e38f2de60b8c43e6a32ef7714ae9a6c74b90f53a8e87ed4afaf6e7cd480",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 4.23 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]: [-0.8654, 2.0697, 1.0744, 0.1783, -0.7311, -0.6289, 0.5878, -0.02, 0.5934, 0.2592, -0.2653, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.396 left_y=-0.2775 left_z=0.0241 left_yaw=0.0451 left_pitch=-0.0118 left_roll=0.0031 left_gripper=0.5878 right_x=0.2562 right_y=0.0036 right_z=0.0969 right_yaw=-0.0028 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -12.1778, 4.7658, 1.3602, -0.4029, 0.0122, 0.9792, -0.1573, -0.4171, 6.9675, 1.9121, -0.0757, -0.0708, -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]: [-1.0531, 1.9457, 0.9066, 0.086, -0.8249, -0.7994, 0.5905, -0.02, 0.5747, 0.2363, -0.2626, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3151 left_y=-0.2839 left_z=0.0222 left_yaw=0.0108 left_pitch=-0.0244 left_roll=0.0142 left_gripper=0.5905 right_x=0.2531 right_y=0.0037 right_z=0.0915 right_yaw=-0.0028 right_pitch=-0.0297 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -12.0, 4.6838, 1.2332, -0.5446, -0.188, 0.696, -0.2393, -0.4991, 6.7487, 1.9805, -0.0317, -0.0757, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3895, 1.8683, 0.8413, -0.271, -0.944, -1.2274, 0.5905, -0.02, 0.5541, 0.2104, -0.2565, -0.0296, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2023 left_y=-0.2905 left_z=0.0187 left_yaw=-0.0314 left_pitch=-0.0386 left_roll=0.0206 left_gripper=0.5905 right_x=0.2502 right_y=0.0038 right_z=0.0857 right_yaw=-0.0027 right_pitch=-0.029 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -10.6872, 6.3248, 0.6911, -0.8718, -0.0317, 0.3492, -0.1436, -0.1709, 7.0769, 1.9365, -0.0708, 0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:261a54cd7efb95a630037964a7357819a4c685f5fbfa91d3ab1eed8447618dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bf21a861732b585eb29959862c634c1a63a7d1bf64ec0daf6741bc1e0e16252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eb83e38f2de60b8c43e6a32ef7714ae9a6c74b90f53a8e87ed4afaf6e7cd480",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgkKEAgSGAI4AUIIdGhpbmtpbmcSDPtznDQmEt6PcX5sxhoMLDk1TonQieV5Ex9FIjDhuw4G239RanxWyjWDoUNKcUbuj0gLR+RCG1yeSBEpeOANVilcdvg08tCEvAX7Km0qswh+x5E++nOtzZ2dOaMHjh4fU6KEqKWzZEFMmPZfacFNqdDMmI7VgXkeUXcfbL52RGw7UusJhiAKHJUVsXXeIHzaKBeQVG3BVkt6xFgKwyrNg19ImDG7jeBzeSPFznNNxERv+0OBv26PES+L24vBFwM2+kwJB6ABXk1oTm21WlnA45JSqr9lSx/JBrNAUQHVjOKQy9YWgfFRJtAwtEqZ43oy4dB4o/C5V2BQrsX1krAv8LTaww/cJqXXp/05Wv2PlNyO17ZA/ybOM2gy5nbaGeVu7t6+SsJ08TL17hJIvVKwYnGzm5U1A07TK4WZJFByExGnPd3iz6jrrwnH3J8xn3lftEe+cqH33c1n2buCV0EMucTewyInB6mcxbTc0sNmBAFCOyiO9AV/ARwVWGaTR1mS3nece3oc/xAqdoDq9D4pEohs9x3Memd5duf+keEEM/DUmCJw7TUOY/sMmkKHlIKs4puy6uvI4zdH7Qte0E6vLg8SMKUwrV4TXUPpQpZk4sxWdDyM7Mq6MArrkU+KxGA5pCXhjlCiESzWAeLkz3HtG1HUkXfRm8ts/jdGxlU0h5dtMZKf+xzJItoM6XFYv3M8K+S1zu+ZpS2eIPWPizsqqejzPHkbhb1oYRuu5DZ8iUGvZeCr42BwkD/GZ3xTDlGXbJ7G6uA4xGq/7y3SczTMHvYlv6OrLR1sz3KR24wF7xh0jzoBPMpswtt54MmwBSPdGcAUgRvNANdhnw2WG2huZXNib4WCXVUxj9CED3pmnbKHMAZMjwtb9ote65FADXvAB7utIvypm5PEuDdle6mN5PblEVghFSmH7EnSZZlGmm6WGFEU4CE0gZMoMs5Y9778yhmNl+dwAgENLPHf04fO+H9ccotKZq+coqAcegWOxKdmup9mVl+zrnGglOCQQ3zX3LgBQ9UvWvbc5z2onm5WHd4ftxhma5oVp64Ed+l1t63NFAelo1gDQaPJKFl3/KZUIfMAR8Bjw85YtH5SACi9shud3GqGYPDCt0iAdzUwFBzR8WYwQnOoEA8PBltCan5Ghjl7zAVsR2GncWNIDGt2AhRONe4orIoMQaJg4ptk1tu8IldYTfHNff5+xCFXYULYMsOi3t+6AWI/El8zQ4s8KW4AmA7rBlc5dWBJ6D6VZhtwXeQGFZyPecpkWZBlNWF6wy/Hmx7ElPV8FYoghm13/vBGHHYl52TrEzmfJSrZsV83G3NYFWudr8Oo4k+RqbeMmbqCcGnhtebJiOMMX6JbkZxuFr3yy2B1eG1CWrkp4N18kXabUQwxGUtgAch0sNkPO4cnk4UV80pKDoSd0Tt+7R+TrOLe58XCEqQHxFVXsUUN2u3C6tijobkXl1/BLXVQJLpVtrWMv9bdxTbsLhZFEBoXgS9ZYg1VFSXvHc/sfN+ONBAPts2pMDXlnkj4EcWf6IrrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JrFdEqaAYmuE8RySwKev5G",
      "input": {
        "note": "Bottle has been dragged back; its cap now sits around x≈0.37. Releasing so I can re-grip at the neck.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01JrFdEqaAYmuE8RySwKev5G",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.4059, 1.8668, 0.8135, -0.2249, -0.9588, -1.2491, 0.9958, -0.02, 0.5316, 0.1841, -0.2455, -0.0292, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.1986 left_y=-0.2911 left_z=0.0172 left_yaw=-0.0325 left_pitch=-0.0204 left_roll=-0.014 left_gripper=0.9958 right_x=0.248 right_y=0.0038 right_z=0.0811 right_yaw=-0.003 right_pitch=-0.0217 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.335, -7.1043, 4.5607, 0.696, -0.6764, 0.1392, 0.0171, -0.3214, -0.2393, 7.0222, 1.8974, -0.0611, 0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62735877b3d12bee0332fdaa998d1b32e23e9fd49be4c43606c5be0a943bee9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9575460fb92d297668123899164c4412e4390287f9b7a46431a724ab7af914bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9bf62b3e8ad323becdebb94eea000311c378606e137021eb9169361664d36adb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 5.096 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]: [-1.0531, 1.9457, 0.9066, 0.086, -0.8249, -0.7994, 0.5905, -0.02, 0.5747, 0.2363, -0.2626, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3151 left_y=-0.2839 left_z=0.0222 left_yaw=0.0108 left_pitch=-0.0244 left_roll=0.0142 left_gripper=0.5905 right_x=0.2531 right_y=0.0037 right_z=0.0915 right_yaw=-0.0028 right_pitch=-0.0297 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -12.0, 4.6838, 1.2332, -0.5446, -0.188, 0.696, -0.2393, -0.4991, 6.7487, 1.9805, -0.0317, -0.0757, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-1.3895, 1.8683, 0.8413, -0.271, -0.944, -1.2274, 0.5905, -0.02, 0.5541, 0.2104, -0.2565, -0.0296, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2023 left_y=-0.2905 left_z=0.0187 left_yaw=-0.0314 left_pitch=-0.0386 left_roll=0.0206 left_gripper=0.5905 right_x=0.2502 right_y=0.0038 right_z=0.0857 right_yaw=-0.0027 right_pitch=-0.029 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -10.6872, 6.3248, 0.6911, -0.8718, -0.0317, 0.3492, -0.1436, -0.1709, 7.0769, 1.9365, -0.0708, 0.0073, -0.0073]",
      "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]: [-1.4059, 1.8668, 0.8135, -0.2249, -0.9588, -1.2491, 0.9958, -0.02, 0.5316, 0.1841, -0.2455, -0.0292, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.1986 left_y=-0.2911 left_z=0.0172 left_yaw=-0.0325 left_pitch=-0.0204 left_roll=-0.014 left_gripper=0.9958 right_x=0.248 right_y=0.0038 right_z=0.0811 right_yaw=-0.003 right_pitch=-0.0217 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.335, -7.1043, 4.5607, 0.696, -0.6764, 0.1392, 0.0171, -0.3214, -0.2393, 7.0222, 1.8974, -0.0611, 0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62735877b3d12bee0332fdaa998d1b32e23e9fd49be4c43606c5be0a943bee9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9575460fb92d297668123899164c4412e4390287f9b7a46431a724ab7af914bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bf62b3e8ad323becdebb94eea000311c378606e137021eb9169361664d36adb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsAgKEAgSGAI4AUIIdGhpbmtpbmcSDP6J6JLoOUSPr2tVbBoMioCev/sISn20IiX2IjBt9664gC7QPKo498NiP9k7rbqVnY+OJdD8qOu6FgSNXjWRW2l/rUaoZG7JhO9CfkAqzQeIEpHw3F/c+vuBiFQAndwKMHm6sBgErfw7vTOofZLVyJJr2qVcrLFRuUT/dtHJpf8pUIund/yhAapYXFxiiV12I74FgkCuTwPSUGO6drKfZT/jPMWFiRoU6Gl0z9n4Sq7QQAsQ2P18qUkcAV1M3HQe5jlzx99r4lQ/P1nDimsifXTlWLOtA7wkaJgg2P0+7EJiFMFlZEgtaeydOeGJ5VqRt0gFt8MyC/nqy22MShkDClWWPfXqG4DrK6T8PRKmdo8KYCNS6g0BkEQVUsKc8/h4/4luqmGWcifS9PKWhYiywz8hCzd4dgWpqCP3yDNDlyqIGNTgsZuGy/wtorvXGU3JRLGKB66Elh02OcBBRhUZnnDpnH0DRAyu74zXGQkyaqcYOCPqqtvyjFMJUMTsJJ2n5ymX32IMh7LwmGX69yLw39t3qn92CXM/yY8KI8n875Q4at+hHHxz/bnlauJuK8JW2Qmt/yaqOltZ/EIO4f7zkiReK09GCLu3pR2kOm4I/M+NfMhC/HKuj//DZ8DxOCZYbL/c2Y+S8K3ciz4JgbAi6jvF/O2TSKAgR+f1anJ8IO93LsjoifHMRo9qM49rBGutjTyvpWcxKvCRdMcHD1TE3B0AC45EwfMUrOrw62h1I2HJXxSh1+t06G9fdBvtRFJXjT+kaJoU6dv7ePeGhASAy4tuXNApg3k9yhVcUXHgDO7/8/s066j0YC3DoUemXVmQazVsP7a6Zj6Q010EiwVs47s0EkX6ODvCtKQkyUChM/fBeOBUlYER47znZbh8I/a3Z5be8ut67SpeYxD1Mf74wdgXOvtwykT2uD2HrLRBd3ko5sivwzraFqoLyFuROcQ7RjF7JexeJv/FUFk3QOYYmJng1nD7pyzI+2uYg+AxAtrXFheUZO2MMHY6LK2QdoHre5rDyJTRvXNiXNfCb8M+BDrbIIZIpQf75s4RB1FMzQ682QkdI00XpKEczbP20WJJi0f7KoUWnAEoDHAfBSDhooNrc9qWRNwSqJmYWqlgObKGqCvTRncu1a/8sEYZgOWqMeQOPzfX1Gjix7I4xftYlvLxJu9MmOs7RLOE6QbXHx6we2fXiZWdFh6AdcXfzmEKBeg/KdBLgOVLF0c3kdH6FljaOM9aunzCJ6AmZ0B4la2J8QA7ImeUYarytD0+7de+psxwACOcW3pBOed10yv+B+v2h9R5O8EdZtT3K2WdexNqeAcRJBtqzQLzj71KElM3tkIxVzP5GE+Dw0ISc3cLuQBsqEcRi9jN6JwB+G2/JbYvK+DyGT5CJEaUt3GaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QAGxXafCop1tHiywjyQoAK",
      "input": {
        "note": "Released the bottle. Rising and moving forward over its neck to line up the regrip.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.29,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QAGxXafCop1tHiywjyQoAK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0569, 1.7481, 1.0046, -0.1989, -0.8238, -0.799, 0.9969, -0.02, 0.5152, 0.1654, -0.2451, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3123 left_y=-0.2822 left_z=0.0965 left_yaw=0.0059 left_pitch=-0.0201 left_roll=0.0047 left_gripper=0.9969 right_x=0.2455 right_y=0.0038 right_z=0.0764 right_yaw=-0.0028 right_pitch=-0.0236 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.253, -10.6051, 8.4444, 1.1111, -0.3199, 0.2906, 0.0904, -0.4034, -0.1709, 6.9265, 1.9512, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1e7566d7ed31071aeded0a725a9ce677d875cc6b726f85e5644b1994bab95a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e273e3c6e51e6eda89268597f41fa5cd606645a6425964e0d9fa37abd6bba75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:897f0fcd733eb611a2ec2a4f97c7ced99f3eaaf370a672976d93253aa524520e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 3.368 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]: [-1.3895, 1.8683, 0.8413, -0.271, -0.944, -1.2274, 0.5905, -0.02, 0.5541, 0.2104, -0.2565, -0.0296, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2023 left_y=-0.2905 left_z=0.0187 left_yaw=-0.0314 left_pitch=-0.0386 left_roll=0.0206 left_gripper=0.5905 right_x=0.2502 right_y=0.0038 right_z=0.0857 right_yaw=-0.0027 right_pitch=-0.029 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -10.6872, 6.3248, 0.6911, -0.8718, -0.0317, 0.3492, -0.1436, -0.1709, 7.0769, 1.9365, -0.0708, 0.0073, -0.0073]",
      "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]: [-1.4059, 1.8668, 0.8135, -0.2249, -0.9588, -1.2491, 0.9958, -0.02, 0.5316, 0.1841, -0.2455, -0.0292, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.1986 left_y=-0.2911 left_z=0.0172 left_yaw=-0.0325 left_pitch=-0.0204 left_roll=-0.014 left_gripper=0.9958 right_x=0.248 right_y=0.0038 right_z=0.0811 right_yaw=-0.003 right_pitch=-0.0217 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.335, -7.1043, 4.5607, 0.696, -0.6764, 0.1392, 0.0171, -0.3214, -0.2393, 7.0222, 1.8974, -0.0611, 0.0073, -0.0073]",
