adhoc

completed
2026-09-22T18:24:23.756975+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
242.7 s
total steps
241
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles lie on their sides, caps pointing away from the bases. Moving the right arm forward over the right-hand bottle to locate its neck in the wrist view.
move_to
right_x0.4200right_y0.0400right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7937, 0.6083, -0.3763, -0.0223, -0.0284, 0.9986, -0.0162, 0.7887, 0.6037, -0.3855, -0.0292, -0.0341, 0.9993] state[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.004 right_z=0.1802 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.5128, -1.5248, 9.7573, 1.7607, -0.0269, 0.1148, -0.1587, -0.8, -0.9778, 10.2632, 1.8632, 0.0757, 0.2027, -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": {"right_x": 0.42, "right_y": 0.04, "right_z": 0.15}, "note": "Three bottles lie on their sides, caps pointing away from the bases. Moving the right arm forward over the right-hand bottle to locate its neck in the wrist view."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe right bottle lies about 12 cm to the left of the right gripper, cap pointing forward out of easy reach. Moving over its lower body so I can grab it and drag it closer.
move_to
right_x0.4600right_y0.1500right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.3874, -0.0227, -0.0292, 0.9984, 0.12, 1.3968, 0.7662, -0.0433, 0.0601, 0.0128, 0.9993] state[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.0099 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3982 right_y=0.0409 right_z=0.1224 right_yaw=0.0353 right_pitch=-0.102 right_roll=-0.0174 right_gripper=0.9993 state[joint_eff]: [-0.3487, -1.5932, 6.9402, 1.8144, -0.0269, -0.0659, -0.0317, 0.212, -5.9282, 9.6889, 1.9902, 0.1978, 0.2369, -0.0122] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.15, "right_z": 0.15}, "note": "The right bottle lies about 12 cm to the left of the right gripper, cap pointing forward out of easy reach. Moving over its lower body so I can grab it and drag it closer."})
tool
executing move_to over 10 steps (1.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe right bottle is now centred on the jaw column in the right wrist view, cap ahead. Descending to bottle mid-height to grasp its body.
move_to
right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7975, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4107, 1.6608, 1.0256, -0.0044, 0.263, 0.1505, 0.9993] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4476 right_y=0.1487 right_z=0.1344 right_yaw=0.082 right_pitch=-0.0437 right_roll=-0.0214 right_gripper=0.9993 state[joint_eff]: [-0.3077, -1.7436, 6.2838, 1.8144, -0.0415, -0.0317, -0.0171, 0.0342, -7.5282, 9.3744, 1.8242, 0.3443, 0.2222, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.025}, "note": "The right bottle is now centred on the jaw column in the right wrist view, cap ahead. Descending to bottle mid-height to grasp its body."})
tool
executing move_to over 8 steps (0.8s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteBottle body sits between the open jaws at mid-height. Closing the gripper to grasp it.
move_to
right_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.411, 1.8984, 0.8047, 0.4801, 0.2611, 0.1486, 0.9993] state[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4455 right_y=0.1484 right_z=0.0334 right_yaw=0.0852 right_pitch=-0.0195 right_roll=-0.0135 right_gripper=0.9993 state[joint_eff]: [-0.294, -1.7026, 6.3385, 1.8486, -0.0611, -0.0659, -0.0122, -0.3487, -6.1744, 4.0274, 1.6337, -0.0024, 0.0269, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.2}, "note": "Bottle body sits between the open jaws at mid-height. Closing the gripper to grasp it."})
tool
executing move_to over 8 steps (0.8s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteGripper closed on the bottle body (reading 0.2, squeezing the plastic). Dragging the bottle back toward the base so its cap comes within reach.
move_to
right_x0.3000right_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.4129, 1.8912, 0.7986, 0.5938, 0.2535, 0.1444, 0.2051] state[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4569 right_y=0.1558 right_z=0.0575 right_yaw=0.0945 right_pitch=0.0882 right_roll=0.023 right_gripper=0.2051 state[joint_eff]: [-0.2393, -1.5795, 6.3521, 1.8193, -0.0513, -0.0562, -0.0122, -0.6085, -7.788, 4.3966, 1.1551, 0.0464, 0.1197, 0.105] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_z": 0.05}, "note": "Gripper closed on the bottle body (reading 0.2, squeezing the plastic). Dragging the bottle back toward the base so its cap comes within reach."})
tool
executing move_to over 13 steps (1.3s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe bottle did not move with the drag, so the first close missed it. Opening and rising to re-approach the bottle body, which now lies just ahead of the fingertips.
move_to
right_gripper1.0000right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.7094, 1.4429, 0.3634, 0.408, 0.461, 0.3111, 0.2046] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.302 right_y=0.1604 right_z=0.0442 right_yaw=0.1327 right_pitch=-0.0207 right_roll=-0.0115 right_gripper=0.2046 state[joint_eff]: [-0.212, -1.1556, 6.3385, 1.8974, -0.0464, -0.0757, -0.0122, 0.1436, -5.5179, 5.7231, 1.8291, 0.3004, 0.1245, -0.0659] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.12}, "note": "The bottle did not move with the drag, so the first close missed it. Opening and rising to re-approach the bottle body, which now lies just ahead of the fingertips."})
tool
executing move_to over 8 steps (0.8s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe right bottle lies straight ahead in the wrist view, its bottom a few cm past the fingertips. Moving forward over the bottle body (x≈0.40) to grasp it.
move_to
right_x0.4000right_y0.1520
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.7132, 1.2041, 0.4965, 0.0395, 0.4633, 0.3023, 0.9951] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0007 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2987 right_y=0.1587 right_z=0.1036 right_yaw=0.1395 right_pitch=-0.017 right_roll=-0.0181 right_gripper=0.9951 state[joint_eff]: [-0.1709, -1.6479, 6.3521, 1.8144, -0.0513, -0.0757, -0.0122, -0.294, -4.8205, 9.0325, 1.79, 0.1343, 0.1441, 0.1392] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.152}, "note": "The right bottle lies straight ahead in the wrist view, its bottom a few cm past the fingertips. Moving forward over the bottle body (x\u22480.40) to grasp it."})
tool
executing move_to over 8 steps (0.8s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteBottle body runs straight down between the jaws in the wrist view. Descending to mid-height of the bottle.
move_to
right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.4717, 1.5318, 0.6865, 0.1776, 0.2657, 0.1528, 0.995] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3812 right_y=0.1464 right_z=0.0835 right_yaw=0.1391 right_pitch=-0.0699 right_roll=-0.0302 right_gripper=0.995 state[joint_eff]: [-0.3624, -1.6068, 6.694, 1.79, -0.022, -0.0611, -0.0122, -0.4171, -6.2154, 8.6906, 1.8828, 0.0757, 0.1245, -0.022] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03}, "note": "Bottle body runs straight down between the jaws in the wrist view. Descending to mid-height of the bottle."})
tool
executing move_to over 4 steps (0.4s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe bottle fills the space between the jaws. Closing to grip its body.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4652, 1.7157, 0.5323, 0.4786, 0.2539, 0.1493, 0.995] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0007 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3668 right_y=0.1385 right_z=0.013 right_yaw=0.1432 right_pitch=-0.1074 right_roll=-0.0378 right_gripper=0.995 state[joint_eff]: [-0.3761, -1.5795, 6.4479, 1.7851, -0.0415, -0.0464, -0.0122, 0.0752, -6.8308, 5.0667, 2.254, 0.0904, 0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The bottle fills the space between the jaws. Closing to grip its body."})
tool
executing move_to over 10 steps (1.0s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteGripper settled at 0.50, so the bottle is held. Dragging it back along the table so the cap end comes within reach.
move_to
right_x0.2200right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.4698, 1.7607, 0.445, 0.7033, 0.2455, 0.1471, 0.4978] state[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3632 right_y=0.1403 right_z=0.0107 right_yaw=0.1578 right_pitch=-0.0212 right_roll=-0.0059 right_gripper=0.4978 state[joint_eff]: [-0.212, -1.7299, 6.4479, 1.8046, -0.0366, -0.0562, -0.0122, -0.7179, -5.7915, 4.0684, 2.0195, 0.1343, 0.0122, 0.9939] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.22, "right_z": 0.03}, "note": "Gripper settled at 0.50, so the bottle is held. Dragging it back along the table so the cap end comes within reach."})
tool
executing move_to over 12 steps (1.2s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteBottle was dragged back ~15 cm; it now lies with its cap near x≈0.40. Releasing and rising to go grasp the neck.
move_to
right_gripper1.0000right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6128, -0.3866, -0.0231, -0.0288, 0.9983, 0.9478, 1.158, 0.0921, 0.2943, 0.5549, 0.4252, 0.4982] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1819 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9983 right_x=0.2145 right_y=0.1452 right_z=0.015 right_yaw=0.2342 right_pitch=-0.0638 right_roll=-0.0278 right_gripper=0.4982 state[joint_eff]: [-0.0752, -1.1966, 6.5846, 1.9023, -0.0415, -0.022, -0.0122, -0.0752, -2.6872, 6.2701, 2.3223, 0.735, 0.1538, 0.8669] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.1}, "note": "Bottle was dragged back ~15 cm; it now lies with its cap near x\u22480.40. Releasing and rising to go grasp the neck."})
tool
executing move_to over 6 steps (0.6s)
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 noteWrist view shows the bottle running from the jaws forward to its cap. Moving over the neck, just below the cap, to grasp it there.
move_to
right_x0.3600right_y0.1800right_z0.1000right_yaw0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6125, -0.3866, -0.0227, -0.0292, 0.9983, 0.9684, 0.7807, 0.26, -0.1532, 0.5732, 0.4141, 0.9956] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1817 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2152 right_y=0.1502 right_z=0.0918 right_yaw=0.2483 right_pitch=0.0179 right_roll=0.0181 right_gripper=0.9956 state[joint_eff]: [-0.1983, -1.2923, 6.3932, 1.8339, -0.0171, -0.0562, -0.0122, -0.3487, -1.3333, 9.1966, 1.5507, 0.2369, 0.1245, 0.0855] 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": {"right_x": 0.36, "right_y": 0.18, "right_z": 0.1, "right_yaw": 0.2}, "note": "Wrist view shows the bottle running from the jaws forward to its cap. Moving over the neck, just below the cap, to grasp it there."})
tool
executing move_to over 12 steps (1.2s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteCap and neck are centred on the jaw column just ahead of the fingertips. Advancing slightly and descending to grip the upper bottle near the neck.
move_to
right_x0.3600right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.6086, -0.3866, -0.0227, -0.0292, 0.9983, 0.6003, 1.4513, 0.5964, 0.1707, 0.3107, 0.1886, 0.9956] state[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1803 left_yaw=0.0007 left_pitch=-0.0118 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3415 right_y=0.1727 right_z=0.0782 right_yaw=0.2107 right_pitch=-0.0752 right_roll=-0.0337 right_gripper=0.9956 state[joint_eff]: [-0.2256, -1.6752, 6.9538, 1.7802, -0.0415, -0.0708, -0.0122, -0.6632, -5.8872, 8.3761, 1.9414, 0.2125, 0.0659, -0.022] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_z": 0.03}, "note": "Cap and neck are centred on the jaw column just ahead of the fingertips. Advancing slightly and descending to grip the upper bottle near the neck."})
tool
executing move_to over 4 steps (0.4s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteJaws straddle the upper shoulder of the bottle just below the neck. Closing to grip it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7944, 0.5999, -0.3862, -0.0231, -0.0292, 0.9983, 0.5617, 1.6768, 0.4923, 0.5007, 0.2882, 0.1661, 0.9956] state[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1767 left_yaw=0.0011 left_pitch=-0.0191 left_roll=0.0002 left_gripper=0.9983 right_x=0.3477 right_y=0.1638 right_z=0.0191 right_yaw=0.2029 right_pitch=-0.0802 right_roll=-0.0383 right_gripper=0.9956 state[joint_eff]: [-0.1983, -1.7436, 6.8171, 1.8193, -0.0806, -0.0757, -0.0122, 0.0479, -4.6838, 4.8889, 1.4921, -0.022, 0.0855, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Jaws straddle the upper shoulder of the bottle just below the neck. Closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteGripper settled at 0.40, holding the bottle's shoulder. Lifting the top end on an arc toward the base so the bottle pivots on its bottom toward vertical.
move_to
right_x0.3200right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7891, 0.5831, -0.3744, -0.0227, -0.0292, 0.9983, 0.5625, 1.6955, 0.4393, 0.7509, 0.2745, 0.1699, 0.3957] state[eef_state]: left_x=0.2926 left_y=0.0017 left_z=0.1729 left_yaw=0.0007 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3586 right_y=0.1737 right_z=0.0435 right_yaw=0.2128 right_pitch=0.0846 right_roll=0.034 right_gripper=0.3957 state[joint_eff]: [-0.3761, -1.894, 6.9265, 1.8681, -0.0269, -0.0464, -0.0122, -0.6085, -4.5607, 3.453, 1.2723, 0.1197, -0.0513, 0.525] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_z": 0.1}, "note": "Gripper settled at 0.40, holding the bottle's shoulder. Lifting the top end on an arc toward the base so the bottle pivots on its bottom toward vertical."})
tool
executing move_to over 4 steps (0.4s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteBottle is still in the jaws and tilting up. Continuing the arc up and back toward its bottom end.
move_to
right_x0.2400right_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7818, 0.5709, -0.3714, -0.0231, -0.0288, 0.9983, 0.6491, 1.3415, 0.4995, 0.3321, 0.3183, 0.1951, 0.391] state[eef_state]: left_x=0.2911 left_y=0.0018 left_z=0.1699 left_yaw=0.0009 left_pitch=-0.0206 left_roll=0.0005 left_gripper=0.9983 right_x=0.3305 right_y=0.1859 right_z=0.1104 right_yaw=0.2493 right_pitch=0.0873 right_roll=0.0348 right_gripper=0.391 state[joint_eff]: [-0.0479, -1.0735, 6.653, 1.9951, -0.0708, -0.0366, -0.0122, 0.2256, -4.4376, 8.212, 1.6728, 0.3101, 0.1538, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.24, "right_z": 0.16}, "note": "Bottle is still in the jaws and tilting up. Continuing the arc up and back toward its bottom end."})
tool
executing move_to over 7 steps (0.7s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteUnclear whether the bottle ahead in the wrist view is the one I hold (gripper reads 0.39). Lifting higher to see if it moves with the jaws.
move_to
right_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7731, 0.5541, -0.363, -0.0231, -0.0292, 0.9983, 0.9478, 0.9985, 0.5785, -0.2604, 0.5114, 0.3573, 0.3912] state[eef_state]: left_x=0.2895 left_y=0.0019 left_z=0.1663 left_yaw=0.0011 left_pitch=-0.0202 left_roll=0.0002 left_gripper=0.9983 right_x=0.2421 right_y=0.1949 right_z=0.148 right_yaw=0.3064 right_pitch=-0.0104 right_roll=-0.0039 right_gripper=0.3912 state[joint_eff]: [-0.1299, -1.0735, 6.8034, 1.9512, -0.0317, -0.0806, -0.0122, -0.3624, -2.7829, 9.5111, 1.7411, 0.3785, 0.149, 0.0171] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.25}, "note": "Unclear whether the bottle ahead in the wrist view is the one I hold (gripper reads 0.39). Lifting higher to see if it moves with the jaws."})
tool
executing move_to over 7 steps (0.7s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe bottle hangs from the jaws by its bottom end with the cap pointing forward/down, so lifting would stand it upside down. Laying it back flat on the table so I can regrasp at the cap end.
move_to
right_x0.3300right_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7662, 0.5373, -0.355, -0.0227, -0.0292, 0.9983, 0.9535, 0.9958, 0.9211, -0.6102, 0.5121, 0.3435, 0.3912] state[eef_state]: left_x=0.2881 left_y=0.0018 left_z=0.1621 left_yaw=0.0007 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9983 right_x=0.2407 right_y=0.1957 right_z=0.2335 right_yaw=0.3189 right_pitch=-0.0137 right_roll=-0.0185 right_gripper=0.3912 state[joint_eff]: [-0.2393, -1.7162, 6.8581, 1.956, -0.0366, -0.0611, -0.0122, -0.6769, -1.812, 9.5521, 1.5751, 0.1832, 0.0855, -0.0073] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_z": 0.05}, "note": "The bottle hangs from the jaws by its bottom end with the cap pointing forward/down, so lifting would stand it upside down. Laying it back flat on the table so I can regrasp at the cap end."})
tool
executing move_to over 12 steps (1.2s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteBottle is lying flat again with its cap ~8 cm ahead of the jaws. Releasing so I can regrasp at the neck, loosely enough that the bottle can pivot as I raise it.
move_to
right_gripper1.0000right_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7559, 0.5167, -0.3458, -0.0227, -0.0292, 0.9983, 0.6514, 1.5146, 0.4694, 0.403, 0.2874, 0.1574, 0.3912] state[eef_state]: left_x=0.286 left_y=0.0019 left_z=0.1573 left_yaw=0.0007 left_pitch=-0.0233 left_roll=0.0 left_gripper=0.9983 right_x=0.3239 right_y=0.1885 right_z=0.0505 right_yaw=0.2988 right_pitch=-0.0414 right_roll=-0.0304 right_gripper=0.3912 state[joint_eff]: [-0.3487, -1.4154, 6.9128, 1.8681, -0.0562, -0.0366, -0.0122, -0.4171, -4.465, 4.5197, 1.0281, -0.2173, 0.105, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.08}, "note": "Bottle is lying flat again with its cap ~8 cm ahead of the jaws. Releasing so I can regrasp at the neck, loosely enough that the bottle can pivot as I raise it."})
tool
executing move_to over 7 steps (0.7s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteCap is about 8–10 cm ahead of the jaws, centred. Moving forward and down to straddle the neck just below the cap.
move_to
right_x0.3900right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7456, 0.5014, -0.3325, -0.0231, -0.0288, 0.9983, 0.6418, 1.4292, 0.4541, 0.3378, 0.2604, 0.1555, 0.9956] state[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1558 left_yaw=0.0009 left_pitch=-0.0149 left_roll=0.0004 left_gripper=0.9983 right_x=0.3163 right_y=0.1841 right_z=0.0611 right_yaw=0.3127 right_pitch=-0.0421 right_roll=-0.0151 right_gripper=0.9956 state[joint_eff]: [-0.335, -1.5248, 6.5846, 1.9707, -0.0513, -0.0366, -0.0122, 0.1026, -6.3111, 8.8137, 1.8681, 0.1929, 0.1099, 0.0806] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_z": 0.035}, "note": "Cap is about 8\u201310 cm ahead of the jaws, centred. Moving forward and down to straddle the neck just below the cap."})
tool
executing move_to over 6 steps (0.6s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteJaws are still over the red label; the neck and cap are a few cm further ahead. Advancing to put the jaws around the neck.
move_to
right_x0.4150right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.5026, 1.7466, 0.5724, 0.5396, 0.1375, 0.075, 0.9956] state[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0007 left_pitch=-0.0095 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3724 right_y=0.1812 right_z=0.024 right_yaw=0.3194 right_pitch=-0.0573 right_roll=-0.0093 right_gripper=0.9956 state[joint_eff]: [-0.253, -1.2786, 6.147, 1.8388, -0.0415, -0.0464, -0.0122, -1.1966, -6.4342, 6.5299, 1.79, 0.2027, -0.0366, -0.0073] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_z": 0.03}, "note": "Jaws are still over the red label; the neck and cap are a few cm further ahead. Advancing to put the jaws around the neck."})
tool
executing move_to over 4 steps (0.4s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteNeck is closer but still ahead of the jaws in the wrist view. Advancing another ~3 cm.
move_to
right_x0.4350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7391, 0.498, -0.329, -0.0227, -0.0292, 0.9983, 0.4534, 1.8336, 0.6521, 0.5926, 0.0731, 0.0387, 0.9956] state[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4014 right_y=0.1852 right_z=0.0265 right_yaw=0.3442 right_pitch=-0.0169 right_roll=0.0042 right_gripper=0.9956 state[joint_eff]: [-0.2256, -1.4017, 6.3111, 1.8388, -0.0366, -0.0513, -0.0122, -1.0325, -6.4889, 6.653, 1.8095, 0.1392, -0.0415, -0.0171] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.435}, "note": "Neck is closer but still ahead of the jaws in the wrist view. Advancing another ~3 cm."})
tool
executing move_to over 3 steps (0.3s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe arm stalled at x≈0.406, likely the fingers catching on the bottle's shoulder. Rising above it and moving forward over the neck.
move_to
right_x0.4350right_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7391, 0.498, -0.329, -0.0227, -0.0292, 0.9983, 0.4435, 1.8397, 0.6651, 0.5888, 0.0696, 0.0284, 0.9956] state[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4061 right_y=0.1833 right_z=0.0277 right_yaw=0.3427 right_pitch=-0.0139 right_roll=-0.0022 right_gripper=0.9956 state[joint_eff]: [-0.3761, -1.4017, 6.3932, 1.8193, -0.0464, -0.0611, -0.0122, -0.9094, -6.653, 6.7761, 1.8193, 0.0708, 0.0708, -0.0122] 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": {"right_x": 0.435, "right_z": 0.07}, "note": "The arm stalled at x\u22480.406, likely the fingers catching on the bottle's shoulder. Rising above it and moving forward over the neck."})
tool
executing move_to over 3 steps (0.3s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
assistant
agent noteThe right arm did not respond to the last target (IK likely holding at an awkward pose). Backing up and raising to a comfortable pose to unstick it.
move_to
right_x0.3800right_z0.1200right_yaw0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7391, 0.498, -0.329, -0.0227, -0.0292, 0.9983, 0.4435, 1.8397, 0.6651, 0.5884, 0.0696, 0.0284, 0.9956] state[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.406 right_y=0.1832 right_z=0.0276 right_yaw=0.3427 right_pitch=-0.0143 right_roll=-0.0022 right_gripper=0.9956 state[joint_eff]: [-0.3761, -1.4017, 6.4205, 1.8388, -0.022, -0.0659, -0.0122, -0.9094, -6.4615, 6.7761, 1.8144, 0.105, 0.0464, -0.0122] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_z": 0.12, "right_yaw": 0.2}, "note": "The right arm did not respond to the last target (IK likely holding at an awkward pose). Backing up and raising to a comfortable pose to unstick it."})
tool
executing move_to over 6 steps (0.6s)
step 182
assistant
agent noteRight arm is barely tracking with high shoulder effort, as if the fingers are caught on the bottle. Commanding a pure vertical lift to free it.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7403, 0.498, -0.3283, -0.0231, -0.0292, 0.9983, 0.5003, 1.7752, 0.6842, 0.4721, 0.1562, 0.0826, 0.9956] state[eef_state]: left_x=0.2852 left_y=0.002 left_z=0.1565 left_yaw=0.0011 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3969 right_y=0.1897 right_z=0.0391 right_yaw=0.2975 right_pitch=-0.0399 right_roll=-0.0109 right_gripper=0.9956 state[joint_eff]: [-0.1709, -1.1419, 6.7761, 1.9072, -0.0366, -0.0562, -0.0122, 1.3744, -13.0256, 10.4684, 2.4786, 0.1441, 0.1001, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Right arm is barely tracking with high shoulder effort, as if the fingers are caught on the bottle. Commanding a pure vertical lift to free it."})
tool
executing move_to over 11 steps (1.1s)
step 193
assistant
agent noteArm is free again; the right bottle's cap appears just ahead of the jaws in the wrist view. Positioning directly above the neck before a vertical descent.
move_to
right_x0.4200right_y0.1850right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.498, 1.4761, 0.9829, -0.1413, 0.1524, 0.0696, 0.9956] state[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0011 left_pitch=-0.0095 left_roll=-0.0 left_gripper=0.9983 right_x=0.3945 right_y=0.1881 right_z=0.1668 right_yaw=0.3053 right_pitch=-0.0556 right_roll=-0.0223 right_gripper=0.9956 state[joint_eff]: [-0.3761, -1.3744, 6.3658, 1.8828, -0.0562, -0.0464, -0.0122, -0.1573, -9.265, 10.1538, 1.9512, 0.0171, 0.1245, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.185, "right_z": 0.1}, "note": "Arm is free again; the right bottle's cap appears just ahead of the jaws in the wrist view. Positioning directly above the neck before a vertical descent."})
tool
executing move_to over 5 steps (0.5s)
step 198
assistant
agent noteThe arm tops out near x≈0.40 here, with the bottle's shoulder just below the jaws and the cap slightly ahead. Descending straight down onto the shoulder.
move_to
right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7395, 0.498, -0.3298, -0.0227, -0.0292, 0.9983, 0.4557, 1.6417, 0.8246, 0.1375, 0.115, 0.054, 0.9956] state[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0007 left_pitch=-0.0095 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4035 right_y=0.1792 right_z=0.0836 right_yaw=0.3022 right_pitch=-0.1038 right_roll=-0.02 right_gripper=0.9956 state[joint_eff]: [-0.3761, -1.2786, 6.3248, 1.8144, -0.0317, -0.0562, -0.0122, -0.9641, -6.9128, 6.1333, 2.1514, -0.0659, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.035}, "note": "The arm tops out near x\u22480.40 here, with the bottle's shoulder just below the jaws and the cap slightly ahead. Descending straight down onto the shoulder."})
tool
executing move_to over 4 steps (0.4s)
step 202
assistant
agent noteJaws straddle the bottle's upper label, cap just ahead. Closing moderately so the bottle is held but can pivot about the jaw axis during the lift.
move_to
right_gripper0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7391, 0.498, -0.3294, -0.0227, -0.0288, 0.9983, 0.4572, 1.7882, 0.6537, 0.4755, 0.1017, 0.0502, 0.9956] state[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.3915 right_y=0.1766 right_z=0.0227 right_yaw=0.3173 right_pitch=-0.0846 right_roll=-0.0118 right_gripper=0.9956 state[joint_eff]: [-0.3487, -1.4427, 6.2974, 1.8437, -0.0317, -0.0366, -0.0122, -0.0889, -7.0906, 5.1077, 2.1368, 0.0855, 0.0317, -0.0122] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.45}, "note": "Jaws straddle the bottle's upper label, cap just ahead. Closing moderately so the bottle is held but can pivot about the jaw axis during the lift."})
tool
executing move_to over 6 steps (0.6s)
step 208
assistant
agent noteHolding the bottle's upper body (gripper 0.46). Raising the top end on an arc back toward the base so the bottle pivots on its bottom.
move_to
right_x0.3600right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7391, 0.498, -0.3294, -0.0227, -0.0288, 0.9983, 0.4587, 1.8, 0.6029, 0.6857, 0.0917, 0.0509, 0.4595] state[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4001 right_y=0.1835 right_z=0.0427 right_yaw=0.327 right_pitch=0.0609 right_roll=0.0142 right_gripper=0.4595 state[joint_eff]: [-0.294, -1.4427, 6.735, 1.8144, -0.022, -0.0415, -0.0122, -0.335, -5.9009, 3.453, 1.4823, 0.149, -0.022, 0.3736] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_z": 0.1}, "note": "Holding the bottle's upper body (gripper 0.46). Raising the top end on an arc back toward the base so the bottle pivots on its bottom."})
tool
executing move_to over 4 steps (0.4s)
step 212
assistant
agent noteThe bottle is tilting up with its bottom on the table behind the jaws. Continuing the arc up and back to bring it vertical.
move_to
right_x0.3000right_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7391, 0.498, -0.3286, -0.0227, -0.0292, 0.9983, 0.5243, 1.4937, 0.6071, 0.3496, 0.131, 0.0658, 0.46] state[eef_state]: left_x=0.2851 left_y=0.0019 left_z=0.1567 left_yaw=0.0007 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3663 right_y=0.1893 right_z=0.098 right_yaw=0.3517 right_pitch=0.0383 right_roll=0.0038 right_gripper=0.46 state[joint_eff]: [-0.294, -1.0735, 6.5573, 1.9365, -0.0464, -0.0415, -0.0122, -0.0342, -5.7778, 7.159, 1.6679, 0.2222, 0.0708, 0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_z": 0.16}, "note": "The bottle is tilting up with its bottom on the table behind the jaws. Continuing the arc up and back to bring it vertical."})
tool
executing move_to over 6 steps (0.6s)
step 218
assistant
agent noteThe bottle hangs nearly vertical beneath the jaws with its bottom on the table. Pressing down slightly so it sits flat before release.
