adhoc

completed
2026-09-22T18:58:30.728290+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
342.8 s
total steps
258
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 with the caps pointing away from the bases. I'm moving the left arm above my estimate of where the leftmost bottle's cap is, so I can check it in the wrist camera.
move_to
left_x0.4200left_y-0.1500left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.6075, -0.3782, -0.0227, -0.0288, 0.9986, -0.0158, 0.7891, 0.6037, -0.3862, -0.0238, -0.0349, 0.9994] state[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1822 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0032 right_z=0.1799 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.4581, -1.4564, 9.7573, 1.8339, -0.0562, 0.1441, -0.1538, -0.8821, -1.0598, 10.3316, 1.8437, 0.0024, 0.2027, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.15, "left_z": 0.15}, "note": "Three bottles lie on their sides with the caps pointing away from the bases. I'm moving the left arm above my estimate of where the leftmost bottle's cap is, so I can check it in the wrist camera."})
tool
executing move_to over 14 steps (1.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe wrist camera shows the leftmost bottle's cap just to the left of the jaws. I'm shifting left about 3 cm so the jaws sit over the bottle's neck.
move_to
left_x0.4100left_y-0.1150left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5121, 1.5436, 0.9138, -0.0555, -0.4137, -0.3107, 0.9984, -0.0193, 0.794, 0.6033, -0.4042, -0.0238, -0.0364, 0.9994] state[eef_state]: left_x=0.4077 left_y=-0.1436 left_z=0.1335 left_yaw=-0.0145 left_pitch=-0.0549 left_roll=0.017 left_gripper=0.9984 right_x=0.2914 right_y=0.0022 right_z=0.1747 right_yaw=-0.0026 right_pitch=-0.0236 right_roll=-0.0009 right_gripper=0.9994 state[joint_eff]: [-0.4855, -7.2137, 8.7453, 1.6679, -0.3639, -0.0024, -0.0366, 0.0889, -1.6068, 7.0496, 1.8486, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.115, "left_z": 0.12}, "note": "The wrist camera shows the leftmost bottle's cap just to the left of the jaws. I'm shifting left about 3 cm so the jaws sit over the bottle's neck."})
tool
executing move_to over 3 steps (0.3s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe left bottle's cap still shows left of the jaw column and a little beyond the fingertips. I'm moving another 3 cm left and 2 cm forward.
move_to
left_x0.4300left_y-0.0800left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4397, 1.5375, 0.786, 0.0662, -0.379, -0.2832, 0.9983, -0.0193, 0.7891, 0.5842, -0.3981, -0.0246, -0.0364, 0.9994] state[eef_state]: left_x=0.4027 left_y=-0.1132 left_z=0.1043 left_yaw=0.0153 left_pitch=-0.0654 left_roll=0.0198 left_gripper=0.9983 right_x=0.2895 right_y=0.0024 right_z=0.1686 right_yaw=-0.002 right_pitch=-0.0316 right_roll=-0.0003 right_gripper=0.9994 state[joint_eff]: [-0.2667, -8.294, 7.1179, 2.2589, -0.0513, 0.2515, -0.0171, -0.2667, -2.2222, 6.8855, 1.917, -0.0659, -0.0611, -0.0122] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.08, "left_z": 0.12}, "note": "The left bottle's cap still shows left of the jaw column and a little beyond the fingertips. I'm moving another 3 cm left and 2 cm forward."})
tool
executing move_to over 3 steps (0.3s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe left bottle's cap and neck now sit close to the jaw column. I'm descending to neck height (about 3 cm) to grasp the neck.
move_to
left_x0.4200left_y-0.0700left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3191, 1.5383, 0.7685, 0.1341, -0.3088, -0.2348, 0.9983, -0.0193, 0.7765, 0.5537, -0.387, -0.0246, -0.036, 0.9994] state[eef_state]: left_x=0.4177 left_y=-0.0777 left_z=0.107 left_yaw=0.0514 left_pitch=-0.0378 left_roll=-0.0 left_gripper=0.9983 right_x=0.2863 right_y=0.0024 right_z=0.1603 right_yaw=-0.0022 right_pitch=-0.0385 right_roll=0.0001 right_gripper=0.9994 state[joint_eff]: [-0.8957, -5.7915, 9.1009, 1.9853, 0.1099, 0.3639, -0.0171, -0.3077, -1.6479, 7.1453, 1.9658, -0.0708, -0.0269, -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": {"left_x": 0.42, "left_y": -0.07, "left_z": 0.03}, "note": "The left bottle's cap and neck now sit close to the jaw column. I'm descending to neck height (about 3 cm) to grasp the neck."})
tool
executing move_to over 5 steps (0.5s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe fingertips are over the bottle's label and the neck is a few cm further out. I'm advancing 4 cm so the jaws straddle the neck.
move_to
left_x0.4600left_y-0.0650left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3012, 1.7527, 0.6228, 0.5465, -0.2913, -0.2256, 0.9983, -0.0193, 0.7567, 0.5186, -0.3668, -0.028, -0.0364, 0.9994] state[eef_state]: left_x=0.4233 left_y=-0.0746 left_z=0.044 left_yaw=0.0496 left_pitch=0.0076 left_roll=-0.0202 left_gripper=0.9983 right_x=0.2834 right_y=0.0031 right_z=0.1537 right_yaw=0.0009 right_pitch=-0.0335 right_roll=0.0017 right_gripper=0.9994 state[joint_eff]: [0.5538, -5.6547, 3.453, 0.8913, -0.1538, 0.3492, -0.0122, -0.1162, -1.6752, 6.7761, 2.0, -0.0513, -0.022, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.065, "left_z": 0.03}, "note": "The fingertips are over the bottle's label and the neck is a few cm further out. I'm advancing 4 cm so the jaws straddle the neck."})
tool
executing move_to over 3 steps (0.3s)
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 noteThe bottle neck is centred between the jaws. I'm lowering slightly and closing the gripper on the neck.
move_to
left_z0.0200left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2588, 1.8706, 0.7261, 0.5957, -0.2607, -0.2237, 0.9983, -0.0193, 0.7429, 0.4873, -0.3515, -0.0277, -0.0364, 0.9994] state[eef_state]: left_x=0.4567 left_y=-0.0701 left_z=0.0406 left_yaw=0.0657 left_pitch=0.0349 left_roll=-0.0455 left_gripper=0.9983 right_x=0.2806 right_y=0.0031 right_z=0.1461 right_yaw=0.0006 right_pitch=-0.0358 right_roll=0.0015 right_gripper=0.9994 state[joint_eff]: [0.9641, -6.8034, 6.0239, 1.4579, -0.188, 0.4176, -0.0171, -0.1846, -1.8393, 7.2274, 1.9707, -0.0171, -0.0415, -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": {"left_z": 0.02, "left_gripper": 0.0}, "note": "The bottle neck is centred between the jaws. I'm lowering slightly and closing the gripper on the neck."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe close came up empty: the arm rose to 6 cm and the jaws passed above the neck, which sits just ahead of the jaws. I'm opening and descending lower to try again.
move_to
left_gripper1.0000left_x0.4650left_z0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2451, 1.8793, 0.7582, 0.6559, -0.2676, -0.1993, 0.0137, -0.0193, 0.725, 0.4534, -0.3355, -0.028, -0.036, 0.9994] state[eef_state]: left_x=0.4737 left_y=-0.0667 left_z=0.0613 left_yaw=0.0741 left_pitch=0.1157 left_roll=-0.0472 left_gripper=0.0137 right_x=0.2773 right_y=0.0032 right_z=0.1386 right_yaw=0.0007 right_pitch=-0.0358 right_roll=0.002 right_gripper=0.9994 state[joint_eff]: [0.1846, -6.9538, 4.8205, 0.8474, 0.1197, 0.188, 1.2186, -0.3214, -1.5795, 6.9402, 1.9414, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.465, "left_z": 0.01}, "note": "The close came up empty: the arm rose to 6 cm and the jaws passed above the neck, which sits just ahead of the jaws. I'm opening and descending lower to try again."})
tool
executing move_to over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe bottle's shoulder and neck are between the open jaws and the arm has stopped at 4.7 cm. I'm closing to try to grasp there.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2489, 1.9457, 0.7948, 0.6689, -0.2832, -0.2119, 0.9945, -0.0193, 0.7055, 0.4198, -0.3206, -0.0277, -0.0364, 0.9994] state[eef_state]: left_x=0.482 left_y=-0.0679 left_z=0.0475 left_yaw=0.0897 left_pitch=0.1019 left_roll=-0.0464 left_gripper=0.9945 right_x=0.2739 right_y=0.0032 right_z=0.1313 right_yaw=0.0006 right_pitch=-0.035 right_roll=0.0015 right_gripper=0.9994 state[joint_eff]: [-0.8274, -5.641, 2.9607, 1.0623, -0.0659, 0.1148, -0.1197, -0.1162, -1.347, 6.9402, 2.0098, -0.0269, -0.0562, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The bottle's shoulder and neck are between the open jaws and the arm has stopped at 4.7 cm. I'm closing to try to grasp there."})
tool
executing move_to over 10 steps (1.0s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteSecond empty close: at x 0.48 the fingertips seem to be resting on top of the cap, so the arm couldn't go lower. I'm opening and backing off to x 0.44 to grasp the bottle's shoulder instead.
move_to
left_gripper1.0000left_x0.4400left_y-0.0700left_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2535, 1.911, 0.8745, 0.5076, -0.3035, -0.2138, 0.014, -0.0193, 0.6861, 0.3878, -0.3058, -0.028, -0.0364, 0.9994] state[eef_state]: left_x=0.4892 left_y=-0.0685 left_z=0.0603 left_yaw=0.1018 left_pitch=0.061 left_roll=-0.0228 left_gripper=0.014 right_x=0.2708 right_y=0.0033 right_z=0.1247 right_yaw=0.0009 right_pitch=-0.0327 right_roll=0.0016 right_gripper=0.9994 state[joint_eff]: [0.1436, -9.2239, 5.7778, 1.1404, -0.0171, 0.105, 1.2381, -0.0752, -1.0598, 6.8581, 1.9853, -0.0269, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.44, "left_y": -0.07, "left_z": 0.06}, "note": "Second empty close: at x 0.48 the fingertips seem to be resting on top of the cap, so the arm couldn't go lower. I'm opening and backing off to x 0.44 to grasp the bottle's shoulder instead."})
tool
executing move_to over 10 steps (1.0s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe bottle is lined up on the jaw column, with the cap ahead and the label between the jaws. I'm descending to grasp the upper body.
move_to
left_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2943, 1.7901, 0.7425, 0.4129, -0.3294, -0.2409, 0.9943, -0.0193, 0.6666, 0.3576, -0.2901, -0.028, -0.0364, 0.9994] state[eef_state]: left_x=0.4416 left_y=-0.0704 left_z=0.047 left_yaw=0.0964 left_pitch=-0.0321 left_roll=0.0059 left_gripper=0.9943 right_x=0.2681 right_y=0.0034 right_z=0.119 right_yaw=0.0009 right_pitch=-0.0278 right_roll=0.0015 right_gripper=0.9994 state[joint_eff]: [-0.6222, -10.6325, 5.135, 1.746, -0.1197, -0.0122, -0.0806, -0.0479, -0.6769, 6.9402, 1.9805, -0.0415, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.015}, "note": "The bottle is lined up on the jaw column, with the cap ahead and the label between the jaws. I'm descending to grasp the upper body."})
tool
executing move_to over 3 steps (0.3s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe jaws straddle the bottle's label and the arm has stopped at 3.6 cm. Closing to grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2951, 1.8721, 0.7109, 0.5953, -0.3294, -0.2447, 0.9956, -0.0193, 0.6525, 0.3332, -0.2848, -0.028, -0.036, 0.9994] state[eef_state]: left_x=0.4495 left_y=-0.0732 left_z=0.0362 left_yaw=0.0977 left_pitch=0.0313 left_roll=-0.0236 left_gripper=0.9956 right_x=0.2649 right_y=0.0034 right_z=0.1124 right_yaw=0.0007 right_pitch=-0.0327 right_roll=0.002 right_gripper=0.9994 state[joint_eff]: [-0.2667, -4.9573, 2.906, 1.0769, -0.1245, 0.022, 0.1197, -0.2256, -0.8684, 7.0769, 1.956, -0.0366, -0.0122, -0.0122] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The jaws straddle the bottle's label and the arm has stopped at 3.6 cm. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteEmpty again: the jaws slid up over the round bottle because the fingertips were above its centreline. I'm opening, pulling back a little and pressing down to the floor of the box so the fingertips get below the bottle's midline.
move_to
left_gripper1.0000left_x0.4300left_z-0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2996, 1.8503, 0.7422, 0.6205, -0.3573, -0.2588, 0.0131, -0.0193, 0.6327, 0.3054, -0.2707, -0.0277, -0.0364, 0.9994] state[eef_state]: left_x=0.4628 left_y=-0.0746 left_z=0.0631 left_yaw=0.126 left_pitch=0.1084 left_roll=-0.0543 left_gripper=0.0131 right_x=0.2625 right_y=0.0034 right_z=0.1075 right_yaw=0.0006 right_pitch=-0.0266 right_roll=0.0013 right_gripper=0.9994 state[joint_eff]: [0.212, -7.6103, 4.9436, 0.8425, 0.105, 0.2613, 0.8816, -0.2803, -0.4991, 6.8991, 1.917, -0.0122, -0.0708, -0.0122] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.43, "left_z": -0.02}, "note": "Empty again: the jaws slid up over the round bottle because the fingertips were above its centreline. I'm opening, pulling back a little and pressing down to the floor of the box so the fingertips get below the bottle's midline."})
tool
executing move_to over 10 steps (1.0s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe last motion was speed-clamped before it arrived. I'm re-sending the descent for the left arm and parking the right arm, which is drifting down.
move_to
left_x0.4400left_z-0.0200right_x0.2900right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.326, 1.9705, 0.6815, 0.8803, -0.4042, -0.2817, 0.9943, -0.0193, 0.6186, 0.2813, -0.2646, -0.028, -0.0364, 0.9994] state[eef_state]: left_x=0.4611 left_y=-0.0788 left_z=0.0443 left_yaw=0.1568 left_pitch=0.1875 left_roll=-0.0921 left_gripper=0.9943 right_x=0.2596 right_y=0.0035 right_z=0.1012 right_yaw=0.0009 right_pitch=-0.0305 right_roll=0.0016 right_gripper=0.9994 state[joint_eff]: [-0.9231, -3.1385, 1.1556, 0.1343, 0.1001, 0.149, 0.0708, -0.3077, -0.6906, 6.9265, 1.9121, -0.0122, -0.0855, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_z": -0.02, "right_x": 0.29, "right_y": 0.0, "right_z": 0.18}, "note": "The last motion was speed-clamped before it arrived. I'm re-sending the descent for the left arm and parking the right arm, which is drifting down."})
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 noteThe left arm isn't tracking downward and pitch/yaw are drifting, so it's probably jammed on the bottle. I'm raising and pulling back to reset before a fresh approach.
move_to
left_x0.3800left_y-0.1000left_z0.1500left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3412, 1.9984, 0.7429, 0.8379, -0.4358, -0.3157, 0.9956, -0.0307, 0.7605, 0.5434, -0.3874, -0.0315, -0.0582, 0.9994] state[eef_state]: left_x=0.472 left_y=-0.0847 left_z=0.0448 left_yaw=0.186 left_pitch=0.1844 left_roll=-0.1085 left_gripper=0.9956 right_x=0.2841 right_y=0.0004 right_z=0.1598 right_yaw=0.0041 right_pitch=-0.0329 right_roll=-0.0143 right_gripper=0.9994 state[joint_eff]: [-0.9231, -3.5624, 1.1966, 0.1734, -0.0757, 0.022, 0.1197, -0.9368, -0.6222, 9.935, 1.6874, -0.1783, 0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.1, "left_z": 0.15, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The left arm isn't tracking downward and pitch/yaw are drifting, so it's probably jammed on the bottle. I'm raising and pulling back to reset before a fresh approach."})
tool
executing move_to over 8 steps (0.8s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe left arm didn't respond to the last reset. I'm trying a pure 6 cm lift to get it unstuck.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3473, 1.9839, 0.8146, 0.6739, -0.4576, -0.3225, 0.9979, -0.0353, 0.7452, 0.5095, -0.3771, -0.0391, -0.0582, 0.9994] state[eef_state]: left_x=0.4774 left_y=-0.086 left_z=0.0433 left_yaw=0.1958 left_pitch=0.122 left_roll=-0.0664 left_gripper=0.9979 right_x=0.2803 right_y=0.0006 right_z=0.1505 right_yaw=0.006 right_pitch=-0.0411 right_roll=-0.0096 right_gripper=0.9994 state[joint_eff]: [-0.841, -8.0889, 4.4376, 0.6422, 0.0464, 0.0611, -0.232, -0.8821, -1.5521, 7.1179, 1.9853, -0.1197, 0.0317, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.1}, "note": "The left arm didn't respond to the last reset. I'm trying a pure 6 cm lift to get it unstuck."})
tool
executing move_to over 4 steps (0.4s)
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 noteThe left arm is frozen at z 0.044. I'm trying a very small step up and back in case the approver is rejecting big jumps.