      "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]: [-1.0569, 1.7481, 1.0046, -0.1989, -0.8238, -0.799, 0.9969, -0.02, 0.5152, 0.1654, -0.2451, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3123 left_y=-0.2822 left_z=0.0965 left_yaw=0.0059 left_pitch=-0.0201 left_roll=0.0047 left_gripper=0.9969 right_x=0.2455 right_y=0.0038 right_z=0.0764 right_yaw=-0.0028 right_pitch=-0.0236 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.253, -10.6051, 8.4444, 1.1111, -0.3199, 0.2906, 0.0904, -0.4034, -0.1709, 6.9265, 1.9512, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1e7566d7ed31071aeded0a725a9ce677d875cc6b726f85e5644b1994bab95a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e273e3c6e51e6eda89268597f41fa5cd606645a6425964e0d9fa37abd6bba75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:897f0fcd733eb611a2ec2a4f97c7ced99f3eaaf370a672976d93253aa524520e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvgkKEAgSGAI4AUIIdGhpbmtpbmcSDKJJ7X6VkRtpIvXPaxoMZGsLd18NL5o3dMszIjCqDivZcGRXdyWGzm91z9F8bn1FJ6RKS5cch1Mh67tDrF7mZNnv1sIV8RJub3gulUUq2whtx8cHYiWD6PJ8xxovrImJLzZHEVeu69TsPPOIzYrk5mP5WDTrmSeUwUO5VpPLI7RwOTpC0mmWNZpPyr+cCRRu2RQsfVL5siqTkcLtJ/Hnrv8ox1creIlxcBjsTDVLEIrN5ATtqlar5A96nohoLu4yNP8yLfYFkBmHv78E2+vEluDNbVLznlQM+UnSrCM6X7V4jooolzE1q/0kBSBoSWizkJePr63hw+XsNs3Jny2QjeF5Qf/w44rka6gBqZaDl27NWpRw8AHkN9VaDufsQas4OuTUVL2o/xivd5Rc8oRpX+mT3Jmucat/OTOhL4+fhAWZSSyOcH/eRELvIiBxjaHkJRiJOlEiq9vWfi+r9fMMqGRB0rG4iIdm/0XMG7/Hb+3hlgx3LdlxrEdjHFBRVzE98npck8YIftHz6ljrzikQE4JK2cprEqzRWWVrwISgwFTB3e9QQjVj9Y8/c3FJ3BL+quEwdjt6cDbsklhgACdQnt9/dsUmZDI0P9NaXTXBprTJC+YyceUdQSj+EiGtX8H4ty9FqgUBQubf3OJsN37Xm2+Vyq8wJ3Wn3UjR+ZWD2c8NlaDJlf3UhN/41yhNmnYT5SHN87oAR+2f4+lSr5Y90ALXmE6f6VODg3Q9ejnckJlvapSvlxsJd4UqdfiL5oz4xcv9PfC8Dh6xnv5DjXSitGlZxLo0HabR6slJ7uWR6ligAdWKIsdG5/5dGJ872NW5l5bNtGZicBEW7XPhh1rHSfJYYrH3b1dRZb7E3Itiw9/bMBipfvumgerDgwaDuj4g0OdASJlNhZMj5mxJS11HIgGW/qpqETlfbU/gmPAB7VR6p9whhhPafvXnh0wSJY+dyh+FkjX4Ft74eng+64Dh8V5jh2SlWiLBPsOVa1hEq8TD1GNKEFHrLOT1Fsa5TS1p4jd+61sO/uO3ooOB5n34P7DMwyl5HdgI6Ux38/iEd6XK3+kSOxPMP9bDSGfNN4WqaxxHdgk6myWD9n73OF4bjy4OqDpT7TJ7OGSIxPjyWnVWcqCRpSgDf3TFjt7dI2WrhwIrXtuUwQH1bvn32Lww1UuXOz1HkKFLEdDyty8p3xymgKoGiP1YbKojnj8UXeoh9bSsNuqlUl97R921l43aYB8/GnRZLAMYt/jkAolfnc3LNvc6Tz2p7Ka54+FI87l/qQW+7ZzOdlZ821QjCB93lJfXhCnQdHJFFyUK4J7xaKlDSwk+w6QF9pvVZKqqhOOArIMbY0egoDy7cKDtSInYfEwoD7vD5KH8fzrTq5nPIekd2RBJNqnZw8xuH3XuMuHevKFzo4zBgHXNAO/vbHCIx84KVM8cP0GTmK21pZbC6L9Vy4srRQhddPVDhJ8B2goM2Tck93JLr68oxKmOdzFvSHaWSogpan7Hr612vqdT4PCcemC+KmL/lWMqwHCeMgptjBpgoHXJE5XnWOBzpzyPTttsBK8cvNm1oU60ZyjdAhtXMDCE41vmo0Ln+RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hqygq3sBkhbDynwd1NjT6h",
      "input": {
        "note": "Wrist view shows the cap and neck just ahead of the jaws, slightly left. Nudging forward and left to centre over the neck before descending.",
        "targets": {
          "left_x": 0.335,
          "left_y": -0.275,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Hqygq3sBkhbDynwd1NjT6h",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0187, 1.7412, 1.0256, -0.1982, -0.799, -0.7525, 0.9969, -0.02, 0.5014, 0.1551, -0.2447, -0.0296, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.3244 left_y=-0.2784 left_z=0.1038 left_yaw=0.0037 left_pitch=-0.0232 left_roll=0.0088 left_gripper=0.9969 right_x=0.2444 right_y=0.0039 right_z=0.0749 right_yaw=-0.0027 right_pitch=-0.0198 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [1.1556, -10.1812, 7.7744, 1.3407, -0.3101, 0.3053, -0.0024, -0.3897, 0.1026, 6.7897, 1.9853, -0.0464, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a8b2551f319b804e2681464ec505e214537f45b7a976814955def810b64908b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2087319959bf2daa82e5179443b460834cdff1a492e04b49098e56996fa89fdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ede452399ba4dd1c9e22e0bd531f86d580929bf12d5d15af0003d3df7ba4f5c",
        "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 · 5.632 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]: [-1.4059, 1.8668, 0.8135, -0.2249, -0.9588, -1.2491, 0.9958, -0.02, 0.5316, 0.1841, -0.2455, -0.0292, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.1986 left_y=-0.2911 left_z=0.0172 left_yaw=-0.0325 left_pitch=-0.0204 left_roll=-0.014 left_gripper=0.9958 right_x=0.248 right_y=0.0038 right_z=0.0811 right_yaw=-0.003 right_pitch=-0.0217 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.335, -7.1043, 4.5607, 0.696, -0.6764, 0.1392, 0.0171, -0.3214, -0.2393, 7.0222, 1.8974, -0.0611, 0.0073, -0.0073]",
      "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]: [-1.0569, 1.7481, 1.0046, -0.1989, -0.8238, -0.799, 0.9969, -0.02, 0.5152, 0.1654, -0.2451, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3123 left_y=-0.2822 left_z=0.0965 left_yaw=0.0059 left_pitch=-0.0201 left_roll=0.0047 left_gripper=0.9969 right_x=0.2455 right_y=0.0038 right_z=0.0764 right_yaw=-0.0028 right_pitch=-0.0236 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.253, -10.6051, 8.4444, 1.1111, -0.3199, 0.2906, 0.0904, -0.4034, -0.1709, 6.9265, 1.9512, -0.0659, -0.0611, -0.0122]",
      "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]: [-1.0187, 1.7412, 1.0256, -0.1982, -0.799, -0.7525, 0.9969, -0.02, 0.5014, 0.1551, -0.2447, -0.0296, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.3244 left_y=-0.2784 left_z=0.1038 left_yaw=0.0037 left_pitch=-0.0232 left_roll=0.0088 left_gripper=0.9969 right_x=0.2444 right_y=0.0039 right_z=0.0749 right_yaw=-0.0027 right_pitch=-0.0198 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [1.1556, -10.1812, 7.7744, 1.3407, -0.3101, 0.3053, -0.0024, -0.3897, 0.1026, 6.7897, 1.9853, -0.0464, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a8b2551f319b804e2681464ec505e214537f45b7a976814955def810b64908b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2087319959bf2daa82e5179443b460834cdff1a492e04b49098e56996fa89fdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ede452399ba4dd1c9e22e0bd531f86d580929bf12d5d15af0003d3df7ba4f5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wYKEAgSGAI4AUIIdGhpbmtpbmcSDIbeaBI0PP0r9HjUEBoMjqrJ0dvrgO3qeb8mIjBID2UFuJitYzraD1xLXTI/Z96ihR8SzKGSwJ98hXiQkQX+VZTe49W2rfvLlAtEf70qlAbEM8VXIO4/qQD9hgUey83OmjNuozk40gDvydxbp2Hy9np4615U3mca+cIF1cA9S2xdAD6hxPUfDo24aghD2WO8y58rIHrc57fsAI9azpNZzjVjALonZ/vQChZTAuAL+LVdnMHJJl7ElCd/Wm2xQJXw6zQJcGT5bb6kByweDQdKCiLeib61gG31DrLK7yxVskFDS6jbSmf3bWghSwGxPeJ4QvihPZoJ8vPHS0U0Rli2e4gJBYGKoa4wMhb8kxFr7GH0h+1VQLd+DoUfUDVbsl6nxYfTpIlParCI2sNGUL+TU2ctC7ojfTMj8TVuVrzSe212vxWIHXzKccqYfJsKosqhyYCa/nWiJgdYeK5L2htVfQbnKeQHon/KV/95VQS3RfFgEAcIecdqWXsuYc6RwJ68o1oFiLp+PweJcdpo6l3YdKkEJmAiOI/2SE+9M9Efouj643Te8mJW6uZqa6vmA2ZfhcgSDT1JgjT+/dvmILSBF99weMMEOPX72WeU7x39WXKc18TjdcHaPtfL0XXtEmQrtmajre8JowVeNOSkDNAikTrs/tHhEQm46SdZTurBQrisacj9zqueIsorfjA32FqyuN9E3nChQItzTSjDmVSDggPZJLHJxlixErwd2TnJcIP9NlwZUzFW0pH5gVDdr4DL38jUypz0jiFaqA/fLdkO1W7nO/IktYiWgwf0GzG2NIOI2W6Gz+Ke9UtljXQHsGYmsI4lfvmyP6Ve7vgmgN5mgEwWbSzxoJWtqP3uoDPZ2/sVEzazgrcm7mNxZcSVe88jQOmjImnxT6fpGcS2OoVCNqRrE19d6V8e8HOGuCPYMFDBR5j7+vEuJF6RLjrQs/VmrczMvukuB12A0fH52ILPlfnz9sPR6LgV2D/StKvDGGhL4/boCoHFtBLhesEMdMyaiksbahkU8L6jQ/jvN0aMtdl3JaCNKIYsb0n1o42bAPXeaNCxk/fj8TM5le6y/ePweb7RN7UK043RoqsHxIJ+xPRzcDfWpROQJDHt7z18qPqMUg/qvi1IdSXNgJZAsm8gh2kfqRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017QsjXgZhSwz6Wx62vq61uy",
      "input": {
        "note": "Neck is centred just ahead of the jaws. Descending to neck height to straddle it.",
        "targets": {
          "left_x": 0.345,
          "left_y": -0.272,
          "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_017QsjXgZhSwz6Wx62vq61uy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9886, 1.7409, 1.0256, -0.1986, -0.7963, -0.7353, 0.997, -0.02, 0.4877, 0.1448, -0.2455, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3324 left_y=-0.2688 left_z=0.1036 left_yaw=0.023 left_pitch=-0.0252 left_roll=0.022 left_gripper=0.997 right_x=0.2431 right_y=0.0039 right_z=0.0731 right_yaw=-0.0028 right_pitch=-0.0171 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -10.1675, 7.8291, 1.3016, -0.3199, 0.2076, -0.0073, -0.3897, -0.2803, 6.4889, 1.9121, -0.0806, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6519f4b3806297e7ffc591e8e11a6ddb4fd418fcb7601d770fc3e7fe694916fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:444a6560e98a46787556ff080218d4d5453f55f5dcfac02f6acbce5475f5316f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d4d9048072d76c63578780e6a122e12781ec8f6a392fa804126152ec742bda8",
        "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 · 4.666 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]: [-1.0569, 1.7481, 1.0046, -0.1989, -0.8238, -0.799, 0.9969, -0.02, 0.5152, 0.1654, -0.2451, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3123 left_y=-0.2822 left_z=0.0965 left_yaw=0.0059 left_pitch=-0.0201 left_roll=0.0047 left_gripper=0.9969 right_x=0.2455 right_y=0.0038 right_z=0.0764 right_yaw=-0.0028 right_pitch=-0.0236 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.253, -10.6051, 8.4444, 1.1111, -0.3199, 0.2906, 0.0904, -0.4034, -0.1709, 6.9265, 1.9512, -0.0659, -0.0611, -0.0122]",
      "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]: [-1.0187, 1.7412, 1.0256, -0.1982, -0.799, -0.7525, 0.9969, -0.02, 0.5014, 0.1551, -0.2447, -0.0296, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.3244 left_y=-0.2784 left_z=0.1038 left_yaw=0.0037 left_pitch=-0.0232 left_roll=0.0088 left_gripper=0.9969 right_x=0.2444 right_y=0.0039 right_z=0.0749 right_yaw=-0.0027 right_pitch=-0.0198 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [1.1556, -10.1812, 7.7744, 1.3407, -0.3101, 0.3053, -0.0024, -0.3897, 0.1026, 6.7897, 1.9853, -0.0464, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9886, 1.7409, 1.0256, -0.1986, -0.7963, -0.7353, 0.997, -0.02, 0.4877, 0.1448, -0.2455, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3324 left_y=-0.2688 left_z=0.1036 left_yaw=0.023 left_pitch=-0.0252 left_roll=0.022 left_gripper=0.997 right_x=0.2431 right_y=0.0039 right_z=0.0731 right_yaw=-0.0028 right_pitch=-0.0171 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -10.1675, 7.8291, 1.3016, -0.3199, 0.2076, -0.0073, -0.3897, -0.2803, 6.4889, 1.9121, -0.0806, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6519f4b3806297e7ffc591e8e11a6ddb4fd418fcb7601d770fc3e7fe694916fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:444a6560e98a46787556ff080218d4d5453f55f5dcfac02f6acbce5475f5316f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d4d9048072d76c63578780e6a122e12781ec8f6a392fa804126152ec742bda8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStAsKEAgSGAI4AUIIdGhpbmtpbmcSDMLh+kEwb38SdzfvARoM48b2RgPbdfS1qZe4IjDF3nQywP68ma+kYkJqmBTFM+QKro7UMqJpn2+GDIZmJFBiMTg8pnCrFzfMTzSKdO8q0Qq75QvmZ+LBWL5oOHNJVvKA4me24iQBC4Ebhr4iCTDdNSuUiPEOoIeld5XODTMe8k+mNIeTGkMHPPNTVMc8WOFaX0sFXkoaIRGkGhQqTIq0vjuCMbKMP3gkZQN0b9RMMtJCb68O8s9KB0TXvlSC092Bsi0SUW0oFpHrAmE0qVsf10Ms6UOfecigjpBay6cDUhzxx8rfAZ/0NbJ+KXtJroPqM/FVb7b4Zko1JWmaXtJP/d7DTn1PN4syKQu4ypEbb3wAgR1ki0UN5xFtbGI4MSjLI+SsWLS3zdOpew9lm8nFJCTpqMmFlIT1nLoTKQl2k32djPeBWgmU57L9S8nzlUFqAop6Xp7hz7s0OhqRiADBkovG3KRdxDF14GMG9RiiurYKyprga9PhdehCkSCKJcKUBaRjNuKotiZqx6uMXxCqm/UvF6CU1/SVR3dbbrr6LY6VhYwO28Eh1aPiaLRzjTEe57OH8GfNXNpmKjDynFhmvQwlMM5hnWmBpjG+9wTnmnSF1JhYybY44vHsaolRpRdey30ZW0YlKIhs4Hs5Uz++txu1yp6ulCy3I5bxsHN7niBMnlCrHhk1+F9OC3TOxno/pdIW3gAM0Vag8QZofL6lKcc6uNCRMO7RP/v4dBqTgK/J68lhcVW/ePZk0kZwCkXKH2OU1IgUTRlJNf+OC0NwJyA/Jn8LwxXsB+pJpzTwyD7gLjkFhdzGs6v2YPNIxA0ATe+0Uo/LF59QstVFY189/EE8ertQ7MP4Cn9lj0vSC8eVfI7IjWxrxVM297cO/dbH60FYl76dAJ1C6ilRB2rqTKl8H1NPTkt8pVuTvKEvZV5aX7p5wugFOKrObqutyX8IrXgA9jWi+c2cS2GliRDQc3a+uOVvodmlcyJi+OrORlAdfFvq+8xdY1zyoo+mIv+RQ+IRMbodNZmhKzqUU+xU94HURgblMJRK4JCp+HDu7ngrBs2XCWz9mqC2yR6lEVE+pShx//ZzmoJ7tn9R6TRdq3iuF3UJgUzMtxXJvRwR3poL7g+WhTusoH38bLirfRrxPp6BKyxYpQOGwexOvYdCI1vyOsuCdZRDQgccwRsdnw7Mm62Q0erxwPXmkECzayTDMOWgXDXVakttNCW3NoHGavLh3yKZokVTYsA7AspG8jsF3yHtJLTUXCDu5/JwYZLyaCvaaye7hqFVlvpK5BWyl2XNx5WNaR2mGC3yUx7AxYfaUudBSARxaEg1Ym0fFNTnwBMWuZP8iOFjiMKeKa28ySH/wVRmreuy1Roe9DMrAJ8XNtwVyVzkhwkMPNjiM/aLcIns7s0de9xFsn4paPvJvhIyENLaNxRxKsi2ISyHt8aaA4VXsnMw3yAKpUb4K+AKjrwFq+A6hPY080I+1DZtmpw5o3eDzkyuFxXOaNLoyGEHEs2VyF2+3MFL0ylxGWs+c/9bc+UazzcLIYoC+ZEaAV/QpEzBDJi+KovO0o26ZNZtiB3NajEmueSxyKIq+NxrJ+NhNvEi1mAHJ657Nory3aloVYhRSqVmdb4O7Wst78kVGyMS2ZNyK0cqvUDs6SBEA8DsNYWPgd+xJ4mLElrRTtGuWxK5S3rqIFVlKhlcI7unKlN3DofIR1aXE7n/NJZIdM0Nv+iLmqEephSb6v6IJNzQoctvb5IV45NysZlMtPh+RLk88ZvISSk654fxShAzcNNd5f7l480rFkX8cD4TKebbJ4RqvZxHUX60M75/qM0CwHFzTviObk4t21SB9WOO4nqp4nl9iDml0QAUMo+trKAltLEE+KY7DzcyGZQWoYBpjgrdeIIYK9s5GxbnoMon0hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HY1wm7mMg3fNFLSZFpKuXM",
      "input": {
        "note": "The last descent didn't happen (z held at 0.10). Retrying a smaller step down toward the neck.",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.27,