move_to
right_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7395, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.6689, 1.1599, 0.6243, -0.0551, 0.2256, 0.1276, 0.46] state[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1565 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3025 right_y=0.1933 right_z=0.1458 right_yaw=0.384 right_pitch=-0.0035 right_roll=-0.005 right_gripper=0.46 state[joint_eff]: [-0.1709, -0.8547, 6.4342, 1.9267, -0.0171, -0.0611, -0.0122, 0.1026, -4.3556, 10.0581, 1.8877, 0.105, 0.1538, -0.0073] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.13}, "note": "The bottle hangs nearly vertical beneath the jaws with its bottom on the table. Pressing down slightly so it sits flat before release."})
tool
executing move_to over 2 steps (0.2s)
step 220
assistant
agent noteBottle appears to be standing under the jaws with its bottom on the table. Opening the gripper to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7391, 0.498, -0.3294, -0.0227, -0.0288, 0.9983, 0.6739, 1.1584, 0.6006, -0.0589, 0.231, 0.1371, 0.46] state[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.2976 right_y=0.1905 right_z=0.1353 right_yaw=0.3792 right_pitch=-0.0276 right_roll=-0.0074 right_gripper=0.46 state[joint_eff]: [-0.3624, -1.4017, 6.3385, 1.8193, -0.0415, -0.0317, -0.0122, -0.4581, -2.6735, 6.0103, 1.7216, 0.0708, -0.0952, -0.0171] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Bottle appears to be standing under the jaws with its bottom on the table. Opening the gripper to release it."})
tool
executing move_to over 6 steps (0.6s)
step 226
assistant
agent noteReleased; the bottle still appears upright under where the jaws were. Moving the right arm away to the right so the top camera can confirm it is standing.
move_to
right_x0.2500right_y0.0200right_z0.2500right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7391, 0.498, -0.3298, -0.0227, -0.0292, 0.9983, 0.6682, 1.1641, 0.5636, -0.0219, 0.2249, 0.1268, 0.9954] state[eef_state]: left_x=0.2849 left_y=0.0019 left_z=0.1565 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2958 right_y=0.1879 right_z=0.1245 right_yaw=0.3841 right_pitch=-0.034 right_roll=-0.0141 right_gripper=0.9954 state[joint_eff]: [-0.3624, -1.4564, 6.612, 1.8291, -0.0317, -0.0659, -0.0122, 0.335, -4.9846, 7.3368, 1.7753, 0.1001, 0.0562, -0.2613] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.02, "right_z": 0.25, "right_yaw": 0.0}, "note": "Released; the bottle still appears upright under where the jaws were. Moving the right arm away to the right so the top camera can confirm it is standing."})
tool
executing move_to over 14 steps (1.4s)
step 240
assistant
agent noteI didn't manage to stand any of the bottles up, and I only have 5 calls left, which isn't enough to do all three. My best try was on the right bottle: I gripped its upper body and lifted it on an arc toward the base while the bottom dragged on the table. It looked nearly upright when I let go, but the overhead view afterwards shows it lying flat again. It was probably still leaning when released. The other two bottles haven't been touched.
give_up
hindsight- Pitch and roll are locked, so the gripper always points straight down. The only way I found to right a lying bottle is: grip near the cap end, raise it on an arc toward the base with the bottom dragging on the table, then release. When it looks upright it is probably still leaning; before letting go, move the grasp point 2–3 cm further back (toward the bottom) and lower until it touches the table. Check that it is vertical in the top camera before opening. - Bottles lie with the cap pointing forward (+x, away from the base). They are about 22 cm long and about 6.5 cm wide; the gripper reads about 0.46–0.5 when closed on the body. At the start their caps are at x ≈ 0.55–0.6, past where the arm can touch the table (about 0.49). Grip the body at x ≈ 0.36–0.40 and drag the bottle about 15 cm toward the base first (this worked: close to 0, reading 0.5). - In practice the right arm stalls at x ≈ 0.40 when z < 0.04 and yaw is about 0.3. Pushing forward further while low got the fingers stuck on the bottle and the arm stopped responding; a straight-up lift to z = 0.2 freed it. - In the top camera the right bottle was about 12 cm to the left of a right gripper at y = 0.04, so it sat at right_y ≈ 0.15–0.18. - The first close at x = 0.456 missed (reading 0.2, bottle didn't move). Test every grasp with a small drag or lift before relying on it. - In the wrist camera, a bottle stretching from the jaws to the top of the image is directly under the fingers. A cap showing around row 110–150 is still 3–8 cm ahead of the fingertips. - Budget: one bottle takes about 12–15 calls, so three bottles with 40 calls leaves almost no room for mistakes. Skip exploratory moves.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7391, 0.498, -0.3298, -0.0227, -0.0292, 0.9983, 0.1566, 0.6903, 0.8257, -0.7406, 0.1268, 0.0574, 0.9951] state[eef_state]: left_x=0.2849 left_y=0.0019 left_z=0.1565 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2528 right_y=0.0209 right_z=0.2332 right_yaw=-0.0079 right_pitch=-0.0293 right_roll=-0.0125 right_gripper=0.9951 state[joint_eff]: [-0.1299, -1.2786, 6.7214, 1.8339, -0.0366, -0.0317, -0.0122, 0.1299, -0.8547, 9.2103, 1.8535, -0.1245, 0.0708, -0.0513] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I didn't manage to stand any of the bottles up, and I only have 5 calls left, which isn't enough to do all three. My best try was on the right bottle: I gripped its upper body and lifted it on an arc toward the base while the bottom dragged on the table. It looked nearly upright when I let go, but the overhead view afterwards shows it lying flat again. It was probably still leaning when released. The other two bottles haven't been touched.", "hindsight": "- Pitch and roll are locked, so the gripper always points straight down. The only way I found to right a lying bottle is: grip near the cap end, raise it on an arc toward the base with the bottom dragging on the table, then release. When it looks upright it is probably still leaning; before letting go, move the grasp point 2\u20133 cm further back (toward the bottom) and lower until it touches the table. Check that it is vertical in the top camera before opening.\n- Bottles lie with the cap pointing forward (+x, away from the base). They are about 22 cm long and about 6.5 cm wide; the gripper reads about 0.46\u20130.5 when closed on the body. At the start their caps are at x \u2248 0.55\u20130.6, past where the arm can touch the table (about 0.49). Grip the body at x \u2248 0.36\u20130.40 and drag the bottle about 15 cm toward the base first (this worked: close to 0, reading 0.5).\n- In practice the right arm stalls at x \u2248 0.40 when z < 0.04 and yaw is about 0.3. Pushing forward further while low got the fingers stuck on the bottle and the arm stopped responding; a straight-up lift to z = 0.2 freed it.\n- In the top camera the right bottle was about 12 cm to the left of a right gripper at y = 0.04, so it sat at right_y \u2248 0.15\u20130.18.\n- The first close at x = 0.456 missed (reading 0.2, bottle didn't move). Test every grasp with a small drag or lift before relying on it.\n- In the wrist camera, a bottle stretching from the jaws to the top of the image is directly under the fingers. A cap showing around row 110\u2013150 is still 3\u20138 cm ahead of the fingertips.\n- Budget: one bottle takes about 12\u201315 calls, so three bottles with 40 calls leaves almost no room for mistakes. Skip exploratory moves."})
tool
give_up: I didn't manage to stand any of the bottles up, and I only have 5 calls left, which isn't enough to do all three. My best try was on the right bottle: I gripped its upper body and lifted it on an arc toward the base while the bottom dragged on the table. It looked nearly upright when I let go, but the overhead view afterwards shows it lying flat again. It was probably still leaning when released. The other two bottles haven't been touched.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 18.01 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, 0.7937, 0.6083, -0.3763, -0.0223, -0.0284, 0.9986, -0.0162, 0.7887, 0.6037, -0.3855, -0.0292, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.004 right_z=0.1802 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5128, -1.5248, 9.7573, 1.7607, -0.0269, 0.1148, -0.1587, -0.8, -0.9778, 10.2632, 1.8632, 0.0757, 0.2027, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1958ea7c12fdeb107e6ba05df804675ef88912e0e50c42853f7c6f2b3046bc6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1e68442689ade24a9a51512b292bf5cee53d3c4e78d42b9424af1c8bf6c114d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bbfc29290ae617a596b06b65f5e9534cb79ba471e3d3aec12908244b5d1c4f75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 9.693 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, 0.7937, 0.6083, -0.3763, -0.0223, -0.0284, 0.9986, -0.0162, 0.7887, 0.6037, -0.3855, -0.0292, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.004 right_z=0.1802 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5128, -1.5248, 9.7573, 1.7607, -0.0269, 0.1148, -0.1587, -0.8, -0.9778, 10.2632, 1.8632, 0.0757, 0.2027, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1958ea7c12fdeb107e6ba05df804675ef88912e0e50c42853f7c6f2b3046bc6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1e68442689ade24a9a51512b292bf5cee53d3c4e78d42b9424af1c8bf6c114d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbfc29290ae617a596b06b65f5e9534cb79ba471e3d3aec12908244b5d1c4f75",
        "media_type": "image/png",
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  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TGvc9uKchmZAPgmsALNDQZ",
      "input": {
        "note": "Three bottles lie on their sides, caps pointing away from the bases. Moving the right arm forward over the right-hand bottle to locate its neck in the wrist view.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.04,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TGvc9uKchmZAPgmsALNDQZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3874, -0.0227, -0.0292, 0.9984, 0.12, 1.3968, 0.7662, -0.0433, 0.0601, 0.0128, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.0099 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3982 right_y=0.0409 right_z=0.1224 right_yaw=0.0353 right_pitch=-0.102 right_roll=-0.0174 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.5932, 6.9402, 1.8144, -0.0269, -0.0659, -0.0317, 0.212, -5.9282, 9.6889, 1.9902, 0.1978, 0.2369, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e0afea003e38e708a3add727d0c67d79d2cbbf3feca827daa89af9eca610e60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e749fd557757605ff073d4a808613c92ba2a15225772e150674a3283f24dedac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:20cfc6f66aa892d78344b79bb647a7aa1bfd65b2237269c6a02f8cd687d5f70d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.92 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, 0.7937, 0.6083, -0.3763, -0.0223, -0.0284, 0.9986, -0.0162, 0.7887, 0.6037, -0.3855, -0.0292, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.004 right_z=0.1802 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5128, -1.5248, 9.7573, 1.7607, -0.0269, 0.1148, -0.1587, -0.8, -0.9778, 10.2632, 1.8632, 0.0757, 0.2027, -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, 0.7982, 0.614, -0.3874, -0.0227, -0.0292, 0.9984, 0.12, 1.3968, 0.7662, -0.0433, 0.0601, 0.0128, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.0099 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3982 right_y=0.0409 right_z=0.1224 right_yaw=0.0353 right_pitch=-0.102 right_roll=-0.0174 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.5932, 6.9402, 1.8144, -0.0269, -0.0659, -0.0317, 0.212, -5.9282, 9.6889, 1.9902, 0.1978, 0.2369, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e0afea003e38e708a3add727d0c67d79d2cbbf3feca827daa89af9eca610e60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e749fd557757605ff073d4a808613c92ba2a15225772e150674a3283f24dedac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20cfc6f66aa892d78344b79bb647a7aa1bfd65b2237269c6a02f8cd687d5f70d",
        "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+Q4KEAgSGAI4AUIIdGhpbmtpbmcSDFrunVGMQqLDhJfbmRoMshUI6P1vpjU0f36rIjAz+e5DAjPaRCEpDsZA9L51iZJ9Xal16fGzXn5kxyIfI3U7ws2wzDbjg0S2Mxk7inIqlg5N5wKtMshSClcQ+5/En6nqEP3l4SS02dAlMXNdLpQzl41GQ0BBOGS2kc4JpnaIxhjYgC9vk3e7RGHctC5KMOBKbw29DmOLtC7xwNaXdmWqzqHWb1xJ+YHMeHxXA4bHpQ6t3/MLP8HuNfxZk6SuAqnWszT4zdfiXZLYLpy2FRXySYkbDO0p0WzMYOcNBWWGsRzfvyNRyk1CtyQGHERAV+u6DWHIqEDuPfWhhjFpGF3FJPtRlyHkhlQj3Oebn3EjLdrDH/b3j3xkfRTac4W0Vzv2K1udB9CMsfh80LX5CSz5sSF/BYV9VyQjrnp6+LOWjUz+gh6BbStD1BlB58wye07FDj7EoK8qPGYSlTB39ooNNPEp10T0OA2xr11O8gzVpR3CGcZ535yhMA/6z2A6VRMDeQ60nHY9sEb++wvCWOHucLTRB8fiE2SMJ0PKGgVqaairaxnQU1c61b6kzYCuAncdWgWcF1YN8jRBW4Q5O4iyhNGU7SQn2yBziV2OkOoaz0AHoM/zauVowDFfhPP28JzHr3EeGHKTAizUri0HyUgGpytAW1uboqagMz6Plc+sHmCYnVkfKWySk1AmEWd3VDuw2W8urB/aWIlE0FaVLjQ0/BpztKOu1SMHHCw6kip2fPuQ1b/HWWrcURAtZ4GtrkG4NjnwX9fJ1b++HgrRHLkmNUSTvaVEW4tt7F5NpaxZxUkWSjoldy1RJNMy6EpEqCIAjBuTRrHnStjIChLEftbqxMka4guIae3Ktn0s3tA01lmNFe2ezlydVBoaKo5ak2PR7umT6zeMMJvs7ONywaFNJuIOO27RDjfl1aRGk+cneiatvmiCu/wzwZsN3GrZKMv9bL/aKUklvdOnFxoIDy30zswJ5ffkIvBiAxhEuB0KccB+RMuES/J9JyU0ZIc5CgyKNl6+kfVzylO1IPBmKQVa0jQGA4EKComJXoUTCn8JjL6ZGnNTP4X3nVLkxKDgcEzdmKfyu7vfXhmahchlZ1s4VrFhCp0y7FVthrw6eWwaJsh8sgP1WJJSY/XzQ6dK3G+2Csbbps35wKpx7ZTm3ny5ftKB6aX9ZGoekgKy853q4sifszLz5oveHeJSFS1CX/kyrrLZbuzh4Aiv2a2VR4MnclxM5oAb6Lxhxbi6ZkAFSB3L0IctYqNtwolLQ81dfGbLIUhd924KqtrwkIycFdBuhAx2mI7VLxKplyI2qf3laFCYd49QIkRAodbJpqvRj58S32dHxM85vnt7ADBCzHlRniiLNdYGDrCIZ6+XptWFeNU0m0tUZ0Uv+VY8Kw6ff5j7A9eqWkj0ZHIyZl3sorHJ7W2RIO9qKaidnRyapWKWmfPyDdIv4QW5uvL8zxoI8j2w95tIwAXIL9dRz57+HKLgYcNj6DgUm5boAKWSUwJx8LQcRWq5ruSVJWawFgPrBaZBBzro31kBkYwW9cEoljLe3etju9d5laz0roSAc7P7A5A59Jzrq7jjXtcmEQ/4JgTkCdaPz+PjGOtxKfj6QpFGpfizYhDFAvEG2vu49LspVKxPGFaURc66F15vfpn10iCdOU24nMWsVQxLt35Q8LGxwiyJX7+2ACPJTrN7FFm+Lj95Fv6B+5c/Pmma9NZZqNdpDWfjzG4ft7bQGg6OQB60RO6Q1HjELAzh12VyYu+lwt9vfkOZZp1Cf0BzlDIvo9909VlBo3SA/dkA3jFAGhhII7ak2Rmbyx9pRccARhiht5lkuMdT6giFV1Z0FUSv8Mb2SMF67XUnZQAYqgRuI5Sp4Og5iAZxqsafi3Fqmwk1X+iTWM1pevUy22DKcrifB0spyYBGf1o8K3+Him7QQeTxGI4S86XivdrT1CZNyT9r0ko5J7/C+m5Gdo9oCU/sWcldodbp7OivuFmBAysZIsXotKfbcG+uInDBvpiZJ/eyM1pUBMBiSRO19iUNT9sYUMZAzGsbAD8GsYI/nw0vDEtG8vBo3DKzJHS60kn28B0mEhkO7IjlI5tmGMmM9q1SzMCxZmWEWXYgrIyKtD8hCiVRFZw2r5F/0M7N7KVx2Q+6R81CPDeRNaQ04FXFIFwx2cH526BxeY/xdkRwHDemfhFI09ftSQ6/WmrYMQ9mLLfeCrig4yj0oB2XSR+2PUSeB24YYMuYDpIUarW9QtVZusJyZst82mXE0vD2FwNA50Hm16zGxhTXDFK+eTMZV69Ee5u0GK2cR7MaqZBwosn6qV48xDArNmhK0qNGDr/jyLusu76pmuTImacs3s5MRtIkrs+Q0LDifIhQVIhyQ0kCIkv611fSDL1HEuz3PIpmTc/ZlJTrGMqBTUQrcq19Tj7hopQZnHo+5tWhQ7Vzj7In3tD3Ylx1jDtv01zUx7G2b0vhkET5ffYJ4r85fmASD4X03pFj3wN+aGAeJzYJ+EsKf6REW0/CkJjY8hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BikVUbg87kuTeo4pdsBbyM",
      "input": {
        "note": "The right bottle lies about 12 cm to the left of the right gripper, cap pointing forward out of easy reach. Moving over its lower body so I can grab it and drag it closer.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.15,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BikVUbg87kuTeo4pdsBbyM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4107, 1.6608, 1.0256, -0.0044, 0.263, 0.1505, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4476 right_y=0.1487 right_z=0.1344 right_yaw=0.082 right_pitch=-0.0437 right_roll=-0.0214 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.7436, 6.2838, 1.8144, -0.0415, -0.0317, -0.0171, 0.0342, -7.5282, 9.3744, 1.8242, 0.3443, 0.2222, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e20f5c2b5518ffca44fee5465cc70d413c69d18b0fb7af2b50de5f45958ad80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79fe16fdf561003a8e2500265ec5e6142d2e1b8836511083c9ef17bfb6383aeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:56f9ac82a21af4f19b34ce0aa57d4336cc083817b85d4d8404f3442e642063ae",
        "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 · 3.444 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, 0.7937, 0.6083, -0.3763, -0.0223, -0.0284, 0.9986, -0.0162, 0.7887, 0.6037, -0.3855, -0.0292, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.004 right_z=0.1802 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5128, -1.5248, 9.7573, 1.7607, -0.0269, 0.1148, -0.1587, -0.8, -0.9778, 10.2632, 1.8632, 0.0757, 0.2027, -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, 0.7982, 0.614, -0.3874, -0.0227, -0.0292, 0.9984, 0.12, 1.3968, 0.7662, -0.0433, 0.0601, 0.0128, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.0099 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3982 right_y=0.0409 right_z=0.1224 right_yaw=0.0353 right_pitch=-0.102 right_roll=-0.0174 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.5932, 6.9402, 1.8144, -0.0269, -0.0659, -0.0317, 0.212, -5.9282, 9.6889, 1.9902, 0.1978, 0.2369, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4107, 1.6608, 1.0256, -0.0044, 0.263, 0.1505, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4476 right_y=0.1487 right_z=0.1344 right_yaw=0.082 right_pitch=-0.0437 right_roll=-0.0214 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.7436, 6.2838, 1.8144, -0.0415, -0.0317, -0.0171, 0.0342, -7.5282, 9.3744, 1.8242, 0.3443, 0.2222, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e20f5c2b5518ffca44fee5465cc70d413c69d18b0fb7af2b50de5f45958ad80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79fe16fdf561003a8e2500265ec5e6142d2e1b8836511083c9ef17bfb6383aeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56f9ac82a21af4f19b34ce0aa57d4336cc083817b85d4d8404f3442e642063ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkwkKEAgSGAI4AUIIdGhpbmtpbmcSDOxdMT+BzNbFo7f93hoM2Mx4xvyLrZbNL1N+IjCh/Zwjk3SiV7ylfGaKdYVWP3vx5Ve9NfL9qNP55FmJFK6lZJnQapmbqK8i0JRUPmwqsAiAnUxa7nbjEmGv+MuYZpPnmdqnuXxC9O51s5+LSOQgV5XasgHiqF4Jq8mvukvv5dgm6b7L1ey8ukXMIpEJpNRsba5jAvxoww5LvUeoLTWdSYNRupsCCxG8ujgYd/CE9Nz39p/lr/A6Hvv4OJb922VP1toRFLY3Kl3/SMsqCwSN63S+yfcuVF4spkGyn81CNYB4xWEZyLSMOAaO4i2y3rQdnzqp3EJgErkYDJUE5BLaIE92/jcwXXAcQo6jtZHJdWoJEw1Mx+5ySnRUIuL95+olM7EcKjJtam3GlcQorLCY2+m6d0azmYZ0g+HC9ybGyZEfgxgJgA09FMRtRNPtHHvdczmjdFTxyxkhdlUaGuR1QF7yFMwgGfxCUE+ZN67BPsylCg0x1ZXFsqX5ZdvSljlJOjTgB51FkGk7E13GbHk38jnnayDDCWA7veNCBEPGE/Zwv8j1ycWlH0K0OIJNGVMrIodpzlX+vHXpnLo4q2oa3ffiWrrM/cGoXMmzk/2uTzvpirgSQk/SFWjjnqAYSarhOiF9M2E6iZlDgTFG1Yn0b9SzX4dx9IRHtxKKXaW6tNg1lfyt3xupNfgEmdbk3yAlHHHVdUL1MzLQPWTsOa+ud4UJ1XzzelwBLfgJMJywR5GeEWpMMdmrkdWnt+IsaWkA5lrf0Y+TBrtk5hjV/nuHxbmGY/5iqyrB+ZX9W1FTDHXWWvZrzuJcYu5RMTqIRriPjP/qHJJVdlksiQrj1zTROFUD0pYHWW5fra8QGZ6YlmqAzxN+xza0IY95XKl/GWoG6fLZ9Bb9JGM7hrchGvnY+zGGdxtmRc4iLUzbxkGIPgMQ1s/s+qM9hCyPovvY6NEk1WD5put9l12yHkL09HD950lC4fLSrKFX0zoBGiINWIMjqfXaO/O8QvFQce1lyW3um77nSg1/fXdCNdDGxDGiOBQR0nPaA8SvSwkEQREW9SkvlXrinC9F1yJ8zeRctST+XgXC40OAtWvv3pJS4lgDXcPx4ZurY33RSh57EaggTCdu+lRRCiCaZtPyiEvgRUaAZu1ugNyilawZH6TWVlC+Kmc9OnRsKxkLaLjrP5CsghD0rdDgA1MQMXDW58OX6WUUJSk/w6FszyO9YGCgoaB+WYn7I6gCTPvkJlZplwMcSGDvcW3hFR8HHmBBVseX2Y6SgpISL47a+1lxCiY97qjpLC9h7eSFrTsMt+9j7mTmMFWaACRhA8JtUOHQ6sDriLlWDXD0TrQhLPoqhLLIqudVqNPbWM2W7Hlh6aN+++uyl49aOSgbuuM74r4ORU4FxTzATvTfDGrKbc1l+Oo+wScKhoggJauewu55iJqoeDagVx1ZM5Ydvl3LTlEb06wTNP6wP2112k4hm6FbG/I6aGe/XFEWCOqIt5Clc5Qcl1didaGoECehnEcRS04HtZIJi8XQGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K34egzMGu9pJePSvHgsG2D",
      "input": {
        "note": "The right bottle is now centred on the jaw column in the right wrist view, cap ahead. Descending to bottle mid-height to grasp its body.",
        "targets": {