move_to
left_z0.0600left_x0.4700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3473, 1.9839, 0.8165, 0.672, -0.4576, -0.3229, 0.9977, -0.0349, 0.7235, 0.4702, -0.358, -0.0475, -0.0582, 0.9994] state[eef_state]: left_x=0.4778 left_y=-0.0862 left_z=0.0436 left_yaw=0.196 left_pitch=0.122 left_roll=-0.0667 left_gripper=0.9977 right_x=0.2766 right_y=0.0023 right_z=0.1421 right_yaw=0.0134 right_pitch=-0.0394 right_roll=-0.0049 right_gripper=0.9994 state[joint_eff]: [-0.6769, -7.747, 4.3009, 0.6325, 0.0611, 0.0464, -0.0366, -0.7043, -1.5932, 6.9128, 2.0147, -0.0855, 0.0415, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). 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": {"left_z": 0.06, "left_x": 0.47}, "note": "The left arm is frozen at z 0.044. I'm trying a very small step up and back in case the approver is rejecting big jumps."})
tool
executing move_to over 2 steps (0.2s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteSmall steps are working. I'm continuing to lift the left arm clear of the bottle.
move_to
left_z0.1000left_x0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3477, 1.9377, 0.8684, 0.5163, -0.4633, -0.3389, 0.9976, -0.0349, 0.7082, 0.4488, -0.3416, -0.054, -0.0586, 0.9994] state[eef_state]: left_x=0.4788 left_y=-0.0858 left_z=0.0528 left_yaw=0.2059 left_pitch=0.074 left_roll=-0.0485 left_gripper=0.9976 right_x=0.2754 right_y=0.0035 right_z=0.1397 right_yaw=0.0191 right_pitch=-0.0289 right_roll=-0.002 right_gripper=0.9994 state[joint_eff]: [-0.8684, -11.9453, 6.9812, 1.6777, -0.1587, 0.1636, -0.0171, -0.4991, -1.2103, 6.7624, 2.0684, -0.0952, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.1, "left_x": 0.45}, "note": "Small steps are working. I'm continuing to lift the left arm clear of the bottle."})
tool
executing move_to over 4 steps (0.4s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe left arm isn't rising, but it does respond in x. I'm pulling back toward the base while asking for a bit more height.
move_to
left_z0.0800left_x0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3538, 1.8885, 0.9028, 0.3069, -0.4648, -0.342, 0.9976, -0.0349, 0.696, 0.4252, -0.3351, -0.0551, -0.0582, 0.9994] state[eef_state]: left_x=0.4652 left_y=-0.0836 left_z=0.0487 left_yaw=0.2013 left_pitch=-0.0326 left_roll=0.0159 left_gripper=0.9976 right_x=0.2725 right_y=0.0038 right_z=0.1333 right_yaw=0.0198 right_pitch=-0.0338 right_roll=-0.0008 right_gripper=0.9994 state[joint_eff]: [-0.5128, -10.6872, 7.5829, 1.5311, -0.2564, -0.0904, -0.0122, -0.5949, -1.4838, 6.7077, 1.956, -0.0952, -0.0024, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.08, "left_x": 0.4}, "note": "The left arm isn't rising, but it does respond in x. I'm pulling back toward the base while asking for a bit more height."})
tool
executing move_to over 6 steps (0.6s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe left arm ignored the last command. I'm testing with a tiny 1 cm lift.
move_to
left_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3538, 1.8885, 0.9028, 0.305, -0.4648, -0.3416, 0.9976, -0.0341, 0.6781, 0.3935, -0.3206, -0.057, -0.0586, 0.9994] state[eef_state]: left_x=0.4649 left_y=-0.0835 left_z=0.0483 left_yaw=0.2012 left_pitch=-0.0343 left_roll=0.0172 left_gripper=0.9976 right_x=0.2695 right_y=0.0045 right_z=0.1264 right_yaw=0.0224 right_pitch=-0.033 right_roll=-0.0001 right_gripper=0.9994 state[joint_eff]: [-0.3897, -10.6598, 7.2684, 1.5311, -0.3101, -0.0708, -0.0122, -0.4308, -1.306, 6.9675, 1.956, -0.1001, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.06}, "note": "The left arm ignored the last command. I'm testing with a tiny 1 cm lift."})
tool
executing move_to over 1 steps (0.1s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe left arm is frozen, maybe because the held yaw target (0) no longer matches the actual yaw (0.2). I'm commanding yaw to match its current value, with a small lift.
move_to
left_z0.0700left_yaw0.2000left_x0.4600left_y-0.0850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3538, 1.8885, 0.9028, 0.305, -0.4652, -0.342, 0.9976, -0.0341, 0.6781, 0.3935, -0.3206, -0.057, -0.0582, 0.9994] state[eef_state]: left_x=0.4649 left_y=-0.0834 left_z=0.0484 left_yaw=0.2017 left_pitch=-0.0341 left_roll=0.0171 left_gripper=0.9976 right_x=0.2695 right_y=0.0045 right_z=0.1264 right_yaw=0.0222 right_pitch=-0.033 right_roll=0.0003 right_gripper=0.9994 state[joint_eff]: [-0.3624, -10.6872, 7.3778, 1.5165, -0.2857, -0.0952, -0.0122, -0.253, -1.1009, 7.0085, 1.9414, -0.0855, 0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.07, "left_yaw": 0.2, "left_x": 0.46, "left_y": -0.085}, "note": "The left arm is frozen, maybe because the held yaw target (0) no longer matches the actual yaw (0.2). I'm commanding yaw to match its current value, with a small lift."})
tool
executing move_to over 2 steps (0.2s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe left bottle now looks upright in front of the left jaws. Both arms are tracking poorly, so I'm testing whether the right arm can go back up to its home height.
move_to
right_z0.1800right_x0.2900right_y0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3561, 1.8725, 0.8909, 0.3012, -0.4652, -0.3416, 0.9976, -0.0341, 0.659, 0.3614, -0.3065, -0.057, -0.0586, 0.9994] state[eef_state]: left_x=0.4617 left_y=-0.0834 left_z=0.0505 left_yaw=0.1992 left_pitch=-0.0338 left_roll=0.0172 left_gripper=0.9976 right_x=0.2664 right_y=0.0046 right_z=0.1194 right_yaw=0.0224 right_pitch=-0.0319 right_roll=-0.0001 right_gripper=0.9994 state[joint_eff]: [-0.7726, -12.0957, 5.4359, 1.6386, -0.2955, -0.0952, -0.0122, -0.4581, -0.6359, 7.241, 1.9853, -0.0757, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18, "right_x": 0.29, "right_y": 0.0}, "note": "The left bottle now looks upright in front of the left jaws. Both arms are tracking poorly, so I'm testing whether the right arm can go back up to its home height."})
tool
executing move_to over 4 steps (0.4s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe right arm responds fine, but the left one is stuck at x 0.46, z 0.05. I'm trying a pure pull-back at the same height to get its IK out of this pose.
move_to
left_x0.4000left_y-0.1000left_z0.0500left_yaw0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3595, 1.8717, 0.8627, 0.3534, -0.4648, -0.3443, 0.9976, -0.0555, 0.7616, 0.5381, -0.395, -0.0731, -0.0738, 0.9994] state[eef_state]: left_x=0.4601 left_y=-0.0845 left_z=0.0499 left_yaw=0.1965 left_pitch=-0.0128 left_roll=0.0017 left_gripper=0.9976 right_x=0.2824 right_y=0.0008 right_z=0.1557 right_yaw=0.0228 right_pitch=-0.0456 right_roll=-0.0025 right_gripper=0.9994 state[joint_eff]: [-0.0068, -7.9795, 5.1487, 1.8242, -0.2564, 0.0024, -0.0122, -0.5675, -0.841, 9.4974, 1.7265, -0.1343, 0.1245, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.1, "left_z": 0.05, "left_yaw": 0.2}, "note": "The right arm responds fine, but the left one is stuck at x 0.46, z 0.05. I'm trying a pure pull-back at the same height to get its IK out of this pose."})
tool
executing move_to over 5 steps (0.5s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe left bottle lies straight between the open jaws with its cap pointing forward. I'm moving onto its upper body and pressing down as far as the arm will go before closing.
move_to
left_x0.4400left_y-0.1000left_z-0.0200left_yaw0.1700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4786, 1.7523, 0.68, 0.387, -0.5404, -0.4065, 0.9976, -0.0593, 0.733, 0.4889, -0.3744, -0.083, -0.0811, 0.9994] state[eef_state]: left_x=0.4067 left_y=-0.1046 left_z=0.0451 left_yaw=0.1706 left_pitch=-0.0103 left_roll=0.0051 left_gripper=0.9976 right_x=0.2773 right_y=0.0018 right_z=0.1451 right_yaw=0.0313 right_pitch=-0.045 right_roll=-0.0027 right_gripper=0.9994 state[joint_eff]: [-0.1846, -9.0598, 5.2171, 1.5311, -0.3492, -0.188, -0.0122, -0.2803, -0.9641, 7.5419, 2.1172, -0.0269, 0.0562, -0.0122] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.1, "left_z": -0.02, "left_yaw": 0.17}, "note": "The left bottle lies straight between the open jaws with its cap pointing forward. I'm moving onto its upper body and pressing down as far as the arm will go before closing."})
tool
executing move_to over 5 steps (0.5s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
assistant
agent noteThe bottle's shoulder is between the jaws and the arm is at its lowest reachable height (about 4 cm). I'm closing while still pressing down.
move_to
left_gripper0.0000left_z-0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4301, 1.9942, 0.7605, 0.7647, -0.5346, -0.4007, 0.9976, -0.0605, 0.7048, 0.4458, -0.3511, -0.0837, -0.0811, 0.9994] state[eef_state]: left_x=0.4611 left_y=-0.1086 left_z=0.0411 left_yaw=0.2212 left_pitch=0.1604 left_roll=-0.1235 left_gripper=0.9976 right_x=0.2735 right_y=0.0018 right_z=0.1374 right_yaw=0.0307 right_pitch=-0.0366 right_roll=-0.003 right_gripper=0.9994 state[joint_eff]: [0.8957, -3.5624, 2.3316, 0.0073, 0.2711, 0.1832, -0.0122, -0.5265, -1.0872, 6.9675, 1.9951, -0.1294, -0.0024, -0.0122] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0, "left_z": -0.02}, "note": "The bottle's shoulder is between the jaws and the arm is at its lowest reachable height (about 4 cm). I'm closing while still pressing down."})
tool
executing move_to over 10 steps (1.0s)
step 148
assistant
agent noteFourth empty close on the left bottle, and the left arm has drifted to its reach limit with a lot of pitch error. I'm sending it home, open, so I can reset and try the right arm.
move_to
left_x0.3000left_y0.0000left_z0.1800left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4316, 2.0594, 0.8986, 0.749, -0.6056, -0.4202, 0.013, -0.0605, 0.6842, 0.4118, -0.3355, -0.0837, -0.0814, 0.9994] state[eef_state]: left_x=0.4924 left_y=-0.1121 left_z=0.0583 left_yaw=0.2969 left_pitch=0.2224 left_roll=-0.1553 left_gripper=0.013 right_x=0.2703 right_y=0.002 right_z=0.1303 right_yaw=0.0309 right_pitch=-0.0343 right_roll=-0.0035 right_gripper=0.9994 state[joint_eff]: [-0.4444, -3.8085, 2.906, -0.2662, 0.5592, 0.0415, 0.9206, -0.4171, -1.2376, 6.9128, 1.9707, -0.1441, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.18, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "Fourth empty close on the left bottle, and the left arm has drifted to its reach limit with a lot of pitch error. I'm sending it home, open, so I can reset and try the right arm."})
tool
executing move_to over 15 steps (1.5s)
step 163
assistant
agent noteFrom the clear overhead view, the left bottle's neck is at about x 0.58, beyond the left arm's low reach. The right bottle's neck is around x 0.46, so I'm bringing the right arm above it.
move_to
right_x0.4500right_y0.2200right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8463, 0.5964, -0.2661, -0.1104, -0.0948, 0.9967, -0.0658, 0.6601, 0.3794, -0.3161, -0.0841, -0.0841, 0.9994] state[eef_state]: left_x=0.3119 left_y=0.0066 left_z=0.1862 left_yaw=0.0767 left_pitch=0.051 left_roll=-0.0153 left_gripper=0.9967 right_x=0.2678 right_y=0.0008 right_z=0.1255 right_yaw=0.0273 right_pitch=-0.0233 right_roll=-0.0065 right_gripper=0.9994 state[joint_eff]: [0.2667, -1.3607, 7.8564, 1.9316, 0.1148, 0.2711, -0.0122, -0.2256, -0.5128, 6.9812, 1.8926, -0.1734, 0.0171, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.22, "right_z": 0.1}, "note": "From the clear overhead view, the left bottle's neck is at about x 0.58, beyond the left arm's low reach. The right bottle's neck is around x 0.46, so I'm bringing the right arm above it."})
tool
executing move_to over 19 steps (1.9s)
step 182
assistant
agent noteIn the right wrist view the jaws are over the right bottle's label and the neck is a few cm ahead, slightly right. I'm advancing about 4 cm, shifting right 1 cm, and descending to neck height.
move_to
right_x0.4750right_y0.2050right_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0578, 0.8845, 0.622, -0.3496, -0.1135, -0.083, 0.9971, 0.6052, 1.8393, 1.0424, 0.0956, 0.4355, 0.2825, 0.9994] state[eef_state]: left_x=0.3069 left_y=0.0059 left_z=0.1697 left_yaw=0.068 left_pitch=-0.0442 left_roll=0.0086 left_gripper=0.9971 right_x=0.4352 right_y=0.2149 right_z=0.0848 right_yaw=0.0674 right_pitch=-0.0538 right_roll=-0.0333 right_gripper=0.9994 state[joint_eff]: [-0.0479, -2.2632, 9.4291, 1.7411, -0.1294, -0.1148, 0.0317, -0.0615, -8.8957, 8.3214, 1.8242, 0.4518, 0.2466, -0.0122] 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_x": 0.475, "right_y": 0.205, "right_z": 0.04}, "note": "In the right wrist view the jaws are over the right bottle's label and the neck is a few cm ahead, slightly right. I'm advancing about 4 cm, shifting right 1 cm, and descending to neck height."})
tool
executing move_to over 4 steps (0.4s)
step 186
assistant
agent noteThe right jaws are at the bottle's shoulder at z 0.028, with the neck just ahead. I'm pushing out to x 0.49 to straddle the neck.
move_to
right_x0.4900right_y0.2000right_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0578, 0.8627, 0.5804, -0.3119, -0.1131, -0.0822, 0.9971, 0.5331, 2.0125, 1.0241, 0.2836, 0.3847, 0.2352, 0.9994] state[eef_state]: left_x=0.3048 left_y=0.0059 left_z=0.1646 left_yaw=0.0672 left_pitch=-0.0264 left_roll=0.0068 left_gripper=0.9971 right_x=0.459 right_y=0.198 right_z=0.0277 right_yaw=0.0614 right_pitch=-0.0731 right_roll=-0.0444 right_gripper=0.9994 state[joint_eff]: [-0.1299, -2.3179, 6.7214, 1.8632, -0.0513, -0.0464, -0.0122, -0.3214, -9.7299, 7.0632, 1.8535, -0.0317, 0.2125, -0.0122] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_y": 0.2, "right_z": 0.02}, "note": "The right jaws are at the bottle's shoulder at z 0.028, with the neck just ahead. I'm pushing out to x 0.49 to straddle the neck."})
tool
executing move_to over 3 steps (0.3s)
step 189
assistant
agent noteThe right jaws are at the bottle's shoulder, just below the neck, and the arm is at its reach limit. I'm closing here and pressing down slightly.
move_to
right_gripper0.0000right_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0574, 0.8562, 0.5632, -0.2955, -0.1131, -0.0822, 0.9971, 0.5285, 2.0182, 1.0283, 0.3386, 0.3626, 0.2272, 0.9994] state[eef_state]: left_x=0.3042 left_y=0.0061 left_z=0.1619 left_yaw=0.0675 left_pitch=-0.0208 left_roll=0.0061 left_gripper=0.9971 right_x=0.4668 right_y=0.2042 right_z=0.0357 right_yaw=0.0803 right_pitch=-0.0315 right_roll=-0.0147 right_gripper=0.9994 state[joint_eff]: [-0.0479, -2.1675, 6.4205, 1.9658, -0.0708, -0.0855, -0.0122, -0.6359, -8.8274, 6.735, 2.0049, 0.1538, -0.0269, -0.0122] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0, "right_z": 0.02}, "note": "The right jaws are at the bottle's shoulder, just below the neck, and the arm is at its reach limit. I'm closing here and pressing down slightly."})
tool
executing move_to over 10 steps (1.0s)
step 199
assistant
agent noteThe gripper settled at 0.50 (about 4.8 cm), so it's holding the bottle's shoulder. I'm lifting the cap end up and back so the bottle pivots on its base.
move_to
right_z0.1000right_x0.4400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0574, 0.8558, 0.5484, -0.2848, -0.1131, -0.0822, 0.9971, 0.5289, 2.0285, 1.0019, 0.4221, 0.3588, 0.2268, 0.5019] state[eef_state]: left_x=0.3034 left_y=0.0061 left_z=0.1575 left_yaw=0.0675 left_pitch=-0.0245 left_roll=0.0065 left_gripper=0.9971 right_x=0.4687 right_y=0.2063 right_z=0.0366 right_yaw=0.0842 right_pitch=0.0099 right_roll=0.0073 right_gripper=0.5019 state[joint_eff]: [0.0889, -2.7556, 6.5026, 1.8681, -0.0513, -0.0904, -0.0122, -0.212, -6.8444, 4.3145, 1.9072, 0.0806, -0.0708, 0.9988] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1, "right_x": 0.44}, "note": "The gripper settled at 0.50 (about 4.8 cm), so it's holding the bottle's shoulder. I'm lifting the cap end up and back so the bottle pivots on its base."})
tool
executing move_to over 5 steps (0.5s)
step 204
assistant
Moving up but clamped. Continuing.
agent noteThe bottle is still held (reading 0.50) and its cap end is lifting. I'm continuing up and back to tip it toward vertical.