          "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_01HY1wm7mMg3fNFLSZFpKuXM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9886, 1.7409, 1.0256, -0.1986, -0.7959, -0.7349, 0.997, -0.02, 0.4755, 0.1379, -0.2451, -0.0292, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.3324 left_y=-0.2688 left_z=0.1036 left_yaw=0.0226 left_pitch=-0.0255 left_roll=0.0222 left_gripper=0.997 right_x=0.2426 right_y=0.0039 right_z=0.0728 right_yaw=-0.003 right_pitch=-0.0114 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -9.9897, 7.5966, 1.3309, -0.3785, 0.1929, -0.0122, -0.3897, -0.1299, 6.6256, 1.8779, -0.0611, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c27d9139031a2a9a53aaca31c4f783c63f17f2f17e7e1f9be2ca169a188962a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5843ba3f2e2f309539717c925b9dddccdec8775e37aeba69733e1579af0f6e52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:17625d191d576d4ab67bfa00c5d3663f6f4b03aa0c7a28e82042399cda3a9d93",
        "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 · 6.703 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]: [-1.0187, 1.7412, 1.0256, -0.1982, -0.799, -0.7525, 0.9969, -0.02, 0.5014, 0.1551, -0.2447, -0.0296, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.3244 left_y=-0.2784 left_z=0.1038 left_yaw=0.0037 left_pitch=-0.0232 left_roll=0.0088 left_gripper=0.9969 right_x=0.2444 right_y=0.0039 right_z=0.0749 right_yaw=-0.0027 right_pitch=-0.0198 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [1.1556, -10.1812, 7.7744, 1.3407, -0.3101, 0.3053, -0.0024, -0.3897, 0.1026, 6.7897, 1.9853, -0.0464, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9886, 1.7409, 1.0256, -0.1986, -0.7963, -0.7353, 0.997, -0.02, 0.4877, 0.1448, -0.2455, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3324 left_y=-0.2688 left_z=0.1036 left_yaw=0.023 left_pitch=-0.0252 left_roll=0.022 left_gripper=0.997 right_x=0.2431 right_y=0.0039 right_z=0.0731 right_yaw=-0.0028 right_pitch=-0.0171 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -10.1675, 7.8291, 1.3016, -0.3199, 0.2076, -0.0073, -0.3897, -0.2803, 6.4889, 1.9121, -0.0806, -0.0171, -0.0122]",
      "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]: [-0.9886, 1.7409, 1.0256, -0.1986, -0.7959, -0.7349, 0.997, -0.02, 0.4755, 0.1379, -0.2451, -0.0292, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.3324 left_y=-0.2688 left_z=0.1036 left_yaw=0.0226 left_pitch=-0.0255 left_roll=0.0222 left_gripper=0.997 right_x=0.2426 right_y=0.0039 right_z=0.0728 right_yaw=-0.003 right_pitch=-0.0114 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -9.9897, 7.5966, 1.3309, -0.3785, 0.1929, -0.0122, -0.3897, -0.1299, 6.6256, 1.8779, -0.0611, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c27d9139031a2a9a53aaca31c4f783c63f17f2f17e7e1f9be2ca169a188962a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5843ba3f2e2f309539717c925b9dddccdec8775e37aeba69733e1579af0f6e52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17625d191d576d4ab67bfa00c5d3663f6f4b03aa0c7a28e82042399cda3a9d93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wgKEAgSGAI4AUIIdGhpbmtpbmcSDEu32ATfCfIHsyH15BoMrDCHoIcAmgyF8MGHIjDlBHqqtvhqx/Nx7f8eSjSp7a+vzA7BEj8//LGcGkihYDV2UzaavQHfhvM4lgJzBQsq+AcQc51SjQra4zZbqE0nhVU+hfAdF+FAxWIZxhbCwFsKTG53KPStX41RKpPioFnmFIUpIQgSU51tZbLQ6X48EmzkmqOh9cGBkc7zTwapDvMeENm3WSc627SRbSytdoKLM51hslOx1RisJHAyIspsBvHNdPyaq/9vckUu0REE80/QOcDMcO4vaclHZw5OoRC73DvzAI3Xsh+ef92YW+AKvm++RJfOBjkKWwEC6GbqgJcqoTn+Kb9eo+WqyXTMMBOBv4Gy5uT2zCkZlEVmF+DvF66TdJfjYNFzfhi0dAws+GwvDL5XYCz9WN8SlAkPqLrMJSiqL1uMFbeRF0t63jUZ7gekWoZRfbnmfp2zb4Msa+vG2ukRY7mpggf5mprPldXXXfzI/7GaZmo2IrxQkmRs7YhFVPYUM3PkAZSxlxlEh8l2mE/M98bpHZMWWa2Y9OQ6bTzrYoWwsKsLtsm9P6wa+gCa6CxoO8XJPSnCFa1+FPRSx0/OIjEbLbSASxHAB0AWVMgJhbojN0k82RCksJIY6maN9NVSlut858NJGlMITspaAv2DUyOWybdDBqhS3e/ZUFgJu9XPgEUYWWoZxotNffRTdln5T6jxrOtpxNc3q1pseKGCSAXikQiyB7KrqqSQVwrG/KkBCjzq42CbR8F7y+JsrVpMnTMzdrdbAX7CarvCA7ALrESa6//IPiypQdXpEfC2pZ/XI2RjDTFuY8jRWjGlXMknY94YiswrbXjHnrN1AXevZ4VQ7joL0tgC/aa3gvVM4KNgrfXUfjVnrHSyRLCy6GelCD3w0su+DEWUHmJaIgAgzkWpfu+3fYzLI1ywRiW5m4IapSuSbr54k5NJtKGwVc+ei2jJYK5roYkeTS8CJZrwMPkME83yFLaR+NKON1lGKWHG5FyzxMdF0za0UvQoAWb4qVlx6n4guj+V+bPpaRcdIvEtuhKoLBydcGPamtDHiF0GZbXX9kfSJfIvao6GlPaRxINKih9IYyZK9B3bEsG3KHwMauPRUooEWUc+F25Z8BJ477pZ+COXTR18Mdtuwz71qkFMIYNn7RJ06LIhGEBch1QKGIxqqxyPbR2PreX5cdTdqLnf9QXz1iLLaQVTisW1K1JrIYvFZBe6/6VIeYit2d7DQTlsGstYBbBVa91xRWgIOR9qyjlhjzaF4yWAHBhC35m1ei81/PTEJF3cVLd464HnuiyqStGqAOfNmnMgjFh7oqf2Wbh7F+zmvXbxyM5Vq8xzrNOr3y+gbmuNFkhQq7uPJoHJE9mzTm91SG2OT8ThcO9q5XxLcyR7bXpAc7HVW74SuKNDerT/RC6eYAy5EJQtO7av9XrO7yhjDZVBatKpjj7azRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LirBjhFtsWKX4iFi3DSmrg",
      "input": {
        "note": "Left arm appears frozen at z≈0.10. Moving it up and back to break it out of the stuck state before retrying the descent.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.27,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LirBjhFtsWKX4iFi3DSmrg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0698, 1.6478, 1.0874, -0.3874, -0.8234, -0.8051, 0.997, -0.02, 0.4698, 0.1314, -0.2447, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3044 left_y=-0.2787 left_z=0.1415 left_yaw=-0.0039 left_pitch=-0.0229 left_roll=0.0041 left_gripper=0.997 right_x=0.2418 right_y=0.004 right_z=0.0711 right_yaw=-0.0025 right_pitch=-0.0118 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.8, -9.3607, 8.6359, 1.1453, -0.5983, 0.1832, -0.0171, -0.1026, -0.0615, 6.7487, 1.8291, -0.0366, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a35fc61c83ce359fcf36bd82408ac0e55118dda2b7760471af8e80b80f6511fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe999818119cc39ce16e390977642ee382472da6ef38d46e9b62edb87bad781e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8de4535b3fc50edfd7406d0ebd9025f6fd09f6790f7b347a8dfa1ad321992b22",
        "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 · 6.892 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]: [-0.9886, 1.7409, 1.0256, -0.1986, -0.7963, -0.7353, 0.997, -0.02, 0.4877, 0.1448, -0.2455, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3324 left_y=-0.2688 left_z=0.1036 left_yaw=0.023 left_pitch=-0.0252 left_roll=0.022 left_gripper=0.997 right_x=0.2431 right_y=0.0039 right_z=0.0731 right_yaw=-0.0028 right_pitch=-0.0171 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -10.1675, 7.8291, 1.3016, -0.3199, 0.2076, -0.0073, -0.3897, -0.2803, 6.4889, 1.9121, -0.0806, -0.0171, -0.0122]",
      "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]: [-0.9886, 1.7409, 1.0256, -0.1986, -0.7959, -0.7349, 0.997, -0.02, 0.4755, 0.1379, -0.2451, -0.0292, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.3324 left_y=-0.2688 left_z=0.1036 left_yaw=0.0226 left_pitch=-0.0255 left_roll=0.0222 left_gripper=0.997 right_x=0.2426 right_y=0.0039 right_z=0.0728 right_yaw=-0.003 right_pitch=-0.0114 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -9.9897, 7.5966, 1.3309, -0.3785, 0.1929, -0.0122, -0.3897, -0.1299, 6.6256, 1.8779, -0.0611, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0698, 1.6478, 1.0874, -0.3874, -0.8234, -0.8051, 0.997, -0.02, 0.4698, 0.1314, -0.2447, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3044 left_y=-0.2787 left_z=0.1415 left_yaw=-0.0039 left_pitch=-0.0229 left_roll=0.0041 left_gripper=0.997 right_x=0.2418 right_y=0.004 right_z=0.0711 right_yaw=-0.0025 right_pitch=-0.0118 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.8, -9.3607, 8.6359, 1.1453, -0.5983, 0.1832, -0.0171, -0.1026, -0.0615, 6.7487, 1.8291, -0.0366, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a35fc61c83ce359fcf36bd82408ac0e55118dda2b7760471af8e80b80f6511fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe999818119cc39ce16e390977642ee382472da6ef38d46e9b62edb87bad781e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8de4535b3fc50edfd7406d0ebd9025f6fd09f6790f7b347a8dfa1ad321992b22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AYKEAgSGAI4AUIIdGhpbmtpbmcSDE6o0eChDXyM3zhI/RoM32A7c4z+TIjGE3jkIjBu/+NRyYOtXvV4PTXR9Ww8J9W16Xj/5ntNzIme6CVCn2+xgGywTzty2AYfA42FyscqhQavvk1ii/S2enHcqifugXCxzg0VDqABA7RO+M5jHmanyPbcG004Hg1s6jS74bHm2yrjgx9f/jiOeZge9GCzZEJfnihfJWf6YPcnOxVXcWyfYVQT6JcAhDZbVa/uI4fbsaNieRz0ygUEYTiD/2ZuV8tFEz3FOMgGIHZ6NPrDqLazeBkatp7WN8ax7ye6IZ//lBIkytxcJFpriA43aOmKGJzNKivv/sQ2ccpbSSQVvmfjVBL7ElBjxdR7lbirzZZaZOUBezzLs9xswoGLbv39Rr1yor1Nd1kAZJsi1HJU/ytzYHyLT2vOrwP/m9Q3jDvgE9meFJb/OxMsbYcEllgky2rWRTaChUPm+yz+Sck7yCXQ+tL4eA9WMatLmrayuRknr8McpfcNpYrBptgqRy76Q1rMH8JcqcZ2XrsR4CGdSHH26OGNecDKd9r579RmSGfLo9CGRZSf35QkdieMVZe1ubCsjGjQ2brAMAvTrbrSTnX8c6XSHhXQkAwbaQBzE/53T+XM5cAAU1aqZ76Khfq3HU0YozaLw5hHgL7n6Jpng9E3Dtwws7hgCQL0LTn8OimO2eNwp9eNMWGP9ZgeFoXTQE+SxF+1qV91+8r7YwH+waVct4r07wuw53DOxJo82t+RDbdHQodoHVG+frQQLyhTozAyJv8L/m/8q3Q7k4+Ix67MlFYcymPn2AYwn+FuOJSDoFTpuh0Vwm2TBPvFQoUM4gvtaajXvNMaHB55Zz7+FKsUN8zNWrnSf5MATQ5sZaNXuQv0EP70BFpC7kQaRIPL3coOKIDyM94dPK6vuTVt8+MSwxi0pJYwQ6E30rAQpsu6aNAGmnWZMXGbcwCt9sYXe995TZGcnHrv2HQzcfuPfCPNJzya8cAmtfgGXW49DJvIVTjR3PSUhh7hSdrdBgJirZFZpAObqtG7Gcy/y9YcG9dYbhPZwRm+huMA4HmTq8fM+mq867oepsM0LG3hoxcqcJq297LfjOBS/kNx4U6oZw8Le4OFVk4vvLhkotbXNSgulagpED8sshgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GErz83XUMxeF5BDky8ExFE",
      "input": {
        "note": "Arm is responsive again; the neck is centred on the jaw column a few cm ahead. Descending diagonally onto the neck.",
        "targets": {
          "left_x": 0.345,
          "left_y": -0.27,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01GErz83XUMxeF5BDky8ExFE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9676, 1.9152, 0.8848, 0.1642, -0.7834, -0.7002, 0.997, -0.02, 0.4633, 0.1257, -0.2451, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.34 left_y=-0.2675 left_z=0.0327 left_yaw=0.0164 left_pitch=-0.0083 left_roll=0.0059 left_gripper=0.997 right_x=0.2411 right_y=0.0039 right_z=0.0699 right_yaw=-0.0028 right_pitch=-0.0114 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.9368, -6.9538, 4.0957, 0.9646, -0.0806, 0.3053, -0.0122, -0.4308, 0.0342, 6.7761, 1.8632, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4482a490f4fc9533ab6c122719c66101fbee3a16122065e30a5fda490467f30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad23c46c039b214998596104dff09156f8fbdb2da498a5699c02f419fa3d496f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d02e397c6a35a07cd0546fb7c09616045851ffddf8d7239886d8add627ac801b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 5.315 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]: [-0.9886, 1.7409, 1.0256, -0.1986, -0.7959, -0.7349, 0.997, -0.02, 0.4755, 0.1379, -0.2451, -0.0292, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.3324 left_y=-0.2688 left_z=0.1036 left_yaw=0.0226 left_pitch=-0.0255 left_roll=0.0222 left_gripper=0.997 right_x=0.2426 right_y=0.0039 right_z=0.0728 right_yaw=-0.003 right_pitch=-0.0114 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -9.9897, 7.5966, 1.3309, -0.3785, 0.1929, -0.0122, -0.3897, -0.1299, 6.6256, 1.8779, -0.0611, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0698, 1.6478, 1.0874, -0.3874, -0.8234, -0.8051, 0.997, -0.02, 0.4698, 0.1314, -0.2447, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3044 left_y=-0.2787 left_z=0.1415 left_yaw=-0.0039 left_pitch=-0.0229 left_roll=0.0041 left_gripper=0.997 right_x=0.2418 right_y=0.004 right_z=0.0711 right_yaw=-0.0025 right_pitch=-0.0118 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.8, -9.3607, 8.6359, 1.1453, -0.5983, 0.1832, -0.0171, -0.1026, -0.0615, 6.7487, 1.8291, -0.0366, -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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9676, 1.9152, 0.8848, 0.1642, -0.7834, -0.7002, 0.997, -0.02, 0.4633, 0.1257, -0.2451, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.34 left_y=-0.2675 left_z=0.0327 left_yaw=0.0164 left_pitch=-0.0083 left_roll=0.0059 left_gripper=0.997 right_x=0.2411 right_y=0.0039 right_z=0.0699 right_yaw=-0.0028 right_pitch=-0.0114 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.9368, -6.9538, 4.0957, 0.9646, -0.0806, 0.3053, -0.0122, -0.4308, 0.0342, 6.7761, 1.8632, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4482a490f4fc9533ab6c122719c66101fbee3a16122065e30a5fda490467f30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad23c46c039b214998596104dff09156f8fbdb2da498a5699c02f419fa3d496f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d02e397c6a35a07cd0546fb7c09616045851ffddf8d7239886d8add627ac801b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LCcFbpXR5ZihqVYdL87f6i",