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01K34egzMGu9pJePSvHgsG2D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.411, 1.8984, 0.8047, 0.4801, 0.2611, 0.1486, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4455 right_y=0.1484 right_z=0.0334 right_yaw=0.0852 right_pitch=-0.0195 right_roll=-0.0135 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.7026, 6.3385, 1.8486, -0.0611, -0.0659, -0.0122, -0.3487, -6.1744, 4.0274, 1.6337, -0.0024, 0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f09f73d174a7e5718cbcea2e5cd5f45508bdcf4a2bb74dd7559418fc39545c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d42e5894ff004ef56cf4edf70b866230dd9e71c40605db507238a38ac4cac588",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:adafdb858dc36ee0a655036f5353a7f714dc37405d1f98a6543cb249d13db30d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 4.285 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3874, -0.0227, -0.0292, 0.9984, 0.12, 1.3968, 0.7662, -0.0433, 0.0601, 0.0128, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.0099 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3982 right_y=0.0409 right_z=0.1224 right_yaw=0.0353 right_pitch=-0.102 right_roll=-0.0174 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.5932, 6.9402, 1.8144, -0.0269, -0.0659, -0.0317, 0.212, -5.9282, 9.6889, 1.9902, 0.1978, 0.2369, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4107, 1.6608, 1.0256, -0.0044, 0.263, 0.1505, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4476 right_y=0.1487 right_z=0.1344 right_yaw=0.082 right_pitch=-0.0437 right_roll=-0.0214 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.7436, 6.2838, 1.8144, -0.0415, -0.0317, -0.0171, 0.0342, -7.5282, 9.3744, 1.8242, 0.3443, 0.2222, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.411, 1.8984, 0.8047, 0.4801, 0.2611, 0.1486, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4455 right_y=0.1484 right_z=0.0334 right_yaw=0.0852 right_pitch=-0.0195 right_roll=-0.0135 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.7026, 6.3385, 1.8486, -0.0611, -0.0659, -0.0122, -0.3487, -6.1744, 4.0274, 1.6337, -0.0024, 0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f09f73d174a7e5718cbcea2e5cd5f45508bdcf4a2bb74dd7559418fc39545c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d42e5894ff004ef56cf4edf70b866230dd9e71c40605db507238a38ac4cac588",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adafdb858dc36ee0a655036f5353a7f714dc37405d1f98a6543cb249d13db30d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiQcKEAgSGAI4AUIIdGhpbmtpbmcSDLtikvbLLcHaWDR0pxoMQj/tZRiHAwzkvx4BIjAQ8GRONROVq6Xe0oD5v7qm1mat3/n5yeSNbrzD/tEpyvVcRiDiWoPAw4E6vV/I5BYqpgbBclEN+qh/8TA+Y+Ir1MPxIXACzfUCCve/m9mXV8iY0mmj1xps004Ecwsl/BEqF3al8+QM315yhCKeQSTnVEHzlsYHZQsj7ZEyKzVuPOMN+VEO4c0KSmaMXrBfSzA9ccPqAfYFRZf0rQMSITOYvhRAwIuj5fJjQl33j5fENeTImYYqt3l3rdsYtxAdTQlElTJJva1hZ0LrQXowGGQcNGpHaBnZ3meMi3PSRp4qLNiM6GtHiYnrA169rbHf2gY2yrOu21ozXL6IRWqjw1I3tHmndUtgvbkVHMmeu7uYtjtfE0cSAFcQAF8vdhpjNRbdejeBlmVf+JzBdxqIe9R28C6Gzl4pD/uL5MfCLEL2QE5AKJYLp/2iM2Z9EZmHM552KQcPCMBo5bTI8MZ21hzhFsf5cvg20Xw1th3CNOwWR/t0LrXD5WdP4PsV+dYbGbNzL+V7HpOAKA9S/saBr9mCq0a4JzE7eGzd8EXREEJKHUv9RfcM3M6W+xnbk3h+HEbnzMFWW61FAGwkncWhJdNF8SbTIn/mUkCfI9lP3wtgKSSMbgvTM1mixaIwGI1qe/KyuTj/n8K5U8rCTkQ0qsY47bScn81pzIIxbKst/+s6WNUfBdVH67vbZSL+RfSSfDoC/mGathijb9f74zjdE/UTEoz713Wx9WzOywCp/uwBlpT6agoZqRc8xvHMAK/i++cN07J3kQOxfHdFcNnKZ1kffoGHQxe6gZWmjR2nEVai0eOayRUm0/hd+KoEPi0S9pY0TufJh51eIb9K/N7OMEvd/nINeKqFTG/51FUyY6PWs/Si8Y6fhUawaXfc04ewKrTH3ckdiYS308og9WJanZt68+2tW2Wvg7QsvdLgUNzujiDNo8LdKZK9PyI4Pbf9+295KvB25bSL6043JihHOmiGS6D/5/qwRjllZDKfnGsLMpPXNVfdPZOE67c5FvRnwDChda/PO+sBbqR5+M0jgf13rVuEWCKk4LcRgQ7YNfVgkR1AWGHpjp/jmqnoGPFr8ODK3ClhhS9fgStUqH7NJjcENnraJ1eoeGH2HK5xeGy5FllSpaBfC7VuUBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016gWSGDc9JWkSxJNb4iWtXR",
      "input": {
        "note": "Bottle body sits between the open jaws at mid-height. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_016gWSGDc9JWkSxJNb4iWtXR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.4129, 1.8912, 0.7986, 0.5938, 0.2535, 0.1444, 0.2051]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4569 right_y=0.1558 right_z=0.0575 right_yaw=0.0945 right_pitch=0.0882 right_roll=0.023 right_gripper=0.2051\nstate[joint_eff]: [-0.2393, -1.5795, 6.3521, 1.8193, -0.0513, -0.0562, -0.0122, -0.6085, -7.788, 4.3966, 1.1551, 0.0464, 0.1197, 0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa7890684022834b25aaa6015191498d1fe9f736f24a2062a19d2164183e111d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fa22cdc78dd9d288db6dad301424cbad8babcd1d1220d9f069eebbdf0d5b7a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eae518cb29204fed595a12d852fa7b1499f4b598ec79c5a15cfc4ef97939a77c",
        "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 · 7.901 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4107, 1.6608, 1.0256, -0.0044, 0.263, 0.1505, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4476 right_y=0.1487 right_z=0.1344 right_yaw=0.082 right_pitch=-0.0437 right_roll=-0.0214 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.7436, 6.2838, 1.8144, -0.0415, -0.0317, -0.0171, 0.0342, -7.5282, 9.3744, 1.8242, 0.3443, 0.2222, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.411, 1.8984, 0.8047, 0.4801, 0.2611, 0.1486, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4455 right_y=0.1484 right_z=0.0334 right_yaw=0.0852 right_pitch=-0.0195 right_roll=-0.0135 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.7026, 6.3385, 1.8486, -0.0611, -0.0659, -0.0122, -0.3487, -6.1744, 4.0274, 1.6337, -0.0024, 0.0269, -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]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.4129, 1.8912, 0.7986, 0.5938, 0.2535, 0.1444, 0.2051]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4569 right_y=0.1558 right_z=0.0575 right_yaw=0.0945 right_pitch=0.0882 right_roll=0.023 right_gripper=0.2051\nstate[joint_eff]: [-0.2393, -1.5795, 6.3521, 1.8193, -0.0513, -0.0562, -0.0122, -0.6085, -7.788, 4.3966, 1.1551, 0.0464, 0.1197, 0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa7890684022834b25aaa6015191498d1fe9f736f24a2062a19d2164183e111d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fa22cdc78dd9d288db6dad301424cbad8babcd1d1220d9f069eebbdf0d5b7a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eae518cb29204fed595a12d852fa7b1499f4b598ec79c5a15cfc4ef97939a77c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjwgKEAgSGAI4AUIIdGhpbmtpbmcSDGvaLydLTsD9KPTswBoM7gAxhO3Sa6W0tFCkIjDd5MOg2EC7heW9TuG8bIRzPaHJabn4pzzcQe8G86nifQEZYQUxN52psdA6to4TRvkqrAc5w0V0oUrdU8wofdvE7gd76n09SOmk1U9CQT2zHXjMthD6rQLEh22FwhhoRePPB3fzcTHJ3eV9EA/VzT5rNPUr++k1TtSDkme80TOtvVllYh0scWg+Efwxdhxxuw9EVXoWU535soOZIOVABv3BuaQcTYTcPYry6OTInY6glJgmPHbqp3ZkC/SjbBXp177HltyMLQrxgUlUGqWHeNkKbA12VAksiGcTARSDNtk1q0roF3UaoKVRrUe268eed+v4Ps26mUSrxlnq+YPzGZ1pv0Pw1Bn3DlEq7e9g2BnbrIqzYd+6020OJrDWpKgI4ePG4WVdo5QeyL2lxCh4Tflfqwa+MZAD18Rp7JvXWb/znPAegxqxpygAJ2ldOeV6BfeZf8oIR8nyDi8SbFRguGGcXFbBBSQuxhf0EJBwYsusrUUFoZgxADb/U7oCRQIl4sc2aIR6wIIfObxtz8R6K9BEU3CF18DSf6VDMsgwO0tgricrAYOhRAIqOKfiRQ3cZfEutlhmFqr4naZoN6XPN52yGXHPEaad/Ao1s2uNA5zI/P3HDdGPvpm/KgYILfp2LHNPTyfCaPuCcsw7ANdPNepnTcxKYbUe/UE8qqf8vDgPolHo4R+MW8XrzAFxBbvbok8OuYdyKky+YzpzIYki/fXq1Hjte5ETMqu75MWFRRFhWSfQRgrcrJ3JbBjW3njV8E/hiJWXoGle6fjeEkPqhueanJt3DdoEeGeIpNFxhUbrnVvI5BnbFu6V1AXeOLwcDiV4xT+fgOkZ2eXG7FePIyCvO8ynLIweFv2yatgyifjs0yz1rijFFvkk3Oyh5haVhd9DD6okFhW9p6zXIQIHsPXeiCQcOjYOMckugYM+ut2rC/fcPmuoLhzzWOECBAJhuEmJ1lXKvJE8BXdSpdZQj+f+d1NKvAZKLAce085RJV+YjDJDQ6m1E+9IGyPdpNW9EnL62prLOKxvh7XqypLO6SIwZEHCTmYWEUhdzJTFqJjfYtmc+xuar82IfjVqlEP+KpE/MRl2ViU6IBuvn+BYVz6nSgF1yPRRw19hRyuuzO5pzPXNnfsDISkr3Js04Wxy8vXNQvvgow8sfUWBJaZ5/xt1NzbvaSz63uXiu0VrBkKiUL8p781FMrDJWPuSqlQPMMs5N+OrC1y/U3DyMgwGzrQWiHLZkmv1Yf1ZGS1TdIZ8rmK+BhykUUzPXl8/Pur+m77bTHmIukbMrtZZ2fvN9Ad8JBhqLAgRFplM7Pn//kp5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014pWQycbJCbSsoeF7XeqeDH",
      "input": {
        "note": "Gripper closed on the bottle body (reading 0.2, squeezing the plastic). Dragging the bottle back toward the base so its cap comes within reach.",
        "targets": {
          "right_x": 0.3,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_014pWQycbJCbSsoeF7XeqeDH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.7094, 1.4429, 0.3634, 0.408, 0.461, 0.3111, 0.2046]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.302 right_y=0.1604 right_z=0.0442 right_yaw=0.1327 right_pitch=-0.0207 right_roll=-0.0115 right_gripper=0.2046\nstate[joint_eff]: [-0.212, -1.1556, 6.3385, 1.8974, -0.0464, -0.0757, -0.0122, 0.1436, -5.5179, 5.7231, 1.8291, 0.3004, 0.1245, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:974709b93bd7187b73fe9c5ff7931502336f4b58bbda73597e1926771d042068",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9fb51cd6fb9a142f3378eb05364ee49c05078d6d44bc83e5048644f7b9fbc87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8cee8977a106c81373c7e0c25dcb7f66cc82434d4a7018bfa4367ac972b3f795",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 4.753 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.411, 1.8984, 0.8047, 0.4801, 0.2611, 0.1486, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4455 right_y=0.1484 right_z=0.0334 right_yaw=0.0852 right_pitch=-0.0195 right_roll=-0.0135 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.7026, 6.3385, 1.8486, -0.0611, -0.0659, -0.0122, -0.3487, -6.1744, 4.0274, 1.6337, -0.0024, 0.0269, -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]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.4129, 1.8912, 0.7986, 0.5938, 0.2535, 0.1444, 0.2051]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4569 right_y=0.1558 right_z=0.0575 right_yaw=0.0945 right_pitch=0.0882 right_roll=0.023 right_gripper=0.2051\nstate[joint_eff]: [-0.2393, -1.5795, 6.3521, 1.8193, -0.0513, -0.0562, -0.0122, -0.6085, -7.788, 4.3966, 1.1551, 0.0464, 0.1197, 0.105]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.7094, 1.4429, 0.3634, 0.408, 0.461, 0.3111, 0.2046]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.302 right_y=0.1604 right_z=0.0442 right_yaw=0.1327 right_pitch=-0.0207 right_roll=-0.0115 right_gripper=0.2046\nstate[joint_eff]: [-0.212, -1.1556, 6.3385, 1.8974, -0.0464, -0.0757, -0.0122, 0.1436, -5.5179, 5.7231, 1.8291, 0.3004, 0.1245, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:974709b93bd7187b73fe9c5ff7931502336f4b58bbda73597e1926771d042068",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9fb51cd6fb9a142f3378eb05364ee49c05078d6d44bc83e5048644f7b9fbc87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cee8977a106c81373c7e0c25dcb7f66cc82434d4a7018bfa4367ac972b3f795",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HpKGVhkTx1VCUnK4mjFaS3",
      "input": {
        "note": "The bottle did not move with the drag, so the first close missed it. Opening and rising to re-approach the bottle body, which now lies just ahead of the fingertips.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01HpKGVhkTx1VCUnK4mjFaS3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.7132, 1.2041, 0.4965, 0.0395, 0.4633, 0.3023, 0.9951]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0007 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2987 right_y=0.1587 right_z=0.1036 right_yaw=0.1395 right_pitch=-0.017 right_roll=-0.0181 right_gripper=0.9951\nstate[joint_eff]: [-0.1709, -1.6479, 6.3521, 1.8144, -0.0513, -0.0757, -0.0122, -0.294, -4.8205, 9.0325, 1.79, 0.1343, 0.1441, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f5f6646e53282b1aca137904d2fc728fe7b814ba851d034201fea6cab956fdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:407dd6da1345809448781501f05e873489b55cb9ff8cf350c8a359e678b0ab7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b91da8aabc23f8f159045f6839502e6ccb3d3accbbc774bc3521b3f7be8fc778",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 3.15 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.4129, 1.8912, 0.7986, 0.5938, 0.2535, 0.1444, 0.2051]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4569 right_y=0.1558 right_z=0.0575 right_yaw=0.0945 right_pitch=0.0882 right_roll=0.023 right_gripper=0.2051\nstate[joint_eff]: [-0.2393, -1.5795, 6.3521, 1.8193, -0.0513, -0.0562, -0.0122, -0.6085, -7.788, 4.3966, 1.1551, 0.0464, 0.1197, 0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.7094, 1.4429, 0.3634, 0.408, 0.461, 0.3111, 0.2046]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.302 right_y=0.1604 right_z=0.0442 right_yaw=0.1327 right_pitch=-0.0207 right_roll=-0.0115 right_gripper=0.2046\nstate[joint_eff]: [-0.212, -1.1556, 6.3385, 1.8974, -0.0464, -0.0757, -0.0122, 0.1436, -5.5179, 5.7231, 1.8291, 0.3004, 0.1245, -0.0659]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.7132, 1.2041, 0.4965, 0.0395, 0.4633, 0.3023, 0.9951]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0007 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2987 right_y=0.1587 right_z=0.1036 right_yaw=0.1395 right_pitch=-0.017 right_roll=-0.0181 right_gripper=0.9951\nstate[joint_eff]: [-0.1709, -1.6479, 6.3521, 1.8144, -0.0513, -0.0757, -0.0122, -0.294, -4.8205, 9.0325, 1.79, 0.1343, 0.1441, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f5f6646e53282b1aca137904d2fc728fe7b814ba851d034201fea6cab956fdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:407dd6da1345809448781501f05e873489b55cb9ff8cf350c8a359e678b0ab7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b91da8aabc23f8f159045f6839502e6ccb3d3accbbc774bc3521b3f7be8fc778",
        "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/ggKEAgSGAI4AUIIdGhpbmtpbmcSDP/FlrL37BSSVyyWNBoMNNb5TJ1q4SbEoU3bIjBbaTHt9fl+Houly02qZzsTmrsIwV96xquhqr+UP12fQxe9Mf3l9KiDiPG0n4AiLRoqmwiCtf+1USULRIifKczmNCgBLAjHDW/u+tgIsDl77fJ12PqbiaT+0stb9AM0GPjmaRZpNQmB/XTQJV1xQFEKIZ+bmIjyKaPQjOYfIpn0K/3G91TCbLtmx1Zkf1wHMhTtD7F1rAw3cifK2e9asHv0Lx24UJkFsWVIWCTaBvYOEISIQh/MOYCgIk1siRP74e73IDBld49+xADLPkFJ5ayp56jJHXuAoIFeSPDq6cwGmcjaCSMqAMS/baaejFdOEOfu/4U7980LGvvGO5k+KXJPW32GN2mV6Piodj/MIQHVqvjChuORt3I8UbAGWWlTUPponlcP9F13AbTCDg5kPl390pg0gKOf0Hw7uvRdwBSQfJiNFikH/RkBnZyaIifwyzb5zp05jxR0qqAMD02AZSouFjTNJEJ904ZJ/SJdI0nMP31JPV3KCkysov/hKR9ILYzgdAnP/ydvvD1gYw60ACuo6cEo+ppe69ibT7cMGDgyEmzqEgljXhrgFLz+fCWOvk6bKYgS+12twPezIMaJ9P0OBGaZ7/LjOyX+uJ64iRZOi8gXthuOY9gICUfkvaWcCOU93TjU4xCy87uvh/neQkhwc+ujYhsyENjEAbVhal35xu6RBaPQw/jd9APrhlWE9igJ+eF81f5uN1vIZdY7PB0Kdo862XnBPChVMcx2EjQlI+iEjriLW00DSo6KqV6EVX9eaUo1VCAw1NWK3a/sn3tq9mbgndo+8Vb6+Ree3KmddMwcSSmBh8BcACB2x9FM7zpFSkmtui/9FrpUV2qDg06MFhhSgoNPGkOnes4a7w3HAF/Dv58GY0E6tAABYyIgnEUWFgZCe6RVeULkoC6XXdVRHLQ84fvH+1Na2jkXD965jDvE197Vuy6rtGSfvIKF6bHaSp2lKbsnHmDkGaBRa99rxqPfn6IMW3RIB+KO/CrgC6oouWwnl/E2Wr2XYprXG9j/3wjWej9qmD83ObbaNjDTQ5XSpraqdc85nCzXzpYYxxk3yywdIS91ImTt/REtz6UrUO0XAOfECuWqQvzQETvHU3pRaaiwjC8LlCOMAxAlhJ5UFK0tJjVmlhOQ6tVJ314QNRvAvbLoDSkb3rMb79cbi8MPKaghZ2sqfrTnkhjDHXwDxzl5iwXClLVdGvfeSykOUj7IMJYUlUFkIPGD5VDWh58PDl0ABASixVHoEd0Checr/x9q4rKvWVSvKCOQ4EzJtubGjLPEi8kD1vn+bYtqBpwK50J5XSH6nEv6xe50dzeNamkav7lqYkUVwAPrqAd7ciSAVrkSC6eOD8+vBJkAkvg48Ga4omR061APS5wRxOSOJsjr6+PfOnxCRdTjD/bX3PSz+1Iw5BKSqpNGhxgMN2fau+rFBf/RRmll/oB3AQJ4/Zz+YFOfe8ftQMRIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EbFLhCrKCYLp1MqGTHUFr8",
      "input": {
        "note": "The right bottle lies straight ahead in the wrist view, its bottom a few cm past the fingertips. Moving forward over the bottle body (x≈0.40) to grasp it.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.152
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01EbFLhCrKCYLp1MqGTHUFr8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.4717, 1.5318, 0.6865, 0.1776, 0.2657, 0.1528, 0.995]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3812 right_y=0.1464 right_z=0.0835 right_yaw=0.1391 right_pitch=-0.0699 right_roll=-0.0302 right_gripper=0.995\nstate[joint_eff]: [-0.3624, -1.6068, 6.694, 1.79, -0.022, -0.0611, -0.0122, -0.4171, -6.2154, 8.6906, 1.8828, 0.0757, 0.1245, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:017805cf465912ac0436567eee32f67f0b104313fd62b31b8943854421d1f454",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:862a0830e76afe516d2cfba4c84cdaa8d33b59a67aa6e99c33d8c72a0869c0ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:02ed226e7e4afea8e52c07542ae227d98184b61442c60c840e4419a8ac4aed34",
        "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 · 2.942 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.7094, 1.4429, 0.3634, 0.408, 0.461, 0.3111, 0.2046]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.302 right_y=0.1604 right_z=0.0442 right_yaw=0.1327 right_pitch=-0.0207 right_roll=-0.0115 right_gripper=0.2046\nstate[joint_eff]: [-0.212, -1.1556, 6.3385, 1.8974, -0.0464, -0.0757, -0.0122, 0.1436, -5.5179, 5.7231, 1.8291, 0.3004, 0.1245, -0.0659]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.7132, 1.2041, 0.4965, 0.0395, 0.4633, 0.3023, 0.9951]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0007 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2987 right_y=0.1587 right_z=0.1036 right_yaw=0.1395 right_pitch=-0.017 right_roll=-0.0181 right_gripper=0.9951\nstate[joint_eff]: [-0.1709, -1.6479, 6.3521, 1.8144, -0.0513, -0.0757, -0.0122, -0.294, -4.8205, 9.0325, 1.79, 0.1343, 0.1441, 0.1392]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.4717, 1.5318, 0.6865, 0.1776, 0.2657, 0.1528, 0.995]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3812 right_y=0.1464 right_z=0.0835 right_yaw=0.1391 right_pitch=-0.0699 right_roll=-0.0302 right_gripper=0.995\nstate[joint_eff]: [-0.3624, -1.6068, 6.694, 1.79, -0.022, -0.0611, -0.0122, -0.4171, -6.2154, 8.6906, 1.8828, 0.0757, 0.1245, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:017805cf465912ac0436567eee32f67f0b104313fd62b31b8943854421d1f454",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:862a0830e76afe516d2cfba4c84cdaa8d33b59a67aa6e99c33d8c72a0869c0ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02ed226e7e4afea8e52c07542ae227d98184b61442c60c840e4419a8ac4aed34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgAcKEAgSGAI4AUIIdGhpbmtpbmcSDOC/ODQ08IYbfHVoaxoMdtIRleFpP60j1SKQIjCmSvqGGYxL/OOujnhd08T7tJfXpWZSO0881SQ4nFL5zDrbLuuTqWyC4vs2EqgdZOsqnQaBrqHdGCC7s0/LFk3RyEuYkpllZv3PS8C29Bty55pXbGrc4v3BllOS5YVkKQ1u9hwwT1yThvplAZXyv4yHpffliiLoO6EX0i4pDom8gnItquBn1m0oi3V+5x+9Q65faANVKQFtjldSEf1sZ9alPkiM6McCrdNGiTaFh5eI50cDpPAd3iF/Kn2M8MvNfzDgHtV+Uq6Gkdnhm1TuTvZAXyuhvm5nwcmlHHpIjCMpQ7HfAE9YeA3gzozgrXLVjw7Q1qt9VIQBCyp/iRXMs5cptCf0BkZDAJ5Omokrgtc0Taj6ySMz4gVFmVkpez3CaPwZ4Tpt5b87SG7I9ihqlmpqw+0K0Nm3SpDqTmqV2GqgTIIBO05OJ1833RsKFO47O4ToDn804E3EI5+pAcnf+K23R2IFnfPeCrm2S1MRc7o8kVE7MQHsHadSzQtCUMtIucnKyYG5SKAu89ib+hEG1OqOfp1x5es1+fHctofXOSKpvMM2Ng2RiDzLHSuUyK0SB+CTU7jh4zdr9GiYu+U24yLeYBszeeQTZQBCQea6qW6pXxx+e2KinwdDAjkvyAWNo5PHsR1XE0n430t8jOEB+gr0a6EroZMztv/Fn+uJPkPzGitZozISTEFwuXQhG86QZZFbDe6V87AJRGkx5BdeNwouKt674aEEx9MxUtYl1iZ3pd+tBZzf14xyJdr+Hg9RhYc34LIEMo1O0EThWZlSAStLe0Pyz81A/qghT4GG7SHtg2gSpzGsOk5ysl6Evn4H8h4u+jqC3+je8i/xm/2XgPFMHTufXdXmgEQdqs8SXRt+ZnRHlxlhAHhTEtaRkg7CNmUr5PoV8rYN509jRbuQAwREuqzqBM0w/sX6ic9mLlz0boxcDBX1lYZhUnFxF+wtfNvRBRs63nD23vqFvIzoszPwyhv+YrMkGHNSRi2hXqgEQOvebNQmMbLPwGWwzL3HVnZRZt2AxcYAeHqn061RcFVEju2MdKB7X+wzaZ0br/cFyOKR1fzS1mkbyaM/zNGZ68UQWQ4jGvvvW3xMicIVRsbQzv9C/5HBA2LvMPQdrXA4hhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AToUqxQksxPUymbpWZvQvA",
      "input": {
        "note": "Bottle body runs straight down between the jaws in the wrist view. Descending to mid-height of the bottle.",
        "targets": {
          "right_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_01AToUqxQksxPUymbpWZvQvA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4652, 1.7157, 0.5323, 0.4786, 0.2539, 0.1493, 0.995]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0007 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3668 right_y=0.1385 right_z=0.013 right_yaw=0.1432 right_pitch=-0.1074 right_roll=-0.0378 right_gripper=0.995\nstate[joint_eff]: [-0.3761, -1.5795, 6.4479, 1.7851, -0.0415, -0.0464, -0.0122, 0.0752, -6.8308, 5.0667, 2.254, 0.0904, 0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0def423f7ae26ba2e0a77015457a0f76c2183e0a38d1ba727560fd45f31d6838",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:709bfe32438a68ac15a033d69474de426a972e3ff0aae3f0043f295b2906d9eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6e6c96d77d252713e36e484a25e1601fbd8c74c4e023e8d9af38a37cbebbab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 5.368 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.7132, 1.2041, 0.4965, 0.0395, 0.4633, 0.3023, 0.9951]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0007 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2987 right_y=0.1587 right_z=0.1036 right_yaw=0.1395 right_pitch=-0.017 right_roll=-0.0181 right_gripper=0.9951\nstate[joint_eff]: [-0.1709, -1.6479, 6.3521, 1.8144, -0.0513, -0.0757, -0.0122, -0.294, -4.8205, 9.0325, 1.79, 0.1343, 0.1441, 0.1392]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.4717, 1.5318, 0.6865, 0.1776, 0.2657, 0.1528, 0.995]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3812 right_y=0.1464 right_z=0.0835 right_yaw=0.1391 right_pitch=-0.0699 right_roll=-0.0302 right_gripper=0.995\nstate[joint_eff]: [-0.3624, -1.6068, 6.694, 1.79, -0.022, -0.0611, -0.0122, -0.4171, -6.2154, 8.6906, 1.8828, 0.0757, 0.1245, -0.022]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4652, 1.7157, 0.5323, 0.4786, 0.2539, 0.1493, 0.995]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0007 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3668 right_y=0.1385 right_z=0.013 right_yaw=0.1432 right_pitch=-0.1074 right_roll=-0.0378 right_gripper=0.995\nstate[joint_eff]: [-0.3761, -1.5795, 6.4479, 1.7851, -0.0415, -0.0464, -0.0122, 0.0752, -6.8308, 5.0667, 2.254, 0.0904, 0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0def423f7ae26ba2e0a77015457a0f76c2183e0a38d1ba727560fd45f31d6838",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:709bfe32438a68ac15a033d69474de426a972e3ff0aae3f0043f295b2906d9eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6e6c96d77d252713e36e484a25e1601fbd8c74c4e023e8d9af38a37cbebbab0",
        "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+QYKEAgSGAI4AUIIdGhpbmtpbmcSDCcHs3PBqfgl0JRm7xoMV0y0m6+lJIS1M7xTIjAII/p28gTh/6efw15Zl4uRENpBKGdtAl4LIVdfCdT2X45ohmJuhCSwz2kfjhKDyRUqlgY7jZrgX1g5Vc2xlLL6h08xl+1iclprK+yPV3czc/F9JFZkrsVowgDp/+q8yWHVPCYGjAw4HhZ3BH/1HqCaGJQgFPVkrlHEIgBsK5CMZOE1qmaBkRUh/gaodzEri2SljN9/GjPIOhW2Uq45R5lrtP+wir6b0oJmReg8VLdJqeBOT+IFLt8joQIKV3Qe27n4AOPZv/DJuM9kbNHBMtsnbwFWtFtBcGM/c2xj0tWAk++cKZtnM+TURp5C14tXvdHrAqfg4vCbIdEntpsIeq+pmFEbJfSEqvKDEDsshqv3UWg2HMTJB0ozv9TV9iF2R8j8OedfyCmnrw216AyNMIf6lIp8GdPVD60KwdnUd0UysApqKAH3mW8qaUNTLhCXoLwXhp/9CBOKwRZrPERYEWu5kTEhgoX+GIGuty6+ivaOElpWfUU9KpM13d5ce8zFuLDIEQ+MW5qigBRWqw6+4OCDY1b7subR24hJtEZtNSM229MR+AM86APJSNMxpQQlPiW3gusjg8p2Ue/L9V7tX8L4l6mB9Xv/WFMMckY/f9a/D1kagFBqUGPk9+R2eRxuHL9CCg4UecXdhPsXdnuEgs9jyxkMq5AphF4x2gTWInc62L/mAm+c6CjyqyHTpUyvzkYUMmaCZZAYXYJuoBS0BEwOM5RjPeESjKuEeRiPZVgubDz+LQnXpDtm6m6p5U6gs2M8xPvjXS5VQEy/eLc7A6e3Zrh0lS4mDslISmVlCbIkkxfVco6jqCHAm6Rc0TMb346PKlv6SvsnW3MR+5bdrvsrnMBffKXEUwpEP2gthzVy0WM5eCX2c3eh02o4RuZ/2/W3MlNrPzxYZ4yrlfIWT6XY3zK0m7LZKmIjcmlSdP2ouQ9UFj8Z5wd5fgXfEshmbeLWOcU8XJrzFFG6GNi5b2c5Qd27Hq+C5aMVwGf8jT2N42sv4KXUvK5KQXFpH+9JxnQQYpnEsZXoKDuaOlwOteT/IoTpla3FA8/AGwt1MTueSyrE3ThUhu8Rze0HQagwEP3cQ/Tvo+LIc+5Ol6VIpDAjYJfeW806eYxAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015UXcCEKniBekzhb2967hQE",
