adhoc

completed
2026-09-22T20:42:11.549210+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
216.6 s
total steps
199
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles lie on their sides near the table centre with caps pointing forward. Plan: grab each bottle near the cap, lift so it hangs down, then set it upright. Moving the right arm over the right bottle's cap first.
move_to
right_x0.4200right_y0.2700right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3767, -0.0231, -0.0288, 0.9985, -0.0177, 0.7891, 0.6037, -0.3828, -0.0135, -0.0174, 0.9998] state[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1826 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9985 right_x=0.294 right_y=0.0008 right_z=0.1806 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4855, -1.4838, 9.7162, 1.7851, -0.0171, 0.1148, -0.1734, -0.7316, -1.0598, 10.3863, 1.8877, -0.1148, 0.0415, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.27, "right_z": 0.15, "right_gripper": 1}, "note": "Three bottles lie on their sides near the table centre with caps pointing forward. Plan: grab each bottle near the cap, lift so it hangs down, then set it upright. Moving the right arm over the right bottle's cap first."})
tool
executing move_to over 23 steps (2.3s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteRight wrist camera shows the right bottle's cap ahead of the jaws, slightly right of the jaw column. Advancing ~6 cm forward and 1 cm right to sit over the neck.
move_to
right_x0.4700right_y0.2550right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3794, -0.0231, -0.0296, 0.9983, 0.7727, 1.8179, 1.243, -0.2058, 0.5945, 0.4419, 0.9998] state[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1834 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4079 right_y=0.2644 right_z=0.133 right_yaw=0.0438 right_pitch=-0.0554 right_roll=-0.0454 right_gripper=0.9998 state[joint_eff]: [-0.1026, -1.6752, 6.6393, 1.7753, -0.0415, -0.0757, -0.0269, -0.0752, -9.2923, 9.265, 1.6093, 0.442, 0.3346, -0.0317] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.255, "right_z": 0.15}, "note": "Right wrist camera shows the right bottle's cap ahead of the jaws, slightly right of the jaw column. Advancing ~6 cm forward and 1 cm right to sit over the neck."})
tool
executing move_to over 5 steps (0.5s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteCap now nearer the jaws but still ahead. Advancing 3-4 cm more before descending.
move_to
right_x0.4900right_y0.2500right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3794, -0.0231, -0.0296, 0.9983, 0.6636, 1.9022, 1.3262, -0.1711, 0.5129, 0.3546, 0.9998] state[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1834 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4518 right_y=0.2477 right_z=0.1264 right_yaw=0.0447 right_pitch=-0.0668 right_roll=-0.051 right_gripper=0.9998 state[joint_eff]: [-0.3761, -1.4154, 6.8444, 1.79, -0.0317, -0.0513, -0.022, -0.759, -9.935, 9.9214, 1.8681, 0.1197, 0.1245, -0.0122] 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": {"right_x": 0.49, "right_y": 0.25, "right_z": 0.15}, "note": "Cap now nearer the jaws but still ahead. Advancing 3-4 cm more before descending."})
tool
executing move_to over 3 steps (0.3s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteArm stopped at x≈0.456, short of target; trying a lower pose while advancing toward the bottle neck.
move_to
right_x0.4800right_y0.2500right_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3798, -0.0231, -0.0292, 0.998, 0.6548, 1.9106, 1.3403, -0.1673, 0.4931, 0.3382, 0.9998] state[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.003 left_roll=-0.0001 left_gripper=0.998 right_x=0.4562 right_y=0.2494 right_z=0.1275 right_yaw=0.0604 right_pitch=-0.0671 right_roll=-0.0477 right_gripper=0.9998 state[joint_eff]: [-0.3761, -1.3197, 6.9538, 1.7705, -0.0513, -0.0269, -0.0415, -0.7316, -9.9214, 10.1812, 1.873, 0.2271, 0.0659, -0.0073] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.25, "right_z": 0.06}, "note": "Arm stopped at x\u22480.456, short of target; trying a lower pose while advancing toward the bottle neck."})
tool
executing move_to over 5 steps (0.5s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe right arm is holding and not tracking the forward target; backing off slightly and lowering to unstick the IK.
move_to
right_x0.4200right_y0.2500right_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3798, -0.0231, -0.0292, 0.9979, 0.6548, 1.9106, 1.3407, -0.1669, 0.4927, 0.3378, 0.9998] state[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.003 left_roll=-0.0001 left_gripper=0.9979 right_x=0.4563 right_y=0.2495 right_z=0.1277 right_yaw=0.061 right_pitch=-0.0666 right_roll=-0.0474 right_gripper=0.9998 state[joint_eff]: [-0.253, -1.3197, 6.7897, 1.7607, -0.0415, -0.0122, -0.022, -0.5402, -10.0308, 10.0991, 1.9267, 0.2027, 0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.25, "right_z": 0.08}, "note": "The right arm is holding and not tracking the forward target; backing off slightly and lowering to unstick the IK."})
tool
executing move_to over 4 steps (0.4s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteArm is moving slowly under speed clamps; continuing to descend toward the neck of the right bottle, which sits just ahead of the jaws.
move_to
right_x0.4500right_y0.2500right_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.6136, -0.379, -0.0231, -0.0292, 0.9978, 0.6785, 1.8931, 1.251, -0.0559, 0.5102, 0.3523, 0.9998] state[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1833 left_yaw=0.0005 left_pitch=-0.0023 left_roll=-0.0001 left_gripper=0.9978 right_x=0.4471 right_y=0.2542 right_z=0.1198 right_yaw=0.0642 right_pitch=-0.0278 right_roll=-0.0229 right_gripper=0.9998 state[joint_eff]: [-0.1846, -1.265, 6.9128, 1.8339, -0.0317, -0.0415, -0.0171, 1.9487, -10.1402, 6.0923, 1.7753, 0.1587, 0.1343, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.25, "right_z": 0.04}, "note": "Arm is moving slowly under speed clamps; continuing to descend toward the neck of the right bottle, which sits just ahead of the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteJaws straddle the right bottle's body near its label; the narrow neck is ~4 cm further forward. Advancing forward at low height to grip the neck.
move_to
right_x0.4900right_y0.2500right_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.6136, -0.3794, -0.0227, -0.0292, 0.9978, 0.667, 2.0289, 1.0897, 0.2279, 0.4931, 0.3454, 0.9998] state[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0034 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4431 right_y=0.247 right_z=0.0393 right_yaw=0.0696 right_pitch=-0.0452 right_roll=-0.0271 right_gripper=0.9998 state[joint_eff]: [-0.1026, -1.4564, 7.0359, 1.7705, -0.0415, -0.0317, -0.0073, -0.1709, -9.6068, 5.5316, 1.7949, 0.1343, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_y": 0.25, "right_z": 0.04}, "note": "Jaws straddle the right bottle's body near its label; the narrow neck is ~4 cm further forward. Advancing forward at low height to grip the neck."})
tool
executing move_to over 4 steps (0.4s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteBottle shoulder now between jaws, cap still a few cm ahead. Advancing another ~2.5 cm and lowering a bit to reach the neck.
move_to
right_x0.5050right_y0.2480right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3798, -0.0231, -0.0292, 0.9978, 0.6174, 2.117, 1.19, 0.2695, 0.4553, 0.3008, 0.9998] state[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.005 left_roll=-0.0 left_gripper=0.9978 right_x=0.4778 right_y=0.2484 right_z=0.038 right_yaw=0.0747 right_pitch=-0.0133 right_roll=-0.0148 right_gripper=0.9998 state[joint_eff]: [-0.294, -1.5521, 6.7487, 1.79, -0.022, -0.0513, -0.0122, -0.7043, -9.7299, 7.9248, 1.6825, 0.1294, 0.0757, -0.0122] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.505, "right_y": 0.248, "right_z": 0.03}, "note": "Bottle shoulder now between jaws, cap still a few cm ahead. Advancing another ~2.5 cm and lowering a bit to reach the neck."})
tool
executing move_to over 3 steps (0.3s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteArm can't reach further forward (stalls at x≈0.48) and the neck is just out of reach. Plan: grip the bottle body here and drag it back ~7 cm, then regrasp at the neck.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3794, -0.0231, -0.0292, 0.9978, 0.6109, 2.1273, 1.2053, 0.2707, 0.44, 0.2855, 0.9998] state[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9978 right_x=0.482 right_y=0.2501 right_z=0.038 right_yaw=0.0887 right_pitch=-0.0129 right_roll=-0.0165 right_gripper=0.9998 state[joint_eff]: [-0.253, -1.5658, 6.8308, 1.7705, -0.022, -0.0562, -0.0122, -0.8684, -9.9624, 5.9966, 1.873, 0.1099, 0.0855, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Arm can't reach further forward (stalls at x\u22480.48) and the neck is just out of reach. Plan: grip the bottle body here and drag it back ~7 cm, then regrasp at the neck."})
tool
executing move_to over 10 steps (1.0s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteGripper settled at 0.50 (~4.7 cm), so it's holding the bottle body. Dragging the bottle back ~10 cm so its neck comes into reach.
move_to
right_x0.3800right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3794, -0.0227, -0.0296, 0.9978, 0.6083, 2.1273, 1.2015, 0.2844, 0.4362, 0.2787, 0.4985] state[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1827 left_yaw=0.0004 left_pitch=-0.0046 left_roll=-0.0006 left_gripper=0.9978 right_x=0.4831 right_y=0.2498 right_z=0.0389 right_yaw=0.0928 right_pitch=-0.0055 right_roll=-0.0153 right_gripper=0.4985 state[joint_eff]: [-0.0752, -1.5248, 6.653, 1.7998, -0.0415, -0.0757, -0.0122, -0.2667, -11.453, 5.0393, 1.707, 0.0806, 0.0952, 1.0379] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_z": 0.045}, "note": "Gripper settled at 0.50 (~4.7 cm), so it's holding the bottle body. Dragging the bottle back ~10 cm so its neck comes into reach."})
tool
executing move_to over 8 steps (0.8s)
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 was dragged back with the gripper. Releasing it and lifting slightly to reposition over the neck.
move_to
right_gripper1.0000right_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8013, 0.6136, -0.379, -0.0227, -0.0292, 0.9978, 0.7677, 1.9095, 0.8677, 0.3374, 0.5396, 0.3786, 0.4998] state[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.005 left_roll=-0.0002 left_gripper=0.9978 right_x=0.3859 right_y=0.2513 right_z=0.0364 right_yaw=0.1164 right_pitch=-0.0214 right_roll=-0.0202 right_gripper=0.4998 state[joint_eff]: [-0.253, -1.4017, 6.694, 1.8535, -0.0269, -0.0269, -0.0122, 0.6769, -10.6872, 5.1077, 1.663, 0.3004, 0.1587, 0.6716] approver: 4 step(s) modified (delta_clamped ×4). 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": {"right_gripper": 1.0, "right_z": 0.07}, "note": "Bottle was dragged back with the gripper. Releasing it and lifting slightly to reposition over the neck."})
tool
executing move_to over 6 steps (0.6s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteGripper open above the bottle's shoulder; the neck/cap is ~5 cm forward. Moving forward over the neck.
move_to
right_x0.4400right_y0.2480right_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0227, -0.0296, 0.9978, 0.7719, 1.8523, 0.8612, 0.263, 0.5377, 0.374, 0.9957] state[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0004 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9978 right_x=0.3783 right_y=0.247 right_z=0.0461 right_yaw=0.1241 right_pitch=-0.0411 right_roll=-0.0373 right_gripper=0.9957 state[joint_eff]: [-0.1026, -1.5521, 6.6256, 1.7949, -0.0415, -0.0757, -0.0122, -0.759, -11.1521, 7.9111, 1.5556, 0.1197, 0.105, -0.1978] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.248, "right_z": 0.07}, "note": "Gripper open above the bottle's shoulder; the neck/cap is ~5 cm forward. Moving forward over the neck."})
tool
executing move_to over 5 steps (0.5s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteCap is just in front of the jaws, so the neck should be under the fingertips. Descending to neck height (~3 cm).
move_to
right_x0.4250right_y0.2460right_z0.0280
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0231, -0.0296, 0.9978, 0.6693, 1.9163, 0.9955, 0.2394, 0.4557, 0.3058, 0.9956] state[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4249 right_y=0.2416 right_z=0.0577 right_yaw=0.1233 right_pitch=-0.0337 right_roll=-0.0234 right_gripper=0.9956 state[joint_eff]: [-0.294, -1.5795, 6.7761, 1.79, -0.0317, -0.0806, -0.0122, -0.6359, -7.9111, 8.3077, 1.7167, 0.1148, 0.0269, -0.0269] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.425, "right_y": 0.246, "right_z": 0.028}, "note": "Cap is just in front of the jaws, so the neck should be under the fingertips. Descending to neck height (~3 cm)."})
tool
executing move_to over 2 steps (0.2s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent notePrevious descent didn't take (z still 0.065). Re-commanding descent to neck height.
move_to
right_x0.4280right_y0.2460right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0227, -0.0292, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.44, 0.2932, 0.9956] state[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4314 right_y=0.2445 right_z=0.0647 right_yaw=0.134 right_pitch=-0.0274 right_roll=-0.0185 right_gripper=0.9956 state[joint_eff]: [-0.2667, -1.6205, 6.612, 1.7802, -0.0464, -0.0317, -0.0122, -0.6632, -8.3761, 7.8017, 1.8095, 0.1294, -0.0171, -0.0122] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.428, "right_y": 0.246, "right_z": 0.025}, "note": "Previous descent didn't take (z still 0.065). Re-commanding descent to neck height."})
tool
executing move_to over 3 steps (0.3s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteArm is holding at z≈0.065 and not descending, possibly resting on the bottle shoulder. Nudging forward 1.5 cm and down so the jaws straddle the neck/cap.
move_to
right_x0.4450right_y0.2500right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0231, -0.0296, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.4404, 0.2935, 0.9956] state[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4315 right_y=0.2444 right_z=0.0647 right_yaw=0.1335 right_pitch=-0.0273 right_roll=-0.0184 right_gripper=0.9956 state[joint_eff]: [-0.0479, -1.6205, 6.612, 1.8095, -0.0415, -0.0659, -0.0122, -0.6632, -8.1709, 7.7333, 1.8388, 0.1636, 0.0415, -0.0171] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.445, "right_y": 0.25, "right_z": 0.035}, "note": "Arm is holding at z\u22480.065 and not descending, possibly resting on the bottle shoulder. Nudging forward 1.5 cm and down so the jaws straddle the neck/cap."})
tool
executing move_to over 2 steps (0.2s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteRight arm has frozen for three commands (joints unchanged). Trying a larger move up and back to see if it responds.
move_to
right_x0.4000right_y0.2500right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8013, 0.6136, -0.379, -0.0227, -0.0296, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.44, 0.2935, 0.9955] state[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1826 left_yaw=0.0004 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4314 right_y=0.2445 right_z=0.0647 right_yaw=0.1338 right_pitch=-0.0274 right_roll=-0.0182 right_gripper=0.9955 state[joint_eff]: [-0.0615, -1.4154, 6.6667, 1.8144, -0.0415, -0.0806, -0.0122, -0.3077, -8.1983, 7.7333, 1.8535, 0.1343, 0.022, -0.0122] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.25, "right_z": 0.12}, "note": "Right arm has frozen for three commands (joints unchanged). Trying a larger move up and back to see if it responds."})
tool
executing move_to over 4 steps (0.4s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteRight arm remains frozen; its yaw has drifted to 0.13 rad. Commanding a full pose with yaw reset to 0 to try to get the IK tracking again.
move_to
right_x0.4200right_y0.2500right_z0.1000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0227, -0.0296, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.44, 0.2932, 0.9956] state[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0004 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4314 right_y=0.2445 right_z=0.0647 right_yaw=0.134 right_pitch=-0.0274 right_roll=-0.0185 right_gripper=0.9956 state[joint_eff]: [-0.4034, -1.5795, 6.6667, 1.7949, -0.0513, -0.0171, -0.0122, -0.6359, -8.3897, 7.7333, 1.8584, 0.1392, -0.0171, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.25, "right_z": 0.1, "right_yaw": 0.0, "right_pitch": 0, "right_roll": 0}, "note": "Right arm remains frozen; its yaw has drifted to 0.13 rad. Commanding a full pose with yaw reset to 0 to try to get the IK tracking again."})
tool
executing move_to over 3 steps (0.3s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteArm responds again with yaw pinned to 0. Cap sits just ahead of the jaws; descending onto the neck.
move_to
right_x0.4250right_y0.2500right_z0.0280right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0231, -0.0292, 0.9978, 0.7208, 1.9099, 1.0615, 0.1051, 0.5316, 0.3809, 0.9956] state[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0053 left_roll=-0.0 left_gripper=0.9978 right_x=0.4163 right_y=0.2513 right_z=0.0665 right_yaw=0.0735 right_pitch=-0.0556 right_roll=-0.0376 right_gripper=0.9956 state[joint_eff]: [-0.3761, -1.6068, 6.612, 1.7802, -0.0415, -0.0269, -0.0122, 0.1573, -13.1897, 8.8957, 1.6435, 0.4567, 0.1392, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.425, "right_y": 0.25, "right_z": 0.028, "right_yaw": 0.0}, "note": "Arm responds again with yaw pinned to 0. Cap sits just ahead of the jaws; descending onto the neck."})
tool
executing move_to over 3 steps (0.3s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe arm rises instead of descending — the left jaw appears to be resting on the middle bottle's label. Lifting and shifting 1.5 cm right to clear it.
move_to
right_x0.4200right_y0.2350right_z0.1000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.7441, 1.8896, 1.0889, 0.0376, 0.5766, 0.4225, 0.9956] state[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4116 right_y=0.2529 right_z=0.0779 right_yaw=0.0396 right_pitch=-0.0509 right_roll=-0.0403 right_gripper=0.9956 state[joint_eff]: [-0.2667, -1.5795, 6.5983, 1.8144, -0.0171, -0.0366, -0.0122, -0.9778, -11.7675, 7.8838, 1.5556, 0.4322, 0.2173, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.235, "right_z": 0.1, "right_yaw": 0.0}, "note": "The arm rises instead of descending \u2014 the left jaw appears to be resting on the middle bottle's label. Lifting and shifting 1.5 cm right to clear it."})
tool
executing move_to over 2 steps (0.2s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteRight arm frozen again on a small move. Commanding a larger retreat upward to get it tracking, then I'll re-approach the neck.
move_to
right_x0.3500right_y0.2400right_z0.1800right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9978, 0.7441, 1.8896, 1.0889, 0.0372, 0.5766, 0.4232, 0.9956] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9978 right_x=0.4116 right_y=0.2529 right_z=0.0779 right_yaw=0.0392 right_pitch=-0.0512 right_roll=-0.0399 right_gripper=0.9956 state[joint_eff]: [-0.212, -1.6342, 6.8308, 1.7949, -0.0562, -0.0366, -0.0122, -1.0188, -11.6444, 7.7607, 1.5263, 0.4127, 0.1929, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.24, "right_z": 0.18, "right_yaw": 0.0}, "note": "Right arm frozen again on a small move. Commanding a larger retreat upward to get it tracking, then I'll re-approach the neck."})
tool
executing move_to over 7 steps (0.7s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteArm responding slowly. The right bottle's cap is centred just ahead of the jaws; middle bottle is close on the left. Descending shifted slightly right to grip the neck without landing on the middle bottle.
move_to
right_x0.4150right_y0.2370right_z0.0300right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8032, 0.6136, -0.3786, -0.0231, -0.0296, 0.9978, 0.7902, 1.8187, 1.0817, -0.07, 0.6189, 0.4728, 0.9956] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1821 left_yaw=0.0007 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9978 right_x=0.3901 right_y=0.2534 right_z=0.0933 right_yaw=0.0258 right_pitch=-0.0621 right_roll=-0.051 right_gripper=0.9956 state[joint_eff]: [0.1436, -1.4017, 6.5573, 1.9121, -0.0366, -0.0415, -0.0122, 3.1385, -16.6769, 8.9231, 2.3272, 0.5885, 0.1343, -0.0122] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_y": 0.237, "right_z": 0.03, "right_yaw": 0.0}, "note": "Arm responding slowly. The right bottle's cap is centred just ahead of the jaws; middle bottle is close on the left. Descending shifted slightly right to grip the neck without landing on the middle bottle."})
tool
executing move_to over 5 steps (0.5s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteJaws now straddle the right bottle's neck just behind the cap at z≈3 cm. Closing moderately so the bottle can pivot and hang when lifted.
move_to
right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.7242, 1.9614, 0.9623, 0.2111, 0.5987, 0.4469, 0.9956] state[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4051 right_y=0.2302 right_z=0.0296 right_yaw=-0.0107 right_pitch=-0.0587 right_roll=-0.0484 right_gripper=0.9956 state[joint_eff]: [-0.0479, -1.5248, 6.694, 1.7607, -0.0708, -0.0415, -0.0122, -0.5128, -8.841, 4.6427, 1.6777, 0.0757, 0.0904, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.15}, "note": "Jaws now straddle the right bottle's neck just behind the cap at z\u22483 cm. Closing moderately so the bottle can pivot and hang when lifted."})
tool
executing move_to over 9 steps (0.9s)
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 noteGripper closed to 0.155 on the neck region. Lifting high so the bottle, if held, swings down to hang vertically.
move_to
right_z0.2000right_x0.3800right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0227, -0.0296, 0.9978, 0.7261, 1.9564, 0.9173, 0.4248, 0.6094, 0.44, 0.1555] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4169 right_y=0.2398 right_z=0.0521 right_yaw=-0.0142 right_pitch=0.0745 right_roll=0.0573 right_gripper=0.1555 state[joint_eff]: [-0.3761, -1.5658, 6.612, 1.8681, -0.0562, -0.0708, -0.0122, -0.2393, -8.8137, 3.9043, 0.9695, 0.1197, 0.0366, 0.1294] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.38, "right_yaw": 0.0}, "note": "Gripper closed to 0.155 on the neck region. Lifting high so the bottle, if held, swings down to hang vertically."})
tool
executing move_to over 10 steps (1.0s)
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 noteThe grasp missed: bottle is still lying under the arm with its cap just ahead of the jaws on the jaw column. Opening and repositioning above the neck for a lower, firmer grasp.
move_to
right_gripper1.0000right_x0.4050right_y0.2440right_z0.1200right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0227, -0.0296, 0.9978, 0.7918, 1.6527, 1.1896, -0.3222, 0.6109, 0.4667, 0.1554] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9978 right_x=0.3784 right_y=0.2441 right_z=0.1676 right_yaw=0.0373 right_pitch=-0.0504 right_roll=-0.0368 right_gripper=0.1554 state[joint_eff]: [-0.3624, -1.4291, 6.694, 1.8437, -0.0415, -0.0708, -0.0122, 0.1026, -10.3453, 9.6342, 1.6435, 0.5641, 0.2613, -0.022] 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": {"right_gripper": 1.0, "right_x": 0.405, "right_y": 0.244, "right_z": 0.12, "right_yaw": 0.0}, "note": "The grasp missed: bottle is still lying under the arm with its cap just ahead of the jaws on the jaw column. Opening and repositioning above the neck for a lower, firmer grasp."})
tool
executing move_to over 9 steps (0.9s)
step 141
assistant
agent noteRight bottle lies centred on the jaw column with its cap just ahead. Descending low around the neck/shoulder for a firm grasp.
move_to
right_x0.4050right_y0.2440right_z0.0100right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9978, 0.7601, 1.7611, 1.0866, -0.0921, 0.6006, 0.4435, 0.9957] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9978 right_x=0.3956 right_y=0.2432 right_z=0.1155 right_yaw=0.0263 right_pitch=-0.042 right_roll=-0.0379 right_gripper=0.9957 state[joint_eff]: [-0.1162, -1.4564, 6.6393, 1.7802, -0.0171, -0.0464, -0.0122, -0.7863, -7.6786, 6.5299, 1.9365, 0.2906, 0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.405, "right_y": 0.244, "right_z": 0.01, "right_yaw": 0.0}, "note": "Right bottle lies centred on the jaw column with its cap just ahead. Descending low around the neck/shoulder for a firm grasp."})
tool
executing move_to over 7 steps (0.7s)
step 148
assistant
agent noteBottle neck/shoulder is centred between the jaws and the descent stopped at z≈3 cm. Closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.7574, 1.9858, 0.934, 0.347, 0.6197, 0.44, 0.9956] state[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4045 right_y=0.2462 right_z=0.0322 right_yaw=0.0118 right_pitch=0.0122 right_roll=-0.0086 right_gripper=0.9956 state[joint_eff]: [-0.3487, -1.6205, 6.7077, 1.7851, -0.0317, -0.0611, -0.0122, -0.7726, -5.1487, 4.9026, 1.0232, 0.022, 0.1392, -0.0269] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Bottle neck/shoulder is centred between the jaws and the descent stopped at z\u22483 cm. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 158
assistant
agent noteGripper settled at 0.375 (~3.6 cm) — holding the bottle by the neck just behind the cap. Lifting high so the bottle can swing down to hang vertically.
move_to
right_z0.2800right_x0.3600right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3794, -0.0231, -0.0296, 0.9978, 0.7578, 1.9755, 0.939, 0.3897, 0.6163, 0.4438, 0.3753] state[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1822 left_yaw=0.0007 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4101 right_y=0.2525 right_z=0.0454 right_yaw=0.0115 right_pitch=0.0533 right_roll=0.0357 right_gripper=0.3753 state[joint_eff]: [-0.2256, -1.5111, 6.8581, 1.7802, -0.0464, -0.0513, -0.0122, -0.5402, -9.265, 5.5179, 1.0134, 0.0855, 0.0464, 0.7253] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.28, "right_x": 0.36, "right_yaw": 0.0}, "note": "Gripper settled at 0.375 (~3.6 cm) \u2014 holding the bottle by the neck just behind the cap. Lifting high so the bottle can swing down to hang vertically."})
tool
executing move_to over 16 steps (1.6s)
step 174
assistant
agent noteGripper still reads 0.37, so it holds the bottle; top view suggests it now hangs vertically below the jaws. Lowering slowly so its base touches the table upright.
move_to
right_x0.3300right_y0.2600right_z0.1900right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0231, -0.0296, 0.9978, 0.8593, 1.6451, 1.5055, -0.6849, 0.6582, 0.5205, 0.3735] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.3619 right_y=0.2598 right_z=0.2467 right_yaw=0.0404 right_pitch=-0.0527 right_roll=-0.0449 right_gripper=0.3735 state[joint_eff]: [-0.3761, -1.5248, 6.735, 1.8632, -0.022, -0.0464, -0.0122, 0.2393, -10.4684, 10.0308, 1.619, 0.4957, 0.2808, -0.1929] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.26, "right_z": 0.19, "right_yaw": 0.0}, "note": "Gripper still reads 0.37, so it holds the bottle; top view suggests it now hangs vertically below the jaws. Lowering slowly so its base touches the table upright."})
tool
executing move_to over 4 steps (0.4s)
step 178
assistant
agent noteStill holding (gripper 0.37). Lowering further until the hanging bottle's base contacts the table; a stalled descent will indicate touchdown.