      "input": {
        "note": "Jaws straddle the bottle's neck just behind the cap. Closing moderately so the bottle can pivot in the grip when I lift the neck.",
        "targets": {
          "left_gripper": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01LCcFbpXR5ZihqVYdL87f6i",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9672, 1.9015, 0.8818, 0.2546, -0.8391, -0.691, 0.2261, -0.02, 0.4561, 0.1177, -0.2455, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3501 left_y=-0.2699 left_z=0.0543 left_yaw=0.0524 left_pitch=0.0804 left_roll=-0.0495 left_gripper=0.2261 right_x=0.2401 right_y=0.004 right_z=0.0677 right_yaw=-0.0025 right_pitch=-0.0126 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -7.788, 4.9299, 0.7057, 0.2173, -0.0708, 0.2808, -0.3897, 0.0889, 6.8855, 1.8095, -0.0952, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b00c1bf2416a2c50c6da8c4ffa049c7c401e81f5ba82d9dfae244b4981ca7d51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baa59e8d9ee6278599faefd716e0a409b66f9bcfb3b3fa1c498f719d70bfd23a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77efd683d00c6a3eae7fc9aaedeee5aa9760dc0b3376d5ef3e3377d8f66c9ed6",
        "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 · 5.248 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]: [-1.0698, 1.6478, 1.0874, -0.3874, -0.8234, -0.8051, 0.997, -0.02, 0.4698, 0.1314, -0.2447, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3044 left_y=-0.2787 left_z=0.1415 left_yaw=-0.0039 left_pitch=-0.0229 left_roll=0.0041 left_gripper=0.997 right_x=0.2418 right_y=0.004 right_z=0.0711 right_yaw=-0.0025 right_pitch=-0.0118 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.8, -9.3607, 8.6359, 1.1453, -0.5983, 0.1832, -0.0171, -0.1026, -0.0615, 6.7487, 1.8291, -0.0366, -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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9676, 1.9152, 0.8848, 0.1642, -0.7834, -0.7002, 0.997, -0.02, 0.4633, 0.1257, -0.2451, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.34 left_y=-0.2675 left_z=0.0327 left_yaw=0.0164 left_pitch=-0.0083 left_roll=0.0059 left_gripper=0.997 right_x=0.2411 right_y=0.0039 right_z=0.0699 right_yaw=-0.0028 right_pitch=-0.0114 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.9368, -6.9538, 4.0957, 0.9646, -0.0806, 0.3053, -0.0122, -0.4308, 0.0342, 6.7761, 1.8632, -0.0464, -0.0464, -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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9672, 1.9015, 0.8818, 0.2546, -0.8391, -0.691, 0.2261, -0.02, 0.4561, 0.1177, -0.2455, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3501 left_y=-0.2699 left_z=0.0543 left_yaw=0.0524 left_pitch=0.0804 left_roll=-0.0495 left_gripper=0.2261 right_x=0.2401 right_y=0.004 right_z=0.0677 right_yaw=-0.0025 right_pitch=-0.0126 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -7.788, 4.9299, 0.7057, 0.2173, -0.0708, 0.2808, -0.3897, 0.0889, 6.8855, 1.8095, -0.0952, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b00c1bf2416a2c50c6da8c4ffa049c7c401e81f5ba82d9dfae244b4981ca7d51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baa59e8d9ee6278599faefd716e0a409b66f9bcfb3b3fa1c498f719d70bfd23a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77efd683d00c6a3eae7fc9aaedeee5aa9760dc0b3376d5ef3e3377d8f66c9ed6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSswkKEAgSGAI4AUIIdGhpbmtpbmcSDPX5LJqNQkVm4cyc2RoMa2Cqf9TOodgAwmElIjChZdcEH5hCLwGnCeAe2A6fyf4zswcIdjLjdzmWy6rchovRYIY157d/JsQnzl2Q+dwq0AgxoopbCF65nLIqoM+7NQLQCWxo49wYXyCoi8VQMXmqiJv9fqmSEWJoO1XhXIM3j+i6Sgakd2f+V/mUK0m0D+JzHhRFDwodxpOr21Te+XSNoQo0hIEe+JjdWLdEHhXeylBeMhHQcCrpCHVoHljh3WCZNUnwUcfBrjCHInUZJQrKniMR72VHyztcDvLljOwvjJN3FqJAL6Gxd9vM8aREIElzOWHCfJYV5q8Cx5ab1llnuj3pkO/fUTbYofAUbC9as3ugfr+YKYPaf7EqelVZzdgvr4VeoNApFX1MeYBbE4XnlQawmztTcEyF1S8+VNTQrm+rt68xXchsDNGrFO0oMmegJd+hLZK62V2MF7tSxhMtwowfReq2Nu0NbeqLMUK+tUmAJcoxp7IbeFmS9GoxmYOmxWtotDEq9ffqBRRta7UAVbrq1fryCcpLvE7BuNxL7hPsVlHdjt2bgE7xI07ktzN2P1MA3lExi+U8FFjp6aS8HLCnelTtUPQeOfl+brmjsNlIWdslQwasVl4K3xO2bETxMAuxVa+tAyag4wpgi4ZH37YQ27F0Qdzvj38wtTpAlux+3LqjRwwMqsSdojRKOrfckxuaTb1ag97iX0Ig8ZIy40L2EpVWXv8TewtsxFQApTiu0J2f+wGzeCreVyPbZz67uJutvkmrkkhp4AgDF+iRSXGkyikx011s0UUPUoZCQm8sBtXqVvFC2HWSnAmJRB0sxcWV1dQO2jv2Jlx+sJiLtjYN1axxEd6rYh9jxVkRjYXhEa7HH3D7f1TuU13FRj7VZo0TOaQqmwBOKvI4QuTFy2AzxF3ellfUS2OqyIITGU/aMyp1h5LM+KhanjBCGleb4CpWXIENVefDvVsmxpJDndRjs4v2mwuOpPArnGHA6J6JrIDuEGKidw9xziDzOdsU77hNwSjpMiCoOB3ocewTNzOHt4Unqp4PAIz0qGHV+kXDsqxAyfx2sAlRM1Yr8Ey+CmCafwPxy7Tmi2D55FBs/Z0097FUlqlF7kHoq8RGDpIqcmlTEDDLpqUiy2oEDrKsJktDZ8EFADPPpmlT7j14b6ftnaU+URzeaVreMnDkeEkBOXtj4JHFCYl97boXBN5I1n/jHyXoEwfs7hPcL3bNWqNpv6YGL0pdLG/aG47uQ3T06gxhELg2tGgduhq9Kf/f/pmw8W15z10ysiR4sft5+hMYvuKDMdJLu2PWPv/8h1aA63YYR/J1o2w2X359v/Ng2Xho6u8eOWfNwyu03b+VB5fHh0KgaGe3WSCvGup4yCUH9Kz4NP6IRq8ag2ezhJMjATmCXvRxgIRa1YM3gGt8dROlY2zP3zNjDbzXptWYMUNe7VRIJ+0/uhVSGgdI7+elidFLTk5fcTST/d2Mckv53PSS6mfq9U+7Tvj1gB+89Av/aZ2AZFAp0D2aZ9lfsO9U5xvjbYia1ZYoPWm47LjTmd83ZGvjXz2LZ/JRvFiKysYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012dftJDANyxLmiEdDDbJLgi",
      "input": {
        "note": "Jaws are around the neck. Lifting the neck straight up so the bottle pivots about its base and swings upright underneath the gripper.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.27,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_012dftJDANyxLmiEdDDbJLgi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9585, 1.7096, 1.3533, -0.54, -0.8005, -0.7368, 0.2253, -0.02, 0.4492, 0.1112, -0.2459, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3525 left_y=-0.275 left_z=0.1936 left_yaw=0.0563 left_pitch=-0.0131 left_roll=0.0076 left_gripper=0.2253 right_x=0.2393 right_y=0.004 right_z=0.0662 right_yaw=-0.0028 right_pitch=-0.0126 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -11.535, 9.1692, 1.2576, -0.398, 0.105, -0.0952, -0.4308, -0.0068, 6.694, 1.8437, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8504a5dd6987d6a21d69ded6ec01f53c827b495d08a4c29e0cce90cc4a7673d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:320681203e47314f57ae8bc01b31bab42ef8886d844c7a606bfe5ff1be4ff7f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:090e7e0dc8fb517d5ef9aee364d53651e5520ca75b3e9b5407c153d73de19e1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 3.229 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]: [-0.9676, 1.9152, 0.8848, 0.1642, -0.7834, -0.7002, 0.997, -0.02, 0.4633, 0.1257, -0.2451, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.34 left_y=-0.2675 left_z=0.0327 left_yaw=0.0164 left_pitch=-0.0083 left_roll=0.0059 left_gripper=0.997 right_x=0.2411 right_y=0.0039 right_z=0.0699 right_yaw=-0.0028 right_pitch=-0.0114 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.9368, -6.9538, 4.0957, 0.9646, -0.0806, 0.3053, -0.0122, -0.4308, 0.0342, 6.7761, 1.8632, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9672, 1.9015, 0.8818, 0.2546, -0.8391, -0.691, 0.2261, -0.02, 0.4561, 0.1177, -0.2455, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3501 left_y=-0.2699 left_z=0.0543 left_yaw=0.0524 left_pitch=0.0804 left_roll=-0.0495 left_gripper=0.2261 right_x=0.2401 right_y=0.004 right_z=0.0677 right_yaw=-0.0025 right_pitch=-0.0126 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -7.788, 4.9299, 0.7057, 0.2173, -0.0708, 0.2808, -0.3897, 0.0889, 6.8855, 1.8095, -0.0952, -0.0464, -0.0122]",
      "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]: [-0.9585, 1.7096, 1.3533, -0.54, -0.8005, -0.7368, 0.2253, -0.02, 0.4492, 0.1112, -0.2459, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3525 left_y=-0.275 left_z=0.1936 left_yaw=0.0563 left_pitch=-0.0131 left_roll=0.0076 left_gripper=0.2253 right_x=0.2393 right_y=0.004 right_z=0.0662 right_yaw=-0.0028 right_pitch=-0.0126 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -11.535, 9.1692, 1.2576, -0.398, 0.105, -0.0952, -0.4308, -0.0068, 6.694, 1.8437, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8504a5dd6987d6a21d69ded6ec01f53c827b495d08a4c29e0cce90cc4a7673d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:320681203e47314f57ae8bc01b31bab42ef8886d844c7a606bfe5ff1be4ff7f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:090e7e0dc8fb517d5ef9aee364d53651e5520ca75b3e9b5407c153d73de19e1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1gkKEAgSGAI4AUIIdGhpbmtpbmcSDMzyPJ+a/9LC8FWq/BoMNt2EHCtMiCfKzjM7IjC6PqgLTCjFEnTFOhc0ZTA+88PW1sHMPIX9gZHk4qYgNptzVMUmqDS5q+ipIZpSfckq8wgHLcMoBf0MjgmvihixkUc/w/z4XuHnXeufN7PL8s8vn27ZSXwkvcJcV7nbhXRoPhT7pPO3ARnfB4sM+7pKNVpe8Jse7JdaxN+LZrYnPt7Bl4ffCo5bp/WZDaQ6McnITFBMR1t8lJ86oAr7eNNuVS+E10DwnIGLPW6Nnkj3J0rX/y7oKHYUjWWQTmtSKM8OGB54OhkP6pUCeJoa3o/Kak26Y7T+eiYq11ViTjwtCxTlNKGtlMlkB9WiAR9SIFbToWoGrNP2gm4u+fuxt1f6khTNUbjTQGDWmUXxbDzOq4VADRrZ8IpPEhAJaIwKgvF+egb7JAhJe0DvcL7IMR6MZWFEVCCPy6IaU0I9DBLssZ0rXuCxQF2Jf8ut5Ng4+fIacpUiy5ai6qD4AV3wT0sthB1dVtgjXYM9bfE+3jTNyNM9jxxSEWDbuLkG7QdB0RXfl+o4uM1bBBPdo4XeJoJVE2JUCDl2VUfkPXpsOE9boEnc/NgOFZ6VEeKwuozuUOZE1qSn8zbAGlWX/3TNujCLoy2l1v6YRFa/O+WcKSSDmJXvQR5Vb5v5TvKDPqylIpdG1rVQufn7KU9nK4L/2QrAEckpRmeugR6Jz9ETuXJ4o7oSpqTCOnu75f1Lm2w3T6UdFAAHRaDGiuPc8fAwv3M0GKgvKB0JKlpKSEthvoXElQsrmdpel6pFik51gHCN30VhfLchx82hTF4g0LNn6Q+Ju+o1zyyKnQB/2OFNzlwgQUbrLDCARwpVO36qrN5PolGI6zH14NoE9S3ZsKSF/pnHxugMj54SH8+fNGHbPhM5JbrgDpHLGZL8KME6LDr6f4YCR13AKYawU5n/7w8feIHZrzOpzdHpodNtXIXxua9VS+nNJnMqdx/Bg6YEdE1cbX0H8oDYfse3bETxsu8kiZngjIUUyGnMa+kh3mJLRcOtxAtTz8qSpCDvp2pbpC9jIgr1aQctMYtXoplwrBBnleWHhMR3qFhr29lcIIsWuZSNDNlgdum9pjiXDJHCSU4SmhXtUraRDLooq6sfBt252lLKlYNcKUqPArq/HwjM5EWG9bg2GPFed+GC6x9wdvNPLjJvniZcxXwxsqRApBMr1MYs3tjZE3Gpq4xuR0ZMi71FLRSSdVVH23ErE608kIdKN5YHYktIm++x5B0k+Wb4WxPYRN4NGwWhlAVCCxOV9AuTxBI//Ht01SYfFUTHMSRrG9tA4Fm0iYWefMhlw5ZUY+FZMufZROU50Kx/dXcHURuIRE918FDf0ZUzsbC1IXCQ8g64TJBNg4jc336YpS0MREyvnbC6tnLkEbfIGsCx+sF4jqWXdxKQac/KLMIvOehU9Pc1b+CG0LZw8HbQlg43ZwFI3HWQGpOem5CI4FwSa/NNDldpiWhxSxY3j8DE7elEsJPMb16XqgzhkscSmQRN7EGvaB/lbaEunZApc5i/2j2oL7ANIbhWpeE9Y0My7lOBEwr4ld1zp9SlD53XcztnpNVH/UAXKdzsCaGvdGmQ0wv+PnCSYsysExgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ayw6rbxxivfeWKePFe69rf",
      "input": {
        "note": "The overhead view shows the middle bottle now hanging vertically from the gripper by its neck. Lowering slightly so its base rests on the table before releasing.",
        "targets": {
          "left_z": 0.175
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Ayw6rbxxivfeWKePFe69rf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.96, 1.6962, 1.319, -0.5167, -0.8009, -0.7338, 0.2252, -0.02, 0.4442, 0.1108, -0.2455, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3499 left_y=-0.2724 left_z=0.1891 left_yaw=0.0534 left_pitch=-0.0117 left_roll=0.0084 left_gripper=0.2252 right_x=0.2395 right_y=0.0039 right_z=0.0672 right_yaw=-0.0028 right_pitch=-0.0076 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -7.2684, 5.9145, 1.3162, -0.4029, -0.0415, -0.0269, -0.4308, 0.0615, 6.2291, 1.8046, -0.0611, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0250bfb32655f158bb2691854961fdba2a0cb998a478412948cf177d8602582d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e227d5f9c26d6a0663d79b67486a7e552cfc24c31271d013c439851898ca40a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c78fc24dfc799825ae08b54f23f27f6be244eec2a269f49d28b188f2a2249860",
