adhoc

completed
2026-09-22T19:56:10.051862+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
319.3 s
total steps
225
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 mid-table; the left wrist cam shows the leftmost bottle's cap just ahead of the fingers. Moving the left gripper forward over that cap to plan a cap grasp (lift by cap so the bottle hangs vertical, then set it down).
move_to
left_x0.3800left_y0.0000left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7921, 0.6083, -0.3763, -0.0231, -0.0288, 0.9986, -0.0158, 0.7887, 0.6033, -0.3874, -0.0231, -0.0353, 0.9994] state[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1832 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.003 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.3761, -1.4974, 9.7299, 1.7607, -0.0415, 0.1197, -0.1587, -0.8957, -1.0051, 10.2085, 1.8339, 0.0366, 0.2076, -0.0855] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": 0.0, "left_z": 0.15}, "note": "Three bottles lie on their sides mid-table; the left wrist cam shows the leftmost bottle's cap just ahead of the fingers. Moving the left gripper forward over that cap to plan a cap grasp (lift by cap so the bottle hangs vertical, then set it down)."})
tool
executing move_to over 7 steps (0.7s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent noteThe cap of the nearest bottle sits on the jaw column but well ahead of the fingertips in the left wrist view. Advancing ~7 cm forward to get over the cap.
move_to
left_x0.4300left_y-0.0100left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 1.214, 0.6285, -0.0845, -0.0231, -0.0292, 0.9984, -0.0193, 0.794, 0.6033, -0.4038, -0.0235, -0.0364, 0.9993] state[eef_state]: left_x=0.3587 left_y=0.0005 left_z=0.1209 left_yaw=0.0003 left_pitch=-0.1098 left_roll=0.0019 left_gripper=0.9984 right_x=0.2915 right_y=0.0021 right_z=0.1747 right_yaw=-0.0025 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9993 state[joint_eff]: [-0.2256, -5.094, 9.8667, 1.8974, -0.0122, -0.0366, -0.0317, 0.0615, -1.6342, 7.0769, 1.8291, -0.0073, -0.0513, -0.0171] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.01, "left_z": 0.12}, "note": "The cap of the nearest bottle sits on the jaw column but well ahead of the fingertips in the left wrist view. Advancing ~7 cm forward to get over the cap."})
tool
executing move_to over 6 steps (0.6s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe cap is now just ahead of the jaws in the wrist view; the bottle runs diagonally away. Rotating the gripper ~45° so the jaws close across the bottle neck, and nudging forward.
move_to
left_x0.4200left_y-0.0100left_z0.1100left_yaw0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0448, 1.4868, 0.701, 0.1452, -0.049, -0.0525, 0.9983, -0.0193, 0.7887, 0.5842, -0.403, -0.0238, -0.0364, 0.9993] state[eef_state]: left_x=0.4113 left_y=-0.0062 left_z=0.097 left_yaw=0.0099 left_pitch=-0.0798 left_roll=-0.0019 left_gripper=0.9983 right_x=0.2888 right_y=0.0022 right_z=0.1676 right_yaw=-0.0022 right_pitch=-0.0347 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.6632, -6.3932, 8.3897, 1.8584, 0.0073, 0.0122, -0.0171, -0.3761, -1.9077, 6.8034, 1.9316, -0.0757, -0.0269, -0.0122] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.01, "left_z": 0.11, "left_yaw": 0.8}, "note": "The cap is now just ahead of the jaws in the wrist view; the bottle runs diagonally away. Rotating the gripper ~45\u00b0 so the jaws close across the bottle neck, and nudging forward."})
tool
executing move_to over 6 steps (0.6s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteBottle now runs straight down the wrist image with the cap between the jaw tips, so the jaws are across the neck. Descending to neck height (~3 cm) to grasp.
move_to
left_z0.0300left_yaw0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3546, 1.7462, 1.0344, -0.1627, -0.7506, -0.7223, 0.9983, -0.0193, 0.77, 0.5503, -0.3851, -0.0235, -0.0364, 0.9993] state[eef_state]: left_x=0.4356 left_y=-0.029 left_z=0.1046 left_yaw=0.6191 left_pitch=-0.0357 left_roll=-0.0198 left_gripper=0.9983 right_x=0.2858 right_y=0.0022 right_z=0.1608 right_yaw=-0.0025 right_pitch=-0.032 right_roll=-0.0002 right_gripper=0.9993 state[joint_eff]: [-0.3077, -8.6769, 6.2564, 0.8767, -0.6569, 0.0171, -0.0269, -0.3897, -1.6342, 6.9402, 1.9756, -0.0464, -0.0171, -0.0122] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03, "left_yaw": 0.8}, "note": "Bottle now runs straight down the wrist image with the cap between the jaw tips, so the jaws are across the neck. Descending to neck height (~3 cm) to grasp."})
tool
executing move_to over 5 steps (0.5s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteJaws straddle the bottle neck just behind the cap. Closing to grip the neck.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3973, 1.9831, 1.0515, -0.1062, -0.894, -0.9203, 0.9982, -0.0193, 0.7563, 0.5209, -0.374, -0.0238, -0.036, 0.9993] state[eef_state]: left_x=0.4345 left_y=-0.0291 left_z=0.0375 left_yaw=0.7697 left_pitch=-0.0099 left_roll=0.0143 left_gripper=0.9982 right_x=0.2827 right_y=0.0024 right_z=0.1533 right_yaw=-0.0024 right_pitch=-0.0366 right_roll=0.0004 right_gripper=0.9993 state[joint_eff]: [-0.1983, -7.3641, 5.8462, 0.7888, -0.315, 0.0415, -0.0171, -0.3897, -1.8393, 6.9675, 1.9902, -0.0317, -0.0366, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws straddle the bottle neck just behind the cap. Closing to grip the neck."})
tool
executing move_to over 10 steps (1.0s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe close came up empty (reading 0.02) – the neck slipped out. Opening and rising to re-view the bottle in the wrist camera.
move_to
left_gripper1.0000left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3981, 1.9953, 1.0695, -0.0566, -0.9798, -0.9695, 0.0185, -0.0193, 0.7376, 0.485, -0.358, -0.0238, -0.036, 0.9993] state[eef_state]: left_x=0.4431 left_y=-0.0233 left_z=0.0528 left_yaw=0.8416 left_pitch=0.0776 left_roll=-0.0538 left_gripper=0.0185 right_x=0.2792 right_y=0.0024 right_z=0.1452 right_yaw=-0.0024 right_pitch=-0.0377 right_roll=0.0004 right_gripper=0.9993 state[joint_eff]: [-0.0615, -7.8838, 5.2581, 0.6569, 0.2125, 0.0122, 0.862, -0.1709, -1.1556, 6.9949, 2.0537, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.1}, "note": "The close came up empty (reading 0.02) \u2013 the neck slipped out. Opening and rising to re-view the bottle in the wrist camera."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteCap is visible just ahead of and slightly right of the jaw centre. Shifting ~1.5 cm forward and 1 cm to the tool's right to centre the cap/neck between the jaws before descending.
move_to
left_x0.4560left_y-0.0200left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3866, 1.9499, 1.2152, -0.3878, -0.9211, -1.0073, 0.995, -0.0193, 0.7174, 0.4507, -0.3428, -0.0238, -0.0364, 0.9993] state[eef_state]: left_x=0.44 left_y=-0.0234 left_z=0.0782 left_yaw=0.8405 left_pitch=-0.0171 left_roll=0.0288 left_gripper=0.995 right_x=0.2757 right_y=0.0025 right_z=0.1378 right_yaw=-0.0022 right_pitch=-0.0366 right_roll=0.0001 right_gripper=0.9993 state[joint_eff]: [0.0479, -12.8615, 8.0752, 0.7937, -0.5299, 0.0122, -0.2271, -0.3761, -1.4838, 6.8034, 1.9707, -0.0415, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.456, "left_y": -0.02, "left_z": 0.1}, "note": "Cap is visible just ahead of and slightly right of the jaw centre. Shifting ~1.5 cm forward and 1 cm to the tool's right to centre the cap/neck between the jaws before descending."})
tool
executing move_to over 2 steps (0.2s)
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 noteCap is at the jaw tips in the wrist view. Descending to neck height to grip it, while nudging forward.
move_to
left_x0.4550left_y-0.0200left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3763, 1.9484, 1.2354, -0.4049, -0.9146, -0.9974, 0.9963, -0.0193, 0.7025, 0.429, -0.3279, -0.0238, -0.036, 0.9993] state[eef_state]: left_x=0.4431 left_y=-0.0207 left_z=0.0827 left_yaw=0.8426 left_pitch=-0.0212 left_roll=0.0308 left_gripper=0.9963 right_x=0.2742 right_y=0.0025 right_z=0.1348 right_yaw=-0.0024 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9993 state[joint_eff]: [0.759, -9.9077, 9.0462, 1.0281, -0.5348, 0.2271, 0.1197, -0.4034, -1.1829, 7.0222, 2.0342, -0.022, -0.0317, -0.0122] 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": {"left_x": 0.455, "left_y": -0.02, "left_z": 0.025}, "note": "Cap is at the jaw tips in the wrist view. Descending to neck height to grip it, while nudging forward."})
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 noteThe arm lagged and is still at 9 cm; cap is centred at the jaw tips. Re-commanding the descent to neck height.
move_to
left_x0.4520left_y-0.0200left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3649, 1.9484, 1.2629, -0.3988, -0.9131, -0.9951, 0.9964, -0.0193, 0.6907, 0.4057, -0.3202, -0.0238, -0.036, 0.9993] state[eef_state]: left_x=0.4512 left_y=-0.0188 left_z=0.0915 left_yaw=0.8516 left_pitch=-0.0109 left_roll=0.0007 left_gripper=0.9964 right_x=0.2716 right_y=0.0026 right_z=0.1287 right_yaw=-0.0024 right_pitch=-0.0324 right_roll=0.0003 right_gripper=0.9993 state[joint_eff]: [-0.0615, -10.441, 7.5966, 0.9939, -0.4957, 0.2173, -0.0024, -0.253, -1.4974, 6.694, 2.0293, -0.0317, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": {"left_x": 0.452, "left_y": -0.02, "left_z": 0.02}, "note": "The arm lagged and is still at 9 cm; cap is centred at the jaw tips. Re-commanding the descent to neck height."})
tool
executing move_to over 5 steps (0.5s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteLeft arm is not responding to the descent at x≈0.45 (joints frozen, probably an IK limit). Pulling x back 1 cm and retrying the descent onto the cap, which now sits right under the jaws.
move_to
left_x0.4400left_y-0.0200left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3649, 1.9484, 1.2629, -0.3988, -0.9131, -0.9951, 0.9964, -0.0193, 0.672, 0.3767, -0.3084, -0.0238, -0.036, 0.9993] state[eef_state]: left_x=0.4512 left_y=-0.0188 left_z=0.0915 left_yaw=0.8516 left_pitch=-0.0109 left_roll=0.0007 left_gripper=0.9964 right_x=0.2686 right_y=0.0026 right_z=0.1226 right_yaw=-0.0024 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9993 state[joint_eff]: [-0.253, -10.441, 7.5145, 1.0085, -0.4762, 0.2125, -0.0122, -0.294, -1.0735, 7.2821, 1.9756, -0.0513, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.02, "left_z": 0.03}, "note": "Left arm is not responding to the descent at x\u22480.45 (joints frozen, probably an IK limit). Pulling x back 1 cm and retrying the descent onto the cap, which now sits right under the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteDescent is working now; the cap is centred between the jaws at the bottom of the wrist view. Going down another ~2 cm so the fingers straddle the neck.
move_to
left_z0.0220
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3779, 2.0193, 1.1381, -0.2348, -0.9211, -0.9997, 0.9964, -0.0193, 0.6533, 0.3485, -0.297, -0.0238, -0.036, 0.9993] state[eef_state]: left_x=0.4383 left_y=-0.0188 left_z=0.0402 left_yaw=0.8452 left_pitch=-0.015 left_roll=0.0291 left_gripper=0.9964 right_x=0.2657 right_y=0.0027 right_z=0.1167 right_yaw=-0.0024 right_pitch=-0.029 right_roll=0.0003 right_gripper=0.9993 state[joint_eff]: [-0.1846, -10.2222, 5.7641, 1.1062, -0.4615, -0.1099, -0.0073, -0.0889, -0.9368, 6.9538, 2.044, -0.0415, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.022}, "note": "Descent is working now; the cap is centred between the jaws at the bottom of the wrist view. Going down another ~2 cm so the fingers straddle the neck."})
tool
executing move_to over 2 steps (0.2s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteDescent stopped at 4 cm (likely touching the bottle shoulder); the cap/neck is centred between the jaws. Closing here to grip the neck.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3855, 2.0308, 1.1122, -0.123, -0.9405, -1.0138, 0.9964, -0.0193, 0.6407, 0.3328, -0.2871, -0.0238, -0.036, 0.9993] state[eef_state]: left_x=0.4456 left_y=-0.0229 left_z=0.04 left_yaw=0.8546 left_pitch=0.0259 left_roll=-0.0474 left_gripper=0.9964 right_x=0.2646 right_y=0.0027 right_z=0.1147 right_yaw=-0.0024 right_pitch=-0.0221 right_roll=0.0001 right_gripper=0.9993 state[joint_eff]: [0.4034, -7.8564, 4.0274, 0.8327, -0.3199, 0.1392, -0.0122, -0.253, -0.4444, 6.9128, 1.9658, -0.0562, -0.0464, -0.0122] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Descent stopped at 4 cm (likely touching the bottle shoulder); the cap/neck is centred between the jaws. Closing here to grip the neck."})
tool
executing move_to over 10 steps (1.0s)
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 noteSecond empty close. The overhead view suggests this bottle lies roughly along the arm's x axis with its cap toward the base, behind where the jaws were. Opening, rising, pulling back ~5 cm and returning yaw to 0 to re-view it.
move_to
left_gripper1.0000left_z0.1200left_x0.3900left_y-0.0200left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3759, 2.0289, 1.1057, -0.0635, -0.9962, -0.9985, 0.0195, -0.0193, 0.6319, 0.3138, -0.2897, -0.0238, -0.036, 0.9993] state[eef_state]: left_x=0.4501 left_y=-0.0144 left_z=0.0512 left_yaw=0.8876 left_pitch=0.0885 left_roll=-0.0713 left_gripper=0.0195 right_x=0.2612 right_y=0.0028 right_z=0.1076 right_yaw=-0.0024 right_pitch=-0.0351 right_roll=0.0004 right_gripper=0.9993 state[joint_eff]: [-0.0205, -7.9385, 3.8906, 0.6032, 0.2662, -0.0073, 0.8425, -0.253, -0.8137, 6.8855, 1.9951, -0.0464, -0.0415, -0.0122] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.12, "left_x": 0.39, "left_y": -0.02, "left_yaw": 0.0}, "note": "Second empty close. The overhead view suggests this bottle lies roughly along the arm's x axis with its cap toward the base, behind where the jaws were. Opening, rising, pulling back ~5 cm and returning yaw to 0 to re-view it."})
tool
executing move_to over 10 steps (1.0s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteNow clear: bottle lies diagonally with the cap just ahead of and slightly right of the jaws, bottle axis nearly along image-vertical (so jaws close across it). Moving forward ~4 cm to put the grasp point over the cap itself.
move_to
left_x0.4300left_y-0.0150left_z0.1000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1211, 1.3773, 0.6174, 0.1734, -0.2344, -0.1879, 0.9944, -0.0193, 0.6075, 0.2813, -0.2703, -0.0238, -0.036, 0.9993] state[eef_state]: left_x=0.3923 left_y=-0.0028 left_z=0.1121 left_yaw=0.1617 left_pitch=-0.0084 left_roll=-0.0173 left_gripper=0.9944 right_x=0.2589 right_y=0.0028 right_z=0.1026 right_yaw=-0.0024 right_pitch=-0.0236 right_roll=0.0002 right_gripper=0.9993 state[joint_eff]: [0.253, -6.4068, 6.5573, 1.6581, 0.1245, 0.2857, 0.0806, -0.0615, -0.6906, 7.0222, 1.956, -0.0024, -0.0611, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.015, "left_z": 0.1, "left_yaw": 0.0}, "note": "Now clear: bottle lies diagonally with the cap just ahead of and slightly right of the jaws, bottle axis nearly along image-vertical (so jaws close across it). Moving forward ~4 cm to put the grasp point over the cap itself."})
tool
executing move_to over 3 steps (0.3s)
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 noteCap is ~3 cm ahead of the grasp point (from comparing earlier views) and ~1 cm to the right. Moving there at 8 cm height before descending straight onto the cap.
move_to
left_x0.4450left_y-0.0220left_z0.0800left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0814, 1.5379, 0.6613, 0.2325, -0.1005, -0.0956, 0.9955, -0.0193, 0.5934, 0.2615, -0.2661, -0.0238, -0.036, 0.9993] state[eef_state]: left_x=0.4112 left_y=-0.0122 left_z=0.0785 left_yaw=0.04 left_pitch=-0.0803 left_roll=-0.0054 left_gripper=0.9955 right_x=0.2564 right_y=0.0029 right_z=0.0978 right_yaw=-0.0024 right_pitch=-0.0252 right_roll=0.0002 right_gripper=0.9993 state[joint_eff]: [0.5675, -7.8974, 9.1829, 2.1709, 0.0904, 0.2369, 0.1148, -0.2256, -0.4991, 6.9812, 1.9072, -0.0611, -0.0366, -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": {"left_x": 0.445, "left_y": -0.022, "left_z": 0.08, "left_yaw": 0.0}, "note": "Cap is ~3 cm ahead of the grasp point (from comparing earlier views) and ~1 cm to the right. Moving there at 8 cm height before descending straight onto the cap."})
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 noteLeft arm lagged (still at x≈0.42); cap still ahead of the jaws. Re-sending the forward move, and parking the drifting right arm at home.
move_to
left_x0.4450left_y-0.0220left_z0.0800left_yaw0.0000right_x0.2900right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0711, 1.562, 0.6724, 0.2581, -0.0856, -0.078, 0.9958, -0.0193, 0.5774, 0.2428, -0.2646, -0.0238, -0.036, 0.9993] state[eef_state]: left_x=0.4176 left_y=-0.011 left_z=0.0783 left_yaw=0.0282 left_pitch=-0.0688 left_roll=-0.0015 left_gripper=0.9958 right_x=0.2539 right_y=0.0029 right_z=0.0934 right_yaw=-0.0024 right_pitch=-0.0263 right_roll=0.0002 right_gripper=0.9993 state[joint_eff]: [0.0479, -7.3094, 8.0889, 1.9902, 0.1294, 0.1636, 0.0073, -0.3761, -0.4444, 6.653, 1.9072, -0.0366, -0.022, -0.0122] 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": {"left_x": 0.445, "left_y": -0.022, "left_z": 0.08, "left_yaw": 0.0, "right_x": 0.29, "right_y": 0.0, "right_z": 0.18}, "note": "Left arm lagged (still at x\u22480.42); cap still ahead of the jaws. Re-sending the forward move, and parking the drifting right arm at home."})
tool
executing move_to over 6 steps (0.6s)
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 noteLeft arm cannot reach further forward at this height, so the cap is out of reach. Instead descending to grip the bottle's upper body/shoulder, which sits under the jaws, planning to lift it so it pivots to hang upright.
move_to
left_x0.4150left_y-0.0180left_z0.0250left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0715, 1.562, 0.6727, 0.2581, -0.0853, -0.078, 0.9962, -0.0284, 0.7612, 0.5434, -0.3893, -0.0307, -0.0517, 0.9993] state[eef_state]: left_x=0.4177 left_y=-0.0112 left_z=0.0785 left_yaw=0.0275 left_pitch=-0.0685 left_roll=-0.0017 left_gripper=0.9962 right_x=0.2839 right_y=0.0009 right_z=0.1592 right_yaw=0.0027 right_pitch=-0.0341 right_roll=-0.0086 right_gripper=0.9993 state[joint_eff]: [-0.253, -7.4598, 8.2803, 1.9951, 0.149, 0.1832, 0.0269, -0.8821, -0.9915, 9.7436, 1.6825, -0.0708, 0.0415, -0.0122] 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": {"left_x": 0.415, "left_y": -0.018, "left_z": 0.025, "left_yaw": 0.0}, "note": "Left arm cannot reach further forward at this height, so the cap is out of reach. Instead descending to grip the bottle's upper body/shoulder, which sits under the jaws, planning to lift it so it pivots to hang upright."})
tool
executing move_to over 4 steps (0.4s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteFingers have come down around the bottle's upper body (descent stopped at ~5 cm, bottle centred between the jaws). Closing to grip it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0799, 1.7164, 0.5655, 0.6281, -0.07, -0.1047, 0.9963, -0.0284, 0.7448, 0.5083, -0.3775, -0.0311, -0.0547, 0.9993] state[eef_state]: left_x=0.4265 left_y=-0.0182 left_z=0.0511 left_yaw=0.0202 left_pitch=0.0384 left_roll=-0.0432 left_gripper=0.9963 right_x=0.28 right_y=0.0011 right_z=0.1499 right_yaw=0.0047 right_pitch=-0.0409 right_roll=-0.0106 right_gripper=0.9993 state[joint_eff]: [-0.6906, -3.5077, 1.8667, 0.2759, -0.2076, 0.3346, -0.0024, -0.7453, -1.5521, 7.1453, 1.9805, -0.188, 0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Fingers have come down around the bottle's upper body (descent stopped at ~5 cm, bottle centred between the jaws). Closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteEmpty close: both views show the bottle sits ~5 cm to the arm's right of the jaws (the wrist view's perspective misled me). Opening, lifting slightly and shifting 4–5 cm right over the bottle neck.
move_to
left_gripper1.0000left_z0.0800left_y-0.0600left_x0.4200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0921, 1.7107, 0.5919, 0.5426, -0.1127, -0.0956, 0.0199, -0.0341, 0.7223, 0.4698, -0.3584, -0.0315, -0.0578, 0.9993] state[eef_state]: left_x=0.4242 left_y=-0.0156 left_z=0.0456 left_yaw=0.0392 left_pitch=-0.012 left_roll=-0.007 left_gripper=0.0199 right_x=0.2765 right_y=-0.0003 right_z=0.1421 right_yaw=0.001 right_pitch=-0.0379 right_roll=-0.013 right_gripper=0.9993 state[joint_eff]: [-0.3624, -7.8427, 5.7094, 1.7753, 0.0513, 0.1392, 0.9499, -0.5949, -1.5385, 6.8991, 1.9902, -0.1636, 0.0415, -0.0122] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.08, "left_y": -0.06, "left_x": 0.42}, "note": "Empty close: both views show the bottle sits ~5 cm to the arm's right of the jaws (the wrist view's perspective misled me). Opening, lifting slightly and shifting 4\u20135 cm right over the bottle neck."})
tool
executing move_to over 10 steps (1.0s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe bump pushed bottle 1 next to bottle 2; both lie with caps pointing forward. Bottle 1 is still well to the right of the jaws (wrist view right edge), so shifting ~7 cm right to get over it.
move_to
left_y-0.1300left_z0.0900left_x0.4100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2489, 1.6356, 0.6254, 0.384, -0.2375, -0.1738, 0.9943, -0.0406, 0.7017, 0.4362, -0.3428, -0.0391, -0.0578, 0.9993] state[eef_state]: left_x=0.4126 left_y=-0.0583 left_z=0.0583 left_yaw=0.0293 left_pitch=-0.0461 left_roll=0.0072 left_gripper=0.9943 right_x=0.2732 right_y=-0.0006 right_z=0.1353 right_yaw=0.0009 right_pitch=-0.035 right_roll=-0.0088 right_gripper=0.9993 state[joint_eff]: [-0.1846, -9.388, 8.1026, 1.6679, -0.1343, 0.1099, -0.1148, -0.4444, -1.4291, 6.7761, 2.0098, -0.1783, 0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.13, "left_z": 0.09, "left_x": 0.41}, "note": "The bump pushed bottle 1 next to bottle 2; both lie with caps pointing forward. Bottle 1 is still well to the right of the jaws (wrist view right edge), so shifting ~7 cm right to get over it."})
tool
executing move_to over 7 steps (0.7s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteNow over bottle 1's lower body (bottle 2 touching it on the right; caps point away, beyond reach). Descending so the right finger wedges into the V between the bottles, to grip bottle 1's body and drag it closer so the cap comes into reach.
move_to
left_y-0.1400left_z0.0300left_x0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4801, 1.6306, 0.7067, 0.281, -0.4065, -0.2977, 0.9955, -0.0414, 0.6811, 0.4046, -0.3283, -0.0395, -0.0582, 0.9993] state[eef_state]: left_x=0.4041 left_y=-0.1276 left_z=0.077 left_yaw=0.0037 left_pitch=-0.0232 left_roll=0.0036 left_gripper=0.9955 right_x=0.2702 right_y=-0.0006 right_z=0.129 right_yaw=0.0006 right_pitch=-0.0316 right_roll=-0.009 right_gripper=0.9993 state[joint_eff]: [-0.3487, -7.4735, 8.4991, 1.7411, -0.2613, -0.1148, 0.1197, -0.5949, -1.1145, 6.8991, 1.9756, -0.149, 0.0073, -0.0122] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.14, "left_z": 0.03, "left_x": 0.4}, "note": "Now over bottle 1's lower body (bottle 2 touching it on the right; caps point away, beyond reach). Descending so the right finger wedges into the V between the bottles, to grip bottle 1's body and drag it closer so the cap comes into reach."})
tool
executing move_to over 4 steps (0.4s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteBottle 1 is centred between the jaws; descent stopped at ~5 cm on contact. Closing to grip its body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5232, 1.7691, 0.6537, 0.522, -0.4358, -0.3382, 0.9957, -0.0418, 0.6643, 0.3756, -0.3153, -0.0536, -0.0578, 0.9993] state[eef_state]: left_x=0.4069 left_y=-0.1445 left_z=0.0486 left_yaw=0.0061 left_pitch=0.0282 left_roll=-0.0399 left_gripper=0.9957 right_x=0.2674 right_y=0.0019 right_z=0.1227 right_yaw=0.0119 right_pitch=-0.0305 right_roll=-0.0007 right_gripper=0.9993 state[joint_eff]: [-0.0889, -5.5043, 3.3846, 1.1844, -0.2466, 0.2759, 0.0073, -0.7726, -1.1829, 6.9538, 1.9902, -0.0708, 0.0366, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Bottle 1 is centred between the jaws; descent stopped at ~5 cm on contact. Closing to grip its body."})
tool
executing move_to over 10 steps (1.0s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteEmpty again: the overhead view shows the jaws still sit ~5 cm left of bottle 1 (the wrist camera seems to see things offset). Opening and shifting 5 cm right, trusting the overhead view.
move_to
left_gripper1.0000left_y-0.1950left_z0.0900left_x0.4050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5297, 1.7596, 0.68, 0.5072, -0.4652, -0.3408, 0.0215, -0.0414, 0.6468, 0.347, -0.3058, -0.0544, -0.0586, 0.9993] state[eef_state]: left_x=0.4127 left_y=-0.1457 left_z=0.0603 left_yaw=0.0254 left_pitch=0.0545 left_roll=-0.0391 left_gripper=0.0215 right_x=0.2642 right_y=0.0023 right_z=0.1159 right_yaw=0.0134 right_pitch=-0.0319 right_roll=-0.0008 right_gripper=0.9993 state[joint_eff]: [-0.0479, -7.4051, 5.6821, 1.0672, -0.0659, 0.1538, 0.9646, -0.294, -0.9778, 7.0359, 1.9805, -0.0855, -0.0415, -0.0122] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_y": -0.195, "left_z": 0.09, "left_x": 0.405}, "note": "Empty again: the overhead view shows the jaws still sit ~5 cm left of bottle 1 (the wrist camera seems to see things offset). Opening and shifting 5 cm right, trusting the overhead view."})
tool
executing move_to over 10 steps (1.0s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteWrist view now shows the jaws between bottles 1 and 2, with bottle 1 to the left. Shifting ~3 cm left to centre bottle 1 and pressing the descent down to the table so the fingers get below the bottle's midline.