move_to
right_z0.1200right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.944, 1.5887, 1.1816, -0.5301, 0.7147, 0.5964, 0.3733] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9978 right_x=0.322 right_y=0.2533 right_z=0.1702 right_yaw=0.04 right_pitch=-0.09 right_roll=-0.0979 right_gripper=0.3733 state[joint_eff]: [-0.212, -1.6068, 6.7761, 1.8144, -0.0562, -0.0708, -0.0122, 0.1026, -8.6359, 8.0752, 1.9463, 0.5885, 0.149, -0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12, "right_yaw": 0.0}, "note": "Still holding (gripper 0.37). Lowering further until the hanging bottle's base contacts the table; a stalled descent will indicate touchdown."})
tool
executing move_to over 4 steps (0.4s)
step 182
assistant
agent noteDescent stalled at z≈0.175 while holding, consistent with the hanging bottle's base touching the table. Releasing it upright.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0227, -0.0292, 0.9978, 0.9543, 1.5883, 1.1706, -0.4725, 0.7334, 0.6209, 0.3733] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9978 right_x=0.3246 right_y=0.2597 right_z=0.1751 right_yaw=0.0277 right_pitch=-0.0487 right_roll=-0.05 right_gripper=0.3733 state[joint_eff]: [-0.3624, -1.6342, 6.8034, 1.8095, -0.0659, -0.0562, -0.0122, -0.3897, -8.6496, 7.1179, 1.6532, 0.4957, 0.1538, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Descent stalled at z\u22480.175 while holding, consistent with the hanging bottle's base touching the table. Releasing it upright."})
tool
executing move_to over 7 steps (0.7s)
step 189
assistant
agent noteGripper opened; retracting the right arm out of the overhead view to check whether the right bottle is standing.
move_to
right_x0.2200right_y0.3200right_z0.2200right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9978, 0.9543, 1.5883, 1.1702, -0.4728, 0.7334, 0.6247, 0.9957] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9978 right_x=0.3245 right_y=0.2596 right_z=0.1749 right_yaw=0.0257 right_pitch=-0.049 right_roll=-0.0475 right_gripper=0.9957 state[joint_eff]: [-0.0479, -1.6342, 6.5846, 1.8242, -0.0366, -0.0562, -0.0122, -0.2667, -8.6359, 7.1316, 1.5849, 0.4713, 0.0757, 0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.22, "right_y": 0.32, "right_z": 0.22, "right_yaw": 0.0}, "note": "Gripper opened; retracting the right arm out of the overhead view to check whether the right bottle is standing."})
tool
executing move_to over 9 steps (0.9s)
step 198
assistant
agent noteAfter ~33 calls I haven't stood up any of the three bottles, and the remaining budget isn't enough to finish. With pitch and roll pinned, the only way to stand a bottle is to grab it by the neck, lift it so it hangs from the jaws, then set it down. The bottle caps sat at x≈0.47–0.50 in the right arm's frame, but that arm stopped at x≈0.45–0.48. I dragged the right bottle back to bring its neck into reach, then tried to grab it. The gripper read 0.37, which looked like a grasp, but the overhead view afterwards showed the bottle still lying on the table. The right arm also froze or moved very slowly on many small moves.
give_up
hindsight- Here the three bottles lay near the table centre with caps pointing forward (away from the bases). Their caps were at about right_x 0.47–0.50, right_y 0.25–0.28. - The right arm stopped short at x≈0.456 (z≈0.13) and x≈0.48 (z≈0.04), well short of the ~0.59 reach in the facts sheet, so objects past about 0.45 need dragging back first. - Dragging works: close on the bottle body (reading ≈0.5), then pull back in x at z≈0.04. - The right arm often froze on small moves: joints unchanged, with 'delta_clamped' reported. Its yaw also drifted (to ~0.13 rad). Setting right_yaw to 0 explicitly, or making a larger move, sometimes got it moving again. - Big shoulder effort (-11 to -16) came with tracking problems. - A descent that stopped at z≈0.065 was probably a jaw resting on the next bottle. Bottles lying side by side about 8 cm apart leave little room for the 9.5 cm jaw opening. - A settled gripper reading of 0.37 did NOT mean the bottle was held: it stayed on the table. Check any lift in the overhead view before trusting a stalled descent as touchdown. The working arm hides the bottle from the top camera, so pull the arm aside to check. - In the right wrist camera, a bottle lying below looks much like a held one, so it can't tell you whether a grasp worked. - With pitch pinned, standing a lying bottle is hard. A better way might be to pinch it right at the cap, lift about 25 cm with the arm well back (x≈0.3), and check in the top camera that it really hangs vertically before lowering it.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0227, -0.0292, 0.9978, 1.3251, 1.6775, 1.4368, -0.926, 0.9222, 1.0611, 0.9956] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9978 right_x=0.223 right_y=0.3253 right_z=0.212 right_yaw=0.0502 right_pitch=-0.0211 right_roll=-0.0071 right_gripper=0.9956 state[joint_eff]: [-0.294, -1.6342, 6.5709, 1.8388, -0.0366, -0.0366, -0.0122, 0.2393, -7.159, 8.5538, 0.6764, 0.6422, 0.188, -0.0269] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
give_up({"reason": "After ~33 calls I haven't stood up any of the three bottles, and the remaining budget isn't enough to finish. With pitch and roll pinned, the only way to stand a bottle is to grab it by the neck, lift it so it hangs from the jaws, then set it down. The bottle caps sat at x\u22480.47\u20130.50 in the right arm's frame, but that arm stopped at x\u22480.45\u20130.48. I dragged the right bottle back to bring its neck into reach, then tried to grab it. The gripper read 0.37, which looked like a grasp, but the overhead view afterwards showed the bottle still lying on the table. The right arm also froze or moved very slowly on many small moves.", "hindsight": "- Here the three bottles lay near the table centre with caps pointing forward (away from the bases). Their caps were at about right_x 0.47\u20130.50, right_y 0.25\u20130.28.\n- The right arm stopped short at x\u22480.456 (z\u22480.13) and x\u22480.48 (z\u22480.04), well short of the ~0.59 reach in the facts sheet, so objects past about 0.45 need dragging back first.\n- Dragging works: close on the bottle body (reading \u22480.5), then pull back in x at z\u22480.04.\n- The right arm often froze on small moves: joints unchanged, with 'delta_clamped' reported. Its yaw also drifted (to ~0.13 rad). Setting right_yaw to 0 explicitly, or making a larger move, sometimes got it moving again.\n- Big shoulder effort (-11 to -16) came with tracking problems.\n- A descent that stopped at z\u22480.065 was probably a jaw resting on the next bottle. Bottles lying side by side about 8 cm apart leave little room for the 9.5 cm jaw opening.\n- A settled gripper reading of 0.37 did NOT mean the bottle was held: it stayed on the table. Check any lift in the overhead view before trusting a stalled descent as touchdown. The working arm hides the bottle from the top camera, so pull the arm aside to check.\n- In the right wrist camera, a bottle lying below looks much like a held one, so it can't tell you whether a grasp worked.\n- With pitch pinned, standing a lying bottle is hard. A better way might be to pinch it right at the cap, lift about 25 cm with the arm well back (x\u22480.3), and check in the top camera that it really hangs vertically before lowering it."})
tool
give_up: After ~33 calls I haven't stood up any of the three bottles, and the remaining budget isn't enough to finish. With pitch and roll pinned, the only way to stand a bottle is to grab it by the neck, lift it so it hangs from the jaws, then set it down. The bottle caps sat at x≈0.47–0.50 in the right arm's frame, but that arm stopped at x≈0.45–0.48. I dragged the right bottle back to bring its neck into reach, then tried to grab it. The gripper read 0.37, which looked like a grasp, but the overhead view afterwards showed the bottle still lying on the table. The right arm also froze or moved very slowly on many small moves.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 16.54 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3767, -0.0231, -0.0288, 0.9985, -0.0177, 0.7891, 0.6037, -0.3828, -0.0135, -0.0174, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1826 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9985 right_x=0.294 right_y=0.0008 right_z=0.1806 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.4838, 9.7162, 1.7851, -0.0171, 0.1148, -0.1734, -0.7316, -1.0598, 10.3863, 1.8877, -0.1148, 0.0415, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:134344d20db2dd2c09a7b9ea51f62ed96a233e47022201f0d2bcec448c12016a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5acfa4a20dcdba7fc0926eea01f94d0c0bd08cdaa86f80ff0e94926511415e8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8979fa6ec5ddadbf089d99334c40f5bda4428f36b53568e94526f1a435569d32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 6.08 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3767, -0.0231, -0.0288, 0.9985, -0.0177, 0.7891, 0.6037, -0.3828, -0.0135, -0.0174, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1826 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9985 right_x=0.294 right_y=0.0008 right_z=0.1806 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.4838, 9.7162, 1.7851, -0.0171, 0.1148, -0.1734, -0.7316, -1.0598, 10.3863, 1.8877, -0.1148, 0.0415, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:134344d20db2dd2c09a7b9ea51f62ed96a233e47022201f0d2bcec448c12016a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5acfa4a20dcdba7fc0926eea01f94d0c0bd08cdaa86f80ff0e94926511415e8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8979fa6ec5ddadbf089d99334c40f5bda4428f36b53568e94526f1a435569d32",
        "media_type": "image/png",
        "type": "base64"
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  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pp3VLGpyBRhtzpRV3oDakc",
      "input": {
        "note": "Three bottles lie on their sides near the table centre with caps pointing forward. Plan: grab each bottle near the cap, lift so it hangs down, then set it upright. Moving the right arm over the right bottle's cap first.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.42,
          "right_y": 0.27,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01Pp3VLGpyBRhtzpRV3oDakc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3794, -0.0231, -0.0296, 0.9983, 0.7727, 1.8179, 1.243, -0.2058, 0.5945, 0.4419, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1834 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4079 right_y=0.2644 right_z=0.133 right_yaw=0.0438 right_pitch=-0.0554 right_roll=-0.0454 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.6752, 6.6393, 1.7753, -0.0415, -0.0757, -0.0269, -0.0752, -9.2923, 9.265, 1.6093, 0.442, 0.3346, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6c20eccd62fdc48d08405b42b2a645d3494ddaf525987f03ba62792208e4c87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79d6747942324be541588643b89418d42fc4c6d4c6270768eb724a09b83d1a46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d427104245a245db07f248c6a7d16ed414ba574266523b2318ddb5fa6099427b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.629 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3767, -0.0231, -0.0288, 0.9985, -0.0177, 0.7891, 0.6037, -0.3828, -0.0135, -0.0174, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1826 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9985 right_x=0.294 right_y=0.0008 right_z=0.1806 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.4838, 9.7162, 1.7851, -0.0171, 0.1148, -0.1734, -0.7316, -1.0598, 10.3863, 1.8877, -0.1148, 0.0415, -0.0317]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3794, -0.0231, -0.0296, 0.9983, 0.7727, 1.8179, 1.243, -0.2058, 0.5945, 0.4419, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1834 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4079 right_y=0.2644 right_z=0.133 right_yaw=0.0438 right_pitch=-0.0554 right_roll=-0.0454 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.6752, 6.6393, 1.7753, -0.0415, -0.0757, -0.0269, -0.0752, -9.2923, 9.265, 1.6093, 0.442, 0.3346, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6c20eccd62fdc48d08405b42b2a645d3494ddaf525987f03ba62792208e4c87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79d6747942324be541588643b89418d42fc4c6d4c6270768eb724a09b83d1a46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d427104245a245db07f248c6a7d16ed414ba574266523b2318ddb5fa6099427b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzwkKEAgSGAI4AUIIdGhpbmtpbmcSDKBi+KW0KNm6ht1t+hoM+4gGelXZHHSmZGjEIjDuZNeaHKF+eD6AZWENBFm5w4mPuGpiGL4a/fIcfDTsPVSMJQv+e2HT9zKhAhJvABIq7AgXr+2fhK6l3W4n8vHMouEYBEOVzPbC12emZ4PD9ZGRcYSWumDhBZFVkySSWDNG6v21eFuSOVTqlHBBBZTPSLw7ZG1ihy84DEcxJGl6Zbg2SIEM0Q3z6RiBGFU3nzF12ehg/PdpX7pW0u+YWFSp59uK6+MZLj9TdDZvU/tK9TvCi6OXo0w3VR2i7AdtmbXhAAyZUsR4IkdJ1uQ78voqGgkv1fzEERy4oEv5KkfkeoK0aslDQPXI5gSwbIbXZ+VuXJ7E2UvBSIgT0GhTh56Agvlgp9p26J5GK0/0RV20XJuU2GEQTgFWMUGSH02UhkYbkharJ1oVN9NR7+4qjO0ZMfH1nGglvpTrClLJOiKCsvy+ICbzykqVbermnkL5MuKwzUH7TG2Nmb9twCGP6toeiMJKhBMHJiI/erdZtnzFK8qO09Vce3ftTjgytale+ANcN9AjjW2YLiyQmPv6pdrgZRXLcnIPo/lq/hhDHgnfPZgkq5CijHv3QlLO5822c2kSei6HNPa2UGEcDCWdzwDKsuKSe4qOEUbsoKyDu2rzL5khp7klKiAFOLIWKNLU6YnxcYhC/sj++0UOxsecNolf3JDG+D2ra9swmWhD/Db8MRHOsMQy7MDx0mTJvCJ4gebevsYHucyVYuA2jtZrh6IWBJg/2SXOzNq5HEjVom1I88d12QK/leyHjaVQe2hwQ8wAtl62sfdJvt/Ww/XbQGUDKDb0VqeGNQeSw1qylFlxPDleXn5IjnpEgL5LM3vRbbwz5i4/VRvmus+7xMcUNZR60eVUifan4RUs8+dc2sTJ4LYX/r0bWYPRqCXTpOd8cv7sXlMrlvH+z2lIYhFznagKFGNG1kiwBq4v+AY2mag29+n9s85YiDOQaS7SGX4wxynq1ixNz+k6s9lhsvsEW4LXOzZlfPMHzitVT4wFLIz9ZPPJPHixRAg4Bj9/cVZaGQMZlo+GILdDdVCeMRoM770UfzMB3SdODgUf5LpZgYrJQBVZZ/44T5nk67PPzw4DcZIl1UEwxJRiSCdgjsJK90CGzQjYZOs2hxJRlWidvIn9qvsbwfg64ZE/GkC+NosHF2ByfaMFHeYasP0z7ozMfLDB3EAke9SHzsnuFxj2iJwjfVMgSRU/4um68fApWKSeCWAAyZNKgJe4dd4SpjFNU2RaxNhk91axrZSdOwFXBScPYNygx88p9SHGy+Hm4fEWmnwYouSUGNxvk0/o221hTv2O2wzIhzfm5kX7hJVCIFPbaANpi8E7kXojWVZPARqeE45mdW9UJR7kOrNBBjTxclOwTn/L50bdJY0yIyURo66Ro0MZoO4SwkX11+xnlh3QFSWZ3TCmf56ZMN34m5ZBryH8qgJwgUUHVeNH+7cmjtdxXo2AXNhtBEJ1HHoddAeMU7ClYEVcv6y4iWPSLlPpfvsa2ONd2nkQ27ksQFfC+XxbklChHcHwrWjkLQro0oCEOpan4+Odns6/UOn+jqmz3DjvUTr2gzmIQENZHYCH5JlbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013z3tKgniGYk1yAQWdhYcYh",
      "input": {
        "note": "Right wrist camera shows the right bottle's cap ahead of the jaws, slightly right of the jaw column. Advancing ~6 cm forward and 1 cm right to sit over the neck.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.255,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_013z3tKgniGYk1yAQWdhYcYh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3794, -0.0231, -0.0296, 0.9983, 0.6636, 1.9022, 1.3262, -0.1711, 0.5129, 0.3546, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1834 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4518 right_y=0.2477 right_z=0.1264 right_yaw=0.0447 right_pitch=-0.0668 right_roll=-0.051 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.4154, 6.8444, 1.79, -0.0317, -0.0513, -0.022, -0.759, -9.935, 9.9214, 1.8681, 0.1197, 0.1245, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89cfdba03c37f9f5cecfe2cbe7b73c76a94031be096059b5feeef19fa25c6eed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad0639d7c40872294ec5132440e9479cba79dae4ca95c0a397c1d198acd7adec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6be73afdc5dda8d35d4be07a48343ca62ac1d73f6fd1acf2eff9041d7ee6ee59",
        "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 · 4.67 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3767, -0.0231, -0.0288, 0.9985, -0.0177, 0.7891, 0.6037, -0.3828, -0.0135, -0.0174, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1826 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9985 right_x=0.294 right_y=0.0008 right_z=0.1806 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.4838, 9.7162, 1.7851, -0.0171, 0.1148, -0.1734, -0.7316, -1.0598, 10.3863, 1.8877, -0.1148, 0.0415, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3794, -0.0231, -0.0296, 0.9983, 0.7727, 1.8179, 1.243, -0.2058, 0.5945, 0.4419, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1834 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4079 right_y=0.2644 right_z=0.133 right_yaw=0.0438 right_pitch=-0.0554 right_roll=-0.0454 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.6752, 6.6393, 1.7753, -0.0415, -0.0757, -0.0269, -0.0752, -9.2923, 9.265, 1.6093, 0.442, 0.3346, -0.0317]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3794, -0.0231, -0.0296, 0.9983, 0.6636, 1.9022, 1.3262, -0.1711, 0.5129, 0.3546, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1834 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4518 right_y=0.2477 right_z=0.1264 right_yaw=0.0447 right_pitch=-0.0668 right_roll=-0.051 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.4154, 6.8444, 1.79, -0.0317, -0.0513, -0.022, -0.759, -9.935, 9.9214, 1.8681, 0.1197, 0.1245, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89cfdba03c37f9f5cecfe2cbe7b73c76a94031be096059b5feeef19fa25c6eed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad0639d7c40872294ec5132440e9479cba79dae4ca95c0a397c1d198acd7adec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6be73afdc5dda8d35d4be07a48343ca62ac1d73f6fd1acf2eff9041d7ee6ee59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9QcKEAgSGAI4AUIIdGhpbmtpbmcSDFrmwe1s5/t/fpt5aRoMsa/zxPocRFXWjYpyIjA7/ra8flTqFkxNP0jEaptXJwzRSW1xIH6mCOl/MKMabQPX/Kv9A6KEJr3zHl5msI0qkgc2jJxzNm2vVyfHuIzfOe4Vl5a6Ahw2rkxsCriPG2DYdYCPtankidMTHO2BUKagQB6sAInEYY2t6w1iuH43SUAuq1PDkk+nXlQuOyMNt5Oct3kBMAN+x0EZt05SjHu9FS0pMLCEMTKuvM5Ee/bXZTArJUxfBbOnvDcSBKwjQqe646jo6+6AFAR8g5A2uyp4JXZ6XwCZeTyXB14Dlv0XAAvYHbUoz87KInnUxi17xOHYGjd4QHjgWAvckrhB29WNdAA4ginjvAy20kBRDA1uPWA7ljhD0CWD9mYqXGifcyI2aE7Ha8z+tRhDyWleQHf7mZzKuiIdS3G2wYuEbSRyPbpiYHk/gNBnIpikaclaEzH3LNsbycZwkKebPUK1l+xjeS57Nlben0oaLOJxsdK1fS6SehsXhaOoOsyvKE2eNIQQVgMC/Rg2aQaasXA7FY3xwjYinNB2tNO559GLNAFnZXr+5gZd74KPcmVBJ5fJZR9/vo0dQGiKxi8e1YRh3ak/ncqYriP8uCuesiaNlrrHMHBrKvU2MVTVMnqqdLFHOajLhxcTyS1r6BdDmgCf+HhRdIDutor/SVYcO9voSo0lAJh06Crv81BNcIyQcQiH85P205y+/gj5m4QOZiz0VE8riVRGCZr/wJ34YldRMM9SL2GMrua2Id3HgThwkJTNGPdZI/2EB8swNE/c1NWokaqupq+GKdZPY3oJq9xkBONLv6H6opzWT6j0LWh/BK5i4pemaa45UuAsJDLAG69RVxGIpHnZ8o2+GaTHeUXGYHhcR0fv10kfW/Yjj7AwvJHvNbFewERyAUdSX9gQjCku/LgzslYjrzTi+bkl8GMMEjknvPVnGsgKzr238w0NVvUAmzCv9GqOwV/ng8rfTsV+2/di7XUEF/SA//Xa/0NejXgXI23vHE1T+5dd0NnGPusz3yH2fTAIgs32OnCGN2yzCPiGhh4kvSvedfmjQ5BNgjS/rv5bMkH/v/EyGA3yhpIa0UO5OKa9QYGTxIvNAO0Oem9TfSFxYl9CxXWdQIA6RR9IcaIGVxPV2LGWP2AR5ttdj/oa3P/lWeSh5HZXmvv0pXamUrxEH+DgDgjRbZ9tX9Zes+h2af5Q6fndr+PlH4fyKb3YzEOHJhQbCQQr3n537aFhFBZ4QPeDh8mzIPd3jnsVaazcJOIJ867ktsSTuy6GfyNC+pDY2ACKBHeNBXej2VLK++5FLRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019prxD7aJ5EpcB9EzzyUKLH",
      "input": {
        "note": "Cap now nearer the jaws but still ahead. Advancing 3-4 cm more before descending.",
        "targets": {
          "right_x": 0.49,
          "right_y": 0.25,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_019prxD7aJ5EpcB9EzzyUKLH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3798, -0.0231, -0.0292, 0.998, 0.6548, 1.9106, 1.3403, -0.1673, 0.4931, 0.3382, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.003 left_roll=-0.0001 left_gripper=0.998 right_x=0.4562 right_y=0.2494 right_z=0.1275 right_yaw=0.0604 right_pitch=-0.0671 right_roll=-0.0477 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.3197, 6.9538, 1.7705, -0.0513, -0.0269, -0.0415, -0.7316, -9.9214, 10.1812, 1.873, 0.2271, 0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73aa1e05ff91aec01b3c91a93b49bbd6f1363d14b7a3cae275512e18090cdffe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29223deb7ab6394804a6968542bf9a17432b0a594c06c8384dfcbcc6aad0e95b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d462e315a1b5ec69fff280eb8a199a35f237e440bf9cc40463c2e35d978ab011",