        "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 · 3.757 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]: [-0.9672, 1.9015, 0.8818, 0.2546, -0.8391, -0.691, 0.2261, -0.02, 0.4561, 0.1177, -0.2455, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3501 left_y=-0.2699 left_z=0.0543 left_yaw=0.0524 left_pitch=0.0804 left_roll=-0.0495 left_gripper=0.2261 right_x=0.2401 right_y=0.004 right_z=0.0677 right_yaw=-0.0025 right_pitch=-0.0126 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -7.788, 4.9299, 0.7057, 0.2173, -0.0708, 0.2808, -0.3897, 0.0889, 6.8855, 1.8095, -0.0952, -0.0464, -0.0122]",
      "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]: [-0.9585, 1.7096, 1.3533, -0.54, -0.8005, -0.7368, 0.2253, -0.02, 0.4492, 0.1112, -0.2459, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3525 left_y=-0.275 left_z=0.1936 left_yaw=0.0563 left_pitch=-0.0131 left_roll=0.0076 left_gripper=0.2253 right_x=0.2393 right_y=0.004 right_z=0.0662 right_yaw=-0.0028 right_pitch=-0.0126 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -11.535, 9.1692, 1.2576, -0.398, 0.105, -0.0952, -0.4308, -0.0068, 6.694, 1.8437, -0.0464, -0.0415, -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]: [-0.96, 1.6962, 1.319, -0.5167, -0.8009, -0.7338, 0.2252, -0.02, 0.4442, 0.1108, -0.2455, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3499 left_y=-0.2724 left_z=0.1891 left_yaw=0.0534 left_pitch=-0.0117 left_roll=0.0084 left_gripper=0.2252 right_x=0.2395 right_y=0.0039 right_z=0.0672 right_yaw=-0.0028 right_pitch=-0.0076 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -7.2684, 5.9145, 1.3162, -0.4029, -0.0415, -0.0269, -0.4308, 0.0615, 6.2291, 1.8046, -0.0611, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0250bfb32655f158bb2691854961fdba2a0cb998a478412948cf177d8602582d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e227d5f9c26d6a0663d79b67486a7e552cfc24c31271d013c439851898ca40a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c78fc24dfc799825ae08b54f23f27f6be244eec2a269f49d28b188f2a2249860",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QYKEAgSGAI4AUIIdGhpbmtpbmcSDLd0CfowXuazFHU2RxoMSYC+qRuTPwXe9griIjCkul9fOxhmqQTobaG3qx6FPQiQFudFTrrf0ZfRlnw6mgRxtmXklguq136Y/h6QOCoqjgYkmqTzxWIW1EPoqWouEWS5myQseQrfxQIIgOw1sWnPpmO4wvT7u84jrUWIlLhzuR2zazNUOQJltd5LAxixohrRtFestcCuQBznYiZy+GjoOJf7sCFUYF2ZStXUvSZUBf5bm3UhQzPC9VKGVMZJv5vbC+WmL158k4tEi34X4WTVV3XSaMo6gob74Oh2A+uDabXuadFP0Zgh6kzHWPtEr3zndWnDIng//j+j2a5yosv8xGE40DRZGd5oaannZlhI7cxkX4H8dOrjAyr+lXwY4q1Y3QoQFwdJULbrEiA6+He/T82/AbeFMSTZCJwdb7/zXwmUyzU3R9PnGR4jA4iyPF/lgyeEGs6svgbAWJ614EZLpgzf2BBtR7OK0uJ3dTADNgy4Gk4r7S16sOLnGZWO+qd1kk5ozA3t1DGJ95w8imz/r5+Q1mUJcRY2RAq0+QB4epY9orZLmWKNTXoTDMI8vHldqrF5VE5LBIdX2JUyv3PWr7+m1K7FKjXdwPqVBGfb1elMNR7vwr64hrpiMRgbg5x+59nLPwXu4lI/f81SSbzQCzp73jMGrvCDFUQCeJ+SplVVjfPDyAI63AZwcNRrMbaT4rf8LVl2LEZNW34XUFYXfxsaSA7+FgAFg/Ua48KvI8Wps0nYTJTrIV9vnH6zHZQRC9EtBuM1SxPBeeRK0Zk92lIu2g4HNsDi4Sfsk/oML//9Sc25Y/+w3jIWGnqBCbOwDN6oXvEFg2Es26hydm5dJOmtSJE0E+fVRcqXXkrPD4/0GorZlDJ7JOaZlk7B6q2hp5BPI/VnvrSHSB+mgTmraEdf0gz2ELQ8THNxF0tXx161CYr6n0haEZrlCcf3CUA3F2kVUxvtyszVsZv7M9+2Lx66XjgZFpAqGYNzh7MsRnnssB8jxxzltjAZ0a5TjCojco5xOoyHHmVJwUakPx+GlDJ02X9j5R73LBFDGDQ0io7ZIO16PB8IWuv3j2PpZw+QFL2YpfLr8zg8iVyuLhCHDf9Hr1ynCI2ubiuPwOlsOCq05bb6zU08q+Jz4HgzshgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019ZBHuADJLLnQEiX7wBh3aD",
      "input": {
        "note": "Descent stopped at z≈0.19, meaning the bottle's base is on the table. Opening the jaws to leave it standing.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_019ZBHuADJLLnQEiX7wBh3aD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9604, 1.7184, 1.2686, -0.4896, -0.8005, -0.7368, 0.9944, -0.02, 0.4423, 0.1001, -0.2455, -0.0296, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.3473 left_y=-0.269 left_z=0.1649 left_yaw=0.0553 left_pitch=-0.0359 left_roll=0.0442 left_gripper=0.9944 right_x=0.2379 right_y=0.004 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -10.8786, 9.1692, 1.2625, -0.4127, 0.0171, -0.1685, -0.2667, 0.0205, 7.5145, 1.7753, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30c546a5b71f100988dbb81cd103ff1f4498a109c5f036a4bd64a26bdb85855a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43bf95e51f9c1cf792ff252bb00bcd1acf6e954f8f7a2d8cc5f0ee0a25295581",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c3411b6409e42f639fa4ac404ad4f076c165f9631e1fc37960bdb22c2c660bab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 10.54 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]: [-0.9585, 1.7096, 1.3533, -0.54, -0.8005, -0.7368, 0.2253, -0.02, 0.4492, 0.1112, -0.2459, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3525 left_y=-0.275 left_z=0.1936 left_yaw=0.0563 left_pitch=-0.0131 left_roll=0.0076 left_gripper=0.2253 right_x=0.2393 right_y=0.004 right_z=0.0662 right_yaw=-0.0028 right_pitch=-0.0126 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -11.535, 9.1692, 1.2576, -0.398, 0.105, -0.0952, -0.4308, -0.0068, 6.694, 1.8437, -0.0464, -0.0415, -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]: [-0.96, 1.6962, 1.319, -0.5167, -0.8009, -0.7338, 0.2252, -0.02, 0.4442, 0.1108, -0.2455, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3499 left_y=-0.2724 left_z=0.1891 left_yaw=0.0534 left_pitch=-0.0117 left_roll=0.0084 left_gripper=0.2252 right_x=0.2395 right_y=0.0039 right_z=0.0672 right_yaw=-0.0028 right_pitch=-0.0076 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -7.2684, 5.9145, 1.3162, -0.4029, -0.0415, -0.0269, -0.4308, 0.0615, 6.2291, 1.8046, -0.0611, -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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9604, 1.7184, 1.2686, -0.4896, -0.8005, -0.7368, 0.9944, -0.02, 0.4423, 0.1001, -0.2455, -0.0296, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.3473 left_y=-0.269 left_z=0.1649 left_yaw=0.0553 left_pitch=-0.0359 left_roll=0.0442 left_gripper=0.9944 right_x=0.2379 right_y=0.004 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -10.8786, 9.1692, 1.2625, -0.4127, 0.0171, -0.1685, -0.2667, 0.0205, 7.5145, 1.7753, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30c546a5b71f100988dbb81cd103ff1f4498a109c5f036a4bd64a26bdb85855a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43bf95e51f9c1cf792ff252bb00bcd1acf6e954f8f7a2d8cc5f0ee0a25295581",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3411b6409e42f639fa4ac404ad4f076c165f9631e1fc37960bdb22c2c660bab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQcKEAgSGAI4AUIIdGhpbmtpbmcSDMDUZAK+DbVfhvnuuBoMuGrK03rry1mNWzo0IjC9qgiw5yXBpdeEbrNnhot3vQSA9bbXxgMcKp8w7/b9B5q8F/70I/sV9GrN2z9DRysq0gbRjxnyvJ3GbsI+pahOWqvZZn3XyLEwyvp4xN689e/47UtIzDhYx5r4c1FZLuYSAgJmBWim3UeRCgo0Io93h0qN+4xd831hUPnj1iq0BSaBw6AmjCnrHAygKvGuWHBrYOFcKcAGcyFyl5ChnjJSyfkACTOBpLHJVGMY2Wk97mJ9NV7i7YChvENgGPBuW+7a+UnK45axI7CF+wc46LoB7EHccJhykbA7Y43wYLlPHmfzIR6SeeX91dom3kfGWXAqAi0rEbkheA8sUNX4I4Ws02the69DLfUHCsHYyocL/riPBDPkRgGyA7fjumw/yiGmKBFrba8rmZUJMI6q+kQemhpC55H57h2JMCcpozE4Gq8IpjbNeK/e83obGESgVU3mg29CQJ6wJhYy7Rudl4l7nRSg+YNvRozi3K2BKmmLyC/L60iOB9Hi/JE8Nmgj2+Mv1JNpYNhFBp3S20yz8+SBhX6dNAXAfN/lvW4J9eN3AzR+q8iQno3Yo9dU0llvp3b2bKmdWxGygkP217M3/XmiDWBr2y+UdIqjUmGd2kHGHTJzdpHdBWcArNBomBX10zhIsFxop2o6FM1d5H7r8czLG1yRDU01+XpbXj1Hshwdhe/FD649xU/fUMbkDXUxvccN/JX9oPRLxpIF0FRNpD01ooEQrglXSEKEBzmtrx3fmO26r53ZeqdF+/LVjUSVWTlTCGDW2UadDc+4pdZKU2+zEd/g1lQ6RUBWlRLq4K+q9jRUfyNfTFsO5jiDRuqHwGQE6lhcfJkthuG5SjwKY7prhyl6vxb3LexvTIq0SiSxgFOzv+8BK6nMSyb45uRhE51Gjpf90NE69y8+lC8LassOOq6qswnIeRbbeAJ3eYPOPpN9T91ji0IqQEgHh87O91sk6da5Nbd2jTz3pKgUVC2bopXq7nwiYqxnxHupc+p5siK/4avjvgGV/ESFaheKzPi1V56JgXMyQm1jaIw2c7M5+OT1IIBo8TsSZ1le9VjbcZiyvB7Ai5dr5r6/9HHzo5V6qj8a06JYE+8d8hQNEAqJz9eTWZJy75MVFqYxEDc81HWbExptRMsYnjqehMMAOFyWreu2ypWKl3zn6k+IoBI7aKH+RXAnp0jOsMqvbgUlVTmQj3MGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016tGjtvz9cUPoTAzf2Aqbhi",
      "input": {
        "note": "Released; the wrist view shows the bottle's cap standing just below the jaws. Lifting straight up to clear it.",
        "targets": {
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_016tGjtvz9cUPoTAzf2Aqbhi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9604, 1.7042, 1.713, -0.8696, -0.8005, -0.7414, 0.9955, -0.02, 0.4297, 0.0921, -0.2455, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3507 left_y=-0.2739 left_z=0.2895 left_yaw=0.0567 left_pitch=0.0056 left_roll=-0.0264 left_gripper=0.9955 right_x=0.2372 right_y=0.0041 right_z=0.0618 right_yaw=-0.0025 right_pitch=-0.0118 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -7.5966, 8.2667, 1.1551, -0.442, 0.0024, 0.105, -0.4034, 0.3077, 6.5299, 1.8388, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:106f1a9dd3e5399996427859f6e54076b10b02163e66105f577b555c93307ca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1123a6161c2e4b4c46b8acfd7cdc22b83eb3fbd5b74df285a72ef13ca39dad19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21f90d30f1bf05a26bef2bd394c3aaefa7c8570292e7a991ccc7964b8a79d8ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 9.28 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]: [-0.96, 1.6962, 1.319, -0.5167, -0.8009, -0.7338, 0.2252, -0.02, 0.4442, 0.1108, -0.2455, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3499 left_y=-0.2724 left_z=0.1891 left_yaw=0.0534 left_pitch=-0.0117 left_roll=0.0084 left_gripper=0.2252 right_x=0.2395 right_y=0.0039 right_z=0.0672 right_yaw=-0.0028 right_pitch=-0.0076 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -7.2684, 5.9145, 1.3162, -0.4029, -0.0415, -0.0269, -0.4308, 0.0615, 6.2291, 1.8046, -0.0611, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.9604, 1.7184, 1.2686, -0.4896, -0.8005, -0.7368, 0.9944, -0.02, 0.4423, 0.1001, -0.2455, -0.0296, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.3473 left_y=-0.269 left_z=0.1649 left_yaw=0.0553 left_pitch=-0.0359 left_roll=0.0442 left_gripper=0.9944 right_x=0.2379 right_y=0.004 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -10.8786, 9.1692, 1.2625, -0.4127, 0.0171, -0.1685, -0.2667, 0.0205, 7.5145, 1.7753, -0.0659, -0.0317, -0.0122]",
      "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]: [-0.9604, 1.7042, 1.713, -0.8696, -0.8005, -0.7414, 0.9955, -0.02, 0.4297, 0.0921, -0.2455, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3507 left_y=-0.2739 left_z=0.2895 left_yaw=0.0567 left_pitch=0.0056 left_roll=-0.0264 left_gripper=0.9955 right_x=0.2372 right_y=0.0041 right_z=0.0618 right_yaw=-0.0025 right_pitch=-0.0118 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -7.5966, 8.2667, 1.1551, -0.442, 0.0024, 0.105, -0.4034, 0.3077, 6.5299, 1.8388, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:106f1a9dd3e5399996427859f6e54076b10b02163e66105f577b555c93307ca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1123a6161c2e4b4c46b8acfd7cdc22b83eb3fbd5b74df285a72ef13ca39dad19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21f90d30f1bf05a26bef2bd394c3aaefa7c8570292e7a991ccc7964b8a79d8ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NHhLnoimfVHwukea29hLUC",
      "input": {
        "note": "Middle bottle is now standing. Parking the left arm at home and bringing the right arm over the right-hand bottle's body, which lies pointing forward.",
        "targets": {
          "left_x": 0.29,
          "left_y": 0.0,
          "left_z": 0.2,
          "right_gripper": 1,
          "right_x": 0.4,
          "right_y": 0.215,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_01NHhLnoimfVHwukea29hLUC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1169, 0.7921, 0.688, -0.482, -0.2031, -0.1551, 0.9958, 0.691, 1.652, 0.9463, -0.0307, 0.5205, 0.3603, 0.9998]\nstate[eef_state]: left_x=0.2898 left_y=0.0055 left_z=0.1998 left_yaw=0.123 left_pitch=-0.0106 left_roll=-0.0063 left_gripper=0.9958 right_x=0.3869 right_y=0.2106 right_z=0.112 right_yaw=0.0403 right_pitch=-0.0509 right_roll=-0.0399 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.3607, 6.7624, 1.8828, 0.0659, 0.2369, 0.0171, -0.0752, -7.4051, 9.1556, 1.6044, 0.4615, 0.2906, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0141fb2cded9a8f370924f35066e4004f4f1fda2496175a8fd9508a9128f22e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b901fb4a9e2b0440cef71e07b15192406ba2eb6b6570a8036262e20f387e675",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7167d181f275ae02f2b1d56c4c4af071b08183bfe9ad8381d1895d57df08e7c",