move_to
left_y-0.1600left_z-0.0100left_x0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6674, 1.7538, 0.8543, 0.1802, -0.5674, -0.4397, 0.9943, -0.0414, 0.627, 0.3183, -0.2905, -0.0555, -0.0586, 0.9993] state[eef_state]: left_x=0.4005 left_y=-0.1902 left_z=0.0729 left_yaw=0.0205 left_pitch=-0.0292 left_roll=0.012 left_gripper=0.9943 right_x=0.2619 right_y=0.0026 right_z=0.1108 right_yaw=0.0143 right_pitch=-0.0254 right_roll=-0.0005 right_gripper=0.9993 state[joint_eff]: [-0.3077, -9.4564, 8.4308, 1.409, -0.315, 0.1148, -0.1245, -0.212, -0.8684, 6.9128, 1.9316, -0.0708, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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": {"left_y": -0.16, "left_z": -0.01, "left_x": 0.4}, "note": "Wrist view now shows the jaws between bottles 1 and 2, with bottle 1 to the left. Shifting ~3 cm left to centre bottle 1 and pressing the descent down to the table so the fingers get below the bottle's midline."})
tool
executing move_to over 6 steps (0.6s)
step 154
assistant
agent noteGot lower this time (z≈2.7 cm) with bottle 1 centred between the jaws in the wrist view. Closing to grip its body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6079, 1.9373, 0.6941, 0.672, -0.5617, -0.3923, 0.9956, -0.0406, 0.6128, 0.2962, -0.2901, -0.0566, -0.0586, 0.9993] state[eef_state]: left_x=0.413 left_y=-0.1683 left_z=0.0272 left_yaw=0.0529 left_pitch=0.0845 left_roll=-0.0424 left_gripper=0.9956 right_x=0.2585 right_y=0.0031 right_z=0.1042 right_yaw=0.016 right_pitch=-0.033 right_roll=0.0005 right_gripper=0.9993 state[joint_eff]: [0.9915, -4.1231, 1.9487, 0.5983, 0.3346, 0.0904, 0.1245, -0.4581, -0.8274, 6.8991, 1.9609, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Got lower this time (z\u22482.7 cm) with bottle 1 centred between the jaws in the wrist view. Closing to grip its body."})
tool
executing move_to over 10 steps (1.0s)
step 164
assistant
agent noteGrip succeeded (reading 0.66 ≈ 6.3 cm, the bottle body). Dragging bottle 1 about 11 cm toward the base along the table so its cap/neck comes within reach for a neck grasp.
move_to
left_x0.3100left_y-0.1700left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6018, 1.8996, 0.7586, 0.5331, -0.5655, -0.4042, 0.6618, -0.0406, 0.5888, 0.268, -0.2832, -0.057, -0.0586, 0.9993] state[eef_state]: left_x=0.4199 left_y=-0.1692 left_z=0.0391 left_yaw=0.0667 left_pitch=0.0568 left_roll=-0.0285 left_gripper=0.6618 right_x=0.2552 right_y=0.0033 right_z=0.0985 right_yaw=0.0164 right_pitch=-0.0303 right_roll=0.0006 right_gripper=0.9993 state[joint_eff]: [-0.4718, -8.5812, 5.2581, 0.9499, -0.0171, -0.0708, 0.7497, -0.335, -0.3897, 6.9265, 1.9853, -0.0855, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.17, "left_z": 0.04}, "note": "Grip succeeded (reading 0.66 \u2248 6.3 cm, the bottle body). Dragging bottle 1 about 11 cm toward the base along the table so its cap/neck comes within reach for a neck grasp."})
tool
executing move_to over 9 steps (0.9s)
step 173
assistant
agent noteThe bottle slipped out during the drag and stayed put (its bottom end is right ahead of the jaws). Opening and moving back over its lower body for a lower, firmer grip.
move_to
left_gripper1.0000left_x0.3700left_y-0.1700left_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8463, 1.6394, 0.5179, 0.3332, -0.7132, -0.5964, 0.6613, -0.0406, 0.5671, 0.2428, -0.271, -0.057, -0.0586, 0.9993] state[eef_state]: left_x=0.316 left_y=-0.1773 left_z=0.0364 left_yaw=0.0335 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.6613 right_x=0.2532 right_y=0.0034 right_z=0.0946 right_yaw=0.0164 right_pitch=-0.0216 right_roll=0.0001 right_gripper=0.9993 state[joint_eff]: [-0.212, -7.8017, 4.9026, 1.4335, -0.4225, -0.0122, -0.0659, -0.2803, -0.5265, 6.7897, 1.9121, -0.1099, -0.0269, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.37, "left_y": -0.17, "left_z": 0.07}, "note": "The bottle slipped out during the drag and stayed put (its bottom end is right ahead of the jaws). Opening and moving back over its lower body for a lower, firmer grip."})
tool
executing move_to over 5 steps (0.5s)
step 178
assistant
agent noteBottle 1 now lies straight between the jaws with its label and cap ahead. Moving ~3 cm forward toward the label (above the bottle's centre of mass) and pressing down to table level for a low grip.
move_to
left_x0.3950left_y-0.1650left_z-0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6979, 1.6344, 0.6464, 0.2779, -0.6323, -0.5053, 0.9967, -0.0406, 0.5541, 0.2268, -0.2684, -0.057, -0.0586, 0.9993] state[eef_state]: left_x=0.3629 left_y=-0.1634 left_z=0.0655 left_yaw=0.0741 left_pitch=0.0063 left_roll=-0.0177 left_gripper=0.9967 right_x=0.2513 right_y=0.0035 right_z=0.0909 right_yaw=0.0164 right_pitch=-0.022 right_roll=0.0001 right_gripper=0.9993 state[joint_eff]: [0.2667, -5.6137, 7.665, 1.326, -0.0073, 0.1099, -0.0659, -0.4308, -0.1436, 6.7214, 1.8926, -0.0513, -0.0708, -0.0122] 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": {"left_x": 0.395, "left_y": -0.165, "left_z": -0.01}, "note": "Bottle 1 now lies straight between the jaws with its label and cap ahead. Moving ~3 cm forward toward the label (above the bottle's centre of mass) and pressing down to table level for a low grip."})
tool
executing move_to over 5 steps (0.5s)
step 183
assistant
agent noteArm didn't move on the last command (likely an IK hold). Trying a smaller step: slight advance and descend around the bottle body.
move_to
left_x0.3750left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6857, 1.6371, 0.6613, 0.2531, -0.6086, -0.4717, 0.9971, -0.0406, 0.5404, 0.2104, -0.268, -0.057, -0.0586, 0.9993] state[eef_state]: left_x=0.3649 left_y=-0.1634 left_z=0.0641 left_yaw=0.0507 left_pitch=-0.0136 left_roll=0.008 left_gripper=0.9971 right_x=0.249 right_y=0.0035 right_z=0.0866 right_yaw=0.0164 right_pitch=-0.0242 right_roll=0.0003 right_gripper=0.9993 state[joint_eff]: [-0.3077, -6.3932, 7.2, 1.6337, -0.1001, 0.1441, 0.0269, -0.4308, -0.335, 7.0769, 1.9365, -0.105, -0.0317, -0.0122] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.375, "left_z": 0.02}, "note": "Arm didn't move on the last command (likely an IK hold). Trying a smaller step: slight advance and descend around the bottle body."})
tool
executing move_to over 3 steps (0.3s)
step 186
assistant
agent noteLeft arm is frozen at z≈6 cm (IK appears stuck). Raising and moving slightly to free it before another approach to the red-label bottle straight ahead.
move_to
left_x0.3600left_z0.1000left_y-0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6857, 1.6375, 0.6613, 0.2531, -0.6086, -0.4717, 0.9971, -0.0406, 0.522, 0.1921, -0.2668, -0.057, -0.0586, 0.9993] state[eef_state]: left_x=0.3649 left_y=-0.1634 left_z=0.064 left_yaw=0.0507 left_pitch=-0.0139 left_roll=0.0083 left_gripper=0.9971 right_x=0.2467 right_y=0.0036 right_z=0.0827 right_yaw=0.0164 right_pitch=-0.0231 right_roll=0.0002 right_gripper=0.9993 state[joint_eff]: [-0.253, -6.3932, 7.0906, 1.6435, -0.188, 0.0757, -0.0122, -0.1573, -0.1436, 6.8444, 1.8974, -0.0855, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_z": 0.1, "left_y": -0.15}, "note": "Left arm is frozen at z\u22486 cm (IK appears stuck). Raising and moving slightly to free it before another approach to the red-label bottle straight ahead."})
tool
executing move_to over 3 steps (0.3s)
step 189
assistant
agent noteThe left arm has ignored the last three commands. Sending a larger move toward home to see if it responds, and re-parking the drifting right arm.
move_to
left_x0.3000left_y-0.1000left_z0.1800right_x0.2900right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6857, 1.6379, 0.6613, 0.2531, -0.6086, -0.4717, 0.9971, -0.0406, 0.5034, 0.1757, -0.268, -0.057, -0.0586, 0.9993] state[eef_state]: left_x=0.3648 left_y=-0.1634 left_z=0.0638 left_yaw=0.0507 left_pitch=-0.0142 left_roll=0.0085 left_gripper=0.9971 right_x=0.2445 right_y=0.0037 right_z=0.0792 right_yaw=0.0164 right_pitch=-0.022 right_roll=0.0001 right_gripper=0.9993 state[joint_eff]: [-0.4308, -6.4479, 7.2821, 1.6386, -0.1978, 0.1099, -0.0122, -0.4171, -0.1299, 6.653, 1.917, -0.0415, -0.0122, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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": {"left_x": 0.3, "left_y": -0.1, "left_z": 0.18, "right_x": 0.29, "right_y": 0.0, "right_z": 0.18}, "note": "The left arm has ignored the last three commands. Sending a larger move toward home to see if it responds, and re-parking the drifting right arm."})
tool
executing move_to over 8 steps (0.8s)
step 197
assistant
agent noteLeft arm responds again. The red-label bottle lies along the arm's x axis just right of the jaws, cap pointing away at roughly x≈0.5. Moving over its neck (x≈0.45) for a neck grasp.
move_to
left_x0.4500left_y-0.1300left_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6495, 1.0439, 0.654, -0.2779, -0.5858, -0.4633, 0.9971, -0.0475, 0.7654, 0.5468, -0.3996, -0.0612, -0.0738, 0.9993] state[eef_state]: left_x=0.306 left_y=-0.1053 left_z=0.1682 left_yaw=0.065 left_pitch=0.0178 left_roll=-0.0323 left_gripper=0.9971 right_x=0.2831 right_y=0.001 right_z=0.1577 right_yaw=0.0213 right_pitch=-0.0442 right_roll=-0.0086 right_gripper=0.9993 state[joint_eff]: [0.294, -2.7829, 9.9624, 1.5946, -0.149, 0.2369, -0.0122, -0.8, -1.2103, 9.6342, 1.7167, -0.105, 0.0464, -0.0122] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.13, "left_z": 0.07}, "note": "Left arm responds again. The red-label bottle lies along the arm's x axis just right of the jaws, cap pointing away at roughly x\u22480.5. Moving over its neck (x\u22480.45) for a neck grasp."})
tool
executing move_to over 12 steps (1.2s)
step 209
assistant
agent noteThe bottle's red label (upper body, toward the cap) is between the jaws. Descending to table level to grip it there, above the bottle's centre of mass.
move_to
left_x0.4400left_y-0.1300left_z-0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4553, 1.787, 0.833, 0.2649, -0.4541, -0.3408, 0.9971, -0.0528, 0.7376, 0.5037, -0.3775, -0.0757, -0.0807, 0.9993] state[eef_state]: left_x=0.4344 left_y=-0.1224 left_z=0.0593 left_yaw=0.0907 left_pitch=-0.0484 left_roll=0.0163 left_gripper=0.9971 right_x=0.2791 right_y=0.0022 right_z=0.15 right_yaw=0.0319 right_pitch=-0.0366 right_roll=-0.0064 right_gripper=0.9993 state[joint_eff]: [0.5402, -8.2803, 7.2137, 1.707, -0.0513, 0.1197, -0.0122, -0.5675, -1.347, 6.9949, 1.9707, -0.0904, 0.0611, -0.0122] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.13, "left_z": -0.01}, "note": "The bottle's red label (upper body, toward the cap) is between the jaws. Descending to table level to grip it there, above the bottle's centre of mass."})
tool
executing move_to over 5 steps (0.5s)
step 214
assistant
agent noteDescent stopped at ~4 cm with the labelled upper body centred between the jaws. Closing to grip.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4778, 1.9808, 0.7914, 0.6941, -0.4831, -0.3481, 0.9971, -0.0547, 0.7147, 0.4698, -0.3618, -0.0837, -0.0811, 0.9993] state[eef_state]: left_x=0.4581 left_y=-0.1408 left_z=0.0416 left_yaw=0.0996 left_pitch=0.1243 left_roll=-0.0794 left_gripper=0.9971 right_x=0.2758 right_y=0.0033 right_z=0.1437 right_yaw=0.0369 right_pitch=-0.0317 right_roll=-0.0026 right_gripper=0.9993 state[joint_eff]: [0.294, -3.8906, 3.2479, 0.1197, 0.022, 0.0366, -0.0073, -0.759, -1.1966, 6.8581, 1.956, -0.0806, 0.0024, -0.0073] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Descent stopped at ~4 cm with the labelled upper body centred between the jaws. Closing to grip."})
tool
executing move_to over 10 steps (1.0s)
step 224
assistant
agent noteI've used almost all of the call budget and no bottle is upright yet. With pitch and roll pinned, the only way to stand a lying bottle is to grip it near the cap and let it swing down by gravity. The caps point away from the bases at about x≈0.5, which is at or past table-level reach. Five of my six closes came up empty because I placed the jaws using the wrist camera and they ended up beside the bottles. The one grip that held slipped off during a drag toward the base.
give_up
hindsight- Use top_cam to place the jaws sideways. On the left arm the wrist camera repeatedly showed a bottle centred on the jaw column while top_cam showed the jaws 5–10 cm to the arm's left (+y) of it. Every empty close I made came from trusting the wrist view. At the end the gripper was at about image x=65 and the bottles at x=95–135, which is roughly −0.1 m in y at ~3 px/cm. - Bottles here are ~6.5 cm in diameter, full of water and lying on their sides with caps pointing forward (+x). The caps sit around x≈0.48–0.52 in the left frame, near or beyond the reach limit. With a vertical tool the left arm would not go past x≈0.42 at z≈0.08, and reached ~0.46 only at z≈0.04. - The controller often ignores small moves (2–5 steps) or stalls in a pose, and near x≈0.36–0.45 the joints froze entirely. A larger move, e.g. to home, freed it. Readback lags the command, so re-check before re-sending. - Descents onto round bottles stop at z≈0.04–0.05 on contact. A close there, above the bottle's centre line, lets the bottle slip out and pushes the arm up 1 cm. The grip that worked (reading 0.66) came from commanding z=−0.01 and reaching z≈0.027. - Dragging a bottle by a body grip slipped. Next time, grip lower or move more slowly. - The idle right arm drifts down about 1 cm per call, so re-park it now and then. - Suggested strategy: pick the arm by top_cam, grip the body at table level, pull the bottle 10–15 cm toward the base so the cap comes within reach, then grip the neck close to the cap with a light grip. Lift about 30 cm so the bottle hangs bottom-down, lower it until it touches, and release. Budget about 8 calls per bottle, so 3 bottles won't fit in 40 calls unless the first grasp works.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4782, 1.9339, 0.9028, 0.4808, -0.5159, -0.3664, 0.0182, -0.0547, 0.6991, 0.44, -0.3504, -0.0837, -0.0811, 0.9993] state[eef_state]: left_x=0.4697 left_y=-0.1412 left_z=0.0626 left_yaw=0.1327 left_pitch=0.0874 left_roll=-0.0514 left_gripper=0.0182 right_x=0.2727 right_y=0.0034 right_z=0.1364 right_yaw=0.0369 right_pitch=-0.0343 right_roll=-0.0023 right_gripper=0.9993 state[joint_eff]: [-0.335, -9.0735, 5.1214, 0.8132, 0.1538, 0.105, 0.8425, -0.335, -1.4017, 7.0632, 2.0, -0.1441, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I've used almost all of the call budget and no bottle is upright yet. With pitch and roll pinned, the only way to stand a lying bottle is to grip it near the cap and let it swing down by gravity. The caps point away from the bases at about x\u22480.5, which is at or past table-level reach. Five of my six closes came up empty because I placed the jaws using the wrist camera and they ended up beside the bottles. The one grip that held slipped off during a drag toward the base.", "hindsight": "- Use top_cam to place the jaws sideways. On the left arm the wrist camera repeatedly showed a bottle centred on the jaw column while top_cam showed the jaws 5\u201310 cm to the arm's left (+y) of it. Every empty close I made came from trusting the wrist view. At the end the gripper was at about image x=65 and the bottles at x=95\u2013135, which is roughly \u22120.1 m in y at ~3 px/cm.\n- Bottles here are ~6.5 cm in diameter, full of water and lying on their sides with caps pointing forward (+x). The caps sit around x\u22480.48\u20130.52 in the left frame, near or beyond the reach limit. With a vertical tool the left arm would not go past x\u22480.42 at z\u22480.08, and reached ~0.46 only at z\u22480.04.\n- The controller often ignores small moves (2\u20135 steps) or stalls in a pose, and near x\u22480.36\u20130.45 the joints froze entirely. A larger move, e.g. to home, freed it. Readback lags the command, so re-check before re-sending.\n- Descents onto round bottles stop at z\u22480.04\u20130.05 on contact. A close there, above the bottle's centre line, lets the bottle slip out and pushes the arm up 1 cm. The grip that worked (reading 0.66) came from commanding z=\u22120.01 and reaching z\u22480.027.\n- Dragging a bottle by a body grip slipped. Next time, grip lower or move more slowly.\n- The idle right arm drifts down about 1 cm per call, so re-park it now and then.\n- Suggested strategy: pick the arm by top_cam, grip the body at table level, pull the bottle 10\u201315 cm toward the base so the cap comes within reach, then grip the neck close to the cap with a light grip. Lift about 30 cm so the bottle hangs bottom-down, lower it until it touches, and release. Budget about 8 calls per bottle, so 3 bottles won't fit in 40 calls unless the first grasp works."})
tool
give_up: I've used almost all of the call budget and no bottle is upright yet. With pitch and roll pinned, the only way to stand a lying bottle is to grip it near the cap and let it swing down by gravity. The caps point away from the bases at about x≈0.5, which is at or past table-level reach. Five of my six closes came up empty because I placed the jaws using the wrist camera and they ended up beside the bottles. The one grip that held slipped off during a drag toward the base.
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 · 19.47 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, 0.7921, 0.6083, -0.3763, -0.0231, -0.0288, 0.9986, -0.0158, 0.7887, 0.6033, -0.3874, -0.0231, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1832 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.003 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -1.4974, 9.7299, 1.7607, -0.0415, 0.1197, -0.1587, -0.8957, -1.0051, 10.2085, 1.8339, 0.0366, 0.2076, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4278429b702de9b1b814138717a5d02f4192df4b79e6ac29c4501edc50736580",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adf351530f32bf564f42197d79b1d709139d0f6b9bd8b1390b9c7a251d72b6ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0528ce3567d2d26d6d38fe6390f5e5945dbcaf841e7c20fa0adac1a3e4d1f176",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 7.43 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, 0.7921, 0.6083, -0.3763, -0.0231, -0.0288, 0.9986, -0.0158, 0.7887, 0.6033, -0.3874, -0.0231, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1832 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.003 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -1.4974, 9.7299, 1.7607, -0.0415, 0.1197, -0.1587, -0.8957, -1.0051, 10.2085, 1.8339, 0.0366, 0.2076, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4278429b702de9b1b814138717a5d02f4192df4b79e6ac29c4501edc50736580",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adf351530f32bf564f42197d79b1d709139d0f6b9bd8b1390b9c7a251d72b6ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0528ce3567d2d26d6d38fe6390f5e5945dbcaf841e7c20fa0adac1a3e4d1f176",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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kNizyof36Yh+hU47SuSIDSkqjtn1ia5TL/+NOFXuhJl1xpi4htC+2DW7lTYpR8h9TRpGM8FyTIoQk4j4JkROrzkskiG6CtGxwZhLm41MFt9+NiSSufk1gSrxGEbV8MZFAYacRGlVzpuWd4/4Gsov1x97HePXUht1cFdD8Ge5NEUMDy8ctN4l33zD2JR56cY0zoglnBWkNIsEJXGUdzBUeNhRPsiklljqHy1qwBBTXJluUnzjp5Q86eIemX4tbxFfcz+mxRchAC9j0CQvipJIdVdW0QuOZ8v2hYnpOXhTLCTLSHD30vGXpZ8wuZutOybwPIbCWo1ALDmGVPocEd9CezZabiou4QWUKQZYneXcUsYsx5d8/Kx0K4jmSPGux7PFFnBR9Ol753QZLbJDr/dAxZ8OInRz2Vk3ljC+tQNgtIuXQsk0FdYoWi8dsr5QZCLhf7KpPDjeqLWfYMLjvkfWDdyItXaBTlee8Y5xouDtTeg9taLAtNC/QPTW0KkbIyA5ui8tqCHxkZfvNtPW6dFZXzUdPnKjuh7xloytgfiVB8bQHr6QNF53yBRC2Mp1lKSd0+yZGCa6/bKWqaJFAiCiLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ShGVkGxRzDmNVHxg9hXZrX",
      "input": {
        "note": "Three bottles lie on their sides mid-table; the left wrist cam shows the leftmost bottle's cap just ahead of the fingers. Moving the left gripper forward over that cap to plan a cap grasp (lift by cap so the bottle hangs vertical, then set it down).",
        "targets": {
          "left_x": 0.38,
          "left_y": 0.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01ShGVkGxRzDmNVHxg9hXZrX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 1.214, 0.6285, -0.0845, -0.0231, -0.0292, 0.9984, -0.0193, 0.794, 0.6033, -0.4038, -0.0235, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.3587 left_y=0.0005 left_z=0.1209 left_yaw=0.0003 left_pitch=-0.1098 left_roll=0.0019 left_gripper=0.9984 right_x=0.2915 right_y=0.0021 right_z=0.1747 right_yaw=-0.0025 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -5.094, 9.8667, 1.8974, -0.0122, -0.0366, -0.0317, 0.0615, -1.6342, 7.0769, 1.8291, -0.0073, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7512aa06b24997ef7b1e42601c1c6c2e0af5e51ade00ff0d2cc35993269a853",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc0adc8b2b4447d0c27a1a793c805b43ec72a32def412b69ddf38470f627c1ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b7aefe8d30e4407cddf8e8cf2e7b58f1424aa9e7c4d733122069b03d447b1ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 8.661 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, 0.7921, 0.6083, -0.3763, -0.0231, -0.0288, 0.9986, -0.0158, 0.7887, 0.6033, -0.3874, -0.0231, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1832 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.003 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -1.4974, 9.7299, 1.7607, -0.0415, 0.1197, -0.1587, -0.8957, -1.0051, 10.2085, 1.8339, 0.0366, 0.2076, -0.0855]",
      "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, 1.214, 0.6285, -0.0845, -0.0231, -0.0292, 0.9984, -0.0193, 0.794, 0.6033, -0.4038, -0.0235, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.3587 left_y=0.0005 left_z=0.1209 left_yaw=0.0003 left_pitch=-0.1098 left_roll=0.0019 left_gripper=0.9984 right_x=0.2915 right_y=0.0021 right_z=0.1747 right_yaw=-0.0025 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -5.094, 9.8667, 1.8974, -0.0122, -0.0366, -0.0317, 0.0615, -1.6342, 7.0769, 1.8291, -0.0073, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7512aa06b24997ef7b1e42601c1c6c2e0af5e51ade00ff0d2cc35993269a853",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc0adc8b2b4447d0c27a1a793c805b43ec72a32def412b69ddf38470f627c1ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7aefe8d30e4407cddf8e8cf2e7b58f1424aa9e7c4d733122069b03d447b1ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015p8QietnPcoxYu8kXGMyAj",
      "input": {