        "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 · 3.657 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3794, -0.0231, -0.0296, 0.9983, 0.7727, 1.8179, 1.243, -0.2058, 0.5945, 0.4419, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1834 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4079 right_y=0.2644 right_z=0.133 right_yaw=0.0438 right_pitch=-0.0554 right_roll=-0.0454 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.6752, 6.6393, 1.7753, -0.0415, -0.0757, -0.0269, -0.0752, -9.2923, 9.265, 1.6093, 0.442, 0.3346, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3794, -0.0231, -0.0296, 0.9983, 0.6636, 1.9022, 1.3262, -0.1711, 0.5129, 0.3546, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1834 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4518 right_y=0.2477 right_z=0.1264 right_yaw=0.0447 right_pitch=-0.0668 right_roll=-0.051 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.4154, 6.8444, 1.79, -0.0317, -0.0513, -0.022, -0.759, -9.935, 9.9214, 1.8681, 0.1197, 0.1245, -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]: [-0.02, 0.7986, 0.6136, -0.3798, -0.0231, -0.0292, 0.998, 0.6548, 1.9106, 1.3403, -0.1673, 0.4931, 0.3382, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.003 left_roll=-0.0001 left_gripper=0.998 right_x=0.4562 right_y=0.2494 right_z=0.1275 right_yaw=0.0604 right_pitch=-0.0671 right_roll=-0.0477 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.3197, 6.9538, 1.7705, -0.0513, -0.0269, -0.0415, -0.7316, -9.9214, 10.1812, 1.873, 0.2271, 0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73aa1e05ff91aec01b3c91a93b49bbd6f1363d14b7a3cae275512e18090cdffe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29223deb7ab6394804a6968542bf9a17432b0a594c06c8384dfcbcc6aad0e95b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d462e315a1b5ec69fff280eb8a199a35f237e440bf9cc40463c2e35d978ab011",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QcKEAgSGAI4AUIIdGhpbmtpbmcSDMM0+DsYm8Yf0OFnXxoMD/r/mcTUcMAsIa2SIjAkoQcxWr9EICjWK3LbnKLHbmeJKgTSv54Yk1MfV2pqWFh/65aSDoekpypLJ9wsfZEqjgefG/szDOohPAiGv+3CVqBEmPuKYwHcGMaf97XEmnwtGRK1/GHJwgM/FdJi1+0WlPMH3eRo3U70ea9TsBAwNUBUbAigFf4C+hv5PazKP+LIQTCDPciRBqMps+VaTLJqHF7B+PETQA1b8wFt9u5s5YCay5//mRADfLcvZKSQgrcyLMZJKZKbgAoRafefUIYvKRQG6DVsVGIo1afnAjCghA2/h0VlZ9Qtc3SEtbnBKItL4t5TaH8Nx0EhWk4YawLNOZYFC9st50nFDFJWJlrvLfquwkL2h5q6JEe5fLR/kg7S+Q4gaKr7RG0tfEu5MLiD95LDpgecqNqYtfAKtePtduYj7XD1l//mk48wNbBRm7G4SNiK3jOKLcrslAbT+Hw4DL5CZTxJuR92Y7zu7TlnQHZptoJn8/doxmXGMA9lm8AIz6zc0bPGbly2exYLPkXSPyxAOZx1F1JWPYk3BHkRt2o+XJ3u9d8r88vFXiMtqKpAV7w9AU9qjSzUWnPEY+LKtmUqDiTb9Q4eOnXtj7nhuP2mFOeTiXKGa/g4rZ65+uzw8bCTOrq+tCvEcMxHMg822uYVME8CYlSYPd6w7Tzb7o94a4GHFTGyengL9hoL8zNfI1osMhBwQJailmDvgo0jChyp2tInJlVtUhHgQSFb1DDbOK+EJdAewOgVvzNB8ix0OSiD80YqDUA8Zmr62Pg4TmXuN3VU++vYknRGZCzWTjGrHVHisDpf/W6VVpAT+LDDwwLobIzDZlE7CqeTjL4KrSyqLmX1M1DbisxxbW+EuakkhQSmI7UhZjLMEhSwwdGstj7nAh54ROV9Y7/7FbGEIXvuI1R98ltbBuNonzP17vLf2oarAYG45+fUxJ7vRaFgb+BZiFjiy5IF+rb+r0kNpdq53Z7NNqsSsfNlSLGNO12RrWZp5UD/66t8nvfsUM/tojKoURYSZ3kjmrUNI2kgPfN3yh1ZNdbk50KlQUUufN/6qG4bEmON4U/HO1Al5QtGMfppRV210MIiGYCCJy8TLmKoh8IqJJtdtHHJt0Q7JB9cs9wokR1UHmoozr+ZbJR7zicOARcC9pyUsx2wS8/Nf/d2Qyqmiax6uRh9EY2FVxM5DFXJbc8I5tVIXz3I1tX4KUdc/3r9yisM4sAalgTGB3V8UnrbaySP6vBtucBK8e5NzmAk8XUvlaum8yyRy3xB8vBmd4oU7BaEs/tll1myGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H4hH3cx8271Nb5exPpJGKU",
      "input": {
        "note": "Arm stopped at x≈0.456, short of target; trying a lower pose while advancing toward the bottle neck.",
        "targets": {
          "right_x": 0.48,
          "right_y": 0.25,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01H4hH3cx8271Nb5exPpJGKU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3798, -0.0231, -0.0292, 0.9979, 0.6548, 1.9106, 1.3407, -0.1669, 0.4927, 0.3378, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.003 left_roll=-0.0001 left_gripper=0.9979 right_x=0.4563 right_y=0.2495 right_z=0.1277 right_yaw=0.061 right_pitch=-0.0666 right_roll=-0.0474 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.3197, 6.7897, 1.7607, -0.0415, -0.0122, -0.022, -0.5402, -10.0308, 10.0991, 1.9267, 0.2027, 0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dadea05a4e47f5a219ad7ed4a1f8b2165ab2d8774eca95844af183da455f8936",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:704696227f06c1f67dde57e6967837b4d26ff7d5c0ea1bf0c2b7003f255f192f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e5b786c23da3f7bc8eb45fd6ec164e6438d6b61d21dd9246ff05680dc2dac6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /messages · status 200 · 4.755 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3794, -0.0231, -0.0296, 0.9983, 0.6636, 1.9022, 1.3262, -0.1711, 0.5129, 0.3546, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1834 left_yaw=0.0007 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4518 right_y=0.2477 right_z=0.1264 right_yaw=0.0447 right_pitch=-0.0668 right_roll=-0.051 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.4154, 6.8444, 1.79, -0.0317, -0.0513, -0.022, -0.759, -9.935, 9.9214, 1.8681, 0.1197, 0.1245, -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]: [-0.02, 0.7986, 0.6136, -0.3798, -0.0231, -0.0292, 0.998, 0.6548, 1.9106, 1.3403, -0.1673, 0.4931, 0.3382, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.003 left_roll=-0.0001 left_gripper=0.998 right_x=0.4562 right_y=0.2494 right_z=0.1275 right_yaw=0.0604 right_pitch=-0.0671 right_roll=-0.0477 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.3197, 6.9538, 1.7705, -0.0513, -0.0269, -0.0415, -0.7316, -9.9214, 10.1812, 1.873, 0.2271, 0.0659, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3798, -0.0231, -0.0292, 0.9979, 0.6548, 1.9106, 1.3407, -0.1669, 0.4927, 0.3378, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.003 left_roll=-0.0001 left_gripper=0.9979 right_x=0.4563 right_y=0.2495 right_z=0.1277 right_yaw=0.061 right_pitch=-0.0666 right_roll=-0.0474 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.3197, 6.7897, 1.7607, -0.0415, -0.0122, -0.022, -0.5402, -10.0308, 10.0991, 1.9267, 0.2027, 0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dadea05a4e47f5a219ad7ed4a1f8b2165ab2d8774eca95844af183da455f8936",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:704696227f06c1f67dde57e6967837b4d26ff7d5c0ea1bf0c2b7003f255f192f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e5b786c23da3f7bc8eb45fd6ec164e6438d6b61d21dd9246ff05680dc2dac6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4AYKEAgSGAI4AUIIdGhpbmtpbmcSDJvgMvTy7iWKn6F99RoM5CUqetI1Yn4oMz4+IjBIOFAREhqtuCXl+uHBT/K6ZvSLU2aLYP5b2nPXGJtLddavU4cJ0plG4Nz4kfeYRHoq/QVk366+dy4B1gppW2E241SYmCZ194fb3mx7yYXUUj3HnNcicM9Y413xfXeq1A/F9/l+5CVSgnp/v+wTrNDidmisSfAMk1QqBHOwZjbl4FAl8Vz7f1W4PYSeoIFysXB0MffbT5ebTVwtZyIWHylmsIRlxsYb5/hddp11iZ/c+Yfg3i0JOmzXgZu6D13h2XXop0RXnxemyBORbZFsYj6R15jQ2pk3QKFux56+xRGU0QjQI8JEMwqZCF5p17qKP8szFLVjEUCt5fP+LUsUhZYip9jk59Jtelt9lxqUOWzTWdNFuWjAzkbO8xsEk8LW6ASh1HbMbPzEbkzypHx+8+MSNQ7YXF5Qa6yT4WQEMv4dbCIuIIX3MdJ6iB8dkYseuESexkIHfXYFPtb7mewTbkqRpgKdcEUJ684aAniqxAUpd1p0HCUhMh1PB5oUnlXWUYNtbSzLMhRQ/kBNCfRij2z4LgLtOrwJ0bkf5nVbJIgB7lMlsAcBeFFyC8/eb5L2M9jxqoBULNFVijGPYkxOUHzYMfyYpI8qR0oj1pxd6xKLiyg9+FgYO6jWyiVQ+El0ipkQ3WW5LrI/Lhzb7Oh2Jpxr8wMfrwHiy7lG1Lq+7GtuncK3lBFsAK1BHRUMP4ny0//R/dHz2zSVgiWKFc+z3B4xsOz4cKnqLcPUZkWxyVoEu1LhlY7z2DQS0uN7oE3+kJSnoYWU0g7giaSu8WKsNBVosEvTpzyo78pNlA3J/EadoSBKFe99FzzU4EtU11Aui83y2WtJ/fxDBtNz9PqbDwpRmrFTDJZW2kNMcEKlXmNAugkYg54/0DWAOohvjX+To8enZD45zqL66H11OReCZI0/ND10R2YpQWvAKQZggZjoEtjmA3OlkSO9k/5KBljQUrDMldYMvsiEu33Wa+ZAFYpt1hDcFeelI3DQGlm/67jL6Rmd0D30onJKB3tM2u6eMiFc5eigtX8KfUBGKVVrJtsBD0xK+vDM80v/udjbb4Od7oqYDbXduq05SE8slgs7FTUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CE83xHuJkWTesJ5BgpMpX3",
      "input": {
        "note": "The right arm is holding and not tracking the forward target; backing off slightly and lowering to unstick the IK.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.25,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01CE83xHuJkWTesJ5BgpMpX3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.379, -0.0231, -0.0292, 0.9978, 0.6785, 1.8931, 1.251, -0.0559, 0.5102, 0.3523, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1833 left_yaw=0.0005 left_pitch=-0.0023 left_roll=-0.0001 left_gripper=0.9978 right_x=0.4471 right_y=0.2542 right_z=0.1198 right_yaw=0.0642 right_pitch=-0.0278 right_roll=-0.0229 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.265, 6.9128, 1.8339, -0.0317, -0.0415, -0.0171, 1.9487, -10.1402, 6.0923, 1.7753, 0.1587, 0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:210eac0dd8e512143a5688e4eda9d6457c571ef8874c110a23cd6654d0050034",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24258e6391cd5e4b8cfdf1edd1fb7b23fc093f3e2d3c62c032c4b66eba300437",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c4a18091d3e988909ede555f306b44cf1c220fbd226e824935338d54041ea7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 4.96 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3798, -0.0231, -0.0292, 0.998, 0.6548, 1.9106, 1.3403, -0.1673, 0.4931, 0.3382, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.003 left_roll=-0.0001 left_gripper=0.998 right_x=0.4562 right_y=0.2494 right_z=0.1275 right_yaw=0.0604 right_pitch=-0.0671 right_roll=-0.0477 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.3197, 6.9538, 1.7705, -0.0513, -0.0269, -0.0415, -0.7316, -9.9214, 10.1812, 1.873, 0.2271, 0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3798, -0.0231, -0.0292, 0.9979, 0.6548, 1.9106, 1.3407, -0.1669, 0.4927, 0.3378, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.003 left_roll=-0.0001 left_gripper=0.9979 right_x=0.4563 right_y=0.2495 right_z=0.1277 right_yaw=0.061 right_pitch=-0.0666 right_roll=-0.0474 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.3197, 6.7897, 1.7607, -0.0415, -0.0122, -0.022, -0.5402, -10.0308, 10.0991, 1.9267, 0.2027, 0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.379, -0.0231, -0.0292, 0.9978, 0.6785, 1.8931, 1.251, -0.0559, 0.5102, 0.3523, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1833 left_yaw=0.0005 left_pitch=-0.0023 left_roll=-0.0001 left_gripper=0.9978 right_x=0.4471 right_y=0.2542 right_z=0.1198 right_yaw=0.0642 right_pitch=-0.0278 right_roll=-0.0229 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.265, 6.9128, 1.8339, -0.0317, -0.0415, -0.0171, 1.9487, -10.1402, 6.0923, 1.7753, 0.1587, 0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:210eac0dd8e512143a5688e4eda9d6457c571ef8874c110a23cd6654d0050034",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24258e6391cd5e4b8cfdf1edd1fb7b23fc093f3e2d3c62c032c4b66eba300437",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c4a18091d3e988909ede555f306b44cf1c220fbd226e824935338d54041ea7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAgKEAgSGAI4AUIIdGhpbmtpbmcSDIPO77w8tVY+hfOXehoMn/zt6i4u0wb1cD8GIjCpcD0cIp+UzPtuVgWg1RI/7GwALMy5uyPZM13REEh9IyGa5emzTo4O27uUpP/NoO0q2QeDAnxHodZ26SvlTk6n51+uHvnYR4KZHH05OEgFiiq7CcNyO0q1oOcd9f1lLvh+QFRmiKYI/KFqUBtQrvycDLYa7Ymg1529QNIdf4mElZVEaHZCsejI5Dc6ClntiTgaJRlhorA6AM0AV9VfX4SyCQtr18qzIxA1Z9laeCr3lkWhBz+ufoBWtxZoaxs9LyixOTqs1amwYYDkpt9haZIJjtFI5XqHjvkbqWrwajKfD2g+pRoeXzw8S44I7YWluHvbmbFWFpaGykHNrAqpICSsDIaDB9geQK8WgovXco+DQD6f+xRvCg9jyZzfHegF38ninS7bCPsGSNr8/nE6M12aypy4o20pJ81wp4sCTVgc2qqZp0RSpXUbRXwRoTfiMROq+tdiKhdLB70M4EttmgrDLzN0qrNtw7aPQHJEhXd1gbmcus7CvzdxHjbvSp9WQ/fowgWgQlVVAOmcEc/bGFEE+GJkVVms1gtmwVrCo+RYko7clluMC6UcHPtHvmiJO9JSXegfg+ngvo+51S7rmlc6jQohyNakKo4sbA4NRq2HXamu4KbETuux5DczeovE8npdaj4FRPOvhjMA0f3nd110mP22Ftq6EQLsKexRShWl5QQOO3HasxAfGV/0z7BOvEq/L/ug+tL8hDKIBTRMhg4bhY0Frd18Y1RKk4RKb2DTBACNnilWedtmxotkCJGVmQ1wyrjg7mzVHnAXV3pdW8gYqRlRFuTEb+qTVgTTJ6jdu0P3MlB1RqIdyqYOjZq4nbRVF3Q30pZnMln3q0oj9shyx91rRMhVrfxAFXirvCn1okIYTqr4jnq7btZMvqNQFDYVZzITBOToJnZNkDsBbd17bEJRfyYvqwzBcLe2N6kOHXT/fgppPyf0MOUybBBR1K6HnAyDUsN2XV5IfVU8Szl5b+Cddt9nN7dnqaPTpWeQVCydtW0FHETJwopTT57OV1ARm5A7S7wVHxNfREQNn5gRVNyneLmGUZ/Wt+tXdKGBau0CX3935W7x9xIZUnqcWfbILYEhLH6QrTg+CEwpt8tM4DfhdWGLsC1lLpirVdMtP+JAbBuCvR+WwwU29SXyJ7bkT+YRU/7uGJTp36d6tbBBjRTxzWrMIEs/fwj4LHROXKBvNprUUvYl7jOKOWa7mp9dju2hZnie3xiduKEhpWej/qORP011C9+QvDYnipj0fJpImQfwU/IzRbLMB/OyYCRvZANmRXk8/A/cHEYjefyZNjXu/MF/K67GjNcAm9Q2iOAX1XpYMkHHHmbYt69Zmg86/NLJXHTZDzBnZGLEsi+aG2aRjvZXcaR18uFmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BByzRzkg4MwExpGhFRhHz1",
      "input": {
        "note": "Arm is moving slowly under speed clamps; continuing to descend toward the neck of the right bottle, which sits just ahead of the jaws.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.25,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01BByzRzkg4MwExpGhFRhHz1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6136, -0.3794, -0.0227, -0.0292, 0.9978, 0.667, 2.0289, 1.0897, 0.2279, 0.4931, 0.3454, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0034 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4431 right_y=0.247 right_z=0.0393 right_yaw=0.0696 right_pitch=-0.0452 right_roll=-0.0271 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.4564, 7.0359, 1.7705, -0.0415, -0.0317, -0.0073, -0.1709, -9.6068, 5.5316, 1.7949, 0.1343, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6dae28304ae5199879338158ef749a6f967c8d9c48a1fc35c8c4af386a0e526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cf63241eea3a77e387d65012d2e930635334555c68b2f9287cc52fba6c504ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:348facbbf81382f8224018fa336e8ff7f47034f5ad05029e76bc33c0e919f58e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 3.779 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3798, -0.0231, -0.0292, 0.9979, 0.6548, 1.9106, 1.3407, -0.1669, 0.4927, 0.3378, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0017 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.003 left_roll=-0.0001 left_gripper=0.9979 right_x=0.4563 right_y=0.2495 right_z=0.1277 right_yaw=0.061 right_pitch=-0.0666 right_roll=-0.0474 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.3197, 6.7897, 1.7607, -0.0415, -0.0122, -0.022, -0.5402, -10.0308, 10.0991, 1.9267, 0.2027, 0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.379, -0.0231, -0.0292, 0.9978, 0.6785, 1.8931, 1.251, -0.0559, 0.5102, 0.3523, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1833 left_yaw=0.0005 left_pitch=-0.0023 left_roll=-0.0001 left_gripper=0.9978 right_x=0.4471 right_y=0.2542 right_z=0.1198 right_yaw=0.0642 right_pitch=-0.0278 right_roll=-0.0229 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.265, 6.9128, 1.8339, -0.0317, -0.0415, -0.0171, 1.9487, -10.1402, 6.0923, 1.7753, 0.1587, 0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6136, -0.3794, -0.0227, -0.0292, 0.9978, 0.667, 2.0289, 1.0897, 0.2279, 0.4931, 0.3454, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0034 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4431 right_y=0.247 right_z=0.0393 right_yaw=0.0696 right_pitch=-0.0452 right_roll=-0.0271 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.4564, 7.0359, 1.7705, -0.0415, -0.0317, -0.0073, -0.1709, -9.6068, 5.5316, 1.7949, 0.1343, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6dae28304ae5199879338158ef749a6f967c8d9c48a1fc35c8c4af386a0e526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cf63241eea3a77e387d65012d2e930635334555c68b2f9287cc52fba6c504ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:348facbbf81382f8224018fa336e8ff7f47034f5ad05029e76bc33c0e919f58e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjQkKEAgSGAI4AUIIdGhpbmtpbmcSDJcUI52kGjHwR0nmDxoM8nXDDhVWKG58H9wOIjC2NvO3Km7Gc6+n0b19IZXMCdy/J714+MnEULrvN2E5qvpOL3mPiHuFDazG6MzV9tYqqgizPhFqLJqy7jMMB0EZSN2R0AgFA0b6sPh896HEY6CTNF2Q4XaOXqZu7dO1azxPgP8AHJ0o2D62ib3j9GPsOqckzzhNmlXFsXOk10So/oYrvA4uafhCGY7apcsR2qPS9jxCJer/b86KFFMa8pDsdvhZMV3gt8/AnoqyOm0Sw7bU/uDu/ESlSPMJeeEejS4QgBfh7xPqO3wwhiFLrR8C796KT5137ZxZxUk3GJVovfXCmp/IexJoDjTVYCxawucQfOvupmknzqG68W0guJOuQfnBc/Aq7fBxxDfAEE9kCmxYTktIoOHEESXbZF1Sm2XzvLNLKLnlOwmrAsHTuvf6CfgYRQp+ar3MP6lZucQebQGqbZzyU3JuSNk1OuSsA46oNNPVBMxL+bsjjlzDADF+HYpLmi780rJ+YetaYZklck4LTFCNHW8SYkTaZzOB17No+d2B8/2CbtHYQctZJ0fuKejz8LlkWTliJCGFrw9FKovWxiQsDc5TW3d6ZITxBO1dJ3Yo6X7WuY0pJi9ZudsL7Pqk7XtH7uezOR9wjwetT5y1DHyLe7qAwqWZzpLHaPxrA06DUmriOgNOdEOwok08YCzNyf5xKTZNV6gdxeccl4DHnB7It3RJmUxxDVYxsrPTnMXXv+XnjnnlgcM+0UA7nLod0yX23irOi4vWxi3JdXAVX0fsSawFkYzXLRXqi8VKAXrqXqvqA83hGF0GICKclJmDsLv76btwvOOpibnKhwXRV85tblevihQ/UZjqMzwex1oTcuA2RO8A0j1yHxPuLKQug2qKGTF/SvjaszcKXRZm5c9tfyGAL/rEttPTHgJYuP7lE5uqDp/AN8vgx0HT1sQXMPavh/lJRbbSiN33D/WEheibUT93/t5AWYJGPkxU6+I0QaXT+R2qwzzQV4vKXbXxOVjJJ59vkeCDEIAnMKpmoDKBcl284KGoSIS2hVo5nZQieobWExxS/dFZ9hXRcW8QZM08nlFxFfYytNkQ0hYK9enbK8Hsi7Um4uPWZBIHJrD7ER31tdpX4+0KCBQSQ7HlM7vUGR+KVGWcPumax4iZ1ANHGa1OyR0nigahOBjaHC4tgFqrTy7PCL3Po1Yld4uXAb717dLC77ngqnEZvracGJPw7na8wtvwnqN5xD57jf7E6UjdsLCipnM3BSmHN3zSXQ6q+5tFjHcBHipF0M3U4/OO3NPFPMWugGaVIb+AKsXJQyE1unwFb8/y2mGWpBoeav+g4mT5nel3dnPP28hkQoTG3kV5RMVvX3yST8nLs3TVjj4HbxjgMZ7oIsz8oZojfkktUbxiDtZuEOnoVIazir+6YifjGi0SDjho8JPd0rFt1pidUxVnemAObJJ+9kF081VW1TMqgzuPzlAe5f09bslxdiUFDCp6W6Ood0H0H8vYFPl+N6vcbZOuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CJijZpjsbGa4yWmV5gcvrJ",
      "input": {
        "note": "Jaws straddle the right bottle's body near its label; the narrow neck is ~4 cm further forward. Advancing forward at low height to grip the neck.",
        "targets": {
          "right_x": 0.49,
          "right_y": 0.25,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01CJijZpjsbGa4yWmV5gcvrJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3798, -0.0231, -0.0292, 0.9978, 0.6174, 2.117, 1.19, 0.2695, 0.4553, 0.3008, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.005 left_roll=-0.0 left_gripper=0.9978 right_x=0.4778 right_y=0.2484 right_z=0.038 right_yaw=0.0747 right_pitch=-0.0133 right_roll=-0.0148 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -1.5521, 6.7487, 1.79, -0.022, -0.0513, -0.0122, -0.7043, -9.7299, 7.9248, 1.6825, 0.1294, 0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a1c35dff9f01adb04de67ca406d73651e5741724f6188a91c9d8fcb164162b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1258e6c86af68b60e50e66e27b0ddd135fdd577e0318524126b7d7cabd7e9adf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75b6da6d495e6f1b0ba271750093b39ef1b3bcad82cb8bc10de70b185935463e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 8 attempt 0 · /messages · status 200 · 6.476 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.379, -0.0231, -0.0292, 0.9978, 0.6785, 1.8931, 1.251, -0.0559, 0.5102, 0.3523, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1833 left_yaw=0.0005 left_pitch=-0.0023 left_roll=-0.0001 left_gripper=0.9978 right_x=0.4471 right_y=0.2542 right_z=0.1198 right_yaw=0.0642 right_pitch=-0.0278 right_roll=-0.0229 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -1.265, 6.9128, 1.8339, -0.0317, -0.0415, -0.0171, 1.9487, -10.1402, 6.0923, 1.7753, 0.1587, 0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6136, -0.3794, -0.0227, -0.0292, 0.9978, 0.667, 2.0289, 1.0897, 0.2279, 0.4931, 0.3454, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0034 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4431 right_y=0.247 right_z=0.0393 right_yaw=0.0696 right_pitch=-0.0452 right_roll=-0.0271 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.4564, 7.0359, 1.7705, -0.0415, -0.0317, -0.0073, -0.1709, -9.6068, 5.5316, 1.7949, 0.1343, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3798, -0.0231, -0.0292, 0.9978, 0.6174, 2.117, 1.19, 0.2695, 0.4553, 0.3008, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.005 left_roll=-0.0 left_gripper=0.9978 right_x=0.4778 right_y=0.2484 right_z=0.038 right_yaw=0.0747 right_pitch=-0.0133 right_roll=-0.0148 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -1.5521, 6.7487, 1.79, -0.022, -0.0513, -0.0122, -0.7043, -9.7299, 7.9248, 1.6825, 0.1294, 0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a1c35dff9f01adb04de67ca406d73651e5741724f6188a91c9d8fcb164162b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1258e6c86af68b60e50e66e27b0ddd135fdd577e0318524126b7d7cabd7e9adf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75b6da6d495e6f1b0ba271750093b39ef1b3bcad82cb8bc10de70b185935463e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSigcKEAgSGAI4AUIIdGhpbmtpbmcSDNJMtXmqj8u2O+Q2mRoMbMykSJZxhbsTMe8sIjD1GCxGBL6hUF3a+SEl1CcbEcMNNxbA+OcGeZ6pSrZsUpQp8TNge+kKZQKlybl/t14qpwYClhKw8tjy1xgEHWeW3p0gbZKjbNboS+dJ8qac7uYO9Lyx4xXUr8DJZvd91REP10nMYGSJyLLu3ups9TFdHd+GOiA2kHrwYun8Lrbtxs8o7nnBRXfIdUnjFq99UZTWsgNUEv2Zoo9JI4/+zjvZZjsmOdGB+jKLOjnIlu9N3xp9y9C8Cqkr7UoIDtWbUuobIiCUb2bXkajeblRVedB6EF0wGoqfaenE9YJxnBcMiiwh1atJBRtac6CiQi4PU2vbUKW87UEDs96kFY15Rbx60CeJU5rL1n7bv96siBflPAQCbZJ/oJiPduOH1xiYp5lKT3sRQIGzQB2yuOVBTbMNKtZvwIkU2oCxNSAriavMVIGKlt60umire1SjuDci560JM7XYFFBiTaZqyypOHn41zS11saCTPOJHyLlqyOLcbANqi0IfAR5MaoKM6rnw5NyIXou6ahkA8pvviMhGNnRU8l+pLM+dTFMELjxBGu3X0yzDwyEF0gOp/qw3NsBdKmjsko0M/FwEbQKsv/aqyxcf3d1w6nhmNtZ4TvkKim8yf9s7SgMs8TfmyBPNGATsigtYo2Ao6smvVIN/w0efobAYMWt84Uxe6W5UTTsFE/2YmhGSAIab+vqboaz45QtXkHXJTOjgukiB7Ryuq3n1l5VJ6s+yPMR1719GkxqT+qBS5IYuDvnWye0h2NZ9UsNHyYOtiaYG0+xdbUq6aFQNX4002XqmtHzromDQcDEnub+YLxyfcblDGTD3WA0SSb40+v+Gf1KxqtBsDHiUVxbuW8LHGyIMRYSpxFLhGCf9btAiai8QXMKFmp9ictSjC4U5wVDF2UVFhqD1PGwdXgUgePD31E67DqdEW3nRtar22jItkVZaK5WkxavFUgmYc96FtFDgGPsIaLluYJu1XGoro12vjgKBCZLVn6kvoc+klZTOZ0zqjiG7ihgHytdMFjvTVpcSeJblS9FqcKv71hl3uH2Drig8PcXwo+g27SLwvYH9271ZRZA2ESFguxR1W1ALW/oI0Q4hxlufHe00IG2Oq1+yspzFfKQ6izTRnHxj/ZRRnfu/dFRQGgubPbIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011LkspyJxFmZv8VXDgm5Y2T",