        "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 · 3.598 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]: [-0.9604, 1.7184, 1.2686, -0.4896, -0.8005, -0.7368, 0.9944, -0.02, 0.4423, 0.1001, -0.2455, -0.0296, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.3473 left_y=-0.269 left_z=0.1649 left_yaw=0.0553 left_pitch=-0.0359 left_roll=0.0442 left_gripper=0.9944 right_x=0.2379 right_y=0.004 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -10.8786, 9.1692, 1.2625, -0.4127, 0.0171, -0.1685, -0.2667, 0.0205, 7.5145, 1.7753, -0.0659, -0.0317, -0.0122]",
      "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]: [-0.9604, 1.7042, 1.713, -0.8696, -0.8005, -0.7414, 0.9955, -0.02, 0.4297, 0.0921, -0.2455, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3507 left_y=-0.2739 left_z=0.2895 left_yaw=0.0567 left_pitch=0.0056 left_roll=-0.0264 left_gripper=0.9955 right_x=0.2372 right_y=0.0041 right_z=0.0618 right_yaw=-0.0025 right_pitch=-0.0118 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -7.5966, 8.2667, 1.1551, -0.442, 0.0024, 0.105, -0.4034, 0.3077, 6.5299, 1.8388, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1169, 0.7921, 0.688, -0.482, -0.2031, -0.1551, 0.9958, 0.691, 1.652, 0.9463, -0.0307, 0.5205, 0.3603, 0.9998]\nstate[eef_state]: left_x=0.2898 left_y=0.0055 left_z=0.1998 left_yaw=0.123 left_pitch=-0.0106 left_roll=-0.0063 left_gripper=0.9958 right_x=0.3869 right_y=0.2106 right_z=0.112 right_yaw=0.0403 right_pitch=-0.0509 right_roll=-0.0399 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.3607, 6.7624, 1.8828, 0.0659, 0.2369, 0.0171, -0.0752, -7.4051, 9.1556, 1.6044, 0.4615, 0.2906, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0141fb2cded9a8f370924f35066e4004f4f1fda2496175a8fd9508a9128f22e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b901fb4a9e2b0440cef71e07b15192406ba2eb6b6570a8036262e20f387e675",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7167d181f275ae02f2b1d56c4c4af071b08183bfe9ad8381d1895d57df08e7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TuMPscRt5xWkwdbHwT7Lp2",
      "input": {
        "note": "Right wrist view shows the right bottle centred on the jaw column, lying along the arm's forward axis. Descending onto its body to grip and drag it closer.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.21,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TuMPscRt5xWkwdbHwT7Lp2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1242, 0.7868, 0.6788, -0.4789, -0.2024, -0.1421, 0.9961, 0.6724, 1.8626, 0.7986, 0.403, 0.5381, 0.3199, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0033 left_z=0.1977 left_yaw=0.1082 left_pitch=-0.0115 left_roll=0.0044 left_gripper=0.9961 right_x=0.4004 right_y=0.2076 right_z=0.0438 right_yaw=0.0307 right_pitch=0.016 right_roll=-0.0371 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.0735, 7.0359, 1.7949, -0.1783, -0.1245, 0.0171, -0.5128, -5.6684, 3.7538, 1.1453, -0.3394, 0.4029, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c7288b53881fb61b10e71d37c84ec3a90cc826e965778558c174ce51854d0e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:124800e57aa40b90f76ae05007a92dd5533dad14ee5acd2631ca47c7b1b65e1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:746948be2c972d8fb7c32d987de80cb3151b868dea5f5dbf19e2b090b4d6a805",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 3.655 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]: [-0.9604, 1.7042, 1.713, -0.8696, -0.8005, -0.7414, 0.9955, -0.02, 0.4297, 0.0921, -0.2455, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3507 left_y=-0.2739 left_z=0.2895 left_yaw=0.0567 left_pitch=0.0056 left_roll=-0.0264 left_gripper=0.9955 right_x=0.2372 right_y=0.0041 right_z=0.0618 right_yaw=-0.0025 right_pitch=-0.0118 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -7.5966, 8.2667, 1.1551, -0.442, 0.0024, 0.105, -0.4034, 0.3077, 6.5299, 1.8388, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1169, 0.7921, 0.688, -0.482, -0.2031, -0.1551, 0.9958, 0.691, 1.652, 0.9463, -0.0307, 0.5205, 0.3603, 0.9998]\nstate[eef_state]: left_x=0.2898 left_y=0.0055 left_z=0.1998 left_yaw=0.123 left_pitch=-0.0106 left_roll=-0.0063 left_gripper=0.9958 right_x=0.3869 right_y=0.2106 right_z=0.112 right_yaw=0.0403 right_pitch=-0.0509 right_roll=-0.0399 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.3607, 6.7624, 1.8828, 0.0659, 0.2369, 0.0171, -0.0752, -7.4051, 9.1556, 1.6044, 0.4615, 0.2906, -0.0317]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1242, 0.7868, 0.6788, -0.4789, -0.2024, -0.1421, 0.9961, 0.6724, 1.8626, 0.7986, 0.403, 0.5381, 0.3199, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0033 left_z=0.1977 left_yaw=0.1082 left_pitch=-0.0115 left_roll=0.0044 left_gripper=0.9961 right_x=0.4004 right_y=0.2076 right_z=0.0438 right_yaw=0.0307 right_pitch=0.016 right_roll=-0.0371 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.0735, 7.0359, 1.7949, -0.1783, -0.1245, 0.0171, -0.5128, -5.6684, 3.7538, 1.1453, -0.3394, 0.4029, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c7288b53881fb61b10e71d37c84ec3a90cc826e965778558c174ce51854d0e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:124800e57aa40b90f76ae05007a92dd5533dad14ee5acd2631ca47c7b1b65e1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:746948be2c972d8fb7c32d987de80cb3151b868dea5f5dbf19e2b090b4d6a805",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8gYKEAgSGAI4AUIIdGhpbmtpbmcSDAMsMUU2q1ALN5xZhRoMBcJAh5rlZjlqf+FDIjApgYHVHMWrdOChniRifaCKf9CrNPSWb1Odtzwx+pvSImGcsXL5M1OvuCQfpqE/o7YqjwanizCN622P3oL8MADtd4q8ZoCcaxTPQIHagYQDmrk9RSf0ZRGe9b5frA4T6dmWDm3QPDcooOMBmWDFmHudgFvXRHRcJ+6AX1BkKnFkGdd7Ru1Jd27goqUVZkxxRbOVPjQunjMuSDMAJC0HCz2V2nrsbw4gMz6m/NOapGbAaUJtbtf0qHWBtESmZvo2Pf6uGFWvx+LNCx6nkM06LPYU4KCBJZlfdOmhxFByx1P+EKIyvH7Vb2Jd/1qbD6+6NU8szFmadnmqOeDCIn/nDSSh4R0qRDV0DHpuZihTMbJwhBp6MKzXC2dyBF14eYVUzWwX1b+ezudZL0YwowQkpU0iKWd+wNoKehqjTDQwKa0ubNK5EYNIuUJUMEaT9Y8mwLBv3kmb5UULeU0gqux1ZBS/xzWQZ0ni3QkCbhXSqBKXq5KXudb43McQo1+y12iw2og6hB7gDbLc4Hrm9GCPMlDlGI3YuY3V2pgWhKSTgz+fKo5jG1255AKqHP0ryCPdJj53TFkHF3OllYnPWXKJ33iQqTshzSp1uulBWn/ZVmg8Tq9RQUN9SEeEn3xYDx6KjJKCBpQUkh4wasdXJceftUE5uo3+qq7V3dvOSFFNWiJuNWL43mp/QNd5gidskmpm939geA1cyB/4RyVMBVzZ7XZ02MR8sIxZqYK8tsYhIv8y1ivdY44tz0XTFmyO/OobQgTDSVxL9xVyfnVW4WexofhTj5WFxUyXr+Es1QTF/yWg+4GErs1RRJl2qJS8GH4JcHzv1/nt8t95SavUV+Arr3s9epyPyyjNaWm/z3Q0CRkGLPg/EZ6GtWN7gGna70iaN3HECUi7iAdOQMSSjSsP9CPvlJxRgS/sfMstNOgURlp3d0mMC7sRW/PU+0scGDnW0nYVEP+DbbCu7mBO9kXAFEndUbDwmTBrqyJ4bVUm5gfcy0R7g2TqVjhGiQWI7kLe0pPIiXJZ/KF/RQ97Cfh9bk5RUaOTkMGU3tme/G4szEsLIEVxaJhk77ZH/emFLAF/dCuoPt8JldjWK6l6HGbXVYOQW0wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JF66dUDYazL8DmvyPfesg6",
      "input": {
        "note": "The right bottle's body is between the jaws. Closing to grip it.",
        "targets": {
          "right_gripper": 0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JF66dUDYazL8DmvyPfesg6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1238, 0.7849, 0.6773, -0.4755, -0.2016, -0.1413, 0.9962, 0.6655, 1.8896, 0.7803, 0.4164, 0.4969, 0.3393, 0.5161]\nstate[eef_state]: left_x=0.289 left_y=0.0033 left_z=0.1982 left_yaw=0.1075 left_pitch=-0.0079 left_roll=0.0037 left_gripper=0.9962 right_x=0.3952 right_y=0.2077 right_z=0.0262 right_yaw=0.0454 right_pitch=-0.0251 right_roll=-0.0188 right_gripper=0.5161\nstate[joint_eff]: [-0.0342, -1.4427, 6.106, 1.7998, -0.0952, -0.0611, -0.0073, -0.7316, -7.8564, 5.3538, 1.8877, 0.2271, 0.0122, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d290a46cd2c169d3e352620fe46e3643b7bffad381ff630c6e8e6d7f9625571c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68fe9b7c78cc37fc454583217308666fb77ab496fcf8a2ebd88e71deecd684cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c6ffa2b99a2dec33f135a77d60d62482a695a0acb4158a65cefd4632aa9a70a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 6.945 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]: [-0.1169, 0.7921, 0.688, -0.482, -0.2031, -0.1551, 0.9958, 0.691, 1.652, 0.9463, -0.0307, 0.5205, 0.3603, 0.9998]\nstate[eef_state]: left_x=0.2898 left_y=0.0055 left_z=0.1998 left_yaw=0.123 left_pitch=-0.0106 left_roll=-0.0063 left_gripper=0.9958 right_x=0.3869 right_y=0.2106 right_z=0.112 right_yaw=0.0403 right_pitch=-0.0509 right_roll=-0.0399 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -1.3607, 6.7624, 1.8828, 0.0659, 0.2369, 0.0171, -0.0752, -7.4051, 9.1556, 1.6044, 0.4615, 0.2906, -0.0317]",
      "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]: [-0.1242, 0.7868, 0.6788, -0.4789, -0.2024, -0.1421, 0.9961, 0.6724, 1.8626, 0.7986, 0.403, 0.5381, 0.3199, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0033 left_z=0.1977 left_yaw=0.1082 left_pitch=-0.0115 left_roll=0.0044 left_gripper=0.9961 right_x=0.4004 right_y=0.2076 right_z=0.0438 right_yaw=0.0307 right_pitch=0.016 right_roll=-0.0371 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.0735, 7.0359, 1.7949, -0.1783, -0.1245, 0.0171, -0.5128, -5.6684, 3.7538, 1.1453, -0.3394, 0.4029, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1238, 0.7849, 0.6773, -0.4755, -0.2016, -0.1413, 0.9962, 0.6655, 1.8896, 0.7803, 0.4164, 0.4969, 0.3393, 0.5161]\nstate[eef_state]: left_x=0.289 left_y=0.0033 left_z=0.1982 left_yaw=0.1075 left_pitch=-0.0079 left_roll=0.0037 left_gripper=0.9962 right_x=0.3952 right_y=0.2077 right_z=0.0262 right_yaw=0.0454 right_pitch=-0.0251 right_roll=-0.0188 right_gripper=0.5161\nstate[joint_eff]: [-0.0342, -1.4427, 6.106, 1.7998, -0.0952, -0.0611, -0.0073, -0.7316, -7.8564, 5.3538, 1.8877, 0.2271, 0.0122, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d290a46cd2c169d3e352620fe46e3643b7bffad381ff630c6e8e6d7f9625571c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68fe9b7c78cc37fc454583217308666fb77ab496fcf8a2ebd88e71deecd684cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c6ffa2b99a2dec33f135a77d60d62482a695a0acb4158a65cefd4632aa9a70a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1gYKEAgSGAI4AUIIdGhpbmtpbmcSDBbF5buuvmNqotUg3xoMf7v8X9R+dxy08h1pIjDRwPVF8hJ00Fym9sR++lvHagW1OM7VBpplHqM7raEVplyiEFa/WC/OHXGRQku/u04q8wVUoMyKkUGAaz3tbVaUlcU9nDak2ztYnRafQ6iFNj+61z3GM5EfW/4GAnTSI3mY9mgEZTT0O4CQZOCBfoYyUWxbKHX28q1oMjPf32SwMj4rvuADgiMweMZDSt3A3caHggATpn7KV3BTHbdhekI+W9I6+oLn+qMxNsY9jxZwPxHWLikyvvT/KM9Yu8et+rV4gdKH0f4JlZm5l7h9dXXJgANAmUaYpMFmkU4NYy03bwOPdFkePz2C69/YXY1TjJt47+4eqoHBbzhrSVGngGvsg3gkkA+KpXmHigPJUaYdJonqnqTeTsYDaD2zUJtBytTXj9ip2GUFYqVervQ66K/jk3bGOYfuth9JOxRI42iJqkmVewZ4wIe7OoQwXvc0SI3dmS7KpDXGxbuD4QImwg02iZ4W2HB47Tivmo6LgVUfElvPEPo8YTE28jReq+h9CDnT1LICTfcSQn0+Zv6KdNAV8J5P3eAjYTu2AtfW13IOuUC0zAzZNxcMhcZJo4I+ztoI3I2trtALEP/jGPvdFRMNOY/RPE/sHO3152ep0q4LwJcQaUNtuUQMXn4LOpD5lEuu4uCGphgVa+onVOzm+1svjAeWc0msTZ81RU72bomYR/2xaJy0ynCZKY1IYjuITgM2XMwi9cNmMGS9lq4+gIBQZGkC0mzrYWPAX/VzzXUQD6Ob7WyTBqGGSlWvEa72qoY7/Q19U7aRJ1wn02XgiZB3ebFIqkx566W35ektpa5yQjCzmv+ykgZmTD1N7SZJldxn17zArz4ACPvYJ0GTxyOtPza32zHlGKDOzvXohrryxqGJc41eSt4J8nEKJf1B1YL+fs9CVZUyzvY4Coj2zU3LLAE4nmdcf+S1sGLKqMutrPNiKSNWkcGRjNHqeL2WxKHUOkGXTfu5vh38OW5wOSqj7CU8TBEMi3aXP6jVZwvCiKo3eS7TsANcP2r+VlWj2lIS6PsjC1KHD9oexY3fab568NcKZN7McIVn+IeHS2Knkcr6xlZJHxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XZWma4huUSuvcT7m8jfYYi",
      "input": {
        "note": "Gripper settled at 0.52, so the bottle is held. Dragging it ~13 cm toward the base to bring its neck within reach.",
        "targets": {
          "right_x": 0.26,