        "note": "The cap of the nearest bottle sits on the jaw column but well ahead of the fingertips in the left wrist view. Advancing ~7 cm forward to get over the cap.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.01,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015p8QietnPcoxYu8kXGMyAj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0448, 1.4868, 0.701, 0.1452, -0.049, -0.0525, 0.9983, -0.0193, 0.7887, 0.5842, -0.403, -0.0238, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.4113 left_y=-0.0062 left_z=0.097 left_yaw=0.0099 left_pitch=-0.0798 left_roll=-0.0019 left_gripper=0.9983 right_x=0.2888 right_y=0.0022 right_z=0.1676 right_yaw=-0.0022 right_pitch=-0.0347 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6632, -6.3932, 8.3897, 1.8584, 0.0073, 0.0122, -0.0171, -0.3761, -1.9077, 6.8034, 1.9316, -0.0757, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bd2faadabb92f4d222720cb68034cd7f520b23775e75c3a98632ab6164ec83c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbe5339c5a0808bb627f0d19de7598fe9acb1eb5673dc3ac8b7777ad67695467",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63dc0d18dd9da41dd629d3566979bea57cdb01e63914c24fdb978d3705a27db4",
        "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 · 5.696 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, 0.7921, 0.6083, -0.3763, -0.0231, -0.0288, 0.9986, -0.0158, 0.7887, 0.6033, -0.3874, -0.0231, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1832 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.003 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -1.4974, 9.7299, 1.7607, -0.0415, 0.1197, -0.1587, -0.8957, -1.0051, 10.2085, 1.8339, 0.0366, 0.2076, -0.0855]",
      "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, 1.214, 0.6285, -0.0845, -0.0231, -0.0292, 0.9984, -0.0193, 0.794, 0.6033, -0.4038, -0.0235, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.3587 left_y=0.0005 left_z=0.1209 left_yaw=0.0003 left_pitch=-0.1098 left_roll=0.0019 left_gripper=0.9984 right_x=0.2915 right_y=0.0021 right_z=0.1747 right_yaw=-0.0025 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -5.094, 9.8667, 1.8974, -0.0122, -0.0366, -0.0317, 0.0615, -1.6342, 7.0769, 1.8291, -0.0073, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0448, 1.4868, 0.701, 0.1452, -0.049, -0.0525, 0.9983, -0.0193, 0.7887, 0.5842, -0.403, -0.0238, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.4113 left_y=-0.0062 left_z=0.097 left_yaw=0.0099 left_pitch=-0.0798 left_roll=-0.0019 left_gripper=0.9983 right_x=0.2888 right_y=0.0022 right_z=0.1676 right_yaw=-0.0022 right_pitch=-0.0347 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6632, -6.3932, 8.3897, 1.8584, 0.0073, 0.0122, -0.0171, -0.3761, -1.9077, 6.8034, 1.9316, -0.0757, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bd2faadabb92f4d222720cb68034cd7f520b23775e75c3a98632ab6164ec83c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbe5339c5a0808bb627f0d19de7598fe9acb1eb5673dc3ac8b7777ad67695467",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63dc0d18dd9da41dd629d3566979bea57cdb01e63914c24fdb978d3705a27db4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dc7exyvRou8x5pUoAiRDhy",
      "input": {
        "note": "The cap is now just ahead of the jaws in the wrist view; the bottle runs diagonally away. Rotating the gripper ~45° so the jaws close across the bottle neck, and nudging forward.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.01,
          "left_yaw": 0.8,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Dc7exyvRou8x5pUoAiRDhy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3546, 1.7462, 1.0344, -0.1627, -0.7506, -0.7223, 0.9983, -0.0193, 0.77, 0.5503, -0.3851, -0.0235, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.4356 left_y=-0.029 left_z=0.1046 left_yaw=0.6191 left_pitch=-0.0357 left_roll=-0.0198 left_gripper=0.9983 right_x=0.2858 right_y=0.0022 right_z=0.1608 right_yaw=-0.0025 right_pitch=-0.032 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -8.6769, 6.2564, 0.8767, -0.6569, 0.0171, -0.0269, -0.3897, -1.6342, 6.9402, 1.9756, -0.0464, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7e820e43d624ffdba181d2219d62ee2dde7f002729f86fa6e69da374cdb42c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dad66d6516fcaff717cf1cb08e3219e1a58bd0bc6814069eff3edbc2db52eda6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:620c18cf5416f7a06aedf744bba7f1f601dd44f5fb502da4fa3aefe1dc1361fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 6.271 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, 1.214, 0.6285, -0.0845, -0.0231, -0.0292, 0.9984, -0.0193, 0.794, 0.6033, -0.4038, -0.0235, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.3587 left_y=0.0005 left_z=0.1209 left_yaw=0.0003 left_pitch=-0.1098 left_roll=0.0019 left_gripper=0.9984 right_x=0.2915 right_y=0.0021 right_z=0.1747 right_yaw=-0.0025 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -5.094, 9.8667, 1.8974, -0.0122, -0.0366, -0.0317, 0.0615, -1.6342, 7.0769, 1.8291, -0.0073, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0448, 1.4868, 0.701, 0.1452, -0.049, -0.0525, 0.9983, -0.0193, 0.7887, 0.5842, -0.403, -0.0238, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.4113 left_y=-0.0062 left_z=0.097 left_yaw=0.0099 left_pitch=-0.0798 left_roll=-0.0019 left_gripper=0.9983 right_x=0.2888 right_y=0.0022 right_z=0.1676 right_yaw=-0.0022 right_pitch=-0.0347 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6632, -6.3932, 8.3897, 1.8584, 0.0073, 0.0122, -0.0171, -0.3761, -1.9077, 6.8034, 1.9316, -0.0757, -0.0269, -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]: [-0.3546, 1.7462, 1.0344, -0.1627, -0.7506, -0.7223, 0.9983, -0.0193, 0.77, 0.5503, -0.3851, -0.0235, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.4356 left_y=-0.029 left_z=0.1046 left_yaw=0.6191 left_pitch=-0.0357 left_roll=-0.0198 left_gripper=0.9983 right_x=0.2858 right_y=0.0022 right_z=0.1608 right_yaw=-0.0025 right_pitch=-0.032 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -8.6769, 6.2564, 0.8767, -0.6569, 0.0171, -0.0269, -0.3897, -1.6342, 6.9402, 1.9756, -0.0464, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7e820e43d624ffdba181d2219d62ee2dde7f002729f86fa6e69da374cdb42c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dad66d6516fcaff717cf1cb08e3219e1a58bd0bc6814069eff3edbc2db52eda6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:620c18cf5416f7a06aedf744bba7f1f601dd44f5fb502da4fa3aefe1dc1361fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7AkKEAgSGAI4AUIIdGhpbmtpbmcSDK+a55RRUyq0H1Dk1hoMttbX/Hy0Rzwwi0c+IjAUCmVmElhxmstEY56w0VIhlpscv6kv6V+kNE4Gp8j3RUV/CEu5vHvPXmuOoB/AdPwqiQnFHn6OqcPVOvVFwK2kn4Z035nuRkrfxWhJfCPJJGxBmO+oBmjZ9fR1Br86SsaQT+FpOuXbV6rHh4e5jtBge5xHnmWCRFqpk6u1bBm6CXHgPLIqrzwDwlcgNMiogW1VScE87Htya2Ua+gqouZ72Zs5elCWKKaZwrGFV8nRErb2D83AC/zU1W4vPyZdZYl4Mu198HfA9xniG/7BvQLoqd2awtj5MN/OuwCwAWTMaCffnVK0DOGU3hiczL6RTH5deE85a0IDDgfUJIgMRmgBUTKkBqKYiMGsy4vIlW6kg6FcFJmWqipVTt/0kE3i5hk9+RhIUKiVvWUYJRcRFKjxFU4hwsqTGoG82LLnp8GxOWiOJ0WwtV2vXDixWVFdfZy+q6QtYdztxalmMsYuw14sfqq00Q6YPyPFqWxIPs1u/VsjtQPovGNZX8pHM5BW7YQdpg8rkoCHrTTHYVS745Zk1wIMaV2enw5bTic4rF7iQxiMlxe9hcbEFRXDVn5cmePu0t/7o/thUVPyeCVYGak7PS2AsQM+ysjaALhAAS9rc8od9bGECtQBYzN8W7bd8n4q1i/4jsd8r+Q4iC4EW+oIs1/2iWJrbo3d3R1dZ310Sr/3bLjdzNIGaKbehCXXwoNtpbEwMt7KjD9l7h6M+NT7HkSvJhdYgxLaWD2TG/2+O7SqX+gugGtYDsezFv1eaZgWyDFMQ6TTNGzDQ8T88SDhSmE27qvG+0bnDJ9UzvkzenYskavmMsd85gm+Bh+/WU8eFK6JI4ftG3EOa2DZi6TqYQFDs2Tjsb22St5ZcCjztF6X7C8b3fbtXuMSeLNCXWO7VA6e9jZGoEhpgYKtT1mi2G7cxjDQ0KYVKhhXzeoPbdaqyW0C52tBR7Ufj8iNYau75o9dvr62h+gbwFGGtobZPCvffWyhvgy4G7rwdNlu9svPxU1U5AzyzoiFP/2sVK129VEEL7CKxDCJxoB0QQUXkGhyIMnzgB5Tf654kpTOzzpm5l1EuwNrA7Fzn0HrLwT8OhI8Mpu8D14utj55A72Y2OTRq3ckeL66gg2b7HEJAqQpJuy04jqih4htYzYMXy9LKKgq/bqvpEnV8SKBFYWzDoarPmQqwGbLqysN/lywNFxrz44+wpacj+5n8pdi+MmSCO51N/40JYgVMyvqUTDQu5ZFSFfo/6o7t/ygtMbubmRXyJHJvbjpn48jEbw0tFfmw5Zx7wx+cNBAIi20I5X7QedTYoRbtGncOxGDiB1YERN49Tcb/Wh4wfh6+pBb3nGZQQps1KQRkSx+3CUWzZkVse9YHgnmQ7KEsOGuXS/LtovkN5sli1OBOJid66gfOesijU9tZOcp+NJvkmisZw7p0wig8QORqeLaFOHYAaaTmCzC/b6dmAFP67hkPd6ts2tqTY86rIIWJaeQyi/dddJ9igdIWqjMCjVEXBdEtwEiCoTJ8rhYDgvXZOv/2Cio1hkE9EvDvDG3N98qRLDWxPak6DbORhTa5Fo0G8VrR82aVteVeyJ8CuYTbsLf+2ymDo+TDAmCZ6BJWkQpPG4sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HtwrJaTX7BrmqepFqVXqVx",
      "input": {
        "note": "Bottle now runs straight down the wrist image with the cap between the jaw tips, so the jaws are across the neck. Descending to neck height (~3 cm) to grasp.",
        "targets": {
          "left_yaw": 0.8,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01HtwrJaTX7BrmqepFqVXqVx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3973, 1.9831, 1.0515, -0.1062, -0.894, -0.9203, 0.9982, -0.0193, 0.7563, 0.5209, -0.374, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4345 left_y=-0.0291 left_z=0.0375 left_yaw=0.7697 left_pitch=-0.0099 left_roll=0.0143 left_gripper=0.9982 right_x=0.2827 right_y=0.0024 right_z=0.1533 right_yaw=-0.0024 right_pitch=-0.0366 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -7.3641, 5.8462, 0.7888, -0.315, 0.0415, -0.0171, -0.3897, -1.8393, 6.9675, 1.9902, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1aa0107fdc7442f10d990d5378307c6ce333ca1b0c6cdcc96bf8679b7f62933",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0532155c0ebff61d296175d4aae3b8ff6f2e9c53c2b183f8901d80d32713a8cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d04d3af74cd33ca288c54fee8d159b1c875d6d95d9c003b1a76d2bd9b07b06a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 10.73 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]: [-0.0448, 1.4868, 0.701, 0.1452, -0.049, -0.0525, 0.9983, -0.0193, 0.7887, 0.5842, -0.403, -0.0238, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.4113 left_y=-0.0062 left_z=0.097 left_yaw=0.0099 left_pitch=-0.0798 left_roll=-0.0019 left_gripper=0.9983 right_x=0.2888 right_y=0.0022 right_z=0.1676 right_yaw=-0.0022 right_pitch=-0.0347 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6632, -6.3932, 8.3897, 1.8584, 0.0073, 0.0122, -0.0171, -0.3761, -1.9077, 6.8034, 1.9316, -0.0757, -0.0269, -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]: [-0.3546, 1.7462, 1.0344, -0.1627, -0.7506, -0.7223, 0.9983, -0.0193, 0.77, 0.5503, -0.3851, -0.0235, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.4356 left_y=-0.029 left_z=0.1046 left_yaw=0.6191 left_pitch=-0.0357 left_roll=-0.0198 left_gripper=0.9983 right_x=0.2858 right_y=0.0022 right_z=0.1608 right_yaw=-0.0025 right_pitch=-0.032 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -8.6769, 6.2564, 0.8767, -0.6569, 0.0171, -0.0269, -0.3897, -1.6342, 6.9402, 1.9756, -0.0464, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3973, 1.9831, 1.0515, -0.1062, -0.894, -0.9203, 0.9982, -0.0193, 0.7563, 0.5209, -0.374, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4345 left_y=-0.0291 left_z=0.0375 left_yaw=0.7697 left_pitch=-0.0099 left_roll=0.0143 left_gripper=0.9982 right_x=0.2827 right_y=0.0024 right_z=0.1533 right_yaw=-0.0024 right_pitch=-0.0366 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -7.3641, 5.8462, 0.7888, -0.315, 0.0415, -0.0171, -0.3897, -1.8393, 6.9675, 1.9902, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1aa0107fdc7442f10d990d5378307c6ce333ca1b0c6cdcc96bf8679b7f62933",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0532155c0ebff61d296175d4aae3b8ff6f2e9c53c2b183f8901d80d32713a8cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d04d3af74cd33ca288c54fee8d159b1c875d6d95d9c003b1a76d2bd9b07b06a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CsuZKkHW9wgmdeu78MAKKh",
      "input": {
        "note": "Jaws straddle the bottle neck just behind the cap. Closing to grip the neck.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CsuZKkHW9wgmdeu78MAKKh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3981, 1.9953, 1.0695, -0.0566, -0.9798, -0.9695, 0.0185, -0.0193, 0.7376, 0.485, -0.358, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4431 left_y=-0.0233 left_z=0.0528 left_yaw=0.8416 left_pitch=0.0776 left_roll=-0.0538 left_gripper=0.0185 right_x=0.2792 right_y=0.0024 right_z=0.1452 right_yaw=-0.0024 right_pitch=-0.0377 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -7.8838, 5.2581, 0.6569, 0.2125, 0.0122, 0.862, -0.1709, -1.1556, 6.9949, 2.0537, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d6d412d0887305cb035d254167212258ce932b69df475313179b2a578509bef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:723bf7b7cd88bd1d2a2c0dafab3b2516d5f4bc68cac42a3a2528fc3467bb3cfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:89aaf4e72077e5b659446e227c30ef8043d1306d95d3b592dd4beb0f83d6b418",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 10.15 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]: [-0.3546, 1.7462, 1.0344, -0.1627, -0.7506, -0.7223, 0.9983, -0.0193, 0.77, 0.5503, -0.3851, -0.0235, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.4356 left_y=-0.029 left_z=0.1046 left_yaw=0.6191 left_pitch=-0.0357 left_roll=-0.0198 left_gripper=0.9983 right_x=0.2858 right_y=0.0022 right_z=0.1608 right_yaw=-0.0025 right_pitch=-0.032 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -8.6769, 6.2564, 0.8767, -0.6569, 0.0171, -0.0269, -0.3897, -1.6342, 6.9402, 1.9756, -0.0464, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3973, 1.9831, 1.0515, -0.1062, -0.894, -0.9203, 0.9982, -0.0193, 0.7563, 0.5209, -0.374, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4345 left_y=-0.0291 left_z=0.0375 left_yaw=0.7697 left_pitch=-0.0099 left_roll=0.0143 left_gripper=0.9982 right_x=0.2827 right_y=0.0024 right_z=0.1533 right_yaw=-0.0024 right_pitch=-0.0366 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -7.3641, 5.8462, 0.7888, -0.315, 0.0415, -0.0171, -0.3897, -1.8393, 6.9675, 1.9902, -0.0317, -0.0366, -0.0122]",
      "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]: [-0.3981, 1.9953, 1.0695, -0.0566, -0.9798, -0.9695, 0.0185, -0.0193, 0.7376, 0.485, -0.358, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4431 left_y=-0.0233 left_z=0.0528 left_yaw=0.8416 left_pitch=0.0776 left_roll=-0.0538 left_gripper=0.0185 right_x=0.2792 right_y=0.0024 right_z=0.1452 right_yaw=-0.0024 right_pitch=-0.0377 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -7.8838, 5.2581, 0.6569, 0.2125, 0.0122, 0.862, -0.1709, -1.1556, 6.9949, 2.0537, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d6d412d0887305cb035d254167212258ce932b69df475313179b2a578509bef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:723bf7b7cd88bd1d2a2c0dafab3b2516d5f4bc68cac42a3a2528fc3467bb3cfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89aaf4e72077e5b659446e227c30ef8043d1306d95d3b592dd4beb0f83d6b418",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ju5NiwSiXMT9KQkgM9Rqgr",
      "input": {
        "note": "The close came up empty (reading 0.02) – the neck slipped out. Opening and rising to re-view the bottle in the wrist camera.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ju5NiwSiXMT9KQkgM9Rqgr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3866, 1.9499, 1.2152, -0.3878, -0.9211, -1.0073, 0.995, -0.0193, 0.7174, 0.4507, -0.3428, -0.0238, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.44 left_y=-0.0234 left_z=0.0782 left_yaw=0.8405 left_pitch=-0.0171 left_roll=0.0288 left_gripper=0.995 right_x=0.2757 right_y=0.0025 right_z=0.1378 right_yaw=-0.0022 right_pitch=-0.0366 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -12.8615, 8.0752, 0.7937, -0.5299, 0.0122, -0.2271, -0.3761, -1.4838, 6.8034, 1.9707, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fa20fe9c819a604650fc4c21b9d9b4503b32fe30dde0adb6249402b7a385ff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8afb7bd1c4e87dc74c613fc636716f28378fad85067dbe3dd03f2c25f4302323",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8616a6760ce1720cc2ab213bf000bfb5d0ebb2769a8df0f947223e24930a8d82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 4.342 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]: [-0.3973, 1.9831, 1.0515, -0.1062, -0.894, -0.9203, 0.9982, -0.0193, 0.7563, 0.5209, -0.374, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4345 left_y=-0.0291 left_z=0.0375 left_yaw=0.7697 left_pitch=-0.0099 left_roll=0.0143 left_gripper=0.9982 right_x=0.2827 right_y=0.0024 right_z=0.1533 right_yaw=-0.0024 right_pitch=-0.0366 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -7.3641, 5.8462, 0.7888, -0.315, 0.0415, -0.0171, -0.3897, -1.8393, 6.9675, 1.9902, -0.0317, -0.0366, -0.0122]",
      "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]: [-0.3981, 1.9953, 1.0695, -0.0566, -0.9798, -0.9695, 0.0185, -0.0193, 0.7376, 0.485, -0.358, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4431 left_y=-0.0233 left_z=0.0528 left_yaw=0.8416 left_pitch=0.0776 left_roll=-0.0538 left_gripper=0.0185 right_x=0.2792 right_y=0.0024 right_z=0.1452 right_yaw=-0.0024 right_pitch=-0.0377 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -7.8838, 5.2581, 0.6569, 0.2125, 0.0122, 0.862, -0.1709, -1.1556, 6.9949, 2.0537, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3866, 1.9499, 1.2152, -0.3878, -0.9211, -1.0073, 0.995, -0.0193, 0.7174, 0.4507, -0.3428, -0.0238, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.44 left_y=-0.0234 left_z=0.0782 left_yaw=0.8405 left_pitch=-0.0171 left_roll=0.0288 left_gripper=0.995 right_x=0.2757 right_y=0.0025 right_z=0.1378 right_yaw=-0.0022 right_pitch=-0.0366 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -12.8615, 8.0752, 0.7937, -0.5299, 0.0122, -0.2271, -0.3761, -1.4838, 6.8034, 1.9707, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fa20fe9c819a604650fc4c21b9d9b4503b32fe30dde0adb6249402b7a385ff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8afb7bd1c4e87dc74c613fc636716f28378fad85067dbe3dd03f2c25f4302323",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8616a6760ce1720cc2ab213bf000bfb5d0ebb2769a8df0f947223e24930a8d82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QdSrmVxZNTurBbHtGT8JWJ",
      "input": {
        "note": "Cap is visible just ahead of and slightly right of the jaw centre. Shifting ~1.5 cm forward and 1 cm to the tool's right to centre the cap/neck between the jaws before descending.",
        "targets": {
          "left_x": 0.456,
          "left_y": -0.02,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01QdSrmVxZNTurBbHtGT8JWJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3763, 1.9484, 1.2354, -0.4049, -0.9146, -0.9974, 0.9963, -0.0193, 0.7025, 0.429, -0.3279, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4431 left_y=-0.0207 left_z=0.0827 left_yaw=0.8426 left_pitch=-0.0212 left_roll=0.0308 left_gripper=0.9963 right_x=0.2742 right_y=0.0025 right_z=0.1348 right_yaw=-0.0024 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [0.759, -9.9077, 9.0462, 1.0281, -0.5348, 0.2271, 0.1197, -0.4034, -1.1829, 7.0222, 2.0342, -0.022, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b40fdf6db3e86c9666f2c12df7d174054209a7146b7fae3a253d5a5afb5f9ee6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a12e1d1f83283ce0f49d4eee0bd34ead608bdbbb4c022332ca3f4e75b41fb46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6cdcf13e2b88c643af0dbe6960ac66c23e39d746ea8c0ccd13ef87fecadfede6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 4.439 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]: [-0.3981, 1.9953, 1.0695, -0.0566, -0.9798, -0.9695, 0.0185, -0.0193, 0.7376, 0.485, -0.358, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4431 left_y=-0.0233 left_z=0.0528 left_yaw=0.8416 left_pitch=0.0776 left_roll=-0.0538 left_gripper=0.0185 right_x=0.2792 right_y=0.0024 right_z=0.1452 right_yaw=-0.0024 right_pitch=-0.0377 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -7.8838, 5.2581, 0.6569, 0.2125, 0.0122, 0.862, -0.1709, -1.1556, 6.9949, 2.0537, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3866, 1.9499, 1.2152, -0.3878, -0.9211, -1.0073, 0.995, -0.0193, 0.7174, 0.4507, -0.3428, -0.0238, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.44 left_y=-0.0234 left_z=0.0782 left_yaw=0.8405 left_pitch=-0.0171 left_roll=0.0288 left_gripper=0.995 right_x=0.2757 right_y=0.0025 right_z=0.1378 right_yaw=-0.0022 right_pitch=-0.0366 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -12.8615, 8.0752, 0.7937, -0.5299, 0.0122, -0.2271, -0.3761, -1.4838, 6.8034, 1.9707, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3763, 1.9484, 1.2354, -0.4049, -0.9146, -0.9974, 0.9963, -0.0193, 0.7025, 0.429, -0.3279, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4431 left_y=-0.0207 left_z=0.0827 left_yaw=0.8426 left_pitch=-0.0212 left_roll=0.0308 left_gripper=0.9963 right_x=0.2742 right_y=0.0025 right_z=0.1348 right_yaw=-0.0024 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [0.759, -9.9077, 9.0462, 1.0281, -0.5348, 0.2271, 0.1197, -0.4034, -1.1829, 7.0222, 2.0342, -0.022, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b40fdf6db3e86c9666f2c12df7d174054209a7146b7fae3a253d5a5afb5f9ee6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a12e1d1f83283ce0f49d4eee0bd34ead608bdbbb4c022332ca3f4e75b41fb46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cdcf13e2b88c643af0dbe6960ac66c23e39d746ea8c0ccd13ef87fecadfede6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkwgKEAgSGAI4AUIIdGhpbmtpbmcSDGdm5Lb+zBsYdwJyEBoMezMbqvWeM/qYZzkJIjBU5UTuYMua3dM0K4OcRsfHKOWMgJtvnojYcyfEhWe1xv993z2Ij7b4D/XifV3J0qsqsAcwuAuelGTiaVGwxpRiKb5BoFy4Zdnhqwp49Fw957cWLEixhkMaj96C6o7qa/EtkK11R2cHYmsSTwvf6NnxRhqYY97gqU4gnx1IVOOcWwIXu22AtX0AKgm7F+fYntBvdFx3Q1z8zW2KsyWZSmsyl9G3bNk6CmEnRYy1wDSnM8mpepZYYWXlMsz9qz+1faSx+IKrDiPXBetIq5EbJDeG0XIhqO5v+uYGzRyb/QkdDkCl3AFo7TWu7VJ+6OFHL4CePkJiNtPbQAPIBRCdcEFcdPqV5Mbp4NDJ4YXLo6A2E4OFkTGT7LE248FotHiPBqRkewQt9Zb965IoijbWkmG9VqtUXvCN3ACD6Lm+2bUOXwk0rSEIQ1Hk/7aKR+ae+mLH512wsoESgEPU3mwwJYpotWXOtaeYdpKch78FUC+Mt+aZQg3Zsg5K5jqhPX/VtOsseIeqSIwpIa9TZ3s/CLWJv11IUuvSRyT/oIYeC73b2V2vLmmCIbQXEumSe+hPrVUnyWy20YvzUlR2PwejomlCEcRAmE6oFzgHdWt91eZl8Kvjomq+jDeP5zWsXWi3QtHuNt6YKTLsPQqEbpxRxfXc4vz0giCzK2e7yGtE7q7pZLXrxZvlpmII9dzz3XKitQE0M63pDjin/DeQyGFQME57j6IDxIfz/oRPTPLz+ucesVjilIY+mn1aIZ8sHTQNpRp7PAA8OqhS385LR6k4Bw5T2iE1KJAU2M9CDy1hOTRK7oX6k7RmWHH4lcV8l/ObYJa8gE3KtNnPUIfWry+4zpBTphtNTi0PQ3drSUaykyTMYm3VI+ZOwpTXIW5VfWGlr6lfm437eYOKtlgiirxGRUC0TikhE/D+XGuZK4aDu1REtmeVSuCWyaaDTZw4PMX1mkEPy9J4JPJbjMom35dT3EGkfM+Mem1xZ/xexnd82TPtJ/opThF0++t/h2DG/fmsC72lWpo6APlMP9pIqzLw9y9nzpjvgTwdyzk0QYsXmvnJ/e0fxbFSMKt1uoP/yuGix403tMGM8le1TKicc6J8+ser8UeloGbYiwlPnMXb2d/Lr/H+ekaMpdqEjmB3eGJBU0lz4XnNnXTjYmM8706GPVmDbxRfULwgglbKhJbnXLjhbxJyftvwAwSTozNbdiU3yBj5HvFtdVhvGpHCiin/dSAXbGK+dare1+4kpL2zBnbYLii8b7G3Ti4FNPvTGO8yZXMdVlCGeauj4a+Ypc/lsNbKkk5pLp5yBYlnsti/L5R+8FnQpRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013xmy3NNbZKcDmrRDoKeB38",