      "input": {
        "note": "The bottle fills the space between the jaws. Closing to grip its body.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015UXcCEKniBekzhb2967hQE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.4698, 1.7607, 0.445, 0.7033, 0.2455, 0.1471, 0.4978]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3632 right_y=0.1403 right_z=0.0107 right_yaw=0.1578 right_pitch=-0.0212 right_roll=-0.0059 right_gripper=0.4978\nstate[joint_eff]: [-0.212, -1.7299, 6.4479, 1.8046, -0.0366, -0.0562, -0.0122, -0.7179, -5.7915, 4.0684, 2.0195, 0.1343, 0.0122, 0.9939]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09de403905f0f13853ac568ec25e388dad4af9e30e9af41bcdc2d564d65c9ba4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddf1fccfce97d9e95f802ba91a8cf4c48c6ca4b0a75efb64166ac639669c5f50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e090e4daff250b454f97343c326d5f5242632d4372a1314d0932bb097d26c90a",
        "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 · 5.063 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.4717, 1.5318, 0.6865, 0.1776, 0.2657, 0.1528, 0.995]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0084 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3812 right_y=0.1464 right_z=0.0835 right_yaw=0.1391 right_pitch=-0.0699 right_roll=-0.0302 right_gripper=0.995\nstate[joint_eff]: [-0.3624, -1.6068, 6.694, 1.79, -0.022, -0.0611, -0.0122, -0.4171, -6.2154, 8.6906, 1.8828, 0.0757, 0.1245, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4652, 1.7157, 0.5323, 0.4786, 0.2539, 0.1493, 0.995]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0007 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3668 right_y=0.1385 right_z=0.013 right_yaw=0.1432 right_pitch=-0.1074 right_roll=-0.0378 right_gripper=0.995\nstate[joint_eff]: [-0.3761, -1.5795, 6.4479, 1.7851, -0.0415, -0.0464, -0.0122, 0.0752, -6.8308, 5.0667, 2.254, 0.0904, 0.0562, -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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.4698, 1.7607, 0.445, 0.7033, 0.2455, 0.1471, 0.4978]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3632 right_y=0.1403 right_z=0.0107 right_yaw=0.1578 right_pitch=-0.0212 right_roll=-0.0059 right_gripper=0.4978\nstate[joint_eff]: [-0.212, -1.7299, 6.4479, 1.8046, -0.0366, -0.0562, -0.0122, -0.7179, -5.7915, 4.0684, 2.0195, 0.1343, 0.0122, 0.9939]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09de403905f0f13853ac568ec25e388dad4af9e30e9af41bcdc2d564d65c9ba4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddf1fccfce97d9e95f802ba91a8cf4c48c6ca4b0a75efb64166ac639669c5f50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e090e4daff250b454f97343c326d5f5242632d4372a1314d0932bb097d26c90a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxgoKEAgSGAI4AUIIdGhpbmtpbmcSDMTKUAPqAtNKaXrz0xoMmJ16yh+ALKgaoHtpIjDSOTZYT1Q77Usi4Je+hfVVmELdovYYg98uRW8AEFbqbMyReLuNlrZr7a03iItXb1wq4wkLSA4VslI3l1G4l6WbZPgn9No6dNq6JD72AiMbyPMLaEsaK85tw1guOiKsll1YPdq6w07rtl7XCZvydXH3Fin2mysehvDAM92MeTg5dfqq2VegEcf4VeA+UsEF9Yp2OP8IaQfGPuUT1eTlhuzXQoCc7z6thFC+UNM3k0gKSeKS/HdF80Tudh7bT2CshEupc3V+fSZ61zCmOHSCZPFuYHx/BUs7F849YIS93N78TEfWpLtKo83/EIE0M995nm2ooId+AMoufueJeORWrAgFM4GaFrrZKCWfebeJvhKLsd1fdnho0791ZBzFpqMnPOcKkrI3u2KpNnHImaXMc8w8zR0JY+Ve/pEzK38uY+CgtnxXZOIh9nzyCvEOvnhRHRUEsygYEca/yE1XGeNPpuod1qyhZuRbz9oxwTjuIc9ijHvWc1q0Qpe6lv9GBevspCnAwJ6+UpwuZMrYU1bpDdxANJPbvWAPMWo1lYaaVPbWZ+WdyJgZ4x+Awg/lAyBoTQ0ydse+LNM+QsfuNHYHV5ZbPI4tAKJeiTaHdEUql/xaiT2UA3ArwMIIP69fvlE70Owb8UeEOYVGl8zVXRpp1ErjUkRPSPEAl1TxvvvQjbJlqAQNneOhvlervMtfXvPcCo9c93MwqiofGUSmrpU+oSH/FqRm9SRQ+INSCT6JVi2vhq/SRdPM+UIQwiaucw/T9XM/IJRDlbjwXOEhnxx6La+i4OeK3icTyZcLDBHTQqsNSBUhKo/jON5Glnq+l7Enl+kP0P4LMviBhON2mErAglq+eLuiO93daCmHmWPN5nBFgvldaa4blgZMT9gyhD68AYuA0XdmQqu7pmMWFsc7zrSEhU8JrTZwEPvaew5PjicpZqO4yXeuuGB0yeqBW6fI8LCV3Nr/l5kvc6Ww5whJ+5yV0A0ISTR6z5kQGbF/tDjophJNSpiynAS1JsnpFWl5HRgfx3qkILurFrcRhMef24Lz0hb+gplFgA9QAdK9Isg9Ssc2k11JBnha+3dStDt1EdoSFsYtQ4tWKEx+hqHhzfOIImEIo7CCV7cXRno5CZXMn8LyNhlfBOIbx7ZfXYn30QvhHRsMNsz0/fbd0jV6LwNNc6UIxfmoBnCC5qgohLmmRj9i0rdxKbAO28BXQQnfTA7u6FgyG+YL6LT6mXP4DATv+24vF8b4si7M7/BIQ75emfm99hZwduHLGOTAb1hKUfeUYjMCuZEjph5De6MUJJPOM7TY+FFF+KuH+cOg5q9xhhOH+KJ3hN78OegYr838yNdISEf3N/4L6tbbiqGdc8+PvRUtSZ89G6FK0hotsTT8l+JTxRVQVahP8UsEA2O4x4kl+j/kJ0P/KDe9/zmYt+AxwOCTcVhwBWvAzStZ1x7yHyEVvieFiSg6u/VmcUi90U+CPa90HcBGSi0xkkTSmVY9DrS9LtLBE7MX7UEiHuzM5Zc5zQ7XpaCGq/lHrRsCRD+sFwS1wK9WLjABcmI7FyonRpRSeNZgrxCRdP0OnI7APeVbTGlfzSKmwvbz6LiHzG9vXi9HJ2URTdOBJ4Gp2Isi7AOyYkT6j2rRdO4JItn1CXUoiUvPKbpqXnczxAzkeJSfdPXi3GWWRez1cV3a/HDwffFLRaofd34cGw+rLdSdzXSGFlddh6LNWMmUVuAq6wJCUczPIwgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SUw8oX5UySfqGpv7P1urG8",
      "input": {
        "note": "Gripper settled at 0.50, so the bottle is held. Dragging it back along the table so the cap end comes within reach.",
        "targets": {
          "right_x": 0.22,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01SUw8oX5UySfqGpv7P1urG8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6128, -0.3866, -0.0231, -0.0288, 0.9983, 0.9478, 1.158, 0.0921, 0.2943, 0.5549, 0.4252, 0.4982]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1819 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9983 right_x=0.2145 right_y=0.1452 right_z=0.015 right_yaw=0.2342 right_pitch=-0.0638 right_roll=-0.0278 right_gripper=0.4982\nstate[joint_eff]: [-0.0752, -1.1966, 6.5846, 1.9023, -0.0415, -0.022, -0.0122, -0.0752, -2.6872, 6.2701, 2.3223, 0.735, 0.1538, 0.8669]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23d139b19915ce73f9d85777ec6182b2ad43953d47da008e7587902b8779cf04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2603aa5546a48f63bc65b324b2daf65819a6cb4528733482149aaa97e88fc875",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1370db891e62320970822d42752aac0f8ce329346d15f6bba28117cabd77de72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 7.328 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.4652, 1.7157, 0.5323, 0.4786, 0.2539, 0.1493, 0.995]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1823 left_yaw=0.0007 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3668 right_y=0.1385 right_z=0.013 right_yaw=0.1432 right_pitch=-0.1074 right_roll=-0.0378 right_gripper=0.995\nstate[joint_eff]: [-0.3761, -1.5795, 6.4479, 1.7851, -0.0415, -0.0464, -0.0122, 0.0752, -6.8308, 5.0667, 2.254, 0.0904, 0.0562, -0.0073]\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]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.4698, 1.7607, 0.445, 0.7033, 0.2455, 0.1471, 0.4978]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3632 right_y=0.1403 right_z=0.0107 right_yaw=0.1578 right_pitch=-0.0212 right_roll=-0.0059 right_gripper=0.4978\nstate[joint_eff]: [-0.212, -1.7299, 6.4479, 1.8046, -0.0366, -0.0562, -0.0122, -0.7179, -5.7915, 4.0684, 2.0195, 0.1343, 0.0122, 0.9939]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6128, -0.3866, -0.0231, -0.0288, 0.9983, 0.9478, 1.158, 0.0921, 0.2943, 0.5549, 0.4252, 0.4982]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1819 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9983 right_x=0.2145 right_y=0.1452 right_z=0.015 right_yaw=0.2342 right_pitch=-0.0638 right_roll=-0.0278 right_gripper=0.4982\nstate[joint_eff]: [-0.0752, -1.1966, 6.5846, 1.9023, -0.0415, -0.022, -0.0122, -0.0752, -2.6872, 6.2701, 2.3223, 0.735, 0.1538, 0.8669]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23d139b19915ce73f9d85777ec6182b2ad43953d47da008e7587902b8779cf04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2603aa5546a48f63bc65b324b2daf65819a6cb4528733482149aaa97e88fc875",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1370db891e62320970822d42752aac0f8ce329346d15f6bba28117cabd77de72",
        "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+gkKEAgSGAI4AUIIdGhpbmtpbmcSDM4n3Ve8RIJAuG+Q+hoMQAbw40TL9KJ3AHIfIjB0WIwouaj3wktofrHkuMzaHxfI3zFWkBEI76Nt5Y0BDUMKOBYXLyXaG8HiFfRBc90qlwn7UCJyBnYyTRZATrQXYpKSpT3VD4HuwITt6lamOxEAECz2bHZS5UKQAfZXFcx9uzLgapmcVsBiYmliPbZXVK3Ir8RPZqPFKtFqLBLxljSjyyCiD4DZXWWvO26Jhw6r64GchmR9MvlXalnrjQgwn21+XHbft/EYQTkxj5GzGzwIDygpzBr40Sge/OTsyO0hfemKKvLKAQ42dBMIv4i9nGCeU7WY85R+PcTJLhaT9EtvwX2ECvJQo4bWrHR3kVoOJjypOwSKsb3RPWCX94qrf7HLx7AN+jqy8/0GrETIRbCCqEpx7be4fB0MoyWUrR/NiKvV+per92t2A7bWzHMBeHu+kJKMHJG6UZdEKb52D+9DrmWglkB4WQewDWjdoT4ukhkJL+NYD00fkjGWhgz2WmFwxQCQWy4rws10Wwil7kjJO5KRS8EnYr0hWFajTE8w8jMfeAmCKaK6xfB+OdZ4bC03sYx5Zh+9t6r++NQ6Xto0MhW+BnlrYBHnFstKSz9OPweDtlPgJpfpUesmzwBILGA35evwfXmOF56ZPU15Ko+MlBZ8H25w3DhTF91q/n5S+AEZa8GkCUpWcA266qBkF2yptpIjtBiIZTyn0GtaEwbQX6J/YqJh2hu74Fi2MLh5Eh3udTBhpuJl0Gy/qc8/3iF+rYGZa2xFJt8Vl7UTDV8QUIIsbZ3d4RyuRs4rWQByw6Q7zhH+NCHLvpiD9lhmTJM1rzNohRW9RIlzjHVl+C+aMN3uQjY34H1wp/mDGhnZawQCC3bmLLn/ONg5oUxjNbFs9hbmqGWsTrWW9VS9OvBSbG1/0f3amm0I6SFx8IL11bshbsyIf02ReJFHShRHDCfJYI45uprKEfsqBarAp7LGFwtHb/pUGolKnOJuLhBwVY7hfuqv6l5507DDRilrNlMGeUbwwprHJRRmXTBPTJOVK6YA+4sRatRhTedUu1pyeHcoMG3se8dPnP2+Uds7cRMCrrvA+FTqmAf1ryBv1NTg3JF10XN1fxUN/A+RfhZjgkOoLPosZwkTjf+FTBn3etYM92fibGdCNWdcTCXIxTC+2+0QW/rRDfY+FLKELK/ac1CHP+HZpljy4VCGjtTyZvx0UYvBBd0g6xkYbr9zw1JSYUaJPoP3Za2MMDEUJSf6fckTVi1Rj04FI008ypIP/Mmdiy83uw7ktiPFsp/Bakq/Zvp827QeFYgwXes5Ft5ZuPxW7HN+hoQg6/cCD5qNY5lW4W3fiLOtS2W/C71RInJDx1KXe5ddtk6fjkWmMut/C14DZptgWKeyCxM5+OVhb8R1BPWTXOQmeJyXC/3BWEU+IIO2s5Nc0PVuSofGpiMgyvV86jn2rOOHtDZayKhJnxXlmnG1JUTXsZjCnqVI4Z6oUb3X4VB5GkpG1nmfBXYzXV+WGd3vaSkazvwMecWd5dUD8Hjf1Cxc/bmze9z9PNK1+qrb8NzMijedxpoBe1D9b2VCRfi29/LStgpJkc5C8vSh65PhiRn41ZX+Mx1fiTwrkbkD/XoOTGaaZApf0h3OP4Qzey7GFkzwPUapW06yes17AgPBQtrMchgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015ddvC2dj8ku1B4abPZ3hes",
      "input": {
        "note": "Bottle was dragged back ~15 cm; it now lies with its cap near x≈0.40. Releasing and rising to go grasp the neck.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015ddvC2dj8ku1B4abPZ3hes",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6125, -0.3866, -0.0227, -0.0292, 0.9983, 0.9684, 0.7807, 0.26, -0.1532, 0.5732, 0.4141, 0.9956]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1817 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2152 right_y=0.1502 right_z=0.0918 right_yaw=0.2483 right_pitch=0.0179 right_roll=0.0181 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.2923, 6.3932, 1.8339, -0.0171, -0.0562, -0.0122, -0.3487, -1.3333, 9.1966, 1.5507, 0.2369, 0.1245, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44aad52e496b20f00664560b8f1a9f11ce8eaf2d6c774e2fca3ea215cf916e5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb9fae49e7b8be26aca0839f42783dba9eb0af5528fdb78a6ff4726bcab30a62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2086ee745bd4f81c7c6f719f7a447802858e231651991a750b89149a1c914ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 5.303 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.4698, 1.7607, 0.445, 0.7033, 0.2455, 0.1471, 0.4978]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3632 right_y=0.1403 right_z=0.0107 right_yaw=0.1578 right_pitch=-0.0212 right_roll=-0.0059 right_gripper=0.4978\nstate[joint_eff]: [-0.212, -1.7299, 6.4479, 1.8046, -0.0366, -0.0562, -0.0122, -0.7179, -5.7915, 4.0684, 2.0195, 0.1343, 0.0122, 0.9939]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6128, -0.3866, -0.0231, -0.0288, 0.9983, 0.9478, 1.158, 0.0921, 0.2943, 0.5549, 0.4252, 0.4982]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1819 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9983 right_x=0.2145 right_y=0.1452 right_z=0.015 right_yaw=0.2342 right_pitch=-0.0638 right_roll=-0.0278 right_gripper=0.4982\nstate[joint_eff]: [-0.0752, -1.1966, 6.5846, 1.9023, -0.0415, -0.022, -0.0122, -0.0752, -2.6872, 6.2701, 2.3223, 0.735, 0.1538, 0.8669]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6125, -0.3866, -0.0227, -0.0292, 0.9983, 0.9684, 0.7807, 0.26, -0.1532, 0.5732, 0.4141, 0.9956]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1817 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2152 right_y=0.1502 right_z=0.0918 right_yaw=0.2483 right_pitch=0.0179 right_roll=0.0181 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.2923, 6.3932, 1.8339, -0.0171, -0.0562, -0.0122, -0.3487, -1.3333, 9.1966, 1.5507, 0.2369, 0.1245, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44aad52e496b20f00664560b8f1a9f11ce8eaf2d6c774e2fca3ea215cf916e5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb9fae49e7b8be26aca0839f42783dba9eb0af5528fdb78a6ff4726bcab30a62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2086ee745bd4f81c7c6f719f7a447802858e231651991a750b89149a1c914ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CfhTXYMratT4MpqH4T36QB",
      "input": {
        "note": "Wrist view shows the bottle running from the jaws forward to its cap. Moving over the neck, just below the cap, to grasp it there.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.18,
          "right_yaw": 0.2,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01CfhTXYMratT4MpqH4T36QB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.6086, -0.3866, -0.0227, -0.0292, 0.9983, 0.6003, 1.4513, 0.5964, 0.1707, 0.3107, 0.1886, 0.9956]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1803 left_yaw=0.0007 left_pitch=-0.0118 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3415 right_y=0.1727 right_z=0.0782 right_yaw=0.2107 right_pitch=-0.0752 right_roll=-0.0337 right_gripper=0.9956\nstate[joint_eff]: [-0.2256, -1.6752, 6.9538, 1.7802, -0.0415, -0.0708, -0.0122, -0.6632, -5.8872, 8.3761, 1.9414, 0.2125, 0.0659, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a0284c5cdb59891c5406c31d3dc6885ec42b584dd9defcd3e08b85f73b56e49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57a666d483bb29330ad529aeb14e9d11eb220d68de28bb578464b8c440509748",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b6aed152fab8b2243f1c266e1d2322d6a79a93f63d08b335124aaacbdaf7c28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 3.443 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6128, -0.3866, -0.0231, -0.0288, 0.9983, 0.9478, 1.158, 0.0921, 0.2943, 0.5549, 0.4252, 0.4982]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1819 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9983 right_x=0.2145 right_y=0.1452 right_z=0.015 right_yaw=0.2342 right_pitch=-0.0638 right_roll=-0.0278 right_gripper=0.4982\nstate[joint_eff]: [-0.0752, -1.1966, 6.5846, 1.9023, -0.0415, -0.022, -0.0122, -0.0752, -2.6872, 6.2701, 2.3223, 0.735, 0.1538, 0.8669]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6125, -0.3866, -0.0227, -0.0292, 0.9983, 0.9684, 0.7807, 0.26, -0.1532, 0.5732, 0.4141, 0.9956]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1817 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2152 right_y=0.1502 right_z=0.0918 right_yaw=0.2483 right_pitch=0.0179 right_roll=0.0181 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.2923, 6.3932, 1.8339, -0.0171, -0.0562, -0.0122, -0.3487, -1.3333, 9.1966, 1.5507, 0.2369, 0.1245, 0.0855]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.6086, -0.3866, -0.0227, -0.0292, 0.9983, 0.6003, 1.4513, 0.5964, 0.1707, 0.3107, 0.1886, 0.9956]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1803 left_yaw=0.0007 left_pitch=-0.0118 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3415 right_y=0.1727 right_z=0.0782 right_yaw=0.2107 right_pitch=-0.0752 right_roll=-0.0337 right_gripper=0.9956\nstate[joint_eff]: [-0.2256, -1.6752, 6.9538, 1.7802, -0.0415, -0.0708, -0.0122, -0.6632, -5.8872, 8.3761, 1.9414, 0.2125, 0.0659, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a0284c5cdb59891c5406c31d3dc6885ec42b584dd9defcd3e08b85f73b56e49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57a666d483bb29330ad529aeb14e9d11eb220d68de28bb578464b8c440509748",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b6aed152fab8b2243f1c266e1d2322d6a79a93f63d08b335124aaacbdaf7c28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuwoKEAgSGAI4AUIIdGhpbmtpbmcSDJaaNCy5zwiust4LqRoM49Ol4qUfdL3ixUbXIjAF6I8W6NyBd+xtqwX4A3Oip0oqFwSabw7qC7u2vZSSAxl2T4de3HD5oeGlfTbXFowq2Amp5BUcjVXspGWWCEq/9AGGw5t1nPRt7MkWWpZ7R2JqYZTrOtiIy0/7jCSUqL9kW0vlFtaHw92RjSe5oLfWUtCwr+ydgJsvKqgavvZ3pxXmVGm/ghMKdALOY4JE6KbPE++k2emkN3Txb/wmsj4A7fksy2s1Ab0w+7xGGxFq+gBXea3CnfTJw6CiNKwRzUTAokVYNeeWhd1AFT8l0FxQCC1dAD/GWXJrXW1sfX96kZkPWBaPsUlof/KkcrAh+63Vi+W95Hn6aUMiw7qHWfnlh1iFSe/i3ZKF2dm/AyrydMlW9FyicOVnDVIubbuvfWXjANgxoDTCfVzNCBNa4CJcx4CkRbyIg4hDIorYjiKySr69STQ11D0IN/96zQIRe1sZ3GKifU6Pz5wOou8nWPtjUP91DgALLExjpBXtuCxqr5LizOrRd+MSsWTDJxR4S6IlErjby2s3suYtvF4rfMiY5DFRpTJlmHOwlXsSLCQEP5AnPq5hAjIK0kD+fIojsHAaqmhYgZwaOYELQFQRuK7T3ayExl65Upn8wfc2bnwJjDpxBMZ3135vuX7RDtYetsAVzM//4Nts8g2YL/kWiuYPo0BGBWnr41OSKfo0HZhGzjOl8uW+07e1TWBMIG8c6tDk3MHysLRSu9WFae/TfuvKjwWgU+nv44pY8cIDVCX1+8uIxwUCBbhFEnz64hyCBMuKcE5Gfs2+W+RzcNsJIx9rxfBnx9gIeuPoEucQss3VkjJsa5f9538y0iFNm4JHPOWmmbfK+icLLss/jxfjnTtEHWXhyPoRl55VVxiu3AVTo1NHIYn6rOhwxanA+LZl/5XhFAdJv8bJTT3vTajqF9l7lthCnmNn28VL7kDdbGT50SSqL6hmVV8D3KaocyWrb5L1TFJo6pHQwNrQaWXDr31GPo8U7EsUT2P+pZWhcpx0/sTuPcuwNpQxEc6wAynMTGKV1SLIUsYfvu7I75XyX0rU/1c9TrJnDP4MDV98yprS6XfMgWzQiuM/y/XR83U0D2HFyM3PuPyzhKtj5h3Za2DQzZAkkNfKe5SMvQjfeA6hxR4HbjK76XJ2qjaN9S46a5FRFfkJncKMhX/YEvb0/sQKSgJzKg1Sj/mH4hC0j7Tfm8Ub9ouC13KkYA59tlLBCoHEowprPl+TJy1O2wjJX1LrqxCZA5HmoJjpEXBLPhmk+4GbTB3Qy8nQckXC7g1x+ftDG95JyUYCZzZkYQBMab2XoP9WL+dxpzhio2N71vCmQKrrlsOsDCITIbFrnSVbXUAZWvaUbAzdMdtBS0MrNbkogbUFSvU8rlxw9ZISFlohC9zxu2oGlYYgTolfYaqaPeaKygy+ggUmoRE7RQQlmZL0tcmYB1pEbc78z5B+8ts2Kq+POtc0SPkC1GIj9eQmiksEg9U376Y0TotrMBuR/GLzM0O6gips7s2xWW+e4krO/kTNRwNw4c8GgXw3lhDKHKZyy/CVULhdXsYA1XLzzn52mt29EBMd35KzfDsGUSYXPvR776nkwU2AwWXwebDHYbcIxVzB328gIiYCkarjAjBVWlT5d+OTxNpws2ifQ/05ByI/TeWGsXKKlDbPFqrzRorszD0ivtNCp7j7Tf7b5HWmxX1Z8a30kb+Om0H0x7vWD/7D8YIwuvfCwF5EGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018gtZNwaUMjQ9nmwoePQQLc",
      "input": {
        "note": "Cap and neck are centred on the jaw column just ahead of the fingertips. Advancing slightly and descending to grip the upper bottle near the neck.",
        "targets": {
          "right_x": 0.36,
          "right_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_018gtZNwaUMjQ9nmwoePQQLc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7944, 0.5999, -0.3862, -0.0231, -0.0292, 0.9983, 0.5617, 1.6768, 0.4923, 0.5007, 0.2882, 0.1661, 0.9956]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1767 left_yaw=0.0011 left_pitch=-0.0191 left_roll=0.0002 left_gripper=0.9983 right_x=0.3477 right_y=0.1638 right_z=0.0191 right_yaw=0.2029 right_pitch=-0.0802 right_roll=-0.0383 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.7436, 6.8171, 1.8193, -0.0806, -0.0757, -0.0122, 0.0479, -4.6838, 4.8889, 1.4921, -0.022, 0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49106392b6d8ec85deb08eaf5b03dc3abe3c2175f94b09bc880bdde6c87a8168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:009b628daf83e763d5cdfb99a278ae84417f5d7edcfcbfc43ab745e7f5e1c72d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:078a85f11e7cc7a66de6ab342e24ecfc5056f5ac297d4f35e7678bed700d6ac7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 6.209 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6125, -0.3866, -0.0227, -0.0292, 0.9983, 0.9684, 0.7807, 0.26, -0.1532, 0.5732, 0.4141, 0.9956]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1817 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2152 right_y=0.1502 right_z=0.0918 right_yaw=0.2483 right_pitch=0.0179 right_roll=0.0181 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.2923, 6.3932, 1.8339, -0.0171, -0.0562, -0.0122, -0.3487, -1.3333, 9.1966, 1.5507, 0.2369, 0.1245, 0.0855]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.6086, -0.3866, -0.0227, -0.0292, 0.9983, 0.6003, 1.4513, 0.5964, 0.1707, 0.3107, 0.1886, 0.9956]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1803 left_yaw=0.0007 left_pitch=-0.0118 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3415 right_y=0.1727 right_z=0.0782 right_yaw=0.2107 right_pitch=-0.0752 right_roll=-0.0337 right_gripper=0.9956\nstate[joint_eff]: [-0.2256, -1.6752, 6.9538, 1.7802, -0.0415, -0.0708, -0.0122, -0.6632, -5.8872, 8.3761, 1.9414, 0.2125, 0.0659, -0.022]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7944, 0.5999, -0.3862, -0.0231, -0.0292, 0.9983, 0.5617, 1.6768, 0.4923, 0.5007, 0.2882, 0.1661, 0.9956]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1767 left_yaw=0.0011 left_pitch=-0.0191 left_roll=0.0002 left_gripper=0.9983 right_x=0.3477 right_y=0.1638 right_z=0.0191 right_yaw=0.2029 right_pitch=-0.0802 right_roll=-0.0383 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.7436, 6.8171, 1.8193, -0.0806, -0.0757, -0.0122, 0.0479, -4.6838, 4.8889, 1.4921, -0.022, 0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49106392b6d8ec85deb08eaf5b03dc3abe3c2175f94b09bc880bdde6c87a8168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:009b628daf83e763d5cdfb99a278ae84417f5d7edcfcbfc43ab745e7f5e1c72d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:078a85f11e7cc7a66de6ab342e24ecfc5056f5ac297d4f35e7678bed700d6ac7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1wcKEAgSGAI4AUIIdGhpbmtpbmcSDP7+pRYdon74eNSLmRoMB3c8nAnURsThUagwIjAH5qugEMYhNuOMqkkAcOt2sMJ2ApXw1B6aFxJE0SrL8nSsooRMtLKiZkvvHtw2810q9AZbN+sirmmqXFGJ78vu30K5UI5l+O/nBI3u3c/uX+0Z2/lS3Rxs9kaLYwP0HIGZoSXM1wsTIqHpUl6rFAAfIdgKP71UVT1BVMnQYTiLaUKVOZa0RWTjGF28PBdiBLZ3c0UYlSZcpAcZedBGnRWafUHFtWeNXYVN/oZh4qwihR2LDW1aIF0dxJU96VXItXEHZw68jUikzNT3N3uO0OZVTkejJtjCdnaWyIpfec81PEMX68MEswKNCTSndKzbp1QMt5iTs5JzNesNKu6WGY08Z9Z6mJpofPK4wAAI0aODa3rKKHEuxlvwlDQMfd32QEHFbsY5GtwDlzb0Xlh3rg3rH5eV3UZRNW1rPO+mrJNkfz9mUo/9G4thLUDipvoiARAuNBIcCVOrruInMpJAP8mso08ORaK+WLwQHAeN2l3Lg4OqjNJ9jdLD7rR6FJaf6sTxEqXoGgsxVWWDvbhPAviBgXncKJTSl9Cs+zJ476mgyZOHiunGeu7ST8jYCoILSDUNusH2TgYnOjqjGK+NctjrDVE9m4f29OEso05Kq+KD4Vyg6fnmHm0e2w2BP9WycpTv9RjigruF692PO3Kr/ZDpoiIn01ge5oB7ztKmmf1C7NEB5bKgpQf7X8Mh9tQ3YNDOKpogYpYwNzXAXPvTLOZxfAf90kqUWbHlBtfH5HSj/ipcBy64qq+9jkKKXXMvRlkS1JfuXorexAMg+8x+cHo+LbZU6xZuUTBEk5ECg3InbIm2iTr8Ji7XP71BEDU/eOTcyKvbHLWj3Ysye2Z4wPCuJgTdewTq3lm/7/YqJW4O0aHXkBJsTO6ptt2DrHXYVjlZqF52ecVTVQIL9Jg4jKs60FA8OUcHIxj9h0hnVPT626g4rjvlmVtHkAC0iTvG4vIfeJJhp8q14W3Ljkdw734mrBd80xL5N+nrZ5U6oeq+Yn45ruB4wMQYO7RWCZV5nCFt4w+p/av40Tgy7SKE9LvdHHghIxml62y8VMApR5LdWOS7Ichq+s3beePjbd/n8J5flYUoCMueEngINvB0iJZPi35K2YM4nR0Fz1dLieovPmiuZjVuTdpdQAiWo4XRJtvrAQ0Rz86bXjf8qHML0pmDE7JNmY5Ljb1s5HzniQ28S+iEI3q6MNtrZgPIJ3yvAaOrGbRhp6pPit3E7wmklHFdFledJH8xJhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JQE5ZA5y69bgXoCVToBkzu",