move_to
right_z0.1600right_x0.3800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0574, 0.8501, 0.5308, -0.2672, -0.1131, -0.0818, 0.9971, 0.5674, 1.8679, 0.9825, 0.1661, 0.363, 0.2352, 0.4991] state[eef_state]: left_x=0.3028 left_y=0.0062 left_z=0.1547 left_yaw=0.0673 left_pitch=-0.0189 left_roll=0.0061 left_gripper=0.9971 right_x=0.4331 right_y=0.2059 right_z=0.0579 right_yaw=0.1127 right_pitch=-0.0925 right_roll=-0.0381 right_gripper=0.4991 state[joint_eff]: [0.0889, -2.4821, 6.4205, 1.9316, -0.0659, -0.0611, -0.0122, 0.0752, -13.1487, 7.0222, 2.3712, 0.4664, 0.1734, 0.0806] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
Moving up but clamped. Continuing.
move_to({"targets": {"right_z": 0.16, "right_x": 0.38}, "note": "The bottle is still held (reading 0.50) and its cap end is lifting. I'm continuing up and back to tip it toward vertical."})
tool
executing move_to over 7 steps (0.7s)
step 211
assistant
agent noteThe right bottle now hangs vertically under the gripper with its base at or near the table. I'm lowering slightly to seat the base before letting go.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0574, 0.8455, 0.5156, -0.2588, -0.1131, -0.0822, 0.9971, 0.6601, 1.5436, 0.9077, -0.0299, 0.4179, 0.2665, 0.4987] state[eef_state]: left_x=0.3013 left_y=0.0062 left_z=0.1507 left_yaw=0.0675 left_pitch=-0.0211 left_roll=0.0061 left_gripper=0.9971 right_x=0.3797 right_y=0.2085 right_z=0.1358 right_yaw=0.1458 right_pitch=-0.0287 right_roll=-0.019 right_gripper=0.4987 state[joint_eff]: [0.1299, -1.6889, 6.7214, 1.9365, -0.0513, -0.0708, -0.0122, 0.0479, -8.7043, 9.8256, 1.7558, 0.3346, 0.2271, -0.0562] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "The right bottle now hangs vertically under the gripper with its base at or near the table. I'm lowering slightly to seat the base before letting go."})
tool
executing move_to over 2 steps (0.2s)
step 213
assistant
agent noteThe descent stopped at z 0.131, so the bottle's base is on the table. I'm opening to release it standing.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0578, 0.8429, 0.5091, -0.2508, -0.1131, -0.0818, 0.9971, 0.6662, 1.5326, 0.8703, 0.0059, 0.4183, 0.2756, 0.4987] state[eef_state]: left_x=0.3013 left_y=0.0061 left_z=0.1501 left_yaw=0.0669 left_pitch=-0.017 left_roll=0.0059 left_gripper=0.9971 right_x=0.3751 right_y=0.2082 right_z=0.1314 right_yaw=0.1467 right_pitch=-0.0203 right_roll=-0.0069 right_gripper=0.4987 state[joint_eff]: [-0.0205, -2.2769, 6.4479, 1.7558, -0.0708, -0.0269, -0.0122, -0.7453, -4.8068, 5.9692, 1.7705, 0.1587, -0.0904, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The descent stopped at z 0.131, so the bottle's base is on the table. I'm opening to release it standing."})
tool
executing move_to over 6 steps (0.6s)
step 219
assistant
agent noteGripper is open, and the bottle appears to be standing just under and ahead of the jaws. I'm lifting straight up and slightly back to clear it and check.
move_to
right_z0.3000right_x0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0578, 0.841, 0.5018, -0.2428, -0.1131, -0.0822, 0.9971, 0.667, 1.5623, 0.8284, 0.0414, 0.4152, 0.2611, 0.9956] state[eef_state]: left_x=0.3012 left_y=0.0061 left_z=0.149 left_yaw=0.0671 left_pitch=-0.0143 left_roll=0.0052 left_gripper=0.9971 right_x=0.3705 right_y=0.2056 right_z=0.1086 right_yaw=0.1571 right_pitch=-0.0528 right_roll=-0.035 right_gripper=0.9956 state[joint_eff]: [0.1026, -2.3179, 6.2427, 1.8926, -0.0513, -0.0562, -0.0122, 0.0342, -9.5795, 7.9521, 1.5995, 0.1587, 0.0806, -0.0269] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.3, "right_x": 0.35}, "note": "Gripper is open, and the bottle appears to be standing just under and ahead of the jaws. I'm lifting straight up and slightly back to clear it and check."})
tool
executing move_to over 13 steps (1.3s)
step 232
assistant
agent noteThe overhead view shows the right bottle standing, short and upright, at about y 0.21. I'm moving the right arm out and away from it, down to the middle bottle's shoulder at about y 0.33.
move_to
right_x0.4700right_y0.3250right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0574, 0.841, 0.498, -0.239, -0.1131, -0.0822, 0.9971, 0.7074, 1.3998, 1.3514, -0.6304, 0.4206, 0.2623, 0.9952] state[eef_state]: left_x=0.3011 left_y=0.0063 left_z=0.148 left_yaw=0.0675 left_pitch=-0.0143 left_roll=0.0052 left_gripper=0.9971 right_x=0.3507 right_y=0.2097 right_z=0.2751 right_yaw=0.193 right_pitch=-0.0392 right_roll=-0.0303 right_gripper=0.9952 state[joint_eff]: [0.1162, -1.9077, 6.1607, 1.9023, -0.0513, -0.0952, -0.0122, 0.0479, -6.653, 9.894, 1.7998, 0.398, 0.2906, -0.0513] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.325, "right_z": 0.035}, "note": "The overhead view shows the right bottle standing, short and upright, at about y 0.21. I'm moving the right arm out and away from it, down to the middle bottle's shoulder at about y 0.33."})
tool
executing move_to over 16 steps (1.6s)
step 248
assistant
agent noteThe right wrist camera shows the middle bottle's shoulder at the far left of the jaws, so it's about 5 cm further in +y. I'm shifting left to centre it.
move_to
right_y0.3700right_x0.4750right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0574, 0.8391, 0.498, -0.2356, -0.1131, -0.0822, 0.9971, 0.7258, 2.1639, 1.3094, 0.2028, 0.424, 0.2695, 0.9952] state[eef_state]: left_x=0.3015 left_y=0.0062 left_z=0.1493 left_yaw=0.0675 left_pitch=-0.009 left_roll=0.0046 left_gripper=0.9971 right_x=0.4629 right_y=0.3183 right_z=0.0455 right_yaw=0.205 right_pitch=-0.0146 right_roll=-0.0127 right_gripper=0.9952 state[joint_eff]: [0.0068, -2.1128, 6.065, 1.8926, -0.0562, -0.0952, -0.0122, 0.3624, -9.0462, 6.9128, 1.3358, 0.1832, 0.1001, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.37, "right_x": 0.475, "right_z": 0.03}, "note": "The right wrist camera shows the middle bottle's shoulder at the far left of the jaws, so it's about 5 cm further in +y. I'm shifting left to centre it."})
tool
executing move_to over 5 steps (0.5s)
step 253
assistant
agent noteThe middle bottle is now at the lower left of the right wrist view, behind the fingertips and further in +y. I'm moving back and left onto it.
move_to
right_y0.3900right_x0.4300right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0574, 0.8391, 0.498, -0.2359, -0.1131, -0.0822, 0.9971, 0.7849, 2.2971, 1.4963, 0.1745, 0.4492, 0.2882, 0.9951] state[eef_state]: left_x=0.3014 left_y=0.0062 left_z=0.1492 left_yaw=0.0675 left_pitch=-0.0094 left_roll=0.0046 left_gripper=0.9971 right_x=0.4725 right_y=0.3686 right_z=0.0411 right_yaw=0.2338 right_pitch=0.0149 right_roll=0.0031 right_gripper=0.9951 state[joint_eff]: [0.0889, -2.0308, 6.2974, 1.873, -0.0757, -0.0757, -0.0122, -0.0342, -10.7282, 8.0889, 1.6044, 0.3834, 0.2271, -0.0171] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.39, "right_x": 0.43, "right_z": 0.03}, "note": "The middle bottle is now at the lower left of the right wrist view, behind the fingertips and further in +y. I'm moving back and left onto it."})
tool
executing move_to over 4 steps (0.4s)
step 257
assistant
agent noteOnly one of the three bottles is standing, and there aren't enough LLM calls left to do the other two reliably. The right arm stood the right bottle up at about right-frame (0.37, 0.21): it gripped the shoulder near its reach limit (gripper settled at 0.50), lifted and pulled back until the bottle hung vertically, set the base down and let go. I didn't get a clear top-down view afterwards, so I couldn't fully confirm it stayed up. The left bottle's neck is at x ≈ 0.58, beyond low reach. I tried the left arm on its body four times and every close came up empty: the jaws rode up over the 6.6 cm body and the arm got stuck. The middle bottle sits at about left-frame y ≈ -0.16 / right-frame y ≈ 0.48, which is outside the right arm's y bound. It needs the left arm, which I didn't get to.
give_up
hindsight- Top-cam mapping for this rig: an arm's grasp point at x≈0.30 appears at image y≈120, and an arm at x≈0.46 at image y≈85–100. Along image-y, roughly 2–2.7 px/cm; along image-x, ~3 px/cm. The left arm at y=0 appears at image x≈15, the right arm at y=0 at image x≈205, and the centre line is at image x≈112. Bottles are ~22 cm long, about 60 px in the top cam. Measure from a clear top-cam frame with the arms parked before choosing an arm. - The standing-up method that worked: grasp a lying bottle at its shoulder or neck with the jaws closing across it (yaw 0 when the bottle lies along x). Then lift z while moving x back toward the bottle's base in 2–3 steps, e.g. (0.47, z 0.03) → (0.44, 0.10) → (0.38, 0.16). The bottle hangs vertically. Lower until the descent stops (~z 0.13 for a 22 cm bottle gripped near the top), open, then lift straight up. - Grasping the thick body (~6.6 cm) of a lying bottle fails: the fingertips can't get below ~z 0.036–0.045 at x ≥ 0.42, and on close the jaws slide up over the body (arm rises to ~0.06, reading 0.013). Grasp at the tapered shoulder or neck instead. The shoulder grasp settled at 0.50. - Low reach tops out around x 0.47–0.49. A bottle whose neck is beyond that can't be grasped at the neck. - The approver clamps per-step deltas (delta_clamped), so moves often stop short. The left arm got stuck near x 0.46–0.48, z 0.045 with pitch/yaw drifting, and ignored lift commands. Small moves that reduce x at constant z freed it. Avoid pressing to z −0.02 at long reach: it drives x forward and pitch off. - The right arm sags steadily while idle (0.18 → 0.12 over ~10 calls). Re-command its park pose. - Budget: each bottle takes about 7–8 calls if done cleanly. Don't spend 10+ calls on one hard bottle; do the easy ones first.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0574, 0.8391, 0.498, -0.2359, -0.1131, -0.0822, 0.9971, 0.7918, 2.3257, 1.5066, 0.1352, 0.4522, 0.3031, 0.9952] state[eef_state]: left_x=0.3014 left_y=0.0062 left_z=0.1492 left_yaw=0.0675 left_pitch=-0.0094 left_roll=0.0046 left_gripper=0.9971 right_x=0.4667 right_y=0.3679 right_z=0.0218 right_yaw=0.2299 right_pitch=-0.0332 right_roll=-0.0164 right_gripper=0.9952 state[joint_eff]: [0.1299, -2.0581, 6.2838, 1.8486, -0.0415, -0.0904, -0.0122, -0.4855, -12.3145, 8.3077, 1.6874, 0.3346, 0.0464, -0.0073] camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
give_up({"reason": "Only one of the three bottles is standing, and there aren't enough LLM calls left to do the other two reliably. The right arm stood the right bottle up at about right-frame (0.37, 0.21): it gripped the shoulder near its reach limit (gripper settled at 0.50), lifted and pulled back until the bottle hung vertically, set the base down and let go. I didn't get a clear top-down view afterwards, so I couldn't fully confirm it stayed up. The left bottle's neck is at x \u2248 0.58, beyond low reach. I tried the left arm on its body four times and every close came up empty: the jaws rode up over the 6.6 cm body and the arm got stuck. The middle bottle sits at about left-frame y \u2248 -0.16 / right-frame y \u2248 0.48, which is outside the right arm's y bound. It needs the left arm, which I didn't get to.", "hindsight": "- Top-cam mapping for this rig: an arm's grasp point at x\u22480.30 appears at image y\u2248120, and an arm at x\u22480.46 at image y\u224885\u2013100. Along image-y, roughly 2\u20132.7 px/cm; along image-x, ~3 px/cm. The left arm at y=0 appears at image x\u224815, the right arm at y=0 at image x\u2248205, and the centre line is at image x\u2248112. Bottles are ~22 cm long, about 60 px in the top cam. Measure from a clear top-cam frame with the arms parked before choosing an arm.\n- The standing-up method that worked: grasp a lying bottle at its shoulder or neck with the jaws closing across it (yaw 0 when the bottle lies along x). Then lift z while moving x back toward the bottle's base in 2\u20133 steps, e.g. (0.47, z 0.03) \u2192 (0.44, 0.10) \u2192 (0.38, 0.16). The bottle hangs vertically. Lower until the descent stops (~z 0.13 for a 22 cm bottle gripped near the top), open, then lift straight up.\n- Grasping the thick body (~6.6 cm) of a lying bottle fails: the fingertips can't get below ~z 0.036\u20130.045 at x \u2265 0.42, and on close the jaws slide up over the body (arm rises to ~0.06, reading 0.013). Grasp at the tapered shoulder or neck instead. The shoulder grasp settled at 0.50.\n- Low reach tops out around x 0.47\u20130.49. A bottle whose neck is beyond that can't be grasped at the neck.\n- The approver clamps per-step deltas (delta_clamped), so moves often stop short. The left arm got stuck near x 0.46\u20130.48, z 0.045 with pitch/yaw drifting, and ignored lift commands. Small moves that reduce x at constant z freed it. Avoid pressing to z \u22120.02 at long reach: it drives x forward and pitch off.\n- The right arm sags steadily while idle (0.18 \u2192 0.12 over ~10 calls). Re-command its park pose.\n- Budget: each bottle takes about 7\u20138 calls if done cleanly. Don't spend 10+ calls on one hard bottle; do the easy ones first."})
tool
give_up: Only one of the three bottles is standing, and there aren't enough LLM calls left to do the other two reliably. The right arm stood the right bottle up at about right-frame (0.37, 0.21): it gripped the shoulder near its reach limit (gripper settled at 0.50), lifted and pulled back until the bottle hung vertically, set the base down and let go. I didn't get a clear top-down view afterwards, so I couldn't fully confirm it stayed up. The left bottle's neck is at x ≈ 0.58, beyond low reach. I tried the left arm on its body four times and every close came up empty: the jaws rode up over the 6.6 cm body and the arm got stuck. The middle bottle sits at about left-frame y ≈ -0.16 / right-frame y ≈ 0.48, which is outside the right arm's y bound. It needs the left arm, which I didn't get to.