      "input": {
        "note": "Cap is at the jaw tips in the wrist view. Descending to neck height to grip it, while nudging forward.",
        "targets": {
          "left_x": 0.455,
          "left_y": -0.02,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013xmy3NNbZKcDmrRDoKeB38",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3649, 1.9484, 1.2629, -0.3988, -0.9131, -0.9951, 0.9964, -0.0193, 0.6907, 0.4057, -0.3202, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4512 left_y=-0.0188 left_z=0.0915 left_yaw=0.8516 left_pitch=-0.0109 left_roll=0.0007 left_gripper=0.9964 right_x=0.2716 right_y=0.0026 right_z=0.1287 right_yaw=-0.0024 right_pitch=-0.0324 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -10.441, 7.5966, 0.9939, -0.4957, 0.2173, -0.0024, -0.253, -1.4974, 6.694, 2.0293, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd2e9931064071c34c2735f874c8f30418c17bcb08cfdaeec652b01703184cdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb5322e49aeda586783afd4d77caeb12992377bb16cb7dd2f5c7d057fad37fc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0cecdd05ea7a06ecfdc446cfca2098625783f043cdba90d813ede93f202f5798",
        "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 · 6.008 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]: [-0.3866, 1.9499, 1.2152, -0.3878, -0.9211, -1.0073, 0.995, -0.0193, 0.7174, 0.4507, -0.3428, -0.0238, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.44 left_y=-0.0234 left_z=0.0782 left_yaw=0.8405 left_pitch=-0.0171 left_roll=0.0288 left_gripper=0.995 right_x=0.2757 right_y=0.0025 right_z=0.1378 right_yaw=-0.0022 right_pitch=-0.0366 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -12.8615, 8.0752, 0.7937, -0.5299, 0.0122, -0.2271, -0.3761, -1.4838, 6.8034, 1.9707, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.3763, 1.9484, 1.2354, -0.4049, -0.9146, -0.9974, 0.9963, -0.0193, 0.7025, 0.429, -0.3279, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4431 left_y=-0.0207 left_z=0.0827 left_yaw=0.8426 left_pitch=-0.0212 left_roll=0.0308 left_gripper=0.9963 right_x=0.2742 right_y=0.0025 right_z=0.1348 right_yaw=-0.0024 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [0.759, -9.9077, 9.0462, 1.0281, -0.5348, 0.2271, 0.1197, -0.4034, -1.1829, 7.0222, 2.0342, -0.022, -0.0317, -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]: [-0.3649, 1.9484, 1.2629, -0.3988, -0.9131, -0.9951, 0.9964, -0.0193, 0.6907, 0.4057, -0.3202, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4512 left_y=-0.0188 left_z=0.0915 left_yaw=0.8516 left_pitch=-0.0109 left_roll=0.0007 left_gripper=0.9964 right_x=0.2716 right_y=0.0026 right_z=0.1287 right_yaw=-0.0024 right_pitch=-0.0324 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -10.441, 7.5966, 0.9939, -0.4957, 0.2173, -0.0024, -0.253, -1.4974, 6.694, 2.0293, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd2e9931064071c34c2735f874c8f30418c17bcb08cfdaeec652b01703184cdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb5322e49aeda586783afd4d77caeb12992377bb16cb7dd2f5c7d057fad37fc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cecdd05ea7a06ecfdc446cfca2098625783f043cdba90d813ede93f202f5798",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpQgKEAgSGAI4AUIIdGhpbmtpbmcSDK6fQgK/9utOiSHuXRoM9AoPHEWlXte+Y2nKIjCddLq8RLtxVDP6yOeTrl1lVg3sKrbcj0gZ2mTMzPImEs4fFNnQi5TvzYp/gjZgA1Aqwgd+MpI6HzEmeR76uV+4jMZOZpYJI/dlrOAdNHty3kOqg0Jymlv9Ed5Zta5wwzhnYiQ2RMJQEr0M4vQV/Hya7/MYoeyYfd1r+LMTqx2vmPHupEdtcftTIqYVumXXMpor5kGS0e84RWhY8tuQ2opAs1UBNnuLk2EdVeWKcjjdWhmj8feZBqOY3WF7yuD9u342zZMO8oK/rx0LmOqN801k92Zb9mTr52OfVWR0R+cHmthONmutvzNmYqtg29pV3I6MFdUv53tegNO/WbhiYDeyEmVfLPILjwwWwBrr1KAOg9RE7rVBFdwODyE31yChfIgFtPXg66O4gQJJHNIL2scCd6YAidKGYIHMZzfJGtd2VoWnII/1Z2gGprVP0p81SS0oKtCBu3B3pTjZOWKenKmku4OfbGEHMblf2MxFP7x69R9RV69NJ5rZi5YKt+I3FZs4JEwxQb4Y/oFtjSmXjPMdV03FJSTdtulNudO5e9lDDlSOKd6XnwfhOBzZzxO7FUkeAjbVS53RTEoF8HNUmI6zTBn7OV58j+MC/7fKWS2mjnmHIDkfvdCkCJoYz8HzucEk+utvzzBWOkc+KZqEFSFNpNegwo/xLjjs5+jrNwm6wVbEYDYX8YkAdNGMhV2R6k7tXrpmQX+LLnZ+ly8sBT/FaU1NuT+gwaSv9iKA+5Q2C12L6Hw99YnWV8jZphBbbjMt5PUUlJ0JJ9IGSstl7ts8tyobTVrEfIoN7UxoCdl44sscn0pNywGNx2ZlkN5ZH8QGvSKeZhQgmVVqyWv3nqkUwHgekbnU1FrJK+19VEvIvcYUXjB5gBlXDWNdbXsN96JkmNsx7A1+ZX0GEAOnnY61a3iJIjGChmoPu8IS3lnPqym9/vKBXyBps5N2Y9hjTqq3zCpxwzDehm3S41a943WE4IXg/S5QsHPE/J3C3Ddv/w9+aGboBWa8sUL/DB4Vk1bT4/seivGtUIOZUZzTRW9b71mWYfMISRUZx9lX3ti8bwReM+SHsVhOe65/sKAg+ZiJM/MLKD7K/tTVWNRRHZhW4SqNu02YtsIsXsXPFmLqMb1xtt5IT0qxaFgNFyrUmtf6+ka1Je6Puh1NOj1OqPMGZQtqzh06GzN6rUH+98SrwLRYpCeB4r19hO2zREFrYIsij5Ztxe8vFU8QB6yOcKjwyECKvwMDQXOztADksp1BMH7peXukkbX2EVCvq6e8pql0GgoA/AxlwG3CweLf2FIH3i6pvYZZfN1XgAvOdd7hMi8PoN5GHESLB0M/80xAlTBszdEkVRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VYgu5juyR5r2HEmwpqrNDp",
      "input": {
        "note": "The arm lagged and is still at 9 cm; cap is centred at the jaw tips. Re-commanding the descent to neck height.",
        "targets": {
          "left_x": 0.452,
          "left_y": -0.02,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01VYgu5juyR5r2HEmwpqrNDp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3649, 1.9484, 1.2629, -0.3988, -0.9131, -0.9951, 0.9964, -0.0193, 0.672, 0.3767, -0.3084, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4512 left_y=-0.0188 left_z=0.0915 left_yaw=0.8516 left_pitch=-0.0109 left_roll=0.0007 left_gripper=0.9964 right_x=0.2686 right_y=0.0026 right_z=0.1226 right_yaw=-0.0024 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -10.441, 7.5145, 1.0085, -0.4762, 0.2125, -0.0122, -0.294, -1.0735, 7.2821, 1.9756, -0.0513, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0f509011c5983644cdb9029d93d641bb4b8b8c8cfee111a52b357a0003a3c5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48e6f3aa3e34e5aa7898dfda75585d8fc58ac6fe7b91b5d8f343cbee43002bbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8aadcd4f0d89df4721b5dd14633ccbf2fb7e01c02c6c5d798d64fe24d7f8c02f",
        "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 · 4.058 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]: [-0.3763, 1.9484, 1.2354, -0.4049, -0.9146, -0.9974, 0.9963, -0.0193, 0.7025, 0.429, -0.3279, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4431 left_y=-0.0207 left_z=0.0827 left_yaw=0.8426 left_pitch=-0.0212 left_roll=0.0308 left_gripper=0.9963 right_x=0.2742 right_y=0.0025 right_z=0.1348 right_yaw=-0.0024 right_pitch=-0.0286 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [0.759, -9.9077, 9.0462, 1.0281, -0.5348, 0.2271, 0.1197, -0.4034, -1.1829, 7.0222, 2.0342, -0.022, -0.0317, -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]: [-0.3649, 1.9484, 1.2629, -0.3988, -0.9131, -0.9951, 0.9964, -0.0193, 0.6907, 0.4057, -0.3202, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4512 left_y=-0.0188 left_z=0.0915 left_yaw=0.8516 left_pitch=-0.0109 left_roll=0.0007 left_gripper=0.9964 right_x=0.2716 right_y=0.0026 right_z=0.1287 right_yaw=-0.0024 right_pitch=-0.0324 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -10.441, 7.5966, 0.9939, -0.4957, 0.2173, -0.0024, -0.253, -1.4974, 6.694, 2.0293, -0.0317, -0.0317, -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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3649, 1.9484, 1.2629, -0.3988, -0.9131, -0.9951, 0.9964, -0.0193, 0.672, 0.3767, -0.3084, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4512 left_y=-0.0188 left_z=0.0915 left_yaw=0.8516 left_pitch=-0.0109 left_roll=0.0007 left_gripper=0.9964 right_x=0.2686 right_y=0.0026 right_z=0.1226 right_yaw=-0.0024 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -10.441, 7.5145, 1.0085, -0.4762, 0.2125, -0.0122, -0.294, -1.0735, 7.2821, 1.9756, -0.0513, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0f509011c5983644cdb9029d93d641bb4b8b8c8cfee111a52b357a0003a3c5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48e6f3aa3e34e5aa7898dfda75585d8fc58ac6fe7b91b5d8f343cbee43002bbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aadcd4f0d89df4721b5dd14633ccbf2fb7e01c02c6c5d798d64fe24d7f8c02f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuAoKEAgSGAI4AUIIdGhpbmtpbmcSDBC0dndgPXGR0bFFIhoM2nyt5j8im546+r+oIjDYWpMMcOccDzhBW4oeISaJ5ryTtltxFAwmOVAcMFKw/rmq/0nCSJTeMRutVnjZI7Eq1Qk5PSNW7QSv+HHk3Qbv2ixUK5P5yyjUO/wYbIl4v8EfJpOtsQZPIic0MX9XlWDb/A4dpslGX0ZUh2IzGdbEX+kV6FpajZtjtU/rt4DAy9GzPIi1EuoEhJZYpyI8YJWZm7MZrFc1h/Ypx3XwwqbQI4KfevKghyrCFsuYkFdlfqvEYSzOp/B+PpFegBBQfSQbEZShXYmU6gTj/Fw98sycE5CDUFwiSqDAlPujEi9cZG2MgC3sziapgMOF4qJiuWw2K7T88iyFFI8HGX1mZ5qWc/s38tpttaFB+FH2kVxs2c75NgAXiCSpkISGrhJBBAXt1Q4z1iADOlAw1FGbh/YRkfMfLjPIP1PMwfKsJ+Qssyltyx8weax/3RkaXCj9j2Qc1rrOIjvmhR/mrxVoHKixjybDcB6u7gRSSnpANLCm1ft4cki07h4uKcQtmuwO+Dw6sgW7i6IuEnkp92N5Ckh+X9V8zn4w7bpIQaSw5hQyTOX1Y9hqhkWMNf2vOpm+1ZsOL0t16Vu1gv4l7fD25Xd8Yf3gPF74wWca72XY2tCtntChY/E4pSsrDtzUSogFID/t6QEKyGeCBEm69qIQ1Y4ATSe4+MJ6nMKTdzf76xGeGS4HYxQmMBS2Lru+Wz/S3TMh4oEwcSBxErFvJ3YrRDyxw4NfLPPu7UrojTYhCO35v47qDSZt+UunyclVsVgK+HRjYtEsI0WzDcL2mRd1jqz0szu0dBH88tMAkSMDhVGD3m44too7VCrpOvMzm687VPyEBJELEw7DcDEsIplgMDr2Wlm9cTvWXFSSnQKvegG0Co+ayyXUXPMhBVLcxSEiIOQTNrK2M9VuAokPTuyE5tSTejdzQHICcgBjP6gkF3d4SL8WBnQbOVOsi2HO2g0HeeCS3MQgnq0KhWkNlgocoFEJY5Ez3u8xPntO2OXtqYxX+OW01HDhTLkrzsJE8Awgh7H4m5R8WRtN2aM+8ZaQtmEVi3ivTjOkqN81RqWKQW1IlqZLrAx+QEifkuHKVv8bdm2clkixbuJs+jw0Ias37yys6tdJJ0C4thBK7ZHGHWu7PivLYNwGM8vMnTKZ31vby2eXQGixQUW3Vm667bqNgCXXqDfx/DEXyRj+81ur1+ovkuD2ulb0HcQWcEFb0MfV6gWiOwS9RBtj6t5LaP1PpN/4BvfUxsNZw1vhi8lsh1iGKkHm/3OhqvBt9OItxRXeN0Lgw4qGH3y3p/1sVqGiNhXMD1iOo7f2RWXcIPvpIIXHSilL4wHxCiK8acSQxaHaPcHpJdW43E1aEJh0z4kmYwHUAz4Molla3mKg06B7n1foa8Qt6xo5S7vc+k/LlYdViPQhEUWIM5WhvrDm8CO2ZruLxGuAERD8rYAz9Dk7mSRWKWvBFGisd1iWz0M7QQHiR96hqj697bKD+AMEVmaalIvleQGt4g3fJsKUh7IaumS74zvssNkV8y8iOW69wbPn56YzwLGfO22hfrgAuLhk1SdhjMOjDOGljF+S0iBxCRh5OJCqdyPhI+4+ceYnaqYqY208W4Wn2DV8h3ac4MqKsg5BRTBK7PcFU1KfKTmj6g9V96OkwMI6p6QMR+rDiOO6iN6sxGjDte+O5z6xG5WwmeuVAIHUW7BUpDD0+mCoWZbH+Z3Yz7iWDXExGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tny7dmc3fU7XVVgdjFRu9m",
      "input": {
        "note": "Left arm is not responding to the descent at x≈0.45 (joints frozen, probably an IK limit). Pulling x back 1 cm and retrying the descent onto the cap, which now sits right under the jaws.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.02,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Tny7dmc3fU7XVVgdjFRu9m",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3779, 2.0193, 1.1381, -0.2348, -0.9211, -0.9997, 0.9964, -0.0193, 0.6533, 0.3485, -0.297, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4383 left_y=-0.0188 left_z=0.0402 left_yaw=0.8452 left_pitch=-0.015 left_roll=0.0291 left_gripper=0.9964 right_x=0.2657 right_y=0.0027 right_z=0.1167 right_yaw=-0.0024 right_pitch=-0.029 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -10.2222, 5.7641, 1.1062, -0.4615, -0.1099, -0.0073, -0.0889, -0.9368, 6.9538, 2.044, -0.0415, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c626d7f58c462ad21036f5143ae9491de6335dc35d7256e4d67b22232e7e8f0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa43727bbc6d9087f2d5bc03ac7cc81e56855ac0d59e5b99a59326b4921c981f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f2d3db87e9fd91cae5c9d3b132af1819990b2f83a2402565a928e9f27e8029a",
        "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 · 8.064 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]: [-0.3649, 1.9484, 1.2629, -0.3988, -0.9131, -0.9951, 0.9964, -0.0193, 0.6907, 0.4057, -0.3202, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4512 left_y=-0.0188 left_z=0.0915 left_yaw=0.8516 left_pitch=-0.0109 left_roll=0.0007 left_gripper=0.9964 right_x=0.2716 right_y=0.0026 right_z=0.1287 right_yaw=-0.0024 right_pitch=-0.0324 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -10.441, 7.5966, 0.9939, -0.4957, 0.2173, -0.0024, -0.253, -1.4974, 6.694, 2.0293, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3649, 1.9484, 1.2629, -0.3988, -0.9131, -0.9951, 0.9964, -0.0193, 0.672, 0.3767, -0.3084, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4512 left_y=-0.0188 left_z=0.0915 left_yaw=0.8516 left_pitch=-0.0109 left_roll=0.0007 left_gripper=0.9964 right_x=0.2686 right_y=0.0026 right_z=0.1226 right_yaw=-0.0024 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -10.441, 7.5145, 1.0085, -0.4762, 0.2125, -0.0122, -0.294, -1.0735, 7.2821, 1.9756, -0.0513, -0.0464, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3779, 2.0193, 1.1381, -0.2348, -0.9211, -0.9997, 0.9964, -0.0193, 0.6533, 0.3485, -0.297, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4383 left_y=-0.0188 left_z=0.0402 left_yaw=0.8452 left_pitch=-0.015 left_roll=0.0291 left_gripper=0.9964 right_x=0.2657 right_y=0.0027 right_z=0.1167 right_yaw=-0.0024 right_pitch=-0.029 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -10.2222, 5.7641, 1.1062, -0.4615, -0.1099, -0.0073, -0.0889, -0.9368, 6.9538, 2.044, -0.0415, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c626d7f58c462ad21036f5143ae9491de6335dc35d7256e4d67b22232e7e8f0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa43727bbc6d9087f2d5bc03ac7cc81e56855ac0d59e5b99a59326b4921c981f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f2d3db87e9fd91cae5c9d3b132af1819990b2f83a2402565a928e9f27e8029a",
        "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+gcKEAgSGAI4AUIIdGhpbmtpbmcSDCAa/t4UVK+QLwkVkxoM31K/1MsK/W+G0vNMIjBVI3WTFEBFoVFAaWs7PX8junJGhXQ6VE0PL1PaWj6zXZgMPF8zMyjgOcR5SGMCyIMqlwdYfjZUZP6llm6qUR12V+iib1BlfpYQrHRD+/cfpkIpzNkYpO2VGkTvI4Tf/YZDJnrErkqRYPSaib6kJjtX9boo8hNN5gFyGVWzgQRkWqwPMN8l6OUrP+05OUYg2oYLSft/G2CgJBW+oWdw8NaqWj9fV3Uw6v4+zKWJcP7oJC6FmXHcMESLu68p/aesU79nyHH/rsmkDeoUCMqv5Xr7EQZA26qpRyethOlNafbv1vrrbynWoHoUkhx2AduhT36ilUNyz9i8OTdgu+GyS0+V6nr21yLXJZF94c5V3QneasSiL8HBmCBOi8Ti43NpKIpfnZdCfDLGKtVI6tfYHSc/TJ9KPXVXmnfwxxD+J8Gh7+F0x5Hvgi6Qo8UUzmN+KnlEI/8Zyf/iGKdiVICrdZsqqwNIgsMelnMLZsLBj1c8+acyrUbz5s2bPmMcy+ilJe73OK9NEiCnGRRnYxhXtulIhQI9j0iUEWGIY6tH36Wcw26vLfh3KLTpA4wq6AVNFb21nGuv2znRFGVo1rBETzWbo81c3yzKJZW8J69qWzYUM5BJzuBm0Oiyb17bHQYCYJxA8SAzDxsOZGI9IEd/Mx9KV8JpUI1seJTg1vAwonxzsx2z1ScneZmuLU/K4X6kR1W/CT3gj+D9E71VsuKijQh9N0ZfWahEIjEveOmIeXasFjo+oLl2AAR/Ys9nE4UJWq9j59QOP/wHvnnBGOxUir+Px0KVlPYRMUpy3Od/2fWhR2iL3bayY6/N6UdkDVFsuXyt9OZ8MwShDb0Yv61UkpVFVr0cuEtShtTR1Bp1KmCj6oUI/SAHJqcf2jf5m+bkSRmvfHrPsZx3aUOiPIckG+zL9DGDQs6+LhxWUYjrlWUaf626jVOldWJtUzQZB3qbvBkYVbb1E91Y96/+ofSOxsWdC0z2gGaeEVqQeGcc6GBE6CCxMCDP8AKDl8ambnAjK2u/c/gPRpWt8n+ovAvrLdJsaMe2UlEMtWKl9QtvPR1QOEDGtFx+AetC49BIT00BplsFocu3QVDfWCmqnH4q8gvSVA98VQSrY15Pikjw9e3rcpOLq33pZ3lqthT/81c1pnGDuZTozr7m+yHoxXlgaVHBBhkZsFcQVzsAtES13tb+eoOmHqsqK3sSoUIg/g9U0e/GZIjoEgIB54KtCDbAmQSbzknavUNpu9Ni8X6hFEWJb9yyQmLYaRKk5uuoO7UN/F/MJDKSqzQUseiiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FSMTmPyT5X97wM3ax6BE3P",
      "input": {
        "note": "Descent is working now; the cap is centred between the jaws at the bottom of the wrist view. Going down another ~2 cm so the fingers straddle the neck.",
        "targets": {
          "left_z": 0.022
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01FSMTmPyT5X97wM3ax6BE3P",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3855, 2.0308, 1.1122, -0.123, -0.9405, -1.0138, 0.9964, -0.0193, 0.6407, 0.3328, -0.2871, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4456 left_y=-0.0229 left_z=0.04 left_yaw=0.8546 left_pitch=0.0259 left_roll=-0.0474 left_gripper=0.9964 right_x=0.2646 right_y=0.0027 right_z=0.1147 right_yaw=-0.0024 right_pitch=-0.0221 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.4034, -7.8564, 4.0274, 0.8327, -0.3199, 0.1392, -0.0122, -0.253, -0.4444, 6.9128, 1.9658, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df021a9e2c80f41bae204bb9665d1d2323246ae86c72ffc6de2420d76f49d47d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ff62b98b4a5f7621ac93fc03f39eb209f0e58ee5ff61861a89ce25ac1aadb2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7257b35a9a54de4df34dbbbe4ac12253e2cc1553ea6e8bd65d26b0938f403e3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 12 attempt 0 · /messages · status 200 · 12.65 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]: [-0.3649, 1.9484, 1.2629, -0.3988, -0.9131, -0.9951, 0.9964, -0.0193, 0.672, 0.3767, -0.3084, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4512 left_y=-0.0188 left_z=0.0915 left_yaw=0.8516 left_pitch=-0.0109 left_roll=0.0007 left_gripper=0.9964 right_x=0.2686 right_y=0.0026 right_z=0.1226 right_yaw=-0.0024 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -10.441, 7.5145, 1.0085, -0.4762, 0.2125, -0.0122, -0.294, -1.0735, 7.2821, 1.9756, -0.0513, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3779, 2.0193, 1.1381, -0.2348, -0.9211, -0.9997, 0.9964, -0.0193, 0.6533, 0.3485, -0.297, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4383 left_y=-0.0188 left_z=0.0402 left_yaw=0.8452 left_pitch=-0.015 left_roll=0.0291 left_gripper=0.9964 right_x=0.2657 right_y=0.0027 right_z=0.1167 right_yaw=-0.0024 right_pitch=-0.029 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -10.2222, 5.7641, 1.1062, -0.4615, -0.1099, -0.0073, -0.0889, -0.9368, 6.9538, 2.044, -0.0415, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3855, 2.0308, 1.1122, -0.123, -0.9405, -1.0138, 0.9964, -0.0193, 0.6407, 0.3328, -0.2871, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4456 left_y=-0.0229 left_z=0.04 left_yaw=0.8546 left_pitch=0.0259 left_roll=-0.0474 left_gripper=0.9964 right_x=0.2646 right_y=0.0027 right_z=0.1147 right_yaw=-0.0024 right_pitch=-0.0221 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.4034, -7.8564, 4.0274, 0.8327, -0.3199, 0.1392, -0.0122, -0.253, -0.4444, 6.9128, 1.9658, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df021a9e2c80f41bae204bb9665d1d2323246ae86c72ffc6de2420d76f49d47d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ff62b98b4a5f7621ac93fc03f39eb209f0e58ee5ff61861a89ce25ac1aadb2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7257b35a9a54de4df34dbbbe4ac12253e2cc1553ea6e8bd65d26b0938f403e3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QjUKQaQPCELx9fuRto5451",
      "input": {
        "note": "Descent stopped at 4 cm (likely touching the bottle shoulder); the cap/neck is centred between the jaws. Closing here to grip the neck.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QjUKQaQPCELx9fuRto5451",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3759, 2.0289, 1.1057, -0.0635, -0.9962, -0.9985, 0.0195, -0.0193, 0.6319, 0.3138, -0.2897, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4501 left_y=-0.0144 left_z=0.0512 left_yaw=0.8876 left_pitch=0.0885 left_roll=-0.0713 left_gripper=0.0195 right_x=0.2612 right_y=0.0028 right_z=0.1076 right_yaw=-0.0024 right_pitch=-0.0351 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -7.9385, 3.8906, 0.6032, 0.2662, -0.0073, 0.8425, -0.253, -0.8137, 6.8855, 1.9951, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2918580143a258b41eb42aba0fc38c43e8af3e5fce6fbf83123f516e5023e646",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54c6a61d19876d3cec5e358c928e3da56c5ff37e77391a1974cdfb5fe1d8faad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0945b7b6e24fbc5ce20992c8da7cfac77cf5cb2e2ed782500a6a55ce875029ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 9.874 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]: [-0.3779, 2.0193, 1.1381, -0.2348, -0.9211, -0.9997, 0.9964, -0.0193, 0.6533, 0.3485, -0.297, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4383 left_y=-0.0188 left_z=0.0402 left_yaw=0.8452 left_pitch=-0.015 left_roll=0.0291 left_gripper=0.9964 right_x=0.2657 right_y=0.0027 right_z=0.1167 right_yaw=-0.0024 right_pitch=-0.029 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -10.2222, 5.7641, 1.1062, -0.4615, -0.1099, -0.0073, -0.0889, -0.9368, 6.9538, 2.044, -0.0415, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3855, 2.0308, 1.1122, -0.123, -0.9405, -1.0138, 0.9964, -0.0193, 0.6407, 0.3328, -0.2871, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4456 left_y=-0.0229 left_z=0.04 left_yaw=0.8546 left_pitch=0.0259 left_roll=-0.0474 left_gripper=0.9964 right_x=0.2646 right_y=0.0027 right_z=0.1147 right_yaw=-0.0024 right_pitch=-0.0221 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.4034, -7.8564, 4.0274, 0.8327, -0.3199, 0.1392, -0.0122, -0.253, -0.4444, 6.9128, 1.9658, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3759, 2.0289, 1.1057, -0.0635, -0.9962, -0.9985, 0.0195, -0.0193, 0.6319, 0.3138, -0.2897, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4501 left_y=-0.0144 left_z=0.0512 left_yaw=0.8876 left_pitch=0.0885 left_roll=-0.0713 left_gripper=0.0195 right_x=0.2612 right_y=0.0028 right_z=0.1076 right_yaw=-0.0024 right_pitch=-0.0351 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -7.9385, 3.8906, 0.6032, 0.2662, -0.0073, 0.8425, -0.253, -0.8137, 6.8855, 1.9951, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2918580143a258b41eb42aba0fc38c43e8af3e5fce6fbf83123f516e5023e646",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54c6a61d19876d3cec5e358c928e3da56c5ff37e77391a1974cdfb5fe1d8faad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0945b7b6e24fbc5ce20992c8da7cfac77cf5cb2e2ed782500a6a55ce875029ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kk1HtyumgJNeEbfTn16vh6",
      "input": {
        "note": "Second empty close. The overhead view suggests this bottle lies roughly along the arm's x axis with its cap toward the base, behind where the jaws were. Opening, rising, pulling back ~5 cm and returning yaw to 0 to re-view it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.39,