      "input": {
        "note": "Bottle shoulder now between jaws, cap still a few cm ahead. Advancing another ~2.5 cm and lowering a bit to reach the neck.",
        "targets": {
          "right_x": 0.505,
          "right_y": 0.248,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_011LkspyJxFmZv8VXDgm5Y2T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3794, -0.0231, -0.0292, 0.9978, 0.6109, 2.1273, 1.2053, 0.2707, 0.44, 0.2855, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9978 right_x=0.482 right_y=0.2501 right_z=0.038 right_yaw=0.0887 right_pitch=-0.0129 right_roll=-0.0165 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.5658, 6.8308, 1.7705, -0.022, -0.0562, -0.0122, -0.8684, -9.9624, 5.9966, 1.873, 0.1099, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c3f47c66ade8fd73a3a1a6cdc0f9d3bb40bb2d703ad4a5edb7328f1ad135a2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eb98453b3e4927137e3c9d4fc9a7184bcb5d657f0bf37a6e707b2946cc4a04d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d92d8f0bd79e78311600b8e2b720128d276dc59bbdfb0bb7d2084a6c671d0b29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 3.582 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6136, -0.3794, -0.0227, -0.0292, 0.9978, 0.667, 2.0289, 1.0897, 0.2279, 0.4931, 0.3454, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0034 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4431 right_y=0.247 right_z=0.0393 right_yaw=0.0696 right_pitch=-0.0452 right_roll=-0.0271 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.4564, 7.0359, 1.7705, -0.0415, -0.0317, -0.0073, -0.1709, -9.6068, 5.5316, 1.7949, 0.1343, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3798, -0.0231, -0.0292, 0.9978, 0.6174, 2.117, 1.19, 0.2695, 0.4553, 0.3008, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.005 left_roll=-0.0 left_gripper=0.9978 right_x=0.4778 right_y=0.2484 right_z=0.038 right_yaw=0.0747 right_pitch=-0.0133 right_roll=-0.0148 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -1.5521, 6.7487, 1.79, -0.022, -0.0513, -0.0122, -0.7043, -9.7299, 7.9248, 1.6825, 0.1294, 0.0757, -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]: [-0.02, 0.8005, 0.6136, -0.3794, -0.0231, -0.0292, 0.9978, 0.6109, 2.1273, 1.2053, 0.2707, 0.44, 0.2855, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9978 right_x=0.482 right_y=0.2501 right_z=0.038 right_yaw=0.0887 right_pitch=-0.0129 right_roll=-0.0165 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.5658, 6.8308, 1.7705, -0.022, -0.0562, -0.0122, -0.8684, -9.9624, 5.9966, 1.873, 0.1099, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c3f47c66ade8fd73a3a1a6cdc0f9d3bb40bb2d703ad4a5edb7328f1ad135a2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eb98453b3e4927137e3c9d4fc9a7184bcb5d657f0bf37a6e707b2946cc4a04d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d92d8f0bd79e78311600b8e2b720128d276dc59bbdfb0bb7d2084a6c671d0b29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RNejiV5cpJvdy6mCne68xD",
      "input": {
        "note": "Arm can't reach further forward (stalls at x≈0.48) and the neck is just out of reach. Plan: grip the bottle body here and drag it back ~7 cm, then regrasp at the neck.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RNejiV5cpJvdy6mCne68xD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3794, -0.0227, -0.0296, 0.9978, 0.6083, 2.1273, 1.2015, 0.2844, 0.4362, 0.2787, 0.4985]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1827 left_yaw=0.0004 left_pitch=-0.0046 left_roll=-0.0006 left_gripper=0.9978 right_x=0.4831 right_y=0.2498 right_z=0.0389 right_yaw=0.0928 right_pitch=-0.0055 right_roll=-0.0153 right_gripper=0.4985\nstate[joint_eff]: [-0.0752, -1.5248, 6.653, 1.7998, -0.0415, -0.0757, -0.0122, -0.2667, -11.453, 5.0393, 1.707, 0.0806, 0.0952, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e7832c2f913c3d19f17c7c68a35288a4c361270b9f6d1ac18e4e2b228e479cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c5e972c40a4868672e776641608c13afa79a8a78916965e0809039c084e2106",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1bacb8f37f059a8fe2c925664d650ee8caf31ed01dc3a8dd71b08a0d23eb7984",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 4.81 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3798, -0.0231, -0.0292, 0.9978, 0.6174, 2.117, 1.19, 0.2695, 0.4553, 0.3008, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.005 left_roll=-0.0 left_gripper=0.9978 right_x=0.4778 right_y=0.2484 right_z=0.038 right_yaw=0.0747 right_pitch=-0.0133 right_roll=-0.0148 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -1.5521, 6.7487, 1.79, -0.022, -0.0513, -0.0122, -0.7043, -9.7299, 7.9248, 1.6825, 0.1294, 0.0757, -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]: [-0.02, 0.8005, 0.6136, -0.3794, -0.0231, -0.0292, 0.9978, 0.6109, 2.1273, 1.2053, 0.2707, 0.44, 0.2855, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9978 right_x=0.482 right_y=0.2501 right_z=0.038 right_yaw=0.0887 right_pitch=-0.0129 right_roll=-0.0165 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.5658, 6.8308, 1.7705, -0.022, -0.0562, -0.0122, -0.8684, -9.9624, 5.9966, 1.873, 0.1099, 0.0855, -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]: [-0.02, 0.8005, 0.6136, -0.3794, -0.0227, -0.0296, 0.9978, 0.6083, 2.1273, 1.2015, 0.2844, 0.4362, 0.2787, 0.4985]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1827 left_yaw=0.0004 left_pitch=-0.0046 left_roll=-0.0006 left_gripper=0.9978 right_x=0.4831 right_y=0.2498 right_z=0.0389 right_yaw=0.0928 right_pitch=-0.0055 right_roll=-0.0153 right_gripper=0.4985\nstate[joint_eff]: [-0.0752, -1.5248, 6.653, 1.7998, -0.0415, -0.0757, -0.0122, -0.2667, -11.453, 5.0393, 1.707, 0.0806, 0.0952, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e7832c2f913c3d19f17c7c68a35288a4c361270b9f6d1ac18e4e2b228e479cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c5e972c40a4868672e776641608c13afa79a8a78916965e0809039c084e2106",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bacb8f37f059a8fe2c925664d650ee8caf31ed01dc3a8dd71b08a0d23eb7984",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/gYKEAgSGAI4AUIIdGhpbmtpbmcSDFgxJB6rY7qVm3TT5BoMdFH6cMOZdV6Y8w6KIjA+9C7bIBLo3Ssw3B495mWq+UOOjFkVuEI1sR0nPZRzGPoJFmqgY2gBzd0kXWSU2goqmwbNqOw273el8ykf4UxFcImJadALBQoG1I9FPOWxkVid/h8SIdc8/jWMC73b+X31/5XL13QT7Ehj6USc8i6IVJw4Qf73NyRzM3scF/PjNRLG+Uww0JRfpHBHCHxTTMVbApOJk00XnctHH6atFSkxdmBN77nuIaqR+UN8L2nKG6af2RxdlJiax2oMe6cB9TnmH6Zj/UOUduSjscLG3EE4ohhrIVKLLJP9sreHD9ASXbNbzm8psCXsGKXqdbWNRukXp6yKInN+RW/XomrMbmRsGjW9ZKQFvl67e/z3EeYMaSbvH6MQUyZPfsKiBbHazK2enEmVZgb1fJReSvaNvel174NVimHJ67C8xyg0PhInamYJS8qAyjVRy+t52beb/3aEJ15UxjlfP7M5cjm+0GBiq0fAJfo5NmyCAjwrxsE3NnufEWytdAn/ZUJdhllszwGFTdxKXO/B3bUpcueadySRIx71e4NH8l71HkZyycdq8OLYbT4v7QoVugzhElBA7injF4QhUo45wm4LG7lJLoyBOjgd7TP3Hh2EyfT0FHXB4XlRTEq+aJVYudPEhAT65aIDyoCMiMRSCClC1i0QMon1WLD3ExdF7CCFt+M4JHom2nzvjclxNAtYKkANl4y6h6MUM/HkEQWui1x6bRW3lnR2cGD9jf5F9m2DbausP8ku0MWrVsAgTwxpfC0UJ5i38jB01LhG2xP+mOkyn1+4Gao44kqBpRfYHoFdDqMyF7MQKPve75ZNTkubdo2/CFLi+A1KYORnNEmpSRBgDEMddTNzLB879Ab/w1jyc0vgY8CvJFfRMtAA0x4ytsbqxk3W/97CO0Qu6i7zOOBEz+yNSRfT7IJVTntKI1fSN6bbuleF+Dq01DoQTYIV4PPdBPR+5SJFPzUYyNyPZjNyknzD0uY0AkNU+2sjm7Dzz1kM9AlgY5bq34zEFMVMg6wEOCkIxJae7+MXyUsNAuFHMs3apBbKEH98BvgtIo6bgsFsjoZ/Dyen2VrWd4o+3D0zkc8PbH32NZ1IvrKVyY0yD/WUGRpNuto2TyCy9kLBUinhvm4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CyQ4aaj9KSTYvaT9DU7jYz",
      "input": {
        "note": "Gripper settled at 0.50 (~4.7 cm), so it's holding the bottle body. Dragging the bottle back ~10 cm so its neck comes into reach.",
        "targets": {
          "right_x": 0.38,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01CyQ4aaj9KSTYvaT9DU7jYz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.379, -0.0227, -0.0292, 0.9978, 0.7677, 1.9095, 0.8677, 0.3374, 0.5396, 0.3786, 0.4998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.005 left_roll=-0.0002 left_gripper=0.9978 right_x=0.3859 right_y=0.2513 right_z=0.0364 right_yaw=0.1164 right_pitch=-0.0214 right_roll=-0.0202 right_gripper=0.4998\nstate[joint_eff]: [-0.253, -1.4017, 6.694, 1.8535, -0.0269, -0.0269, -0.0122, 0.6769, -10.6872, 5.1077, 1.663, 0.3004, 0.1587, 0.6716]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e992e2d7b5fd743005e3c929127b4c1131d2d3f00160f0496db424a2f0f62f0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73ad0536d3ae7a51b4ae34a7b46e9dd5d6e89dc8a6a3d655b2ffcd9551f5c6d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60b189028ade9c1f8425ba9e6d75d8cf3c5f491860e1335d81cc8764e09becc8",
        "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 · 3.751 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3794, -0.0231, -0.0292, 0.9978, 0.6109, 2.1273, 1.2053, 0.2707, 0.44, 0.2855, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9978 right_x=0.482 right_y=0.2501 right_z=0.038 right_yaw=0.0887 right_pitch=-0.0129 right_roll=-0.0165 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.5658, 6.8308, 1.7705, -0.022, -0.0562, -0.0122, -0.8684, -9.9624, 5.9966, 1.873, 0.1099, 0.0855, -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]: [-0.02, 0.8005, 0.6136, -0.3794, -0.0227, -0.0296, 0.9978, 0.6083, 2.1273, 1.2015, 0.2844, 0.4362, 0.2787, 0.4985]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1827 left_yaw=0.0004 left_pitch=-0.0046 left_roll=-0.0006 left_gripper=0.9978 right_x=0.4831 right_y=0.2498 right_z=0.0389 right_yaw=0.0928 right_pitch=-0.0055 right_roll=-0.0153 right_gripper=0.4985\nstate[joint_eff]: [-0.0752, -1.5248, 6.653, 1.7998, -0.0415, -0.0757, -0.0122, -0.2667, -11.453, 5.0393, 1.707, 0.0806, 0.0952, 1.0379]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.379, -0.0227, -0.0292, 0.9978, 0.7677, 1.9095, 0.8677, 0.3374, 0.5396, 0.3786, 0.4998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.005 left_roll=-0.0002 left_gripper=0.9978 right_x=0.3859 right_y=0.2513 right_z=0.0364 right_yaw=0.1164 right_pitch=-0.0214 right_roll=-0.0202 right_gripper=0.4998\nstate[joint_eff]: [-0.253, -1.4017, 6.694, 1.8535, -0.0269, -0.0269, -0.0122, 0.6769, -10.6872, 5.1077, 1.663, 0.3004, 0.1587, 0.6716]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e992e2d7b5fd743005e3c929127b4c1131d2d3f00160f0496db424a2f0f62f0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73ad0536d3ae7a51b4ae34a7b46e9dd5d6e89dc8a6a3d655b2ffcd9551f5c6d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60b189028ade9c1f8425ba9e6d75d8cf3c5f491860e1335d81cc8764e09becc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/QgKEAgSGAI4AUIIdGhpbmtpbmcSDJ76T2TBWN9NsUG/mhoM5aI6o6skv25q1aTFIjDy23DDaP/k0MHO1GkLxaPwy24CWW8l8P6m22vlt+K1fXJzFBc5hqBtad3YGmnkeSUqmghejslgVlvm2LWb4AYI5uTfIJHis1l7p9G8Rl+6lJd+Hg1FTdI6nAWYetsvPcyZelq7YYvYZjxuOziVk8MSnLHwwky3AH5+frDl/e+lXPd+czuBJo85rPvvA42vFqNFXBdCNzntC2HFHtLyh38YNyR/CfVNkqSsvMQcBR+LgrgzjVKfT7IYbaBx6OaKjYFctiTPjS3hyYD3hJuUL4L3dACMKwL46V757jN0lbRuEIBkTMSGtMpzh2ZVMcvSu2XZS8v1vfNHTIaW1vjNSuLAeKw+diI0Fc0IFG7BHJ6ApPvTGvoXX2UeK7C2OdZwYMv5y5thOF+BAGBQOHfaBZ/M1u5Ync4BVczW4UB+neSpjVzPUBeufRuIgRwRIjxsbwIhj1pAA3cSLAQrQB7zK2eNumPxlAKzizPqDoTjwDigqnHT2DenamWKVtEMKL7iXfXELuVWlSgSx+LEV92aPv6s7TZamwjCco1Qe9jibB4J8NKzoEND13taip/EdHB398SFO0ImNM7EGiX8BixLVZbkc5tQX56cUt7h31nLtCRqzLTTDTgp6a6h5B8pxrgQFUVGshgKULFbFeqWbjPeujc7Mp8B47GmXcOuntfMhlccoVACL35Hk96A7gacE2YmkBGlrsNAgb4OVRj72xVFj/VhnMWZok74z0+Az+p/584iJbH4P4wdjyFNtNlHrarvAtxSEjRdg4gL7kNAcRG5+kkw38qza5wcyTYmj8pPqVK/PsLLvTLvFQKx+RP8ska9O86uBZL7bP87nRs/+Rc0psj1rXPeoEZdbShpr+Iu8YzN34W/Sm40ICNQdTCEy+dA4eEkOBjk3lnTtZqEXd+PtGUzK+L0liw/B6k5ZMFUaQAi+svLNbU47ja7YlnL7h4m3c4vYudx5w+aHxmcPtOCmdxvzsaDrmxlckvb9Ue+U0XzKl9WfbZ1Z0RBcgRFR+jOawYTsOYxp+F3f8JoWAesCyu1DoSFZprxdD1ERv3X6azx9Y4/A2EGBp2wwDeDObVQ/UD+jiTdnjgLUF+n3rEHOHBbOIV0CrCesOJRgluhiL3K6xuV5I51HVxAF81O5f53fCabK5B2uvXXvSjq2IDR7d674rMPXf5Ks+7+lPdYmbLrwC8yTvIYDQ8vOBHkqkM44eBx4RzqG1P32xRn9liR0PJN27bfD9eJOnQOozC1LMwq7nzGOgI/UTEYIBfetuJ8P9hu07VoQZN+xCzWuIrWOAgWG9fqVa1eUWujiI+lVotIXijeza1XWsJn2GwDnZZq0CebwrFJKNy8f+mP+v9HJJfbUqtkCzOiIL1J/1PVKgfL8NZQKg9xqsKp3UZMM9DRfXM52GaS+gCQLaUUZSJ7YszthQaYVkrHFuBcYmKmx67TNg9snyyXwLcXhqOEkjEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XckRErorQqw2aUrC9kJ4C2",
      "input": {
        "note": "Bottle was dragged back with the gripper. Releasing it and lifting slightly to reposition over the neck.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01XckRErorQqw2aUrC9kJ4C2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0227, -0.0296, 0.9978, 0.7719, 1.8523, 0.8612, 0.263, 0.5377, 0.374, 0.9957]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0004 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9978 right_x=0.3783 right_y=0.247 right_z=0.0461 right_yaw=0.1241 right_pitch=-0.0411 right_roll=-0.0373 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.5521, 6.6256, 1.7949, -0.0415, -0.0757, -0.0122, -0.759, -11.1521, 7.9111, 1.5556, 0.1197, 0.105, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beec891291550e1489282f0eca7b3f89b4dd0a8b16ab0e7ef063b0b4d4f0208d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77b49f873dccaf169add47e74fe13e76588525dfec6a874dae839b352f93bd12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a9f44d56abb74631e83336f3a7d6de2586cb3da7a35c52236ba4b759e2cd6ae1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 4.943 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3794, -0.0227, -0.0296, 0.9978, 0.6083, 2.1273, 1.2015, 0.2844, 0.4362, 0.2787, 0.4985]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1827 left_yaw=0.0004 left_pitch=-0.0046 left_roll=-0.0006 left_gripper=0.9978 right_x=0.4831 right_y=0.2498 right_z=0.0389 right_yaw=0.0928 right_pitch=-0.0055 right_roll=-0.0153 right_gripper=0.4985\nstate[joint_eff]: [-0.0752, -1.5248, 6.653, 1.7998, -0.0415, -0.0757, -0.0122, -0.2667, -11.453, 5.0393, 1.707, 0.0806, 0.0952, 1.0379]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.379, -0.0227, -0.0292, 0.9978, 0.7677, 1.9095, 0.8677, 0.3374, 0.5396, 0.3786, 0.4998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.005 left_roll=-0.0002 left_gripper=0.9978 right_x=0.3859 right_y=0.2513 right_z=0.0364 right_yaw=0.1164 right_pitch=-0.0214 right_roll=-0.0202 right_gripper=0.4998\nstate[joint_eff]: [-0.253, -1.4017, 6.694, 1.8535, -0.0269, -0.0269, -0.0122, 0.6769, -10.6872, 5.1077, 1.663, 0.3004, 0.1587, 0.6716]\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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0227, -0.0296, 0.9978, 0.7719, 1.8523, 0.8612, 0.263, 0.5377, 0.374, 0.9957]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0004 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9978 right_x=0.3783 right_y=0.247 right_z=0.0461 right_yaw=0.1241 right_pitch=-0.0411 right_roll=-0.0373 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.5521, 6.6256, 1.7949, -0.0415, -0.0757, -0.0122, -0.759, -11.1521, 7.9111, 1.5556, 0.1197, 0.105, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beec891291550e1489282f0eca7b3f89b4dd0a8b16ab0e7ef063b0b4d4f0208d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77b49f873dccaf169add47e74fe13e76588525dfec6a874dae839b352f93bd12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9f44d56abb74631e83336f3a7d6de2586cb3da7a35c52236ba4b759e2cd6ae1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS+wYKEAgSGAI4AUIIdGhpbmtpbmcSDAy/Y1O8lmvPxjmuahoMVLbl/YxW0Ll0kZljIjDZU+DtWsRWAEWf3hGYP2eagsEddvgN9ALB7+F3b17k2UBVF6sPoR4Lpps2Uvp1vxgqmAbKokWMnZ/9KeZqLK7WsM+oUYSBdAZsSCPyc65MPRs2zQ97ocd/9DETRKBDrFkOmIAFUJAMZnX9Itdg8FKsGMHJzGZSMdcihBwO7eIJGowX2HuRuQi0QQyXKUhDEfvo2qnXR4YQiatgDGTLAmR8J8tCQ1kXVgtJ2j0q4JsOnq7otnEcaKzG0EK7adGrrLpsgfUs0zVwfdEQlKad+flaePjy0lpAmjigokGc2U2MdN20019VFlfD6qtgKyyYlB8XsSBCGiAfIQiDF4N8qfLEy5VmPBAt0ajMAO63prQRyOxEim4tryoCy3yMSX8pIioTIM5nM7WmvMrXYixBuB1X2x4h5Au/YoyLVDuDaA1JpAQTMWd2LSebx0p/lthZIMSY7M8cEkifa9a7P2nF3CCoqk9MmJoDCrOkI1OfNd9s/sXvE3FDVGDBRtNtlqmQnCBNu9ywxbau/BupRcFQpq1zt3p0xDolFBQ1VgBi+z25Dh7Wa+Igh6J9SDt/JbnAL2hHEK1TcJpXgsr3OeFnvIKTFofHQhfhJ+3daxpxzn8apgw0gGDi9eFJQcHKSpDYgp9XZbwwBS4oBuU3bahnwyhoPj4jP44vsrPlY3OcI9tjWwvQpsICxZSHRLwFYpkkyneqQSbi8yUbN8LJbf/oVd2dCzAz6xkGWeMAtfZlV+rdvTPc5lMWB5TJjdzZvyZQhheM+c4TVe/BQpbFER4uSk+yjepFdE6y3IPiQFFXIjOnuP9yu9aXk/O67UbrWUuB8iN6S6QMs++h9DkUoN+6l3uHUbBR3Y6WT4JW7T1U+RNkcgIJHbQCzIkV4p8xk93DWqz6U04LEUhQghU5rdZDZdzNtJ8gfN844z86qc6aC1pXppVJSLHjQSl99zmelOFj4pvcuWiyG3B/Od38vslc0kX+2/7tp2pfCAiGDfuIN9tY5ul5epqTvFcQkSb/oUpQsGAcLmtpqhkg7V0+nGdVToZxqIZN3+WWSmX2iFjEvxfn8bLwThxl28bY9t10oi6mA8hyX7iH/J4/jgzyw6i95w3cKgqDsZ25Vu0wMuYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FW8zMjRoeMkKAVW5pXHVyW",
      "input": {
        "note": "Gripper open above the bottle's shoulder; the neck/cap is ~5 cm forward. Moving forward over the neck.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.248,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FW8zMjRoeMkKAVW5pXHVyW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0231, -0.0296, 0.9978, 0.6693, 1.9163, 0.9955, 0.2394, 0.4557, 0.3058, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4249 right_y=0.2416 right_z=0.0577 right_yaw=0.1233 right_pitch=-0.0337 right_roll=-0.0234 right_gripper=0.9956\nstate[joint_eff]: [-0.294, -1.5795, 6.7761, 1.79, -0.0317, -0.0806, -0.0122, -0.6359, -7.9111, 8.3077, 1.7167, 0.1148, 0.0269, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9da9e7452fbf09487e84b9b36abd04a166b913f495f646ad972f5950a87cac4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5238c862e160157b13aeece7cdd1b3a140c9c2ad8f286d803c464a7e1595b0f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0401cc49e62efc56f3200c1e9f72547f0600ec404a61effecd23e6597b6316a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 3.624 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.379, -0.0227, -0.0292, 0.9978, 0.7677, 1.9095, 0.8677, 0.3374, 0.5396, 0.3786, 0.4998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.005 left_roll=-0.0002 left_gripper=0.9978 right_x=0.3859 right_y=0.2513 right_z=0.0364 right_yaw=0.1164 right_pitch=-0.0214 right_roll=-0.0202 right_gripper=0.4998\nstate[joint_eff]: [-0.253, -1.4017, 6.694, 1.8535, -0.0269, -0.0269, -0.0122, 0.6769, -10.6872, 5.1077, 1.663, 0.3004, 0.1587, 0.6716]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0227, -0.0296, 0.9978, 0.7719, 1.8523, 0.8612, 0.263, 0.5377, 0.374, 0.9957]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0004 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9978 right_x=0.3783 right_y=0.247 right_z=0.0461 right_yaw=0.1241 right_pitch=-0.0411 right_roll=-0.0373 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.5521, 6.6256, 1.7949, -0.0415, -0.0757, -0.0122, -0.759, -11.1521, 7.9111, 1.5556, 0.1197, 0.105, -0.1978]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0231, -0.0296, 0.9978, 0.6693, 1.9163, 0.9955, 0.2394, 0.4557, 0.3058, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4249 right_y=0.2416 right_z=0.0577 right_yaw=0.1233 right_pitch=-0.0337 right_roll=-0.0234 right_gripper=0.9956\nstate[joint_eff]: [-0.294, -1.5795, 6.7761, 1.79, -0.0317, -0.0806, -0.0122, -0.6359, -7.9111, 8.3077, 1.7167, 0.1148, 0.0269, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9da9e7452fbf09487e84b9b36abd04a166b913f495f646ad972f5950a87cac4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5238c862e160157b13aeece7cdd1b3a140c9c2ad8f286d803c464a7e1595b0f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0401cc49e62efc56f3200c1e9f72547f0600ec404a61effecd23e6597b6316a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSuQgKEAgSGAI4AUIIdGhpbmtpbmcSDNRHsDne5wfyjIbnYxoM6yDUYZIfixQX7DIaIjDb15EoSnL1IoZ7BRFyk8q7LWrMulPXK3OW3Sdza90lQxeh2Hu0wP/MjBFznFi6zRoq1gdtrUEHxXz4Uwja7caMRH5d6/4E2AGAxGtEKm9OH8f87G4+wt+KotRlY5Q/alpJnZwVTltwioRe0iZ1Qu1QuXJq33BCcYeLZ/GWhIJ7skqVcG7SHSiiC/lJFzrGCzKvTLeJWNci38gNweqrdCmWSSKfMk/mj1hEA5zqqzCoec4+Mgo631UVvw2Oj9uZkU8y02+ac87jUyLOZ0PoqbBmDYXSrGnU6c3HDLaE7FRzKQhacwFxHiYLIzGQwDL7vKZMrObanug2pDWyz0mAWGNixQfTCmzhxh7+V2GTeBOBdVWTq+7Z8dqGtOjbMHF7JcQ/b8Q6eTE+Go+mmdT5HMIbUHYBNClw3PdOV9qFMYRp2cFwGgurC/M38DvNWaeKEBW8B7ExBykdh0Wz5V5yjRTLi/cLbBzIxDkdvfx/LcsJcfLXgb1O8ePCyqaW+4VP5Tm2oQdlUvXhZ/HNbHXWjGlAfnuYVMgiE2+zps/jsqJg9y/AlwK7dqdtsk3v+De0eexBEEWVRp19pzL3GU+6HTRVEaQn/21ZwJEkLDVmTo8i9xw9X9IAsgYpjHU2yWQcFoR+ZZ3GgOaydrNkWBnKfzgHj6zIsKwka/Fb8Nmt1xtMHir6Fmp7kj98FJINgIVO5/KUqRyAyGJq25SKUbIKrsj6QKV1xf9hfosbZeMBbvqlgor4GYqVin/VFWVTnDgOH2qTxO3D7mFh/7R8pyNQNAuHP8wzAizWkNGjDRvCuFZCcJCjSIEONL8XxZcVp6qRpQ4uZ8DtNfqmN6Tc0xfM4W34ayhxMoK7NaaqDhlueWpw9hQm+n9+qDoErzdKa47zkeJUUvZFcoGkTBmp7+xSln8ZZm6ALyDmM6OQ1Y4ozzuhUBHdAMMyipt55wSQQ6S26UovR3KqrLin96IEEeW07YsXf11vVCiEbDtylc0F3KOUcViDA5N4+MfB1WOjT2igWh6E/VDLTURL2k+I1W3dxcFl3VsKyk8IBzT2ssyIeOGJxS8KtIq37ZpnPWOeeE9mGMxPxZ3z39lLCnOI0LnLbWsY/7fONE65Ntc1CA36MKAme9itSvdsmF1pIcJ8vLPL2s0JUfwmJv2R8fN36dZ57bh4sEdFkT7Cbf6Xlt4FOKZzLnHpWGlHtWVhrN1vom0W8T8sVpwro/axwnTXk6B70B42/yuIo3Fnr1qwmsMzk3QavYTEst6aub+XFSF3LLRiPvKkcIwKP+PD5YUAukv+cyFRTqSiC19/WvKY1o1uS8CHfqXTTdHYRQImO/hXqI+dkifnxPx4y7jDDOQuTLkxaJhiu0B9W8LmhDbLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W8GWfo5QKE4BW9kERsFB9a",