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 · 17.53 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6075, -0.3782, -0.0227, -0.0288, 0.9986, -0.0158, 0.7891, 0.6037, -0.3862, -0.0238, -0.0349, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1822 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0032 right_z=0.1799 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -1.4564, 9.7573, 1.8339, -0.0562, 0.1441, -0.1538, -0.8821, -1.0598, 10.3316, 1.8437, 0.0024, 0.2027, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0e66be83c410170b6ffa1c960d92dbb01ae08d4d445612818dccee1cf3a25ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23a2d9a291a6839d7848cf579fa8bccb37ee84a49cf46e4d49989ede3d5e0a58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4f76e9ec57e73e79cf9dba459de750f3e03132498e2f75c9228b49a7bed43f43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 7.768 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6075, -0.3782, -0.0227, -0.0288, 0.9986, -0.0158, 0.7891, 0.6037, -0.3862, -0.0238, -0.0349, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1822 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0032 right_z=0.1799 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -1.4564, 9.7573, 1.8339, -0.0562, 0.1441, -0.1538, -0.8821, -1.0598, 10.3316, 1.8437, 0.0024, 0.2027, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0e66be83c410170b6ffa1c960d92dbb01ae08d4d445612818dccee1cf3a25ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23a2d9a291a6839d7848cf579fa8bccb37ee84a49cf46e4d49989ede3d5e0a58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f76e9ec57e73e79cf9dba459de750f3e03132498e2f75c9228b49a7bed43f43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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upA7YTT0ukgi9yjRnUcOJ/QbOqcvJb3UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TYqeeWcsPr9TxJnMf1E2r5",
      "input": {
        "note": "Three bottles lie on their sides with the caps pointing away from the bases. I'm moving the left arm above my estimate of where the leftmost bottle's cap is, so I can check it in the wrist camera.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.15,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01TYqeeWcsPr9TxJnMf1E2r5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5121, 1.5436, 0.9138, -0.0555, -0.4137, -0.3107, 0.9984, -0.0193, 0.794, 0.6033, -0.4042, -0.0238, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4077 left_y=-0.1436 left_z=0.1335 left_yaw=-0.0145 left_pitch=-0.0549 left_roll=0.017 left_gripper=0.9984 right_x=0.2914 right_y=0.0022 right_z=0.1747 right_yaw=-0.0026 right_pitch=-0.0236 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -7.2137, 8.7453, 1.6679, -0.3639, -0.0024, -0.0366, 0.0889, -1.6068, 7.0496, 1.8486, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c694cafc8df1f3e822d79f23d73b81d6b7dd6dc34da973b46fcc27913a3400f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19813830466e08e18d75e4ef2772501337122c0a1957ef1371f45774a7902188",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:38fd3643ad2176351dbb9948bf330f45f3ed47635e9d3e1a9206d36dfd37b0e1",
        "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 · 8.487 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6075, -0.3782, -0.0227, -0.0288, 0.9986, -0.0158, 0.7891, 0.6037, -0.3862, -0.0238, -0.0349, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1822 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0032 right_z=0.1799 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -1.4564, 9.7573, 1.8339, -0.0562, 0.1441, -0.1538, -0.8821, -1.0598, 10.3316, 1.8437, 0.0024, 0.2027, -0.0708]",
      "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]: [-0.5121, 1.5436, 0.9138, -0.0555, -0.4137, -0.3107, 0.9984, -0.0193, 0.794, 0.6033, -0.4042, -0.0238, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4077 left_y=-0.1436 left_z=0.1335 left_yaw=-0.0145 left_pitch=-0.0549 left_roll=0.017 left_gripper=0.9984 right_x=0.2914 right_y=0.0022 right_z=0.1747 right_yaw=-0.0026 right_pitch=-0.0236 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -7.2137, 8.7453, 1.6679, -0.3639, -0.0024, -0.0366, 0.0889, -1.6068, 7.0496, 1.8486, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c694cafc8df1f3e822d79f23d73b81d6b7dd6dc34da973b46fcc27913a3400f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19813830466e08e18d75e4ef2772501337122c0a1957ef1371f45774a7902188",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38fd3643ad2176351dbb9948bf330f45f3ed47635e9d3e1a9206d36dfd37b0e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017tU763to9JAGZJjhyRd5WA",
      "input": {
        "note": "The wrist camera shows the leftmost bottle's cap just to the left of the jaws. I'm shifting left about 3 cm so the jaws sit over the bottle's neck.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.115,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017tU763to9JAGZJjhyRd5WA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4397, 1.5375, 0.786, 0.0662, -0.379, -0.2832, 0.9983, -0.0193, 0.7891, 0.5842, -0.3981, -0.0246, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4027 left_y=-0.1132 left_z=0.1043 left_yaw=0.0153 left_pitch=-0.0654 left_roll=0.0198 left_gripper=0.9983 right_x=0.2895 right_y=0.0024 right_z=0.1686 right_yaw=-0.002 right_pitch=-0.0316 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -8.294, 7.1179, 2.2589, -0.0513, 0.2515, -0.0171, -0.2667, -2.2222, 6.8855, 1.917, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac95cd5005fba191b830b1fba66953d825c85e666c2e0987c71686fbb04f9f2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62e7de2eda37fd5d29f7e1609a3b6176be9c6962bf07eaa1e2ea7df41516c507",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1cd6b4ca1cbfe1c8c2c59038fa72de1d22b4a1ae625bf79558386a47b9546ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 6.63 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6075, -0.3782, -0.0227, -0.0288, 0.9986, -0.0158, 0.7891, 0.6037, -0.3862, -0.0238, -0.0349, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1822 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0032 right_z=0.1799 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -1.4564, 9.7573, 1.8339, -0.0562, 0.1441, -0.1538, -0.8821, -1.0598, 10.3316, 1.8437, 0.0024, 0.2027, -0.0708]",
      "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]: [-0.5121, 1.5436, 0.9138, -0.0555, -0.4137, -0.3107, 0.9984, -0.0193, 0.794, 0.6033, -0.4042, -0.0238, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4077 left_y=-0.1436 left_z=0.1335 left_yaw=-0.0145 left_pitch=-0.0549 left_roll=0.017 left_gripper=0.9984 right_x=0.2914 right_y=0.0022 right_z=0.1747 right_yaw=-0.0026 right_pitch=-0.0236 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -7.2137, 8.7453, 1.6679, -0.3639, -0.0024, -0.0366, 0.0889, -1.6068, 7.0496, 1.8486, -0.0366, -0.0464, -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]: [-0.4397, 1.5375, 0.786, 0.0662, -0.379, -0.2832, 0.9983, -0.0193, 0.7891, 0.5842, -0.3981, -0.0246, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4027 left_y=-0.1132 left_z=0.1043 left_yaw=0.0153 left_pitch=-0.0654 left_roll=0.0198 left_gripper=0.9983 right_x=0.2895 right_y=0.0024 right_z=0.1686 right_yaw=-0.002 right_pitch=-0.0316 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -8.294, 7.1179, 2.2589, -0.0513, 0.2515, -0.0171, -0.2667, -2.2222, 6.8855, 1.917, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac95cd5005fba191b830b1fba66953d825c85e666c2e0987c71686fbb04f9f2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62e7de2eda37fd5d29f7e1609a3b6176be9c6962bf07eaa1e2ea7df41516c507",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1cd6b4ca1cbfe1c8c2c59038fa72de1d22b4a1ae625bf79558386a47b9546ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017W2Hv6qozk3qwwkPjacnch",
      "input": {
        "note": "The left bottle's cap still shows left of the jaw column and a little beyond the fingertips. I'm moving another 3 cm left and 2 cm forward.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.08,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017W2Hv6qozk3qwwkPjacnch",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3191, 1.5383, 0.7685, 0.1341, -0.3088, -0.2348, 0.9983, -0.0193, 0.7765, 0.5537, -0.387, -0.0246, -0.036, 0.9994]\nstate[eef_state]: left_x=0.4177 left_y=-0.0777 left_z=0.107 left_yaw=0.0514 left_pitch=-0.0378 left_roll=-0.0 left_gripper=0.9983 right_x=0.2863 right_y=0.0024 right_z=0.1603 right_yaw=-0.0022 right_pitch=-0.0385 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.8957, -5.7915, 9.1009, 1.9853, 0.1099, 0.3639, -0.0171, -0.3077, -1.6479, 7.1453, 1.9658, -0.0708, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb7637db6c72b7884bb784760bc0359823fd7bf20acbf6e99c052dbb6e62d23d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fa12dabcb4c81f23e4504fcc5ccd2111895c6fc8b25b91f094502c25f764f6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:acf73cf5e382ee0491cd46e0295df0a5c71100104f311c0a3250e11189d831a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 6.639 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]: [-0.5121, 1.5436, 0.9138, -0.0555, -0.4137, -0.3107, 0.9984, -0.0193, 0.794, 0.6033, -0.4042, -0.0238, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4077 left_y=-0.1436 left_z=0.1335 left_yaw=-0.0145 left_pitch=-0.0549 left_roll=0.017 left_gripper=0.9984 right_x=0.2914 right_y=0.0022 right_z=0.1747 right_yaw=-0.0026 right_pitch=-0.0236 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -7.2137, 8.7453, 1.6679, -0.3639, -0.0024, -0.0366, 0.0889, -1.6068, 7.0496, 1.8486, -0.0366, -0.0464, -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]: [-0.4397, 1.5375, 0.786, 0.0662, -0.379, -0.2832, 0.9983, -0.0193, 0.7891, 0.5842, -0.3981, -0.0246, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4027 left_y=-0.1132 left_z=0.1043 left_yaw=0.0153 left_pitch=-0.0654 left_roll=0.0198 left_gripper=0.9983 right_x=0.2895 right_y=0.0024 right_z=0.1686 right_yaw=-0.002 right_pitch=-0.0316 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -8.294, 7.1179, 2.2589, -0.0513, 0.2515, -0.0171, -0.2667, -2.2222, 6.8855, 1.917, -0.0659, -0.0611, -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]: [-0.3191, 1.5383, 0.7685, 0.1341, -0.3088, -0.2348, 0.9983, -0.0193, 0.7765, 0.5537, -0.387, -0.0246, -0.036, 0.9994]\nstate[eef_state]: left_x=0.4177 left_y=-0.0777 left_z=0.107 left_yaw=0.0514 left_pitch=-0.0378 left_roll=-0.0 left_gripper=0.9983 right_x=0.2863 right_y=0.0024 right_z=0.1603 right_yaw=-0.0022 right_pitch=-0.0385 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.8957, -5.7915, 9.1009, 1.9853, 0.1099, 0.3639, -0.0171, -0.3077, -1.6479, 7.1453, 1.9658, -0.0708, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb7637db6c72b7884bb784760bc0359823fd7bf20acbf6e99c052dbb6e62d23d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fa12dabcb4c81f23e4504fcc5ccd2111895c6fc8b25b91f094502c25f764f6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acf73cf5e382ee0491cd46e0295df0a5c71100104f311c0a3250e11189d831a5",
        "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/wkKEAgSGAI4AUIIdGhpbmtpbmcSDDaB5BQUQGblX5ejQRoMyf5/4w8NCKUP/BH6IjAr/naaotLV5IvKG5obR4jd0aFD850Ly0gzjk5ZXhtfDp7J0El9+0mtRuvyiRZqThIqnAk2P2lWuwjs+xTjuCB6vfSH5CkvlTvedD5KCWAPMQ/EpFOO7Hd1qTTISw0HVn/NHhhiAuPpmPFrFTUmeqbgV5N4d0286Irttrvw5mhgtp/C+cVsxPKMoRB4EFVAE16lDHSykbJI7kDadk/GrAiye5LeFaS9OJv16PAqAAGOUMd9oC9S9okSCZBW8xKVgWIJTliWUg6/e4DNXNvtGbMTwfcNHGRrwrhXhcnpHOHNK8wKANvDE9ZPfdG0jXXo45daXIqo3Oh12JLQRFvCKxEonMkXNiWki1nfBuBMl63EVWoWY0aevRsZdvGMmeNAUNFNF6KmwxjCAStuGtKF0r/zUYjwHuWFYxz55aI6Mym6Z8TDg2B/TJrxBOtozz82WooSybWUeWdANMz3UbIyKqwOsMnWFXxk0euTY5il2VeSTW1kIkzd/ITrsyOyg/46D3u3sZEh9LSlOBe4oe5QrXusYVGAhmc8I5PvowJmDolpN98qxmAqyugsanXnERrohGOwcXOw5ejhGRavB9ZZVosp+nORr7m8vnk3Bmx397iu/qMFh8TPqAnDgxNBdrS5jXWUkKi0b13MFbSmEyMbwHsju+B9/Kb3OMZ7zF+/sT+kZ+A+TwldGdzK606IpMAjY3auVXBdMQf8rtZOYvpumnBmIiYNs8i38zfehuloypDS8eFIc7wAbo+Ssh7oybm+N0Xsy1oBvcHvsjt7XmLSUSceCz4Z0mRFXDejhdRerjYLQxUEhqqXB4Who+0a0g6KIAeQCOHcqFGc0mQm11oN0t153/qwhibQTnnqfri9/CI7lIuAG0G24/79YwIvjBxJJpmuuZOAeSrNKl6aNwV013eLe/x2LbfADh53mC/p4tPql0svXBxuaoYzL5wk8xepkmrsth1EwUgJPfT5kE5RGjIKU7grpS44lgjwIL1urjQQ4MiyrpCEO++HHxdw4Uy21reMVpsHn/ZwfgFqOB/9eAaIA4wE01GoG5DsI1EToFwbm8XubAhlwFdu8RkECpwOdstVzR0T2bJOtGWtRnUn3qOMmMlTQcHX9R2slemoN2oj9R4aXQac8Ga0n3PbWsU4ecyJRUn38faxFnzaKM+EKLxEfPOn6W7GfR6hfhO7RStvptoj0qJvtW1V0eaqaaQA1P1OLqGHSwFA9NQZkUhgbcwLeMbn3vMsgOql0qbpQWkmOIUJ6beECMhebU0R06cUvtNdIFVWf4GGAk/ISDIqnM16PXbcAu/Fz8FNm/c0V3aV91ZPCPh5GNoqMvJuoSLywQbs3wtibreLki6goMM4/EqKnXg4csCGN8r/qX/8JsmviifmMkl2pC4YxaqlBUdVwwE1GNC+ulAhUWyk0qLUNIhA+olUKshpeLlxafErSWdr3SGnER0oL+cSosXy75zD1QlcLWy2Y7f48tYuk8M6vDUxvGNOC2D+6XPd5Fsk2fwai20CPxu7jbea+xQH+dMRLor3OBL6ICwWZjXf8NYwxaJktOp90NACChcNcokREZXp9uX6HxxxP/N56/0G7JNuOLI0GERa+NLERosKGjV1auIO9d+HXXnhw5GQpw7Z2hAeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FBxdjfm7S7EacBYfJ8XtLy",
      "input": {