          "left_y": -0.02,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Kk1HtyumgJNeEbfTn16vh6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1211, 1.3773, 0.6174, 0.1734, -0.2344, -0.1879, 0.9944, -0.0193, 0.6075, 0.2813, -0.2703, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.3923 left_y=-0.0028 left_z=0.1121 left_yaw=0.1617 left_pitch=-0.0084 left_roll=-0.0173 left_gripper=0.9944 right_x=0.2589 right_y=0.0028 right_z=0.1026 right_yaw=-0.0024 right_pitch=-0.0236 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.253, -6.4068, 6.5573, 1.6581, 0.1245, 0.2857, 0.0806, -0.0615, -0.6906, 7.0222, 1.956, -0.0024, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51c0df549f4d3cac160496adfb74aff3461b39527788fb74ac7c0ebab29c7dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5929a0e58c4543dd28c876e55e7e748588fd4de3bfc40b86b0b42e5a1f523aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ade2efafc70cb34bf324ecadfee8cc88f6188c4ae5528e6b983792dd3321045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 12.43 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]: [-0.3855, 2.0308, 1.1122, -0.123, -0.9405, -1.0138, 0.9964, -0.0193, 0.6407, 0.3328, -0.2871, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4456 left_y=-0.0229 left_z=0.04 left_yaw=0.8546 left_pitch=0.0259 left_roll=-0.0474 left_gripper=0.9964 right_x=0.2646 right_y=0.0027 right_z=0.1147 right_yaw=-0.0024 right_pitch=-0.0221 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.4034, -7.8564, 4.0274, 0.8327, -0.3199, 0.1392, -0.0122, -0.253, -0.4444, 6.9128, 1.9658, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3759, 2.0289, 1.1057, -0.0635, -0.9962, -0.9985, 0.0195, -0.0193, 0.6319, 0.3138, -0.2897, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4501 left_y=-0.0144 left_z=0.0512 left_yaw=0.8876 left_pitch=0.0885 left_roll=-0.0713 left_gripper=0.0195 right_x=0.2612 right_y=0.0028 right_z=0.1076 right_yaw=-0.0024 right_pitch=-0.0351 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -7.9385, 3.8906, 0.6032, 0.2662, -0.0073, 0.8425, -0.253, -0.8137, 6.8855, 1.9951, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1211, 1.3773, 0.6174, 0.1734, -0.2344, -0.1879, 0.9944, -0.0193, 0.6075, 0.2813, -0.2703, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.3923 left_y=-0.0028 left_z=0.1121 left_yaw=0.1617 left_pitch=-0.0084 left_roll=-0.0173 left_gripper=0.9944 right_x=0.2589 right_y=0.0028 right_z=0.1026 right_yaw=-0.0024 right_pitch=-0.0236 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.253, -6.4068, 6.5573, 1.6581, 0.1245, 0.2857, 0.0806, -0.0615, -0.6906, 7.0222, 1.956, -0.0024, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51c0df549f4d3cac160496adfb74aff3461b39527788fb74ac7c0ebab29c7dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5929a0e58c4543dd28c876e55e7e748588fd4de3bfc40b86b0b42e5a1f523aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ade2efafc70cb34bf324ecadfee8cc88f6188c4ae5528e6b983792dd3321045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NnXP7C6XzbHoBkQ7hK67PD",
      "input": {
        "note": "Now clear: bottle lies diagonally with the cap just ahead of and slightly right of the jaws, bottle axis nearly along image-vertical (so jaws close across it). Moving forward ~4 cm to put the grasp point over the cap itself.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.015,
          "left_yaw": 0.0,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01NnXP7C6XzbHoBkQ7hK67PD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0814, 1.5379, 0.6613, 0.2325, -0.1005, -0.0956, 0.9955, -0.0193, 0.5934, 0.2615, -0.2661, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4112 left_y=-0.0122 left_z=0.0785 left_yaw=0.04 left_pitch=-0.0803 left_roll=-0.0054 left_gripper=0.9955 right_x=0.2564 right_y=0.0029 right_z=0.0978 right_yaw=-0.0024 right_pitch=-0.0252 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.5675, -7.8974, 9.1829, 2.1709, 0.0904, 0.2369, 0.1148, -0.2256, -0.4991, 6.9812, 1.9072, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f64c950c16ba585cb977c2d609adba28d5176d1fe919c71a4b740a818d29010",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:405a6d60b25c58dc46db8d6934dd9e89f4159015a0294ff1838c6fc97957be06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab849f73c57ee98811d66c92006b8f3296612e4505bdd467ad4b3136b1149242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 5.234 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]: [-0.3759, 2.0289, 1.1057, -0.0635, -0.9962, -0.9985, 0.0195, -0.0193, 0.6319, 0.3138, -0.2897, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4501 left_y=-0.0144 left_z=0.0512 left_yaw=0.8876 left_pitch=0.0885 left_roll=-0.0713 left_gripper=0.0195 right_x=0.2612 right_y=0.0028 right_z=0.1076 right_yaw=-0.0024 right_pitch=-0.0351 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -7.9385, 3.8906, 0.6032, 0.2662, -0.0073, 0.8425, -0.253, -0.8137, 6.8855, 1.9951, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1211, 1.3773, 0.6174, 0.1734, -0.2344, -0.1879, 0.9944, -0.0193, 0.6075, 0.2813, -0.2703, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.3923 left_y=-0.0028 left_z=0.1121 left_yaw=0.1617 left_pitch=-0.0084 left_roll=-0.0173 left_gripper=0.9944 right_x=0.2589 right_y=0.0028 right_z=0.1026 right_yaw=-0.0024 right_pitch=-0.0236 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.253, -6.4068, 6.5573, 1.6581, 0.1245, 0.2857, 0.0806, -0.0615, -0.6906, 7.0222, 1.956, -0.0024, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0814, 1.5379, 0.6613, 0.2325, -0.1005, -0.0956, 0.9955, -0.0193, 0.5934, 0.2615, -0.2661, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4112 left_y=-0.0122 left_z=0.0785 left_yaw=0.04 left_pitch=-0.0803 left_roll=-0.0054 left_gripper=0.9955 right_x=0.2564 right_y=0.0029 right_z=0.0978 right_yaw=-0.0024 right_pitch=-0.0252 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.5675, -7.8974, 9.1829, 2.1709, 0.0904, 0.2369, 0.1148, -0.2256, -0.4991, 6.9812, 1.9072, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f64c950c16ba585cb977c2d609adba28d5176d1fe919c71a4b740a818d29010",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:405a6d60b25c58dc46db8d6934dd9e89f4159015a0294ff1838c6fc97957be06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab849f73c57ee98811d66c92006b8f3296612e4505bdd467ad4b3136b1149242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018AUkLH9yXvxTfZUg9SxFp7",
      "input": {
        "note": "Cap is ~3 cm ahead of the grasp point (from comparing earlier views) and ~1 cm to the right. Moving there at 8 cm height before descending straight onto the cap.",
        "targets": {
          "left_x": 0.445,
          "left_y": -0.022,
          "left_yaw": 0.0,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_018AUkLH9yXvxTfZUg9SxFp7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0711, 1.562, 0.6724, 0.2581, -0.0856, -0.078, 0.9958, -0.0193, 0.5774, 0.2428, -0.2646, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4176 left_y=-0.011 left_z=0.0783 left_yaw=0.0282 left_pitch=-0.0688 left_roll=-0.0015 left_gripper=0.9958 right_x=0.2539 right_y=0.0029 right_z=0.0934 right_yaw=-0.0024 right_pitch=-0.0263 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -7.3094, 8.0889, 1.9902, 0.1294, 0.1636, 0.0073, -0.3761, -0.4444, 6.653, 1.9072, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d86e24d2be356e5e382d7811d0046c60d1fba791c23ed0f568ed729ce9a4572",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f13729e4799327671bc81de7544b8e7e316fc4381707f95e40bb1b5a94bc078",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7ef5ee68e47f392debaef9cf2e649a4f67f29b571e94ecd0c25d2680aa9e6dff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 12.49 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]: [-0.1211, 1.3773, 0.6174, 0.1734, -0.2344, -0.1879, 0.9944, -0.0193, 0.6075, 0.2813, -0.2703, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.3923 left_y=-0.0028 left_z=0.1121 left_yaw=0.1617 left_pitch=-0.0084 left_roll=-0.0173 left_gripper=0.9944 right_x=0.2589 right_y=0.0028 right_z=0.1026 right_yaw=-0.0024 right_pitch=-0.0236 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.253, -6.4068, 6.5573, 1.6581, 0.1245, 0.2857, 0.0806, -0.0615, -0.6906, 7.0222, 1.956, -0.0024, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0814, 1.5379, 0.6613, 0.2325, -0.1005, -0.0956, 0.9955, -0.0193, 0.5934, 0.2615, -0.2661, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4112 left_y=-0.0122 left_z=0.0785 left_yaw=0.04 left_pitch=-0.0803 left_roll=-0.0054 left_gripper=0.9955 right_x=0.2564 right_y=0.0029 right_z=0.0978 right_yaw=-0.0024 right_pitch=-0.0252 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.5675, -7.8974, 9.1829, 2.1709, 0.0904, 0.2369, 0.1148, -0.2256, -0.4991, 6.9812, 1.9072, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0711, 1.562, 0.6724, 0.2581, -0.0856, -0.078, 0.9958, -0.0193, 0.5774, 0.2428, -0.2646, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4176 left_y=-0.011 left_z=0.0783 left_yaw=0.0282 left_pitch=-0.0688 left_roll=-0.0015 left_gripper=0.9958 right_x=0.2539 right_y=0.0029 right_z=0.0934 right_yaw=-0.0024 right_pitch=-0.0263 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -7.3094, 8.0889, 1.9902, 0.1294, 0.1636, 0.0073, -0.3761, -0.4444, 6.653, 1.9072, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d86e24d2be356e5e382d7811d0046c60d1fba791c23ed0f568ed729ce9a4572",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f13729e4799327671bc81de7544b8e7e316fc4381707f95e40bb1b5a94bc078",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ef5ee68e47f392debaef9cf2e649a4f67f29b571e94ecd0c25d2680aa9e6dff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS5QkKEAgSGAI4AUIIdGhpbmtpbmcSDFvSa9+EEailHfGJgRoMyc2idaiZIeGQ2AtGIjBjsBESavMXs5qb1CM5iJJAvbDb90FcKWGXj5mbV2hG0N3KW+HpuaV9LzdFLstgqEwqggmxnr81PPRRCeBiNjkZ0SMiuwp23rMkFmOVNWWVYdveKWbzA8FnObDv8yph56qYvZzXX70FIu/IT4uLqRIGf1IRsqpcciYNzyMO0UK2yFBAurhV3nDiem+d/69pKMRGFU86fHKdm4yO/jYpu5klbwVj0Lq5eJiZ/JUyidV53S0Zg2wpiwMvqteyo1/xRL8N61yav1dqn8dQJr8bgr6MeSoiwrqL046Ccz36cBANOcUsdqVDuEg9qY1Dmet1jQHDojdk0CYrjoZOU0i/GMDP71GWIKFJprEwBesTy8qCK1Gk9LjclLNuiXMpuiRS3k0mVhhskW2glS5C7MwKU8VutYha3bg8AAwpaPBT6EIjb1QYlEMIAl6owdu0co/5Hs31uKjx5PkF7MvSj6+udPTjmjs5lD6C15MDkbzwyXnJxOIwXaf+8fqmIyUGda+71Vnq3KbU+tMfTZlWyu7+EnxJnH2npNJ44KYrEX+lRwszOttTa138dHBQClTdLKjE2Jx6lpzlIVh/mLOYdOmQPBKWin4qgqRpbdlpzFbFXC8VmP9pmcxzUO6nPi2OU///DNz2fX4KsS3mQjmX2d4QgLMT3lJ9RD+sS/Mr3o4yd4aWa6dza4AzyoEWlgFWJMBHVfU3yQgHI8Yrgu/CL9OXJ/AZJs3MI85XJfzwXkVwFM8XAqaKvDRGlZ9nLbk4HlsSRTZ++yChU7JYe6VuaLomgSp02TbTHdbVahsYo6blF27aoP8J+Xoau3q0cROCLZ2fZWUR+vvLYPlsTt6/R4QnpAF5O7oOvD9gXrC4NcMSWhXIqXM0+4oNi6JtaAXzcIToVttQuSUuauc6v8yRlGcKi1WfWyUX36EdkQwXIGBVhs+jr5ef7zSy8zKKEKGcMLGbn7gzoGRh2+g5CYqqABnza/b4mOrtK3Vt3LRDM0ERYI9z4hRplUPKRBusZ2onZDuOt8VWlh3pyb7+yb7H44m/iK9gVaNfqnuJzh+ob1slkJ11b8CGn1xahScOv+1JO3sge4Kh30r+Zv3x2/ocKsSIZe20g5mQOvjgOUS111KRwsSHJuDWuJk2qJq4bm4L+bynwDn0OyP6WvkQDlz4inIhHHJgNbUeArMGBom3cGEsKo+1YOj7TD5jhUokBlYpDA1fy/Yap06QaOBGdRH/JY1kAODTL18NAv8bJtOtNuNxuNV+wAeyrPY8YY2U80P6LbEL2YO/Z+Mtg7CerOLWUi0LgEhKOO1Gv8FVm8A9YEZ7eDllLR2YlOwH+Cu1vWedoXrxsFMsRTj+K8MSUCgldfi11rxZro/I4SgShMKQnbPX9oL5N9U72YeZyvjNjtigYNoDc7mv1GZ9scdz7zmrse5osWwW9bLBGzZPQ4ARXgQwKx/7cHTWyFYrbENItmachaUuws0AY0Vl/MHFJv5vaZk/Ow6F/d2Zlzzp4mi471WZezcEo9uplgPUj9uZGYcahdxewPr5j/b0d+ldXR/6Nja+Yl2ySyNEDopTOiZUGXfU8QeDip8/UK00lgqPeQLrCCKqQNHGVBv0kBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CdVXEY8QabvMjSk43VBUZG",
      "input": {
        "note": "Left arm lagged (still at x≈0.42); cap still ahead of the jaws. Re-sending the forward move, and parking the drifting right arm at home.",
        "targets": {
          "left_x": 0.445,
          "left_y": -0.022,
          "left_yaw": 0.0,
          "left_z": 0.08,
          "right_x": 0.29,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01CdVXEY8QabvMjSk43VBUZG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0715, 1.562, 0.6727, 0.2581, -0.0853, -0.078, 0.9962, -0.0284, 0.7612, 0.5434, -0.3893, -0.0307, -0.0517, 0.9993]\nstate[eef_state]: left_x=0.4177 left_y=-0.0112 left_z=0.0785 left_yaw=0.0275 left_pitch=-0.0685 left_roll=-0.0017 left_gripper=0.9962 right_x=0.2839 right_y=0.0009 right_z=0.1592 right_yaw=0.0027 right_pitch=-0.0341 right_roll=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -7.4598, 8.2803, 1.9951, 0.149, 0.1832, 0.0269, -0.8821, -0.9915, 9.7436, 1.6825, -0.0708, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc1a0cb4e0c77bcd5819f471cea033689dee983a59d85ec57e714cb2a0dbeee1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6a5a1592fe154ca09ea271f546aabb5e5a9c124eb443a44f81b0900b37b683b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fbb3522efb063ee32675144f591b3222410633e1f64fe5d2a78000dd86369976",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 6.059 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]: [-0.0814, 1.5379, 0.6613, 0.2325, -0.1005, -0.0956, 0.9955, -0.0193, 0.5934, 0.2615, -0.2661, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4112 left_y=-0.0122 left_z=0.0785 left_yaw=0.04 left_pitch=-0.0803 left_roll=-0.0054 left_gripper=0.9955 right_x=0.2564 right_y=0.0029 right_z=0.0978 right_yaw=-0.0024 right_pitch=-0.0252 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.5675, -7.8974, 9.1829, 2.1709, 0.0904, 0.2369, 0.1148, -0.2256, -0.4991, 6.9812, 1.9072, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0711, 1.562, 0.6724, 0.2581, -0.0856, -0.078, 0.9958, -0.0193, 0.5774, 0.2428, -0.2646, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4176 left_y=-0.011 left_z=0.0783 left_yaw=0.0282 left_pitch=-0.0688 left_roll=-0.0015 left_gripper=0.9958 right_x=0.2539 right_y=0.0029 right_z=0.0934 right_yaw=-0.0024 right_pitch=-0.0263 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -7.3094, 8.0889, 1.9902, 0.1294, 0.1636, 0.0073, -0.3761, -0.4444, 6.653, 1.9072, -0.0366, -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]: [-0.0715, 1.562, 0.6727, 0.2581, -0.0853, -0.078, 0.9962, -0.0284, 0.7612, 0.5434, -0.3893, -0.0307, -0.0517, 0.9993]\nstate[eef_state]: left_x=0.4177 left_y=-0.0112 left_z=0.0785 left_yaw=0.0275 left_pitch=-0.0685 left_roll=-0.0017 left_gripper=0.9962 right_x=0.2839 right_y=0.0009 right_z=0.1592 right_yaw=0.0027 right_pitch=-0.0341 right_roll=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -7.4598, 8.2803, 1.9951, 0.149, 0.1832, 0.0269, -0.8821, -0.9915, 9.7436, 1.6825, -0.0708, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc1a0cb4e0c77bcd5819f471cea033689dee983a59d85ec57e714cb2a0dbeee1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6a5a1592fe154ca09ea271f546aabb5e5a9c124eb443a44f81b0900b37b683b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbb3522efb063ee32675144f591b3222410633e1f64fe5d2a78000dd86369976",
        "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_011HBoHxbQkmNrKm2BwZkyPD",
      "input": {
        "note": "Left arm cannot reach further forward at this height, so the cap is out of reach. Instead descending to grip the bottle's upper body/shoulder, which sits under the jaws, planning to lift it so it pivots to hang upright.",
        "targets": {
          "left_x": 0.415,
          "left_y": -0.018,
          "left_yaw": 0.0,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011HBoHxbQkmNrKm2BwZkyPD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0799, 1.7164, 0.5655, 0.6281, -0.07, -0.1047, 0.9963, -0.0284, 0.7448, 0.5083, -0.3775, -0.0311, -0.0547, 0.9993]\nstate[eef_state]: left_x=0.4265 left_y=-0.0182 left_z=0.0511 left_yaw=0.0202 left_pitch=0.0384 left_roll=-0.0432 left_gripper=0.9963 right_x=0.28 right_y=0.0011 right_z=0.1499 right_yaw=0.0047 right_pitch=-0.0409 right_roll=-0.0106 right_gripper=0.9993\nstate[joint_eff]: [-0.6906, -3.5077, 1.8667, 0.2759, -0.2076, 0.3346, -0.0024, -0.7453, -1.5521, 7.1453, 1.9805, -0.188, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d382d8b06bf22cfda543e2250c5ab9a7b27a0af83ff8aa210a91a56fb47ef7b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1edd40c35429131eac7fc7e14afd747f39455a2f66a420638b169ec21b47ab2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09589f03cb73cbddaf72a6f6aa26a63509b0a779e5a9f5eda5fa151b41c944f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 6.863 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]: [-0.0711, 1.562, 0.6724, 0.2581, -0.0856, -0.078, 0.9958, -0.0193, 0.5774, 0.2428, -0.2646, -0.0238, -0.036, 0.9993]\nstate[eef_state]: left_x=0.4176 left_y=-0.011 left_z=0.0783 left_yaw=0.0282 left_pitch=-0.0688 left_roll=-0.0015 left_gripper=0.9958 right_x=0.2539 right_y=0.0029 right_z=0.0934 right_yaw=-0.0024 right_pitch=-0.0263 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.0479, -7.3094, 8.0889, 1.9902, 0.1294, 0.1636, 0.0073, -0.3761, -0.4444, 6.653, 1.9072, -0.0366, -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]: [-0.0715, 1.562, 0.6727, 0.2581, -0.0853, -0.078, 0.9962, -0.0284, 0.7612, 0.5434, -0.3893, -0.0307, -0.0517, 0.9993]\nstate[eef_state]: left_x=0.4177 left_y=-0.0112 left_z=0.0785 left_yaw=0.0275 left_pitch=-0.0685 left_roll=-0.0017 left_gripper=0.9962 right_x=0.2839 right_y=0.0009 right_z=0.1592 right_yaw=0.0027 right_pitch=-0.0341 right_roll=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -7.4598, 8.2803, 1.9951, 0.149, 0.1832, 0.0269, -0.8821, -0.9915, 9.7436, 1.6825, -0.0708, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0799, 1.7164, 0.5655, 0.6281, -0.07, -0.1047, 0.9963, -0.0284, 0.7448, 0.5083, -0.3775, -0.0311, -0.0547, 0.9993]\nstate[eef_state]: left_x=0.4265 left_y=-0.0182 left_z=0.0511 left_yaw=0.0202 left_pitch=0.0384 left_roll=-0.0432 left_gripper=0.9963 right_x=0.28 right_y=0.0011 right_z=0.1499 right_yaw=0.0047 right_pitch=-0.0409 right_roll=-0.0106 right_gripper=0.9993\nstate[joint_eff]: [-0.6906, -3.5077, 1.8667, 0.2759, -0.2076, 0.3346, -0.0024, -0.7453, -1.5521, 7.1453, 1.9805, -0.188, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d382d8b06bf22cfda543e2250c5ab9a7b27a0af83ff8aa210a91a56fb47ef7b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1edd40c35429131eac7fc7e14afd747f39455a2f66a420638b169ec21b47ab2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09589f03cb73cbddaf72a6f6aa26a63509b0a779e5a9f5eda5fa151b41c944f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnwsKEAgSGAI4AUIIdGhpbmtpbmcSDJontDMnRrmVquRcBRoM2HBMjmA9jQ6UtgmvIjAMGaro3Q+eqFy9ZsxTS57Fwf+Qdy2Kv51APs4mOV5zhX4UxlgiTsQSNXaBJkN+tLcqvArZdlqVH1J9ahCTi7VYs/LVvvoxO2ryjC7JvhTKVdHXrPNUgiyeoFock4L2SRxkECIQaWXKtm99/cI0/rAMSwjpudiGBkKgWLSNQodCPzmkFPeZX6AKS07NlUoyBEZlV6PgN2AjOrQfCExbZ7hoAX3K3STrUEpxY2v1DfvHJ+bPIAiNVRn790CYkaXZTXfpOpHqOUbqf4FKcIReOnZ+Ef6wNNk1UxctfueqWh2AYMbllpOUM+9XxpLzfLMXOEpBqRfZnyx5s0cPcqGSmrjikC3W5kRPSR51Ygp2VuyPaEKm71w4RjBUBk6YxeB5XLRU3tMO7vgogT9ejOeM6I2Af6c2n5nx3olIVqJIOo7unSGYhdTZyvt+jONukTRt9z6giyRvgaoEQkgk5iQ3qG+LwTiCUIiuOD5oKf8toMArMR2t43oTrY/Lj8M1VJ8SSIAQLt3O9HlZXAXa4vmkiX778NTAH0JWmZeK9/zaLshDCgP65+NVv+rEfdHLJVZmAgm1p6xXz1RXcIXRXz2C3Efdeb+RtmSP/qMJlWUMRAX1M9wyCxkPo098Ssn6dQ0+kRcADTX6uCLNmEZtJ+PYE+aMEdRjOO6sM+MAzbT7u1AZO4TBINdPV8nKiIP4v3tC0cdPCUvGYYp7V212sSZDgsf14RjDpL8VyKMl3eVFGaQsnkblBY15PxjjKu6Lsfh6IyFiz4BBlq+4q3hKxvnflEXsAVgn2JWMNtud8HHvaz+eI6I3L28wd+0raR/bP/u7EII1hJlzii2QLBsgrjoiQlOxlXEX+LIQurd+dJrOdjVTuxeLjOZJL/vItynJyYgdxIHFRo3bq6WW4a0/fUlER+ZgqMW83pmb+8xQB8IbyTufxTXmZEjTXNNNG3ApN9XNwlPBa6uslyfet8vzrLSHoXecOb+h2y0CwE03wcTq6weIx9tvTvTwYtiDEo7HxGYCr80qLca2/ec0ByCZUE0SlRPgVYRsski2fBFTL9lP3HS9a8WLDYpHMv3Gt7B89rBnGGe0NjGEGAmOtuFSTFNtmAYkqDURG8pI0QqNCTN2aaeF8HIe1IxCtuOEY/vibb1rmrXsF/GiC8foo2ZHz6pVYh6YHdl4HohI++reF3DJr3uNBQo5br0PbJOJYhl8B5ZZUVKP+lDNjAg4hBxLgOIAN45I0m3B2NNo8HH94hgbimySC+LjPOjenGurw5DdSDNx33j5XGKRiftfRuFvykkJeD2oM9bGFfoPEFqSq1ERY47rsoiNCccgRSN2A/IOG7SRMhWZtKP9Yk7a7msNHLhWcY79Cyy0ty2yiLzK3SJaCLZ+ZQEjWUUTEIPVQXpo0KcECCK0CkpQG+cDsw5oUreHKqN0gZ33F74dFc/tYtATjx6BVLIs7ilccNQK8qVFwAgE7+Me60Q5p8OK3SrhkeaSknkKRaaLWuimXPQOtU0qe71UPSsS7pjmlR32HUWWCCUxy8bhGUCuvUaOSKM8vu5G1Np71QVWF0VWaIg4Kp2Qd+4VbEsg7gYyQQlfA7pj/dCtULRgYg8z+OPOtP8YPDXU6YQhqFRmVbpBRSkhVIKoZ36UqYLM0Uv2pw42S6A3uGzkzJTE1j0bZYJr+7cwyI732XEiKm0YwbQHidUC8zXkiih+oY5bD32ehso8tBM52k9ZMipjnzQrs+LGhJdHaMF5uT4ICHJPagPKR2gtMC4iz7j27Hcy/3POiJAOxiaG5wnZs6IdYpcyVlNZqWn9OGJui7t2DsyALRnjcWcup+ilReSEtEFkXT73M3x28eKp9Dq+eRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F9GhTqdeKaHbTE7z2Wkd3q",
      "input": {
        "note": "Fingers have come down around the bottle's upper body (descent stopped at ~5 cm, bottle centred between the jaws). Closing to grip it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01F9GhTqdeKaHbTE7z2Wkd3q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0921, 1.7107, 0.5919, 0.5426, -0.1127, -0.0956, 0.0199, -0.0341, 0.7223, 0.4698, -0.3584, -0.0315, -0.0578, 0.9993]\nstate[eef_state]: left_x=0.4242 left_y=-0.0156 left_z=0.0456 left_yaw=0.0392 left_pitch=-0.012 left_roll=-0.007 left_gripper=0.0199 right_x=0.2765 right_y=-0.0003 right_z=0.1421 right_yaw=0.001 right_pitch=-0.0379 right_roll=-0.013 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -7.8427, 5.7094, 1.7753, 0.0513, 0.1392, 0.9499, -0.5949, -1.5385, 6.8991, 1.9902, -0.1636, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e2eb7555be96bf4295c97f52bdb192f7dda81579cc3e29f802ed3db21cc73ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91a601023adae76de6b1a83222b25f240988c633d49782280e38a2eae833737f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3ea6cc0a4b0b611615549df6d5c7f0529425453cc86d7a05b8c12994576e779",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 6.885 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]: [-0.0715, 1.562, 0.6727, 0.2581, -0.0853, -0.078, 0.9962, -0.0284, 0.7612, 0.5434, -0.3893, -0.0307, -0.0517, 0.9993]\nstate[eef_state]: left_x=0.4177 left_y=-0.0112 left_z=0.0785 left_yaw=0.0275 left_pitch=-0.0685 left_roll=-0.0017 left_gripper=0.9962 right_x=0.2839 right_y=0.0009 right_z=0.1592 right_yaw=0.0027 right_pitch=-0.0341 right_roll=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -7.4598, 8.2803, 1.9951, 0.149, 0.1832, 0.0269, -0.8821, -0.9915, 9.7436, 1.6825, -0.0708, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0799, 1.7164, 0.5655, 0.6281, -0.07, -0.1047, 0.9963, -0.0284, 0.7448, 0.5083, -0.3775, -0.0311, -0.0547, 0.9993]\nstate[eef_state]: left_x=0.4265 left_y=-0.0182 left_z=0.0511 left_yaw=0.0202 left_pitch=0.0384 left_roll=-0.0432 left_gripper=0.9963 right_x=0.28 right_y=0.0011 right_z=0.1499 right_yaw=0.0047 right_pitch=-0.0409 right_roll=-0.0106 right_gripper=0.9993\nstate[joint_eff]: [-0.6906, -3.5077, 1.8667, 0.2759, -0.2076, 0.3346, -0.0024, -0.7453, -1.5521, 7.1453, 1.9805, -0.188, 0.022, -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]: [-0.0921, 1.7107, 0.5919, 0.5426, -0.1127, -0.0956, 0.0199, -0.0341, 0.7223, 0.4698, -0.3584, -0.0315, -0.0578, 0.9993]\nstate[eef_state]: left_x=0.4242 left_y=-0.0156 left_z=0.0456 left_yaw=0.0392 left_pitch=-0.012 left_roll=-0.007 left_gripper=0.0199 right_x=0.2765 right_y=-0.0003 right_z=0.1421 right_yaw=0.001 right_pitch=-0.0379 right_roll=-0.013 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -7.8427, 5.7094, 1.7753, 0.0513, 0.1392, 0.9499, -0.5949, -1.5385, 6.8991, 1.9902, -0.1636, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e2eb7555be96bf4295c97f52bdb192f7dda81579cc3e29f802ed3db21cc73ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91a601023adae76de6b1a83222b25f240988c633d49782280e38a2eae833737f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3ea6cc0a4b0b611615549df6d5c7f0529425453cc86d7a05b8c12994576e779",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2QsKEAgSGAI4AUIIdGhpbmtpbmcSDGoijH+BfmrRUKriChoMuB9eWS3sAu1zeN4qIjDOZM4IiIhyhirNz/QifNy14vEEkhWx8fWDzafzUT9Jk9SlK4Gg/UUDs1AcKNT2VUYq9gojkdFudpyffQSK2IWNGzCYSAzkkf1hye93GcInZ3GJiXrrVPO8SJFqHu4B/Z0pjAvKfvyCa2bGpKMo0zcuQsG9kJGJTQmmQ9uAF3T3B/Dv/+2xCybn+NupQD8Oo4qZTZQUZdVRwPm4hIDBO8MHBVmmks+eq7GmiAbG8DoTnC563ErtyskZ0baq6aMUFqDmfzVBCsmFxRsbmbjTgzKSL/qqfJmt2FPhZePdT/gklvLvJTF5o7q/tWqpUSk2Te9P6AEaLYDgt0VS3Vqmh+5tod9DhLoEJyC+9q8vdbmQ8kk0vyeFFhmN4imMsuTsYWFHrpJxcwanPe6V3G6UBVjc8LIdrjPoC7abkOudF7udCTSg80zgEdkv2In1SeOr6KUTrYBQWBfu5fbA6833WKrFRNmx6UDmL9CdKR8vOJeAl+Owg5SIsXGyu3J81jm5pfdMmBkyOFWsDG2X0czgWbmzS+xPCSZGdgIS9y6aqmqvw2FwECcntJ/lv6IvPuCVP1iMUWM+6iQyymxJxnOvzODYOfVGWR5QcdIJyhk3PcMV1FMKa5Xbj52qSOmcHIwCRRm6c446OtG7A4U3p3YrCIt9Wv9fGoj1nXamWwr5k5Ve7cH2UN+Txe82CqTqZR8pQZfCfVdJgbRWYkXA6nNN1+oK1FLnWVGiPK+iKp4LAzq/Vb41SL+YHYlHvJR0z6yhfgCSaoxSap92X2yvmyzaADYO9AOtak3Z1Au+fOvHORA8L74aKmHuTRx76OzetEfXj0NV0tOqpQWqHcyeNm0SALBbqMaAjc4FFWZ3kNynUp1//0BdboQjpzyZUbetdsWKJBGMTx2MasLXGCDnNC2kh9fVG4iHewysIMFkkPxMPhRkYsuGOWkCCxoizwZwELI0GhVK1aEwH/pG40XIYMr8ygHOlhoR3bDvtBCDBFQVVDbsGjAYtIiCa/Q8riWfScvquAmQYwEtwEgHj3iRaxxNAqzzumhXbkOZaekE6A7fDPRxMyB9Z+WM/TWVZ2uL9YhImV4Am3qLaNYG80o+Ft9H3F2FP9LsttuOt9LlAhCOd9wE0iLl0XgQWUN8inTVAPTe1x8CAZPuP5op2qdI0bfqft5CbLAeTQkBxywNbqUFupd3QT7jzFQJcaGNtsTbzQp3un1+b6PzvEdME3ZHYvkwZIwjq+byX6dsrR3XvcamEhtfknvbID2WIu19JrNmJ0EPDjTJepO6q/JdbreJ0ambACL+z1aeTXNZdhlJKDLFSi20YRPGjima9brkDsXOqmINUpiNfghaM0PGW69el+eJbxyuW88WXVBtK1jxk/u9YTzRhsqHLr87ZH1KdqqwyYSLhj0LFDTMfKB6xqBqhR4gx5IwaWQrMqWt0+cV/SNdT2Wq6c2IL4IMckYYOT5keQscMIIYmzqmxWPtuhBnTzlGhNd+GHiUWQ4IUq5vrypc0iYpraGl6lWNC13XG6Gd8VkYz8Nb/bQYwVK/lltrKkFYg6Ngy3wwwAwQjE9Z2bPlxnTkzUqbIzzJCCpDF5O0q0fdWc5r3QfSC0Dby2j+OaT8eBzUMXD78KVvhBeBP7BDEIBH3OCZE+3j8L5rn3xt0Bzbdwl1J8g6Vbc8qQ+YZt7ed8wHH6Z7RaF5m7qD8+u/lRY/EcYCxDrXrs8JBz4ognGx4pyolCFZYjaJGkf+WWVQhqAdRnJSW3u99RtCm9pHMGC5fRY+efD13mjdcN365GrCNxbi5YzK7SkPATSByNvK+LoCK2RU7NUIsWQLWSRsdB9NTwLFMJUTxtylOcPzflOeqTip5gUYgi4sadsK/JgItVqlhyYS8DHrB8+rOmnQKYt7U++o99Jz3qIf/EsQ6D0PB2sLpv3geQaRsGYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RffDbcdoYCbFXFUYMnP16b",