      "input": {
        "note": "Cap is just in front of the jaws, so the neck should be under the fingertips. Descending to neck height (~3 cm).",
        "targets": {
          "right_x": 0.425,
          "right_y": 0.246,
          "right_z": 0.028
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01W8GWfo5QKE4BW9kERsFB9a",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0227, -0.0292, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.44, 0.2932, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4314 right_y=0.2445 right_z=0.0647 right_yaw=0.134 right_pitch=-0.0274 right_roll=-0.0185 right_gripper=0.9956\nstate[joint_eff]: [-0.2667, -1.6205, 6.612, 1.7802, -0.0464, -0.0317, -0.0122, -0.6632, -8.3761, 7.8017, 1.8095, 0.1294, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18bf1695778abf98774a88182c78fd161bc35f5f06133ed1ac459eb91e02d212",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31951c455e5e16c0c13f894627c2b30674fdfc7e3a15a1072ec47233be2e5e9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d24815fc83e33a3bf623d71a8af5fc07fbdf17d09d4ea679fc933d05d39106cb",
        "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 · 6.358 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0227, -0.0296, 0.9978, 0.7719, 1.8523, 0.8612, 0.263, 0.5377, 0.374, 0.9957]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0004 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9978 right_x=0.3783 right_y=0.247 right_z=0.0461 right_yaw=0.1241 right_pitch=-0.0411 right_roll=-0.0373 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.5521, 6.6256, 1.7949, -0.0415, -0.0757, -0.0122, -0.759, -11.1521, 7.9111, 1.5556, 0.1197, 0.105, -0.1978]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0231, -0.0296, 0.9978, 0.6693, 1.9163, 0.9955, 0.2394, 0.4557, 0.3058, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4249 right_y=0.2416 right_z=0.0577 right_yaw=0.1233 right_pitch=-0.0337 right_roll=-0.0234 right_gripper=0.9956\nstate[joint_eff]: [-0.294, -1.5795, 6.7761, 1.79, -0.0317, -0.0806, -0.0122, -0.6359, -7.9111, 8.3077, 1.7167, 0.1148, 0.0269, -0.0269]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0227, -0.0292, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.44, 0.2932, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4314 right_y=0.2445 right_z=0.0647 right_yaw=0.134 right_pitch=-0.0274 right_roll=-0.0185 right_gripper=0.9956\nstate[joint_eff]: [-0.2667, -1.6205, 6.612, 1.7802, -0.0464, -0.0317, -0.0122, -0.6632, -8.3761, 7.8017, 1.8095, 0.1294, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18bf1695778abf98774a88182c78fd161bc35f5f06133ed1ac459eb91e02d212",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31951c455e5e16c0c13f894627c2b30674fdfc7e3a15a1072ec47233be2e5e9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d24815fc83e33a3bf623d71a8af5fc07fbdf17d09d4ea679fc933d05d39106cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AYKEAgSGAI4AUIIdGhpbmtpbmcSDCxKFiYHfsRsN3mymRoMYQAPDqyZQyF04NkUIjCVFhSFG6of7rU/8HtTpLBta93hsqNau4NRyUD0MA/8JNqW4ZQtV2c7fXX8520wTDUqhQZ3o0zl6uD3mlmztQaN5aOwiZ+2OuZexe5dkt4sgAql2R716oaKPBrbRB0Irr8Wy24lt8kgRjvpiVsbo8JHeVLH3sGLrQZb0lJuYISPAWP7mSpGCsxGYFDKq/sXgf8J+eOzZ/YsNvp11Tgo0hbpDooy8cmGI8qfSmhIhIfaD6QRXy0k4qar2drAEHTu4t7D+z+0gmrF/ccQDNEY4D25a+xPf+GfQdk/pr8Lo+McWWbs2UXlf93VNgVJUmYivEneWk36s1LyhfO4W5Xlrhjq3KnV9PqoD8wIjMCshnd0J43moPwa7HU27Zlyyp9jUGcAxbncS/B2qGPIqXvl6T3KOI75l6MyZggNtCeab/KNZbYPbkek53w5I3KAM0i9+g7yhVUv1pnMaqutiQoyWWlcpxD9CBK64s0ts/qgw+9VnHdVvJUUVTWakFsvbBymokO4VCwb0ztZWLxOoQY/edJ1fRC+nXcSwYAcXPyy6WbW1gCXcb3to3R0EuMNms6HjHjvoucuAAFbBjyLMprUjnUaWQqCLc2KfT6kFr5jR62SZjHnO8bUE/m+hmUfFixN32y5we3zK+ClDawgbziLei4t+tO+qEH2R/rTGVcvh18+jdMDpkIBNPgc1Mm1++J9iM1ylJKkcF0UWypYnfo/hCW9Q/KXoJRrsFAqNMP5WcoriwthqbQTmx/tWoH86rto0/S0Psau7LyDY12wEdJEOISv/pCrhKA09xr6ZZdv5/mU8kJI8UhOUYgJ3MGc5Uf6UEPZvDgT+BjkUb1DUJFL3K20EsAFPrwGCMZTtNBi9IU5Cgsrc0/A9uQakAgXBT1PJcHo+8P9XTJltmjxdfWvkIfKKETfiQoKdhqxO9I1u1ivK2ZSStjVICx4I26pjdFMdHqJuqk0lHNImcD8WBRLrKC1ZFPLWB3x+Gm9mOnHHVimTm1dXnILoLd5Lua7EzjcLj+hVD6Lu61nEqZue01tv2PBY8JtzdUADEuBPuVG/QrHad+EwYOCTK7JnlUKYUKq1g21nU5gRrfMpxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015QPWjoySZbeSks4og5XFT4",
      "input": {
        "note": "Previous descent didn't take (z still 0.065). Re-commanding descent to neck height.",
        "targets": {
          "right_x": 0.428,
          "right_y": 0.246,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015QPWjoySZbeSks4og5XFT4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0231, -0.0296, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.4404, 0.2935, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4315 right_y=0.2444 right_z=0.0647 right_yaw=0.1335 right_pitch=-0.0273 right_roll=-0.0184 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, -1.6205, 6.612, 1.8095, -0.0415, -0.0659, -0.0122, -0.6632, -8.1709, 7.7333, 1.8388, 0.1636, 0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7183e2d2bc0d09305031b5efab2f0e3263b957549ede4ef81f070005bad6dccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:256165e0f8289c4a4102db7194760bd1dd956d7b4ac6c0d97294578a792966a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:59a4b7d5abc868210f614f225bcf5daece7fd637b24e40e6dd2504706c635af0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 3.855 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0231, -0.0296, 0.9978, 0.6693, 1.9163, 0.9955, 0.2394, 0.4557, 0.3058, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4249 right_y=0.2416 right_z=0.0577 right_yaw=0.1233 right_pitch=-0.0337 right_roll=-0.0234 right_gripper=0.9956\nstate[joint_eff]: [-0.294, -1.5795, 6.7761, 1.79, -0.0317, -0.0806, -0.0122, -0.6359, -7.9111, 8.3077, 1.7167, 0.1148, 0.0269, -0.0269]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0227, -0.0292, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.44, 0.2932, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4314 right_y=0.2445 right_z=0.0647 right_yaw=0.134 right_pitch=-0.0274 right_roll=-0.0185 right_gripper=0.9956\nstate[joint_eff]: [-0.2667, -1.6205, 6.612, 1.7802, -0.0464, -0.0317, -0.0122, -0.6632, -8.3761, 7.8017, 1.8095, 0.1294, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0231, -0.0296, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.4404, 0.2935, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4315 right_y=0.2444 right_z=0.0647 right_yaw=0.1335 right_pitch=-0.0273 right_roll=-0.0184 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, -1.6205, 6.612, 1.8095, -0.0415, -0.0659, -0.0122, -0.6632, -8.1709, 7.7333, 1.8388, 0.1636, 0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7183e2d2bc0d09305031b5efab2f0e3263b957549ede4ef81f070005bad6dccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:256165e0f8289c4a4102db7194760bd1dd956d7b4ac6c0d97294578a792966a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59a4b7d5abc868210f614f225bcf5daece7fd637b24e40e6dd2504706c635af0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSxQoKEAgSGAI4AUIIdGhpbmtpbmcSDKRLh5yUscFYdOJm8RoMXW0fwLKgwQbB+eM9IjA+NRvqQWg1pn8B+wKH0LG1CBP+I8cUyvQ14MzdlLDgbrT0CF4TmtkbzP+bYFAhZOEq4glwgRsbqjmOK2ejTHZSfm+ZafNV89N3gjv9PfNCAVJauXYHPP8/8eqESwttPawdPcd63NyiTPgrsC2MPo4lHc00MYBawDWNR2qHHlQ9PT3KfJfAAO3ys+g2q/C1OpEQ6xJwezBOAOgjS8fPpkntqmIBtEXxygE++rysrmw2E/roDz3TfNuLw0axXS783bYdXvSdWjf3dH/0kTpMY2M+AHiQc0uckEt1j4dM1L8+rrLXXSddesGBsTbO+duTy1LJfNIr0Vs7Ict9YwY7q+wYg3598+pcbFGu7UTJ2mcUvnSE9ZR2zlB6HYaNRNT8d9HBKjBmtSGjWK4sZIbdeUDBUtlJXCo6DWtFQbAvx8wxppaGm30agtS9KbU69XUusbxiFAFoKe9OJLWKcdghlNSpQ0e8z0PwfnM/jipKGIiJpI7iO6CbHVugeDV8HB4t2cgGZOGuyfuIdxSFxzErKdtnjvr9+/IpOtGZAHh5OYmIgiLQZrZuJvkbwgGDD3NFqmgF1O8zyo7XsXN4XRmRmkQpgqCCuGleXlJcstOyh2P1IsKCzWRBZvOzvjxIgd66Zcg+ZyrgtxQD0RAirIemr89fbyjwXM+XWTC6SpEZO++yYnubskrpNfysl8+WqZnpB7dhimLjIted2vNPlwipn1tb1NEOWOoiPw82ZS1BNgcOQTkxPxjQ6ubTdV3IR4ZxERx8ckYrE8WCA+O1dMLiXycfP1wZU/oNwwdS91+WJQ9iIsv0VsiT4OFYwE2OmlG2/6OQJaWEwE0WLl+19ZWhg9njMBT2qaQj2g162YimKkv5105QOL42RMP9kD38anjfZ4/Lsnx7zve3xF+Xn/J+gitgvZhMqGTcodvTuSPK857Mvj01+fS/lKdA752+PzTjrJjaeLsN78pxKxj7XKbQRoQXBf7BPTJBcOoo2e3A0lfNOY0EfGthbkQ1zkZBm2a8L+bSsLxMXmp52o+baacYF0OzT131wDeTYz7YYcdd4O3ROoV4GYa8UI9Luo1l3bfott45oSLfVXgha9yBxX1JRrIL4675sfh/VOlXzX+4LiVmMBk2IrKPggcPaolPqKgvaDtFI/VnkB0j0z/XM2cEOIOnB09C83HAO8IvBF65HUIQxO5kDBcL+fzylScGamyv2s7KyZuflvhhd5hD8if55lKbnKPtlB84r3NSH1qzq0PJdmDDOQ1vmS2fzseyvdglUy6KPQMqa0dQ9jXOHMlWXlx14W7df2G910xaS53aO/HmOY8EqZg4wrey3IT/GuhdFAR/uk+47o0F5Ix8L8cpGA1l4ZuBkIICIZz/9hE+Yvd5xqZ9ia3tMnKoWwkIVaJHJQHRqgPT42Bu/6Q2MR90lOloE6mWZBFA1tFLVAsYQV1JrInJtNBRh0c3NrrBzSuwE3snLqBhkWL3a5RN2/o2HxRQq7KjEDb/CIZuhAatukfenAWnxUAmVv3LCu2rgQ/UahS7KqWFZoiwB1S5F0voWJc/SRPIdVV73OMwFZuHI31bfMh0HUsl0chFiZJbpg8aEjap8s4K12c1Z1JCoXn0MAmIxB6O9sMTTR4vzaIKCIeztYo+Dx/q/vjeXfEyF5C2lV6g8RMEJkhJg1JEdr4w6M2xBHC5ABNwun5wpbtY2bjJG26xAQFwPqJKimG9WJdzTTRfJGpFnhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JWnkAeBa4B1WmAUPGZKoH9",
      "input": {
        "note": "Arm is holding at z≈0.065 and not descending, possibly resting on the bottle shoulder. Nudging forward 1.5 cm and down so the jaws straddle the neck/cap.",
        "targets": {
          "right_x": 0.445,
          "right_y": 0.25,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01JWnkAeBa4B1WmAUPGZKoH9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.379, -0.0227, -0.0296, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.44, 0.2935, 0.9955]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1826 left_yaw=0.0004 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4314 right_y=0.2445 right_z=0.0647 right_yaw=0.1338 right_pitch=-0.0274 right_roll=-0.0182 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.4154, 6.6667, 1.8144, -0.0415, -0.0806, -0.0122, -0.3077, -8.1983, 7.7333, 1.8535, 0.1343, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c537a637818c69385f28260a0f9f3e1a35e8d3092b9d1d86accffb263d27a9b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13f7cf3ddd843f597d7c21e07ee24b3d55111bdc078dc5cf137805cea0930031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f1de9f6980bca39b87c49684b7af4dc9e24bbd02d2931a8c25725d11d895ddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 4.713 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0227, -0.0292, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.44, 0.2932, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4314 right_y=0.2445 right_z=0.0647 right_yaw=0.134 right_pitch=-0.0274 right_roll=-0.0185 right_gripper=0.9956\nstate[joint_eff]: [-0.2667, -1.6205, 6.612, 1.7802, -0.0464, -0.0317, -0.0122, -0.6632, -8.3761, 7.8017, 1.8095, 0.1294, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0231, -0.0296, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.4404, 0.2935, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4315 right_y=0.2444 right_z=0.0647 right_yaw=0.1335 right_pitch=-0.0273 right_roll=-0.0184 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, -1.6205, 6.612, 1.8095, -0.0415, -0.0659, -0.0122, -0.6632, -8.1709, 7.7333, 1.8388, 0.1636, 0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.379, -0.0227, -0.0296, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.44, 0.2935, 0.9955]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1826 left_yaw=0.0004 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4314 right_y=0.2445 right_z=0.0647 right_yaw=0.1338 right_pitch=-0.0274 right_roll=-0.0182 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.4154, 6.6667, 1.8144, -0.0415, -0.0806, -0.0122, -0.3077, -8.1983, 7.7333, 1.8535, 0.1343, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c537a637818c69385f28260a0f9f3e1a35e8d3092b9d1d86accffb263d27a9b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13f7cf3ddd843f597d7c21e07ee24b3d55111bdc078dc5cf137805cea0930031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f1de9f6980bca39b87c49684b7af4dc9e24bbd02d2931a8c25725d11d895ddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQcKEAgSGAI4AUIIdGhpbmtpbmcSDNtnKsK3VNoQ6F6jghoMEChZTEb+yZDJHxXKIjBvp3Z9K5Y/iComRa+L+5i50h0rIji+SeQmOQixar8R4OBoO/914y2PwrTSDBQv4pMqxgY9iYRJIq37is126NOb2g02J2xPriicPUYsL2dBpFqVR4prZzB5diWp2rvG7ocRtQYbF9YELq+70I+6ClyhuAPdiOANdz0vF+YbFNe5+FGDzGW/tg54IRhu2RrI3sdn/vOoTtpj7vTbN71kZa+Mxm4RsRcTBJBIznN3bwG0JhWYQZdM3nui8szgRhXaO4tpdOK8knAXO1QiD9V8uzJ0bohuoStVw1qecXlBNVAZICLqfY2US9+aclyThOIEPI5S+T5yjLjNoUES0ekwWTOKJW9VbaCWD9Bs1uBAe6GxhYJe5D1xK4GvHMGCMPqQgRa/wrbcHJ5ZR0YdeOUK/xiX4/jfTPJVDHFIgQK+rwxchD9AMOtKiZt0CUpTpIv+ar3Xql+cInpnRUO4A3y6WG+PTAiTkk+kPFIPxS2vBnhTWsaVpRsmRpHMfj9WHjPjYp3NRojVl682XQHU5Bf5Nn+LwGGzE7Qvmh42fIuK/Dwl0/YRZapRcXoFv44s1jXZXcvGye/9XMORcoHeZ+eu0znsdBZm6L4RtS454TO1lz9F5PoYIVNkuI80XaK8xmuDQSAx63K0BCbD4hYos0n+ZSVh/uS7cjCbvohreU9u2MVaFyWtK0EJ/+iSAyCwXCKeaFLZpoboo6uEBe4FvSHxjx/rKYF0aUTWlSfhrX32yZjWrJA2XsHtaDLQE1zzULluaAKzjiwOVQRTld8q6Sce2v/fVqZUywqJUzNYm2KH1Ik3EjMO3wXhsJRtFzS6gHIHuqpVYugjAs3tcLXOjy1Kra2Deix0jrMwoH/sRJirPkRmJKM4Avepe2/QzRjmbv07sd5IM5jy/GcZBsoXsUBTKRSid4R2ELt4nIBx59D3zqJfTprdkwXYGWEsdD0UTMKzPLP6XXJOOEDVTEhd8VT72QcnXiI05Ke4lq8BV83obNC4wk8hIA12X48E9g+jCgDdgudHquzgYVccbXdbv4npf8tHm+ROnLOnwOtjSheUM7DW59x2upYzUF+XbiSpxGGmsB6poakAmwSFVOHdjoUKESuB/HEpcTQwdGJb3t4++g978dUTndPnC3mVIP/NzlnrH3bR9VIq9QgixACj54dkmVPxQNOHveseLQ8hGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013snFNrd9Pzsiw7MS2rFBww",
      "input": {
        "note": "Right arm has frozen for three commands (joints unchanged). Trying a larger move up and back to see if it responds.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.25,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013snFNrd9Pzsiw7MS2rFBww",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0227, -0.0296, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.44, 0.2932, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0004 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4314 right_y=0.2445 right_z=0.0647 right_yaw=0.134 right_pitch=-0.0274 right_roll=-0.0185 right_gripper=0.9956\nstate[joint_eff]: [-0.4034, -1.5795, 6.6667, 1.7949, -0.0513, -0.0171, -0.0122, -0.6359, -8.3897, 7.7333, 1.8584, 0.1392, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:510243291d0aeb6432e79fabc0c2db6aca493d6bf52e3bad4b00c1bd7c476a5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c70ce7251942ee9957f58906766b9450b752035ae074bc4f384748ee33ec363",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77d53add77049cc4330ebfb08acf1f2aea5e41b0d7fe6344ad198a231437c1a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 4.641 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0231, -0.0296, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.4404, 0.2935, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4315 right_y=0.2444 right_z=0.0647 right_yaw=0.1335 right_pitch=-0.0273 right_roll=-0.0184 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, -1.6205, 6.612, 1.8095, -0.0415, -0.0659, -0.0122, -0.6632, -8.1709, 7.7333, 1.8388, 0.1636, 0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.379, -0.0227, -0.0296, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.44, 0.2935, 0.9955]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1826 left_yaw=0.0004 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4314 right_y=0.2445 right_z=0.0647 right_yaw=0.1338 right_pitch=-0.0274 right_roll=-0.0182 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.4154, 6.6667, 1.8144, -0.0415, -0.0806, -0.0122, -0.3077, -8.1983, 7.7333, 1.8535, 0.1343, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0227, -0.0296, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.44, 0.2932, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0004 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4314 right_y=0.2445 right_z=0.0647 right_yaw=0.134 right_pitch=-0.0274 right_roll=-0.0185 right_gripper=0.9956\nstate[joint_eff]: [-0.4034, -1.5795, 6.6667, 1.7949, -0.0513, -0.0171, -0.0122, -0.6359, -8.3897, 7.7333, 1.8584, 0.1392, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:510243291d0aeb6432e79fabc0c2db6aca493d6bf52e3bad4b00c1bd7c476a5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c70ce7251942ee9957f58906766b9450b752035ae074bc4f384748ee33ec363",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77d53add77049cc4330ebfb08acf1f2aea5e41b0d7fe6344ad198a231437c1a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSpAgKEAgSGAI4AUIIdGhpbmtpbmcSDFVvHya4URheDaXEdhoMhoo8ixrgAoVPlBoMIjBWLzFYxsMN6lY+sxEnfeS60aQGb6Pb5wwVuMiuQIbw0D3GJVwLfsGkdBObS4VtQ5cqwQeSoc144K9QYlb7v/RSQihvvo1a7CiUdbhleoAFLkf9tUZVbn1dVBhK2NTIy90raU3P3rBEsug9z3umXkkTdb0IZsj08cTpkCFnHk6tVnSBYnGeVUIWg49B751zOQruwEC9f1GjHnIt/tEfFxI82GjWf+GoYq0TsKZg0rOA0ScFhl2IZ2kW6Lat+ZQSdSFxKhR8EXmJdfFGSdbZRqpEjr7dWyB48ESQdQkwq0WhvJwUzhTMcQqJsMATKeZW0bNFg9DYTbX0T2fB5tbw0nXGQPyeiMas/Eup9i+ndmAv2D+c6fT0TXIAqIuYD8uDReRIDigYQMK9S5PJGdtqvrdisb4DngG1hALNGIsTPoQVqQFE2FlroEbRwsJU8ktAesN1sav4W+8214UX3DYfpu934DF8Sk+byCqJ81zHFHRHEOA5fXsVR+nomfLHcNnuYZyPhSlB4rZBbE0/yjcuDHNYxRf2SU1KQaZvWFu792/zqZw0C2tYDfOkD7K2VRqXODygkfnY80ua+Kvb4FshuFXokaFEFU1bDXflev3cGABDbSRmz7c+qqPA+yLcvsv28hM+Nq9pXIGsFYeExhtFo9bvFW1NhEhi1JbJbgTm+RXWocgPB8ZygSJ4XmMEPlbDNFyesYu1xxhXrvDQQaNePlN41pYnzstEzMrSYDGqD8WlJ0YjnSg8i8IHO2Fv8jwwOKSuiX5vZux7+c3DgUid/70npMcnsvzukJCFZT4LX8Gw3ynGYdSr9JM6XAmvf/mJoaBwmdUhCJGcRM5pu5eUGzh0i6VP9smZpBEP4uCRRmrN+4OyH0wp1ijZ7gS7LtH32O/44wdSeHzFNpU++yev9mBfrH5uc7tPRiqtmGgUpAz3ftsVRqKOxRmfcw1nNBTgjAuVEKFG2Ks5YzLM9YjTBkWl8L92JdAzQpkmWt6oV2doDuCUwFPK5IVm1mItsoQpO0plklyWKnFgAOEQ7IxcQ9N/kTuK43m7EVFevcXc8c5r9TijCgYgBp3Jf+iarBAQ35jhMeitYJ13aNWzCRhK5rqRxN1FsQNiJikzzarfMcW5esmU/GUW6Lx+ldQ3v6mZ5FEC5PiWQPJh2Q4+wRyHIin9XSoz0r8n7iNLQ76XjdwzaWKq6//BucYGSDeEF+jz1ZNjbr83sBZmx07437ZB+IXWjPdb634abkpvCezOsUssUDaZG0N7ojyLJNV2QdXfr8Pgye4DZGU6sQlOqNnkdSrAJn0RPSyB++0m0jGKQqmORN22lF7g8COisB9zPjyLMSl0rs1LGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HeMgvvAAd1zH5vQAyrMQo8",
      "input": {
        "note": "Right arm remains frozen; its yaw has drifted to 0.13 rad. Commanding a full pose with yaw reset to 0 to try to get the IK tracking again.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.42,