        "note": "The left bottle's cap and neck now sit close to the jaw column. I'm descending to neck height (about 3 cm) to grasp the neck.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.07,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FBxdjfm7S7EacBYfJ8XtLy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3012, 1.7527, 0.6228, 0.5465, -0.2913, -0.2256, 0.9983, -0.0193, 0.7567, 0.5186, -0.3668, -0.028, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4233 left_y=-0.0746 left_z=0.044 left_yaw=0.0496 left_pitch=0.0076 left_roll=-0.0202 left_gripper=0.9983 right_x=0.2834 right_y=0.0031 right_z=0.1537 right_yaw=0.0009 right_pitch=-0.0335 right_roll=0.0017 right_gripper=0.9994\nstate[joint_eff]: [0.5538, -5.6547, 3.453, 0.8913, -0.1538, 0.3492, -0.0122, -0.1162, -1.6752, 6.7761, 2.0, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:637764841c54e437ab284573195a6bb8e3e8b07cfabced37158c39fc51a8ccbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a938c1c65422508cc7d51fd7c8989d85b47c0da60cbb409c81a34e087e34aff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b37b9c8cc4a9c6e167cbe1f0416217039d390773a0c49eda60ec45938fd412b1",
        "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 · 5.1 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]: [-0.4397, 1.5375, 0.786, 0.0662, -0.379, -0.2832, 0.9983, -0.0193, 0.7891, 0.5842, -0.3981, -0.0246, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4027 left_y=-0.1132 left_z=0.1043 left_yaw=0.0153 left_pitch=-0.0654 left_roll=0.0198 left_gripper=0.9983 right_x=0.2895 right_y=0.0024 right_z=0.1686 right_yaw=-0.002 right_pitch=-0.0316 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -8.294, 7.1179, 2.2589, -0.0513, 0.2515, -0.0171, -0.2667, -2.2222, 6.8855, 1.917, -0.0659, -0.0611, -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]: [-0.3191, 1.5383, 0.7685, 0.1341, -0.3088, -0.2348, 0.9983, -0.0193, 0.7765, 0.5537, -0.387, -0.0246, -0.036, 0.9994]\nstate[eef_state]: left_x=0.4177 left_y=-0.0777 left_z=0.107 left_yaw=0.0514 left_pitch=-0.0378 left_roll=-0.0 left_gripper=0.9983 right_x=0.2863 right_y=0.0024 right_z=0.1603 right_yaw=-0.0022 right_pitch=-0.0385 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.8957, -5.7915, 9.1009, 1.9853, 0.1099, 0.3639, -0.0171, -0.3077, -1.6479, 7.1453, 1.9658, -0.0708, -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]: [-0.3012, 1.7527, 0.6228, 0.5465, -0.2913, -0.2256, 0.9983, -0.0193, 0.7567, 0.5186, -0.3668, -0.028, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4233 left_y=-0.0746 left_z=0.044 left_yaw=0.0496 left_pitch=0.0076 left_roll=-0.0202 left_gripper=0.9983 right_x=0.2834 right_y=0.0031 right_z=0.1537 right_yaw=0.0009 right_pitch=-0.0335 right_roll=0.0017 right_gripper=0.9994\nstate[joint_eff]: [0.5538, -5.6547, 3.453, 0.8913, -0.1538, 0.3492, -0.0122, -0.1162, -1.6752, 6.7761, 2.0, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:637764841c54e437ab284573195a6bb8e3e8b07cfabced37158c39fc51a8ccbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a938c1c65422508cc7d51fd7c8989d85b47c0da60cbb409c81a34e087e34aff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b37b9c8cc4a9c6e167cbe1f0416217039d390773a0c49eda60ec45938fd412b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS3AoKEAgSGAI4AUIIdGhpbmtpbmcSDBElFC/2oKxrIHwXvRoMN5iFgi30sKm5O2Z0IjD3y1cg2IP4EGPJ72fc9i7cYRYYH4TbCRdyDUkJNOKGU0Donzj77thJ5ECZkGdOi+4q+Ql3KSPtrpXFfnlh7ZoNdC1hmeTcMqI28nvTYbyyeQbPbmETWEHZR4Td8MGgXijQtzZ0AhY99xyo7tSqSPk9m/agg4tbpJmkZQjbJtbkI89H8lRzSMwyfxwBuL6yUIiU9cJ3xwxrJ/bNaTxvt4e8CzfCh4YmvYowyZso57SKLypbTF8xyBQ2BN+mcdOooK7oRVy9yxxU8F6BLXaK5TvpYQ8yvGmMJyWISfZHDljiAZ7PvkfhdIJ1Wr7Aj4iLK6Aa6yq2gS8GNaP3O3P9pBx8mMprd93Sjxij3dYOT8Latgvb43HjaZY9T2a/jk8DQsruucLHnjHvbqf2ki4zKkAXugLhAKLXmdC/9GZ0vw7IXEAMNy8DghcudLqqskGbFYxvz4//vwvL6WUrNNWW0HskjhWDlc/KPQEzZOwbVOaPfmWwxxdru0nJwZCJi8ercbJu/x26pQ2GiB7f6FwoiysAtP4rWKltTIDg8flKqb+5IGaJhBYI/xlgYgVZBF6yeuqMvvE0vehBGUgKqE1vQfkUfOw38nJd0bMqUZI5JUvbVXFlngaYXiJFIiz2ihs08roxT5vYDigiv9KWBKOZCApYRVPxQVFUXZrrfUKkgIZC+H9j2X5Mk8pFhOauDC4j3kiW/ob6jykfobAN5YUPtKHFbb5uFmUlQpzw8nIV19TsMYUf5vNoTadyMQbtjhmwRdMktOFb52efuoJzy4oewDo+ygDm3Stp8LLzHYccSEot1CebB9TmcNOdum4rvcusL196jGqx5WnhFK0Mr55iHAJ158isOdxpjIxJtPPEPcXVuErhgAezxvvzNDXOZKqpjW8KFU416LBIKQkACiZQzISNTcHfiwPcRJsikSFhfc33mBB8voZ0YFeA+7Rmkmq7sqpOUT9ZU5CFZnQyww99DyeWqNqJFVfh9Cw2pLJ7jm5Ik/93TyEfvCXsQM/oONRoQ9w/o2j9ThRPkxR77hcAW8sBbJpvqMY/P/5dpHsw3sshV3jsV/iSfot1GnwUL4gVcBscG/1GgDmvMDyVnJP8SIjc3oIMV4XX/DQEX5Uk7oHSnH8MX9XGUGkIRMxRosPl+I9lUOmuMFYlsonTTa5LapCALehSQcJUt1YsPRVhFZeTvH7uX4iWLs9z2M7+WKjEDvmeMFSN/cbk6FBW7Sj0o8Kk+Pe71gMB/WKEY3+ao9wdMmk/xjd6aFMfwqaHM5hLvRvKK3UzenAaHakuXqgAgVKwE1o3O1V/vdiG1KrphCXSrgPplFIccxzJAi7c4ai+1TEzrmjk0aqhaPkJ3XC3GcRhGm3tJB4XW/3HN/m+mrB1L3baMtDDUIS/tE2Su31a1d9jpaEPzxWuZT477viGG6LzYohZsicTIU0yqZUCJppO2o5U2vIrYJxopt/9aoCHLtqGUrHpX2LQj+0OSRtqksRIRETBjZM5P8QxANl5Qk0jcmAh7nE1hrO8wnogXE4Vv0ThL2f7IoEQh2oas2QNEMUZNSy/yIY8ttPMI/BOIeoypYM40HCLr7ucV1/TfKM/bK2g9Z7sYPEMhsXw6JcMqF1FJQAX2JF+PnOX0y4pQI7ZXFF5ZVa0fevsRsrH8pIv30rnZz8SY6kpx0xZhKfHZZLFs0Hz4a0fP6cTj6V/oGTGNBcPMOjPbweP3pVbJF31OTm7+1RHBsAn39G7OrbuEnL4ze4GqvunPPAUJ/FoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0156nj1Un2gM6QFNfLSLKMsY",
      "input": {
        "note": "The fingertips are over the bottle's label and the neck is a few cm further out. I'm advancing 4 cm so the jaws straddle the neck.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.065,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0156nj1Un2gM6QFNfLSLKMsY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2588, 1.8706, 0.7261, 0.5957, -0.2607, -0.2237, 0.9983, -0.0193, 0.7429, 0.4873, -0.3515, -0.0277, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4567 left_y=-0.0701 left_z=0.0406 left_yaw=0.0657 left_pitch=0.0349 left_roll=-0.0455 left_gripper=0.9983 right_x=0.2806 right_y=0.0031 right_z=0.1461 right_yaw=0.0006 right_pitch=-0.0358 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [0.9641, -6.8034, 6.0239, 1.4579, -0.188, 0.4176, -0.0171, -0.1846, -1.8393, 7.2274, 1.9707, -0.0171, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:751198abae1d0f281d3ea5204567d4e6008f749e7d9df1bd4b80de66ddf8aa58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8785d0ff556aaa826631c50761c388a5cf4e11037ef0e45b51d6188a6c62e5ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3341297a7615ffee8808c958983d19b212a8a25ff170151dff205d24414e5274",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 8.057 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]: [-0.3191, 1.5383, 0.7685, 0.1341, -0.3088, -0.2348, 0.9983, -0.0193, 0.7765, 0.5537, -0.387, -0.0246, -0.036, 0.9994]\nstate[eef_state]: left_x=0.4177 left_y=-0.0777 left_z=0.107 left_yaw=0.0514 left_pitch=-0.0378 left_roll=-0.0 left_gripper=0.9983 right_x=0.2863 right_y=0.0024 right_z=0.1603 right_yaw=-0.0022 right_pitch=-0.0385 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.8957, -5.7915, 9.1009, 1.9853, 0.1099, 0.3639, -0.0171, -0.3077, -1.6479, 7.1453, 1.9658, -0.0708, -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]: [-0.3012, 1.7527, 0.6228, 0.5465, -0.2913, -0.2256, 0.9983, -0.0193, 0.7567, 0.5186, -0.3668, -0.028, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4233 left_y=-0.0746 left_z=0.044 left_yaw=0.0496 left_pitch=0.0076 left_roll=-0.0202 left_gripper=0.9983 right_x=0.2834 right_y=0.0031 right_z=0.1537 right_yaw=0.0009 right_pitch=-0.0335 right_roll=0.0017 right_gripper=0.9994\nstate[joint_eff]: [0.5538, -5.6547, 3.453, 0.8913, -0.1538, 0.3492, -0.0122, -0.1162, -1.6752, 6.7761, 2.0, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2588, 1.8706, 0.7261, 0.5957, -0.2607, -0.2237, 0.9983, -0.0193, 0.7429, 0.4873, -0.3515, -0.0277, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4567 left_y=-0.0701 left_z=0.0406 left_yaw=0.0657 left_pitch=0.0349 left_roll=-0.0455 left_gripper=0.9983 right_x=0.2806 right_y=0.0031 right_z=0.1461 right_yaw=0.0006 right_pitch=-0.0358 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [0.9641, -6.8034, 6.0239, 1.4579, -0.188, 0.4176, -0.0171, -0.1846, -1.8393, 7.2274, 1.9707, -0.0171, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:751198abae1d0f281d3ea5204567d4e6008f749e7d9df1bd4b80de66ddf8aa58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8785d0ff556aaa826631c50761c388a5cf4e11037ef0e45b51d6188a6c62e5ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3341297a7615ffee8808c958983d19b212a8a25ff170151dff205d24414e5274",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsgkKEAgSGAI4AUIIdGhpbmtpbmcSDDj9+fDz1N7AJpK5lhoMTIzrsWHN2tJSt0nmIjB0F/Ynb66yMyKDxIV3Tf6k7zJVi6gXOj3jbfmC4HDvQEEGfbbDYZKKlrI7M2xVfwMqzwjaI451a0ilYvPimgEtHjN2rqEnV3Eb9XBlJ0X0fgZKq7b6h4rJZ2T2U3g7B5m+LO0N+5EAi0u4H1MU7Y/r8WZJC+U2hkQ7krTPGNgMSdVaK2A7n6xcikf3vvnaRaDR8cggN4m2kgeckQgJu/xUebqjEJyCxs1i5kw5/JvmMOeuitT16rxi5OewTmnfDz075uEhtbL2w23Ta9aPI8GYwIsrnzpkTDGzOAj1RHzkjRJk1J5kPN6BcUcOadKx7bq5ILPiN47id5VPlo682cdwIdiiPa8jX1a2nePQ+/VSJy9H1uVa4Yui2uHlHhPF7AaH+vCFV0MpL5ETncdcaXREL8sZ0Vv3dHtM5j9NroG+H4P2E1kMGAFHchp9AUYKJPiEz9uyGgFUikAonxhZqIPTqcHJ3XXNbfBeI3ThTqoAsMaf5NhRYPXVtbDPITPGdxCpvYHHbs++uTadCyUYfwob+HlqRNqZ2Zvdn/Iym6l6vCetsygBQlckDIAm8AESKzxzv9eONRMq5s433V/eAAJKi5BsrUfBpwdK9Gj9DXQu0Us3/jqDZoMW4Kj+kOAqwEl1iVHFAycCP7Tj2a+QzhHB4AgxlFvJr/VIgDnwh8U/jQ75sz7JJlUoYU4VhrzC38dzOq6ru/v4RlOqbzDG/PsPOT5AgpVtkJqMSPdc/TTnstJFfihQpBZ0oJwMBf4iIe+i45wB1BuPwGua/fBnOz81LwXUxS43rHxvbXIuid9Yp0vQJ4HN/K81BAt1UEMuUvG4SqHjaMTkG34+mpVNSK/bn6r5Sd+7rNrS9HCGoXCZeGkVgtjjjGThsGlG3lfM746Nfngt8VDXv+PpG61/r6AloeE60KrAXd3EHZleaC+JFSnK4KO4clFeV458RjciBlcixH5lW9LDiOGrEmVM7J7f5T0tFFNAR8UdpAbi0S9ZrrBzFgwrvrG4nPO0al8wUklVdiUlQKuAi4pxvoerzeKSVTN04SnFCu9w+Ya7BPERZxMFNOANdMLz17WhT+ufNuthCsmMOj1Ih/5t3G6uKnThjVKTwyR0I5iBkna62T8LEcOLf+MGamdnhi89w60f7T4BieH4gOyCNvNFWKOKK0QK/YueF3hiWeBf3nvyVfmzMf5LpWtjieEXz7qWax+3tNa5DVeSKyaiuCwqRn6iDt0B1Ba1wNGNfztAHh3EA+Nz61EVFeFhopqXsxbf+vixFX5y+H8/KliuuGkJhu6CkxGiiTmN0ucV4SZPLgv1UpLLl4C20KfilVaSTgponH7yVlNYCm6WfmtUAu0F/3NSvxf1qdbPTXyXIhzN0cogwOMkhUgsljwX4fh7Af4OX24pMTWwmmzO1Vcub46b0N+3hUXabnkbSBMDzbrqsDIk+kkBy9SoHNOqJX9aA3ZG+QOyCRzMWNgIosICVDyxzhHkXSV2NhXGT4GuiahJdl+xKOLX9dkXVxPuJkNFuIh4uLZT/IZERBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EMivvEmZQ9rH2ygvE5fLJE",
      "input": {
        "note": "The bottle neck is centred between the jaws. I'm lowering slightly and closing the gripper on the neck.",
        "targets": {
          "left_gripper": 0.0,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EMivvEmZQ9rH2ygvE5fLJE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2451, 1.8793, 0.7582, 0.6559, -0.2676, -0.1993, 0.0137, -0.0193, 0.725, 0.4534, -0.3355, -0.028, -0.036, 0.9994]\nstate[eef_state]: left_x=0.4737 left_y=-0.0667 left_z=0.0613 left_yaw=0.0741 left_pitch=0.1157 left_roll=-0.0472 left_gripper=0.0137 right_x=0.2773 right_y=0.0032 right_z=0.1386 right_yaw=0.0007 right_pitch=-0.0358 right_roll=0.002 right_gripper=0.9994\nstate[joint_eff]: [0.1846, -6.9538, 4.8205, 0.8474, 0.1197, 0.188, 1.2186, -0.3214, -1.5795, 6.9402, 1.9414, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ec8d0f05c32fdbb1eb16b83fd96dbaa845872c2a2d9ad02610be97186f65aca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccee029297d68f20444b5d8913ca162d638565fee5aee05edb5835d2251b5f8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:856b90694078f81e452586c6fcd75cd058848e1066badeb96cc6bafa674848e7",
        "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 · 5.972 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]: [-0.3012, 1.7527, 0.6228, 0.5465, -0.2913, -0.2256, 0.9983, -0.0193, 0.7567, 0.5186, -0.3668, -0.028, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4233 left_y=-0.0746 left_z=0.044 left_yaw=0.0496 left_pitch=0.0076 left_roll=-0.0202 left_gripper=0.9983 right_x=0.2834 right_y=0.0031 right_z=0.1537 right_yaw=0.0009 right_pitch=-0.0335 right_roll=0.0017 right_gripper=0.9994\nstate[joint_eff]: [0.5538, -5.6547, 3.453, 0.8913, -0.1538, 0.3492, -0.0122, -0.1162, -1.6752, 6.7761, 2.0, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2588, 1.8706, 0.7261, 0.5957, -0.2607, -0.2237, 0.9983, -0.0193, 0.7429, 0.4873, -0.3515, -0.0277, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4567 left_y=-0.0701 left_z=0.0406 left_yaw=0.0657 left_pitch=0.0349 left_roll=-0.0455 left_gripper=0.9983 right_x=0.2806 right_y=0.0031 right_z=0.1461 right_yaw=0.0006 right_pitch=-0.0358 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [0.9641, -6.8034, 6.0239, 1.4579, -0.188, 0.4176, -0.0171, -0.1846, -1.8393, 7.2274, 1.9707, -0.0171, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2451, 1.8793, 0.7582, 0.6559, -0.2676, -0.1993, 0.0137, -0.0193, 0.725, 0.4534, -0.3355, -0.028, -0.036, 0.9994]\nstate[eef_state]: left_x=0.4737 left_y=-0.0667 left_z=0.0613 left_yaw=0.0741 left_pitch=0.1157 left_roll=-0.0472 left_gripper=0.0137 right_x=0.2773 right_y=0.0032 right_z=0.1386 right_yaw=0.0007 right_pitch=-0.0358 right_roll=0.002 right_gripper=0.9994\nstate[joint_eff]: [0.1846, -6.9538, 4.8205, 0.8474, 0.1197, 0.188, 1.2186, -0.3214, -1.5795, 6.9402, 1.9414, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ec8d0f05c32fdbb1eb16b83fd96dbaa845872c2a2d9ad02610be97186f65aca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccee029297d68f20444b5d8913ca162d638565fee5aee05edb5835d2251b5f8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:856b90694078f81e452586c6fcd75cd058848e1066badeb96cc6bafa674848e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dz4PbN39VYgyaQR2Bf3gaj",
      "input": {