      "input": {
        "note": "Empty close: both views show the bottle sits ~5 cm to the arm's right of the jaws (the wrist view's perspective misled me). Opening, lifting slightly and shifting 4–5 cm right over the bottle neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.42,
          "left_y": -0.06,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RffDbcdoYCbFXFUYMnP16b",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2489, 1.6356, 0.6254, 0.384, -0.2375, -0.1738, 0.9943, -0.0406, 0.7017, 0.4362, -0.3428, -0.0391, -0.0578, 0.9993]\nstate[eef_state]: left_x=0.4126 left_y=-0.0583 left_z=0.0583 left_yaw=0.0293 left_pitch=-0.0461 left_roll=0.0072 left_gripper=0.9943 right_x=0.2732 right_y=-0.0006 right_z=0.1353 right_yaw=0.0009 right_pitch=-0.035 right_roll=-0.0088 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -9.388, 8.1026, 1.6679, -0.1343, 0.1099, -0.1148, -0.4444, -1.4291, 6.7761, 2.0098, -0.1783, 0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a20c0929840c3e2852c91e11481744de45d69bc4d964d79cc862bcba112ab3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d3fdce0b1ddcc59792c14b1b2c4c70fd7fe89646c971e6c26b61062fde651b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d9711d97f1c1fa605c328996623ced3b861c05d97760e109fb0f83861215a583",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 19.72 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]: [-0.0799, 1.7164, 0.5655, 0.6281, -0.07, -0.1047, 0.9963, -0.0284, 0.7448, 0.5083, -0.3775, -0.0311, -0.0547, 0.9993]\nstate[eef_state]: left_x=0.4265 left_y=-0.0182 left_z=0.0511 left_yaw=0.0202 left_pitch=0.0384 left_roll=-0.0432 left_gripper=0.9963 right_x=0.28 right_y=0.0011 right_z=0.1499 right_yaw=0.0047 right_pitch=-0.0409 right_roll=-0.0106 right_gripper=0.9993\nstate[joint_eff]: [-0.6906, -3.5077, 1.8667, 0.2759, -0.2076, 0.3346, -0.0024, -0.7453, -1.5521, 7.1453, 1.9805, -0.188, 0.022, -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]: [-0.0921, 1.7107, 0.5919, 0.5426, -0.1127, -0.0956, 0.0199, -0.0341, 0.7223, 0.4698, -0.3584, -0.0315, -0.0578, 0.9993]\nstate[eef_state]: left_x=0.4242 left_y=-0.0156 left_z=0.0456 left_yaw=0.0392 left_pitch=-0.012 left_roll=-0.007 left_gripper=0.0199 right_x=0.2765 right_y=-0.0003 right_z=0.1421 right_yaw=0.001 right_pitch=-0.0379 right_roll=-0.013 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -7.8427, 5.7094, 1.7753, 0.0513, 0.1392, 0.9499, -0.5949, -1.5385, 6.8991, 1.9902, -0.1636, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2489, 1.6356, 0.6254, 0.384, -0.2375, -0.1738, 0.9943, -0.0406, 0.7017, 0.4362, -0.3428, -0.0391, -0.0578, 0.9993]\nstate[eef_state]: left_x=0.4126 left_y=-0.0583 left_z=0.0583 left_yaw=0.0293 left_pitch=-0.0461 left_roll=0.0072 left_gripper=0.9943 right_x=0.2732 right_y=-0.0006 right_z=0.1353 right_yaw=0.0009 right_pitch=-0.035 right_roll=-0.0088 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -9.388, 8.1026, 1.6679, -0.1343, 0.1099, -0.1148, -0.4444, -1.4291, 6.7761, 2.0098, -0.1783, 0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a20c0929840c3e2852c91e11481744de45d69bc4d964d79cc862bcba112ab3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d3fdce0b1ddcc59792c14b1b2c4c70fd7fe89646c971e6c26b61062fde651b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9711d97f1c1fa605c328996623ced3b861c05d97760e109fb0f83861215a583",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmAsKEAgSGAI4AUIIdGhpbmtpbmcSDC8pLlPS+zvSWS7MhhoMf2eQvzqI9bHrgIAWIjASYuY7IdHBhnA11tjM6qMuvO5c8LSETn3GugtTmeUzcLZIcWyNJdNY3d+cehX9ttoqtQoPoaGk8j9vFUZBuXe1O7I8QBuzgJfg9Q+Zogcx0mjh5q5h9/zPhAjEQ3ZjxzWK9gRN6iYd/V36UcNGyFrk1EsImJQcdM13uDpaOj9pWlqYqFySHDXEuvxOiZYh7hgXxkRLAWNSmg7UrHkp8sRVEi+0MIpOSE897jmMNP1aOkoFIiDrfci7edNseD20MV3FRbaZ8nsXsRJA+pg8zvCqPbKnhKCIiPvnm8I4xnVa2kxyV0vKHk2lxxaqF51WXyY2EGm3a70lu/FYI9ydvBCJlxJAUf+oJno19qeQmGLuKHKMQ9Ca5mfVSgCRv1u2Tgj44hMwefFopb/iEEcv5EJ9VMy6KWD5VkG2uu3eRr/xxSjk1El0EXWFQo2XSS9AD0W/dvM4Innk0oKF+ZqXElRhvSPrezaB9jRpBgmXmzkn5G7H8XMO0jj1rRMzblB4jNsFFRee49IzvDJNg750AXrUUd1YeWDtXui2uEe7n2IB4UOkBezg2ypmfeMDE8QX8isMM5uf8N19WO3EFWkC/JHgOJdHwt9UHV+8qMe4HHdwDSPu8KwdQLrzWOc912nQ5JYU1WGASOYCIZzQ4IPFB18cNq0Ppsk23SsXGO7wpoR3pEEtS1A8QCzvI7ZRFGWfIvY0XdlpXWq+mhAkagRDuc5sN4H40Z/jefQxu8EWWNwiUxt6EggzVndGHtEkwWj40L57wA61Qn78rmnHEikScAkHWgaJ7tIRUUGuEUizZNKkL8ACGGRs0KDipVPK/4xsgUVsVVhQjDwAHOB+A8ao+AKoHWzc/qzhHWehQ8+h7Ph6ui/Nfrhrc554noOil34+MYck3mbLIKyXGh8KrmB9xSpeoRByK3D31gzZQfDs/VZQNNf3YtIPdkaDp1p1Vy7rgOKckQdaQkuTn14uAR8H2Mq2udjYPNtxMz3pcEsFzoJ7EeSMO7dhCV0XXebY+XR9tnlKdYR+9oTh46fS2R/sSJODh3W587BIAnQAOw2HyWQSX8QXxxFOsOv8aQ/SYWoq9mg7wWC61iiHnWieiQ3ktkElxBkmqFF7/zsCCBVR9HchWmcH0EbJQcZBtu+0qs7igS2P/axKe3SvUkR7h3Q6jlsbojkPIgltEcopX4myXU87xyxYCmSpMPnuWVHWGK1a8a905VC1HOVv9Gz81yUjOMxjbLxV08ta3ubffNMvC1bhTaQd3UobrrRC6o2KHRzH6/Segh8QWeL4zM5NWSMkT7mgsXNwlClSyZ/ebaaKhA2SH+u/m2B8PB991d9xE1gJI0wnyeU6SyCqf/q5CWTpeGGCy4JOuvODv8rLDT8fa7Cv7QxhYMKw01YgZfI1wojojpULNaiRTGxB3uYZJ1e/Tyl0crSoTuVQZ0cNCIrBRYvEu4ARLqhvaOm+F47D7hjzDpuIlxYapsthLl7dXY1ddL5hn1whluN6ZkiQLrvWXPepCPkCfM6s+ukI4uVN5l7+ek/g/kOG1eG/OGVAhpuea90O6eX0EqycNruXo98/cEPy7xVh/EgAbYd/ZxU8mH/u9t+GCqm0hogk8Yy/O60KTVUl6RVGG7kWiDDdC+tJt+2StfTNWTEKE8g8mYcDnqX6mhxJpUaYqFqUYWKE/E2gZoH36Tuw8UpOcyfqKgnoJH40DR8Fevwr6JEu33EGBttLLiNpJHmy1/jwDUxONF2XZKJzgvtGY9QqE9rmuPr6NlnE/DFIuGUbvFP4xdWtzkl6iHmHFjMZy1J6I05j4F8uJcLf2k5NEorAILUn5n+BXBnVi0oBfXO8Rea9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NiaGQkF4fnK8wVRiRoPvUG",
      "input": {
        "note": "The bump pushed bottle 1 next to bottle 2; both lie with caps pointing forward. Bottle 1 is still well to the right of the jaws (wrist view right edge), so shifting ~7 cm right to get over it.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.13,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01NiaGQkF4fnK8wVRiRoPvUG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4801, 1.6306, 0.7067, 0.281, -0.4065, -0.2977, 0.9955, -0.0414, 0.6811, 0.4046, -0.3283, -0.0395, -0.0582, 0.9993]\nstate[eef_state]: left_x=0.4041 left_y=-0.1276 left_z=0.077 left_yaw=0.0037 left_pitch=-0.0232 left_roll=0.0036 left_gripper=0.9955 right_x=0.2702 right_y=-0.0006 right_z=0.129 right_yaw=0.0006 right_pitch=-0.0316 right_roll=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -7.4735, 8.4991, 1.7411, -0.2613, -0.1148, 0.1197, -0.5949, -1.1145, 6.8991, 1.9756, -0.149, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ca85d737e5afc744afa92ad280cd6c53c00c801509ea8c8ac1fdccb5d7dd32a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ad5e8be017e35855974ab4cf0c9d68ff75f1268bd1481e43bbbdbce2e570c54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c01436e1e84320b2dd20ef10a8a47ed18ca54c42dd424a58bd32344649254da",
        "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 · 4.571 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]: [-0.0921, 1.7107, 0.5919, 0.5426, -0.1127, -0.0956, 0.0199, -0.0341, 0.7223, 0.4698, -0.3584, -0.0315, -0.0578, 0.9993]\nstate[eef_state]: left_x=0.4242 left_y=-0.0156 left_z=0.0456 left_yaw=0.0392 left_pitch=-0.012 left_roll=-0.007 left_gripper=0.0199 right_x=0.2765 right_y=-0.0003 right_z=0.1421 right_yaw=0.001 right_pitch=-0.0379 right_roll=-0.013 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -7.8427, 5.7094, 1.7753, 0.0513, 0.1392, 0.9499, -0.5949, -1.5385, 6.8991, 1.9902, -0.1636, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2489, 1.6356, 0.6254, 0.384, -0.2375, -0.1738, 0.9943, -0.0406, 0.7017, 0.4362, -0.3428, -0.0391, -0.0578, 0.9993]\nstate[eef_state]: left_x=0.4126 left_y=-0.0583 left_z=0.0583 left_yaw=0.0293 left_pitch=-0.0461 left_roll=0.0072 left_gripper=0.9943 right_x=0.2732 right_y=-0.0006 right_z=0.1353 right_yaw=0.0009 right_pitch=-0.035 right_roll=-0.0088 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -9.388, 8.1026, 1.6679, -0.1343, 0.1099, -0.1148, -0.4444, -1.4291, 6.7761, 2.0098, -0.1783, 0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4801, 1.6306, 0.7067, 0.281, -0.4065, -0.2977, 0.9955, -0.0414, 0.6811, 0.4046, -0.3283, -0.0395, -0.0582, 0.9993]\nstate[eef_state]: left_x=0.4041 left_y=-0.1276 left_z=0.077 left_yaw=0.0037 left_pitch=-0.0232 left_roll=0.0036 left_gripper=0.9955 right_x=0.2702 right_y=-0.0006 right_z=0.129 right_yaw=0.0006 right_pitch=-0.0316 right_roll=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -7.4735, 8.4991, 1.7411, -0.2613, -0.1148, 0.1197, -0.5949, -1.1145, 6.8991, 1.9756, -0.149, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ca85d737e5afc744afa92ad280cd6c53c00c801509ea8c8ac1fdccb5d7dd32a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ad5e8be017e35855974ab4cf0c9d68ff75f1268bd1481e43bbbdbce2e570c54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c01436e1e84320b2dd20ef10a8a47ed18ca54c42dd424a58bd32344649254da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012Mt4MrWJejG7JegLzUJwqa",
      "input": {
        "note": "Now over bottle 1's lower body (bottle 2 touching it on the right; caps point away, beyond reach). Descending so the right finger wedges into the V between the bottles, to grip bottle 1's body and drag it closer so the cap comes into reach.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.14,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_012Mt4MrWJejG7JegLzUJwqa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5232, 1.7691, 0.6537, 0.522, -0.4358, -0.3382, 0.9957, -0.0418, 0.6643, 0.3756, -0.3153, -0.0536, -0.0578, 0.9993]\nstate[eef_state]: left_x=0.4069 left_y=-0.1445 left_z=0.0486 left_yaw=0.0061 left_pitch=0.0282 left_roll=-0.0399 left_gripper=0.9957 right_x=0.2674 right_y=0.0019 right_z=0.1227 right_yaw=0.0119 right_pitch=-0.0305 right_roll=-0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -5.5043, 3.3846, 1.1844, -0.2466, 0.2759, 0.0073, -0.7726, -1.1829, 6.9538, 1.9902, -0.0708, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b2cf771073a7aa29d4ee9fdf0d48ba79f0b82968fdbe8e2e890b4269da0d58a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a146b6ba6fabd6998a8bc46fc787ce967c964b65501ed48a430e690281b1e38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6066282b66ebea5470f6d6f6cc4669d8996b7ab5807ecb3032b315a4115b08b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 8.25 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]: [-0.2489, 1.6356, 0.6254, 0.384, -0.2375, -0.1738, 0.9943, -0.0406, 0.7017, 0.4362, -0.3428, -0.0391, -0.0578, 0.9993]\nstate[eef_state]: left_x=0.4126 left_y=-0.0583 left_z=0.0583 left_yaw=0.0293 left_pitch=-0.0461 left_roll=0.0072 left_gripper=0.9943 right_x=0.2732 right_y=-0.0006 right_z=0.1353 right_yaw=0.0009 right_pitch=-0.035 right_roll=-0.0088 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -9.388, 8.1026, 1.6679, -0.1343, 0.1099, -0.1148, -0.4444, -1.4291, 6.7761, 2.0098, -0.1783, 0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.4801, 1.6306, 0.7067, 0.281, -0.4065, -0.2977, 0.9955, -0.0414, 0.6811, 0.4046, -0.3283, -0.0395, -0.0582, 0.9993]\nstate[eef_state]: left_x=0.4041 left_y=-0.1276 left_z=0.077 left_yaw=0.0037 left_pitch=-0.0232 left_roll=0.0036 left_gripper=0.9955 right_x=0.2702 right_y=-0.0006 right_z=0.129 right_yaw=0.0006 right_pitch=-0.0316 right_roll=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -7.4735, 8.4991, 1.7411, -0.2613, -0.1148, 0.1197, -0.5949, -1.1145, 6.8991, 1.9756, -0.149, 0.0073, -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]: [-0.5232, 1.7691, 0.6537, 0.522, -0.4358, -0.3382, 0.9957, -0.0418, 0.6643, 0.3756, -0.3153, -0.0536, -0.0578, 0.9993]\nstate[eef_state]: left_x=0.4069 left_y=-0.1445 left_z=0.0486 left_yaw=0.0061 left_pitch=0.0282 left_roll=-0.0399 left_gripper=0.9957 right_x=0.2674 right_y=0.0019 right_z=0.1227 right_yaw=0.0119 right_pitch=-0.0305 right_roll=-0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -5.5043, 3.3846, 1.1844, -0.2466, 0.2759, 0.0073, -0.7726, -1.1829, 6.9538, 1.9902, -0.0708, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b2cf771073a7aa29d4ee9fdf0d48ba79f0b82968fdbe8e2e890b4269da0d58a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a146b6ba6fabd6998a8bc46fc787ce967c964b65501ed48a430e690281b1e38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6066282b66ebea5470f6d6f6cc4669d8996b7ab5807ecb3032b315a4115b08b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyAgKEAgSGAI4AUIIdGhpbmtpbmcSDPcQG/WkE85T3gk4vRoMeqSoX6X/Vf2M97LdIjADMv0jq065zPw2fdhfSv12YRe9QPyz/nImeROhbI2vNfrmvt8fpEqxDBqxU3YHqOEq5QfgKaGRZXXFliMJw0U1FojrIJiuybjnDTN6Z7lkHCPX0N7IuuJRO2u/X0xscClKA9MlNWWPsakuQ+k93JZlVPoQ/hhq/DHVKPVuaoDc7t3thl3GKdAJ3TMitmxpcGNm4RrHrvMHXnSfNIF8142f6aByeq9NN1DvKgatqpkpD5g2D8AjEeHAJjILFayrdDpSlfs1CbJNwb0iMAF/ReVeGnP+A+Dpaz4dDS2cZiFr7lea+4PBIsClz6JvnLHIRYQV/qwHjRkDWBr688agz8zYdIRDUd7Oze2RhW8lPIkwlmUe1D3l1rd6ehI0m2hXMJsR1SNIlnAsM4bpYc7vtNA+QA7t0CZCo6C4V0HAfUeaeAXC9vM37jUPXfyemVbHWsovTkww4+aPS1fq9hk/9ijMHxm1T3yh6a3ING/t766fkJ83TIl0DxeE0+cqdCgygidVBC0HtXe2Oscv34v8iR8kanrgsERHdfvoLMmpMyG2NGyHR6CULzITNCZH4ClzBknl0HwPWV+xHbNCjBnbBdPUPait749xXJyMAJQhcRLb4UGlTOHhSrpROELFPgIzH5+Z72Nd1v8hLotcp6FL08OELxAimVRa4yp0Cz5kkcQSuKStuWKLmq+Fc2Zg6+mNBoyy3wDpOS5Vy250E/1NoaQL0z1ptn8aj1NzHwPVd++o2pb/E0BC6NTQk3q+W7oxwacfxi1asxWY+4x4u/+RHqYxniOsx3pp/GJ1VHQKPGF0t98PlI/1tyjCvmFIihM5qVtZP0Wl5OP9BYM282J98QRPBKNyOyN/NYJNVdnCe6VnA2h42MdnFZKq+2coum9edXRXnMhf7Nn8FjlTadsICSaBFqo8/X/hYVXHPQ7rJBkJ43QSyJ4Lf1Wl8GOfIpAKD3T4niNZA6RJxrDSCOh6/4JfgHT2nCNnd78ktNzjXs3G4NQ3bpS3rE0FoafyALIFANtvyQVGfq5ENuQaPscCXXGU/nR4y9Fy2fhxUeAiPL/KuGucJHfqCpvBtjAwOt48ozILulOs5aU1/O0pVRmd9ZtkNM86m4/n5ZlNtwqi4K2QEGsPjW3LPLEEE+i5Oko/gSYTVu3HFWS1Y0CSGp05OZeyjUpR06mgOXYQtL3YvZpohY5HGGIzu9VSQ1TkSyFUHUk4QAIt7ExxnM05fCeQoSrN7zqSDVyzdmjo5MJlXhegcCphWnRu8FtuV7nm3TQdCMuyr4M1FZPyJcZiugJT95TQNyViblUwIJxvOGjcqJ/j9KbBfxUXbdeHLdkFxJxyNiN8CPOXUa5FX/lQRfx/7y9+jm62OC+RQbNed5IGb/UbW7Zo76uuE3WQGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HosCVtNNiznLhap3UEhBth",
      "input": {
        "note": "Bottle 1 is centred between the jaws; descent stopped at ~5 cm on contact. Closing to grip its body.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HosCVtNNiznLhap3UEhBth",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5297, 1.7596, 0.68, 0.5072, -0.4652, -0.3408, 0.0215, -0.0414, 0.6468, 0.347, -0.3058, -0.0544, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.4127 left_y=-0.1457 left_z=0.0603 left_yaw=0.0254 left_pitch=0.0545 left_roll=-0.0391 left_gripper=0.0215 right_x=0.2642 right_y=0.0023 right_z=0.1159 right_yaw=0.0134 right_pitch=-0.0319 right_roll=-0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -7.4051, 5.6821, 1.0672, -0.0659, 0.1538, 0.9646, -0.294, -0.9778, 7.0359, 1.9805, -0.0855, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b8184b5205edf29456c31fff229ba6ff605790c9d856aaa3fe8a45c1e6011ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30bc25d72fec030291f500bfb5eb9b8ddf7fcfb44a2e601fba12b69dd9288e2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3855191911860e8d9f8f322aaa498612251e34c940b828725b99716f1c67d003",
        "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 · 14.35 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]: [-0.4801, 1.6306, 0.7067, 0.281, -0.4065, -0.2977, 0.9955, -0.0414, 0.6811, 0.4046, -0.3283, -0.0395, -0.0582, 0.9993]\nstate[eef_state]: left_x=0.4041 left_y=-0.1276 left_z=0.077 left_yaw=0.0037 left_pitch=-0.0232 left_roll=0.0036 left_gripper=0.9955 right_x=0.2702 right_y=-0.0006 right_z=0.129 right_yaw=0.0006 right_pitch=-0.0316 right_roll=-0.009 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -7.4735, 8.4991, 1.7411, -0.2613, -0.1148, 0.1197, -0.5949, -1.1145, 6.8991, 1.9756, -0.149, 0.0073, -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]: [-0.5232, 1.7691, 0.6537, 0.522, -0.4358, -0.3382, 0.9957, -0.0418, 0.6643, 0.3756, -0.3153, -0.0536, -0.0578, 0.9993]\nstate[eef_state]: left_x=0.4069 left_y=-0.1445 left_z=0.0486 left_yaw=0.0061 left_pitch=0.0282 left_roll=-0.0399 left_gripper=0.9957 right_x=0.2674 right_y=0.0019 right_z=0.1227 right_yaw=0.0119 right_pitch=-0.0305 right_roll=-0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -5.5043, 3.3846, 1.1844, -0.2466, 0.2759, 0.0073, -0.7726, -1.1829, 6.9538, 1.9902, -0.0708, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5297, 1.7596, 0.68, 0.5072, -0.4652, -0.3408, 0.0215, -0.0414, 0.6468, 0.347, -0.3058, -0.0544, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.4127 left_y=-0.1457 left_z=0.0603 left_yaw=0.0254 left_pitch=0.0545 left_roll=-0.0391 left_gripper=0.0215 right_x=0.2642 right_y=0.0023 right_z=0.1159 right_yaw=0.0134 right_pitch=-0.0319 right_roll=-0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -7.4051, 5.6821, 1.0672, -0.0659, 0.1538, 0.9646, -0.294, -0.9778, 7.0359, 1.9805, -0.0855, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b8184b5205edf29456c31fff229ba6ff605790c9d856aaa3fe8a45c1e6011ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30bc25d72fec030291f500bfb5eb9b8ddf7fcfb44a2e601fba12b69dd9288e2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3855191911860e8d9f8f322aaa498612251e34c940b828725b99716f1c67d003",
        "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_01GJqVVzNbXTDqJo1CyegrVf",
      "input": {
        "note": "Empty again: the overhead view shows the jaws still sit ~5 cm left of bottle 1 (the wrist camera seems to see things offset). Opening and shifting 5 cm right, trusting the overhead view.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.405,
          "left_y": -0.195,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GJqVVzNbXTDqJo1CyegrVf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6674, 1.7538, 0.8543, 0.1802, -0.5674, -0.4397, 0.9943, -0.0414, 0.627, 0.3183, -0.2905, -0.0555, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.4005 left_y=-0.1902 left_z=0.0729 left_yaw=0.0205 left_pitch=-0.0292 left_roll=0.012 left_gripper=0.9943 right_x=0.2619 right_y=0.0026 right_z=0.1108 right_yaw=0.0143 right_pitch=-0.0254 right_roll=-0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -9.4564, 8.4308, 1.409, -0.315, 0.1148, -0.1245, -0.212, -0.8684, 6.9128, 1.9316, -0.0708, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98f3cb2e63f3ca0939c8f1334f62fd481ae38cc4fc205dbcf13f1d229a3b8f15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6835ddcf600713d3b6a6f338e05df1873fb68801270de14ac3335a22395a4032",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f5733ffc6a00872927b467127c95f6a1277cd31db50dcd160bd13ab074ee99f",
        "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 · 4.26 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]: [-0.5232, 1.7691, 0.6537, 0.522, -0.4358, -0.3382, 0.9957, -0.0418, 0.6643, 0.3756, -0.3153, -0.0536, -0.0578, 0.9993]\nstate[eef_state]: left_x=0.4069 left_y=-0.1445 left_z=0.0486 left_yaw=0.0061 left_pitch=0.0282 left_roll=-0.0399 left_gripper=0.9957 right_x=0.2674 right_y=0.0019 right_z=0.1227 right_yaw=0.0119 right_pitch=-0.0305 right_roll=-0.0007 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -5.5043, 3.3846, 1.1844, -0.2466, 0.2759, 0.0073, -0.7726, -1.1829, 6.9538, 1.9902, -0.0708, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5297, 1.7596, 0.68, 0.5072, -0.4652, -0.3408, 0.0215, -0.0414, 0.6468, 0.347, -0.3058, -0.0544, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.4127 left_y=-0.1457 left_z=0.0603 left_yaw=0.0254 left_pitch=0.0545 left_roll=-0.0391 left_gripper=0.0215 right_x=0.2642 right_y=0.0023 right_z=0.1159 right_yaw=0.0134 right_pitch=-0.0319 right_roll=-0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -7.4051, 5.6821, 1.0672, -0.0659, 0.1538, 0.9646, -0.294, -0.9778, 7.0359, 1.9805, -0.0855, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6674, 1.7538, 0.8543, 0.1802, -0.5674, -0.4397, 0.9943, -0.0414, 0.627, 0.3183, -0.2905, -0.0555, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.4005 left_y=-0.1902 left_z=0.0729 left_yaw=0.0205 left_pitch=-0.0292 left_roll=0.012 left_gripper=0.9943 right_x=0.2619 right_y=0.0026 right_z=0.1108 right_yaw=0.0143 right_pitch=-0.0254 right_roll=-0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -9.4564, 8.4308, 1.409, -0.315, 0.1148, -0.1245, -0.212, -0.8684, 6.9128, 1.9316, -0.0708, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98f3cb2e63f3ca0939c8f1334f62fd481ae38cc4fc205dbcf13f1d229a3b8f15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6835ddcf600713d3b6a6f338e05df1873fb68801270de14ac3335a22395a4032",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f5733ffc6a00872927b467127c95f6a1277cd31db50dcd160bd13ab074ee99f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WNmbmbebHpRSeLpa1HnH7F",