          "right_y": 0.25,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01HeMgvvAAd1zH5vQAyrMQo8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0231, -0.0292, 0.9978, 0.7208, 1.9099, 1.0615, 0.1051, 0.5316, 0.3809, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0053 left_roll=-0.0 left_gripper=0.9978 right_x=0.4163 right_y=0.2513 right_z=0.0665 right_yaw=0.0735 right_pitch=-0.0556 right_roll=-0.0376 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.6068, 6.612, 1.7802, -0.0415, -0.0269, -0.0122, 0.1573, -13.1897, 8.8957, 1.6435, 0.4567, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7ed09fc28a434eaa124cc08bbb0920d2edd6de211789b1ee0865c21bc1972c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3eb4387e1630c4b21a4c3a9ec9b6da079b1acdf7c4cebae9e5c584d0bc75b1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6bd169c3761b2e1187defa425adeeba36eacab1dddfe863d953650df8c583c29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 7.643 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.379, -0.0227, -0.0296, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.44, 0.2935, 0.9955]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1826 left_yaw=0.0004 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4314 right_y=0.2445 right_z=0.0647 right_yaw=0.1338 right_pitch=-0.0274 right_roll=-0.0182 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.4154, 6.6667, 1.8144, -0.0415, -0.0806, -0.0122, -0.3077, -8.1983, 7.7333, 1.8535, 0.1343, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0227, -0.0296, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.44, 0.2932, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0004 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4314 right_y=0.2445 right_z=0.0647 right_yaw=0.134 right_pitch=-0.0274 right_roll=-0.0185 right_gripper=0.9956\nstate[joint_eff]: [-0.4034, -1.5795, 6.6667, 1.7949, -0.0513, -0.0171, -0.0122, -0.6359, -8.3897, 7.7333, 1.8584, 0.1392, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0231, -0.0292, 0.9978, 0.7208, 1.9099, 1.0615, 0.1051, 0.5316, 0.3809, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0053 left_roll=-0.0 left_gripper=0.9978 right_x=0.4163 right_y=0.2513 right_z=0.0665 right_yaw=0.0735 right_pitch=-0.0556 right_roll=-0.0376 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.6068, 6.612, 1.7802, -0.0415, -0.0269, -0.0122, 0.1573, -13.1897, 8.8957, 1.6435, 0.4567, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7ed09fc28a434eaa124cc08bbb0920d2edd6de211789b1ee0865c21bc1972c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3eb4387e1630c4b21a4c3a9ec9b6da079b1acdf7c4cebae9e5c584d0bc75b1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bd169c3761b2e1187defa425adeeba36eacab1dddfe863d953650df8c583c29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjggKEAgSGAI4AUIIdGhpbmtpbmcSDPs+NdOuOsb0ueIpqRoMPEGMehYGJbEVdioHIjB9uPJ+rocxhhMNaJ6x6EQ6NPsnx2iuke00g91Qj/o8v+opjATCRLsjygVILamGEvIqqwd+AoSVRGLf8gP0kxnkjSU/t/ezDFvDpsUab53BusSFJ8ochcFB8fet1fvTKqItGU8N5Nt499e3ayBqQkt9J4gqfzmFYxjhQU2QOU8JcKAGp6l5BYvo/daZbGLy/NGBZgnAxUFZmSWRb5LxBAhtT/HbJQwiYfl2RhOlNcoXdt+e4eHqbEqzK1njXmkLPfzNjIEall7tPO7AOuccIg5525wVNleaDd4wvctaAqXC6p1Tastz8Fh3r+OE0eQ6ooaygl37+H+bxyUvZgBF8zQLTwg64cLTJ2ja5FcI8XxN1AgT1RehbnvyvhjNwHjJuObzyehE9LYVBTEFdybT+hvMTAlV3CBWVj6kajIMGsasffOXe+vjf+yu+rZKtrzj2by9LMTcLxw66Bz1aVYnMMHump/wPIfTRLorKey1H+3gT448++psdeCC8WHrhbXn5NPfUw8ipWWoV5bB+vigPwkNI9kGJXlL31jM9GdqayCVHBMh680S4Js3ZtsVsY0CFtXf5LJtSOUWHzKqY71wU3m2VLxLc7t0hALxOurDfOF4qtRcDg0yfxXrWYY664TwAkradXM+2ObKaMLUaPybdRD3ZDocrLS0fm77TKNtrH9JGAhC89DBmWGcOrsQo2g9KvccouMG2utFUU9kR+v9IA91bro2qozGvuImIBCjDI3x4k0xF6z3FxNbs/oG6UPzPgtJGbb7C+LYmFAT9eV+l3ZXbD+dTZGVSjBwx+rdXGANg209QsKo4TZE+7PDL6Wq231IeSgyFUuLy2ehpskDOWmLPiLFWO/QgRiKRU3kfG5pzwhVdPDt6UXpoDi7Yr1ulRZdad7hp21vwl4w2RvF9V+L+n38dOI0LRv/Qrq06Bp5/+7m62k53oJhLbyE1q1xIA0KvAt+v5e/wwoijTAPVUg6Q1PTd5/XbljhXmqrbR9iTDvHZu6ETQAydU4ZbzO2NOYON8zoSgWxUCY0B9xdCCEStMX03Zl4YnAC71r2/GSkt4+pt4ph4myOad793wXG1fGumXKFQbMf1yLmAi/OrVSRizEtCrmTdzHb+FtuCd7P0xeLWE1IflcnXwplqqAHYnR6ZhWkJQrJ7A5g3MdU+d1OPm8Wa0CZptbcXZ+XpASzFxJ4jSkIXS0IxvYLk5m/uZn4KMZzvZob8J3+/TfVRy7QrV8zdJazCbsNQsy0oOQRIiqn8F+63iOdTmA2PIEBiNFAz76ykhqjaawwJoaccDa2ZrCcELPPK5NJsZKRFAQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0139bqvnWX4Vuf3hokS3X3Uk",
      "input": {
        "note": "Arm responds again with yaw pinned to 0. Cap sits just ahead of the jaws; descending onto the neck.",
        "targets": {
          "right_x": 0.425,
          "right_y": 0.25,
          "right_yaw": 0.0,
          "right_z": 0.028
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0139bqvnWX4Vuf3hokS3X3Uk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.7441, 1.8896, 1.0889, 0.0376, 0.5766, 0.4225, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4116 right_y=0.2529 right_z=0.0779 right_yaw=0.0396 right_pitch=-0.0509 right_roll=-0.0403 right_gripper=0.9956\nstate[joint_eff]: [-0.2667, -1.5795, 6.5983, 1.8144, -0.0171, -0.0366, -0.0122, -0.9778, -11.7675, 7.8838, 1.5556, 0.4322, 0.2173, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8d69a14995f5c5f1d0e8f7cdce8bab48244c897e4972b0b8f77eee7c03226b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1303e88b1f99524fa8031cfcb2c0cbd2dbfe6553e435cf6eea085e86c281cb71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3affa17a4a067a706e129e4a5330dc59d9c2af19ffa31c267915dcf8b9843e4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 4.995 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0227, -0.0296, 0.9978, 0.6605, 1.9179, 1.0245, 0.2253, 0.44, 0.2932, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0004 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4314 right_y=0.2445 right_z=0.0647 right_yaw=0.134 right_pitch=-0.0274 right_roll=-0.0185 right_gripper=0.9956\nstate[joint_eff]: [-0.4034, -1.5795, 6.6667, 1.7949, -0.0513, -0.0171, -0.0122, -0.6359, -8.3897, 7.7333, 1.8584, 0.1392, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0231, -0.0292, 0.9978, 0.7208, 1.9099, 1.0615, 0.1051, 0.5316, 0.3809, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0053 left_roll=-0.0 left_gripper=0.9978 right_x=0.4163 right_y=0.2513 right_z=0.0665 right_yaw=0.0735 right_pitch=-0.0556 right_roll=-0.0376 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.6068, 6.612, 1.7802, -0.0415, -0.0269, -0.0122, 0.1573, -13.1897, 8.8957, 1.6435, 0.4567, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.7441, 1.8896, 1.0889, 0.0376, 0.5766, 0.4225, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4116 right_y=0.2529 right_z=0.0779 right_yaw=0.0396 right_pitch=-0.0509 right_roll=-0.0403 right_gripper=0.9956\nstate[joint_eff]: [-0.2667, -1.5795, 6.5983, 1.8144, -0.0171, -0.0366, -0.0122, -0.9778, -11.7675, 7.8838, 1.5556, 0.4322, 0.2173, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8d69a14995f5c5f1d0e8f7cdce8bab48244c897e4972b0b8f77eee7c03226b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1303e88b1f99524fa8031cfcb2c0cbd2dbfe6553e435cf6eea085e86c281cb71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3affa17a4a067a706e129e4a5330dc59d9c2af19ffa31c267915dcf8b9843e4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sq7h9B4Eyes6vrupsh6mcy",
      "input": {
        "note": "The arm rises instead of descending — the left jaw appears to be resting on the middle bottle's label. Lifting and shifting 1.5 cm right to clear it.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.235,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Sq7h9B4Eyes6vrupsh6mcy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9978, 0.7441, 1.8896, 1.0889, 0.0372, 0.5766, 0.4232, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9978 right_x=0.4116 right_y=0.2529 right_z=0.0779 right_yaw=0.0392 right_pitch=-0.0512 right_roll=-0.0399 right_gripper=0.9956\nstate[joint_eff]: [-0.212, -1.6342, 6.8308, 1.7949, -0.0562, -0.0366, -0.0122, -1.0188, -11.6444, 7.7607, 1.5263, 0.4127, 0.1929, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7e238b34adf7bcc331bef4359bda2a0eecfcfaa642fb3fa0d287e33dd40cd67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f766844c1035ecac239c4c7ec84840fe3acfc8e2d84e32b7f232ea961bd908d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47beeabb1bc89139f4e7e7dab2c2e80dc1e6a7295fc97f74810f8898783bd359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 6.522 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3794, -0.0231, -0.0292, 0.9978, 0.7208, 1.9099, 1.0615, 0.1051, 0.5316, 0.3809, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0053 left_roll=-0.0 left_gripper=0.9978 right_x=0.4163 right_y=0.2513 right_z=0.0665 right_yaw=0.0735 right_pitch=-0.0556 right_roll=-0.0376 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.6068, 6.612, 1.7802, -0.0415, -0.0269, -0.0122, 0.1573, -13.1897, 8.8957, 1.6435, 0.4567, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.7441, 1.8896, 1.0889, 0.0376, 0.5766, 0.4225, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4116 right_y=0.2529 right_z=0.0779 right_yaw=0.0396 right_pitch=-0.0509 right_roll=-0.0403 right_gripper=0.9956\nstate[joint_eff]: [-0.2667, -1.5795, 6.5983, 1.8144, -0.0171, -0.0366, -0.0122, -0.9778, -11.7675, 7.8838, 1.5556, 0.4322, 0.2173, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9978, 0.7441, 1.8896, 1.0889, 0.0372, 0.5766, 0.4232, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9978 right_x=0.4116 right_y=0.2529 right_z=0.0779 right_yaw=0.0392 right_pitch=-0.0512 right_roll=-0.0399 right_gripper=0.9956\nstate[joint_eff]: [-0.212, -1.6342, 6.8308, 1.7949, -0.0562, -0.0366, -0.0122, -1.0188, -11.6444, 7.7607, 1.5263, 0.4127, 0.1929, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7e238b34adf7bcc331bef4359bda2a0eecfcfaa642fb3fa0d287e33dd40cd67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f766844c1035ecac239c4c7ec84840fe3acfc8e2d84e32b7f232ea961bd908d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47beeabb1bc89139f4e7e7dab2c2e80dc1e6a7295fc97f74810f8898783bd359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwkKEAgSGAI4AUIIdGhpbmtpbmcSDA0IBmw+DwpnQaZC6RoMyeWxFBaEVM9patigIjCjmBcH0v6ZUbUKEWpDMgLujNNdPtygRV8bf2SWnCv+O0k0WIX+uZBB1kUx9cI0SGwq1Ahep8lpvHUK/CK/kyrAJdkP3bli0PPG70POLwcWEEc70vUp/5m9XFHGG6WSn09vHjRpR0dmTQMCNLGeuljdOQ5M5nij3Ac4fT73L8biaUOSaUdvfoXWNoEO9kxOcEUjs4NCH5bQjqqdHSUHYHedmts84/+sJsU3OKKMhWjhjB7R4pbAvdY1OtRVzfnK1G94KttIO7ikF5X6prn7+TcflxoYQFxzoUS0NW29OdTwUXNUnoxMdqh7oFKpJnJpIhthg3ooxadBtryb3FBot8ZekJRi7Vde/9XHzoeqALypby0jJlpkd7S9I4cHcpnKsa5czvmJZ7I3IlmBb/vXuEP/2fjiDHAPtYAPFwzKMMGx/hfFOGlgyW/Jib1NGurZCWeIRE03PcAa5lCsuq21Fh/tz8zLTZfQWso1BuAOzSffYS+PdS2kuEwshYAUPeZMnFefv3kk0GAVs+W6t9gpPP6daXsOA3Ix5KCLdvjviuSDVzxD3PitrI6t9kilcia56tO92jO/U1VS053tgxw54qDd1RBA2jkLsvFQb2JugmXwtkk/MVJ/ZbNx1a+KG73RWyqggGQY3HvJ4o4KhLp4mWCPDo8VwpCbBQSUWFEJgYkcHzTmdBbnpscj3oGiVMQMdJEnOpPVBWTWv+C5WBHKZ/bJVKyLxmeqlIRE1+ez+n1zp9an7zgx9y8I5oBAeRON/1moWlYJbLtD6+EJP/imuq3bnomWq2MHtQDVzAiFMqMrEDbU6C6CSF3yfnQyrP411zA35eKPEF0Di8AyzDOJb3TUiTZqvnXflGIKgYFZ0hCKKSiCY1bQXPbuwKmPaPPEuaqPj7sl5JakVIA1+hco5CTmn6mYPYCSns5BTpmnI8SAjjXcZNmFVNZAtDE3f5WCqSiWcovZ/CVq5RiF0Bb7PPl7i6hteR8A+E3E2Xv5LMadqGMJpwyI6o1J5fyUlSg+BkSeqY5dn150pcPu20Udi7kaSngO7+O0a3KzVm+vlrhDbiyZ3eDtlyUjO9GnBXgI4Uzm2rxwDnu+cAt/38JprcsqkgHsLZFZP2lHG0EimtTP7qyLgrd1a7GTdNngulMj4g1G/IpMy4jcDAIWzrnTPeOlGNvyD3a6N9wLv2o8rVREu7Ne6Vot8pH59dVXcqqZ8QN4AeiJHXl6SZC9dtV4nWDWlz6pCviPs52CiK2qszv6MmY5PTyTyyOrywhUdcauEg6iV++fTjlBpbpVS2EAKOWLmVCJDN5qVwqXmLwNOuQUyJg2qnX0/2jPkcp48vunXio0x8GAPcWsDSc6p+9GnRRdIsv9ke/feHhgPL8NCw1niD8L2L54Qo89cDTX0n1/4PZ5w9lhAyr2Y0B8H5KYeKfDq+UDkboHEuVOfl5C5YG3uldgNHjMTxPLU7gY52ryIsIgLnvRpJxg7DuMKXt2Id76dlz/XqmHBpiAXeN/rih1kq20saWqa+5lefJF+rYJaMIfhmzIhhAAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ES3ShtK1QFhtDYPvUue9ag",
      "input": {
        "note": "Right arm frozen again on a small move. Commanding a larger retreat upward to get it tracking, then I'll re-approach the neck.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.24,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01ES3ShtK1QFhtDYPvUue9ag",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8032, 0.6136, -0.3786, -0.0231, -0.0296, 0.9978, 0.7902, 1.8187, 1.0817, -0.07, 0.6189, 0.4728, 0.9956]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1821 left_yaw=0.0007 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9978 right_x=0.3901 right_y=0.2534 right_z=0.0933 right_yaw=0.0258 right_pitch=-0.0621 right_roll=-0.051 right_gripper=0.9956\nstate[joint_eff]: [0.1436, -1.4017, 6.5573, 1.9121, -0.0366, -0.0415, -0.0122, 3.1385, -16.6769, 8.9231, 2.3272, 0.5885, 0.1343, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a24dfb734618369bc7252f09a61d54b4cf129ea15a115d999aa986b6f364cb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:779054c1be376c1dd230aa8c8c15160fdb1bc9871e3cc9d411ea2359b7b3de9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b3d8c44039c7fe5eada5bc26705256ee43526390e15d27e6a2795eae3cd37d6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 5.581 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.7441, 1.8896, 1.0889, 0.0376, 0.5766, 0.4225, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4116 right_y=0.2529 right_z=0.0779 right_yaw=0.0396 right_pitch=-0.0509 right_roll=-0.0403 right_gripper=0.9956\nstate[joint_eff]: [-0.2667, -1.5795, 6.5983, 1.8144, -0.0171, -0.0366, -0.0122, -0.9778, -11.7675, 7.8838, 1.5556, 0.4322, 0.2173, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9978, 0.7441, 1.8896, 1.0889, 0.0372, 0.5766, 0.4232, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9978 right_x=0.4116 right_y=0.2529 right_z=0.0779 right_yaw=0.0392 right_pitch=-0.0512 right_roll=-0.0399 right_gripper=0.9956\nstate[joint_eff]: [-0.212, -1.6342, 6.8308, 1.7949, -0.0562, -0.0366, -0.0122, -1.0188, -11.6444, 7.7607, 1.5263, 0.4127, 0.1929, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8032, 0.6136, -0.3786, -0.0231, -0.0296, 0.9978, 0.7902, 1.8187, 1.0817, -0.07, 0.6189, 0.4728, 0.9956]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1821 left_yaw=0.0007 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9978 right_x=0.3901 right_y=0.2534 right_z=0.0933 right_yaw=0.0258 right_pitch=-0.0621 right_roll=-0.051 right_gripper=0.9956\nstate[joint_eff]: [0.1436, -1.4017, 6.5573, 1.9121, -0.0366, -0.0415, -0.0122, 3.1385, -16.6769, 8.9231, 2.3272, 0.5885, 0.1343, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a24dfb734618369bc7252f09a61d54b4cf129ea15a115d999aa986b6f364cb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:779054c1be376c1dd230aa8c8c15160fdb1bc9871e3cc9d411ea2359b7b3de9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3d8c44039c7fe5eada5bc26705256ee43526390e15d27e6a2795eae3cd37d6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwsKEAgSGAI4AUIIdGhpbmtpbmcSDAYaYVR6hOEu2CZE9RoMWw/G7qHmr9fKIrPkIjCLYB7zZ+m6Q8HJSNT+0wYSvja4ybt23juwUBfWsDau8i76HIdOqUZeSDYqaAt5JrEqpAr3ueUCX4HZqZnPbSrPNda6nnAz4aDR4Eqdttqz6T2/TgMng9hGoRRHngJR7HI/QpHuHmMuVHX/i/YR8D1QAf9p0XzmSARKpTEW86R/5I1YZObRXGGTBxiiJ0+ps/YqJJyQOryPljTv/KAQFSAn25R0OwOz2oF4EIYRQkF259ljHrjkMP0XoxMbfK9fYOyyZXkgdpmLqCxQiHb8s+JczDuUgaWYfMJYZIXsDLSRK4MCJoC/xky1tXNDU7dKBae+ixZkZLyZCgv5j0WvCCeIJuvDjlLbWu0s1DpgWpSbnEEag1rvpI9ZHqOY/ubGTBme/WUN0fuvLs0snfwvLTia+Rmt9mkM5ylrTXnHvDp9vAS6qxrEPC/HlAqlnzn1hsELk3G+331WM+0ZNc9mdOgXGfvbaZKVRVPUA17V5UYl5LZkj4J+MR1eQqIrgq0nGsOKx13Bda9Rh5qNAglJy7vLSD8kxjIdagYkMGDMOb6lH6Jg7EyOcaQJFt0Ju720ninOSvXRoelCLFYnSS2iThqaLODo4nL/zNwsipu8eur6BOeBytlrXlScLHyNVOqMuBTPl5c1w7UOi+JA9bx79WhLRMeVWIBlZM9QOtgDV02zEZTVei3GzGgM7CV7TAjpFFcOu4e20dyx570EInCTWzsJi53uqCyKDVkR9Cn2yCR69ULtTKP55CJR4P/J9F27tEP/aBpOZbgi7mMqQQSOkKJEgjhWUOGrv6G9MfjYWjcRWVNpkp+tQxVvp2UQ2JBeHYm+BCl0Nz5QEqvR0teN4nBMi2+pD1M5sVMxd1lW5AWbAOMb3iFZEU+2SHXbdwZRBqfJO9rrxoSHdubDWih3Q45CptxvgjFiyTFFNeWzyH7IziiVvcziJucZGBJ7lEVILYXUXLQEEE6gC/Bn3CREGbP/P2PszW8mGMPHd6CI3hdtZIjpEohoPiKKKrayBb1QLqlv3QGed58dlOWh6EoI31kgrfl6JWdrpojB4OL96wt9lOy9TmSznItwsmA8ydelOxM56VK1LD+ZZtTGkcEhYXSwskvdiIrVv/2cyxxpzHLRuVWFp0kHeAZba6BeGx/oFHbO8M6siZ0V9XRWw+EmD5Jt4VANHFk5cguIDTqDJV3Tx/kKpK60LTDvm7AUM5vDF8XU8KxRpHPlOjGcmoc6Z4xtjeZqVgxtUcTMcc3yTfvqLGR1L3jIm1GitnJbN60nf3adFXX6PzolTsbg7aZ3/u3oB+hMVA7BGwNPE2TdREbzcPKbOrlIHK+ecqVXne6as4F+7EwkdUPo4eBUIvZAHyeh2egEjeMWQiPjm6x9tbC4yMkJ2UvTXDDdAQ2AA0RLjoAdTC9weztxstNwaHTe3H/xNBBHkFDKeSu9o0tMZfp+qmLLq9o/SMlAHP05k2yFsz29enehAnWihTj81fenEvygjUWe1OnImYUFP8+jxHM020GYI/+tDbCGuMe7o390bqRGwR1hPuOYnswtb631SmpyAovyNxQmUGc2Dn8D+8eG7eiXUAmlP+hCq6jhpsy/ZQ/XrOYxg4EUio9p1h/6TkAlWCUid/xYFLMppWxEZp2P8Y8rpmBu8Yvezgt489Mh4q6OlidN/3Nt19xYUX/ETYVglxR6mx0xTGlbyIYEp9m62IVSw7fmevjp2Balna3vjrnFYok1xpSP4UhG/UKP4VljpggJmzUQy0mfXzXX7vnR6S3aftEM7v2BJeiM9QcqNg9b7FQJXwtya4D7WYPGxle3UtM3cQxxwRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HhU1fmXyDhxGZ4JYJaj4Ty",
      "input": {
        "note": "Arm responding slowly. The right bottle's cap is centred just ahead of the jaws; middle bottle is close on the left. Descending shifted slightly right to grip the neck without landing on the middle bottle.",
        "targets": {
          "right_x": 0.415,
          "right_y": 0.237,
          "right_yaw": 0.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01HhU1fmXyDhxGZ4JYJaj4Ty",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.7242, 1.9614, 0.9623, 0.2111, 0.5987, 0.4469, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4051 right_y=0.2302 right_z=0.0296 right_yaw=-0.0107 right_pitch=-0.0587 right_roll=-0.0484 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, -1.5248, 6.694, 1.7607, -0.0708, -0.0415, -0.0122, -0.5128, -8.841, 4.6427, 1.6777, 0.0757, 0.0904, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b5d9de6e0c57739d1bd4ca8b3e6459a6f25aa93c8db54165f97aae0fc4aa9e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74d88b42d76d48a48f1b105d88e96f9ccb3b5f7da43b2353b9ef67f80c6d0a4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7ff1d64d5532c6ed25ba580e50a76d2836959fe4f270f7cd77cce5bf59d241c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 5.723 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9978, 0.7441, 1.8896, 1.0889, 0.0372, 0.5766, 0.4232, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9978 right_x=0.4116 right_y=0.2529 right_z=0.0779 right_yaw=0.0392 right_pitch=-0.0512 right_roll=-0.0399 right_gripper=0.9956\nstate[joint_eff]: [-0.212, -1.6342, 6.8308, 1.7949, -0.0562, -0.0366, -0.0122, -1.0188, -11.6444, 7.7607, 1.5263, 0.4127, 0.1929, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8032, 0.6136, -0.3786, -0.0231, -0.0296, 0.9978, 0.7902, 1.8187, 1.0817, -0.07, 0.6189, 0.4728, 0.9956]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1821 left_yaw=0.0007 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9978 right_x=0.3901 right_y=0.2534 right_z=0.0933 right_yaw=0.0258 right_pitch=-0.0621 right_roll=-0.051 right_gripper=0.9956\nstate[joint_eff]: [0.1436, -1.4017, 6.5573, 1.9121, -0.0366, -0.0415, -0.0122, 3.1385, -16.6769, 8.9231, 2.3272, 0.5885, 0.1343, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.7242, 1.9614, 0.9623, 0.2111, 0.5987, 0.4469, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4051 right_y=0.2302 right_z=0.0296 right_yaw=-0.0107 right_pitch=-0.0587 right_roll=-0.0484 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, -1.5248, 6.694, 1.7607, -0.0708, -0.0415, -0.0122, -0.5128, -8.841, 4.6427, 1.6777, 0.0757, 0.0904, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b5d9de6e0c57739d1bd4ca8b3e6459a6f25aa93c8db54165f97aae0fc4aa9e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74d88b42d76d48a48f1b105d88e96f9ccb3b5f7da43b2353b9ef67f80c6d0a4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ff1d64d5532c6ed25ba580e50a76d2836959fe4f270f7cd77cce5bf59d241c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2woKEAgSGAI4AUIIdGhpbmtpbmcSDOj+TzFVbvn9b2CntBoMFxW2pXgSRgJitF53IjDt9u+vOKdU0fl3qFkOYAeiCQ+/bRHnS50zqn7B3WKUc8+yNbUxmnp7ll0ZoLQKljYq+AnCwvOdN3jCf4HIH+f9dv30hTI9TKX8YSm2fdtOte3SmTwJpZHk1bKD/2BhQxi+PPQ2Bj/vW2l/lwuLwYKWLoEwfH5Q4WIQfo1O2jHfUWnSltPSeBbERARWnOT9+6IkH3M08q0I1AJBbnk3/2s6/nszsO6f0CIbtQfNMpOTViwo1gqUScPvtwDq5+YKwmK0vt1VJ6GZKVqcIBE9oR95Mg9EuVkg7f3t0WolQ5jWzxQMK918rAmwQkCf6yBZbiXqGUUAc3/PTZCpCJRZWbsuURGk405I0A9z5555hRbQkuKeCUtEgbfmctwEF8NlMeN5RswGrusdQXWNzrJx/uJTeyQ2nfrY2tMyCw3YSJEg/iM/A3WADI+UCzrpvR/oJ5MgMSm3aWkavNNJBM00jcPUykotB4PRw25X9Jzbq+C/ZS/MERa99oEZrmiCH1HA61sAPb0fRsCMPhI+e7YCmUIAj1ZR/W6+A4XB2R5aCSauZvmSizY6Pnc4gokj3rt4nARUdKNb1jwbgH0aGSN1McJ2U6qStHdAtM5LcqRZzIHaXuCv6WtQ2Z/B+7N4uleAvLuSxp6UTi1tpk12FL+uxnnnX8z1YFdVSuzjBxz+l6INdPwLdepv0z4tXhW1n+m9hMdcEQko/oj+kCQuuZeUN8WD1RTLmEnkvcP+F7z+jnCKVAmlVdOWojM4JzT5RCoVaurkFaD16XrUPS88PCiV3+Ulvu8qTcDn3dNBiVAFVnYWrLtXqqRGubWeWbTGI5y75lTDpPmyhPZ0v05oCgbLbVfmwFBWTypYzNuwxEuEGLAkJz88vmDBY2FuXLmIgutahXA3nyBjYqDhRdbi3p9ZPIcqNgUjp12JCVPNgttzT/AV5fqZkJxxOLqLYk0Nm6IdZNS+KgZry3unhvqyMaB3l5BOpJoMhEg5Apd7mx3dM5kj1xLlODDgKyM7eXJKwa97LJPKRPN0nvPMDV0ZX1vlQY1PoQ+SyopHhvdFodvoK90+obta4tkUv6UP71FRInxe81WXHlISi/iY3t2AsTjykhlzUazvQKP/d5BT950rNOJH1jXCN32+pfzP/eBedIqoXIGD7YUqtd88xOgFQjqEqQs/bXTZxmOGegT5CgCvkVXq3rNv5M7WRYL6gBYQH544gDYjG1WMbiGXyM/klDL85jO3kMYoXzFBnFukXV3ivbj9ZRsizTXysKVFImIXoEUOoAZdCficiEQVhbaEMmVrFYVcKA6MarkdPcSHPJWT4++cF+FXGoRXyLDB4ss3O5391JoPSMQc5XTqW4ac2FzBROwhS4fPDWllHE08M0VCK/b1SmQlVOxVoeneOaL9z5xTBkbPmqdU8izkjseuGwfFppKmk59g/TqzCajk5OFaEJWajc4htaQdaGF9gqeb46+ktDldIbILAh0VBx2H6U4R1zTXUiKUCM5ZOLtoHsxm+5xBJKaExNhh6wuB6Go+EDnetJumIaXndZnlQdDE9YMZVoW9VTzKKCbX5sDadYkWheBXJB2Yfar4zn83wxAYfCSTBfJXOEp3Y/MYwLdQCiV0m5/Dawb6cy5VzdD6hr69AVN9Bmi3+wEoK9yI73D3JJjYG1P7r/Ltb18yIdJqQ6v+i8lhPDAx7ifw6HfLBGn3gQdvRXdaOtKDEod61TL0redy9jNYm49G8Cp6lDh6lQ2Iu8XrhdDKqEJVRLIOWIoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N6h2hSq44Y8cF8tjCoXmPa",