        "note": "The close came up empty: the arm rose to 6 cm and the jaws passed above the neck, which sits just ahead of the jaws. I'm opening and descending lower to try again.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.465,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Dz4PbN39VYgyaQR2Bf3gaj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2489, 1.9457, 0.7948, 0.6689, -0.2832, -0.2119, 0.9945, -0.0193, 0.7055, 0.4198, -0.3206, -0.0277, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.482 left_y=-0.0679 left_z=0.0475 left_yaw=0.0897 left_pitch=0.1019 left_roll=-0.0464 left_gripper=0.9945 right_x=0.2739 right_y=0.0032 right_z=0.1313 right_yaw=0.0006 right_pitch=-0.035 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [-0.8274, -5.641, 2.9607, 1.0623, -0.0659, 0.1148, -0.1197, -0.1162, -1.347, 6.9402, 2.0098, -0.0269, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0d02b609d44030c0b99ed531a76b7b87c92474f22b21743480bc0a768a91be7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a82906c7b0cfd6c7fe57d65c75a1c40cd4224c552203ea5985856951bec9073",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ecb146ddeedf4f5aa01b5bf71c0634e88e8d86b97f144e564c9e1ea224871a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 13.09 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]: [-0.2588, 1.8706, 0.7261, 0.5957, -0.2607, -0.2237, 0.9983, -0.0193, 0.7429, 0.4873, -0.3515, -0.0277, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4567 left_y=-0.0701 left_z=0.0406 left_yaw=0.0657 left_pitch=0.0349 left_roll=-0.0455 left_gripper=0.9983 right_x=0.2806 right_y=0.0031 right_z=0.1461 right_yaw=0.0006 right_pitch=-0.0358 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [0.9641, -6.8034, 6.0239, 1.4579, -0.188, 0.4176, -0.0171, -0.1846, -1.8393, 7.2274, 1.9707, -0.0171, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2451, 1.8793, 0.7582, 0.6559, -0.2676, -0.1993, 0.0137, -0.0193, 0.725, 0.4534, -0.3355, -0.028, -0.036, 0.9994]\nstate[eef_state]: left_x=0.4737 left_y=-0.0667 left_z=0.0613 left_yaw=0.0741 left_pitch=0.1157 left_roll=-0.0472 left_gripper=0.0137 right_x=0.2773 right_y=0.0032 right_z=0.1386 right_yaw=0.0007 right_pitch=-0.0358 right_roll=0.002 right_gripper=0.9994\nstate[joint_eff]: [0.1846, -6.9538, 4.8205, 0.8474, 0.1197, 0.188, 1.2186, -0.3214, -1.5795, 6.9402, 1.9414, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2489, 1.9457, 0.7948, 0.6689, -0.2832, -0.2119, 0.9945, -0.0193, 0.7055, 0.4198, -0.3206, -0.0277, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.482 left_y=-0.0679 left_z=0.0475 left_yaw=0.0897 left_pitch=0.1019 left_roll=-0.0464 left_gripper=0.9945 right_x=0.2739 right_y=0.0032 right_z=0.1313 right_yaw=0.0006 right_pitch=-0.035 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [-0.8274, -5.641, 2.9607, 1.0623, -0.0659, 0.1148, -0.1197, -0.1162, -1.347, 6.9402, 2.0098, -0.0269, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0d02b609d44030c0b99ed531a76b7b87c92474f22b21743480bc0a768a91be7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a82906c7b0cfd6c7fe57d65c75a1c40cd4224c552203ea5985856951bec9073",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ecb146ddeedf4f5aa01b5bf71c0634e88e8d86b97f144e564c9e1ea224871a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSqQsKEAgSGAI4AUIIdGhpbmtpbmcSDLFVtWGga7IEGXI3wxoMYrpbXNNA9hNUUOZpIjAWzKI6SwxMS/kbnxt/SqxC4RitfK/rKUrO0iSJZmsxI4EbdJi3wv8vTSluuZX+q7IqxgpFNf7PxHMCWIaP2HocQTAdpu+MKclI7MJ7El9I0NRZdIH6EoGgtZp9Ezm5Q3YSY3FQOaNvrlDGMCUJHf+v5ZXwHJkH+6kuNoM5laSiPGeeqUdPcaiyArOn/nJU/9BMv0EtNf2NxjENMru1OVSbdVfURLTvezVOAJKHkfuafb8o0SKNeCQFUs/yryl7O2MHgoYm+t2ZBBwp/btzN33aWjJ3TMtMLGQhoTWsaR06nWhz0iTkXqlLskfBbSTznNq9KRbibYiAHc/nCDnCS4zNk7nnaNvJAIHAzxSsUB31PkIvEuSwRFE+XooK5eYi4fWvQZ5bYQ/XEXbD6h65IdSSo2bM4YcHaoYwmNcLXdnvMN3T5BjbLmL+R+pi1V3aboZ+NhLitCXgbaFM5XCqTQvkh13Ao8SS+MhP2Cb0mIEZyNewG1V1rbaJMwqHCdu96zmy0iFiXzpvj+CP6faeAdScodnAK/k5zQl4bE9tjmiULhROudb4/UzjwouJq+0Cc+yeiEjgoK8EyIhpiVbEeZCN2ZbPcU+SagjSzfsRexrM9VEO2m3b+KZUQ/0+Z8ynkS61kpvUqnm6gdf3+3ZBwNCmbmc4CQQ4l0mLqZ2Gf0FrA5IGpyevZtWQOy14pVv+5BIyPxNEco4IKb8u7mqHYQBjrsjaRaFnV3mGWFf8vlvMSp3hlHI8ppkt2vgtlayHn8k04L8I7+qNbxr3szoVWMLCjAHUFTSQI0E4NLe6GMosEpWpN+ZbszDpNrCmChl3L1Tr8ycH1GnOQsNjF/Ez45T2k683t6ZKQn478xuDhdcWC/FrP/rgz0I7iIE9FBQDOJ9x2iuh3D9YZBuZUIdSHKoke85/ZD2SuNuUWiQLE3QgvUqOyH46CDjsTG4sbvzQCzEpOes85V7c4TE+n+6jqhrpNQk31y6FoNQLeKgnCLbRBmLUapV3K0NSyiba6j/lvs5V1vvcdw2WGOb5a1isYvlIc85TQfNKaP9SQN/t//eLRXybQIdgRcp/0J37kHmjejitK5EQI6NjhJUdWbxLJU7a0bD2PfLt/fsFqmSF3GN1N/DKKXPOLKKJY1bBl+KnpWv3s+52TA2B+9UtQ+wkrC44hU43YdNBWzGLHhKLwGTXa5UAJNEmvBVDj3JLP3cGK4pJ7SFg0VGY+p04GLcxxQo0pDrQSoyVyHEJwb1TS2NjVDHCsFxcfntWI39mKcvvJSnC3D44iCmgdFiONceAHS/OK2qw08IApxfOW9Qyx6sGtIhWYs9V6axm1pCes0/EI2Rltx4QIpfq+nDHfcLNDPBcUZQ1pNiQLKCbIXQfgEKaiGTj3yPcVmtqOy5iM+jhDkfdIOS0Rk5JNpks1gu6pjJhbH/m2FDWCvBplSk5JMPsSYc3jeXCxm4XUxOxa+cJzbJMKUqjigFLFuunxJ7xfu/Qb2ss6lO2z+yyFOg1e1rplBX+pp6pOBJnLJ/+PRjj7/+7u2AssA2jYjdijVTfC4kpi6OjEXsa35VpD3QXy7tPMwmlJFvntp4V1OUuMGg21hBqb1YTd14KBUDELnWl2fSIx1pHxlMmProys+OmRx2QW8rom2Qi1w53TyfKWCf3xjLabG1rrbGiinrcaieD/IfDpSDpoB9Gw9PZhbZr6N7B/V1ty9E+hGoumdB8ymfOmLaSeFX04wEiii4Hieb9uZlPI3UdSbpWDrHOexV4caAAevD9gupWz/afcr6vPIFT7aLhIP4CY5z4kKnDGyuytDydL3SsbaPXVBAEmvBY99eAo0mQQ4hvErGd0nP3Xji9pSXWvnuLsm1toxEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011cZZWCip4y5WzWei6ebiHE",
      "input": {
        "note": "The bottle's shoulder and neck are between the open jaws and the arm has stopped at 4.7 cm. I'm closing to try to grasp there.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011cZZWCip4y5WzWei6ebiHE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2535, 1.911, 0.8745, 0.5076, -0.3035, -0.2138, 0.014, -0.0193, 0.6861, 0.3878, -0.3058, -0.028, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4892 left_y=-0.0685 left_z=0.0603 left_yaw=0.1018 left_pitch=0.061 left_roll=-0.0228 left_gripper=0.014 right_x=0.2708 right_y=0.0033 right_z=0.1247 right_yaw=0.0009 right_pitch=-0.0327 right_roll=0.0016 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -9.2239, 5.7778, 1.1404, -0.0171, 0.105, 1.2381, -0.0752, -1.0598, 6.8581, 1.9853, -0.0269, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4344548a45f0eecdc1c8c4ffa4a3f03a1b51891e45e67af27e7dc574f36b7e82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a28cf7060afa4f83bba8ca81a9786efdc5f5fdfd127ae3338df47bbaec8c8bb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e86ae825645fa08b7070d4ef2f267722daa8a07b730c94e93974e6f0174dff3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 4.746 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]: [-0.2451, 1.8793, 0.7582, 0.6559, -0.2676, -0.1993, 0.0137, -0.0193, 0.725, 0.4534, -0.3355, -0.028, -0.036, 0.9994]\nstate[eef_state]: left_x=0.4737 left_y=-0.0667 left_z=0.0613 left_yaw=0.0741 left_pitch=0.1157 left_roll=-0.0472 left_gripper=0.0137 right_x=0.2773 right_y=0.0032 right_z=0.1386 right_yaw=0.0007 right_pitch=-0.0358 right_roll=0.002 right_gripper=0.9994\nstate[joint_eff]: [0.1846, -6.9538, 4.8205, 0.8474, 0.1197, 0.188, 1.2186, -0.3214, -1.5795, 6.9402, 1.9414, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2489, 1.9457, 0.7948, 0.6689, -0.2832, -0.2119, 0.9945, -0.0193, 0.7055, 0.4198, -0.3206, -0.0277, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.482 left_y=-0.0679 left_z=0.0475 left_yaw=0.0897 left_pitch=0.1019 left_roll=-0.0464 left_gripper=0.9945 right_x=0.2739 right_y=0.0032 right_z=0.1313 right_yaw=0.0006 right_pitch=-0.035 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [-0.8274, -5.641, 2.9607, 1.0623, -0.0659, 0.1148, -0.1197, -0.1162, -1.347, 6.9402, 2.0098, -0.0269, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2535, 1.911, 0.8745, 0.5076, -0.3035, -0.2138, 0.014, -0.0193, 0.6861, 0.3878, -0.3058, -0.028, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4892 left_y=-0.0685 left_z=0.0603 left_yaw=0.1018 left_pitch=0.061 left_roll=-0.0228 left_gripper=0.014 right_x=0.2708 right_y=0.0033 right_z=0.1247 right_yaw=0.0009 right_pitch=-0.0327 right_roll=0.0016 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -9.2239, 5.7778, 1.1404, -0.0171, 0.105, 1.2381, -0.0752, -1.0598, 6.8581, 1.9853, -0.0269, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4344548a45f0eecdc1c8c4ffa4a3f03a1b51891e45e67af27e7dc574f36b7e82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a28cf7060afa4f83bba8ca81a9786efdc5f5fdfd127ae3338df47bbaec8c8bb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e86ae825645fa08b7070d4ef2f267722daa8a07b730c94e93974e6f0174dff3d",
        "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_01SsSZjds4cDymZhRkuw5kY3",
      "input": {
        "note": "Second empty close: at x 0.48 the fingertips seem to be resting on top of the cap, so the arm couldn't go lower. I'm opening and backing off to x 0.44 to grasp the bottle's shoulder instead.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.44,
          "left_y": -0.07,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SsSZjds4cDymZhRkuw5kY3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2943, 1.7901, 0.7425, 0.4129, -0.3294, -0.2409, 0.9943, -0.0193, 0.6666, 0.3576, -0.2901, -0.028, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4416 left_y=-0.0704 left_z=0.047 left_yaw=0.0964 left_pitch=-0.0321 left_roll=0.0059 left_gripper=0.9943 right_x=0.2681 right_y=0.0034 right_z=0.119 right_yaw=0.0009 right_pitch=-0.0278 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [-0.6222, -10.6325, 5.135, 1.746, -0.1197, -0.0122, -0.0806, -0.0479, -0.6769, 6.9402, 1.9805, -0.0415, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d572f2b4ba3b0da6a5680ce39a202a3c5ea7f6c34fda333a1f2062899e17923d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2a4a267fcd9f0018e369dae2a2de7320b48103b9eb826cd69a6caa7ccbb319a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:80c961c05cce09d64123d78388752a0bab4f3f5db4e46b93fd49cb2178e8dd03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 3.838 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]: [-0.2489, 1.9457, 0.7948, 0.6689, -0.2832, -0.2119, 0.9945, -0.0193, 0.7055, 0.4198, -0.3206, -0.0277, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.482 left_y=-0.0679 left_z=0.0475 left_yaw=0.0897 left_pitch=0.1019 left_roll=-0.0464 left_gripper=0.9945 right_x=0.2739 right_y=0.0032 right_z=0.1313 right_yaw=0.0006 right_pitch=-0.035 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [-0.8274, -5.641, 2.9607, 1.0623, -0.0659, 0.1148, -0.1197, -0.1162, -1.347, 6.9402, 2.0098, -0.0269, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.2535, 1.911, 0.8745, 0.5076, -0.3035, -0.2138, 0.014, -0.0193, 0.6861, 0.3878, -0.3058, -0.028, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4892 left_y=-0.0685 left_z=0.0603 left_yaw=0.1018 left_pitch=0.061 left_roll=-0.0228 left_gripper=0.014 right_x=0.2708 right_y=0.0033 right_z=0.1247 right_yaw=0.0009 right_pitch=-0.0327 right_roll=0.0016 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -9.2239, 5.7778, 1.1404, -0.0171, 0.105, 1.2381, -0.0752, -1.0598, 6.8581, 1.9853, -0.0269, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2943, 1.7901, 0.7425, 0.4129, -0.3294, -0.2409, 0.9943, -0.0193, 0.6666, 0.3576, -0.2901, -0.028, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4416 left_y=-0.0704 left_z=0.047 left_yaw=0.0964 left_pitch=-0.0321 left_roll=0.0059 left_gripper=0.9943 right_x=0.2681 right_y=0.0034 right_z=0.119 right_yaw=0.0009 right_pitch=-0.0278 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [-0.6222, -10.6325, 5.135, 1.746, -0.1197, -0.0122, -0.0806, -0.0479, -0.6769, 6.9402, 1.9805, -0.0415, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d572f2b4ba3b0da6a5680ce39a202a3c5ea7f6c34fda333a1f2062899e17923d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2a4a267fcd9f0018e369dae2a2de7320b48103b9eb826cd69a6caa7ccbb319a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80c961c05cce09d64123d78388752a0bab4f3f5db4e46b93fd49cb2178e8dd03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQkKEAgSGAI4AUIIdGhpbmtpbmcSDP1Gc3E95V5+SMCIdBoM/ruyEVbg4taGST3kIjCHtjJi7RSrA2YdXG5zByKnAFgaL/vAdJ8WYIjGwtR1yXW5eSzIPa7qZsbYEXASpCoq0gg3gvDEapctVqDI63UfHY+v8qeWSyxDYq5wGQ9fwqP2x+r8iB5YXbUonJQZhWZZ/8y1I1GS48InmWp+wmXU/HOBg/Jc5UxsD7ASQVxbu6ZXRxk1ADHHySf7V/hgiEZqxFdaZqF7kqbrx4B2yva74gwbk6nwJw7TU7U9OWn3V0e3X48U/Uc+qQBxgQ+b1mPOQvpJYaV8o3Uxr/CTXDWQSYzYMGNrt1igpkjl9xeNulsXIP5o+N/DM9CmI+vAOm9/gH+S8EWevoJLbcITmcOskVvumRaodv5BOXoYTTF3CZ5JPK5OB4TYznvW0tvG2R0l38vXo1G5Fpn/8ZrcPWtQBeInPcM9fEd5sLpSJdP7S0wOPrV5ZXbXHPobAnasBV4e72SusruW/dZbY/PPO69zCSV4/dhpK+MRfHrRMM8838YO/gjFMo7NxlPQCmS5tqq8hrKjyre+0CvTakOdDq/2O0RM8AhdMEh4mRDpXlSl1as7+jeABAkpyf2vm7FLMpqyhBoclOAPlTGi+POiM9829UPzTXyW4DjkK8o0jaOVcDWb/LbwvE00Dz8pTawBjBfV30Tpm8B4/h2VZygRwfbKelhkjXYXjvQPBDa+Y+90PjLiS0zj2vPIihFKPsMWE3YngTMtp/2xUNcak/zZ2pcSaz2rJV9CVLTboRVKCLIkVJkR5ly3MrMbKwyyuE5uHoBgvw5aUFI8sQQxF4wZ5fajIx6DNq7Aasros1XtsC8De7JbK+9Q2ldnBETTy9Om+CVvXQsA2gZXJkaLibdWGTva7RZXPM9SXHrgHSc2TiAHX8lhgSozUvTA/sU4jNFp4k7zYbtGk8zvKRP+y/yDYnn4q/UMFilHBPqIuNJprOvffVbUuL7sD2Ab4sQejnkeczXPrluRaEQ7QvaVX1VVi2RQj2k8OKEZS5q3odhUM7yvw/gbpjb3CcFfOoswNR0qzAmZ9y8tua5IWMBwvogW6+mPonHexFfvMBFTuNIvgC+b+L4QCRu93y5bJ/sUXUuoqKiuy0v6PHrOfi0puwhZfGkVCnQZR3w2XTvUw+xZZME0cRrOhYtJ9/qI0K8xIDUlrJBJqPwUpdBxuTbxd/Lu5c1sZl4mEh+qt/MqJHTbzBAOubKH8+yfBTmnE5cdpmFhWDUdRK5LCjd6Tv/JVxA/8th2sPjgxBZ/xZWYyZCHsfZOMntXEsMRhKuDVLVE3rzHUfsnAoSgQEOyGgZDRb6PXYSHmZum+VHR/GtUH+siYqrI/fnndGzLKUQ0XFbD5NpNbISQucZgXKTJM6FtaDR6+0gwlDDdAO1QTQaxNTrrKiZA7ysgIE5MjfzJRcl0Xcm/27wJx8RPucOYYOD9mOjmRsN3mLWQ6vynbttrMSAWqhfC/C6rDZSSuurPS1RprG5tNUMt6PGZCXqiu5paYSbk/JMVzhkgQWcK5veYIs4xuyKmahGysAPACKbUyTXEEUMj4fekk5895xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fj33bRQ9fL1on284WCnXht",
      "input": {
        "note": "The bottle is lined up on the jaw column, with the cap ahead and the label between the jaws. I'm descending to grasp the upper body.",
        "targets": {