      "input": {
        "note": "Wrist view now shows the jaws between bottles 1 and 2, with bottle 1 to the left. Shifting ~3 cm left to centre bottle 1 and pressing the descent down to the table so the fingers get below the bottle's midline.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.16,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01WNmbmbebHpRSeLpa1HnH7F",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6079, 1.9373, 0.6941, 0.672, -0.5617, -0.3923, 0.9956, -0.0406, 0.6128, 0.2962, -0.2901, -0.0566, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.413 left_y=-0.1683 left_z=0.0272 left_yaw=0.0529 left_pitch=0.0845 left_roll=-0.0424 left_gripper=0.9956 right_x=0.2585 right_y=0.0031 right_z=0.1042 right_yaw=0.016 right_pitch=-0.033 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [0.9915, -4.1231, 1.9487, 0.5983, 0.3346, 0.0904, 0.1245, -0.4581, -0.8274, 6.8991, 1.9609, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e044d3f179686fdf4525ea395b925cda3917a8dbe8abd3b2557ad413202c33c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:645d10eee2d3c62375d0edd91309915f24a93f243a2f2fd2466ae6327c745c25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:960b40a95f2e562546efdd945b968b7c394275e26855ef929bd890d687b1b552",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 6.934 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]: [-0.5297, 1.7596, 0.68, 0.5072, -0.4652, -0.3408, 0.0215, -0.0414, 0.6468, 0.347, -0.3058, -0.0544, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.4127 left_y=-0.1457 left_z=0.0603 left_yaw=0.0254 left_pitch=0.0545 left_roll=-0.0391 left_gripper=0.0215 right_x=0.2642 right_y=0.0023 right_z=0.1159 right_yaw=0.0134 right_pitch=-0.0319 right_roll=-0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -7.4051, 5.6821, 1.0672, -0.0659, 0.1538, 0.9646, -0.294, -0.9778, 7.0359, 1.9805, -0.0855, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6674, 1.7538, 0.8543, 0.1802, -0.5674, -0.4397, 0.9943, -0.0414, 0.627, 0.3183, -0.2905, -0.0555, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.4005 left_y=-0.1902 left_z=0.0729 left_yaw=0.0205 left_pitch=-0.0292 left_roll=0.012 left_gripper=0.9943 right_x=0.2619 right_y=0.0026 right_z=0.1108 right_yaw=0.0143 right_pitch=-0.0254 right_roll=-0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -9.4564, 8.4308, 1.409, -0.315, 0.1148, -0.1245, -0.212, -0.8684, 6.9128, 1.9316, -0.0708, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6079, 1.9373, 0.6941, 0.672, -0.5617, -0.3923, 0.9956, -0.0406, 0.6128, 0.2962, -0.2901, -0.0566, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.413 left_y=-0.1683 left_z=0.0272 left_yaw=0.0529 left_pitch=0.0845 left_roll=-0.0424 left_gripper=0.9956 right_x=0.2585 right_y=0.0031 right_z=0.1042 right_yaw=0.016 right_pitch=-0.033 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [0.9915, -4.1231, 1.9487, 0.5983, 0.3346, 0.0904, 0.1245, -0.4581, -0.8274, 6.8991, 1.9609, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e044d3f179686fdf4525ea395b925cda3917a8dbe8abd3b2557ad413202c33c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:645d10eee2d3c62375d0edd91309915f24a93f243a2f2fd2466ae6327c745c25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:960b40a95f2e562546efdd945b968b7c394275e26855ef929bd890d687b1b552",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwcKEAgSGAI4AUIIdGhpbmtpbmcSDHSIM6AipSJRqIOv2hoMkJNoRgZFeY4vfxztIjAnX1GcYwMIz6ll4kBrjEKzFBm5J/83kSgSrW93U3f+8u9h8IxSHEMpmwrzm7o4mbcq1AZ4EQj32sEAXJvtQ0B2Q29zeshMEPkv38V3Ff9xe0/bjjC+9ojscRfcj1c4cPMQgDBuRlFMF8Y/qFEu2LA+nlPRaTWEgTo2Ui3K+2T5AkvEjKqneOKFPCdaBhYCoKl4h9KAbXA8DIH2X4DGgoi8+ISFnXZg9cv4u5+8PJDHRi2u8uwOyo/R6T/xgcHl9oJ2PMLHYNBR0iOsXEcHISJzNk7ifT3uMHiXajgWaS0mDjefTxMK43X5mN6zQXaJxJODI3QkrwB3zK3gw4F+GQ1/rtrSgKeojPMszk7qoXs4UWCXpt3pA5XX8Z8PPpNWdLbaEju+PGvi5eX9qeRTpC6I6TjqtcvEUP+KWlCj4TNzfgFJKdly1cGxWPRin2p98PWApp/jQKZcFQDW+ZbZ6nSbA2+K/aGKNyVwmh0ZmIjlZ8HZlcamK00HYCe46Rxig9fQLEjg608ldJawKT4PQ3Arf9mb5Z5pDMkixPJ2us6UMgN9NBRkGIEX2b5hRW/pezgpqpx64NbI2Se7e78Q2ACHF4oJ2kzl+kM7HfsfY0/oAByn3tDIfen23G0Qk5VXSiC5/cGF/re6NfDHAG1KIJu8VfqeQfJ+Rl2rYC+FqEJATFa3jGK5DdxxdYKl86dKGm4NvvTWM3Ni92SC3H3JlWAQ5lq1WuxhYZKJLoIhW/XUHbMrfkhyciztufYXvjpnH9Fr5jaKu4fJibtSdMeOgPCVLMEIRm9/v2nCMVwjameMwVd21j6tAQLd/iJhfGoeb79HKtirn1i+MjxHIvgg5Q5+0LyaJSv7hrz8RIVKlp/0qNkIJ9v/ylwo1fO+izMZ8fXRpDs/XEU+JFzYX0Tv4lKwQgEVhcKQsAno0oJt7YGbJyVYNlwu1lNkZs5tuNR5YesGQRQ+gn+jcbgh9i7Vv4H5HmrNM9jKS8KjV4F71sXSLML+eTeYobig2gqXbidgBZCinRa7pouvGzkbU9N+TVMMXbC0Tp9v1A93TqM0pTu81fA3dYbUl5sXKr9jCmaHZi/SA69pIThtFWuV7gmrg2SfkCazeyo8SnVad0TcI1rLIfWOWwqqomWPp8DH0OLN7xJYkydCD+ftwebIxKcsO6GagOkMsiZ/6pv4BG4Lng2vCghayoT9WV4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XCvbit9tP7z8NhCQT2y2Fs",
      "input": {
        "note": "Got lower this time (z≈2.7 cm) with bottle 1 centred between the jaws in the wrist view. Closing to grip its body.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XCvbit9tP7z8NhCQT2y2Fs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6018, 1.8996, 0.7586, 0.5331, -0.5655, -0.4042, 0.6618, -0.0406, 0.5888, 0.268, -0.2832, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.4199 left_y=-0.1692 left_z=0.0391 left_yaw=0.0667 left_pitch=0.0568 left_roll=-0.0285 left_gripper=0.6618 right_x=0.2552 right_y=0.0033 right_z=0.0985 right_yaw=0.0164 right_pitch=-0.0303 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -8.5812, 5.2581, 0.9499, -0.0171, -0.0708, 0.7497, -0.335, -0.3897, 6.9265, 1.9853, -0.0855, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e1422d85a4c5b55f8f9a23c1836ee94ede3cac1f0e49d1923958fb66536cea6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:357911d98c36e9f6867b7e88f5924e87ff4cd7c0b4b5ef33fc82e75b6763401a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab886489ab5717ddc3fce784b34112c4a46716170aee17ba0595c871222bfc7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 9.937 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]: [-0.6674, 1.7538, 0.8543, 0.1802, -0.5674, -0.4397, 0.9943, -0.0414, 0.627, 0.3183, -0.2905, -0.0555, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.4005 left_y=-0.1902 left_z=0.0729 left_yaw=0.0205 left_pitch=-0.0292 left_roll=0.012 left_gripper=0.9943 right_x=0.2619 right_y=0.0026 right_z=0.1108 right_yaw=0.0143 right_pitch=-0.0254 right_roll=-0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -9.4564, 8.4308, 1.409, -0.315, 0.1148, -0.1245, -0.212, -0.8684, 6.9128, 1.9316, -0.0708, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.6079, 1.9373, 0.6941, 0.672, -0.5617, -0.3923, 0.9956, -0.0406, 0.6128, 0.2962, -0.2901, -0.0566, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.413 left_y=-0.1683 left_z=0.0272 left_yaw=0.0529 left_pitch=0.0845 left_roll=-0.0424 left_gripper=0.9956 right_x=0.2585 right_y=0.0031 right_z=0.1042 right_yaw=0.016 right_pitch=-0.033 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [0.9915, -4.1231, 1.9487, 0.5983, 0.3346, 0.0904, 0.1245, -0.4581, -0.8274, 6.8991, 1.9609, -0.0366, -0.0513, -0.0122]",
      "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]: [-0.6018, 1.8996, 0.7586, 0.5331, -0.5655, -0.4042, 0.6618, -0.0406, 0.5888, 0.268, -0.2832, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.4199 left_y=-0.1692 left_z=0.0391 left_yaw=0.0667 left_pitch=0.0568 left_roll=-0.0285 left_gripper=0.6618 right_x=0.2552 right_y=0.0033 right_z=0.0985 right_yaw=0.0164 right_pitch=-0.0303 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -8.5812, 5.2581, 0.9499, -0.0171, -0.0708, 0.7497, -0.335, -0.3897, 6.9265, 1.9853, -0.0855, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e1422d85a4c5b55f8f9a23c1836ee94ede3cac1f0e49d1923958fb66536cea6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:357911d98c36e9f6867b7e88f5924e87ff4cd7c0b4b5ef33fc82e75b6763401a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab886489ab5717ddc3fce784b34112c4a46716170aee17ba0595c871222bfc7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016gsateU3Bvr8hYVs74LMcy",
      "input": {
        "note": "Grip succeeded (reading 0.66 ≈ 6.3 cm, the bottle body). Dragging bottle 1 about 11 cm toward the base along the table so its cap/neck comes within reach for a neck grasp.",
        "targets": {
          "left_x": 0.31,
          "left_y": -0.17,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_016gsateU3Bvr8hYVs74LMcy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8463, 1.6394, 0.5179, 0.3332, -0.7132, -0.5964, 0.6613, -0.0406, 0.5671, 0.2428, -0.271, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.316 left_y=-0.1773 left_z=0.0364 left_yaw=0.0335 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.6613 right_x=0.2532 right_y=0.0034 right_z=0.0946 right_yaw=0.0164 right_pitch=-0.0216 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -7.8017, 4.9026, 1.4335, -0.4225, -0.0122, -0.0659, -0.2803, -0.5265, 6.7897, 1.9121, -0.1099, -0.0269, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a52e1269da84cc6fa81f8901d2c713bf9d362858f9d0614ee9b023fbb963142b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25ed9864aac0c6de91593a0e94d53a9501a83945a3799d523fe2c32dfb4689dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:53bec7455b727eec1979f40a7623e2e9571b1ee5125785907b0f7f8d9caa6971",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 6.921 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]: [-0.6079, 1.9373, 0.6941, 0.672, -0.5617, -0.3923, 0.9956, -0.0406, 0.6128, 0.2962, -0.2901, -0.0566, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.413 left_y=-0.1683 left_z=0.0272 left_yaw=0.0529 left_pitch=0.0845 left_roll=-0.0424 left_gripper=0.9956 right_x=0.2585 right_y=0.0031 right_z=0.1042 right_yaw=0.016 right_pitch=-0.033 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [0.9915, -4.1231, 1.9487, 0.5983, 0.3346, 0.0904, 0.1245, -0.4581, -0.8274, 6.8991, 1.9609, -0.0366, -0.0513, -0.0122]",
      "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]: [-0.6018, 1.8996, 0.7586, 0.5331, -0.5655, -0.4042, 0.6618, -0.0406, 0.5888, 0.268, -0.2832, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.4199 left_y=-0.1692 left_z=0.0391 left_yaw=0.0667 left_pitch=0.0568 left_roll=-0.0285 left_gripper=0.6618 right_x=0.2552 right_y=0.0033 right_z=0.0985 right_yaw=0.0164 right_pitch=-0.0303 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -8.5812, 5.2581, 0.9499, -0.0171, -0.0708, 0.7497, -0.335, -0.3897, 6.9265, 1.9853, -0.0855, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8463, 1.6394, 0.5179, 0.3332, -0.7132, -0.5964, 0.6613, -0.0406, 0.5671, 0.2428, -0.271, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.316 left_y=-0.1773 left_z=0.0364 left_yaw=0.0335 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.6613 right_x=0.2532 right_y=0.0034 right_z=0.0946 right_yaw=0.0164 right_pitch=-0.0216 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -7.8017, 4.9026, 1.4335, -0.4225, -0.0122, -0.0659, -0.2803, -0.5265, 6.7897, 1.9121, -0.1099, -0.0269, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a52e1269da84cc6fa81f8901d2c713bf9d362858f9d0614ee9b023fbb963142b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25ed9864aac0c6de91593a0e94d53a9501a83945a3799d523fe2c32dfb4689dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53bec7455b727eec1979f40a7623e2e9571b1ee5125785907b0f7f8d9caa6971",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BftHjHHituDUPHHTEbwakX",
      "input": {
        "note": "The bottle slipped out during the drag and stayed put (its bottom end is right ahead of the jaws). Opening and moving back over its lower body for a lower, firmer grip.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.37,
          "left_y": -0.17,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BftHjHHituDUPHHTEbwakX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6979, 1.6344, 0.6464, 0.2779, -0.6323, -0.5053, 0.9967, -0.0406, 0.5541, 0.2268, -0.2684, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.3629 left_y=-0.1634 left_z=0.0655 left_yaw=0.0741 left_pitch=0.0063 left_roll=-0.0177 left_gripper=0.9967 right_x=0.2513 right_y=0.0035 right_z=0.0909 right_yaw=0.0164 right_pitch=-0.022 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -5.6137, 7.665, 1.326, -0.0073, 0.1099, -0.0659, -0.4308, -0.1436, 6.7214, 1.8926, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18f2a75a18f6e2696cf9c75ea10974e31a4ac86a8b8093389f4ddd6c751d6e93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e972395c67a0a794ddad7f0f605c740f1e688ba1a4fb9e679bf10fb537178945",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:37099c98bbb1a0813248b9774574faa4435df5cba9be90cf3711ee8dba8c313c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 4.864 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]: [-0.6018, 1.8996, 0.7586, 0.5331, -0.5655, -0.4042, 0.6618, -0.0406, 0.5888, 0.268, -0.2832, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.4199 left_y=-0.1692 left_z=0.0391 left_yaw=0.0667 left_pitch=0.0568 left_roll=-0.0285 left_gripper=0.6618 right_x=0.2552 right_y=0.0033 right_z=0.0985 right_yaw=0.0164 right_pitch=-0.0303 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -8.5812, 5.2581, 0.9499, -0.0171, -0.0708, 0.7497, -0.335, -0.3897, 6.9265, 1.9853, -0.0855, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8463, 1.6394, 0.5179, 0.3332, -0.7132, -0.5964, 0.6613, -0.0406, 0.5671, 0.2428, -0.271, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.316 left_y=-0.1773 left_z=0.0364 left_yaw=0.0335 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.6613 right_x=0.2532 right_y=0.0034 right_z=0.0946 right_yaw=0.0164 right_pitch=-0.0216 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -7.8017, 4.9026, 1.4335, -0.4225, -0.0122, -0.0659, -0.2803, -0.5265, 6.7897, 1.9121, -0.1099, -0.0269, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.6979, 1.6344, 0.6464, 0.2779, -0.6323, -0.5053, 0.9967, -0.0406, 0.5541, 0.2268, -0.2684, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.3629 left_y=-0.1634 left_z=0.0655 left_yaw=0.0741 left_pitch=0.0063 left_roll=-0.0177 left_gripper=0.9967 right_x=0.2513 right_y=0.0035 right_z=0.0909 right_yaw=0.0164 right_pitch=-0.022 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -5.6137, 7.665, 1.326, -0.0073, 0.1099, -0.0659, -0.4308, -0.1436, 6.7214, 1.8926, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18f2a75a18f6e2696cf9c75ea10974e31a4ac86a8b8093389f4ddd6c751d6e93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e972395c67a0a794ddad7f0f605c740f1e688ba1a4fb9e679bf10fb537178945",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37099c98bbb1a0813248b9774574faa4435df5cba9be90cf3711ee8dba8c313c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FPjA5Uh7HcS4vvC9eZ7VXv",
      "input": {
        "note": "Bottle 1 now lies straight between the jaws with its label and cap ahead. Moving ~3 cm forward toward the label (above the bottle's centre of mass) and pressing down to table level for a low grip.",
        "targets": {
          "left_x": 0.395,
          "left_y": -0.165,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FPjA5Uh7HcS4vvC9eZ7VXv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6857, 1.6371, 0.6613, 0.2531, -0.6086, -0.4717, 0.9971, -0.0406, 0.5404, 0.2104, -0.268, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.3649 left_y=-0.1634 left_z=0.0641 left_yaw=0.0507 left_pitch=-0.0136 left_roll=0.008 left_gripper=0.9971 right_x=0.249 right_y=0.0035 right_z=0.0866 right_yaw=0.0164 right_pitch=-0.0242 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -6.3932, 7.2, 1.6337, -0.1001, 0.1441, 0.0269, -0.4308, -0.335, 7.0769, 1.9365, -0.105, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66edd2cd05d65df7b99f494659814fd0a43541b2033af757b2c2fca48a1171cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1065c925a99d502dae68cab613b5eb5db6155c875318f95e278ecfab1f913c66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23d3931558ac7992ecbcf57ba273714e2a24975271bef478e1528d853153e379",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 6.222 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]: [-0.8463, 1.6394, 0.5179, 0.3332, -0.7132, -0.5964, 0.6613, -0.0406, 0.5671, 0.2428, -0.271, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.316 left_y=-0.1773 left_z=0.0364 left_yaw=0.0335 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.6613 right_x=0.2532 right_y=0.0034 right_z=0.0946 right_yaw=0.0164 right_pitch=-0.0216 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -7.8017, 4.9026, 1.4335, -0.4225, -0.0122, -0.0659, -0.2803, -0.5265, 6.7897, 1.9121, -0.1099, -0.0269, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.6979, 1.6344, 0.6464, 0.2779, -0.6323, -0.5053, 0.9967, -0.0406, 0.5541, 0.2268, -0.2684, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.3629 left_y=-0.1634 left_z=0.0655 left_yaw=0.0741 left_pitch=0.0063 left_roll=-0.0177 left_gripper=0.9967 right_x=0.2513 right_y=0.0035 right_z=0.0909 right_yaw=0.0164 right_pitch=-0.022 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -5.6137, 7.665, 1.326, -0.0073, 0.1099, -0.0659, -0.4308, -0.1436, 6.7214, 1.8926, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6857, 1.6371, 0.6613, 0.2531, -0.6086, -0.4717, 0.9971, -0.0406, 0.5404, 0.2104, -0.268, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.3649 left_y=-0.1634 left_z=0.0641 left_yaw=0.0507 left_pitch=-0.0136 left_roll=0.008 left_gripper=0.9971 right_x=0.249 right_y=0.0035 right_z=0.0866 right_yaw=0.0164 right_pitch=-0.0242 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -6.3932, 7.2, 1.6337, -0.1001, 0.1441, 0.0269, -0.4308, -0.335, 7.0769, 1.9365, -0.105, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66edd2cd05d65df7b99f494659814fd0a43541b2033af757b2c2fca48a1171cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1065c925a99d502dae68cab613b5eb5db6155c875318f95e278ecfab1f913c66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23d3931558ac7992ecbcf57ba273714e2a24975271bef478e1528d853153e379",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9AgKEAgSGAI4AUIIdGhpbmtpbmcSDGdiDSLQsiQqJgUxjBoMAxMpFmoju0o9XMGMIjASJ14dRAHcKAQS0XQgaVePp1MrVkceRpg9w/ojv2+VqY7D+ZCYfPqiBcC9+xCorxoqkQiRg1tBXdnxy99Zsr4BXvDBlnB4RywgZqlb96IuFI+KVjg1ezYhPcZcYJ65QEUxH19hwG73ZJhYFmIdPLwd83GY3lICfZEG2zHBS1IIUf+vII9CfonEMWWjI7OMEWFlM5t/bDeOkfyU6KCF33QyEoKNxY6dGc5DgmM6JLR+etKmiAQkjKmBFJCZEA/2ptYRKhV1HDfU6kAIsN96mEncWOhiMdTKF3iX69vxStM9I2p9mnXvgRbaDpYOAluLeXdzf0gOEi4T/u9d/7PL2EyAXuDdhcJj/5M5VbTo2kgIdrigTf0QboqQWXc5uNZorTIu9MlLRBE2vShohyIhHGpVG8tHSBgFOaCBwTzr/pdirTt9/n39ROp5GOTid8pJkM3soSofI2hqNl28aXuQb5vPUr/LkItiDIk35ZcnZPNywWcAGaUQpAmhXwIzXtStw63gqdD0xNyaEHSpCRGb2UdQ4YhUgFeB5OPBM3aLJgSth53utZ0xyYfkYnnGxtQE6OUKxl3Vnkb++YvcAMRfVLkLqC+GcjCLO28ZhttSBeECDf5ZB8GiX354+Vc56ZS5nQJTI8svDCNHGKNXQy7ToxhnWss+4zZCuzeD4YD28i7JPKHPcwCRY5YtqBqViD+YReGlm62rl/M0yWef0LowfMvsWZpAcryCbHEGETdC7WU8EO1QaqO1EPE+CXBk25WtK9HtxGpeyv34Wgb5h8SBp7G5vrOfuVNflOv6GI2O0ZTOdXaNORpWf6dJ7S894UB53dK0EooHny1LRAE+J+gjKBu8CfIDVxbMCy6OS2Z9XW1J+0xdXdik4Jm1Q0z0tPqJp5bSgZlCanlrcTvnwZEtXqSZfC5G0SU6jYqjUFcxB075fdNMKzbmjxwGhMYMEv6VO18kTEKpYD9DFhjPeYPqKfXE9TUW8i6DOXP/XjqIQp2OdVU/76zrySlWb3BA1V77YjU5k0VEXdzZZwjTu7FZezxRBVCRQi+ieSx6gNOLR3n7HhJ9qT8JvKyTVl3K9YhDYpffOe5odP+pRA7PFIwyHgiWrFBpiE7iKooMxGzqhYRsGlYAgykGkv3zqHnxefRfx7zvYAHoPr43IQsWEiYaFe4HAs03kJAa4mdL2eRg6G8c6b1PEsQrygZpLk9WvT886i4mkfFliyX14nvgD1Rm/Rb+Nd5OMOZPRSIambytRYrWu62tgHz1EIYjS+3H72kVWpEsxCdJ8vJbB9/DTkcAVD8teiPKpgsAglXWaRPaYjMKM6fuwJgU6pH7DNDjCf3kyqRkO9CbNWOnsU12uAq4Ch8+HSfMBhoF/H+H+YTSW+egXlxbaCxDLkXczmmuOd8Ay/BB6ssoHpQXTWo0tXcFmraZaKrYp+aHj8fxINLjvJ5rQYcVxakYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013bcPgP5e3Hdp9HKC5LtPDX",
      "input": {
        "note": "Arm didn't move on the last command (likely an IK hold). Trying a smaller step: slight advance and descend around the bottle body.",
        "targets": {
          "left_x": 0.375,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013bcPgP5e3Hdp9HKC5LtPDX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6857, 1.6375, 0.6613, 0.2531, -0.6086, -0.4717, 0.9971, -0.0406, 0.522, 0.1921, -0.2668, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.3649 left_y=-0.1634 left_z=0.064 left_yaw=0.0507 left_pitch=-0.0139 left_roll=0.0083 left_gripper=0.9971 right_x=0.2467 right_y=0.0036 right_z=0.0827 right_yaw=0.0164 right_pitch=-0.0231 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -6.3932, 7.0906, 1.6435, -0.188, 0.0757, -0.0122, -0.1573, -0.1436, 6.8444, 1.8974, -0.0855, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3a733fdec15fce1af5740fb36a79112fc49b77f5d47ddca185010206e750169",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:574e13fc6ece11d0a81bb9267e91489bf3d8349f481f214c921209e7a9890206",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:64ea148b54035afbd6b8b19bbcd2933e1d276bb907017cffdf9119af4c024764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 6.19 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]: [-0.6979, 1.6344, 0.6464, 0.2779, -0.6323, -0.5053, 0.9967, -0.0406, 0.5541, 0.2268, -0.2684, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.3629 left_y=-0.1634 left_z=0.0655 left_yaw=0.0741 left_pitch=0.0063 left_roll=-0.0177 left_gripper=0.9967 right_x=0.2513 right_y=0.0035 right_z=0.0909 right_yaw=0.0164 right_pitch=-0.022 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.2667, -5.6137, 7.665, 1.326, -0.0073, 0.1099, -0.0659, -0.4308, -0.1436, 6.7214, 1.8926, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6857, 1.6371, 0.6613, 0.2531, -0.6086, -0.4717, 0.9971, -0.0406, 0.5404, 0.2104, -0.268, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.3649 left_y=-0.1634 left_z=0.0641 left_yaw=0.0507 left_pitch=-0.0136 left_roll=0.008 left_gripper=0.9971 right_x=0.249 right_y=0.0035 right_z=0.0866 right_yaw=0.0164 right_pitch=-0.0242 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -6.3932, 7.2, 1.6337, -0.1001, 0.1441, 0.0269, -0.4308, -0.335, 7.0769, 1.9365, -0.105, -0.0317, -0.0122]",