      "input": {
        "note": "Jaws straddle the upper shoulder of the bottle just below the neck. Closing to grip it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JQE5ZA5y69bgXoCVToBkzu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5831, -0.3744, -0.0227, -0.0292, 0.9983, 0.5625, 1.6955, 0.4393, 0.7509, 0.2745, 0.1699, 0.3957]\nstate[eef_state]: left_x=0.2926 left_y=0.0017 left_z=0.1729 left_yaw=0.0007 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3586 right_y=0.1737 right_z=0.0435 right_yaw=0.2128 right_pitch=0.0846 right_roll=0.034 right_gripper=0.3957\nstate[joint_eff]: [-0.3761, -1.894, 6.9265, 1.8681, -0.0269, -0.0464, -0.0122, -0.6085, -4.5607, 3.453, 1.2723, 0.1197, -0.0513, 0.525]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddeeac0f1c6a34239a7483782d4a4d61ab6ce1015979b6585494230f8edf6d5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:602b81a1e1803a833721c5a73ce7d1bfb6e6e65a4eb6ca96000cc40e11a70734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e93f6c5a7e079fda4b8834cbd093edd04f40af53e900453c7825d4d8a029666e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 3.565 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.6086, -0.3866, -0.0227, -0.0292, 0.9983, 0.6003, 1.4513, 0.5964, 0.1707, 0.3107, 0.1886, 0.9956]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1803 left_yaw=0.0007 left_pitch=-0.0118 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3415 right_y=0.1727 right_z=0.0782 right_yaw=0.2107 right_pitch=-0.0752 right_roll=-0.0337 right_gripper=0.9956\nstate[joint_eff]: [-0.2256, -1.6752, 6.9538, 1.7802, -0.0415, -0.0708, -0.0122, -0.6632, -5.8872, 8.3761, 1.9414, 0.2125, 0.0659, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7944, 0.5999, -0.3862, -0.0231, -0.0292, 0.9983, 0.5617, 1.6768, 0.4923, 0.5007, 0.2882, 0.1661, 0.9956]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1767 left_yaw=0.0011 left_pitch=-0.0191 left_roll=0.0002 left_gripper=0.9983 right_x=0.3477 right_y=0.1638 right_z=0.0191 right_yaw=0.2029 right_pitch=-0.0802 right_roll=-0.0383 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.7436, 6.8171, 1.8193, -0.0806, -0.0757, -0.0122, 0.0479, -4.6838, 4.8889, 1.4921, -0.022, 0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5831, -0.3744, -0.0227, -0.0292, 0.9983, 0.5625, 1.6955, 0.4393, 0.7509, 0.2745, 0.1699, 0.3957]\nstate[eef_state]: left_x=0.2926 left_y=0.0017 left_z=0.1729 left_yaw=0.0007 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3586 right_y=0.1737 right_z=0.0435 right_yaw=0.2128 right_pitch=0.0846 right_roll=0.034 right_gripper=0.3957\nstate[joint_eff]: [-0.3761, -1.894, 6.9265, 1.8681, -0.0269, -0.0464, -0.0122, -0.6085, -4.5607, 3.453, 1.2723, 0.1197, -0.0513, 0.525]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddeeac0f1c6a34239a7483782d4a4d61ab6ce1015979b6585494230f8edf6d5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:602b81a1e1803a833721c5a73ce7d1bfb6e6e65a4eb6ca96000cc40e11a70734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e93f6c5a7e079fda4b8834cbd093edd04f40af53e900453c7825d4d8a029666e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4AsKEAgSGAI4AUIIdGhpbmtpbmcSDKStSA8DDP/sGC3nGxoMCDGVOheaGwtEqOpIIjAbfYK/2wXTnLczDgzgOvgAP/bmtto6439Zh8yftazF//FKFJ3GP8QWQ5LQaZKzKNwq/QoETsU0xfaLX9KS2WsMtXNCafl0shIKPY+cVUDAHYhrqrL2fHm8iOz4aCOtWhafRUgmrTAo1sSlli7sPdWlV66WIJLu1+KaEUKBPsbRroouqZKj+nFPzZ0TUg2penS05BbJAV7/0nxLWs/T+6O5rvOrlAt1St1UJNmBFhMxpg5+HrKDg73FqfxqoFKClKUNCm6hP17c27C2y1+KWeggJnKGquMWHJcdDDM9FlvvoWUe2xlToY2Mv707QkUGf7KZ6Be663Hzq4HTBfF+mBwjiDIb6jXnzTBlGu42MA20KgJmYCzykNLzRSQl/PCAx0ADze3OwnjOKzhTElMpFTK8/iOZ3isZX6Nwzt9yK9T80M7XnmPmn4UE5+EtlCbHRSTthUU6tOn3iAYY/7n83WnXJtcOoWcTVDktmEYWu6UMi7RvdZZmYmKGCM2KB/9pfcVSI6odT+CujUzKLnl6kAkHMTA1M1D9df02u2Tf32BGxytccG6YZNk7JfLsLa7aod8RYxC73HsQaG//LasI9s/AsQGO8b7AeiV1Ixg6PlFQYD2nu/0dyOzRYvgsTDEI08VsVLNvShPpZw66zvy02kJepDF1KCaF/VFA0b34wLHaZoxLXHrBcO2QyIHqH5vNt0HzLT1OXlrclivDYZOQxOUFHlfNqjlZ0NXHgaCzlEcMtVo0QhbwGFQdcKXVlnJFNlXhuCYi8mJNiKkY1sl5D1ECJF6+4Q6geltbtNNX/wXqJLdziElQJWBW2W/vRLM6YGqtPxI1AHJGvzRvSEdQLa5eXhStVaRV6cLHcgYuVxUnkDcShkwaWM8yVHOCZN5XmNR3nv4uGF1cuR5jTDUnYLven57zRWV/Y9sn4/PPCf3mNXwuKUJvKCDiOARxe5kgGSIwS5K/n4q5y56mUcvPQotfes/bhhL5sjoxM5WEecqB1aDwRoCr3OZDKSXxY0f86CxutGWBIy0c25kgJGS2mYxmWejHbqMeMmZaAGh+d+3BHDPHtHViPg7BKtMJ3/cnYQWmeo9R8cTYYP9blOIx7b0RENnV7wdTQiKJwYKf1Fr0N6TednYLaKSPOYJZA84ZOCuwAwpwkJ/OubwdPlBaoSRchplbl+o/b8oQDtR989OidhO/tIDNFbAFXfIBlOGQPT6hU4vtg/O9NGK1OUEOUYPw4NhkT21h99eQNyqOrmbkKoA7Xk4IkHgktetZxklvJpKfj8xCHogMQqB8VfeMMcrhsFyQzWlTghJfWUwbKDVLDJNw23dsmbZR7NcxyTA+qg3wy5GbAfhT+kYVa73WFuRXsWLnXbrwyc+AeMHSZ/z3vIJmtPEfDoMdGtRi2R8tZ/IaDt22rpj51n+EUMFckWUCVBmmvHW8XoD8XHAMwakBEKK7SxGBN9R5V2q/IIvGdsfihMfXBT0lhFKuX1QjBe9Mu3Qh+D/n1ADjHDaL/T6Eggqd5dNueQetH83w0XtK7tdeNqEtzwz2xXoYP++th8Z6FYZlJd36E8IAaqU/7Xu8ss01iKrogme2T9Ydj20bCHdoCvNM8gkXHZRmfvxYwpvLLL+rXMjo0q2u7RURgFKg7oTl0yHDdpVYZSi6V6v60PBHsUxCejGj0uJ/L1NmuLbECK8o4WwUXgJKM0BNW7PA5cZWSmLfd6vQxPWKgdPIg80Ec46m3tOx6Ie4T6hLQAGkrxIdO6zHpaWL4TnPOu1gJzHTI4NZhijP9WhyHV8wA8H8FT1FLk4b+CI5qFwodV8F1X0jtHrP3AfzPV2BDReqLdKRGryHlT4Re/DTX93mlxgbqiqu64rlJpJWYr8oU3+N6jwJKXaeOChu50Yek9GUAQpgMqLfmxrqdcknwKES8UImp6XqpO9X+KTBHkrLuQ65GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019szsdVAQpqzFv2TWtXC1G3",
      "input": {
        "note": "Gripper settled at 0.40, holding the bottle's shoulder. Lifting the top end on an arc toward the base so the bottle pivots on its bottom toward vertical.",
        "targets": {
          "right_x": 0.32,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019szsdVAQpqzFv2TWtXC1G3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7818, 0.5709, -0.3714, -0.0231, -0.0288, 0.9983, 0.6491, 1.3415, 0.4995, 0.3321, 0.3183, 0.1951, 0.391]\nstate[eef_state]: left_x=0.2911 left_y=0.0018 left_z=0.1699 left_yaw=0.0009 left_pitch=-0.0206 left_roll=0.0005 left_gripper=0.9983 right_x=0.3305 right_y=0.1859 right_z=0.1104 right_yaw=0.2493 right_pitch=0.0873 right_roll=0.0348 right_gripper=0.391\nstate[joint_eff]: [-0.0479, -1.0735, 6.653, 1.9951, -0.0708, -0.0366, -0.0122, 0.2256, -4.4376, 8.212, 1.6728, 0.3101, 0.1538, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55d31a93808f3a640eea1c7441161bc95d03a905492546cdf711d581f0ddeda0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60da9387c43a964929f5b6fcfd4436257ac862fb1c2e0102d9e26d6f2d12042a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9adc10731b5b04be3a07c4831d76c20624eefe40d5bb470897d8d1c42871e9b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 11.11 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7944, 0.5999, -0.3862, -0.0231, -0.0292, 0.9983, 0.5617, 1.6768, 0.4923, 0.5007, 0.2882, 0.1661, 0.9956]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1767 left_yaw=0.0011 left_pitch=-0.0191 left_roll=0.0002 left_gripper=0.9983 right_x=0.3477 right_y=0.1638 right_z=0.0191 right_yaw=0.2029 right_pitch=-0.0802 right_roll=-0.0383 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.7436, 6.8171, 1.8193, -0.0806, -0.0757, -0.0122, 0.0479, -4.6838, 4.8889, 1.4921, -0.022, 0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5831, -0.3744, -0.0227, -0.0292, 0.9983, 0.5625, 1.6955, 0.4393, 0.7509, 0.2745, 0.1699, 0.3957]\nstate[eef_state]: left_x=0.2926 left_y=0.0017 left_z=0.1729 left_yaw=0.0007 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3586 right_y=0.1737 right_z=0.0435 right_yaw=0.2128 right_pitch=0.0846 right_roll=0.034 right_gripper=0.3957\nstate[joint_eff]: [-0.3761, -1.894, 6.9265, 1.8681, -0.0269, -0.0464, -0.0122, -0.6085, -4.5607, 3.453, 1.2723, 0.1197, -0.0513, 0.525]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7818, 0.5709, -0.3714, -0.0231, -0.0288, 0.9983, 0.6491, 1.3415, 0.4995, 0.3321, 0.3183, 0.1951, 0.391]\nstate[eef_state]: left_x=0.2911 left_y=0.0018 left_z=0.1699 left_yaw=0.0009 left_pitch=-0.0206 left_roll=0.0005 left_gripper=0.9983 right_x=0.3305 right_y=0.1859 right_z=0.1104 right_yaw=0.2493 right_pitch=0.0873 right_roll=0.0348 right_gripper=0.391\nstate[joint_eff]: [-0.0479, -1.0735, 6.653, 1.9951, -0.0708, -0.0366, -0.0122, 0.2256, -4.4376, 8.212, 1.6728, 0.3101, 0.1538, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55d31a93808f3a640eea1c7441161bc95d03a905492546cdf711d581f0ddeda0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60da9387c43a964929f5b6fcfd4436257ac862fb1c2e0102d9e26d6f2d12042a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9adc10731b5b04be3a07c4831d76c20624eefe40d5bb470897d8d1c42871e9b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQStQcKEAgSGAI4AUIIdGhpbmtpbmcSDDyNbNsucl6aU03gIBoM7NfW2BA05Dz/Q4GpIjBy/5Gl8XoPzVz3SThCrXgPm072MOYeXQBQBJVzpV1onNqBWEQrcUCL4xY5SFnDOocq0gaxtsRDEH9rDqjpYhjM+xKr/wttIn8obFaEBVIZI/JXhZ/7y7mUUhKxQmv+HvHo3KyJSINfCOK8jZYmRf/CH8kcRc8SrLfa1U3Xu14BFuCZK3I+Xiwnftt7t2KGsLfFkQJP6ah0lshFd0MoWIrDy17+UvYRpozM7SUn/zz/0yBi1WdOuykNu4NV/Me4tF1WXbpsAcfCfrpgJfTj6Asno3FGDp+w67AWjFCicQ73oYgcri0Fj89/8K74XSSfH1GLq4jITQs8x5HY2GXerESihROXSFAGOGFvmoSw1zfOVPYAf8LherS1GE9PGrNI29/WSFce84NE0S88xPvPKGXVMhgabHRnkKFbffY3RoOg3CgROcfgEjDk8rJ/dBeoZorU24vbeMfLEDzrVtGYBImPy/2FsBw7ww2O2J0gRjVM87/fJLnJ/I2ds8/NXxmEEafvTOX7lICUip1kQBngqKBaXVFgH9PlDUbemwwtAVw1bFMcEAfTLrSGfVN2OgRWRU5gSEZjX/MVDbNOaKsgqR3T4VwvPkmg1dlGoyyrpABk6enRpa6eiLlUkryLyRGhW8HtmxaxDfexsQ4c0TgQVdiry/FeX6NSC7leXfIrOcfzE2ZxWJw/eaUvRfIuVYB1BuNz63Udsq7gPt4e/RP8mtn1QUQLJkX2HCMqFT2WLlKGGcvhUsj34pI+Q67WABgMvWxXNiQ5u2Li0lppvXeWIeJeBOw2Y4K6yYuVU6UeXUSIizVHpB9yFLWeRmvaRBsW7S5a38iAsnIQGjZ1bWa61hU5DRreck/eowg1YuF4gybcYeUOxMHIQVMZGrMRd/eEVZQ2INZAVLX+9bwpKiIP9fXxiXBSA7jLy6IJetihj0na5zlS+TI3BfcSubOKb5Fct/d9MyMx5IyvumJHOAGUkKL10j5xxVG40RFdUms4fzy1/deTe//jnXqpee40MZIla/EVxF+dJY+MIKHH47R2PGZxKc9A3a+G51lJm2+zY+UfbPDuJ3Ga7pTQOPb2kRFCb2Cl7UE+8pBKrpmH8TVga+aSD8suEbv2kJ0DKRD4NcKM6PhJQSdNjFy0onh6NZz7VdKaAFdpBLPyGDEZPY9Yo7ZLoi/OWbUIR2EdKoQlRM5uW0iGyBVAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LtD9VMpoL3PFAN2mbZEr8K",
      "input": {
        "note": "Bottle is still in the jaws and tilting up. Continuing the arc up and back toward its bottom end.",
        "targets": {
          "right_x": 0.24,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01LtD9VMpoL3PFAN2mbZEr8K",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7731, 0.5541, -0.363, -0.0231, -0.0292, 0.9983, 0.9478, 0.9985, 0.5785, -0.2604, 0.5114, 0.3573, 0.3912]\nstate[eef_state]: left_x=0.2895 left_y=0.0019 left_z=0.1663 left_yaw=0.0011 left_pitch=-0.0202 left_roll=0.0002 left_gripper=0.9983 right_x=0.2421 right_y=0.1949 right_z=0.148 right_yaw=0.3064 right_pitch=-0.0104 right_roll=-0.0039 right_gripper=0.3912\nstate[joint_eff]: [-0.1299, -1.0735, 6.8034, 1.9512, -0.0317, -0.0806, -0.0122, -0.3624, -2.7829, 9.5111, 1.7411, 0.3785, 0.149, 0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f844291bb89d1004c7a583cdcfdc803e41da45aa2882c40b28f38d40ea5a5d4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a85f898a39633af24e189a0516170d463aed1bede1df6c738929257aab9e90d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:59b747626cef2b2b20e18fcde929620b59ac9b1618264cb5fe3be40b4d780589",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 12.37 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5831, -0.3744, -0.0227, -0.0292, 0.9983, 0.5625, 1.6955, 0.4393, 0.7509, 0.2745, 0.1699, 0.3957]\nstate[eef_state]: left_x=0.2926 left_y=0.0017 left_z=0.1729 left_yaw=0.0007 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3586 right_y=0.1737 right_z=0.0435 right_yaw=0.2128 right_pitch=0.0846 right_roll=0.034 right_gripper=0.3957\nstate[joint_eff]: [-0.3761, -1.894, 6.9265, 1.8681, -0.0269, -0.0464, -0.0122, -0.6085, -4.5607, 3.453, 1.2723, 0.1197, -0.0513, 0.525]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7818, 0.5709, -0.3714, -0.0231, -0.0288, 0.9983, 0.6491, 1.3415, 0.4995, 0.3321, 0.3183, 0.1951, 0.391]\nstate[eef_state]: left_x=0.2911 left_y=0.0018 left_z=0.1699 left_yaw=0.0009 left_pitch=-0.0206 left_roll=0.0005 left_gripper=0.9983 right_x=0.3305 right_y=0.1859 right_z=0.1104 right_yaw=0.2493 right_pitch=0.0873 right_roll=0.0348 right_gripper=0.391\nstate[joint_eff]: [-0.0479, -1.0735, 6.653, 1.9951, -0.0708, -0.0366, -0.0122, 0.2256, -4.4376, 8.212, 1.6728, 0.3101, 0.1538, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7731, 0.5541, -0.363, -0.0231, -0.0292, 0.9983, 0.9478, 0.9985, 0.5785, -0.2604, 0.5114, 0.3573, 0.3912]\nstate[eef_state]: left_x=0.2895 left_y=0.0019 left_z=0.1663 left_yaw=0.0011 left_pitch=-0.0202 left_roll=0.0002 left_gripper=0.9983 right_x=0.2421 right_y=0.1949 right_z=0.148 right_yaw=0.3064 right_pitch=-0.0104 right_roll=-0.0039 right_gripper=0.3912\nstate[joint_eff]: [-0.1299, -1.0735, 6.8034, 1.9512, -0.0317, -0.0806, -0.0122, -0.3624, -2.7829, 9.5111, 1.7411, 0.3785, 0.149, 0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f844291bb89d1004c7a583cdcfdc803e41da45aa2882c40b28f38d40ea5a5d4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a85f898a39633af24e189a0516170d463aed1bede1df6c738929257aab9e90d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59b747626cef2b2b20e18fcde929620b59ac9b1618264cb5fe3be40b4d780589",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS+BYKEAgSGAI4AUIIdGhpbmtpbmcSDNAiWIQ517YzxY2cRRoM3P//sXOyOpdN/iIYIjCQvtix7noZGFddLwTLzer0pEDoE/YIw8xjhfU9pHRPWv7gL5fit2g1f6PLuZr2Jw0qlRY2QsBVAa7CbYgNUgMT2cO75dZDsuwnuvffbj1+rJWCXMmCuMG5qVe7CnRFI0masgJZz5VM3q9+PJcIIWfg0BIDK5UX5DzWm7xxVDifuntC/W/ARLHmXCr+VPi3sghTzfqU2xxJvUoFLR5j6hgmuJoIa2xM1C788W/N8t4jxTJrKRfkq9A7uSc3AhnHuHySWlwCmvm1DMoLocWf4fJuJ44zCKYsOuB7+cI0JtSjwLvYhoSSg5Idqt9/T5hI33VmDfnbm39qta1FDC9YbznKE0pB+wEtleDiWvJuGdABkrEF9IYfUQydYtMhxNJv2TWmzGJd7zfq7V5fKpy5blz87/0Lb5wBtM+dW6yQOx7zzwsgez03p4Wxvlbjbp0axFqe+dj+9Rsx6YiydEy2MR+y3imQta3Bw6Wp7CfWxZ1gKRATvYVjwOpHQ2sIbqAvQQd07AwCQYRsNBweHZQ+5hzuAjeSSrwoCTZ4BSaz+CBBrc+n/Rfu6070tYY+cuDRy58+OBPV5Kl9hog6hYEu9pxsZz7mHggl7k6gtmjAmfyDsss2/ByRg6DjfQ20THim+MGpRlBpHVwnENPJfTtLfObU1N95FM0/h+nOxCgYEwN4dgAFbsQV3FwV4sgPBZ7yGe91fLy9YPWsEmyrYXnRC+glQ8dk9zMGuhviGP2YXGBy8Hci6p6G8wAEwA5kh4jjvBCfPhYVLUBII3+6lehtxTE7w1shVhaZ58E6mowmze5tWk3a/8+iOnrT9b2tvjlBYJl89bnUJAvzIFQRxRhbjQU5Qcqb0DMvA1zx8Gu96TfeZHPrpoCLBX2vYFo0Jyv668Plx6e0PSqCzGBn4c7Lzer0kEKVKHFfpqEx41oAsDXo1QS3K7kUrZa8BbWcAAqtDvX6dhJvg2HKMBcwsTl1TJbMpvKpFtQFc/GejHc844RXiIuzL3W0eLSfdVmgbm0HtuCV1IVjJJmYbbavbSaZDufA9zv0no/cEZvSUmoCnlhw+3C/yeoixRX793nwEgGvNW9LwtU7cUEgqk+fL1d+TUATPd4iBhnmLpgqHy852VtO/36r/ddsEyxGP+hPKcyQggX8z83IhNJnNwZodclImkVkc9QpsB4iv3MLd6rkx5rPuIe/aDjajPrXlSAfyuVY5WHuzF9BkBxb3aXFccTzBjrk5wWRQnDZsTlMSNC4d1ELhMcCVY0HGVySaDUTJKmmZyAeVPYujJYONfPIwdJEIME3G1ZLFZ+Ztq3S4IgizdRVbmG8mVUE4/s8T1O63fObIn282OFnPzZnXWRTLyt9lbRnEnbu/7D/SVSPA7PbxX/LbgQMidNL4Vv+7OyH/DPFI2vsjAW8TkimpqgkyE1MVt0Ikim+cysR3WW1TbADs5k38bY2QkcSIhaH5P7c+UpWS8DUQ2dD6ZFC+g4PpbzaBIVTNIWK+6UKLhLMvc4pWxAt2ycDltUDlggj4PzAYpU3TFzkmycQ1lgEp3QFzyqxyuK9ywig+Eo1Lm9MOzheSLmkGAM1lRcLmDjmUz2FNMizaoATPB1jSKkAdWXJiZv4dYZ8xqUXkcgHt2nLAzBegGinHLmJLZ+eQfxXZuNRhvijLAuGtVc3ed/gdKdRAinh4s59AV12VLq4k+v5/P/ig+ylJIrgw9vLJbdvMl+305qHwheKN6uuaAp2vT323f+CbSB6td/HJC+WXwFd2ACA5ONEYZZDV0VRGu7bjdTEeRr69ihpk2i43M8x1DLAJexXG9EnK7WnSCu1/h2tDKZKThwlEY4jjhA2+H2CRMiQB+BMWQxbHbmFg3EO/eoiHW/YDRJAcqKJoWq7+dqlSJhkrJ2lD0UwOaNQVxi4dNcp7Q1dy4/vD/8Jhwv9yj7IrHiAJci3ru5xqctrjI3Xa8HWy/sB21BdxJDsDfAG/u/KB10Tsk2ebwNrukmUlauWdv9Ig9ilJX0PFxM+LOpL29sth5MEVoDnNHYKnE7uaz2DXEn5nZeKPAQnDvkNs8QTi8g2xh5+27KG1571unzlKUaLZPL2BXDP0/Oi/eeRYn4INghMxtdTxd26qdguvQ34lJJObVxyDOFXZ9qlk1a3LWUFkYGCKmOs5i3e3TbMV9L1N1DaSKTN8dr8WfQGNRTjKvFxGPqO48nqS2A1O6zu4duG3cZsP3zQULFvkV775VHSm9+MsG7W8S/LMI/oFSPml66Ev4LeF+KzBPC9JlyKmg7MVz1UpYt7vvKF//JvbcfHaQH2shwTMOzQwwVPZFTgvZLhj9eFhNpIorUngEoNQAd5qs8asm+t1cTjX65JNwagSq4SlXo/ME2qAnMtpWaIoq8TIdPCc568y1pcSIw9yIicilJaT2RUlGgl3bwDBma/YcyRaG5TvLV0bQZcmId0IvbQeiK+RFTfqrqC/g7Kl33SrCaDoUKn82cQa0OwFas/0ypw0sTeLr5LP/g3HuxVkwx9MeEIwotBZd3NsKBNZIBw9JiaMhn7u77DrXgZZddjSeVLxCncxF3E/Khcs2KLrqkBskXDkWY9PhsS3BrdainYMyn8tl+XjGLr5otU2LPqFzY4FQgvGW3igUOvo41pGpRozkYYLZyPEyTzUymPyM69GK41xfi4Yv3uLA4ZopvWKnL7Ecx058VmLfzir4G3Acv1kapL0gC6oCI76JG8WMPOnH0PsmO0UFawpYrEA1GZ11L7IZ06fFF9FZWOGTLaBLZT409GVB9vUpeAUrLMEID+OOIrbkpiuoF5y2PYwz2RrINlza1JTPbsIT5mrZ9hF8B/+ivPTzwvibQSq+KPy6TIBt/RUMhS7hJfngQL5YoSL6irat62su0bNEXGWR4SwalXrQVBhigr+DbZdCM73BFWkbK2WnUcTXAVTbFNDfTNmIZHfYX/T3503AIKPXLT7mXIEaDUh6U58LoX/erPooY4lejjKTo+TZVI5Pts3DZEy2vvX1p2bTiD+tR4Km4EI+Zi/TnxHKtIGNVvzk/TzZSy12qc0C0nu5ixINmSBtVB+av6/Bu/Htxb9dEtKzM6iHMtIuJILuoRcAxrh0DwwnA4HD9X+T2MfH5qiqp6bHxBt/aUQ+LqbiD9HggcvS3gOw1Uoe6tE/gTfLBUzU9hslEn0EXUOdU1Y7FFE2rYI/FArnSb5gCqACC8UhkQ9AEOgdsGg5sSlI11zM64JnSJP1uggQmXL/EYrvFEQgB8Bvg735TPhYazj1kXJwtR7n2rMlQozUvNmInXSxyfq751P4zJ5C4SzEATU4E9UZw1rS3rv3VoXI9Q4N6H8gmUk+OPTLqtVG9/vHAhogFIcNXh9xYe2K9Esd2+Zprr21jHC9vF2IMguODe+V2oEX1rLtNK2j2pPpgd+PchXF8i92ulekbM1m+gNdHTGsJhDObtZNBx10DbJic4eTz1v2zzFykLdlaYJcKn1uJNkBKgkqFYGDcqkEeDP/hRrSAzp+bOqTW88Qd8uR7GgUXDjxgq4+qQ7JtIRqZalRsnA8l4mTNgYEmf91E6/wKQ8PeMW/Iryt6dMyTay1NXppjhrKKk0Iy0kTd5hdoTnAj1EiQgJwfRF8kHlD34iXNaQEaSbC+0DlUt5tKdwGVA1UroHaNtXCPvBGQ+aI85gdQL+kBvN/cjTw02XcKZi0InTJvEiRf4VqRdY2h+S7ihvvG3gB8HfmqPcRXqqrO7G9kWDGFyVjjkPIj+K7aaeYQavlYlHsKYdlnzoIwobT8/2ovKISvc6qXM8xK3AtYxVPfln3rEuRi3Hz8zM9CTvlKcgUrjHv1pdvDv7AzbS8hzzJSCxoa/WxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013UEm8spipwWVireciwN44i",
      "input": {
        "note": "Unclear whether the bottle ahead in the wrist view is the one I hold (gripper reads 0.39). Lifting higher to see if it moves with the jaws.",
        "targets": {
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013UEm8spipwWVireciwN44i",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7662, 0.5373, -0.355, -0.0227, -0.0292, 0.9983, 0.9535, 0.9958, 0.9211, -0.6102, 0.5121, 0.3435, 0.3912]\nstate[eef_state]: left_x=0.2881 left_y=0.0018 left_z=0.1621 left_yaw=0.0007 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9983 right_x=0.2407 right_y=0.1957 right_z=0.2335 right_yaw=0.3189 right_pitch=-0.0137 right_roll=-0.0185 right_gripper=0.3912\nstate[joint_eff]: [-0.2393, -1.7162, 6.8581, 1.956, -0.0366, -0.0611, -0.0122, -0.6769, -1.812, 9.5521, 1.5751, 0.1832, 0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25b5484d876d392de299442742f8dc737b0ad4d2983e976ffe2cd1adc22cfa9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9e0a19edaca7340e33d025b6887b16d8fa92d7d70d1828b68881200a3558572",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c12c0e0bb6f05a57cb1a42dc653dec312ed4671f8012fd392d794a2cc3e6d93f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 13.45 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7818, 0.5709, -0.3714, -0.0231, -0.0288, 0.9983, 0.6491, 1.3415, 0.4995, 0.3321, 0.3183, 0.1951, 0.391]\nstate[eef_state]: left_x=0.2911 left_y=0.0018 left_z=0.1699 left_yaw=0.0009 left_pitch=-0.0206 left_roll=0.0005 left_gripper=0.9983 right_x=0.3305 right_y=0.1859 right_z=0.1104 right_yaw=0.2493 right_pitch=0.0873 right_roll=0.0348 right_gripper=0.391\nstate[joint_eff]: [-0.0479, -1.0735, 6.653, 1.9951, -0.0708, -0.0366, -0.0122, 0.2256, -4.4376, 8.212, 1.6728, 0.3101, 0.1538, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7731, 0.5541, -0.363, -0.0231, -0.0292, 0.9983, 0.9478, 0.9985, 0.5785, -0.2604, 0.5114, 0.3573, 0.3912]\nstate[eef_state]: left_x=0.2895 left_y=0.0019 left_z=0.1663 left_yaw=0.0011 left_pitch=-0.0202 left_roll=0.0002 left_gripper=0.9983 right_x=0.2421 right_y=0.1949 right_z=0.148 right_yaw=0.3064 right_pitch=-0.0104 right_roll=-0.0039 right_gripper=0.3912\nstate[joint_eff]: [-0.1299, -1.0735, 6.8034, 1.9512, -0.0317, -0.0806, -0.0122, -0.3624, -2.7829, 9.5111, 1.7411, 0.3785, 0.149, 0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7662, 0.5373, -0.355, -0.0227, -0.0292, 0.9983, 0.9535, 0.9958, 0.9211, -0.6102, 0.5121, 0.3435, 0.3912]\nstate[eef_state]: left_x=0.2881 left_y=0.0018 left_z=0.1621 left_yaw=0.0007 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9983 right_x=0.2407 right_y=0.1957 right_z=0.2335 right_yaw=0.3189 right_pitch=-0.0137 right_roll=-0.0185 right_gripper=0.3912\nstate[joint_eff]: [-0.2393, -1.7162, 6.8581, 1.956, -0.0366, -0.0611, -0.0122, -0.6769, -1.812, 9.5521, 1.5751, 0.1832, 0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25b5484d876d392de299442742f8dc737b0ad4d2983e976ffe2cd1adc22cfa9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9e0a19edaca7340e33d025b6887b16d8fa92d7d70d1828b68881200a3558572",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c12c0e0bb6f05a57cb1a42dc653dec312ed4671f8012fd392d794a2cc3e6d93f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U82ZMAM6euf83LyoWn2vCj",