      "input": {
        "note": "Jaws now straddle the right bottle's neck just behind the cap at z≈3 cm. Closing moderately so the bottle can pivot and hang when lifted.",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01N6h2hSq44Y8cF8tjCoXmPa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0227, -0.0296, 0.9978, 0.7261, 1.9564, 0.9173, 0.4248, 0.6094, 0.44, 0.1555]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4169 right_y=0.2398 right_z=0.0521 right_yaw=-0.0142 right_pitch=0.0745 right_roll=0.0573 right_gripper=0.1555\nstate[joint_eff]: [-0.3761, -1.5658, 6.612, 1.8681, -0.0562, -0.0708, -0.0122, -0.2393, -8.8137, 3.9043, 0.9695, 0.1197, 0.0366, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c476cbb087e7e4d1d2c01ce381dde6df388ce71765163eca864059ab0f47f42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7769e0dd8a6a9a0b1561e4e7b4e9a72f7e9d446e1b78ddaf9b708183891a981",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a5025b59856857d2cd1bf9f795d6a595eff1cf7ca4b81ab25108539c0e071e0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 12.14 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8032, 0.6136, -0.3786, -0.0231, -0.0296, 0.9978, 0.7902, 1.8187, 1.0817, -0.07, 0.6189, 0.4728, 0.9956]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1821 left_yaw=0.0007 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9978 right_x=0.3901 right_y=0.2534 right_z=0.0933 right_yaw=0.0258 right_pitch=-0.0621 right_roll=-0.051 right_gripper=0.9956\nstate[joint_eff]: [0.1436, -1.4017, 6.5573, 1.9121, -0.0366, -0.0415, -0.0122, 3.1385, -16.6769, 8.9231, 2.3272, 0.5885, 0.1343, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.7242, 1.9614, 0.9623, 0.2111, 0.5987, 0.4469, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4051 right_y=0.2302 right_z=0.0296 right_yaw=-0.0107 right_pitch=-0.0587 right_roll=-0.0484 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, -1.5248, 6.694, 1.7607, -0.0708, -0.0415, -0.0122, -0.5128, -8.841, 4.6427, 1.6777, 0.0757, 0.0904, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0227, -0.0296, 0.9978, 0.7261, 1.9564, 0.9173, 0.4248, 0.6094, 0.44, 0.1555]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4169 right_y=0.2398 right_z=0.0521 right_yaw=-0.0142 right_pitch=0.0745 right_roll=0.0573 right_gripper=0.1555\nstate[joint_eff]: [-0.3761, -1.5658, 6.612, 1.8681, -0.0562, -0.0708, -0.0122, -0.2393, -8.8137, 3.9043, 0.9695, 0.1197, 0.0366, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c476cbb087e7e4d1d2c01ce381dde6df388ce71765163eca864059ab0f47f42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7769e0dd8a6a9a0b1561e4e7b4e9a72f7e9d446e1b78ddaf9b708183891a981",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5025b59856857d2cd1bf9f795d6a595eff1cf7ca4b81ab25108539c0e071e0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjQoKEAgSGAI4AUIIdGhpbmtpbmcSDEH20VF4aLTzwBYScBoMc8zAwNjvFPgKdwcPIjCM81M12vKljA8imXUrJDc7xZ7pooUiAiP+w13Y6k4ezggciIOE1QdGRDrjEC5IZ9QqqgmpGhK642hfta+tDIllJQTudnLRLGrxIf4iX7EpOUo0nsD3GXo358RiHq8nLhs3/UkI4dMfE4PKl0X02NS38u8oauqoTjSL6L5biwd4gDyRX6caO39PHWrQXg1C5Pv01WU35+vzVZTl2ZB1mDyAvEYdDwSFOZABJ+eOk7JW2uHuFJfLHsRolns8Egf0SN+SBRexDZog4AuoMBMv4Mw1axIZqi4TlDMnUEZh0Q8hmuajeM6XaKJwMBm4zrsrT4ZFGVmtaOoaE4ho+rzEr4SoOjbL9pUsWcIfb6NamOL4kkeoRiEPXDTUaARp9gl7RgKnP3nifHT3I+j3c4ydoRDIKOZYupdyG+YuoyLrnOW+kJ3IG5x6pBKh5p7Q6ij0ElhkyX6k5R8xVuZBr8QLA5DvAP6qHUhYjec1+PQryKc7xv0l7d0qHvRUz0LL7+BwlpwFEmAxThq34e+vStqdhRnPJ7DrU8DCOTm7tom8Ec+vwl2Odo2xiFj0sNQsdK7/B1+66csVrI4rVjJuN0dwf11QU1xRF1NqC5iaarDxvsq9yMkXQkB64vqreFPpqFPexXIu/K4VY4Da/KZBRkPjaHxJ8njLC4RmUcpALZ3Kez4kvwrHlOOyQadtrEom75iJp1dqMb774aI+pl0VZnQBFMmLRdgYR5Y0hWEiE4dwZQ0p9RPR3e/PboWDiqRbC0eNZUhuG8Dj2ZF2zaseMMARb+LRltRhuM5M8Ilcol3R0/vO0+hWO/wrd/saXNa9aDRbaN3Z0EVmaHXgU7qk9ggu/OzcZFgFcbexv4xcFD2wtxpvh+juyDd+VXFk3UfPDB7zxGNGqfai/5kfRj8dcEDU69IVnYM6ovM6NYep0x4fWtHJ8Wm4bxvyE69yf43XVydmoD6oe48sBMDrkcjECKiMRt2xemr+3guVUEKVezXF5s+9BuNFvWpdFPuRNdfbhaSSZ3dMfAciCH1XSamytEKZc/9JhWkI8ZeIYmI3ZPK/XaDrLSTPDIp8gfwuYgPWKectgW0myFo9/sz7D9HMZW67NfuYkq9dfq4jcywCEUAoTpx74jQjxUh4QIGoSSYtCJFoujZTMm/tAt933CkuRnBjp8uWVot/VPa1ZaDl8p4h7AIOzkKIolgYcdTtqTJM3txRSHDRdCkH+rxObDoYWXMJoytVTTGQpR9iwG6ojq8+bGiACMuzjOo6PYs4qfJWjdaBOARVGuXbCzlkdGH9RO2LbqMdRmbTyBpzfdLwd+sUqTe5JAWEEo13mz50eEdGxfzz3BBJ7NWITRi5dr8YRa9q9Y/8n8IZ0VvtRUlGdoBj5dbjoyF0GtuwauTl2rBE3oDY/5ftrd6+t4VVEbZIG3jKjmf4m+cx7mJY0rnLPijbxdKv5Zfw+/ACIwgeKASVQLKnGSm+m2r3R+rMu+KlUnAjRgsYN1LhSq9jgKQZ40sKFzJnwp82Rll8VM3rvcGeLb+IG3qD8akKpdB9UzsaXz4SDMNSABKfNmGLO02dGq6ZpUrGEIXsNMI2TFHvireA/wmPdAJZfz5GorxYV44cVoAcD6pxnv6wq4RdMsBHus2Wf/q5SAITQSeH2ayZEABrxnYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KLfHYT2GDWgtx2wjssBQxi",
      "input": {
        "note": "Gripper closed to 0.155 on the neck region. Lifting high so the bottle, if held, swings down to hang vertically.",
        "targets": {
          "right_x": 0.38,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KLfHYT2GDWgtx2wjssBQxi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0227, -0.0296, 0.9978, 0.7918, 1.6527, 1.1896, -0.3222, 0.6109, 0.4667, 0.1554]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9978 right_x=0.3784 right_y=0.2441 right_z=0.1676 right_yaw=0.0373 right_pitch=-0.0504 right_roll=-0.0368 right_gripper=0.1554\nstate[joint_eff]: [-0.3624, -1.4291, 6.694, 1.8437, -0.0415, -0.0708, -0.0122, 0.1026, -10.3453, 9.6342, 1.6435, 0.5641, 0.2613, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5d6c0fb1a54dea1adc9b3fbdf5e3b5f8029945e00ac17e67f3480240f2f4e7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27a0261d821921b4bc390db485d12c8d46dda6493f61e0fe4ec374739896f668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff3183de07d81b97b169569e0a4985e1b7dc010303dc217b8f2ba5c8f9f2d1ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 4.616 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.7242, 1.9614, 0.9623, 0.2111, 0.5987, 0.4469, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4051 right_y=0.2302 right_z=0.0296 right_yaw=-0.0107 right_pitch=-0.0587 right_roll=-0.0484 right_gripper=0.9956\nstate[joint_eff]: [-0.0479, -1.5248, 6.694, 1.7607, -0.0708, -0.0415, -0.0122, -0.5128, -8.841, 4.6427, 1.6777, 0.0757, 0.0904, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0227, -0.0296, 0.9978, 0.7261, 1.9564, 0.9173, 0.4248, 0.6094, 0.44, 0.1555]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4169 right_y=0.2398 right_z=0.0521 right_yaw=-0.0142 right_pitch=0.0745 right_roll=0.0573 right_gripper=0.1555\nstate[joint_eff]: [-0.3761, -1.5658, 6.612, 1.8681, -0.0562, -0.0708, -0.0122, -0.2393, -8.8137, 3.9043, 0.9695, 0.1197, 0.0366, 0.1294]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0227, -0.0296, 0.9978, 0.7918, 1.6527, 1.1896, -0.3222, 0.6109, 0.4667, 0.1554]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9978 right_x=0.3784 right_y=0.2441 right_z=0.1676 right_yaw=0.0373 right_pitch=-0.0504 right_roll=-0.0368 right_gripper=0.1554\nstate[joint_eff]: [-0.3624, -1.4291, 6.694, 1.8437, -0.0415, -0.0708, -0.0122, 0.1026, -10.3453, 9.6342, 1.6435, 0.5641, 0.2613, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5d6c0fb1a54dea1adc9b3fbdf5e3b5f8029945e00ac17e67f3480240f2f4e7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27a0261d821921b4bc390db485d12c8d46dda6493f61e0fe4ec374739896f668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff3183de07d81b97b169569e0a4985e1b7dc010303dc217b8f2ba5c8f9f2d1ac",
        "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_011CVk6XBSWKUAtgHMi4XGFc",
      "input": {
        "note": "The grasp missed: bottle is still lying under the arm with its cap just ahead of the jaws on the jaw column. Opening and repositioning above the neck for a lower, firmer grasp.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.405,
          "right_y": 0.244,
          "right_yaw": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_011CVk6XBSWKUAtgHMi4XGFc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9978, 0.7601, 1.7611, 1.0866, -0.0921, 0.6006, 0.4435, 0.9957]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9978 right_x=0.3956 right_y=0.2432 right_z=0.1155 right_yaw=0.0263 right_pitch=-0.042 right_roll=-0.0379 right_gripper=0.9957\nstate[joint_eff]: [-0.1162, -1.4564, 6.6393, 1.7802, -0.0171, -0.0464, -0.0122, -0.7863, -7.6786, 6.5299, 1.9365, 0.2906, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5eb4df84002fc9d171dcc15a49fc99ba6cb42025b1863ecb100e925b4871a3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:028cfdf519e88811b602dd7995e3342e141e394a32f037193a4018571e0691b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:840c62dc7e857d675a2b3a6bbe4c7b888d73aa06fcd848061b06bfc07ec29435",
        "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 · 3.76 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0227, -0.0296, 0.9978, 0.7261, 1.9564, 0.9173, 0.4248, 0.6094, 0.44, 0.1555]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4169 right_y=0.2398 right_z=0.0521 right_yaw=-0.0142 right_pitch=0.0745 right_roll=0.0573 right_gripper=0.1555\nstate[joint_eff]: [-0.3761, -1.5658, 6.612, 1.8681, -0.0562, -0.0708, -0.0122, -0.2393, -8.8137, 3.9043, 0.9695, 0.1197, 0.0366, 0.1294]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0227, -0.0296, 0.9978, 0.7918, 1.6527, 1.1896, -0.3222, 0.6109, 0.4667, 0.1554]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9978 right_x=0.3784 right_y=0.2441 right_z=0.1676 right_yaw=0.0373 right_pitch=-0.0504 right_roll=-0.0368 right_gripper=0.1554\nstate[joint_eff]: [-0.3624, -1.4291, 6.694, 1.8437, -0.0415, -0.0708, -0.0122, 0.1026, -10.3453, 9.6342, 1.6435, 0.5641, 0.2613, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9978, 0.7601, 1.7611, 1.0866, -0.0921, 0.6006, 0.4435, 0.9957]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9978 right_x=0.3956 right_y=0.2432 right_z=0.1155 right_yaw=0.0263 right_pitch=-0.042 right_roll=-0.0379 right_gripper=0.9957\nstate[joint_eff]: [-0.1162, -1.4564, 6.6393, 1.7802, -0.0171, -0.0464, -0.0122, -0.7863, -7.6786, 6.5299, 1.9365, 0.2906, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5eb4df84002fc9d171dcc15a49fc99ba6cb42025b1863ecb100e925b4871a3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:028cfdf519e88811b602dd7995e3342e141e394a32f037193a4018571e0691b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:840c62dc7e857d675a2b3a6bbe4c7b888d73aa06fcd848061b06bfc07ec29435",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwwcKEAgSGAI4AUIIdGhpbmtpbmcSDCf97hGMi5HzD5IMiBoMUv5qNvunHWO8fB8BIjDerRZN1NLLNr8usklS5rKzQtsp/DkipzGW8eHkRc8QP2nKwmH7MU21tnhv/oUHMrUq4AaZPLnPC8TP45hA1KHtiwplvhyztw4ssuk7rBZnGp/AVBP7dLAMy8L1UMle6hVKQqVyTXAMYJumXk0dNnojL/5+5vmAT+JTvT+/5ax0vHKlHsKpmhlWSd+hYxER1rIfroy5X6TWY6tfFdv5MAsdEiWBM6vHQx0CU+1Tg3gfIo00jn08/XHjv7Q69t2O6iMZvySKZ/iiCBY2kpYZEAC9skQpPKx0ozWfc9EFCxnCRudt7cnpEOFybe7InSpum/l27lU5+kc9eoAAzNrea9Ap3Pd4PtzkQKhZquYoERFq/DqG5TMuNJqYTbhQ0DrvmBQcS/BLwYHW9PoXlBKzMDEsid7XyN9IaDZ5XIcRDCNGs1kr128T/BbJPisIjVxWP67VUD3hTcdah3PQBjMgV6y6nEf44JiqSvmidRWzZ7vHVcOA/I0N2iOmctZYz8edLydXqgdCk9Q/hr7Z5UJFSU2sfOT/X8HjaUeF0PdeRi58Hzpfi1G4PeMFISh8bhl1JXnosFEwGq1QRCBJLhkZOEm3uK0/xfMo9BV8JTUqyPrdwezQol30X9ODeruA+KLdFkuD14YbJHk5KLnxdfVbA7hH3+ZvcbYC6BetL+aydjd+bk9Y0rlrsf2vxEZDlu3lOT1gtmvUufaNUoNX7jvnenClwWVL4vz2dBp7QTzp5BuGZSraGli35kOESxj+laqvR7ieqob+0j+GZc17tw3KP+Mko2wEKWoQVho1s5LglX6j8DLqvWjTLdSz0u26DGZMDeXIq0RBZWTYKo5J/1JoPYsmlXcPC8TP7NNdvGzT6a4ghS71MvJB3/YT9lijPdUdbLn95OCPICb4Sgj0Jx8ryBhbBQVzwdvpF+EjrvjEP8w4LLNDOERcQo4hLPfKVKwIhRAJGMVdI1jusVNpCgwacs6SpercUCdncmjjnHJqjHfny3xX9PvLtCsqDmNPdOX3xkAyHpXyAemoOrd3fasRuP1GHrwMCEDVzdgoq0mqFnzkKYZp5Gs19SdUuboCy8n3y7XeMQVpiNYXzNTjOQbXXajAm4p+8uZ3EFT16lqIX0cJ6V/d/+Jan2H0GlF6wwYs5q5vISFwtIWXzQXqKCW1qOJf3+mHeyHHoXxtNRz/jPsxlAYcNKdUOvwlULvUuIaBc0ZNLxcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013azd6fcXn1pt1XZfMorJaM",
      "input": {
        "note": "Right bottle lies centred on the jaw column with its cap just ahead. Descending low around the neck/shoulder for a firm grasp.",
        "targets": {
          "right_x": 0.405,
          "right_y": 0.244,
          "right_yaw": 0.0,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013azd6fcXn1pt1XZfMorJaM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.7574, 1.9858, 0.934, 0.347, 0.6197, 0.44, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4045 right_y=0.2462 right_z=0.0322 right_yaw=0.0118 right_pitch=0.0122 right_roll=-0.0086 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.6205, 6.7077, 1.7851, -0.0317, -0.0611, -0.0122, -0.7726, -5.1487, 4.9026, 1.0232, 0.022, 0.1392, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ababa7ead77c910e583ea42d723b5b7f57de067a67f5f62a74aad37c6f13a447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:332e4241d86b14a3c545f57af60efe861ef1be527ae5f8b4831e791d90d0ac60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:11c723ce3b406c0a23ca9fe17c4b7e6cc8a57c51aa4b0ffdc99082ef085d4c9c",
        "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 · 4.679 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0227, -0.0296, 0.9978, 0.7918, 1.6527, 1.1896, -0.3222, 0.6109, 0.4667, 0.1554]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9978 right_x=0.3784 right_y=0.2441 right_z=0.1676 right_yaw=0.0373 right_pitch=-0.0504 right_roll=-0.0368 right_gripper=0.1554\nstate[joint_eff]: [-0.3624, -1.4291, 6.694, 1.8437, -0.0415, -0.0708, -0.0122, 0.1026, -10.3453, 9.6342, 1.6435, 0.5641, 0.2613, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9978, 0.7601, 1.7611, 1.0866, -0.0921, 0.6006, 0.4435, 0.9957]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9978 right_x=0.3956 right_y=0.2432 right_z=0.1155 right_yaw=0.0263 right_pitch=-0.042 right_roll=-0.0379 right_gripper=0.9957\nstate[joint_eff]: [-0.1162, -1.4564, 6.6393, 1.7802, -0.0171, -0.0464, -0.0122, -0.7863, -7.6786, 6.5299, 1.9365, 0.2906, 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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.7574, 1.9858, 0.934, 0.347, 0.6197, 0.44, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4045 right_y=0.2462 right_z=0.0322 right_yaw=0.0118 right_pitch=0.0122 right_roll=-0.0086 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.6205, 6.7077, 1.7851, -0.0317, -0.0611, -0.0122, -0.7726, -5.1487, 4.9026, 1.0232, 0.022, 0.1392, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ababa7ead77c910e583ea42d723b5b7f57de067a67f5f62a74aad37c6f13a447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:332e4241d86b14a3c545f57af60efe861ef1be527ae5f8b4831e791d90d0ac60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11c723ce3b406c0a23ca9fe17c4b7e6cc8a57c51aa4b0ffdc99082ef085d4c9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1wcKEAgSGAI4AUIIdGhpbmtpbmcSDK4QK2di89UuKtH9fhoMWF66hZFLFnhRkFoBIjBPws/8cKZJ4Klwba5NzsHFtPV7GLSWsrtRbBdgU9YRpxAVVUsnoRtQATyHPJYy1ewq9AZXU8bcaM2bfVPzi3Q549jRSIpXmNZu5Lm17EYrws/biMHu4IB7rFGGWNOiRziGUMMsLjzF6yRdLjhP17xk4pfqi1MTNKTriTJMY+xUzA+NMcoTQ16QGcGsfHWcK81jOlY4MvnrG0bn6x+XQHB546tZ3CA49+Edu/is2UD34JtJ/ubspMZKeJ7tEizIsjXJo+ya58S9+fLhrhOoxpkMxpjXf0YxByiepjeiGpArXYTNCaPEDSRjT/bqFekNS1rHqQwy5Hi9JSDgFu8ieaOTI7AOpk8GR9Kw9XwmN7y6fNEAJHYtm9y5WpHbnbK4V8wF+f1Wl3WiHR9whHpGlww0UY79LrP/nKPAYcHkbyErokJoLZqwJKDpwK4Pe5QcBUetWMzRsVnbvCMe1o7nE2341rzrMtdKkTMU1XWOkn+Hmp/6rIFTSMGEgk7qt6y8WW65wIF95dhPZl2VACa0yuGeyLLIdox2iHhKFvjVvX7W4BdYGBIBrFzgHCTQYFiVIjc2++pQNJ0GeDEwRg+xBXWd3IqANiJSogI52BbeG+SCOwDOlkKfugbQjyMFc4U2C4VsjzvowJPTqvwu/mFSr/oKC/h2Emzxej+/4mi5PRG86FeO4tP6wGtmZmSnlm6O5siFqQnSh5qOogriDqEfoT72Ai7VgfpNUoeikDYhmnby0P/P7F586IPqQRRnOzabiL+rwP8Vl5SkxJmnyOvbY7byC4N29juFIn/BhCPK/YPw7vR7hM9QqFsOIRalfiw6ruZV4AU8keHKfeFpjKmHBOQhyHCUCsr+x2Ypzryepw/h4UTBblLXfy4Wz9/Slk7IPPzH+01f88CG12JDyiHXmssgLh+hB8tMnx1alwYHdIU0ihhaf/3vkeKd6pJaNdVgYT18ZjJdB91FgQW6QMQLhJne+0YKvPhY8hdKbg0sRqIJsxTfE02W9M2OB2+RKZlMqJXd+5spEOotzxG592a9V9yUu3xJ29KNnHMwl/BBlKGHloqu+vGKxsz1NhETtn2ydgsb2FRyWS9hCcf3GOKccIuqCyVBQbXClC/q4qju/x2Ovld+BEnF3dzVyHHJQpI9ulCZ6MeBTC8Pjrl8zKSoAmciepwH2QmBpsX9KcW+LWwFtdh9e8HxKsMBLVvs2wv/5PexqD6AuLmDiAKG/HmoeiHSfg9zBT7zlBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BVEjr5QXWqdcboLJiN19wD",
      "input": {
        "note": "Bottle neck/shoulder is centred between the jaws and the descent stopped at z≈3 cm. Closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BVEjr5QXWqdcboLJiN19wD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3794, -0.0231, -0.0296, 0.9978, 0.7578, 1.9755, 0.939, 0.3897, 0.6163, 0.4438, 0.3753]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1822 left_yaw=0.0007 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4101 right_y=0.2525 right_z=0.0454 right_yaw=0.0115 right_pitch=0.0533 right_roll=0.0357 right_gripper=0.3753\nstate[joint_eff]: [-0.2256, -1.5111, 6.8581, 1.7802, -0.0464, -0.0513, -0.0122, -0.5402, -9.265, 5.5179, 1.0134, 0.0855, 0.0464, 0.7253]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7106dcf5a08d26ae80c575bf2651985a6d714ed85ae7b0ab27debe24dab436e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd85e9e56ff8db8ce1770c6f8ad1efaa5c984813f31503820a3ad210e53da368",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:123cce2391b2587bda1c65d242df0b614a6079de2d12c216f825cc82c263c373",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 11.91 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]: [-0.02, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9978, 0.7601, 1.7611, 1.0866, -0.0921, 0.6006, 0.4435, 0.9957]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9978 right_x=0.3956 right_y=0.2432 right_z=0.1155 right_yaw=0.0263 right_pitch=-0.042 right_roll=-0.0379 right_gripper=0.9957\nstate[joint_eff]: [-0.1162, -1.4564, 6.6393, 1.7802, -0.0171, -0.0464, -0.0122, -0.7863, -7.6786, 6.5299, 1.9365, 0.2906, 0.0513, -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]: [-0.02, 0.8021, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.7574, 1.9858, 0.934, 0.347, 0.6197, 0.44, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4045 right_y=0.2462 right_z=0.0322 right_yaw=0.0118 right_pitch=0.0122 right_roll=-0.0086 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.6205, 6.7077, 1.7851, -0.0317, -0.0611, -0.0122, -0.7726, -5.1487, 4.9026, 1.0232, 0.022, 0.1392, -0.0269]",