          "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_01XZWma4huUSuvcT7m8jfYYi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1238, 0.7853, 0.6773, -0.4755, -0.2016, -0.1413, 0.9962, 1.0195, 1.6211, 0.4587, 0.326, 0.7162, 0.6033, 0.5203]\nstate[eef_state]: left_x=0.289 left_y=0.0033 left_z=0.1981 left_yaw=0.1075 left_pitch=-0.0082 left_roll=0.0038 left_gripper=0.9962 right_x=0.2644 right_y=0.2154 right_z=0.0239 right_yaw=0.0922 right_pitch=-0.0231 right_roll=-0.0087 right_gripper=0.5203\nstate[joint_eff]: [-0.1026, -1.265, 6.4615, 1.8828, -0.105, -0.0464, -0.0073, 0.3897, -7.4462, 4.5744, 1.2772, 0.4713, 0.1685, 1.0379]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e54306f149d40072d93531122f1e92dd8a399bbfe7b907fdb695505cdf524668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3ffdad74bc3308850d4aa35232658d9e73f9e73d3de2bfaf6822350507356f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff4a4535d3bce25e9d77020936be129ce345209a8f2d1f2d892b95b7b52c2a2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 5.576 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]: [-0.1242, 0.7868, 0.6788, -0.4789, -0.2024, -0.1421, 0.9961, 0.6724, 1.8626, 0.7986, 0.403, 0.5381, 0.3199, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0033 left_z=0.1977 left_yaw=0.1082 left_pitch=-0.0115 left_roll=0.0044 left_gripper=0.9961 right_x=0.4004 right_y=0.2076 right_z=0.0438 right_yaw=0.0307 right_pitch=0.016 right_roll=-0.0371 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.0735, 7.0359, 1.7949, -0.1783, -0.1245, 0.0171, -0.5128, -5.6684, 3.7538, 1.1453, -0.3394, 0.4029, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1238, 0.7849, 0.6773, -0.4755, -0.2016, -0.1413, 0.9962, 0.6655, 1.8896, 0.7803, 0.4164, 0.4969, 0.3393, 0.5161]\nstate[eef_state]: left_x=0.289 left_y=0.0033 left_z=0.1982 left_yaw=0.1075 left_pitch=-0.0079 left_roll=0.0037 left_gripper=0.9962 right_x=0.3952 right_y=0.2077 right_z=0.0262 right_yaw=0.0454 right_pitch=-0.0251 right_roll=-0.0188 right_gripper=0.5161\nstate[joint_eff]: [-0.0342, -1.4427, 6.106, 1.7998, -0.0952, -0.0611, -0.0073, -0.7316, -7.8564, 5.3538, 1.8877, 0.2271, 0.0122, 1.0281]\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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1238, 0.7853, 0.6773, -0.4755, -0.2016, -0.1413, 0.9962, 1.0195, 1.6211, 0.4587, 0.326, 0.7162, 0.6033, 0.5203]\nstate[eef_state]: left_x=0.289 left_y=0.0033 left_z=0.1981 left_yaw=0.1075 left_pitch=-0.0082 left_roll=0.0038 left_gripper=0.9962 right_x=0.2644 right_y=0.2154 right_z=0.0239 right_yaw=0.0922 right_pitch=-0.0231 right_roll=-0.0087 right_gripper=0.5203\nstate[joint_eff]: [-0.1026, -1.265, 6.4615, 1.8828, -0.105, -0.0464, -0.0073, 0.3897, -7.4462, 4.5744, 1.2772, 0.4713, 0.1685, 1.0379]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e54306f149d40072d93531122f1e92dd8a399bbfe7b907fdb695505cdf524668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3ffdad74bc3308850d4aa35232658d9e73f9e73d3de2bfaf6822350507356f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff4a4535d3bce25e9d77020936be129ce345209a8f2d1f2d892b95b7b52c2a2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BoZwXJQmGTFKbU9fATa1Di",
      "input": {
        "note": "Bottle has been dragged back. Releasing and rising so I can come down on its neck.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.33,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BoZwXJQmGTFKbU9fATa1Di",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1242, 0.7849, 0.6773, -0.4755, -0.1997, -0.1413, 0.9963, 0.8291, 1.4162, 0.8448, -0.1886, 0.5831, 0.4198, 0.997]\nstate[eef_state]: left_x=0.289 left_y=0.0029 left_z=0.1982 left_yaw=0.1055 left_pitch=-0.0081 left_roll=0.0027 left_gripper=0.9963 right_x=0.3228 right_y=0.2137 right_z=0.1411 right_yaw=0.0981 right_pitch=-0.0416 right_roll=-0.0392 right_gripper=0.997\nstate[joint_eff]: [0.0752, -1.2376, 6.2701, 1.8242, -0.1343, -0.0464, -0.0073, -0.6906, -8.1983, 9.2786, 1.6923, 0.2906, 0.0415, -0.1929]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c77a53af8e637ccc6dc82a238f080d5975576c5b08fb353c0a66b4610ef543f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31dba07783567756b9ff1c39dc08870a17e559d852194c5e378530037bf0a75b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:73b50af50c489fc714fa80584ec89fdfdfa38747a1aee51a6fce9b63314b2c41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 5.073 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1238, 0.7849, 0.6773, -0.4755, -0.2016, -0.1413, 0.9962, 0.6655, 1.8896, 0.7803, 0.4164, 0.4969, 0.3393, 0.5161]\nstate[eef_state]: left_x=0.289 left_y=0.0033 left_z=0.1982 left_yaw=0.1075 left_pitch=-0.0079 left_roll=0.0037 left_gripper=0.9962 right_x=0.3952 right_y=0.2077 right_z=0.0262 right_yaw=0.0454 right_pitch=-0.0251 right_roll=-0.0188 right_gripper=0.5161\nstate[joint_eff]: [-0.0342, -1.4427, 6.106, 1.7998, -0.0952, -0.0611, -0.0073, -0.7316, -7.8564, 5.3538, 1.8877, 0.2271, 0.0122, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "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]: [-0.1238, 0.7853, 0.6773, -0.4755, -0.2016, -0.1413, 0.9962, 1.0195, 1.6211, 0.4587, 0.326, 0.7162, 0.6033, 0.5203]\nstate[eef_state]: left_x=0.289 left_y=0.0033 left_z=0.1981 left_yaw=0.1075 left_pitch=-0.0082 left_roll=0.0038 left_gripper=0.9962 right_x=0.2644 right_y=0.2154 right_z=0.0239 right_yaw=0.0922 right_pitch=-0.0231 right_roll=-0.0087 right_gripper=0.5203\nstate[joint_eff]: [-0.1026, -1.265, 6.4615, 1.8828, -0.105, -0.0464, -0.0073, 0.3897, -7.4462, 4.5744, 1.2772, 0.4713, 0.1685, 1.0379]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1242, 0.7849, 0.6773, -0.4755, -0.1997, -0.1413, 0.9963, 0.8291, 1.4162, 0.8448, -0.1886, 0.5831, 0.4198, 0.997]\nstate[eef_state]: left_x=0.289 left_y=0.0029 left_z=0.1982 left_yaw=0.1055 left_pitch=-0.0081 left_roll=0.0027 left_gripper=0.9963 right_x=0.3228 right_y=0.2137 right_z=0.1411 right_yaw=0.0981 right_pitch=-0.0416 right_roll=-0.0392 right_gripper=0.997\nstate[joint_eff]: [0.0752, -1.2376, 6.2701, 1.8242, -0.1343, -0.0464, -0.0073, -0.6906, -8.1983, 9.2786, 1.6923, 0.2906, 0.0415, -0.1929]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c77a53af8e637ccc6dc82a238f080d5975576c5b08fb353c0a66b4610ef543f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31dba07783567756b9ff1c39dc08870a17e559d852194c5e378530037bf0a75b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73b50af50c489fc714fa80584ec89fdfdfa38747a1aee51a6fce9b63314b2c41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiQoKEAgSGAI4AUIIdGhpbmtpbmcSDJx+r/ehSetsGDK6OhoMz/E3ntazXks8/IvWIjArUL8x/fJ110LYlSW4Ysva1LPPVLkBqdT3tRm+g7D9nPamuX3UigwpdU2+Ejd1QBEqpgkPmZFTOfrAl4BRI67WAIzGyGAZonHeYQUWl5TwmR7+k1RGuqTNjYU8YFXLWKvzJrS8hWKO4rSxu2YNdl0eI5X0qppgW856JB3SL6i3bNIyFfKHjBeQb8R/ZLJwWpMz63EK6lSgFvwmV+l4+LqKUfUGgh/+NcXfVXvqJ4meHFvmjZ233qLNTEwUQDUjlporiqSuX6nQwdLQl6EsC4f1JUHbqiAVXvuS13j/qbrYGUgBJmYHlGtcvB2KCOXfisrAWt86t82w+3hN7QK0/3UrB1CGXvsxHVNE1mR7GRHokWKWCvYZ30baIzGkPvPqoZKoB7gyJX1hsOuHIycalckRZ6V05X4E2bwokqiNx7EuAlr1Gz0Yic+wfEEYJYhkSLfSQ+OmNOwfu9t2/m6e9H9N63sIyQxWj/6XlEl3s1/u42wcqcO9cgl95/3iRRLFyA4jUuzATL9IyoacWbSZRPbEYjIWOYpwPWyb3Lem1mIjn2tn+5IUQIWLgFoJtRBvNlivO4Z0WyJi1ryPJKVUyFadjESw/CDpLr/slzyXdtb9vN81L2Kuu+J+/TgDaG587yP4jq+uYdUrLFg8u7yLUJePjVswsNj1p5ZWCbUddRsz4jckv7AYQ+w4q1JEwd1NZ80CrvYGV9Oetf7EpRNJBK0vdF3So/GizNxLJubmMnfCJhS4iJbkzrAFVY5CQ1JIzSBXKAOO9wZAznTu4pnV82oV87pAad46q2DWvd7BByawBKqq6uWiIfuEb8utArL1ddpchgSL2OI/7F7WNBNtgApVADU/At0MV354CahC7bjHhUtSwaljDyggCkrEpKcmaYpp5A8WPQ+lkS3pKMPXOHHTmJJ62+bbR2kOe5Fv1VPg0K/M8O0z8jFIDi9fKGAg6oOfXAniGaq0gyWXoaX6hYEw+DsL1qVyIqVRviPInNywOIpEwiImnx0cz8wUpaR4OyNZUWdqS9lcgGu0QQXM8OyGwNX4iNwv838hqN9IgplS+Flh2HlaP4VtMQQU1qonJlXd0E3sdowEcK+E/QHaVZbcLL9xdT8uDkF3wnfVWAl2zf/kwBxAzDhVVDlw0A5G60zNy9e1hUIMSQZJgehyamq+E5qlI7QjqpBSHsb4vb5mMEsxHCXzfCeb6mHG0LY3iNXSDnxPe2GAzTUibjGfifYBtlPg2JbtSnU1Nn1qyyoC3daVSFAPTtMPuu7xHPOvbP0e+HpQ+USi3MxT8pFD6+XUcV22aDBtNWqqtY+44/69gw7TZyagX/u+W9By/24Ofed3UaJL97l8017qi2CNkuv4p8UCUVXvCt5p0dLnVi4i1lKRBk7x9MWdSQ39Kr8kCb5Xd6EtzIMc4BFp8T5wQ62INWR7LL/YzkOUKZtx/xx34nB3elTBQR1w3vUJ4zhkrZtA2A6t39XOfgku17f04XDFWS2+c17iXym5RTyjvT7k+gcMkzEZJ6DFGO8GuJSqaQXh9MeI/4W2L/ULbbpd1yZ75Uxjn+8/IOxqCqbB8bXcuNTBtnikoLxPzaw8EFLP7ayh3lmFjelZlSRneVeCNLOfCCwh0S9jKNRRn41hSg2UNrAag4aYKQuHBRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015owNAcjHS97i6Qxn1R647P",
      "input": {
        "note": "Right wrist view shows the bottle's cap and neck centred ahead of the jaws. Descending diagonally onto the neck.",
        "targets": {
          "right_x": 0.405,
          "right_y": 0.21,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015owNAcjHS97i6Qxn1R647P",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1238, 0.7845, 0.6773, -0.4759, -0.1993, -0.1413, 0.9963, 0.6411, 1.8709, 0.7441, 0.411, 0.4492, 0.2848, 0.999]\nstate[eef_state]: left_x=0.2889 left_y=0.0029 left_z=0.1982 left_yaw=0.1056 left_pitch=-0.0082 left_roll=0.0025 left_gripper=0.9963 right_x=0.3888 right_y=0.1989 right_z=0.0184 right_yaw=0.0874 right_pitch=-0.0614 right_roll=-0.0504 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.4291, 6.4479, 1.7753, -0.0855, -0.0855, -0.0171, -0.1299, -6.2701, 6.4615, 1.5556, 0.0611, 0.1245, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1044841b681d09caef95b7a81800d70471875e2dd3ce218b628db105390bad23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fac9c44f93d1ab7577b309d55659e6d5cec3dca452d087bf566f4aaf3e0da10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3c35dba716b58137898300a73b40db74c76479587efd7dee2ff362a540bab04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 3.973 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1238, 0.7853, 0.6773, -0.4755, -0.2016, -0.1413, 0.9962, 1.0195, 1.6211, 0.4587, 0.326, 0.7162, 0.6033, 0.5203]\nstate[eef_state]: left_x=0.289 left_y=0.0033 left_z=0.1981 left_yaw=0.1075 left_pitch=-0.0082 left_roll=0.0038 left_gripper=0.9962 right_x=0.2644 right_y=0.2154 right_z=0.0239 right_yaw=0.0922 right_pitch=-0.0231 right_roll=-0.0087 right_gripper=0.5203\nstate[joint_eff]: [-0.1026, -1.265, 6.4615, 1.8828, -0.105, -0.0464, -0.0073, 0.3897, -7.4462, 4.5744, 1.2772, 0.4713, 0.1685, 1.0379]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1242, 0.7849, 0.6773, -0.4755, -0.1997, -0.1413, 0.9963, 0.8291, 1.4162, 0.8448, -0.1886, 0.5831, 0.4198, 0.997]\nstate[eef_state]: left_x=0.289 left_y=0.0029 left_z=0.1982 left_yaw=0.1055 left_pitch=-0.0081 left_roll=0.0027 left_gripper=0.9963 right_x=0.3228 right_y=0.2137 right_z=0.1411 right_yaw=0.0981 right_pitch=-0.0416 right_roll=-0.0392 right_gripper=0.997\nstate[joint_eff]: [0.0752, -1.2376, 6.2701, 1.8242, -0.1343, -0.0464, -0.0073, -0.6906, -8.1983, 9.2786, 1.6923, 0.2906, 0.0415, -0.1929]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1238, 0.7845, 0.6773, -0.4759, -0.1993, -0.1413, 0.9963, 0.6411, 1.8709, 0.7441, 0.411, 0.4492, 0.2848, 0.999]\nstate[eef_state]: left_x=0.2889 left_y=0.0029 left_z=0.1982 left_yaw=0.1056 left_pitch=-0.0082 left_roll=0.0025 left_gripper=0.9963 right_x=0.3888 right_y=0.1989 right_z=0.0184 right_yaw=0.0874 right_pitch=-0.0614 right_roll=-0.0504 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.4291, 6.4479, 1.7753, -0.0855, -0.0855, -0.0171, -0.1299, -6.2701, 6.4615, 1.5556, 0.0611, 0.1245, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1044841b681d09caef95b7a81800d70471875e2dd3ce218b628db105390bad23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fac9c44f93d1ab7577b309d55659e6d5cec3dca452d087bf566f4aaf3e0da10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3c35dba716b58137898300a73b40db74c76479587efd7dee2ff362a540bab04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AgKEAgSGAI4AUIIdGhpbmtpbmcSDNkFMSP10GGEi2sooRoMBP9HGGJeBKsH7pO6IjDrjypkaKInm9loOTCwk9HnqfhV1VDtxcecKyTqX7sVI9tZddKG76Ycnd3VTsUE2Q0q8QcJD/klk/0Co28OxdNyF9PFdZbSOFdLvr4f3gq1J3qerRd0sT4ezGMA/qoKR2e3ztutzduxik0jrFgZjUKlz6yAj6bdFNcxESD/Bkwu8wc9UDJpxjo9KnqkQv2D4CYUdebGXY+z9LBc6hytc5VoMGHS8EJdcmOuqpf7iUn5gw79VPqG4zhOCnzJ0UD0kKgSp81fIw+O8XrqFZQcY0Zk9XkVaP7Np9L93Yx351YRLOgTxKilqbALAQOq0EKGEmhml9XaxLiiEQB1Y73YJ1phVg1gtIculqpGetSwQzmiGJbvTkctdwYkCAX1M4q0++FckPwKBu9jcOadImeQrKE+g2upL72TPzze+7ocSKJnukQ60eB9PrnvKmRbKvNbJtXVOvQ4GuHOycQARkeECbShJv4O0i5hfczH1dhkLqo9JuUDOXiWsoDzChpeF5HpVUsU9NDxiLvC1yRhNsvHx0/6wa8uSEgpp/2kkSXTODotArvTY5HkCkmMnyRws3Do0FttMXq/mqoOHM22hFc/lXcDVGBuEeSMvSXbmJK6YckQ5QbO4WaPm42iXjpWvPxxIH2SJ1WbnotvAwSfdunz583w2avx+vMkbTHspB1laQO4pb82VPHQ0kNh4rxarrX9yIFaCZwXFJEi5R3JTac4bPfxm0tEfU6zrWKwzr1PDTIDxWu3i9ACzcI7YmrXIsPdZayS514A2JVJTIoFBu6f73ayvwc1AjxHiA/O8S40kencgI5e4KkuyfGC9VU/JkLFsaOKoezs1I40aXtxJCyyRzpT4o+XJDx+NujkZqOl/zHW4cCDHsT21vNFDkbzquLlb8om1uRqSRhKRUJBNoAA3tjCuvL2wilnFlslqCy4d3c5GN8EqmQYWUGIieej1rBTRt5Hr06ctBsGh+AFXDDcbXCcF1kA0vPkPEvL07BClVKkOgFKShQ4BhhA0U7VsuoVWna0UOzSbqRz1qZBXKzyKEo0kpa9iKErZHOfJy5DytvtY8GE8J4Zi9rS98KaAS3oJGJAUk4HebzNdk6dXdqdCZiP7dK+Q9PURLTGr1Fany9ZM6pjpItCMoppvCQ7QDnwvqJ9cBvkwHl7JnMyvTY6mrWF+Sbcrkah0icH0ZVGz3QJlAUJDy/YpGAttxH9878Eoit+yYUTsrEuBa0cId8t3d/FgFByB4WzgANE8J7FdQtl4sq4kOUEOvaVJkxi27f8oQW2WA+ZhcWj8OH8P0QxrEAaQBSjY5lMlMiEfblbxdrZwsoNd769JBY29w5TPQJESOIkQSgoKDtxoIWl+ztjeBg08S++vOdwHMzPRFLlgfsqJ07HpAysSUiAoS0NXKI7jaQnPNY2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LbHYaY5JakqiTZGC8kR7ok",