      "input": {
        "note": "The bottle hangs from the jaws by its bottom end with the cap pointing forward/down, so lifting would stand it upside down. Laying it back flat on the table so I can regrasp at the cap end.",
        "targets": {
          "right_x": 0.33,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01U82ZMAM6euf83LyoWn2vCj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.5167, -0.3458, -0.0227, -0.0292, 0.9983, 0.6514, 1.5146, 0.4694, 0.403, 0.2874, 0.1574, 0.3912]\nstate[eef_state]: left_x=0.286 left_y=0.0019 left_z=0.1573 left_yaw=0.0007 left_pitch=-0.0233 left_roll=0.0 left_gripper=0.9983 right_x=0.3239 right_y=0.1885 right_z=0.0505 right_yaw=0.2988 right_pitch=-0.0414 right_roll=-0.0304 right_gripper=0.3912\nstate[joint_eff]: [-0.3487, -1.4154, 6.9128, 1.8681, -0.0562, -0.0366, -0.0122, -0.4171, -4.465, 4.5197, 1.0281, -0.2173, 0.105, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9cc1486a3b8abed40979c1b930157b455d458f4d1ff14b0d4b8ec1ed0ad4362",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3abca1da11c758395ffe8f467a111ff84850b02d54f4b2c2164ee15cfbbe54b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b9b123d5f0604fe7c4844e9de388bb696cbc393086077f652670ba1c4313c29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 5.448 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7731, 0.5541, -0.363, -0.0231, -0.0292, 0.9983, 0.9478, 0.9985, 0.5785, -0.2604, 0.5114, 0.3573, 0.3912]\nstate[eef_state]: left_x=0.2895 left_y=0.0019 left_z=0.1663 left_yaw=0.0011 left_pitch=-0.0202 left_roll=0.0002 left_gripper=0.9983 right_x=0.2421 right_y=0.1949 right_z=0.148 right_yaw=0.3064 right_pitch=-0.0104 right_roll=-0.0039 right_gripper=0.3912\nstate[joint_eff]: [-0.1299, -1.0735, 6.8034, 1.9512, -0.0317, -0.0806, -0.0122, -0.3624, -2.7829, 9.5111, 1.7411, 0.3785, 0.149, 0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7662, 0.5373, -0.355, -0.0227, -0.0292, 0.9983, 0.9535, 0.9958, 0.9211, -0.6102, 0.5121, 0.3435, 0.3912]\nstate[eef_state]: left_x=0.2881 left_y=0.0018 left_z=0.1621 left_yaw=0.0007 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9983 right_x=0.2407 right_y=0.1957 right_z=0.2335 right_yaw=0.3189 right_pitch=-0.0137 right_roll=-0.0185 right_gripper=0.3912\nstate[joint_eff]: [-0.2393, -1.7162, 6.8581, 1.956, -0.0366, -0.0611, -0.0122, -0.6769, -1.812, 9.5521, 1.5751, 0.1832, 0.0855, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.5167, -0.3458, -0.0227, -0.0292, 0.9983, 0.6514, 1.5146, 0.4694, 0.403, 0.2874, 0.1574, 0.3912]\nstate[eef_state]: left_x=0.286 left_y=0.0019 left_z=0.1573 left_yaw=0.0007 left_pitch=-0.0233 left_roll=0.0 left_gripper=0.9983 right_x=0.3239 right_y=0.1885 right_z=0.0505 right_yaw=0.2988 right_pitch=-0.0414 right_roll=-0.0304 right_gripper=0.3912\nstate[joint_eff]: [-0.3487, -1.4154, 6.9128, 1.8681, -0.0562, -0.0366, -0.0122, -0.4171, -4.465, 4.5197, 1.0281, -0.2173, 0.105, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9cc1486a3b8abed40979c1b930157b455d458f4d1ff14b0d4b8ec1ed0ad4362",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3abca1da11c758395ffe8f467a111ff84850b02d54f4b2c2164ee15cfbbe54b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b9b123d5f0604fe7c4844e9de388bb696cbc393086077f652670ba1c4313c29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015KGa7NpnC7rk2PYFaVzojo",
      "input": {
        "note": "Bottle is lying flat again with its cap ~8 cm ahead of the jaws. Releasing so I can regrasp at the neck, loosely enough that the bottle can pivot as I raise it.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015KGa7NpnC7rk2PYFaVzojo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7456, 0.5014, -0.3325, -0.0231, -0.0288, 0.9983, 0.6418, 1.4292, 0.4541, 0.3378, 0.2604, 0.1555, 0.9956]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1558 left_yaw=0.0009 left_pitch=-0.0149 left_roll=0.0004 left_gripper=0.9983 right_x=0.3163 right_y=0.1841 right_z=0.0611 right_yaw=0.3127 right_pitch=-0.0421 right_roll=-0.0151 right_gripper=0.9956\nstate[joint_eff]: [-0.335, -1.5248, 6.5846, 1.9707, -0.0513, -0.0366, -0.0122, 0.1026, -6.3111, 8.8137, 1.8681, 0.1929, 0.1099, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:664327a10271bac92d0775813f75afd0b46b54133e320a91b055f3d38dabd5a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d78bd5568a4a9020a3fba69cb98fd2e71c8dc732e7df54e5e9931080ee1f39d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2dafdc533ebd4e3d810e1265e8455619e39e1bfdbe7e2462a4d4ff3444a897d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 3.762 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7662, 0.5373, -0.355, -0.0227, -0.0292, 0.9983, 0.9535, 0.9958, 0.9211, -0.6102, 0.5121, 0.3435, 0.3912]\nstate[eef_state]: left_x=0.2881 left_y=0.0018 left_z=0.1621 left_yaw=0.0007 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9983 right_x=0.2407 right_y=0.1957 right_z=0.2335 right_yaw=0.3189 right_pitch=-0.0137 right_roll=-0.0185 right_gripper=0.3912\nstate[joint_eff]: [-0.2393, -1.7162, 6.8581, 1.956, -0.0366, -0.0611, -0.0122, -0.6769, -1.812, 9.5521, 1.5751, 0.1832, 0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.5167, -0.3458, -0.0227, -0.0292, 0.9983, 0.6514, 1.5146, 0.4694, 0.403, 0.2874, 0.1574, 0.3912]\nstate[eef_state]: left_x=0.286 left_y=0.0019 left_z=0.1573 left_yaw=0.0007 left_pitch=-0.0233 left_roll=0.0 left_gripper=0.9983 right_x=0.3239 right_y=0.1885 right_z=0.0505 right_yaw=0.2988 right_pitch=-0.0414 right_roll=-0.0304 right_gripper=0.3912\nstate[joint_eff]: [-0.3487, -1.4154, 6.9128, 1.8681, -0.0562, -0.0366, -0.0122, -0.4171, -4.465, 4.5197, 1.0281, -0.2173, 0.105, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7456, 0.5014, -0.3325, -0.0231, -0.0288, 0.9983, 0.6418, 1.4292, 0.4541, 0.3378, 0.2604, 0.1555, 0.9956]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1558 left_yaw=0.0009 left_pitch=-0.0149 left_roll=0.0004 left_gripper=0.9983 right_x=0.3163 right_y=0.1841 right_z=0.0611 right_yaw=0.3127 right_pitch=-0.0421 right_roll=-0.0151 right_gripper=0.9956\nstate[joint_eff]: [-0.335, -1.5248, 6.5846, 1.9707, -0.0513, -0.0366, -0.0122, 0.1026, -6.3111, 8.8137, 1.8681, 0.1929, 0.1099, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:664327a10271bac92d0775813f75afd0b46b54133e320a91b055f3d38dabd5a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d78bd5568a4a9020a3fba69cb98fd2e71c8dc732e7df54e5e9931080ee1f39d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2dafdc533ebd4e3d810e1265e8455619e39e1bfdbe7e2462a4d4ff3444a897d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2QkKEAgSGAI4AUIIdGhpbmtpbmcSDLvctwb7rjQL2UzjPhoMMJ+8RGLE6qDLf1lAIjAzcaKsOnf+l6Ezv5cJW2BvstpgYBdy+7h9wqpJ9BNNW5LSSFtY7ZdklqgsYf/A7Soq9ggvNZcl+MZ3+cYRnirrtkYC4WZJFGf8d+rD6vtJTs8axmlWw8N/aE4oV5Xjkg6KtfFocB9/+6wa69UNwDzz95uWZNA6NL20XtbXwszGNVS24Wyt3LrSTdl8KmYLWKpMZrRYrve2wBCwH1zBoLa/84ElwtKOwZoP6ht+fq6AfaYePmr1HvAWQNpfXRsVVRPvVNGd4Fl6rt6fooJ9FK4IPJMTumbqNdq0/4E4gfZxVQtF7ZFlo29j7Mp+ZMwT6fsUmXSTId9GaQugSOaPReLVnG4bBFpoX5DzpdFKKov3HLf0V++OaBFWg+L+qRSnsmgAy5e0ejmM8d/FSWCJEYRwpiza56CZYYJD/rMHorHG61Bes8xXjeZyJcwrpBTQI8AUFzeox5nMRnjzDdiyWb272MpqOTvl6g69a5wIlfBqfUZ9y3yhrANJfCeTeqnbrZ08VMK/hV9Vh9C/kZAtOnhr6w5srlF0xDioH+bIK/otwyX4szoLhTOfb0/ibJl5w/HJJ6eeHRpyOj4G5jwBRFHSoUxAGbyFxT9+amZIX9DBDxfZ7VWMPTbmIcw+uD2boSZGRYgLmCdwoZqD+ESc5K8JwzMlOWxxgoX8TmWKPanBs41nzoYnkDz5t4kiuXJMOhWmz0hquOObquGgfSYNmU0a/4tAUiuuBATnnF2PR9CmFHXCfyeocoU3VXcw1tm7cRkT4MDKiJ56Jiqp6Hn/QkEAURCAkxB05pJ91R/zFQWTrZgKCKz14tPqB1Kf6m4S/6Dp+UAtV6NJEKY9fW47TsYuz7i86WhxG4tnQABd+0ZOYKrFLoBayCJB6NwotFzBhjqY6EDROv2vbTguYRoyaFNnb7Y/ExnHTpgqBacYezTub/Clt1a5S2r0Uw+TUEYBbjyAJoznH9SyyWeRtjhAHidGtWHivFJGSvckG/y9SXVj36rXtcxoE69bAM2WkTjkLq7v5/CFA7c49mOO+0WCmV8Ufp0vLIG67rumUfXEOabFD2AAceMp5pYCUs2OF6BnszEvaxKHQoocHdXIc2Pc8/zVBRus5jcPscIPPPzAIR5d9B2Ffhvo8N5Rrgf0y/emm9oGVs6524RqcwsaDASkV4f9Gk4BaU1EaIatk535C0u5EVF5TRIpDtfs76prVnyawaM5ki8MfT+zfw4j4/1OnLLPyf05SDY7+EnP1Vg0ph4AS4TCRLxgUQJlxvovZ5+wq1Y2uAAAPWDWO4+IQH+RppwnG+2JDoK06uV8yfN5c4trPWg8OF+GwJ78cRtu2sb80qkkz8K7MpWlfv/s6ouf8lErJbSH30bMpoSFa3HvMXqnCrL5zap+yJXCaweQa/y10OzIPHw8ggnPnfPLQHYes1ora8YZb2r4yrBScPLjq8EJY20BJ/ME5K+OlMkOdPDV8VYmnXvnZN9PeJRuby6nzWrSs08i5373c0gYOFe5Vxo27VVL1KFIl46UqaH1V16EAR9QfQBu5P5Aqsz2smG1Yyu2S+LIIiBqMrH4/ltXgCJsI2CdgN/go/fjHxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016CGCQxMBXhwR8sdu6jJaRw",
      "input": {
        "note": "Cap is about 8–10 cm ahead of the jaws, centred. Moving forward and down to straddle the neck just below the cap.",
        "targets": {
          "right_x": 0.39,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_016CGCQxMBXhwR8sdu6jJaRw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.5026, 1.7466, 0.5724, 0.5396, 0.1375, 0.075, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0007 left_pitch=-0.0095 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3724 right_y=0.1812 right_z=0.024 right_yaw=0.3194 right_pitch=-0.0573 right_roll=-0.0093 right_gripper=0.9956\nstate[joint_eff]: [-0.253, -1.2786, 6.147, 1.8388, -0.0415, -0.0464, -0.0122, -1.1966, -6.4342, 6.5299, 1.79, 0.2027, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1074d37110c4bab68b1ea761734e2a3279adf08361e53fdd8313cb00a030c3c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:849ccd59c873d8404ea4d34eefb59fa56fbd143098baf0b423305f6a032f62b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aed569b344acfa28b6a94a56389744948115f547cbcdea190c715efb142cf2ae",
        "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 · 4.979 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.5167, -0.3458, -0.0227, -0.0292, 0.9983, 0.6514, 1.5146, 0.4694, 0.403, 0.2874, 0.1574, 0.3912]\nstate[eef_state]: left_x=0.286 left_y=0.0019 left_z=0.1573 left_yaw=0.0007 left_pitch=-0.0233 left_roll=0.0 left_gripper=0.9983 right_x=0.3239 right_y=0.1885 right_z=0.0505 right_yaw=0.2988 right_pitch=-0.0414 right_roll=-0.0304 right_gripper=0.3912\nstate[joint_eff]: [-0.3487, -1.4154, 6.9128, 1.8681, -0.0562, -0.0366, -0.0122, -0.4171, -4.465, 4.5197, 1.0281, -0.2173, 0.105, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7456, 0.5014, -0.3325, -0.0231, -0.0288, 0.9983, 0.6418, 1.4292, 0.4541, 0.3378, 0.2604, 0.1555, 0.9956]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1558 left_yaw=0.0009 left_pitch=-0.0149 left_roll=0.0004 left_gripper=0.9983 right_x=0.3163 right_y=0.1841 right_z=0.0611 right_yaw=0.3127 right_pitch=-0.0421 right_roll=-0.0151 right_gripper=0.9956\nstate[joint_eff]: [-0.335, -1.5248, 6.5846, 1.9707, -0.0513, -0.0366, -0.0122, 0.1026, -6.3111, 8.8137, 1.8681, 0.1929, 0.1099, 0.0806]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.5026, 1.7466, 0.5724, 0.5396, 0.1375, 0.075, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0007 left_pitch=-0.0095 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3724 right_y=0.1812 right_z=0.024 right_yaw=0.3194 right_pitch=-0.0573 right_roll=-0.0093 right_gripper=0.9956\nstate[joint_eff]: [-0.253, -1.2786, 6.147, 1.8388, -0.0415, -0.0464, -0.0122, -1.1966, -6.4342, 6.5299, 1.79, 0.2027, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1074d37110c4bab68b1ea761734e2a3279adf08361e53fdd8313cb00a030c3c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:849ccd59c873d8404ea4d34eefb59fa56fbd143098baf0b423305f6a032f62b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aed569b344acfa28b6a94a56389744948115f547cbcdea190c715efb142cf2ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStgcKEAgSGAI4AUIIdGhpbmtpbmcSDPxFM3uHFgdNN7Vv/BoM1UXL3aXeJuvMvzYdIjCMZusIyvOgJ/6/upWFJRMrwh+vt5RI13/EWeT81SmcPW1pbAZ7Eiy9EehV3O7eTnIq0wZh5Bw0LO5URyUe1PopRwvBGwuHtBCovosxqQl4Ik1NX2wojHHDHKQTcvsqv8JVaE6zvw6SfayNymi7iosKIbEovQwdMxXDBkUKSmxoZPUFjhO+UEKSc6hCotEAuRwz+SVWD2yjOlZZ6Jxw5k+skwe6jxcc//EBoMHVmLA8loFJzP1qVqYBqq9pQg9u0Lm4RQOR44UXw4p1WdGaCK8P84i+krgGT5wgu3zEg70C1G5TlFKtBWzeGi8WUhT0tNIOKYAfD/A+ZDAyzp7dsenMyXoJ3a/yFO/0gxaFM4UQA/ViRPEYqV9WW0ZyOx/oo+HTGondVLCRPOSN+drelWzi8YU9IwpdgFAD8YmaOxh8MMQvW+MTI3U0ELaquU3xIHoK0TV8wQbQuy1cwzCsjFuCZD1NhM/DdQ8MtkRA2+rhlA+/n0AI9cPkESZsEyJc3yCcqafy92T8Njgi0+GbENPsvF7OPx88pXsGIK5eCpwcB9wcVkU6hjg6fRTmmnHRNuOnbxHrvo8qcOutirYAgFo2aSb4nvu4gm9GQjpU7uP0n96ZsmfuQ/UjMbE6NWzKG5q6357+mBPK6rotk4zCNBTrB+pXFCJqZlyld+RB5izhpnk69Bc9LM94+D41l+y+a76HvlX5x2uVg0PqIvtXQcWrms0wQW06OccWtO/3RAJ8yIib2N+U3WxWtEeum+Jkr2nKZyFswbvCaxH3kanp+IeXhgX67q+15J1saBYHBvcEFxebMPL2ejqkYwcrihPiTkTXNY6sGxP3KMgzBLIqdM/k3///jXcaFRrXlKX2CCvPL35zEfHNtjaJrBb8sywHwCa/Jo2B6sHigSj2Xt4yvBvLLExycIeArAebyS0eYz7SJAB0C7ot33EFTkcKpvHKoN7XGZdoAa3SaFmr4juriMphuIJjM2XW6poRj/ugYGE6efviCiP9ReVCV7hYLONhnA4cmaG80gfz4a0FAKYc1HsH8Jae5inV3BTt7n5pNoDn5BHAam5y+K6FiYFnJLq2itnSrvBczrl9abieuwYYsa2DYmc4Uk3NhiWyTgRdevzVqLX2yWieOjlX6IcHe34rvGcI+83hN7s+xKo1LgdBmPuPLA3o/VDzuNLKp0co7OD99v7MmG0+RhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L4NN3c2nv7NvjZPUwoDXbz",
      "input": {
        "note": "Jaws are still over the red label; the neck and cap are a few cm further ahead. Advancing to put the jaws around the neck.",
        "targets": {
          "right_x": 0.415,
          "right_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_01L4NN3c2nv7NvjZPUwoDXbz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.329, -0.0227, -0.0292, 0.9983, 0.4534, 1.8336, 0.6521, 0.5926, 0.0731, 0.0387, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4014 right_y=0.1852 right_z=0.0265 right_yaw=0.3442 right_pitch=-0.0169 right_roll=0.0042 right_gripper=0.9956\nstate[joint_eff]: [-0.2256, -1.4017, 6.3111, 1.8388, -0.0366, -0.0513, -0.0122, -1.0325, -6.4889, 6.653, 1.8095, 0.1392, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a4d3ba19435ab07584215cb53b0af9665a1e29b4d080d3c79efd73ed7f7f2ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:372c3c337985c0d95342eb85dc0704595994d40a1cd831cf3e16be19a5dc03a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d0b96d37d4345c52198d5d7758b923e49b3b3c43f22a91c6b77c7f6b971b0d1e",
        "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 · 4.279 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7456, 0.5014, -0.3325, -0.0231, -0.0288, 0.9983, 0.6418, 1.4292, 0.4541, 0.3378, 0.2604, 0.1555, 0.9956]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1558 left_yaw=0.0009 left_pitch=-0.0149 left_roll=0.0004 left_gripper=0.9983 right_x=0.3163 right_y=0.1841 right_z=0.0611 right_yaw=0.3127 right_pitch=-0.0421 right_roll=-0.0151 right_gripper=0.9956\nstate[joint_eff]: [-0.335, -1.5248, 6.5846, 1.9707, -0.0513, -0.0366, -0.0122, 0.1026, -6.3111, 8.8137, 1.8681, 0.1929, 0.1099, 0.0806]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.5026, 1.7466, 0.5724, 0.5396, 0.1375, 0.075, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0007 left_pitch=-0.0095 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3724 right_y=0.1812 right_z=0.024 right_yaw=0.3194 right_pitch=-0.0573 right_roll=-0.0093 right_gripper=0.9956\nstate[joint_eff]: [-0.253, -1.2786, 6.147, 1.8388, -0.0415, -0.0464, -0.0122, -1.1966, -6.4342, 6.5299, 1.79, 0.2027, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.329, -0.0227, -0.0292, 0.9983, 0.4534, 1.8336, 0.6521, 0.5926, 0.0731, 0.0387, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4014 right_y=0.1852 right_z=0.0265 right_yaw=0.3442 right_pitch=-0.0169 right_roll=0.0042 right_gripper=0.9956\nstate[joint_eff]: [-0.2256, -1.4017, 6.3111, 1.8388, -0.0366, -0.0513, -0.0122, -1.0325, -6.4889, 6.653, 1.8095, 0.1392, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a4d3ba19435ab07584215cb53b0af9665a1e29b4d080d3c79efd73ed7f7f2ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:372c3c337985c0d95342eb85dc0704595994d40a1cd831cf3e16be19a5dc03a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0b96d37d4345c52198d5d7758b923e49b3b3c43f22a91c6b77c7f6b971b0d1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpAkKEAgSGAI4AUIIdGhpbmtpbmcSDNJXL92OiorxpTqhzBoMk8BbRP4poF2QP4NSIjC/qfrdAr5X384+n8oo5EnBvhzuQHh6L21WDJr4rGOZbi2ttsbjAgSKCPu9y2FoNf0qwQhpVckz/ghBd6g5l//jiVRVxH35wlL8JtXoC4wsVFg+6+TUCGuewImFrdlq95Bmkw9FUeo8Ve+VAkkkaQYL+W9ot5urscKoI1/TGm3rTB1bAlcrdvk7mzU6P8lk9XEmHCh8A92Hfa9BBke3sdqqaPOZCa55BYnhMYhWbPffpZhx01wGEs+iIoWcb9fd53ZHF3ETVfcydYsuRceByylINtnuLbJ/aelNXIFGNCImprCwz9JvrWsJZ3J2amJWAjzHPpG+fYCl/qV92i+HXLzkcgmWHTJs+h/J9IBd3l+eAIqF/xgByNzwdH0e+GCFxbNUQGEqafVboU7tpoG7/JTv7suLuO0bZ67Yr8/taMBr2bZq5f6W6/scI4HELDcPzwmIU7iBpPiwHHfcZmErAJAf6itEcSivWZWza2gBCEx5MjI2uwpuW6bJLVkiV/uKaYwcd+c16LPEx+J2gkctOSDPpHpJHgXf8Oxv8GIlK9Hsdj1A6MIH+x8hvyxlYpWE7nFpBnVLha8aWoDUUdkXpXWqZNdst33wJH3/3/eE3sTuD0UQrIGWe/Se6LY0aHtR48V64p0vR0RPnCYbsz1+bMWprxMhwgg4olQY9cxb/Rr1PHKpSwPNgeW1A9rARcdAt9bAjGGXpFe7/C2vjBeCIgxdgtZwGu/4L/lxDVfNNEUfT4+WH/r1gVwlIcUoRrqbM2epOzji/gxVVEgUCbFUdBEs9NbGMrwWnOZMTOTDml96sSbWFaq5OaCzszBzn9Dlqmnd8ATBKytaiHzKWp7sPBZkMP0RZf0qqjENR49d/P8NaBzUl4k5ErWuu2rbVDLhwjrqQ2xOnO9Kf2bgFJD/gSo3QUlu54JWT+7pRxgVLSpaRKTKRPSMzZC2VhKX2hKLvXXOY5laBUjzlVc4rwfhpjzr7xTf5wng2tlyQPdQWwIsponpI662FKzy80elbX1+xIFBag6p7k+ycWlV42aD2J62u4W8uYVsqCTduJ4Ao3Y/STpm6QDyHUj7dU4fOIBgH/1xN5w5RYRjR3WCsnUcRdh+Eord8wNhfMfwisLpzxUHBrVd29BkUpR9TlHtKqZQaBoy+NH7NoY7lnsLtjVTlLmULgbvwbiY049C2pt+NtkhP5yyvUah2fifjGSW+02wu/KC81TCKElcfijU84+f4dEGol8tJJbUP0FaiqgfHCUnS9JppEQK+66mWOm3+6e4xOH9EO7fQqIEejw+JjRiFWow4QADEUcC1EA/xWGhhvj3eBBaDXu2EtZM1d6yP74JKBci4zzRTVVZ3bLmoyJ+OArzlQ+WjdImmddEXtPV4aJsJjaG4VfKIP1j4Rn0fhxhkI7mBFIIY9QDUwbM4fJC4+DpAwZkyW3S7MRM7gRDrS6irNh2pLp9p99mSYTIle2lUSCMQNFx+EVVscIbkX4mLReHT7eqe4ZArSv1bRZkfyLQJG1gWgYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kjh35chF3Vh4sR5PZ4taYv",
      "input": {
        "note": "Neck is closer but still ahead of the jaws in the wrist view. Advancing another ~3 cm.",
        "targets": {
          "right_x": 0.435
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Kjh35chF3Vh4sR5PZ4taYv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.329, -0.0227, -0.0292, 0.9983, 0.4435, 1.8397, 0.6651, 0.5888, 0.0696, 0.0284, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4061 right_y=0.1833 right_z=0.0277 right_yaw=0.3427 right_pitch=-0.0139 right_roll=-0.0022 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.4017, 6.3932, 1.8193, -0.0464, -0.0611, -0.0122, -0.9094, -6.653, 6.7761, 1.8193, 0.0708, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c0271b92927727cc83d78af18614c52df1165f40d49bcd568a09a1888bec749",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:834d7a887875dc5ee3089ba6ba6065ffe843b07c9c477e9fede908f53aaf2803",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ef846e28d114b35508f4469afc3dc5adb59efd70574649053a7b07b2514a6818",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 3.829 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.5026, 1.7466, 0.5724, 0.5396, 0.1375, 0.075, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0007 left_pitch=-0.0095 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3724 right_y=0.1812 right_z=0.024 right_yaw=0.3194 right_pitch=-0.0573 right_roll=-0.0093 right_gripper=0.9956\nstate[joint_eff]: [-0.253, -1.2786, 6.147, 1.8388, -0.0415, -0.0464, -0.0122, -1.1966, -6.4342, 6.5299, 1.79, 0.2027, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.329, -0.0227, -0.0292, 0.9983, 0.4534, 1.8336, 0.6521, 0.5926, 0.0731, 0.0387, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4014 right_y=0.1852 right_z=0.0265 right_yaw=0.3442 right_pitch=-0.0169 right_roll=0.0042 right_gripper=0.9956\nstate[joint_eff]: [-0.2256, -1.4017, 6.3111, 1.8388, -0.0366, -0.0513, -0.0122, -1.0325, -6.4889, 6.653, 1.8095, 0.1392, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.329, -0.0227, -0.0292, 0.9983, 0.4435, 1.8397, 0.6651, 0.5888, 0.0696, 0.0284, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4061 right_y=0.1833 right_z=0.0277 right_yaw=0.3427 right_pitch=-0.0139 right_roll=-0.0022 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.4017, 6.3932, 1.8193, -0.0464, -0.0611, -0.0122, -0.9094, -6.653, 6.7761, 1.8193, 0.0708, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c0271b92927727cc83d78af18614c52df1165f40d49bcd568a09a1888bec749",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:834d7a887875dc5ee3089ba6ba6065ffe843b07c9c477e9fede908f53aaf2803",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef846e28d114b35508f4469afc3dc5adb59efd70574649053a7b07b2514a6818",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wcKEAgSGAI4AUIIdGhpbmtpbmcSDGtEIexbmD3owFdTrxoM0lONkxzQonpy7rhWIjCNWBqcljBY1x1d4hVAOoqyhR5glFi/gkxg6IqSyvzKdcwrp4HaT+955ZJM5P+wxLkqiAd81BcZks1o8FJPtDen+51U6REUX4KhFi3e+XfNMCnR2pXn7TWapShW0cenQZaHOlIAVkP9TCAjEHJ0UDpP49UVXMsfrzYGwOhDBTbQYK5Q3BHuWLaaZ8lneDz6MD4FUp3x1QcJOH4NXCCpHhOPcW+eYt1u+5MG7f8kMxDRVEKRnIU/NNJhRC1VoyZKvU67GSxaDi/afZJ9/QCDzS/Prw3x53seMCSJo6x6L8UcRt9ysIAMoIDqR9kdeyJpz2g9o6nnTIyBopruIgqrt3/LlEj1kJVq9HXiLi5uq9pPuljDR2aNexZGsW2WKaeku+NfBzdRlNAk2b/wWWq7YeUtFkWbE/30iUTuyH8ZMkxdQ8GsaxB2zGd8brTxiPDVEOujpGWYXj99K386kRhb8GTMrNneNVcCZK84TXt2nZesg49yEeRa6NurhnFlLIfpPCesaGr2ClgcS3ayXUZ7FdpMeDVQawkLw3iTPDQAJtH/DA8ELnjJK6vQ7Ssv6Om/vupdpnFhuFrcW7fC4twAKKPFqpKbD1MRkDZqc/duZZILwDltyJz/7Ajr0gIN8Jk3MRBmaXU4yiWC4Zzi/Uw9frORR9QqT4GYZP9DlnvuJGaYJ/HONlaPR4K4wceMWP//UOUCG27HKpS93CVk2uhYCfR8uuXjJYgGydlxF/SfVGZtdzcqtkFpRsY5CjpegEd5JuCCADFaxlkC2yt9/TH5ppjqf2PB9+PBUe7R3ta0evBLzGrotsrEKw8z9/g2/PqbnFrUUWd/z+F5O9bbSZUkAOAm8eii2Yes9tYdQJbtONuqmZqsXdzeYgoYam4naY0N7yDVjELy1Qqtkp7FU3+nJV30qK18/AAdugViSVVYhs4LNgkhxDUYu3JYeA7VEj271WRmfLWSDYKN7B1Q1q7wqKmqzJDntpixKTxV4ZU0xs8WEwTlDpmiG0SghLuggYT1TjUiQNuVEVapb+YKPps83vsGBux5uQA3wjlH/cSEY6oAXu0JjrDUTnu5YvXcJTR+VZdrO1sndKycTKabs7emqlzbNanPMRdGS1YX72nG3Ga5KnjtXexwuZ4IsJBQhXrurpN9f7LcRuz8WPXmdyKIUjkAH+aagaklcE7eKo42ByM6ZfEw69d749HbjeqNwv3VmmTQUE0UTItShh7zq/N05e/8PyQrjN8ayjjcaU0EeP3QxFb8xe1z/IzM+v75GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UYanJ8b8Gq12m46PFEiugC",