      "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]: [-0.6857, 1.6375, 0.6613, 0.2531, -0.6086, -0.4717, 0.9971, -0.0406, 0.522, 0.1921, -0.2668, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.3649 left_y=-0.1634 left_z=0.064 left_yaw=0.0507 left_pitch=-0.0139 left_roll=0.0083 left_gripper=0.9971 right_x=0.2467 right_y=0.0036 right_z=0.0827 right_yaw=0.0164 right_pitch=-0.0231 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -6.3932, 7.0906, 1.6435, -0.188, 0.0757, -0.0122, -0.1573, -0.1436, 6.8444, 1.8974, -0.0855, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3a733fdec15fce1af5740fb36a79112fc49b77f5d47ddca185010206e750169",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:574e13fc6ece11d0a81bb9267e91489bf3d8349f481f214c921209e7a9890206",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64ea148b54035afbd6b8b19bbcd2933e1d276bb907017cffdf9119af4c024764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxgoKEAgSGAI4AUIIdGhpbmtpbmcSDAix5WVLKvSHYCCjXRoMEsMWxedBpikJOssQIjBdskMJ0IiIITY91zBq93vWtMY33uTRmoeX4nbapFLxxYQVZvxfCWePQJd2HskogjEq4wkzg0jR7NRgauJIMwbbWaw6nVfnAbaBORFqY6Zbn1omUU2OAx+x1huIdB4ZOGwieBPnbPXVWkJIjHoP7HhjG1YHhYj9E93Iy7AaHWUX756nPHxnw0elT395gFmwuEkh18Uq/LCld/jESRKblqMxRs6ugE3uHI0llWK9NXyULRx4LzMUtU4bAhpFPSpuHL5zsPe4ZYifFu4gOYImMcm6HHGXxhgFMahwRu+qzJBkIMpCULwbl00ANVvKk6LVtlM3B+sUkad4lbYFpVEnQJBL7nCg87ssMUsnN5j5GLNOfUh0wYYpn4nJIA/eaQxqjsQ1M4r+0umj/5IEr07sD+2jBXaARi5XD4P+34gtV3QVlEVt/IfB8NAxo840gTk3reBhBjmx0SL7MHURzqrJlMseLfa0hrbHhmXTqOG/eLDjMYnbDYmsarGKHs+1yd++6osvGuD7AsB/MDFkF/S93ABKUUalnx62+YaEPQOFFojp+P6yRpdbth99bpdRnnxOE3ExKssjAghhFnq2zl9tcrcYErzWTOc1GNfubceMIFCd/BMfRjnZDQUvtE9NG49GL8vj/V40Ij2vlCeYohtJqfaAgqn9LhO+CjkXLj+YTNEnfk6AnkMzhhG+sP6/vJXzJCcZ/ff9fewA5RCpRGc9d63uskQ61U4bmKgMY8y43TBfD3ehL6gRckPYXQPTB0VnozDm8jk/HY6hbUBWGpnjQjx1V0gS6HrIjrfmR1uWEpRAkE6ZafHnLMZX6Zu4mPGIYdDQmIyv4thlzRAowX3Sj0WxYDK8V4ty2I8laWVS4h6/L5z5WJqXf/dwd/VWpmqvW4xlY3X91KVyUqvJLSqUmJyltDDBehqJCx1liLo9a5eBWB3ougT7I0ts6bw9LNqUxWx0I8+l9FGp7Ik2Y1c3+6nKz7hmg9zylIyZ5z4WIpjeY+ly4mkoJUbXT2pbh4eGJKB498K0Eifu9FVvv2xeeJ1KwK+mRLP4IOzy7RIjXGvorwUxqPWcUDo/4f7kRFQOXPsKYl5cwCzXuoWWgc+s2ObNKwmbGoNMtFNIW0ZyJ3uJy7YzLA3XVM/l+v4Tys30jslb2cFQgFM0gV9ZUhWvUmvJXlH0XDFtDNRdsN9LNURxdmPhvoHLvTn3nx6kp6AtOGoECLvCrHoNBTP0l2bKDpxW/zdQjs8YxHhxYzicsPV0V2fv7Dj38SbZ1a2p6Oun9il9r9Z4t8JEflLOCc39YqQJggN814fd4ahZv3eMMlF/tsKt840O1Bab+yJzTmRpejvW7ChkYX3eAHEhNMmsaT88R1LjvDGQtHC2j2LMe8/IN46Wrhie9oGpjeukCGBTnolBi77+5Ba4DOfrAO4P3u6se3xHA1HD/f2QOl6qVxPI42eu+6EvuvJApiLOvJATUr4kcl69n4A9Jzr+fw7rwn+ktxPJUkqwwzJo+7R23+AClfkS/c98JGne5hX6eqSPxlsWwe9YOsczW1z/YLMDGCoG48nSKIZiVUKY47/bbW/A3byP+QyfqyQvPMR3+1Q1IpxlSImuOmHuBQh+JJrqTYoRDH/c6ew/jgvDAflseZhJDS6iHoapvV4h744nsdAKQTuPhawjnaK/rGwpkMkn2edjxvCb6twDpZ2D/Yr3BdMFgoDhB1MGRmffMa326cfpLXeZ1Lexq/EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014S45SJpBuLPnDnAXKdweFd",
      "input": {
        "note": "Left arm is frozen at z≈6 cm (IK appears stuck). Raising and moving slightly to free it before another approach to the red-label bottle straight ahead.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.15,
          "left_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_014S45SJpBuLPnDnAXKdweFd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6857, 1.6379, 0.6613, 0.2531, -0.6086, -0.4717, 0.9971, -0.0406, 0.5034, 0.1757, -0.268, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.3648 left_y=-0.1634 left_z=0.0638 left_yaw=0.0507 left_pitch=-0.0142 left_roll=0.0085 left_gripper=0.9971 right_x=0.2445 right_y=0.0037 right_z=0.0792 right_yaw=0.0164 right_pitch=-0.022 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -6.4479, 7.2821, 1.6386, -0.1978, 0.1099, -0.0122, -0.4171, -0.1299, 6.653, 1.917, -0.0415, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b5c2e6b82aa899125fd986e8e0fa0aece6dc7282a5bdea6f5f02d0f5d63c1d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da490c8fa9bd49d2b5f19755d020d4110ca4310c78c45f03413f63bafe8b8463",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:81dace10e26ccff3c628dfaa37db7df9d0927f135a143b2758926556ed42d1b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 9.173 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]: [-0.6857, 1.6371, 0.6613, 0.2531, -0.6086, -0.4717, 0.9971, -0.0406, 0.5404, 0.2104, -0.268, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.3649 left_y=-0.1634 left_z=0.0641 left_yaw=0.0507 left_pitch=-0.0136 left_roll=0.008 left_gripper=0.9971 right_x=0.249 right_y=0.0035 right_z=0.0866 right_yaw=0.0164 right_pitch=-0.0242 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -6.3932, 7.2, 1.6337, -0.1001, 0.1441, 0.0269, -0.4308, -0.335, 7.0769, 1.9365, -0.105, -0.0317, -0.0122]",
      "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]: [-0.6857, 1.6375, 0.6613, 0.2531, -0.6086, -0.4717, 0.9971, -0.0406, 0.522, 0.1921, -0.2668, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.3649 left_y=-0.1634 left_z=0.064 left_yaw=0.0507 left_pitch=-0.0139 left_roll=0.0083 left_gripper=0.9971 right_x=0.2467 right_y=0.0036 right_z=0.0827 right_yaw=0.0164 right_pitch=-0.0231 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -6.3932, 7.0906, 1.6435, -0.188, 0.0757, -0.0122, -0.1573, -0.1436, 6.8444, 1.8974, -0.0855, -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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6857, 1.6379, 0.6613, 0.2531, -0.6086, -0.4717, 0.9971, -0.0406, 0.5034, 0.1757, -0.268, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.3648 left_y=-0.1634 left_z=0.0638 left_yaw=0.0507 left_pitch=-0.0142 left_roll=0.0085 left_gripper=0.9971 right_x=0.2445 right_y=0.0037 right_z=0.0792 right_yaw=0.0164 right_pitch=-0.022 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -6.4479, 7.2821, 1.6386, -0.1978, 0.1099, -0.0122, -0.4171, -0.1299, 6.653, 1.917, -0.0415, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b5c2e6b82aa899125fd986e8e0fa0aece6dc7282a5bdea6f5f02d0f5d63c1d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da490c8fa9bd49d2b5f19755d020d4110ca4310c78c45f03413f63bafe8b8463",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81dace10e26ccff3c628dfaa37db7df9d0927f135a143b2758926556ed42d1b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9AoKEAgSGAI4AUIIdGhpbmtpbmcSDK2giUG/2O0mC9YHqhoMuujtyKE+b8oyi083IjA/MOyTXEqbLzu3u/hnqY/YrXhU2dnp84z/nSUAlmEds5yBtbSQk8MbkaNFRQGIsDgqkQrj7pXv4tLAVM2sVLOiJ44Tlv4Qn9yo4iOLRrt4npyV2DTC7QDSJnFwBGtAWTH6ESEpjGEsSQjLHTOSzcvP2+FO1HGLcmcH1WxHLDSuKYXq91vs5pRKFnIEZ2Z9p/tW8AvEMbzP08WY1n7KJCYUfXT1DdOfA7Eg12w9SXA3tpjAAowtFjRS563cxoaTZfeax1EsdFrGHf+T4D53gKsiSVwnpPqeDYfzpfP1uefD7zkojskO8GZsItvvzebygto6ZDmW85PJeioQ3whcNAiWhwWmV/2eAuIMlsD5M1fa6ZuCeJmMmyxakI1Oa5kl9AFoh4ex+GAcBBEUi1DLrqHg6GVZ06bAiSIWDLHS/L/+fCzO3HrhjRsK/Rbwy6k2tmHip0dCATXOk98LLYH9HYEVFcBAq2A/1ZTo0zTSyCechz/sy3JmDRBRp+LiQoy3zfCh1VnWts8lsSQPDZaordvoq62lcik1hAcXfj7MXgJFeX0IImgbqlyAyL91vfA+pAtGEKIea/82zfocblL0hAOqioZHsSnZtJnFgI+ysida3ELaYmuBKmdlb3lNEdDROZzGYF5v9UQBzMoVoN/rxzodV6mfggUdF9Sz58y6U/dzaKZL7PJyWfL4ZfiOtAuDdTkl4vstgsAzO+9RRyyv3GTd/l5cuGaEDN/aYCdnr6ZIirmcU4aQHtc0TDqCV2MzE+o4g7miJVqHRShcih8ikk9vOGOctMpg/A4NRTzFAbBmilL/x0k9x7j9bJGW9Ib+Y2bkLQjL2otmkeTA0WjHxjXuSBqXYR3JXE9jY6jwgI8qLr37FGx6kVGc/i+Io5/jaBvRuzYXSXy8IQMOpBdNB1YXUSy9Z+L6zSsOqhDLlYUgoM/KKuvd9az7Jl6HHGwXQ8rEziiYce4JYGg/B8Hw46bYzCr767cG0J0PuwCsDs8tAJvuw/OZogbRTzaJNzxSajujyJMBmGBvTwhm3n+rCLlUdL+kVtGkLGOXwffoAt+B2XjECNVjOjUXWGxXpSGSOUj/gmeqcOsqAMd2PR0QrHPKTnoewQV9TcCfR3S4LPcdQv1vqdWdAbZpjEgnDv3ipxDDJ0uAsQut7PWbooFqxtJGj8PbxR63GalJaD40iyQTrUK93HBqvdvDQj2fgzav86eNOjwV11mZFDVFZTQ3AASy9WJAQtOhYUAIBg+ybPy0liyGkBFzDZpNBxNzeneHNedJ7YDrawAveLJtUj+3P9a8KubTn4wpc1fMRsaDn7NGwqj5olUUCSptiWLo6GLlbqwofRNJJMGhQlkrhQp1ORb2P0SgwFxyvvUDZWSkrFxiZVPSLH8SahkW6LSBdY6qIEU4M/bxlOdShkE42JIBQn2JyQ0jbQAJNsdQfCEnrL+y7IGyrSm/vzEEJLNCP91le+KxSk79sGsBzPOVYWfgJ871la7JD8+YgyjTsnJPfJ/K0nZRBE2OQpxTn5I+wiYPQXcGVruLXETMeMQzZQIV8I3NvdBh+QIeZYCHMNucvPgDSLUHlrDZML2CIzBzHg7KJ4J5QypsX8SNIAF0d7CliQ9wkAmqrwgP2uFmuD4MkCJyXc9r/ZV/SctscnjDEi2iwDMmLf1RLuqZwGs2wusCxRIFXDH5b4BgG49hbX6wJIPwDSl/tb5n7Jo2iyEWZQQfemVs6cX3jPhOx9ViF/1VuNuRk3pOyWqpYqzh9ol/VO0RDg58pyS1YQhFCMfvhV5/ZpOsJ4qjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GL6jvbApyuyM8yUo3NeVFc",
      "input": {
        "note": "The left arm has ignored the last three commands. Sending a larger move toward home to see if it responds, and re-parking the drifting right arm.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.1,
          "left_z": 0.18,
          "right_x": 0.29,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01GL6jvbApyuyM8yUo3NeVFc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6495, 1.0439, 0.654, -0.2779, -0.5858, -0.4633, 0.9971, -0.0475, 0.7654, 0.5468, -0.3996, -0.0612, -0.0738, 0.9993]\nstate[eef_state]: left_x=0.306 left_y=-0.1053 left_z=0.1682 left_yaw=0.065 left_pitch=0.0178 left_roll=-0.0323 left_gripper=0.9971 right_x=0.2831 right_y=0.001 right_z=0.1577 right_yaw=0.0213 right_pitch=-0.0442 right_roll=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.294, -2.7829, 9.9624, 1.5946, -0.149, 0.2369, -0.0122, -0.8, -1.2103, 9.6342, 1.7167, -0.105, 0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:289c5650c28a9edf5210cfe870de4cbf43eaa3d50a9614c94be643b6526e3155",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3429de2ff45381114b1c2bb636d40592143b28b8a2be154534442036c1643075",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8eee1ac8687fd70488579404717cb81b893ab9bd5155ba82503bf6c8b4afd8ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 4.773 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6857, 1.6375, 0.6613, 0.2531, -0.6086, -0.4717, 0.9971, -0.0406, 0.522, 0.1921, -0.2668, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.3649 left_y=-0.1634 left_z=0.064 left_yaw=0.0507 left_pitch=-0.0139 left_roll=0.0083 left_gripper=0.9971 right_x=0.2467 right_y=0.0036 right_z=0.0827 right_yaw=0.0164 right_pitch=-0.0231 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -6.3932, 7.0906, 1.6435, -0.188, 0.0757, -0.0122, -0.1573, -0.1436, 6.8444, 1.8974, -0.0855, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6857, 1.6379, 0.6613, 0.2531, -0.6086, -0.4717, 0.9971, -0.0406, 0.5034, 0.1757, -0.268, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.3648 left_y=-0.1634 left_z=0.0638 left_yaw=0.0507 left_pitch=-0.0142 left_roll=0.0085 left_gripper=0.9971 right_x=0.2445 right_y=0.0037 right_z=0.0792 right_yaw=0.0164 right_pitch=-0.022 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -6.4479, 7.2821, 1.6386, -0.1978, 0.1099, -0.0122, -0.4171, -0.1299, 6.653, 1.917, -0.0415, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6495, 1.0439, 0.654, -0.2779, -0.5858, -0.4633, 0.9971, -0.0475, 0.7654, 0.5468, -0.3996, -0.0612, -0.0738, 0.9993]\nstate[eef_state]: left_x=0.306 left_y=-0.1053 left_z=0.1682 left_yaw=0.065 left_pitch=0.0178 left_roll=-0.0323 left_gripper=0.9971 right_x=0.2831 right_y=0.001 right_z=0.1577 right_yaw=0.0213 right_pitch=-0.0442 right_roll=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.294, -2.7829, 9.9624, 1.5946, -0.149, 0.2369, -0.0122, -0.8, -1.2103, 9.6342, 1.7167, -0.105, 0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:289c5650c28a9edf5210cfe870de4cbf43eaa3d50a9614c94be643b6526e3155",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3429de2ff45381114b1c2bb636d40592143b28b8a2be154534442036c1643075",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eee1ac8687fd70488579404717cb81b893ab9bd5155ba82503bf6c8b4afd8ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P32iHE5iEsNcQ73R8VryTe",
      "input": {
        "note": "Left arm responds again. The red-label bottle lies along the arm's x axis just right of the jaws, cap pointing away at roughly x≈0.5. Moving over its neck (x≈0.45) for a neck grasp.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.13,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01P32iHE5iEsNcQ73R8VryTe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4553, 1.787, 0.833, 0.2649, -0.4541, -0.3408, 0.9971, -0.0528, 0.7376, 0.5037, -0.3775, -0.0757, -0.0807, 0.9993]\nstate[eef_state]: left_x=0.4344 left_y=-0.1224 left_z=0.0593 left_yaw=0.0907 left_pitch=-0.0484 left_roll=0.0163 left_gripper=0.9971 right_x=0.2791 right_y=0.0022 right_z=0.15 right_yaw=0.0319 right_pitch=-0.0366 right_roll=-0.0064 right_gripper=0.9993\nstate[joint_eff]: [0.5402, -8.2803, 7.2137, 1.707, -0.0513, 0.1197, -0.0122, -0.5675, -1.347, 6.9949, 1.9707, -0.0904, 0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a552bbfb16b9764cb7a63c2a6744fee521016074464b55169a7fe2a14c9251ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:504daafa074172acaf024976f813b3127f69cb9d9e9138a2e1e7f79f2ec1d140",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6454686660cd6661d32533cd288dd7c9d5d56f8b9c145fb0bc47aec809aa03a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 3.67 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6857, 1.6379, 0.6613, 0.2531, -0.6086, -0.4717, 0.9971, -0.0406, 0.5034, 0.1757, -0.268, -0.057, -0.0586, 0.9993]\nstate[eef_state]: left_x=0.3648 left_y=-0.1634 left_z=0.0638 left_yaw=0.0507 left_pitch=-0.0142 left_roll=0.0085 left_gripper=0.9971 right_x=0.2445 right_y=0.0037 right_z=0.0792 right_yaw=0.0164 right_pitch=-0.022 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -6.4479, 7.2821, 1.6386, -0.1978, 0.1099, -0.0122, -0.4171, -0.1299, 6.653, 1.917, -0.0415, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6495, 1.0439, 0.654, -0.2779, -0.5858, -0.4633, 0.9971, -0.0475, 0.7654, 0.5468, -0.3996, -0.0612, -0.0738, 0.9993]\nstate[eef_state]: left_x=0.306 left_y=-0.1053 left_z=0.1682 left_yaw=0.065 left_pitch=0.0178 left_roll=-0.0323 left_gripper=0.9971 right_x=0.2831 right_y=0.001 right_z=0.1577 right_yaw=0.0213 right_pitch=-0.0442 right_roll=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.294, -2.7829, 9.9624, 1.5946, -0.149, 0.2369, -0.0122, -0.8, -1.2103, 9.6342, 1.7167, -0.105, 0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4553, 1.787, 0.833, 0.2649, -0.4541, -0.3408, 0.9971, -0.0528, 0.7376, 0.5037, -0.3775, -0.0757, -0.0807, 0.9993]\nstate[eef_state]: left_x=0.4344 left_y=-0.1224 left_z=0.0593 left_yaw=0.0907 left_pitch=-0.0484 left_roll=0.0163 left_gripper=0.9971 right_x=0.2791 right_y=0.0022 right_z=0.15 right_yaw=0.0319 right_pitch=-0.0366 right_roll=-0.0064 right_gripper=0.9993\nstate[joint_eff]: [0.5402, -8.2803, 7.2137, 1.707, -0.0513, 0.1197, -0.0122, -0.5675, -1.347, 6.9949, 1.9707, -0.0904, 0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a552bbfb16b9764cb7a63c2a6744fee521016074464b55169a7fe2a14c9251ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:504daafa074172acaf024976f813b3127f69cb9d9e9138a2e1e7f79f2ec1d140",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6454686660cd6661d32533cd288dd7c9d5d56f8b9c145fb0bc47aec809aa03a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyAgKEAgSGAI4AUIIdGhpbmtpbmcSDLD/28y3yIkneK7l7xoMdqQeP0mfTGeJi1pTIjBBCtBKafCKTZEANDcQPQ0lZnooQS7vcN4ADWMLm5r3gSIY31IiWHFl/VdAac18Wb0q5Qe1bvSjDtx2uFRrQbekYrhVcb2SvpEC/9KN/Nwmd3WpCWjqOL6b2wVXYHXNeLa/oz6/Ie4wGG22RCSDLHvHn6nU9UE6t6tm9p58A0pJROigUlJ5O49d3SpKO6DOm7z85pOQUh7xF1QIStZxcv0cIO1s2OXVLHe9jwjrXiVIWM7xRtpGZob+QDJ+QrBZMT4s5NzUOa26/kvthiLqrNyv6DktKMEK1hslk1YLFtwg51K+hhEq8wU1FYINoix9o71DC3oj+9ur5iNWBsa48S6033lulikGSy2EdYW+ys4/TUe6aK0mnITupKhcO9zAZkoC6n86DCIQwbYLNBZCNr7YMfZ+dI7ZlQhaDpx1HNPY2iN/SDkOfnS15pw3Ogs3+LYfCt1A9eWXU6U082GeCjutgwTNCY0rlJHRUwT2vgFczCA9DNHd2Hj6wZeyJz18yck1Hyssty9//aflOr9Sot0EYMVNH0eWdjobGSiP2sWLfK6bbvvxKJannqFMVcHWC/DSV/1l2zJcbg8ZevYGfgrO3D9XgICVp9G/trXdLdO5PugofxhpNKvtvXB9Vz1pvnwJb0xiYYzaWpOVIlFA+kCom3vEWz/kHvCCbpgFDwN7upPXz5xHskuftu8zotgTwTKb84jwnKQIwbKwFU9ndslmOXbybIExRWfVktW9PtluBmRE43ov56FA/3M5OTqYskKFFO6MHbBd+YW2bB8zs9FStiGlDbKypuL1Dag0wx0iS4Ei+Cn+V2a/l/vD5eyYSJkslVenHIZ9acWHrSG2aZIZsEXTsdk/nNuWzk6cyqv+8DH9R0Y0+2T2lJxJCH/RgekjYO/+2ARsmzJ64bCkoCri5mkQRA4gcS12UDmgYrHMcXvc6RUwwz9Lkok8stacBIKFq4E7VkypmD6QS5C8RpkJuoqzcg0mZG4ipc7yPZenxxptnCY4z0J7285aAlk48u9Gdc4SS9u6aJNUc0N1opsrk/Hj/NXaiJekf9glaqAmZAI4wy/Nh+HWMKTz2BwtCgjooqfhfnrCOWNTxHzppTa3b5aiORhAOKAnE0bh2R6fu+XiB/hWxIvSlI/8FTAagw6yzyTAlUB9Cz1jXcW9rEQBaFKDJpnMgJxFV5l9hlLaZU+Nc/FKpzBfTorToAGOpqemFAxBPwpbBbuIG3Hm5aY6MKfYiIcZ3G+UItoyRucyCj8haElQDikvU9oXXfMbe7S0QeMUfyYueIsTUOfSqVsSYPxr0xVu/q7wr6Lr9wuKdArL+1JCjxEEqxYOeEtghjtpgLQgpcvEQl2mdpVM5IOexGmwP/jD2pYqN2LJ2O3HyylLNEHzU5ssGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011H51mjRXLymweDTjuXiAqj",
      "input": {
        "note": "The bottle's red label (upper body, toward the cap) is between the jaws. Descending to table level to grip it there, above the bottle's centre of mass.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.13,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_011H51mjRXLymweDTjuXiAqj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4778, 1.9808, 0.7914, 0.6941, -0.4831, -0.3481, 0.9971, -0.0547, 0.7147, 0.4698, -0.3618, -0.0837, -0.0811, 0.9993]\nstate[eef_state]: left_x=0.4581 left_y=-0.1408 left_z=0.0416 left_yaw=0.0996 left_pitch=0.1243 left_roll=-0.0794 left_gripper=0.9971 right_x=0.2758 right_y=0.0033 right_z=0.1437 right_yaw=0.0369 right_pitch=-0.0317 right_roll=-0.0026 right_gripper=0.9993\nstate[joint_eff]: [0.294, -3.8906, 3.2479, 0.1197, 0.022, 0.0366, -0.0073, -0.759, -1.1966, 6.8581, 1.956, -0.0806, 0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3220f9c0634301520aeae502966eeeed311e554d41de03fa852832d773904fa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffaadc12e2f5f47995c864a3f5313194139692a652175b22fce92a02d03a4f1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad7c3a67845fc20ec5aca843b920e656cae0405d2a720ada564d9a5f663f3ec3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 13.88 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6495, 1.0439, 0.654, -0.2779, -0.5858, -0.4633, 0.9971, -0.0475, 0.7654, 0.5468, -0.3996, -0.0612, -0.0738, 0.9993]\nstate[eef_state]: left_x=0.306 left_y=-0.1053 left_z=0.1682 left_yaw=0.065 left_pitch=0.0178 left_roll=-0.0323 left_gripper=0.9971 right_x=0.2831 right_y=0.001 right_z=0.1577 right_yaw=0.0213 right_pitch=-0.0442 right_roll=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [0.294, -2.7829, 9.9624, 1.5946, -0.149, 0.2369, -0.0122, -0.8, -1.2103, 9.6342, 1.7167, -0.105, 0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4553, 1.787, 0.833, 0.2649, -0.4541, -0.3408, 0.9971, -0.0528, 0.7376, 0.5037, -0.3775, -0.0757, -0.0807, 0.9993]\nstate[eef_state]: left_x=0.4344 left_y=-0.1224 left_z=0.0593 left_yaw=0.0907 left_pitch=-0.0484 left_roll=0.0163 left_gripper=0.9971 right_x=0.2791 right_y=0.0022 right_z=0.15 right_yaw=0.0319 right_pitch=-0.0366 right_roll=-0.0064 right_gripper=0.9993\nstate[joint_eff]: [0.5402, -8.2803, 7.2137, 1.707, -0.0513, 0.1197, -0.0122, -0.5675, -1.347, 6.9949, 1.9707, -0.0904, 0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4778, 1.9808, 0.7914, 0.6941, -0.4831, -0.3481, 0.9971, -0.0547, 0.7147, 0.4698, -0.3618, -0.0837, -0.0811, 0.9993]\nstate[eef_state]: left_x=0.4581 left_y=-0.1408 left_z=0.0416 left_yaw=0.0996 left_pitch=0.1243 left_roll=-0.0794 left_gripper=0.9971 right_x=0.2758 right_y=0.0033 right_z=0.1437 right_yaw=0.0369 right_pitch=-0.0317 right_roll=-0.0026 right_gripper=0.9993\nstate[joint_eff]: [0.294, -3.8906, 3.2479, 0.1197, 0.022, 0.0366, -0.0073, -0.759, -1.1966, 6.8581, 1.956, -0.0806, 0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3220f9c0634301520aeae502966eeeed311e554d41de03fa852832d773904fa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffaadc12e2f5f47995c864a3f5313194139692a652175b22fce92a02d03a4f1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad7c3a67845fc20ec5aca843b920e656cae0405d2a720ada564d9a5f663f3ec3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4QYKEAgSGAI4AUIIdGhpbmtpbmcSDJGmpu9SZVmv0lyfAxoM6djN4XDWG3X7/vlYIjBzeWLnSntMfjHMH9UJnwi1lqzH5Q9klyVpxXRxlCVt7YYt0wCRgZuWHP+ncsF/KM8q/gUNfaU2AGEWksdKL7AnmwA8DLciKGidb6q9EowND7LxFmPO8wj4VJ9vSHDDGPo2cp6xeztVtyyWBNvU3aUpWtrtd0w8lZgls3E97nRimw/DFkdTmCBX6ff+U5BW9AUwdVSlvHZVVq4s701ViiIFCa9aNqdPWMNeKXBybeHRANbPbICwRluL9trtQY4D9/7Uqfj1ybtDlJZLPcvwcvuGXIOltNx/c3z/Yp7ZJc+YH6+p4s5bai/UcC55mW60gazL2LqYN6vyCaWnHVAXH8JWXIPSao4gFjFasAUVnk4AWzDT99KTQ/9IU2EzMD157WmYExrsuIy4FvW6jFF+cHuTh4PU5MSOTg3aChgKjpBlLXIX7wQIXXOLN/DU4FeR/QRCFW7VKY9XRb8I66lWzpVXNXXKZ2E91u343vIX+emj520eCJOJlrvDRMiS1bG9zqADdwKbesw6Zw/xrbAch9yX+5g3ZK8HqNvG6U1sCtlGIB2raHccqJd8EognZkqeYS9/SvZF+aymi/NNZEwttXu4aljefLS8+yzPR/rn0yLm1UUvLS93KP0w/44BUOIY6sbaZDhOge07dKQhRTpr7M3JKc4BiCeztrvyIW/Du55r5MHKALzvvOcjpUi2QvmPqEn0zlV5yLow/NkguJop/v6a4O+3lxVoe4ctKnLhFEnpOv4YlxcYwHqSlva6mOO/MQD9D0mev33urNwLWrn7P3uIcisaknOvrisEcw3Jv0eFT3j9qpQTUvz/I2F1Z5LQsrLow6R3D4aIRG13eZ7+R0p+M+1/qc3Tjn9+vWOTy+8jQFCuu45MwNbxZ89D7g7jziZjLmaNp4nsQqMNj5bnl/U4fnT9p7uigG8FURHkX0DGEv/7Rp67HydLLCuHyys+uFIU/Z7OU410UsvjzskVihP7V9OgcGgssFgd58N3RDC0YJj6P269XWqLToGQP6/N5taPAKVVtU4HS/hinUTwuja38XBSYsWQaknKQ8oPCb1EonSmLTN1bMyIaQ5nYOErKVQAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RcA513zEXJhkYsubALJJmG",
      "input": {
        "note": "Descent stopped at ~4 cm with the labelled upper body centred between the jaws. Closing to grip.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RcA513zEXJhkYsubALJJmG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4782, 1.9339, 0.9028, 0.4808, -0.5159, -0.3664, 0.0182, -0.0547, 0.6991, 0.44, -0.3504, -0.0837, -0.0811, 0.9993]\nstate[eef_state]: left_x=0.4697 left_y=-0.1412 left_z=0.0626 left_yaw=0.1327 left_pitch=0.0874 left_roll=-0.0514 left_gripper=0.0182 right_x=0.2727 right_y=0.0034 right_z=0.1364 right_yaw=0.0369 right_pitch=-0.0343 right_roll=-0.0023 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -9.0735, 5.1214, 0.8132, 0.1538, 0.105, 0.8425, -0.335, -1.4017, 7.0632, 2.0, -0.1441, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fe63edf8630201cee005858bb6ac38b403b886d190848de27d8e118f44f641d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba35a0bab76eb69c465f5fa9a9b7c599941a4d12cdb12a8eb625184b1790490a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
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    },
    {
      "cache_control": {
        "type": "ephemeral"
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      "source": {
        "data": "$blob:88e0ad373a5ca17fd9b7a988074632263beb626e98818a27d05a351e8c010f2e",
        "media_type": "image/png",
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      "type": "image"
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  ],
  "role": "user"
}
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