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Fj33bRQ9fL1on284WCnXht",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2951, 1.8721, 0.7109, 0.5953, -0.3294, -0.2447, 0.9956, -0.0193, 0.6525, 0.3332, -0.2848, -0.028, -0.036, 0.9994]\nstate[eef_state]: left_x=0.4495 left_y=-0.0732 left_z=0.0362 left_yaw=0.0977 left_pitch=0.0313 left_roll=-0.0236 left_gripper=0.9956 right_x=0.2649 right_y=0.0034 right_z=0.1124 right_yaw=0.0007 right_pitch=-0.0327 right_roll=0.002 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -4.9573, 2.906, 1.0769, -0.1245, 0.022, 0.1197, -0.2256, -0.8684, 7.0769, 1.956, -0.0366, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12f9773f7c1f9aeb055a35182c2d1db2b8ca371bc49514cc6240fc51f2ed1197",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f221ae60bffb8fce8f61fbec0f1d8af0c745c3c74c08c4a889e2a8a6de68006d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9fecaa21193db1baeb769ddb2fe52614c84ec0ca88fbb37e9af59541d1c3217b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 11.04 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]: [-0.2535, 1.911, 0.8745, 0.5076, -0.3035, -0.2138, 0.014, -0.0193, 0.6861, 0.3878, -0.3058, -0.028, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4892 left_y=-0.0685 left_z=0.0603 left_yaw=0.1018 left_pitch=0.061 left_roll=-0.0228 left_gripper=0.014 right_x=0.2708 right_y=0.0033 right_z=0.1247 right_yaw=0.0009 right_pitch=-0.0327 right_roll=0.0016 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -9.2239, 5.7778, 1.1404, -0.0171, 0.105, 1.2381, -0.0752, -1.0598, 6.8581, 1.9853, -0.0269, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.2943, 1.7901, 0.7425, 0.4129, -0.3294, -0.2409, 0.9943, -0.0193, 0.6666, 0.3576, -0.2901, -0.028, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4416 left_y=-0.0704 left_z=0.047 left_yaw=0.0964 left_pitch=-0.0321 left_roll=0.0059 left_gripper=0.9943 right_x=0.2681 right_y=0.0034 right_z=0.119 right_yaw=0.0009 right_pitch=-0.0278 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [-0.6222, -10.6325, 5.135, 1.746, -0.1197, -0.0122, -0.0806, -0.0479, -0.6769, 6.9402, 1.9805, -0.0415, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2951, 1.8721, 0.7109, 0.5953, -0.3294, -0.2447, 0.9956, -0.0193, 0.6525, 0.3332, -0.2848, -0.028, -0.036, 0.9994]\nstate[eef_state]: left_x=0.4495 left_y=-0.0732 left_z=0.0362 left_yaw=0.0977 left_pitch=0.0313 left_roll=-0.0236 left_gripper=0.9956 right_x=0.2649 right_y=0.0034 right_z=0.1124 right_yaw=0.0007 right_pitch=-0.0327 right_roll=0.002 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -4.9573, 2.906, 1.0769, -0.1245, 0.022, 0.1197, -0.2256, -0.8684, 7.0769, 1.956, -0.0366, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12f9773f7c1f9aeb055a35182c2d1db2b8ca371bc49514cc6240fc51f2ed1197",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f221ae60bffb8fce8f61fbec0f1d8af0c745c3c74c08c4a889e2a8a6de68006d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fecaa21193db1baeb769ddb2fe52614c84ec0ca88fbb37e9af59541d1c3217b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+QcKEAgSGAI4AUIIdGhpbmtpbmcSDPGup122swH8KxNmvBoMEfP9zmzdANQUC/smIjC8vK1UlQUcqocQv10kthp5DqiOeW4MA6tG75ZmOXFDqqbno0Qru1ljWhoDpWdL6KgqlgeuW4QmmLRtpSb/o5qy4OxjoxWO6QIStYigXhLA+rb0CNWhMBFYX3IzRuRWPuuoDFQF1A5+dHg3gZOgtW/jvKdw8IM8yuPZqhwDTo132nk66Hy3bw+0YTGjvmCClVJzP4509NIF9iFGeL0HJ2fE36Dj+0pwY11Z8aCAvFx7T51JAa8YhD8U79wHyLcUCKwc/a0BJHPNOHMmFTIuzxViZh7+LxM/2NZrnIFEvbGCkmKgh4rI/Xxx8n2NKwNIYtQrwSYOnW8dOhtm1BA4HxX6fbHysMdYQoxK4pRSjpYWY2ANe8O+Yu3Pjc/xgfX9dUXxoWdpbiyRx28PHL8daLU94JDumrYmc+B8x9DsE4YA1nnxZ+P5mftoWt0NSYg7YBQ+t3kcsfS1nQT4wzMj+rg2VpanA8v/0wKPF2rPieGIZDcfhW2iqg8GUByZmyWSsdvu5FKcuVUa6dc359Ei5jcgI7R0hTT5CaVxiJx6nhRh/IrQET6qu21ndHU3hkEEGURfNK7sI2J1ZIrp2sZI7zCZ1Bc2gsHLJQp0XeezLnsIlwIcfqXpWRbmmhW2zTsP54XeZl90oM/e7299za2dPIiL9FOCMyV1w69vzezDGQQeYB8N5NaChl67rVndTIBqEvS7alVHba35I0fkTcOwmKX5CQFcob9QWK/UmE3eF4N1EBlbcTslyHJRR1g5c18lXHJN8aNFWcZsqgeSSRKuacvrYSPYya6LcvnwmUtlomGDzMT6NWkDR5vwLkJJUtJxWj8A/U3M2KZEdBSSOArOhlKz2OqFcjTKAPF1J2mU5F2e7Eyy/WwHEp739rqMDlvy/IqKnT6Wz+pWONEdm8I4r/zYFQzoRFzTgl4wSb91LZh0gsdB4DjmwE7lU8RWyMSPzK777ArVSeBdhazni8Glmoq6UczQSATVKmXaAs3NxbRPUl/Z71gDgs1cnjf0ZsPRwlNSS5OxfmCz4n62OtIOTLipdUpTLFp4oL3YUrQVFkMMlBqUUOOCj2YWa8E5rAjmEOgkhYK3FhEdJOKq0fh0Pw81cpxMK0V0pqL6hduxvpzfJCeNcowAUWUTi6ituRcySguxnbv85jbqDNxFbV/aV9ysGATRBLB8rSNbh2thk6nelTYHdjif/eUDvXW4b9AhDHsHiVvd+rW3HqbAuhk9mm3HVBmpF2a0viURa7xMhATdDIsPkyKaC4PRzzz1ng9cHQuiYI5qA/q37KAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0195jjFAkMEPgAaWennDkemE",
      "input": {
        "note": "The jaws straddle the bottle's label and the arm has stopped at 3.6 cm. Closing to grasp.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0195jjFAkMEPgAaWennDkemE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2996, 1.8503, 0.7422, 0.6205, -0.3573, -0.2588, 0.0131, -0.0193, 0.6327, 0.3054, -0.2707, -0.0277, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4628 left_y=-0.0746 left_z=0.0631 left_yaw=0.126 left_pitch=0.1084 left_roll=-0.0543 left_gripper=0.0131 right_x=0.2625 right_y=0.0034 right_z=0.1075 right_yaw=0.0006 right_pitch=-0.0266 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [0.212, -7.6103, 4.9436, 0.8425, 0.105, 0.2613, 0.8816, -0.2803, -0.4991, 6.8991, 1.917, -0.0122, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d7763f6eb7f66775255ba51983e62a784aa50c185e9d88b9ebf39d675618bf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a852d873335176caee2a183d692829f2466cd5e86e68c0b6a48e7da344f89c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04e480507349db86c535b5c960b017d8324c10bc7ba2e330be58491d06d3932c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 7.09 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]: [-0.2943, 1.7901, 0.7425, 0.4129, -0.3294, -0.2409, 0.9943, -0.0193, 0.6666, 0.3576, -0.2901, -0.028, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4416 left_y=-0.0704 left_z=0.047 left_yaw=0.0964 left_pitch=-0.0321 left_roll=0.0059 left_gripper=0.9943 right_x=0.2681 right_y=0.0034 right_z=0.119 right_yaw=0.0009 right_pitch=-0.0278 right_roll=0.0015 right_gripper=0.9994\nstate[joint_eff]: [-0.6222, -10.6325, 5.135, 1.746, -0.1197, -0.0122, -0.0806, -0.0479, -0.6769, 6.9402, 1.9805, -0.0415, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.2951, 1.8721, 0.7109, 0.5953, -0.3294, -0.2447, 0.9956, -0.0193, 0.6525, 0.3332, -0.2848, -0.028, -0.036, 0.9994]\nstate[eef_state]: left_x=0.4495 left_y=-0.0732 left_z=0.0362 left_yaw=0.0977 left_pitch=0.0313 left_roll=-0.0236 left_gripper=0.9956 right_x=0.2649 right_y=0.0034 right_z=0.1124 right_yaw=0.0007 right_pitch=-0.0327 right_roll=0.002 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -4.9573, 2.906, 1.0769, -0.1245, 0.022, 0.1197, -0.2256, -0.8684, 7.0769, 1.956, -0.0366, -0.0122, -0.0122]",
      "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]: [-0.2996, 1.8503, 0.7422, 0.6205, -0.3573, -0.2588, 0.0131, -0.0193, 0.6327, 0.3054, -0.2707, -0.0277, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4628 left_y=-0.0746 left_z=0.0631 left_yaw=0.126 left_pitch=0.1084 left_roll=-0.0543 left_gripper=0.0131 right_x=0.2625 right_y=0.0034 right_z=0.1075 right_yaw=0.0006 right_pitch=-0.0266 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [0.212, -7.6103, 4.9436, 0.8425, 0.105, 0.2613, 0.8816, -0.2803, -0.4991, 6.8991, 1.917, -0.0122, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d7763f6eb7f66775255ba51983e62a784aa50c185e9d88b9ebf39d675618bf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a852d873335176caee2a183d692829f2466cd5e86e68c0b6a48e7da344f89c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04e480507349db86c535b5c960b017d8324c10bc7ba2e330be58491d06d3932c",
        "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_01Rv7LMfGtagweXD7jrEG2eT",
      "input": {
        "note": "Empty again: the jaws slid up over the round bottle because the fingertips were above its centreline. I'm opening, pulling back a little and pressing down to the floor of the box so the fingertips get below the bottle's midline.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.43,
          "left_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Rv7LMfGtagweXD7jrEG2eT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.326, 1.9705, 0.6815, 0.8803, -0.4042, -0.2817, 0.9943, -0.0193, 0.6186, 0.2813, -0.2646, -0.028, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4611 left_y=-0.0788 left_z=0.0443 left_yaw=0.1568 left_pitch=0.1875 left_roll=-0.0921 left_gripper=0.9943 right_x=0.2596 right_y=0.0035 right_z=0.1012 right_yaw=0.0009 right_pitch=-0.0305 right_roll=0.0016 right_gripper=0.9994\nstate[joint_eff]: [-0.9231, -3.1385, 1.1556, 0.1343, 0.1001, 0.149, 0.0708, -0.3077, -0.6906, 6.9265, 1.9121, -0.0122, -0.0855, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46ed62ef886160e5d4f0c1b808f28eda116ca2fc15522b6cd0b01c0cd652849d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20bd3f0811ac97ec936640ef91ad3e8f196b88e85d00b02715ea94fd52bc1fae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f1def238e9cbe47a52aaeb0e7a5e4f6191ee4e7abc8a570d12c602d496dc3f4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 6.913 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]: [-0.2951, 1.8721, 0.7109, 0.5953, -0.3294, -0.2447, 0.9956, -0.0193, 0.6525, 0.3332, -0.2848, -0.028, -0.036, 0.9994]\nstate[eef_state]: left_x=0.4495 left_y=-0.0732 left_z=0.0362 left_yaw=0.0977 left_pitch=0.0313 left_roll=-0.0236 left_gripper=0.9956 right_x=0.2649 right_y=0.0034 right_z=0.1124 right_yaw=0.0007 right_pitch=-0.0327 right_roll=0.002 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -4.9573, 2.906, 1.0769, -0.1245, 0.022, 0.1197, -0.2256, -0.8684, 7.0769, 1.956, -0.0366, -0.0122, -0.0122]",
      "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]: [-0.2996, 1.8503, 0.7422, 0.6205, -0.3573, -0.2588, 0.0131, -0.0193, 0.6327, 0.3054, -0.2707, -0.0277, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4628 left_y=-0.0746 left_z=0.0631 left_yaw=0.126 left_pitch=0.1084 left_roll=-0.0543 left_gripper=0.0131 right_x=0.2625 right_y=0.0034 right_z=0.1075 right_yaw=0.0006 right_pitch=-0.0266 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [0.212, -7.6103, 4.9436, 0.8425, 0.105, 0.2613, 0.8816, -0.2803, -0.4991, 6.8991, 1.917, -0.0122, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.326, 1.9705, 0.6815, 0.8803, -0.4042, -0.2817, 0.9943, -0.0193, 0.6186, 0.2813, -0.2646, -0.028, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4611 left_y=-0.0788 left_z=0.0443 left_yaw=0.1568 left_pitch=0.1875 left_roll=-0.0921 left_gripper=0.9943 right_x=0.2596 right_y=0.0035 right_z=0.1012 right_yaw=0.0009 right_pitch=-0.0305 right_roll=0.0016 right_gripper=0.9994\nstate[joint_eff]: [-0.9231, -3.1385, 1.1556, 0.1343, 0.1001, 0.149, 0.0708, -0.3077, -0.6906, 6.9265, 1.9121, -0.0122, -0.0855, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46ed62ef886160e5d4f0c1b808f28eda116ca2fc15522b6cd0b01c0cd652849d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20bd3f0811ac97ec936640ef91ad3e8f196b88e85d00b02715ea94fd52bc1fae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1def238e9cbe47a52aaeb0e7a5e4f6191ee4e7abc8a570d12c602d496dc3f4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5AwKEAgSGAI4AUIIdGhpbmtpbmcSDAKMQHqp20LgB0np8BoMuyxORmmXf6OULWhiIjBP7jQsaE1xwg0jkwdaW0nN+ibqVUCnIEThnM9a9zmyR8N218dYrEfpTKNEb1kJg5sqgQxekLXxKsMSQbCG/nehTX+7mrUNZUZwKv2vz2j5jEOhtFDvH0HZBEW7bcrweVYw71bwYbosuNSDg/9t9DLUa/uW55T6N+wuEltGE1hcuurQypBtPtVKf8TFjuuedy4KBuMI0XOaDJfQFfGtaMwVEpoIGhLnCqTOz+KowonC5sOVKgMP7XnpX0xXKaGf8OAgn4MVy+ae7HxJRSqHRuoZEFsgt7XV8wIVHlnH/d2Kx+e/yquIvEnnFcEgP9tXpMlN6eXg82hYCOMtcVu1d565cwWwhF4qw0vOeltvRurEd1pHuK6uTYolPQYN6oMWPiNH/fWCJpucxq1k56hDPFju7A0twgn3m6l1UaBA4pq0ex2cOubTEJD4SqNtBiBHY0Zc15nzrG/zT3KlQknCpeUZEjisEQI8y/3MQ/HVaOTRh6usY9XJ9cIYATuBcd+fcB8hzkDYR3/enDAz/o3UZazod8Bur7oJvXVdT18vQ6/tRoBVx5HMmxKQxiewg1bXlWEHs8D9ilz8mndWUa9Kf/sCf2z64NROo3qzx/N6D/wY46M3KIXLiiyQzrUR/OqwoNdakad1AKwOzgd5e8CQ9a/Pw9A+Ol1lzIhQ56fccN4oB3Sal2Qg9cSTjEtrHHL1jHDHdmqvJ3d/Z4l9OGeaPFbURIp1lMf4gpt4unSFmkiGIQ4e74c/CNmaH8Hrr8aS1Pt3m+p5mAoN4kRj3bP9rjzrproDl6rBx8Vovq56VRzu5KdMQQSIf0t5zLpW3ja0KbIDeY6QWvD+0s/Z2qsvo22Yo1gR0p+p2MKuKkB5MsIzPrNIUviLBNzVxozmQIiwReptxv7DcNwQMNjhDrCnPBL/H2kqzJC8mNc6Ls79MbNdeeoJiyWaj3kGVGeO5J8mslshPvQLJZAfa5SoLwBU27zuu9h9GUKu6nHi/3rRLAehADdfu/V3SVjcZITNhd2+yiDtSUjYjMOQu+RMvxr3TOucrX/zsn8OQJP5HQOl4F2lq1Xm5wYS9kAMV9l9kMsHnIW3RAZTqKUg3q7jGjGp2VFmPYtqbBHWgSAeRwt0w8yuy+z4XgQ5aX7e1+eyDEaOQ5Z6Aff6LVtcST+3DAa8052GcJI8b3rj1DWmYI3w0PDkcMP+wlr3DMAGe/mfax2l0nKPwl0P+ADl3dSOSARazX7O8SWIv8qNRxpIyap5AwdenfpjamPFtILpafVbueKv+q/RN6NFKZ/kkmB54S5L2AV674QndJPG93tx9aJQYKa9Txf19Rz2OP61M543T3Cuo7IBKidRqj7w8HAZapQLkBwHib6cBv3rV2aR7Ki8ZAv18TtuwBoR8AuzlPIHQBMupNU0hNRh/n+rIGOOjtQz3PIKv/kx23fxtCY2cUCoCFWnGNGzqxZX+RNK8SvGfcLVoskg2vsRelrZrah4FPMxKIGOWKuayOFg93oED82bXYURO6OPJrKWBWrCMt/etei3qksdcxdHUpUuQYmPV9TJAP5jA5QryiNoShND93Oux0LBNibC+s+ersOWsLe602giFis2tPIeIj2z/BUlBj6pqtWjTT1iXr3ymcbjbXvYzC8DIM+tqhw2cbcUOJaMKEo7N3GzbLb33USsMCPkEwET2aVt6nZ91QN3gXdH8K6MNz4S/Y5IgVpEqN5/vozWeTXDeqSJNEOTZLVX68U591cd+Rer//J/cZ6MsqtHipEIDJV5DBrf0QqjmtzUlRWeqsiREqFkAwRMZ3ny1nOA3dD9pIw8uWcMxqwsKWZp2GzHxbHa66RfogBhyhKGZlZQZ/nVcSPhKfcKC7kfY5oDEVqaLVVWteBGjzy0nq1YnyLGIgbWlzBYixkiS7jnez2lyvHElCydon3thOvEUYZqhCi1JoeJBRCS8DDKMWkWiqcHu3CIpkxKVMR/DEjRFGVW97+BBU9BYz+9XirMCRi/kmxfAsQwz/2xy2u8pH4badla+NUQUc+8d2wEyrY3LyXUogUQHkUCnLx9ZB/GX+O8eBGF1+xzp5I6VSZjZIXh2+tDXxkcTNMPUMKqwutDRFmqoOJeIpNuLOWUGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AKJSz4PtPbryVbN2aGQQa4",
      "input": {
        "note": "The last motion was speed-clamped before it arrived. I'm re-sending the descent for the left arm and parking the right arm, which is drifting down.",