      "input": {
        "note": "The arm stalled at x≈0.406, likely the fingers catching on the bottle's shoulder. Rising above it and moving forward over the neck.",
        "targets": {
          "right_x": 0.435,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UYanJ8b8Gq12m46PFEiugC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.329, -0.0227, -0.0292, 0.9983, 0.4435, 1.8397, 0.6651, 0.5884, 0.0696, 0.0284, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.406 right_y=0.1832 right_z=0.0276 right_yaw=0.3427 right_pitch=-0.0143 right_roll=-0.0022 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.4017, 6.4205, 1.8388, -0.022, -0.0659, -0.0122, -0.9094, -6.4615, 6.7761, 1.8144, 0.105, 0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:366ae2ceabd71cb4762cd6058a53c73fb574ef6a60e2b0a0f94b5ee0e2d4be5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8b3a4f6af699da91852dfcc0de70c24ede68cc41307fbe9f2cf22c268b4d457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:590dc023bea14df8c7649cca751c32fd81e7fa966784dab97d00dc3bc4ab2ec0",
        "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 · 4.905 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.329, -0.0227, -0.0292, 0.9983, 0.4534, 1.8336, 0.6521, 0.5926, 0.0731, 0.0387, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4014 right_y=0.1852 right_z=0.0265 right_yaw=0.3442 right_pitch=-0.0169 right_roll=0.0042 right_gripper=0.9956\nstate[joint_eff]: [-0.2256, -1.4017, 6.3111, 1.8388, -0.0366, -0.0513, -0.0122, -1.0325, -6.4889, 6.653, 1.8095, 0.1392, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.329, -0.0227, -0.0292, 0.9983, 0.4435, 1.8397, 0.6651, 0.5888, 0.0696, 0.0284, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4061 right_y=0.1833 right_z=0.0277 right_yaw=0.3427 right_pitch=-0.0139 right_roll=-0.0022 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.4017, 6.3932, 1.8193, -0.0464, -0.0611, -0.0122, -0.9094, -6.653, 6.7761, 1.8193, 0.0708, 0.0708, -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]: [-0.02, 0.7391, 0.498, -0.329, -0.0227, -0.0292, 0.9983, 0.4435, 1.8397, 0.6651, 0.5884, 0.0696, 0.0284, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.406 right_y=0.1832 right_z=0.0276 right_yaw=0.3427 right_pitch=-0.0143 right_roll=-0.0022 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.4017, 6.4205, 1.8388, -0.022, -0.0659, -0.0122, -0.9094, -6.4615, 6.7761, 1.8144, 0.105, 0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:366ae2ceabd71cb4762cd6058a53c73fb574ef6a60e2b0a0f94b5ee0e2d4be5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8b3a4f6af699da91852dfcc0de70c24ede68cc41307fbe9f2cf22c268b4d457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:590dc023bea14df8c7649cca751c32fd81e7fa966784dab97d00dc3bc4ab2ec0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmQcKEAgSGAI4AUIIdGhpbmtpbmcSDGN/074MwEeELXGszRoMPwk7WV8lallvNr7iIjDeVwXTdcsYhIOxN1/Gdn8BOvCv7aa20kACQuOLQyqRVQ9RgHf2blH1vXWs5p9dGAwqtgawWL6Bm6Ca7aUYeoocCYsLuE51cR+mSQixLR6Cq/IKm6Obi3+KjPjhhJe7inL5hafB4a/wscmY90R9CAXr0LSBzc9oErzIWOb9T8wFY5Du5ryVfegH9fSA7eLzMuoHnTvLmyh8Z4K9wgVTvIKOIKBbWtmX0qN5GGqL8/5Y516d/cFpbrBAsRYNOzEA0BWKUQL3qDguCKGnYJpJtePlhg5yBqT17MKDZ2t6ctyXTc+lamHJ7vZmkjfHkCsqrEqR7T5v4Kv9fIc8x7U2e5nu2qCtRgAKCwkYWc/0X+jlJzZIb7cMS3qHUX5EiZcFNPI2h9Xu9aJtxhmw7ldn7DfrifZQSrYQrqRWPjOzuMI4XAFyGcgFFU165DwssC2c11bSvpf9ItlVkE7xAwIXISvVeau52awW8CGt0FpnXnDcC86jn41E9z2sloYaul685XGl7qZIQg0HvDXflP0aTIm11v0XphOhnKEk4DfkAIrrRZUSluA6ymU6SAYXlwEdprsS0oRagJbz6F4iLnmEmG2aUVm0N06PKdeeQtx3Z5/vs2S67XvQg0YihEIVYWD4W6gYhxZ5pOd+w79oOflHmdcYUP8QD+vOwYFympVKAmjzX0RwQieAmVqE0L2bChWD8/xVDGH0/Fm8ax2AbkaPGXeQt/2plAXYXRKnbTQwB1KSazN9WXPoODaOgNzkq26fVocwd1dlycdEGVhjCqgNvOVW96EQC/WoCrazj0MN2uujQt18+eNS8151D9M8k65CXcOuJAZ1n1sE/zf9rxrcoEs77FtonaLZBPi62jkd0qBaghvrrlOfNzAWN84iK55K0jfilcd4Ukbkdk/TNKrltlmu2O1aootC4y3afrJghnIgnbpFvuFZwf5xLvDZ3Tpp3RYJLYMMDlqjrMRz0FNtJYTGu+6tTGcaf4adK3EPSNGEjDPX0PGSzqPuQWQf/EnvzA5X44l8tNLVTdvo0tO+uJ5c6QH0XygWUvKU7jeTHHx5x/SjXArC3JTN1OFA3GFZca7n+WnvMRlkH13Nnzf80EyeuwPN1ZfG3xFvwt8mCG0iQnaUYdVdEf5+LLXlFz14LWc+O/FyAJ/WHCsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VjSJkfpjFYEmTMmXAioqWo",
      "input": {
        "note": "The right arm did not respond to the last target (IK likely holding at an awkward pose). Backing up and raising to a comfortable pose to unstick it.",
        "targets": {
          "right_x": 0.38,
          "right_yaw": 0.2,
          "right_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_01VjSJkfpjFYEmTMmXAioqWo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7403, 0.498, -0.3283, -0.0231, -0.0292, 0.9983, 0.5003, 1.7752, 0.6842, 0.4721, 0.1562, 0.0826, 0.9956]\nstate[eef_state]: left_x=0.2852 left_y=0.002 left_z=0.1565 left_yaw=0.0011 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3969 right_y=0.1897 right_z=0.0391 right_yaw=0.2975 right_pitch=-0.0399 right_roll=-0.0109 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.1419, 6.7761, 1.9072, -0.0366, -0.0562, -0.0122, 1.3744, -13.0256, 10.4684, 2.4786, 0.1441, 0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6ea81ef20102261fc654b8701ce845f6fee4a07de227b3afa05c26e9dea22ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a0dc7246e21e614b115822884739a7ad23ac59b9546e1f211f9b1d800c66093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43a1f580a8c9a8104b1eb77d11406474036b8b0476bb81842e961d302d4c820d",
        "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 · 6.925 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.329, -0.0227, -0.0292, 0.9983, 0.4435, 1.8397, 0.6651, 0.5888, 0.0696, 0.0284, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4061 right_y=0.1833 right_z=0.0277 right_yaw=0.3427 right_pitch=-0.0139 right_roll=-0.0022 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.4017, 6.3932, 1.8193, -0.0464, -0.0611, -0.0122, -0.9094, -6.653, 6.7761, 1.8193, 0.0708, 0.0708, -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]: [-0.02, 0.7391, 0.498, -0.329, -0.0227, -0.0292, 0.9983, 0.4435, 1.8397, 0.6651, 0.5884, 0.0696, 0.0284, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.406 right_y=0.1832 right_z=0.0276 right_yaw=0.3427 right_pitch=-0.0143 right_roll=-0.0022 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.4017, 6.4205, 1.8388, -0.022, -0.0659, -0.0122, -0.9094, -6.4615, 6.7761, 1.8144, 0.105, 0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7403, 0.498, -0.3283, -0.0231, -0.0292, 0.9983, 0.5003, 1.7752, 0.6842, 0.4721, 0.1562, 0.0826, 0.9956]\nstate[eef_state]: left_x=0.2852 left_y=0.002 left_z=0.1565 left_yaw=0.0011 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3969 right_y=0.1897 right_z=0.0391 right_yaw=0.2975 right_pitch=-0.0399 right_roll=-0.0109 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.1419, 6.7761, 1.9072, -0.0366, -0.0562, -0.0122, 1.3744, -13.0256, 10.4684, 2.4786, 0.1441, 0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6ea81ef20102261fc654b8701ce845f6fee4a07de227b3afa05c26e9dea22ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a0dc7246e21e614b115822884739a7ad23ac59b9546e1f211f9b1d800c66093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43a1f580a8c9a8104b1eb77d11406474036b8b0476bb81842e961d302d4c820d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpgoKEAgSGAI4AUIIdGhpbmtpbmcSDOqZDQe3aEfCwpcRsBoMW6VGEL8NlYve1X8oIjBjnqS8w9fEICOWolTwitgid7jiOgHaMvS3uUV5imcvUtdbzDEMBhreOf9Zxa+qtLIqwwmvF/+Buz25/FK3JVjOavLqvcl7urrV5OlFGJUv17Ajfkj0DQSxa6AAEF8eFcnYwaUlqyYz3O0AmGqa3Ww2kniHYE9hYL7fB0LuIdx3CbCaq9DdzVjCPAS63nUwg5GSavZcftqzduK1viWjdV70YyhhEMUtg5g89XxrN3lC2k5V5vkDYoBqAFgEl5UxTfLSjFYRjikjdQHQHZVhCpbywTJux+fZkUpHLtpHjJDPCjbgH3kSFJrv8EdZUyCGN9QO6wf5+XMHGjbwmMM3YmSDGruZcfRqN2jP9C7Kcq4e50yInvGVFPQR7Jn/wEFAEkcfX1um6XeU++o9LP2h1Xu77c/atJtlpi58u5FmD5kwYMYvv56k2EiyWbOThjpdutlK35NmamauUgAR4Ryo/xEoxaJC60DwGaPSjedhzaledgidBkR8BpSgMaotVQb0lwsNyrpB+aaXxcUZ+yVol/LaMeV1L6Vhh4fYwt6XpC2P0D52yUvi0gkeWmk5hgCCn7BmN63qaz1Qiijbsx/fP8MDHnZYNXtmQNfB7FTx9cjguk4+rgxlKgGblvvrJQiccbwEodfb0QRSW/J9cWAq0Zf60cpYjOqCkDTGvmABqJZu4RlZz0zizhG5gSZnznkOqElafkK3dU9zeL7YSFIEwhKNRnLT21fH/SErKf2nWL4JyRsAM/z/AuKgex/5A48e60jvrS+dPbjQKN8BDsp/woa1huSEr/gtMqlGgw2dW9f/hCevt7o6bwTc1AOzuYXuDzw7IWEA4PjsNR/xem+BwhWBiTfQrWDjYQu/3K2ROLV0rHELTv+2+U9nX1cLA68MXJA0FihZfSBnI5YgwytDD+tYOwD+SQw8RI+CtcV6HV4QGbOK1qReDf1XYug9vZ+6pFISmrN5p5npmTbrsAPcSrALgvueCqXxHJvBLjmmszLfAr4qzDE0sh0fMn80Wzen/aR+jSebUIBkPLVvs+ZJef0HQtsXOnfwNbDH2LcFKUekp4UFO/rgMPS3SnZGo/6VYy/iLybuRZ4lGfyJoZ4qXJeNOkVWwW6r7gYe00yIz8SPguyhraX6/HjveitSx6i9WZHIYjlh+mrHZbM+3fMEI1P7xUedOE3pN2NCGkYVjEgzw5e1mTPTz20fjtzAGoy1DfFptj7WCf64hxsjC9Cp/jvaHDy4yZ0S0cLVR1f104iAWoXiZBO4Ym6mUibHVLW/qZkJDsKj9cwW4vuVovzpnLbgg2f++fEbRXlr/Tc3i4ABIPLu/Ql7URgWKpj5ukDaq/8RYpNAz2s7xbRwQHcgSv1e1miExdQ7IdFu7NSzTQ7pOWLWnGC7pWi7poj3TBinEZfHuGUJqvq3co8+koqqkqOJmdSMUgJYUbS9b3Ap+8gxejaTdBaqWSSEp/MvnjLXalTuO+oELmkz/xLoMW79w5LGO0QxRmBjy8h70lkbpO9RFIaRS4rbHabH/mdH5W8YpSyv1C7EQzLECGPpSmOOVjNOdeyNFzve4rXNHVleyoACe17xBh2jfsjZ7umukACXGIXWn/SsUdO7oTEeGRbyJ2YFEjgSguWEPVW/2BTw0CAKtrgUZUxRYQC14+8sjr+RRLNYKBkZxUE+HQtQEU8kqW2aqBxDCqVtGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SbWayytMbjBUw9N5kjxrK7",
      "input": {
        "note": "Right arm is barely tracking with high shoulder effort, as if the fingers are caught on the bottle. Commanding a pure vertical lift to free it.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01SbWayytMbjBUw9N5kjxrK7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.498, 1.4761, 0.9829, -0.1413, 0.1524, 0.0696, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0011 left_pitch=-0.0095 left_roll=-0.0 left_gripper=0.9983 right_x=0.3945 right_y=0.1881 right_z=0.1668 right_yaw=0.3053 right_pitch=-0.0556 right_roll=-0.0223 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.3744, 6.3658, 1.8828, -0.0562, -0.0464, -0.0122, -0.1573, -9.265, 10.1538, 1.9512, 0.0171, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb11003d1304b3b852519dd80902285cf4cf570e7c7335ea9e7dc27c183566c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7babd3315ac26241387eb2e1a856f765c80de921b4935adbec276f2773588c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f6a7f98667cb71e829bcc0a0610a9e91c36e6eef08340843a43a674bef1f444",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 7.228 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.329, -0.0227, -0.0292, 0.9983, 0.4435, 1.8397, 0.6651, 0.5884, 0.0696, 0.0284, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9983 right_x=0.406 right_y=0.1832 right_z=0.0276 right_yaw=0.3427 right_pitch=-0.0143 right_roll=-0.0022 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.4017, 6.4205, 1.8388, -0.022, -0.0659, -0.0122, -0.9094, -6.4615, 6.7761, 1.8144, 0.105, 0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7403, 0.498, -0.3283, -0.0231, -0.0292, 0.9983, 0.5003, 1.7752, 0.6842, 0.4721, 0.1562, 0.0826, 0.9956]\nstate[eef_state]: left_x=0.2852 left_y=0.002 left_z=0.1565 left_yaw=0.0011 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3969 right_y=0.1897 right_z=0.0391 right_yaw=0.2975 right_pitch=-0.0399 right_roll=-0.0109 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.1419, 6.7761, 1.9072, -0.0366, -0.0562, -0.0122, 1.3744, -13.0256, 10.4684, 2.4786, 0.1441, 0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.498, 1.4761, 0.9829, -0.1413, 0.1524, 0.0696, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0011 left_pitch=-0.0095 left_roll=-0.0 left_gripper=0.9983 right_x=0.3945 right_y=0.1881 right_z=0.1668 right_yaw=0.3053 right_pitch=-0.0556 right_roll=-0.0223 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.3744, 6.3658, 1.8828, -0.0562, -0.0464, -0.0122, -0.1573, -9.265, 10.1538, 1.9512, 0.0171, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb11003d1304b3b852519dd80902285cf4cf570e7c7335ea9e7dc27c183566c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7babd3315ac26241387eb2e1a856f765c80de921b4935adbec276f2773588c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f6a7f98667cb71e829bcc0a0610a9e91c36e6eef08340843a43a674bef1f444",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016yZTg8x5uewPTW7zoaQ7ex",
      "input": {
        "note": "Arm is free again; the right bottle's cap appears just ahead of the jaws in the wrist view. Positioning directly above the neck before a vertical descent.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.185,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_016yZTg8x5uewPTW7zoaQ7ex",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7395, 0.498, -0.3298, -0.0227, -0.0292, 0.9983, 0.4557, 1.6417, 0.8246, 0.1375, 0.115, 0.054, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0007 left_pitch=-0.0095 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4035 right_y=0.1792 right_z=0.0836 right_yaw=0.3022 right_pitch=-0.1038 right_roll=-0.02 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.2786, 6.3248, 1.8144, -0.0317, -0.0562, -0.0122, -0.9641, -6.9128, 6.1333, 2.1514, -0.0659, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c81fb32f7c13dd906d3a3745f99f0fae8aa76d0e8b52b2569578c941d2cbc4c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fe6ecd591d7e5fbd81a149f7876dc07a7e7877099d8217ab94e843134ad9508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:573f9f0f4e0abaf65912dca2e6d210d9382abdf856142db5b7acd307d59a03f3",
        "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 · 3.482 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7403, 0.498, -0.3283, -0.0231, -0.0292, 0.9983, 0.5003, 1.7752, 0.6842, 0.4721, 0.1562, 0.0826, 0.9956]\nstate[eef_state]: left_x=0.2852 left_y=0.002 left_z=0.1565 left_yaw=0.0011 left_pitch=-0.0088 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3969 right_y=0.1897 right_z=0.0391 right_yaw=0.2975 right_pitch=-0.0399 right_roll=-0.0109 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.1419, 6.7761, 1.9072, -0.0366, -0.0562, -0.0122, 1.3744, -13.0256, 10.4684, 2.4786, 0.1441, 0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.498, 1.4761, 0.9829, -0.1413, 0.1524, 0.0696, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0011 left_pitch=-0.0095 left_roll=-0.0 left_gripper=0.9983 right_x=0.3945 right_y=0.1881 right_z=0.1668 right_yaw=0.3053 right_pitch=-0.0556 right_roll=-0.0223 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.3744, 6.3658, 1.8828, -0.0562, -0.0464, -0.0122, -0.1573, -9.265, 10.1538, 1.9512, 0.0171, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7395, 0.498, -0.3298, -0.0227, -0.0292, 0.9983, 0.4557, 1.6417, 0.8246, 0.1375, 0.115, 0.054, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0007 left_pitch=-0.0095 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4035 right_y=0.1792 right_z=0.0836 right_yaw=0.3022 right_pitch=-0.1038 right_roll=-0.02 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.2786, 6.3248, 1.8144, -0.0317, -0.0562, -0.0122, -0.9641, -6.9128, 6.1333, 2.1514, -0.0659, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c81fb32f7c13dd906d3a3745f99f0fae8aa76d0e8b52b2569578c941d2cbc4c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fe6ecd591d7e5fbd81a149f7876dc07a7e7877099d8217ab94e843134ad9508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:573f9f0f4e0abaf65912dca2e6d210d9382abdf856142db5b7acd307d59a03f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MKJamrrNmpjTDm44GTFYMR",
      "input": {
        "note": "The arm tops out near x≈0.40 here, with the bottle's shoulder just below the jaws and the cap slightly ahead. Descending straight down onto the shoulder.",
        "targets": {
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01MKJamrrNmpjTDm44GTFYMR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.3294, -0.0227, -0.0288, 0.9983, 0.4572, 1.7882, 0.6537, 0.4755, 0.1017, 0.0502, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.3915 right_y=0.1766 right_z=0.0227 right_yaw=0.3173 right_pitch=-0.0846 right_roll=-0.0118 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.4427, 6.2974, 1.8437, -0.0317, -0.0366, -0.0122, -0.0889, -7.0906, 5.1077, 2.1368, 0.0855, 0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1d3db4c21a1067e55c767851ce8db0b81f6e16c3c843ad41adb56ce87e50b45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e6edee93979e8d29592de5d92b0bf7e66d37a2e1ef03fe27b1c216ac2108574",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:edbeef48d483d11e1efc50bf039f130d1773f27baadba6c9160d69aef56f8453",
        "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 · 3.876 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.498, 1.4761, 0.9829, -0.1413, 0.1524, 0.0696, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0011 left_pitch=-0.0095 left_roll=-0.0 left_gripper=0.9983 right_x=0.3945 right_y=0.1881 right_z=0.1668 right_yaw=0.3053 right_pitch=-0.0556 right_roll=-0.0223 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.3744, 6.3658, 1.8828, -0.0562, -0.0464, -0.0122, -0.1573, -9.265, 10.1538, 1.9512, 0.0171, 0.1245, -0.0171]\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]: [-0.02, 0.7395, 0.498, -0.3298, -0.0227, -0.0292, 0.9983, 0.4557, 1.6417, 0.8246, 0.1375, 0.115, 0.054, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0007 left_pitch=-0.0095 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4035 right_y=0.1792 right_z=0.0836 right_yaw=0.3022 right_pitch=-0.1038 right_roll=-0.02 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.2786, 6.3248, 1.8144, -0.0317, -0.0562, -0.0122, -0.9641, -6.9128, 6.1333, 2.1514, -0.0659, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.3294, -0.0227, -0.0288, 0.9983, 0.4572, 1.7882, 0.6537, 0.4755, 0.1017, 0.0502, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.3915 right_y=0.1766 right_z=0.0227 right_yaw=0.3173 right_pitch=-0.0846 right_roll=-0.0118 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.4427, 6.2974, 1.8437, -0.0317, -0.0366, -0.0122, -0.0889, -7.0906, 5.1077, 2.1368, 0.0855, 0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1d3db4c21a1067e55c767851ce8db0b81f6e16c3c843ad41adb56ce87e50b45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e6edee93979e8d29592de5d92b0bf7e66d37a2e1ef03fe27b1c216ac2108574",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edbeef48d483d11e1efc50bf039f130d1773f27baadba6c9160d69aef56f8453",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnQcKEAgSGAI4AUIIdGhpbmtpbmcSDHRQeVJ47mq6tE0kghoM0Te9v5NP9KkF+ZevIjB18tQkBF19MFgi9U6H2dU/jQnod4lGxD9PZG6PEL0kzfVh3NfKCsUiAgkJ4ODtSBgqugYPx0VvBekhZdOjM8Z9sQahOp8Pk/xvdp/znlTM/2ZKRO4F3nvKnVhF/RFsBf+SDLu4Cun0CrOhr1RrC+092gpo720Y+/QBVXdt/iPIu5Oiy/LYhCtycxxQ3Y4g1SYPC/Xsq5kUCOI8lAFPXwOvqiU9wS7tNHUOKINoTbc6ndwAeUP3PTEx+uKxtTTuaMwAbQKdc9vQe3IC81jaNzugUJ4/eiUK36CdCABk3xgqjg/oUIetn+L6FhSu7LBIgePp9ZkBVLwRp8uPwTOBrhLqxSxNaJ20vrHrUfhL9b/5/yFUW3MhZ3up4AEmsCeLmLWAAKiU68v0TmAw8uY6LXluIIdCun+D8OWOduj9zrbpghoQKDQVGBgPn030s0LB6DmRWJjYiCK2A/Cfbyd6Eh+1mIt0gBEi0jeBNUsdBmDkIFGibO6I9wgrg/okcTJvf7jucyc1juHp1x6kXNFRIBX95c1OlkgfTz+arT5gP1QRpd8wlSRYpyGb9/lz4Gi6UrVrHmtHj9EdPRi2bhX/ESYRzUn82ypx/YLksIZO9NuKqt9XoYx1TmwEicmnP0RR+Cut1rOY2yLRVVbE4LU0aXokzlu2DvJ4WZxa5VljvfkVa1GTqAQqfB4x/TZVPHwDF/O3kk9mRsbaI1Spzsu4iFeVOmam8UC5BWMJmEwzpgcXlZ1GkCMP08OauhqeA6CnI7Zgex/PZ4fPODL72JRA7biKarAdNHk85anVsC0ZSYG2IaXPlRa9qVtcIts4P3N0ZffzIfehIt46IXNAmc10sI7VvjMvbnZRIKtWF8emkXBDWc1NAWeS9F3E/hCrStPkfu1G5IiPrzQn1pJvYBHpf3CBMoifJuptlRX3EGk+LbV9OlCOnuR/wMH74E62P2df7c4Z8znazDUbGZRPN+vIa9rX7YpHuS+JKHv2wq4gES3S0CupoAsSMbRyl2T5GG82PeZRScnKNDXC/GVCx+4vt4h+bcRgre8ZRXMNFWI/jZ+TZUfvNwAy/BTwLZyWRaISrFl34VRrWWumbgvXzthiGPYVBRiwQBoBMRef/030W8TTVtnt4oK3UGl3CYc5Ah2TppiXZnemjgs3aXOay8HmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UEvoPKc8bo8ow2TJJgG2Z7",
      "input": {
        "note": "Jaws straddle the bottle's upper label, cap just ahead. Closing moderately so the bottle is held but can pivot about the jaw axis during the lift.",
        "targets": {
          "right_gripper": 0.45