      "input": {
        "note": "Jaws straddle the bottle's shoulder just below the neck. Closing to grip it for the pivot lift.",
        "targets": {
          "right_gripper": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01LbHYaY5JakqiTZGC8kR7ok",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1242, 0.7849, 0.6773, -0.4759, -0.1997, -0.1413, 0.9962, 0.6403, 1.8744, 0.7036, 0.6376, 0.4343, 0.2855, 0.4034]\nstate[eef_state]: left_x=0.289 left_y=0.0029 left_z=0.1981 left_yaw=0.1055 left_pitch=-0.0085 left_roll=0.0028 left_gripper=0.9962 right_x=0.4016 right_y=0.211 right_z=0.0448 right_yaw=0.0969 right_pitch=0.0901 right_roll=0.0529 right_gripper=0.4034\nstate[joint_eff]: [-0.1162, -1.6342, 6.4205, 1.8193, -0.1294, -0.0611, -0.0171, 0.0205, -7.2821, 3.3846, 1.0037, 0.1636, 0.0073, 0.4664]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dad8be40a4f7f4a01f06ba684ff0017ace5875f741f60f48c890e78a5442e7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea0e176c1db185b87acf334d34ad47587ba4845cd0f685adbd7ad13a1e026fc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5eb70b381ba417e7f1eadce535225c84706ab49f26014c0f897d3e2c14ac07c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 3.869 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1242, 0.7849, 0.6773, -0.4755, -0.1997, -0.1413, 0.9963, 0.8291, 1.4162, 0.8448, -0.1886, 0.5831, 0.4198, 0.997]\nstate[eef_state]: left_x=0.289 left_y=0.0029 left_z=0.1982 left_yaw=0.1055 left_pitch=-0.0081 left_roll=0.0027 left_gripper=0.9963 right_x=0.3228 right_y=0.2137 right_z=0.1411 right_yaw=0.0981 right_pitch=-0.0416 right_roll=-0.0392 right_gripper=0.997\nstate[joint_eff]: [0.0752, -1.2376, 6.2701, 1.8242, -0.1343, -0.0464, -0.0073, -0.6906, -8.1983, 9.2786, 1.6923, 0.2906, 0.0415, -0.1929]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1238, 0.7845, 0.6773, -0.4759, -0.1993, -0.1413, 0.9963, 0.6411, 1.8709, 0.7441, 0.411, 0.4492, 0.2848, 0.999]\nstate[eef_state]: left_x=0.2889 left_y=0.0029 left_z=0.1982 left_yaw=0.1056 left_pitch=-0.0082 left_roll=0.0025 left_gripper=0.9963 right_x=0.3888 right_y=0.1989 right_z=0.0184 right_yaw=0.0874 right_pitch=-0.0614 right_roll=-0.0504 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.4291, 6.4479, 1.7753, -0.0855, -0.0855, -0.0171, -0.1299, -6.2701, 6.4615, 1.5556, 0.0611, 0.1245, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1242, 0.7849, 0.6773, -0.4759, -0.1997, -0.1413, 0.9962, 0.6403, 1.8744, 0.7036, 0.6376, 0.4343, 0.2855, 0.4034]\nstate[eef_state]: left_x=0.289 left_y=0.0029 left_z=0.1981 left_yaw=0.1055 left_pitch=-0.0085 left_roll=0.0028 left_gripper=0.9962 right_x=0.4016 right_y=0.211 right_z=0.0448 right_yaw=0.0969 right_pitch=0.0901 right_roll=0.0529 right_gripper=0.4034\nstate[joint_eff]: [-0.1162, -1.6342, 6.4205, 1.8193, -0.1294, -0.0611, -0.0171, 0.0205, -7.2821, 3.3846, 1.0037, 0.1636, 0.0073, 0.4664]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dad8be40a4f7f4a01f06ba684ff0017ace5875f741f60f48c890e78a5442e7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea0e176c1db185b87acf334d34ad47587ba4845cd0f685adbd7ad13a1e026fc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5eb70b381ba417e7f1eadce535225c84706ab49f26014c0f897d3e2c14ac07c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQcKEAgSGAI4AUIIdGhpbmtpbmcSDETu9BiDrbgThjAptxoModNkxm/Zb9+nq8bgIjD6XchbzqWnDsBe6eTZqxB0tqBd+Fz23bfLcU/sWV0a0KEDhvn4wsyL1CgcqwYmM5oqogan7ljDloLGrC852QyS07y9f+1rBlRQrwX6NXa5lg5zL6PSk2u0Zu+fKt9iovmq1WT/YuekZVf/Zud1EXFGfh3mIK5QlvigJnP87+y04D3miZwwMhd/quPVtlmwExgyp7y/vXpfASK6X7AdQbZxeShFetJQM1qwFJRoqwX9D+sPTvf47XbB9LcNvXBwpJBHed+U07etKBu7ihcZ/lu5Gdp+2DV+HdW3q1HVrcZBgssxTD9OruavT7F874eg9hFqqEoNmqQys4BOL649qjMi+2zREUaObyHPqBu4bwGg+Zo/H/GC3cn0tp3w6ZxZ64GKWJqAP0OSYwhhWbRYwN+A4SWX5Tg99Pwe/d11R0ZaP29GY5qqXD5ov1jAVo4eVLLKYgocYFu3hVEMSGV5oNdCVoJAJi4Z6IdxmqbjKXcmvPfrIShI02Wd2XL/cuDoCH+MrU7ornX2RHOKGZ49BctnRIJE/5NVvz78CmiYfwSotU7rEIrQRka314SB1nGPTFaQ9FPXfI2RJQs2WM1TlhL+1Ayq9SQlu/cVwl9YQ23XbM74TzHC0PuC8hYah6gkPqM915MWCm+gWK9yYOQlwo05SVA0slBbi+fR2l74oVf9SS6L8LK/mGrVDPKBmK8aV5kL0DQ2b60TDT0X94aAAJVrpRlSVAP1I3+6++ER8/XZNnELIsApCZw1jw2vkpQ4q1KKogYOxgbDk1mzliUUQoT3YHeaywjA0nO3XIKJlssI+CfPl6DStHU1+4OAVxtvIYQvHrDdmOcIFMfO0+r0ZOkUjVhebLgtgQ2ApHu6yI/s0atlw00nmofK+swnnbrdYhznsDX6Dfp/lNtMv4Hy+jhkWb5fySguagT7BXt4fHAjS7U8qQ9wHNJisNTLD4oVqxc85NQDC1sPphYz27h6aAgQh9S2di4xyZYK6Xvl8SGj1jGdA54xBNzMYtrLmrB0o98pzSIxpF2vydg45jkKBQu2jZuMDxC1LFWZBbNTvffK8vQScqtsRp1JOkaa1qCfSfo7Frm5i2EfLVMlAiZhSUNCpO45E14sm94o8UbsTASClqxSzVsDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014997NAe5doxz4skeSRp8eT",
      "input": {
        "note": "Gripper settled at 0.40 on the bottle's neck. Lifting straight up so the bottle pivots to stand on its base below the gripper.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.21,
          "right_z": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_014997NAe5doxz4skeSRp8eT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1238, 0.7849, 0.6773, -0.4759, -0.1993, -0.1413, 0.9963, 0.6418, 1.5673, 1.1301, -0.2485, 0.4213, 0.2752, 0.4025]\nstate[eef_state]: left_x=0.289 left_y=0.0029 left_z=0.1981 left_yaw=0.1056 left_pitch=-0.0085 left_roll=0.0026 left_gripper=0.9963 right_x=0.398 right_y=0.2117 right_z=0.1803 right_yaw=0.1163 right_pitch=-0.0448 right_roll=-0.0272 right_gripper=0.4025\nstate[joint_eff]: [-0.0205, -1.4564, 6.4068, 1.8535, -0.0855, -0.0366, -0.0073, -0.3761, -9.7846, 9.7983, 1.6581, 0.2906, 0.1294, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fa9a6bff4ce1cf448a981e8d57a735725191db7c54d2b8aaa7994d71221411e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fb5c2b472109f8517b3ac0295435b9a2ec5d8979bc3600a778a756984d5a68d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:592125b1251bedcfbbe2ad525697239136bb49a5223a770ca06785c4c8b2c31e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 11.11 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1238, 0.7845, 0.6773, -0.4759, -0.1993, -0.1413, 0.9963, 0.6411, 1.8709, 0.7441, 0.411, 0.4492, 0.2848, 0.999]\nstate[eef_state]: left_x=0.2889 left_y=0.0029 left_z=0.1982 left_yaw=0.1056 left_pitch=-0.0082 left_roll=0.0025 left_gripper=0.9963 right_x=0.3888 right_y=0.1989 right_z=0.0184 right_yaw=0.0874 right_pitch=-0.0614 right_roll=-0.0504 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.4291, 6.4479, 1.7753, -0.0855, -0.0855, -0.0171, -0.1299, -6.2701, 6.4615, 1.5556, 0.0611, 0.1245, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1242, 0.7849, 0.6773, -0.4759, -0.1997, -0.1413, 0.9962, 0.6403, 1.8744, 0.7036, 0.6376, 0.4343, 0.2855, 0.4034]\nstate[eef_state]: left_x=0.289 left_y=0.0029 left_z=0.1981 left_yaw=0.1055 left_pitch=-0.0085 left_roll=0.0028 left_gripper=0.9962 right_x=0.4016 right_y=0.211 right_z=0.0448 right_yaw=0.0969 right_pitch=0.0901 right_roll=0.0529 right_gripper=0.4034\nstate[joint_eff]: [-0.1162, -1.6342, 6.4205, 1.8193, -0.1294, -0.0611, -0.0171, 0.0205, -7.2821, 3.3846, 1.0037, 0.1636, 0.0073, 0.4664]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1238, 0.7849, 0.6773, -0.4759, -0.1993, -0.1413, 0.9963, 0.6418, 1.5673, 1.1301, -0.2485, 0.4213, 0.2752, 0.4025]\nstate[eef_state]: left_x=0.289 left_y=0.0029 left_z=0.1981 left_yaw=0.1056 left_pitch=-0.0085 left_roll=0.0026 left_gripper=0.9963 right_x=0.398 right_y=0.2117 right_z=0.1803 right_yaw=0.1163 right_pitch=-0.0448 right_roll=-0.0272 right_gripper=0.4025\nstate[joint_eff]: [-0.0205, -1.4564, 6.4068, 1.8535, -0.0855, -0.0366, -0.0073, -0.3761, -9.7846, 9.7983, 1.6581, 0.2906, 0.1294, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fa9a6bff4ce1cf448a981e8d57a735725191db7c54d2b8aaa7994d71221411e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fb5c2b472109f8517b3ac0295435b9a2ec5d8979bc3600a778a756984d5a68d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:592125b1251bedcfbbe2ad525697239136bb49a5223a770ca06785c4c8b2c31e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS2AcKEAgSGAI4AUIIdGhpbmtpbmcSDP7L1JSZqvK+w1JzARoMcgOUahsZNxvnoatLIjD47NmjgOlG/2ZERMASc/EYGbkzXdMImLgOruPpAlOznCHh6AC/hO+E8FkQ0yc7QQgq9Qa3cbjduPF+xfwXUUPNsvgPqY02OHVTF5RINN1I/gYrHK3Q9l1DZhu1jKSeIxYuXkhsd1kudLMDYoX11pj6co9W1g7Uy3VUEtvVzHhA4XrtHuwNsIb57hB1a8kmjU53eRQ4euKvzVQGrvBY/rz/bmHi4qMes0QT5EPDGUTAnxdZffddZfnmQJjaXQOpidSx1g3Ai20bVnSK/UNPcvXn0zWjVsxKImSv9645ZI1wKQCtJL4m3eG8nEJ7jGFF6tagL/705P11m9W1all1YEWqEhnlIzJE+3nadHFVyQwVmp5olcMqyRnezo/138uEoRey5KlsH6sy9eLJlwUFTXzrbqeiw7q16AxNQ+dPZXWoC6cD/QseVYJSXQBoG/4ZrUDCif86M6OnwKTTGX3eYyjiJ7WJfzetvn150Ydvjlnjw0FM4orP8UH2lzgLxxEY2YVImbXviQJjnDpEoyHGwORDTmnoZc2fs1gj+VOjlJ03J/zyC/Wr4V6DdNMaJJHrN/ZGjhhO9Fj9wiGaErIY/7RX6Xocz3vPRlc/wl3TEb3btENAocug35YcHrNfmTiE9zgDrh7zFYEqg3d6mQztbo13cQHoZRcwbmPiWiU61RW4SGmSH8n6AwUftEc/sot49c6JhXS0Ur6Ywqd/YlKED66u1UOYnr9+pIEBIM/2CkrWlf2a27l2wo02E+yZqBfMv/7ghtJzJ1tA8GThVpiqtSOouYCL73NP47mgDkVglSyRa+tE6iejxzYnRDVSJrCg4Acbq+2wRC3Q1Wa2LqPs3BhJSIqmmNpIErbFCsOpDYJsIneJSQ5vQ6a3RyPWkRRYJbSG7sAXi2fkPlboIl7fEHJc+X+yokBNjWXeOu+4I0w2IjY7cD8kUFCivgJPZam+kZNDmQpTHeTMFBx4VydIpppByPmcgmOY/lAx/cqsURNRO0c1FiTTVBmz1MN1chWORIo2OuphdP4l/IBs7554FwVRPZuEL0DoLZacqo0sVcnWs/I2bmcH7rp5p58KIPP547IBSdI91vFAOhcOZ0PZZaaXzRGCUHtrRDC7pwP96RDKsYU5mklfAGrCKXxc4hnBrsz29tRCICjatcgP/6HpLJR8DkQ8/oTNnRMJ5qocmHGh5AAJV6H47QEhLZ7a3SRkfumzJZnLCyS2eMiIuh01IMCWrw3IdNkex+EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QD775Ab5SQVx7gYu9HiB1N",
      "input": {
        "note": "The right bottle now hangs vertically with its base on the table (lift stopped at z≈0.18). Opening the jaws so it stays standing.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QD775Ab5SQVx7gYu9HiB1N",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1238, 0.7849, 0.6773, -0.4755, -0.1993, -0.1413, 0.9963, 0.6411, 1.557, 1.0672, -0.2005, 0.4141, 0.2642, 0.9957]\nstate[eef_state]: left_x=0.289 left_y=0.0029 left_z=0.1982 left_yaw=0.1056 left_pitch=-0.0082 left_roll=0.0025 left_gripper=0.9963 right_x=0.3927 right_y=0.2088 right_z=0.1662 right_yaw=0.1272 right_pitch=-0.0511 right_roll=-0.0345 right_gripper=0.9957\nstate[joint_eff]: [-0.0068, -1.6342, 6.2291, 1.8437, -0.1294, -0.0513, -0.0171, -0.1983, -8.0068, 7.4598, 1.9756, 0.1636, 0.1197, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a081b06b0c4f060c9bccd208b175e327aa99d56f33fe9dd2fef54292de74e07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fb8c72b05a948260b74eccd117f2ed3be55ca0e5f505b69c46a097e845b8b50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:96055cd46afe3626e35489364bea15eaac78c09aae8e9594362cc5c18658dd54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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