      "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]: [-0.02, 0.8024, 0.6136, -0.3794, -0.0231, -0.0296, 0.9978, 0.7578, 1.9755, 0.939, 0.3897, 0.6163, 0.4438, 0.3753]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1822 left_yaw=0.0007 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4101 right_y=0.2525 right_z=0.0454 right_yaw=0.0115 right_pitch=0.0533 right_roll=0.0357 right_gripper=0.3753\nstate[joint_eff]: [-0.2256, -1.5111, 6.8581, 1.7802, -0.0464, -0.0513, -0.0122, -0.5402, -9.265, 5.5179, 1.0134, 0.0855, 0.0464, 0.7253]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7106dcf5a08d26ae80c575bf2651985a6d714ed85ae7b0ab27debe24dab436e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd85e9e56ff8db8ce1770c6f8ad1efaa5c984813f31503820a3ad210e53da368",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:123cce2391b2587bda1c65d242df0b614a6079de2d12c216f825cc82c263c373",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSwggKEAgSGAI4AUIIdGhpbmtpbmcSDHgv4XiopFOSHsiCZBoMaBpLot5S6jrQfEmbIjAxxHOIoJtdSNSE0vmV+RvRib07i4GS/m6mlDBcE/LeRTZBupdZLckoo4wYSsKn8dcq3wfJTXyQ6yM+PacFEBJ3Ka85lcjQwV4HuQ7p5DAFkdRl+BDskP2mbEU/onL3+LMrzutofLHtRbzE1haho9jL+q2TufiopTrxBswMAWCAvPMEeGbWVq10qNJ9MJ5tHOly5XgYsF5kGXtuZN/ZCLjFGqf/nY7EwvgDUEEUuJQ/ZQlCyQcZH+wgyS79PYrSBSds/bfuU6WIm62gapgBCksp4akBd6Et+TdbPI8q5IjYAhz4C3ABddipLgrH8SdPGLhXNK1saiCtWzjHDLdgrJDQJJBg8CvdD/hfLBL0I44XDaVyFXBbbei8iNQwdLRMUoYSOOQG1CFdlBZnT4nHFvCLDE9pqmxQyYQTww+fYld180/ezG7pKXbanAiU0N1fyN57pJ899OWanNkn8T0JJiGhNBMnGMdW4TOkZ5UYCK6TuLi/90vTB1jhtKCM5sedZKnqWLsYvGd/KVaCo6j1zInVX2BAGaC9eRc61AcTS4xUcJ+WA9JJqBkHXOTUkJAEOZn3SsVfDKGkll0C5U1R7DxoEb138Ul7WvCtdxoRJZLx5FoRZQDtsUClXh0m9o4tE5Tn+aLIVZnCWWzmlsysE8weDtzJIQ+9iOc8ukvgiAQkpDuDuO6Dmubc62NqYX/bSJ1gtg3DLbp7sSmrixi6dIPNZO9JrXkmXnjRCIaVL53MYN4HDcKnZvFN0XXxhiuVsnBmGafZf6loYOOIh4vFRQrYRVAwMtL77a0qT46DpxzA51PPlpcjW+v4daClMik2qZHTLVjWnEfNMGiWOIc8EuesNeZSj7c76zKIyRa2NgCWDCQYzrP1w2wL2zCDLdQHwNGMdSklXh7nGR6VtTRUHbFrw4Xu+UE/R6EC7g+0tj60909VDAcd2g0wFvl4FuRnYUPI92dRnOY6zDn51ozsbFYXUhbTZBpjnTEVNS1XXPjvyKjE6S5gPI6oVFcazM4dBE81GXj9WXDyFiGuHSg8ajh5oPpk7GEvruTJDYi+yigEaxP0/DMDdSwAVmlCkZdTgHP/uvIoxx0+s8jGm3Gwj9HUQ6ecN34G4WuSUkOG4qYjjTu8uD3eSh0PkA6LRJTW/iY9/CJfOxB+u7oMNxYaQjmdzclpr9V4ohfQ47A9Rd3Vi7O2mhjTQUWPz57fpqohTe8aCykZQhKOThfFzFrtfwiSbn61KLb2CtXjUzV/Kw0kya6q92FaFT1VLVLLiiTy+Hpk3Zw1ZEDd1/7aCARJIDKxYIKaJ6QjOGRRHK2op5xsTDUBk2RzeEY+5MkV8mlzqW5nRUwcHrehGSHN8GQFAXtqK/ULTReY8Fw4l+Dt/A9XKltlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WhaXMjbpMDwxk59k7Awo3m",
      "input": {
        "note": "Gripper settled at 0.375 (~3.6 cm) — holding the bottle by the neck just behind the cap. Lifting high so the bottle can swing down to hang vertically.",
        "targets": {
          "right_x": 0.36,
          "right_yaw": 0.0,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01WhaXMjbpMDwxk59k7Awo3m",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0231, -0.0296, 0.9978, 0.8593, 1.6451, 1.5055, -0.6849, 0.6582, 0.5205, 0.3735]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.3619 right_y=0.2598 right_z=0.2467 right_yaw=0.0404 right_pitch=-0.0527 right_roll=-0.0449 right_gripper=0.3735\nstate[joint_eff]: [-0.3761, -1.5248, 6.735, 1.8632, -0.022, -0.0464, -0.0122, 0.2393, -10.4684, 10.0308, 1.619, 0.4957, 0.2808, -0.1929]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd92edca1848a9741a0de5e650ca2fdfcdc8e6f93ed86cd9e8b4eac8d753638b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b2efc0d3c7155146ed81718e3ac9836bf2919da9240d66811181b998067faa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c19c62d0e5ce8d1381285eade955912a63a8618e284e3876be2f6a593ff47bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 5.195 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]: [-0.02, 0.8021, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.7574, 1.9858, 0.934, 0.347, 0.6197, 0.44, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4045 right_y=0.2462 right_z=0.0322 right_yaw=0.0118 right_pitch=0.0122 right_roll=-0.0086 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.6205, 6.7077, 1.7851, -0.0317, -0.0611, -0.0122, -0.7726, -5.1487, 4.9026, 1.0232, 0.022, 0.1392, -0.0269]",
      "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]: [-0.02, 0.8024, 0.6136, -0.3794, -0.0231, -0.0296, 0.9978, 0.7578, 1.9755, 0.939, 0.3897, 0.6163, 0.4438, 0.3753]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1822 left_yaw=0.0007 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4101 right_y=0.2525 right_z=0.0454 right_yaw=0.0115 right_pitch=0.0533 right_roll=0.0357 right_gripper=0.3753\nstate[joint_eff]: [-0.2256, -1.5111, 6.8581, 1.7802, -0.0464, -0.0513, -0.0122, -0.5402, -9.265, 5.5179, 1.0134, 0.0855, 0.0464, 0.7253]",
      "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]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0231, -0.0296, 0.9978, 0.8593, 1.6451, 1.5055, -0.6849, 0.6582, 0.5205, 0.3735]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.3619 right_y=0.2598 right_z=0.2467 right_yaw=0.0404 right_pitch=-0.0527 right_roll=-0.0449 right_gripper=0.3735\nstate[joint_eff]: [-0.3761, -1.5248, 6.735, 1.8632, -0.022, -0.0464, -0.0122, 0.2393, -10.4684, 10.0308, 1.619, 0.4957, 0.2808, -0.1929]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd92edca1848a9741a0de5e650ca2fdfcdc8e6f93ed86cd9e8b4eac8d753638b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b2efc0d3c7155146ed81718e3ac9836bf2919da9240d66811181b998067faa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c19c62d0e5ce8d1381285eade955912a63a8618e284e3876be2f6a593ff47bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WECrikRkxytsoCSEV4dYNT",
      "input": {
        "note": "Gripper still reads 0.37, so it holds the bottle; top view suggests it now hangs vertically below the jaws. Lowering slowly so its base touches the table upright.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.26,
          "right_yaw": 0.0,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01WECrikRkxytsoCSEV4dYNT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.944, 1.5887, 1.1816, -0.5301, 0.7147, 0.5964, 0.3733]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9978 right_x=0.322 right_y=0.2533 right_z=0.1702 right_yaw=0.04 right_pitch=-0.09 right_roll=-0.0979 right_gripper=0.3733\nstate[joint_eff]: [-0.212, -1.6068, 6.7761, 1.8144, -0.0562, -0.0708, -0.0122, 0.1026, -8.6359, 8.0752, 1.9463, 0.5885, 0.149, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c767865548ff93165796da30f9188a3df2b492d1758f414d532d76d5cf446b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d0e329f7af3afa861be54a549c5144e7f630a747d77a4a0e929fa84b62d059b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:178f56471fab28e2221f685b07fb583a9bbbabdff1c8cef535e8030d1c184ae2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 5.309 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]: [-0.02, 0.8024, 0.6136, -0.3794, -0.0231, -0.0296, 0.9978, 0.7578, 1.9755, 0.939, 0.3897, 0.6163, 0.4438, 0.3753]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1822 left_yaw=0.0007 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4101 right_y=0.2525 right_z=0.0454 right_yaw=0.0115 right_pitch=0.0533 right_roll=0.0357 right_gripper=0.3753\nstate[joint_eff]: [-0.2256, -1.5111, 6.8581, 1.7802, -0.0464, -0.0513, -0.0122, -0.5402, -9.265, 5.5179, 1.0134, 0.0855, 0.0464, 0.7253]",
      "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]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0231, -0.0296, 0.9978, 0.8593, 1.6451, 1.5055, -0.6849, 0.6582, 0.5205, 0.3735]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.3619 right_y=0.2598 right_z=0.2467 right_yaw=0.0404 right_pitch=-0.0527 right_roll=-0.0449 right_gripper=0.3735\nstate[joint_eff]: [-0.3761, -1.5248, 6.735, 1.8632, -0.022, -0.0464, -0.0122, 0.2393, -10.4684, 10.0308, 1.619, 0.4957, 0.2808, -0.1929]\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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.944, 1.5887, 1.1816, -0.5301, 0.7147, 0.5964, 0.3733]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9978 right_x=0.322 right_y=0.2533 right_z=0.1702 right_yaw=0.04 right_pitch=-0.09 right_roll=-0.0979 right_gripper=0.3733\nstate[joint_eff]: [-0.212, -1.6068, 6.7761, 1.8144, -0.0562, -0.0708, -0.0122, 0.1026, -8.6359, 8.0752, 1.9463, 0.5885, 0.149, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c767865548ff93165796da30f9188a3df2b492d1758f414d532d76d5cf446b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d0e329f7af3afa861be54a549c5144e7f630a747d77a4a0e929fa84b62d059b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:178f56471fab28e2221f685b07fb583a9bbbabdff1c8cef535e8030d1c184ae2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwoKEAgSGAI4AUIIdGhpbmtpbmcSDKrHUx+7ZtCo9EK3jhoM7VCuaqrs9F1Jq/k2IjB1Bh8PQ13Swh6Lifkouz1/aJt5JkZLpTSsbyq4TcIvi7LpDH/2u8qiWMyShlRUHncqpAlQgCULb4cd6K0Bn7lzeZH6shQ8S5TiZvoInL/7yDm7Bwx+5/VZm49vNLpRCD/ap8fzl99l24wowJDtFnQs7BG5y3ex3eCf4GJk2Zmo8fkENb96KgHMZGF5KRDtLp/2LP2s5JNcV6npoHu0o/EcA9SYxkvmqJ6f379NS//ZiuRlaXv+sAtCVs0xYZiimJZc7qRf0HOpaI0YZvB3Dhnbm3Xq4iT297m+7a56nkuyr9nerGuZI20sgz0AFgw3iTB+PHoWhzeG13Pvgv61LA0es9+qrxOJZLBdI053nhrZPN48Gheq9Lqw4ZVatmdzuFx8XBhdIn1Twtq9EQ+l7L8VsmyKnLs2icbzunerNzPbnDFXiDdRgy9oviqFhowjyoM1Hwp86yQBC8Xd6sH8ms07j1dClaaUUmCYovPiKof+c1Q7x9oduFzK7KTdCsKgWJUbeqpYHD+HjhhkBKBV8yh43JGQqX4+g4RVb+Dg0d95Pw5SXNPAqEz7rhcoEZA0gkp+iergexjjTRG2uWc6posMiY6R94mqpc4w9yFnmk7UGovUbo65aTrrLyuRZUm246uTfOpFXE9J7cbjeXGdVGRx4mulHEESZfWPl1I4095vgAimvxjFcD4mOraIjaja8OpLSGPyekQQ+M+h1UZLQ9AVVdBzVofo0De3Fay5Fl940MupWmPI2GKNV3Rdy6V5hH07kOYuqu89t/cd+LqRIju5mlWJ6+W//VunHzVxscqGnZC/8ZwgcaFZMrVl0KMH7dJREqMMkCXJOBHFl5LbMI3T7HPhaoAMrfysiA6gmn7T8i25pw3tOGHwhXMbNgreh/Y3NnmHporDlEJ1LsXgirloZHRGrq2KNnmq1wqWddzQBoK+7aFdeSc2n8d41DUp0kw6418owI9zxumwP+zwL/9JsY/0sLojZLIuzdnqdQ9g4GEHmeFfUUQOhMjkXt45+AFeocPgrBOIdpgLUcLlmeG6pW1tHUknyFGnThpxJGilh89hFeSl6goLwlnoWXWaaYkpw9g2WRSy5LdItIOhc+rLDuvdROmROoAouU8zPojfjz8tm8xUDPoZR3CvR8+dMxy9UlDq4BxaJBUfffMHphmhtzFqlHFEM71wutwrq7cutxBT7shW2Av7KRm1DETgozMXhIPpohJFvgEfHI3LuTlRo/eGymYRYNzQ8wRS1GuIevNBd6CLwlW1XLCPsMchs97DuVyh85A1x5kVGEsUahENUZgleS3FMfQdsw/8D9oeheFkQ08dwZbeT/zMyFeGKxrkL+qvnjUENw1XiqY3NAIlTO7AUipZ42nuwvraYrpHLIEWgyAKmCNWPIGBQvpLRB34zTrdLHRwQgxj2UotE7cvXwg0U30ztA4ad268yGt95WZltYdb6SjB2joRiOO0qG51Wm8A+uD1rsnv+ooYeXYiJY+5en0PJlvioF1KRRil9RAnINw3tUESvqBRYUJg1NdkBizD4b+tQV30NtXxIO+5j9b8KsNbFo6uAao8j4ClGqrjlMle9+MIfXc1sTIZvHjkdh+tEOfisAvXre3nzxi23RanZaRb8SWUVoajuD9Dvgr2lGODgJMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GVtbtF6e9GWtZMRdGL47cx",
      "input": {
        "note": "Still holding (gripper 0.37). Lowering further until the hanging bottle's base contacts the table; a stalled descent will indicate touchdown.",
        "targets": {
          "right_yaw": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GVtbtF6e9GWtZMRdGL47cx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0227, -0.0292, 0.9978, 0.9543, 1.5883, 1.1706, -0.4725, 0.7334, 0.6209, 0.3733]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9978 right_x=0.3246 right_y=0.2597 right_z=0.1751 right_yaw=0.0277 right_pitch=-0.0487 right_roll=-0.05 right_gripper=0.3733\nstate[joint_eff]: [-0.3624, -1.6342, 6.8034, 1.8095, -0.0659, -0.0562, -0.0122, -0.3897, -8.6496, 7.1179, 1.6532, 0.4957, 0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a217a0032f4526686d1ad773876f402934cdb9926ab9f877b2f13bc3bdae472a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:348e35a5faa4176be5d17c4f5c92de45324eb9c5dda3623caa9cfe1393155be3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27ace23df468b7407868143f2a3bf26d4cf1925aad309613382bab1cc0eadce4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 4.443 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]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0231, -0.0296, 0.9978, 0.8593, 1.6451, 1.5055, -0.6849, 0.6582, 0.5205, 0.3735]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9978 right_x=0.3619 right_y=0.2598 right_z=0.2467 right_yaw=0.0404 right_pitch=-0.0527 right_roll=-0.0449 right_gripper=0.3735\nstate[joint_eff]: [-0.3761, -1.5248, 6.735, 1.8632, -0.022, -0.0464, -0.0122, 0.2393, -10.4684, 10.0308, 1.619, 0.4957, 0.2808, -0.1929]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.02, 0.8024, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.944, 1.5887, 1.1816, -0.5301, 0.7147, 0.5964, 0.3733]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9978 right_x=0.322 right_y=0.2533 right_z=0.1702 right_yaw=0.04 right_pitch=-0.09 right_roll=-0.0979 right_gripper=0.3733\nstate[joint_eff]: [-0.212, -1.6068, 6.7761, 1.8144, -0.0562, -0.0708, -0.0122, 0.1026, -8.6359, 8.0752, 1.9463, 0.5885, 0.149, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0227, -0.0292, 0.9978, 0.9543, 1.5883, 1.1706, -0.4725, 0.7334, 0.6209, 0.3733]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9978 right_x=0.3246 right_y=0.2597 right_z=0.1751 right_yaw=0.0277 right_pitch=-0.0487 right_roll=-0.05 right_gripper=0.3733\nstate[joint_eff]: [-0.3624, -1.6342, 6.8034, 1.8095, -0.0659, -0.0562, -0.0122, -0.3897, -8.6496, 7.1179, 1.6532, 0.4957, 0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a217a0032f4526686d1ad773876f402934cdb9926ab9f877b2f13bc3bdae472a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:348e35a5faa4176be5d17c4f5c92de45324eb9c5dda3623caa9cfe1393155be3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27ace23df468b7407868143f2a3bf26d4cf1925aad309613382bab1cc0eadce4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wkKEAgSGAI4AUIIdGhpbmtpbmcSDOLig9lRUCVlQacHMBoMc8zaq4pwnSCHeqn3IjD+C8hCmwvj8aDbNvQK1+J6PXIj2rtMiGuInhsIoyZZ9dw6KSCYnhKcHAbfnw8a2fIqiAnckg4d9uCUs+Yin8QUN8HdsJCkCeQPOxjbNziF8ASjZh6H4DWp31elu3bq7Oin79Hmb6ktT+QrieuVtbjW67x1JyqjFhKhhV/S+EtAsH/GyXN3d1jkJQuOD4jnrzLZV3tfvUPHcElHXd1grk7tEfm8fKA/OhB5cXuLZuLsUR7lbq/dIXdeQ23DRnS90ibn9dg87Kq/gCEPMaQ2GMHZeFgOIp1b7fdQ9eVsbaA/uRBAmol86joIh+ubb/2Ki+gqgc8IR8N5+BHJ2MhUNqBLdpdxxD9a2VAGOsXOus5g40DQJZns0aVLi9KEIZqhqTJNMHvKbo9lz1uK1a+K0JoURaSflMox+Ph6iB1WQh1GRcWQSCsNkFTFnB96q8187Ve4gr6DZJKRIirnnZ+Ekx+dMWEmKBUc0XqhRtJrfb4hAPQhL3hGGW0gkdwL3CAmLayyG/gmAwp6RGqypoRvd/4TQErp/b1ThZz7AQBjdGlnPgPYBD+c15o/IrDEaNDRhloJw265yjxOKpvLwBTRvytVV3/1wGKBIYcdpXjI+2HKeasfSWAWob9twOg9qyCbQ8rHO1ulpZ47Ncgxq0pkWdGGSXnixZNIJlYIsuGh+MgTZsyiQzQzZ0fFwpcdNxFIUfVq2Ux1O+zZOCihYunzC5o47of+SrkTPVk/OSF/DZYenFjMoZWBTwBumjUPMfYVA+JX30LM0ZgPIT/RbPeTEAxb7o+8Aob+bNc+4yXGoG5cFtmWyLQFCrUe3rLn0T6fjpVC/x9jeqN/b1MwiVg5NGFnThKopClAXlgqzFxoa0yoB41CxbPsheEvDp8bu/renAEMqIfvVRC+ZkoIOLW0ETalBx1NkF1p07506z8qSHMuDBNNE5gD6OTw8U2HgG1jVjJKzlR0ySniGC8fvN3nr5tZ/NGzOio4MEkyoXF+yIQPIW0+eyh6WcrVjJYCr6md+sSmY9knHq8C5uoHtFY0WmkA8QYKJYzYJet/CUWpXtUykciUvTu1JP/Y7u/HX9fq4Km86K47oyjBS7qejBq/wWOsCUSiJfgcgRInLlsm7DwpAxsqZijPRSRIg2HZ+f4rEP74mrE0D7dtB54/7wMSi7a41NmtumIByGs5v7EjEFgkkvvwG08tC435K+h7dBxdHBK7sLdH5yokdhYotjX0qdDeQPmPT8vvXU5VJZs1lsgr3PbOIEXGHenRStntk0yerqR79ii/pYIs3+fL84dp2PuTsqx/Z0a+uYV7UlyLStqVhfp325AagjaabV68JXnfguwZE0j/sV4SxJiequ7dg6xP+eBPfCfQQR2gqCdvmP6UkQ6bV7q7u8e0rP2P+2BbqEO2NCNTw6Uq9TUHneraucE4F1UyvqG2FkgQm8WJVg6Ig0tOSAO01Ra8UrMc0+qNiZe5UpC8iUsIbL6563gemp/1JCw3QyS94qJbtlBAftf/GUG2BMM2wyNg2vGGMNKLWNpQl2LALw9abvgy1SaTxiQCErnK8mwlqql7ZO/BBxDCzVXkTGa+85bVDVyS7ngn7fT3CycI/+rzwl86uhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016cBayP97UA8kkuG2zCzc1S",
      "input": {
        "note": "Descent stalled at z≈0.175 while holding, consistent with the hanging bottle's base touching the table. Releasing it upright.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_016cBayP97UA8kkuG2zCzc1S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9978, 0.9543, 1.5883, 1.1702, -0.4728, 0.7334, 0.6247, 0.9957]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9978 right_x=0.3245 right_y=0.2596 right_z=0.1749 right_yaw=0.0257 right_pitch=-0.049 right_roll=-0.0475 right_gripper=0.9957\nstate[joint_eff]: [-0.0479, -1.6342, 6.5846, 1.8242, -0.0366, -0.0562, -0.0122, -0.2667, -8.6359, 7.1316, 1.5849, 0.4713, 0.0757, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3bb6aec37d27b14e7379f358cd70789b4c24055cc6773f183b3468adcc14914",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e5f964ed6913feba2375570a29fc456647fc65c2eed2f535999fc1d8b271c6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83679a574478adbc1521041a2375b74165ce60f8c83cebc51bbf9951945aeeff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 12.75 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]: [-0.02, 0.8024, 0.6136, -0.379, -0.0231, -0.0296, 0.9978, 0.944, 1.5887, 1.1816, -0.5301, 0.7147, 0.5964, 0.3733]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9978 right_x=0.322 right_y=0.2533 right_z=0.1702 right_yaw=0.04 right_pitch=-0.09 right_roll=-0.0979 right_gripper=0.3733\nstate[joint_eff]: [-0.212, -1.6068, 6.7761, 1.8144, -0.0562, -0.0708, -0.0122, 0.1026, -8.6359, 8.0752, 1.9463, 0.5885, 0.149, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0227, -0.0292, 0.9978, 0.9543, 1.5883, 1.1706, -0.4725, 0.7334, 0.6209, 0.3733]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9978 right_x=0.3246 right_y=0.2597 right_z=0.1751 right_yaw=0.0277 right_pitch=-0.0487 right_roll=-0.05 right_gripper=0.3733\nstate[joint_eff]: [-0.3624, -1.6342, 6.8034, 1.8095, -0.0659, -0.0562, -0.0122, -0.3897, -8.6496, 7.1179, 1.6532, 0.4957, 0.1538, -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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9978, 0.9543, 1.5883, 1.1702, -0.4728, 0.7334, 0.6247, 0.9957]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9978 right_x=0.3245 right_y=0.2596 right_z=0.1749 right_yaw=0.0257 right_pitch=-0.049 right_roll=-0.0475 right_gripper=0.9957\nstate[joint_eff]: [-0.0479, -1.6342, 6.5846, 1.8242, -0.0366, -0.0562, -0.0122, -0.2667, -8.6359, 7.1316, 1.5849, 0.4713, 0.0757, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3bb6aec37d27b14e7379f358cd70789b4c24055cc6773f183b3468adcc14914",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e5f964ed6913feba2375570a29fc456647fc65c2eed2f535999fc1d8b271c6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83679a574478adbc1521041a2375b74165ce60f8c83cebc51bbf9951945aeeff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS5gcKEAgSGAI4AUIIdGhpbmtpbmcSDG9l8d337m8j8Y2aHBoMwJk8+Mjy7kAkXMgjIjDDq8RCyrdUnTOxnTcem7HnDPZo5bj/6+NAaW4yqpzuDQV2fXjSidPMqnTolODvA04qgwe6dH6ImyNXtlX7wbCcydRzckqBZ4JDE8OTdPjyoO2k+nj6r/W5wWyH/2xzknWMVGm2YtmnxsQQW4jv/IcTR2tj/GBAjEMtZM/Kk3R+ePnwl42DO1r6OOAsG7d0qQ12YDuHT+bCEx6QSCjdL4YTtB8rBuIbWSZabtOCDlH+P3DF104e5rrPUWg4mhNX7ywpyetsz1h2sTdqvqZjihAqMvYRoFUHhq8aXDNgwTxVOHmtbXDMRZ6Wp6uT6lGF/jBtarIas3kqXKH4Hqe1CR/z4XKT9o6hbZwaVIQ7+MFzpLfNMNHpLTXdA1dlNK5m5eeybPuOHdIMB6nW+oXO1SaXpcwCwsOPHYWDP0wmB1bpgZWm3gxd+pihwDKh77oFZo7UO+eWGILSu5AonmKj+dhEGar8jtMI70vLmql3rFxBk4R6lxIwOFRBOIbzeZAQULUZhvDl4U6LJJtoRyRdL84iM+sVYOe4EB4nOZzszM7ANtI88YbD2R4MNMz2YKVzq/JwnwPuhyjWomk3wjDPJd0ESm5B7+vG7Wum3nvzfmjzrvMyYn4qT0+p056PeM/lUN27B41VT2Zl0XeOimQ/F+7vxiRPxA/3BqOY84/BF4ATUiPwwA+hCDz+5i70+dRjvzUK+FMwTTmTYbRjPbzLi6qa4q8NNYtVQUQWEKLhdXuLfqo4R00kDe0R9tN7KrUDenBWD7bhf5iWn8J0ehr9cLwgCHV8cQ4akBOJPyQEzDRi5MQoYkGIDAcUFXMVKu/Y8FvIHpJuODEVza3mqznLU9Wy6oAbRdhridB6L2E4AspQeZp3qTlli/LtCMt4p+bYXKY7x2R+MKuaE+ldhcCvGHevE6xwHhWEwSIj4xy2zoV4vvYdrSwBeMuBNUdpZMCEtAWEKeZAbCCees2tOPFwQFYlTmG/KxVQChz0egMUhylPsIz/Apiwsi8uogo0Tqc5r0jzWU1dHPHRa5b24Tsx6PtNkdVls/2/w122yUtjA3mBXwP26nw4WYMmxsZcrmOErLLdmywo9+DFs9JsGk5w7K1eRkaBZlByngW2zkhgaHBISrsvqExQ3CvcAWJn1Ky4ZMYk3a13+KIYwO7Fm9jwQUMYqNCLiy2CmVzYH5/cAXwrGwDSVmoa3VW1zLc6pW+OSiVpF6+ip8BSpy+91JR+uhhv1oy2i8n4DduUa2jjh2ousCEOpW1UDRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015xiPFr92PqtUurSA8wAn3B",
      "input": {
        "note": "Gripper opened; retracting the right arm out of the overhead view to check whether the right bottle is standing.",
        "targets": {
          "right_x": 0.22,
          "right_y": 0.32,
          "right_yaw": 0.0,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_015xiPFr92PqtUurSA8wAn3B",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0227, -0.0292, 0.9978, 1.3251, 1.6775, 1.4368, -0.926, 0.9222, 1.0611, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1823 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9978 right_x=0.223 right_y=0.3253 right_z=0.212 right_yaw=0.0502 right_pitch=-0.0211 right_roll=-0.0071 right_gripper=0.9956\nstate[joint_eff]: [-0.294, -1.6342, 6.5709, 1.8388, -0.0366, -0.0366, -0.0122, 0.2393, -7.159, 8.5538, 0.6764, 0.6422, 0.188, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f097eaf297a5e2e3f1aeb3308c7941186bc94d31a104875df7fe3f579ac34ee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:978c3d1755d3b5cb60560f0448594388301f4ce7380ff19ec8bdd4adf9bc171f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7a240151e99ced4dc982cef2e2bcbbebb1fd2d017b8d4d3d23d603373b834e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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