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01UEvoPKc8bo8ow2TJJgG2Z7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.3294, -0.0227, -0.0288, 0.9983, 0.4587, 1.8, 0.6029, 0.6857, 0.0917, 0.0509, 0.4595]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4001 right_y=0.1835 right_z=0.0427 right_yaw=0.327 right_pitch=0.0609 right_roll=0.0142 right_gripper=0.4595\nstate[joint_eff]: [-0.294, -1.4427, 6.735, 1.8144, -0.022, -0.0415, -0.0122, -0.335, -5.9009, 3.453, 1.4823, 0.149, -0.022, 0.3736]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:502d0de9013c9fe96185c6ccd7d6b74605aeb4e2ada72e5c07c5bbf8297d259d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36f40385d0a3922cc863a8b6f5d02110c097b365489fb73af9adc0ec6bc15bde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66e29314a94eacc83cc13a7a24f424fca853c6bdd251401bab326b7795dd0b7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /messages · status 200 · 3.497 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7395, 0.498, -0.3298, -0.0227, -0.0292, 0.9983, 0.4557, 1.6417, 0.8246, 0.1375, 0.115, 0.054, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0007 left_pitch=-0.0095 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4035 right_y=0.1792 right_z=0.0836 right_yaw=0.3022 right_pitch=-0.1038 right_roll=-0.02 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.2786, 6.3248, 1.8144, -0.0317, -0.0562, -0.0122, -0.9641, -6.9128, 6.1333, 2.1514, -0.0659, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.3294, -0.0227, -0.0288, 0.9983, 0.4572, 1.7882, 0.6537, 0.4755, 0.1017, 0.0502, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.3915 right_y=0.1766 right_z=0.0227 right_yaw=0.3173 right_pitch=-0.0846 right_roll=-0.0118 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.4427, 6.2974, 1.8437, -0.0317, -0.0366, -0.0122, -0.0889, -7.0906, 5.1077, 2.1368, 0.0855, 0.0317, -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]: [-0.02, 0.7391, 0.498, -0.3294, -0.0227, -0.0288, 0.9983, 0.4587, 1.8, 0.6029, 0.6857, 0.0917, 0.0509, 0.4595]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4001 right_y=0.1835 right_z=0.0427 right_yaw=0.327 right_pitch=0.0609 right_roll=0.0142 right_gripper=0.4595\nstate[joint_eff]: [-0.294, -1.4427, 6.735, 1.8144, -0.022, -0.0415, -0.0122, -0.335, -5.9009, 3.453, 1.4823, 0.149, -0.022, 0.3736]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:502d0de9013c9fe96185c6ccd7d6b74605aeb4e2ada72e5c07c5bbf8297d259d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36f40385d0a3922cc863a8b6f5d02110c097b365489fb73af9adc0ec6bc15bde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66e29314a94eacc83cc13a7a24f424fca853c6bdd251401bab326b7795dd0b7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QcKEAgSGAI4AUIIdGhpbmtpbmcSDGeaZcZRESoxIgNAchoMnKvcAMUd6uyWU3YtIjCLlImVZxWdQ4QfFWSPAZ6xcENTJvQCUWoGinERHoUh35sBV1OqUoj1QvLXhmZ/jQ0qggd1+yQPx5XpkEO6oWQUvm9dlp5aqpSQVrOZyd2Q+pyRsE93OUpseAN8wjowF2eMVdAJyVLcWLDHUNuNSfg4vMr90ni9CNj5r4vgLbcTTt5BtT4mTrgXsgP7sCewiruF8V/LJHK8ahidi0vJDGfWxMF9wIYLKKHOtvvSf7VH7ZbQSGtkV+QFHcAPLP7wo9jGIT35P4dwnSArdWobJyN7TxONyGQy4EnpzOkkAWBvUS2GA9HMfMk8VUXs+XACUeSSQa/J4pFAF93tkIDQFC/rgfOjVL1HtQaJVFwbtAVo7phmq6Maz9KbeFOMwc0Y2GRrGuI5qx2ss9hHeZdwMunE5fxvgVhY7PQBRhZLkt4yZKM2s4hauGrcGVMCZ7TYQAzd0V+RB2JjX/3js2pkyt7fTQ5p/q9RIvmnpBKuHaHAeuyxqo4KOiNT/j8vPNWuSLYyjmvhi4Q7utZiC2t4rE4qAZwp1czmOOcnixIfQP6lvexnNNq0BQ5phd9jhvktJRPj2bPvEE6Tm7aNFO/rfLsNWvghnenFH3ForkmlQXFfS3+3lFaozX4OALpvwW+Swd0kCJVra7WrtDmpwtgndt7jgcxeLULvHUUb/ziZv9GqbU1qGN9u4sumKc8WAWQghoKJ8WmMhrPIBS1uXLmlIxfj63RjDphR2x/nnQq+a9zyjbLMDmgbw32Z+8eOic5Npp/a5gMLr2yckxyB1okbwF9Zp2m8l0MvMSVo5vXYdEYw36GhDTfaGqF8DHA7dJwE0HsyQ8pKLAQ/YYIYCAjSe91QkVmvKxQj0/ifK2F2ku385Y6oOwOY/66UjH8FmKzRCxXJRUXQBrEOdePKvAnfVP/V62ReIYHnmU3Fw/8iWtAtzjLtGQvL/ssw6q1YaDOH4aV+t5ds7FjJGqZoCemWdNWAwT8bYk/exS8XfSkx26Dm17CxY6HFNNGWaknp4wexlPP+O8/vAKwGp4dq7GerL4w6tBAEUzNsYzBdFVGKyrVn0ox6Ln00yrMh3ycd8EwKdeDaDPEi+YlAjqIOBVegv8vaWY/6HWQbtJsLdUWnRoY15d0zh5fAKbH7N+EkJIcy7cOSTNTxFRvqmpnlqnoXQyxOcm6CoVVY1D60oXF3pyi4zF3DQEpW4bj/qrzzGOcdnzgaA4S5olBd14W4IB723OX/66D9uDMYpQ9fk7RxyiZrCjGZlfnWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012JRr9NxvonbknBwnVxiEhE",
      "input": {
        "note": "Holding the bottle's upper body (gripper 0.46). Raising the top end on an arc back toward the base so the bottle pivots on its bottom.",
        "targets": {
          "right_x": 0.36,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_012JRr9NxvonbknBwnVxiEhE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.3286, -0.0227, -0.0292, 0.9983, 0.5243, 1.4937, 0.6071, 0.3496, 0.131, 0.0658, 0.46]\nstate[eef_state]: left_x=0.2851 left_y=0.0019 left_z=0.1567 left_yaw=0.0007 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3663 right_y=0.1893 right_z=0.098 right_yaw=0.3517 right_pitch=0.0383 right_roll=0.0038 right_gripper=0.46\nstate[joint_eff]: [-0.294, -1.0735, 6.5573, 1.9365, -0.0464, -0.0415, -0.0122, -0.0342, -5.7778, 7.159, 1.6679, 0.2222, 0.0708, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b7dc21fc3f2e8cccb1d6b96037f38faef107845e75900ec7ce03ba4daf85c50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5749fe1f947c5ed038e69a2c07ca3e68b84c50aa7ebe48d10c254866ec2bbb8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce2263a90c6338e865252f39130233a1994340ef44d0b881737c2e629190fddf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 7.21 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.3294, -0.0227, -0.0288, 0.9983, 0.4572, 1.7882, 0.6537, 0.4755, 0.1017, 0.0502, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.3915 right_y=0.1766 right_z=0.0227 right_yaw=0.3173 right_pitch=-0.0846 right_roll=-0.0118 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.4427, 6.2974, 1.8437, -0.0317, -0.0366, -0.0122, -0.0889, -7.0906, 5.1077, 2.1368, 0.0855, 0.0317, -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]: [-0.02, 0.7391, 0.498, -0.3294, -0.0227, -0.0288, 0.9983, 0.4587, 1.8, 0.6029, 0.6857, 0.0917, 0.0509, 0.4595]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4001 right_y=0.1835 right_z=0.0427 right_yaw=0.327 right_pitch=0.0609 right_roll=0.0142 right_gripper=0.4595\nstate[joint_eff]: [-0.294, -1.4427, 6.735, 1.8144, -0.022, -0.0415, -0.0122, -0.335, -5.9009, 3.453, 1.4823, 0.149, -0.022, 0.3736]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.3286, -0.0227, -0.0292, 0.9983, 0.5243, 1.4937, 0.6071, 0.3496, 0.131, 0.0658, 0.46]\nstate[eef_state]: left_x=0.2851 left_y=0.0019 left_z=0.1567 left_yaw=0.0007 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3663 right_y=0.1893 right_z=0.098 right_yaw=0.3517 right_pitch=0.0383 right_roll=0.0038 right_gripper=0.46\nstate[joint_eff]: [-0.294, -1.0735, 6.5573, 1.9365, -0.0464, -0.0415, -0.0122, -0.0342, -5.7778, 7.159, 1.6679, 0.2222, 0.0708, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b7dc21fc3f2e8cccb1d6b96037f38faef107845e75900ec7ce03ba4daf85c50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5749fe1f947c5ed038e69a2c07ca3e68b84c50aa7ebe48d10c254866ec2bbb8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce2263a90c6338e865252f39130233a1994340ef44d0b881737c2e629190fddf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpQcKEAgSGAI4AUIIdGhpbmtpbmcSDJJrMB42NsPcIdUAihoMXTtWOTS+L489B3YzIjCMJRtMW/oH4GL/6PdKihr2VUCMh3LQkGoXT3HrixCEiG82bvApMAzXes6+5KEC2I4qwgaC1og4h2dxoWnJLzx3nU3hOiVcTgzkOPYm7GBW0NXmucAHl/Se48l+3NhksPMrsv3rDdx89DwbirZ75YPuapStT75CiKTop4uoYWicAFBe0OAbIcL/JFj0EsyFyvZ9551XcX09puErnTSjZ4AKWmTaoENfT0YgpP7rWwLwF821PaWeTVpGLT0ukSQ50wLo4y6gGlCE2o1+lLpTneBGbmz7ErDbfhlARcQhmdeGA62kIp2IImOwXX484yYI9ZeaLnkl354Z1cAaAW05uOtyjfcx+XCdsJJdZhrguXKQFFd4+FtYZliHkIDycqjW1Pp/q/Hast17Ct1lka4pHoc+LoTGZyLGrhOYYLFXLCgWkM9WFIXYmjxTxz5S+owD7aG1xaAKOO3I6ALtmw3GQrTKXqPFfGsCyo24KPdUjrOEeIFwQVg2unCEh5Eg4lIgonlJSjFL+V2mYMMFQsdEUqi45nvbmN+fiQAewuwd+e6DFENRgX/E4xewBF2k00eyVFnUBC3WXa3wgH+sxwL55knVZbh4MOwttBbXHIUxucBJXYhSgF6G1hHwt0KSPwwEEVQLcK3/MUB1Uni2johnat/QAXhFFb9BNdM+dmsD+yj7sBZHAt3IPjBqOkHAMyh1SMERVxwKQmH8R626/ZAQmU/+yoPDK7RAHtTTdc2/EtrLtZvTjcJs9E9TfkpDpNm8TyL3qJEi3yhb7r8rN8VNEvdR+IX9y3WtyXHkexrYVBNX054lHIHpm/FpMpbc0QzwQSdXkuFQIwMW0dtRHGs91pfnfWzGTjK0ptymDN6B9SrBMcvaKSGitPtst3teoUk+Y7asDgLVIGfJXlosTvQTTqcN+RUX7iEYrWahaBaMOcIrj7EiSikM7iVJCRMIbtWx/v99XKc0ouJR4NH7w3C4f+S1ZzkpBMnAE/mpt8Ge/gaFLr6m1ug1VYcebnhYKNgQo+alrsVWHy3O9X5bv6tDKN8CDT5wgn98QLFg9lCcosLjoZ/39Hg3CVJJTiAJdCNDqrp7myVqrqIG9kesogE9sqQgGgOAmqXm0brN89RajWLoA98OJ/FYL38QbHjKKNrWOp1JBpNA+QLltIsx+Vhb5jT5wGkQBa4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019mf5fJwKoLMuhHKgZRmx7W",
      "input": {
        "note": "The bottle is tilting up with its bottom on the table behind the jaws. Continuing the arc up and back to bring it vertical.",
        "targets": {
          "right_x": 0.3,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_019mf5fJwKoLMuhHKgZRmx7W",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7395, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.6689, 1.1599, 0.6243, -0.0551, 0.2256, 0.1276, 0.46]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1565 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3025 right_y=0.1933 right_z=0.1458 right_yaw=0.384 right_pitch=-0.0035 right_roll=-0.005 right_gripper=0.46\nstate[joint_eff]: [-0.1709, -0.8547, 6.4342, 1.9267, -0.0171, -0.0611, -0.0122, 0.1026, -4.3556, 10.0581, 1.8877, 0.105, 0.1538, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5d47683b5f6abe675aba5fb9d5ab60173dcce44b06db662fd7632319baa7fb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52a140f06f6977d6ba6d509536a56a4be2219ce0641fe6a8b3253664c5d01b9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b1ebbc9fecae540b0c963715f05284d8949b11e254dfebc179c9449b0bca40b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 4.342 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.3294, -0.0227, -0.0288, 0.9983, 0.4587, 1.8, 0.6029, 0.6857, 0.0917, 0.0509, 0.4595]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4001 right_y=0.1835 right_z=0.0427 right_yaw=0.327 right_pitch=0.0609 right_roll=0.0142 right_gripper=0.4595\nstate[joint_eff]: [-0.294, -1.4427, 6.735, 1.8144, -0.022, -0.0415, -0.0122, -0.335, -5.9009, 3.453, 1.4823, 0.149, -0.022, 0.3736]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.3286, -0.0227, -0.0292, 0.9983, 0.5243, 1.4937, 0.6071, 0.3496, 0.131, 0.0658, 0.46]\nstate[eef_state]: left_x=0.2851 left_y=0.0019 left_z=0.1567 left_yaw=0.0007 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3663 right_y=0.1893 right_z=0.098 right_yaw=0.3517 right_pitch=0.0383 right_roll=0.0038 right_gripper=0.46\nstate[joint_eff]: [-0.294, -1.0735, 6.5573, 1.9365, -0.0464, -0.0415, -0.0122, -0.0342, -5.7778, 7.159, 1.6679, 0.2222, 0.0708, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7395, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.6689, 1.1599, 0.6243, -0.0551, 0.2256, 0.1276, 0.46]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1565 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3025 right_y=0.1933 right_z=0.1458 right_yaw=0.384 right_pitch=-0.0035 right_roll=-0.005 right_gripper=0.46\nstate[joint_eff]: [-0.1709, -0.8547, 6.4342, 1.9267, -0.0171, -0.0611, -0.0122, 0.1026, -4.3556, 10.0581, 1.8877, 0.105, 0.1538, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5d47683b5f6abe675aba5fb9d5ab60173dcce44b06db662fd7632319baa7fb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52a140f06f6977d6ba6d509536a56a4be2219ce0641fe6a8b3253664c5d01b9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1ebbc9fecae540b0c963715f05284d8949b11e254dfebc179c9449b0bca40b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vd8JTVx3kFUhxgDxGrVb27",
      "input": {
        "note": "The bottle hangs nearly vertical beneath the jaws with its bottom on the table. Pressing down slightly so it sits flat before release.",
        "targets": {
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Vd8JTVx3kFUhxgDxGrVb27",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.3294, -0.0227, -0.0288, 0.9983, 0.6739, 1.1584, 0.6006, -0.0589, 0.231, 0.1371, 0.46]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.2976 right_y=0.1905 right_z=0.1353 right_yaw=0.3792 right_pitch=-0.0276 right_roll=-0.0074 right_gripper=0.46\nstate[joint_eff]: [-0.3624, -1.4017, 6.3385, 1.8193, -0.0415, -0.0317, -0.0122, -0.4581, -2.6735, 6.0103, 1.7216, 0.0708, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eff4d625dfe09ffa37dd2e41f900316b79abe0afbc6dabfa951facff2f61e97e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e26b92b757728f477035d62a72bcdccde7fadf2c325fe9048b99c9363b58f0e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:99254f08637a8341e5b3e9dc7a8a7d4d52eb237344989762b02647493bf24f5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 5.062 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]: [-0.02, 0.7391, 0.498, -0.3286, -0.0227, -0.0292, 0.9983, 0.5243, 1.4937, 0.6071, 0.3496, 0.131, 0.0658, 0.46]\nstate[eef_state]: left_x=0.2851 left_y=0.0019 left_z=0.1567 left_yaw=0.0007 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3663 right_y=0.1893 right_z=0.098 right_yaw=0.3517 right_pitch=0.0383 right_roll=0.0038 right_gripper=0.46\nstate[joint_eff]: [-0.294, -1.0735, 6.5573, 1.9365, -0.0464, -0.0415, -0.0122, -0.0342, -5.7778, 7.159, 1.6679, 0.2222, 0.0708, 0.0415]\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]: [-0.02, 0.7395, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.6689, 1.1599, 0.6243, -0.0551, 0.2256, 0.1276, 0.46]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1565 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3025 right_y=0.1933 right_z=0.1458 right_yaw=0.384 right_pitch=-0.0035 right_roll=-0.005 right_gripper=0.46\nstate[joint_eff]: [-0.1709, -0.8547, 6.4342, 1.9267, -0.0171, -0.0611, -0.0122, 0.1026, -4.3556, 10.0581, 1.8877, 0.105, 0.1538, -0.0073]",
      "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]: [-0.02, 0.7391, 0.498, -0.3294, -0.0227, -0.0288, 0.9983, 0.6739, 1.1584, 0.6006, -0.0589, 0.231, 0.1371, 0.46]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.2976 right_y=0.1905 right_z=0.1353 right_yaw=0.3792 right_pitch=-0.0276 right_roll=-0.0074 right_gripper=0.46\nstate[joint_eff]: [-0.3624, -1.4017, 6.3385, 1.8193, -0.0415, -0.0317, -0.0122, -0.4581, -2.6735, 6.0103, 1.7216, 0.0708, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eff4d625dfe09ffa37dd2e41f900316b79abe0afbc6dabfa951facff2f61e97e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e26b92b757728f477035d62a72bcdccde7fadf2c325fe9048b99c9363b58f0e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99254f08637a8341e5b3e9dc7a8a7d4d52eb237344989762b02647493bf24f5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3ggKEAgSGAI4AUIIdGhpbmtpbmcSDCTG/d4b/moL7WakkBoMwsASiNMNQigvmXulIjDIHRAxup/TDAdhxZt/4V+rQNkLri5nMWQegQEgiIAtVeFWB2ky/9Z7w8Y9xz/BcO8q+wcehSjr1TxX1JjNN4ECBVfo2Kq6hfKybO7kH5PkoNQercR8un29EwRQoQyO4v2lpVsxkAeXt6B33Re3r3wq15mHC3JViMGtgdKPFnq6+bTqgWhk6XYTqXMbHwxCqVmAbwabXOuWY3m9VoYeSCKWe947gx5ULv/EVBKnjynjDuQMS2gb9tZRkcSJEj83qOiZ4ROsIuH6+nxPnVYOk/I8dUjT6CmoD93o3vlEOd4/22rdH4g4ZMo1C9VzR1mgu0fV/6sQGMVEmHSy9xtkdxtSHFEgBDWsHfLcbdzcaBnk2UdNk4MFpW/5fswIMGz+GcyN/XejEVKo8Ugk1fXXDOlKtvGXNoZfBW98YteldAA1J1Y87Mf3IfpkNmNVUAI0XQ7ifgpWEYVK66uPHGZaRx7mgxJW0fqcrbXFS3QY1yeFv85XAM5nu/FuI/IqEloHNsPcx35paeinnlEoZqAJAV5Fx6rIDuenZqwwn7cEmBv3ADz0vUni6fi99ABHLNnRQOv6YmnqwT/4J9v5jlDgsfzaDVSi0wJYKoWVid+uwlcD7AtX+P48B3asACZ+Sv7SlSgNyfHLEr/fpSth2PL0I/VCEJ8i+KohDUY8TJRINBwK6QZrt/+Gaw6gT4T4oyJ7nz8jzqY+h1q/hGJEKoPj85EHuwS9My901dNlsmxcEENzyXR6POSk298/xDdTVTvgR7WGZuGNiFz1/3Y/WL0sALNppcDSJkRaaBV2EUkjF2nISdPREax7/NyrKr68DZdTgYrgsJYYh1QzwNd2RY9CQO7qCtDSLkG0jicoqWYGGkh4LaJWKobIrRmzawklO9M/CIO3+3fMUvFGgXX5sgujGGw4HrWztJfCDxWpOdLF/NdkEW/hzlomPXqoVT6e+t3owXt0HN2xuPbFD9n3q05XlKklOOymdcV1anAjTouK+kx2dR3HGz6glcH5xe/dmHAPeNgqnkb9/dsqYW09ZF+QrPXCcPXSWeft5HjQ7IAXYeddo2GFI8XkReLk1RhPW/Ap4WPmsBamK1MF3x2gbqGiSrdSw6gSaLsHoXEQDAzmnNv2PS8VAZRaQuoI/d5MiUxXfmnGI5M9sA8XrsA41q3kDawlB2qeD0pCEK8GoMdCTO9VA983IU4mI1yFlHUhobKIBHWtN605QIW8z9dV5GrmMO94bGuIghQvM8rBCtKJQ2v7d/7kTZC8ha4z42UnBrfKtIKKB3+a5ejevxwd5itgKGGpu7AJzcD6n4kwDyjlykRWW7CkrWSr2Se48H+EnQH3WJ86qCfynJtjoKsL46DXtCh9Tro3DSI03wJ9HHXWrpQ8Bk32is8HIEQhSt8egtHFRgeIJhfvdcycwfuIzOD5FRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TjdoKFbCqkbbxsCe6izd1h",
      "input": {
        "note": "Bottle appears to be standing under the jaws with its bottom on the table. Opening the gripper to release it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TjdoKFbCqkbbxsCe6izd1h",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.3298, -0.0227, -0.0292, 0.9983, 0.6682, 1.1641, 0.5636, -0.0219, 0.2249, 0.1268, 0.9954]\nstate[eef_state]: left_x=0.2849 left_y=0.0019 left_z=0.1565 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2958 right_y=0.1879 right_z=0.1245 right_yaw=0.3841 right_pitch=-0.034 right_roll=-0.0141 right_gripper=0.9954\nstate[joint_eff]: [-0.3624, -1.4564, 6.612, 1.8291, -0.0317, -0.0659, -0.0122, 0.335, -4.9846, 7.3368, 1.7753, 0.1001, 0.0562, -0.2613]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:537073402f3d4cafddeaedc028bbab28769fa78512138c20a41cb331df7a6a58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fedeb8f6d7558eceab4c84a17336e7c3ddca610adb4c26f559d6712fbc28b043",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6eb4ddd0ec14cf3cdd8171700848303e246a8a6534c2eda533c7856a81817e34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 12.11 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]: [-0.02, 0.7395, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.6689, 1.1599, 0.6243, -0.0551, 0.2256, 0.1276, 0.46]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1565 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3025 right_y=0.1933 right_z=0.1458 right_yaw=0.384 right_pitch=-0.0035 right_roll=-0.005 right_gripper=0.46\nstate[joint_eff]: [-0.1709, -0.8547, 6.4342, 1.9267, -0.0171, -0.0611, -0.0122, 0.1026, -4.3556, 10.0581, 1.8877, 0.105, 0.1538, -0.0073]",
      "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]: [-0.02, 0.7391, 0.498, -0.3294, -0.0227, -0.0288, 0.9983, 0.6739, 1.1584, 0.6006, -0.0589, 0.231, 0.1371, 0.46]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.2976 right_y=0.1905 right_z=0.1353 right_yaw=0.3792 right_pitch=-0.0276 right_roll=-0.0074 right_gripper=0.46\nstate[joint_eff]: [-0.3624, -1.4017, 6.3385, 1.8193, -0.0415, -0.0317, -0.0122, -0.4581, -2.6735, 6.0103, 1.7216, 0.0708, -0.0952, -0.0171]",
      "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]: [-0.02, 0.7391, 0.498, -0.3298, -0.0227, -0.0292, 0.9983, 0.6682, 1.1641, 0.5636, -0.0219, 0.2249, 0.1268, 0.9954]\nstate[eef_state]: left_x=0.2849 left_y=0.0019 left_z=0.1565 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2958 right_y=0.1879 right_z=0.1245 right_yaw=0.3841 right_pitch=-0.034 right_roll=-0.0141 right_gripper=0.9954\nstate[joint_eff]: [-0.3624, -1.4564, 6.612, 1.8291, -0.0317, -0.0659, -0.0122, 0.335, -4.9846, 7.3368, 1.7753, 0.1001, 0.0562, -0.2613]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:537073402f3d4cafddeaedc028bbab28769fa78512138c20a41cb331df7a6a58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fedeb8f6d7558eceab4c84a17336e7c3ddca610adb4c26f559d6712fbc28b043",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eb4ddd0ec14cf3cdd8171700848303e246a8a6534c2eda533c7856a81817e34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmQkKEAgSGAI4AUIIdGhpbmtpbmcSDLZO9x0kwCKJBZg1XhoMuO4PhnTLKzxMB6eIIjBUEGbmrTAXPY3lraV2Hn8TQSde3NEJKXW6F5Ev8kPfYVj25R8xqAz3cUb40Dx2CVAqtggG1NPNlwCDxV//wsjBGrzaR9eqfrPwxyg/WcQ+tx8jEKfrnGBAIVJydpJIu89Y5rTKtN2KEmmqCwN5uOrrFRWL873uie7dpNAllErX+/Kvz6TnE1tBj+3XL7b/e9tV/RdeloIMLHz8BV+t46c1GLtT0AxrEETZnJ7Tn3IX4d3YLYUX0eB3n7OHVZlZR2m8RvC5t7FzCTJjCrU27CkyXu5W9KR1J25t4ZcRTwtPj8CbwbWghf11Vy10lKL+y5fn8KMG/chSYW+jc7ais9fdNvYRArS/dhdlHFEjXbuy+uiFk4POHWYtTFYpmhWmcd54PGQqpMTq9lYTGHTD17ZBAsDFERE1jN+WbQD95As2PSOAiFsQkWiyup88m+XAqcbVXgdvzwSWQfeA1Dt1nHgSy1UuP9KjEtzbFJl6dhwSwK8JbPVk2+zq5YhwMUJSEviJ0B90GbOQodrOBcJGWg/VPLNhtaoQWp9sqaWmjO8docqrsQuHmIPlXlWEKqhE+GlYiMlTzpXmdQmmTUAIsNbspgkzS3JpCJ+5bD4/jtkUQUVrvEkf8F+rZ/QqRUmzsVdPWHvimmkXEjy6RZwAeiANQ2QL/O2Ty2JVJUfSFu32YLjNOzSoNTqlmTDSUrGL2zkHEpq/p2loBpKyONPFnxGAYjxL3/bPmg+31cK73HKVvn7lEyM1akG0tm3Gag+RmF/AgB2q4hlASeawD7uewVAJMFAbTTlUBFl3EgvBWwt9GKs0Q2A/e2VLcSQDz116lvUyahwAO9VrZZsxCuqnFWZESxrage3ks/BDWn0h2mn1w62m5WFZAflOBwQxb2fSdOYEI+q2Jx2pg5yZkl85kZpu8dt5B02vBCxHjZ0Fjt3pFcCrvokZT2IPV+0fltLimGdCtELmMwBYbJFAqGDnTt4hySFeHN6euPC/wZ1tJZKzLvBgvPm7pOsQK1lUeVb2BSts65Nt4fGBpXd9hR0Wq60BhJT/U9oE1EyC1UvTOtFh4D8uvXNCabAKZyNrhYgmhcNgCLr8HWH8Zm7ZdMjxDfnUgeEYa/kYKYUh9FACF8IWQiS/vRRWcSamHGMTucrjg3tzPnBOTRZ+B5EbrRonkwZHAbTPLQg3m4wTO/FFoX+Nwq7mYUlpaV8oIo8PaJ2IO+2iYSLui55Qk2VW2ybRzdEKMYYDAmT5GJ/NxewpH0tFMz7H4aCes2JnFm24zbkUirV/YkZBIiIvoz2C5iwzg379clYl9fjPXMt+JXJakedS/n0IXceyWUtnAPmJX/NTRYJ12/Lcz+9pjEyihoVvewzr/8d4lxvaIUaVmZvvYxGbxky3yNNlGIYgtVuUwgnYWLyuQC9BYc6ggUSawIkiUHLwyrKWwuTdtT2Q2i8A6FUsntIdbOeemyY3DV+G7yPBesG9UWRK2oU+Mwqpsd87bpEQdvxleonYUjZZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L7DPD7gWU4ytgQXUCg8cE9",
      "input": {
        "note": "Released; the bottle still appears upright under where the jaws were. Moving the right arm away to the right so the top camera can confirm it is standing.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.02,
          "right_yaw": 0.0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01L7DPD7gWU4ytgQXUCg8cE9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.3298, -0.0227, -0.0292, 0.9983, 0.1566, 0.6903, 0.8257, -0.7406, 0.1268, 0.0574, 0.9951]\nstate[eef_state]: left_x=0.2849 left_y=0.0019 left_z=0.1565 left_yaw=0.0007 left_pitch=-0.0091 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2528 right_y=0.0209 right_z=0.2332 right_yaw=-0.0079 right_pitch=-0.0293 right_roll=-0.0125 right_gripper=0.9951\nstate[joint_eff]: [-0.1299, -1.2786, 6.7214, 1.8339, -0.0366, -0.0317, -0.0122, 0.1299, -0.8547, 9.2103, 1.8535, -0.1245, 0.0708, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c30d631194a58f5c51f0e6761b796f65757896f6b99c40ea55a3d613ae1a84ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0572491b7513767106f4d9302171da6b425193bf6ee78cb51e6afbff0d561ed2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab6738bf31633cfdc42b67ce12875fca99f3be29a826041b8fa8330c1e7874a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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