        "targets": {
          "left_x": 0.44,
          "left_z": -0.02,
          "right_x": 0.29,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01AKJSz4PtPbryVbN2aGQQa4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3412, 1.9984, 0.7429, 0.8379, -0.4358, -0.3157, 0.9956, -0.0307, 0.7605, 0.5434, -0.3874, -0.0315, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.472 left_y=-0.0847 left_z=0.0448 left_yaw=0.186 left_pitch=0.1844 left_roll=-0.1085 left_gripper=0.9956 right_x=0.2841 right_y=0.0004 right_z=0.1598 right_yaw=0.0041 right_pitch=-0.0329 right_roll=-0.0143 right_gripper=0.9994\nstate[joint_eff]: [-0.9231, -3.5624, 1.1966, 0.1734, -0.0757, 0.022, 0.1197, -0.9368, -0.6222, 9.935, 1.6874, -0.1783, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:295fb170e48b15458c0f38870c301e17e42e419e104804196e131381566b5152",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:901eeec53f54e9b2ba52b9fb3eace60b5aec18d84efdefc45cf146bf0c7133b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f93a8e24b334539a61ce79cc3c13255bc6861e9baed10a1d603ae2858e33db63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 4.034 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]: [-0.2996, 1.8503, 0.7422, 0.6205, -0.3573, -0.2588, 0.0131, -0.0193, 0.6327, 0.3054, -0.2707, -0.0277, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4628 left_y=-0.0746 left_z=0.0631 left_yaw=0.126 left_pitch=0.1084 left_roll=-0.0543 left_gripper=0.0131 right_x=0.2625 right_y=0.0034 right_z=0.1075 right_yaw=0.0006 right_pitch=-0.0266 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [0.212, -7.6103, 4.9436, 0.8425, 0.105, 0.2613, 0.8816, -0.2803, -0.4991, 6.8991, 1.917, -0.0122, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.326, 1.9705, 0.6815, 0.8803, -0.4042, -0.2817, 0.9943, -0.0193, 0.6186, 0.2813, -0.2646, -0.028, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4611 left_y=-0.0788 left_z=0.0443 left_yaw=0.1568 left_pitch=0.1875 left_roll=-0.0921 left_gripper=0.9943 right_x=0.2596 right_y=0.0035 right_z=0.1012 right_yaw=0.0009 right_pitch=-0.0305 right_roll=0.0016 right_gripper=0.9994\nstate[joint_eff]: [-0.9231, -3.1385, 1.1556, 0.1343, 0.1001, 0.149, 0.0708, -0.3077, -0.6906, 6.9265, 1.9121, -0.0122, -0.0855, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3412, 1.9984, 0.7429, 0.8379, -0.4358, -0.3157, 0.9956, -0.0307, 0.7605, 0.5434, -0.3874, -0.0315, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.472 left_y=-0.0847 left_z=0.0448 left_yaw=0.186 left_pitch=0.1844 left_roll=-0.1085 left_gripper=0.9956 right_x=0.2841 right_y=0.0004 right_z=0.1598 right_yaw=0.0041 right_pitch=-0.0329 right_roll=-0.0143 right_gripper=0.9994\nstate[joint_eff]: [-0.9231, -3.5624, 1.1966, 0.1734, -0.0757, 0.022, 0.1197, -0.9368, -0.6222, 9.935, 1.6874, -0.1783, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:295fb170e48b15458c0f38870c301e17e42e419e104804196e131381566b5152",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:901eeec53f54e9b2ba52b9fb3eace60b5aec18d84efdefc45cf146bf0c7133b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f93a8e24b334539a61ce79cc3c13255bc6861e9baed10a1d603ae2858e33db63",
        "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_01DHq72jCnDkGyzdJcdEE5Kw",
      "input": {
        "note": "The left arm isn't tracking downward and pitch/yaw are drifting, so it's probably jammed on the bottle. I'm raising and pulling back to reset before a fresh approach.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.38,
          "left_y": -0.1,
          "left_yaw": 0.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01DHq72jCnDkGyzdJcdEE5Kw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3473, 1.9839, 0.8146, 0.6739, -0.4576, -0.3225, 0.9979, -0.0353, 0.7452, 0.5095, -0.3771, -0.0391, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.4774 left_y=-0.086 left_z=0.0433 left_yaw=0.1958 left_pitch=0.122 left_roll=-0.0664 left_gripper=0.9979 right_x=0.2803 right_y=0.0006 right_z=0.1505 right_yaw=0.006 right_pitch=-0.0411 right_roll=-0.0096 right_gripper=0.9994\nstate[joint_eff]: [-0.841, -8.0889, 4.4376, 0.6422, 0.0464, 0.0611, -0.232, -0.8821, -1.5521, 7.1179, 1.9853, -0.1197, 0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04fbf94bae2bbcd08b8d8a8f94da88c5649cec898bb929c81d21a0dac443e7a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5cf93b4cc7b241b0161de50dc546b13175d482d281103842b6ababa784daa3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0237ab08cc22a8ad9695b7b603995073f84a4431e52d06ee6b6e1599f830ae9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /messages · status 200 · 4.256 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]: [-0.326, 1.9705, 0.6815, 0.8803, -0.4042, -0.2817, 0.9943, -0.0193, 0.6186, 0.2813, -0.2646, -0.028, -0.0364, 0.9994]\nstate[eef_state]: left_x=0.4611 left_y=-0.0788 left_z=0.0443 left_yaw=0.1568 left_pitch=0.1875 left_roll=-0.0921 left_gripper=0.9943 right_x=0.2596 right_y=0.0035 right_z=0.1012 right_yaw=0.0009 right_pitch=-0.0305 right_roll=0.0016 right_gripper=0.9994\nstate[joint_eff]: [-0.9231, -3.1385, 1.1556, 0.1343, 0.1001, 0.149, 0.0708, -0.3077, -0.6906, 6.9265, 1.9121, -0.0122, -0.0855, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.3412, 1.9984, 0.7429, 0.8379, -0.4358, -0.3157, 0.9956, -0.0307, 0.7605, 0.5434, -0.3874, -0.0315, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.472 left_y=-0.0847 left_z=0.0448 left_yaw=0.186 left_pitch=0.1844 left_roll=-0.1085 left_gripper=0.9956 right_x=0.2841 right_y=0.0004 right_z=0.1598 right_yaw=0.0041 right_pitch=-0.0329 right_roll=-0.0143 right_gripper=0.9994\nstate[joint_eff]: [-0.9231, -3.5624, 1.1966, 0.1734, -0.0757, 0.022, 0.1197, -0.9368, -0.6222, 9.935, 1.6874, -0.1783, 0.0757, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3473, 1.9839, 0.8146, 0.6739, -0.4576, -0.3225, 0.9979, -0.0353, 0.7452, 0.5095, -0.3771, -0.0391, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.4774 left_y=-0.086 left_z=0.0433 left_yaw=0.1958 left_pitch=0.122 left_roll=-0.0664 left_gripper=0.9979 right_x=0.2803 right_y=0.0006 right_z=0.1505 right_yaw=0.006 right_pitch=-0.0411 right_roll=-0.0096 right_gripper=0.9994\nstate[joint_eff]: [-0.841, -8.0889, 4.4376, 0.6422, 0.0464, 0.0611, -0.232, -0.8821, -1.5521, 7.1179, 1.9853, -0.1197, 0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04fbf94bae2bbcd08b8d8a8f94da88c5649cec898bb929c81d21a0dac443e7a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5cf93b4cc7b241b0161de50dc546b13175d482d281103842b6ababa784daa3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0237ab08cc22a8ad9695b7b603995073f84a4431e52d06ee6b6e1599f830ae9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnAgKEAgSGAI4AUIIdGhpbmtpbmcSDPNnBRiNgUDvh/YnjRoMKxdG/50en40oduGfIjDjw7nUf50fj/LgTRXcxRlpnZ/GW2CXCJ54cRL8INo4JahppmN93kKn2hen2GmOHc4quQc7HV9nzSBSPT9Uu9aGG/J+cKX5MtAtDnCBPiuVtxPJjkIU1IYQ9hIZ8YGa5pbS6sSKT5HXrVwjQcpllxCRFIjCAZ4+WSdZlyErAttSZ2Qw4ojxX2L+nBdr3U0KKwoIqj+oUw6d5ODaBhIxOTXkyrfw/myO/tR6IJWqrVOchCIIXD4bw0QFs1TlT+rJXGYldKCTp7a9XE0c83XXnUDufY6e3AAJzGNczOj4BM2QCtDWX9FX0VAX0dO3tNgTftQiiZnv3G4Alzr9GWvusZzioNkAgvkN+Z5Z24Jzk0FlPc3TipzU5xcQTj7QV3ECO2p5Oze0+1SWwP/vWzVOWGzNxzbFjU8otblkCBKjOGLKcQMhxJXG814rL/nkPLtJa8ChvBwB2oCHNCHZpj1imcwa3DF6Clwatg0Lp7xqO5RDDosaht6NfH2W9Kh9FvB8W22HwZB2X63VXs4+9x+F1r6QtZDHcbhA+usyPcxWYD23Y0nzt19uAZ7K5QJUDUjjnMcswX76NT29fA2KdeYTxL7tyQL+PZx1Xw8+6kPGj+6dVMXct/L+Beb8Vn4gG9nSALB/YQ6sAjL9dtRXjbiGul8MkF6lbCJ+l6RFZHnJzFP4M/KoQivmr9zHHfaylIl2C5AEIvxZIDFroIutZQIWpJsTtVdyzqz8/yeuGwfPav7ealu/4i5WF12SuRgwYLCJz6QnsljcLW9l2mf/r9GSMFBb07UqNG0/yuggJ/9kZD/PMVwS5fZ0MWnlXz64iIlN+n06VSHVXc5CTvMQh1+09ZkxaqtMFzAckBo+C6zqph4KFJ8Zxq41cNsfj6S2k03pPGYPWDQ0Jqs457JuKLVQEh9jYipaUwA32JPtr9PLxAp4jNgW8zy+bmb0xx6IAPFzlWGQqDQ/uQuFg5pv7GrGmoNKT/X5+FGw57Aed8w14P3vx0VnSh+rSTSjoJBARcAEO0d0eERltXHSP1p9facHYlztI6WxgqtITLaneytoCp0B9eZ3u//yPvFpDzjUGdzA2W4JlMRyvTrrufONm49Pzo0QnYniE7FewQ5J+UWOcTTzLBCBh0bS3SGmeVzBjrlaRQHXYLvQgyfLhUpVKfoRjMoGoZCcYsrZd5oLMjAbHsnypqkgGYVovzEN1frkE9oX/rouV2THgWa/zb8wtY+2KJF0XWKYTEgHvu+7zXGJ39NF7HgVbl3xF+C6opyc+eEwgzt3x+HdqzfbmanQOsNSQcAdiTBZNA6v1trQBtgY7CLmrVLcaABq7alVGRjjnRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018JB2cHns99QkU58Zjttcna",
      "input": {
        "note": "The left arm didn't respond to the last reset. I'm trying a pure 6 cm lift to get it unstuck.",
        "targets": {
          "left_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_018JB2cHns99QkU58Zjttcna",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3473, 1.9839, 0.8165, 0.672, -0.4576, -0.3229, 0.9977, -0.0349, 0.7235, 0.4702, -0.358, -0.0475, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.4778 left_y=-0.0862 left_z=0.0436 left_yaw=0.196 left_pitch=0.122 left_roll=-0.0667 left_gripper=0.9977 right_x=0.2766 right_y=0.0023 right_z=0.1421 right_yaw=0.0134 right_pitch=-0.0394 right_roll=-0.0049 right_gripper=0.9994\nstate[joint_eff]: [-0.6769, -7.747, 4.3009, 0.6325, 0.0611, 0.0464, -0.0366, -0.7043, -1.5932, 6.9128, 2.0147, -0.0855, 0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc5c78333ab8a27950c16b4f08c2b80ba40c924e87219cc474c5efa941f0da81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdd97bca97a2e411768e8232a0cde8a026bfd109c2d698d9ccfe8977a96a6509",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:690f7b1cb77d61fdb0cb32a67530a985ab01c26a87a1cabd0c543fa327dd3b10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 4.872 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]: [-0.3412, 1.9984, 0.7429, 0.8379, -0.4358, -0.3157, 0.9956, -0.0307, 0.7605, 0.5434, -0.3874, -0.0315, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.472 left_y=-0.0847 left_z=0.0448 left_yaw=0.186 left_pitch=0.1844 left_roll=-0.1085 left_gripper=0.9956 right_x=0.2841 right_y=0.0004 right_z=0.1598 right_yaw=0.0041 right_pitch=-0.0329 right_roll=-0.0143 right_gripper=0.9994\nstate[joint_eff]: [-0.9231, -3.5624, 1.1966, 0.1734, -0.0757, 0.022, 0.1197, -0.9368, -0.6222, 9.935, 1.6874, -0.1783, 0.0757, -0.0122]\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]: [-0.3473, 1.9839, 0.8146, 0.6739, -0.4576, -0.3225, 0.9979, -0.0353, 0.7452, 0.5095, -0.3771, -0.0391, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.4774 left_y=-0.086 left_z=0.0433 left_yaw=0.1958 left_pitch=0.122 left_roll=-0.0664 left_gripper=0.9979 right_x=0.2803 right_y=0.0006 right_z=0.1505 right_yaw=0.006 right_pitch=-0.0411 right_roll=-0.0096 right_gripper=0.9994\nstate[joint_eff]: [-0.841, -8.0889, 4.4376, 0.6422, 0.0464, 0.0611, -0.232, -0.8821, -1.5521, 7.1179, 1.9853, -0.1197, 0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3473, 1.9839, 0.8165, 0.672, -0.4576, -0.3229, 0.9977, -0.0349, 0.7235, 0.4702, -0.358, -0.0475, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.4778 left_y=-0.0862 left_z=0.0436 left_yaw=0.196 left_pitch=0.122 left_roll=-0.0667 left_gripper=0.9977 right_x=0.2766 right_y=0.0023 right_z=0.1421 right_yaw=0.0134 right_pitch=-0.0394 right_roll=-0.0049 right_gripper=0.9994\nstate[joint_eff]: [-0.6769, -7.747, 4.3009, 0.6325, 0.0611, 0.0464, -0.0366, -0.7043, -1.5932, 6.9128, 2.0147, -0.0855, 0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc5c78333ab8a27950c16b4f08c2b80ba40c924e87219cc474c5efa941f0da81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdd97bca97a2e411768e8232a0cde8a026bfd109c2d698d9ccfe8977a96a6509",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:690f7b1cb77d61fdb0cb32a67530a985ab01c26a87a1cabd0c543fa327dd3b10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvQgKEAgSGAI4AUIIdGhpbmtpbmcSDLpw3geW4L1Whm+SRRoMzovMQ8mvQhGAibM/IjAkgzbrsIGH5+UPutLfIpoRfeHUrNwdkXMcg6Dp1qFB/+X67OvcF8Yw24ebnAZoA6sq2gdSMhX8lW5Bz3Fr7Z1SAv8PfJqU5KnlxYnSo5RvuoXmdJyuswl/10UxWY18fXPtiW8Cxzy9t/X24FbWFTivKuN3A80xHo/n3hA0uqsPm960JFBDug/pEvbMBc10JR4F3HNv6HQgI83on6Y4GFp8GuJC47WJHEmegcK7I15dfw7TKrj7rDcHAxe3lU4sys2pFTQbxKZ8WQ14OzrmHW8CJxGOqMcj8908Pi1aeBzeqojTDu0YMalomq9jORzIgRd3YrRJLWTKuv7hOZntKRv+8IZAv3hFdQ0GP5Wqku9O4sgyyEXb/FddUWYi83KCagDoqhvvI/GA1RwO9QxxBZc7RxNuiA12VWZHRJRGHSkHLE9mE4715/xmTScXkY2oJDIlkfi4hN2cI1++Z9dd6WhLzIDRNWZKkLmHZbGBqSP7rz6ZWARmpZUtfebXwZSfSk9onVxbwD/+TTeKgbE09WECjGnQ+cUJ3tg5M/wtxJ3KHKG+R7SCuAlwdLNSd3611w2FYWPCIvemoZ/ZQXH6fan2orwFLCrNl6ZMVW0JcIeipjT+LFI3HRy+cW4iBFFJjArKDwadxon8WIv+mVkLctVCDREUgVX7Ecek5EMKRlhGsvyNeg5Mk4Kw/7QTnQO5dJSAI/70Q8bg8M2YEGkA/mfpvqyU8k02wOqHNFkctaShxHU6CxPdQXyf0+GFz2YnipsBPIaCre696BrT8NsNmQwG+oQVHhO//2OXEhzL2W5t2MKsfJ9pfxp8QHNl8l5Ct9ofOpd3FGokje/CUgxZeF/xD61Yh/kcCMg0XeeosFIw67cosnNpg2G8S7tv2bkAwl362XLZ6zs8O3VY4Ff938jdrv2WigrDpp36C49WapZVmtY8zV01pao6ltYcfKCXFO8irRsJa6HPU99Szv2CowDGQyPoPBw8+41ZmYP9Gt17waFmWX8agtwbkNKM17ytlEFf2vwxrAzm+4Cji9Ne/zOWXicUhzH83gjHYGIS1FJv8NNawdRb6WVOlECPrw0iE0cbdLkORqIyHEdkjYZ6OwI0Qg8vcK8LTcXYkhpFO1IoPYqu+QQRG+c/iOKYADTITCG5GNKU7hyuKE98u7pCjXD9XXbEShCj/YkgjLrnOJvwqe5HvLSgsRq80+Py4+7/l+dToAh/U5PhywQu9aPfclaPL6dzxF3SKltyOxOj4AlHHZysoQX9Q0ysyoCls0RrmuuvhqB0SQ4+kbAMOFHFq/68Fu5iz+zp0nTAVTiAgo7j6ggSG/FljNs/eyfHoD/LfKBrFvCu1CNZ/c48W76nJMd3nc9j5G7d3/En9sA7NhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wf3Jad4WPLYDk783HabQVz",
      "input": {
        "note": "The left arm is frozen at z 0.044. I'm trying a very small step up and back in case the approver is rejecting big jumps.",
        "targets": {
          "left_x": 0.47,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Wf3Jad4WPLYDk783HabQVz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3477, 1.9377, 0.8684, 0.5163, -0.4633, -0.3389, 0.9976, -0.0349, 0.7082, 0.4488, -0.3416, -0.054, -0.0586, 0.9994]\nstate[eef_state]: left_x=0.4788 left_y=-0.0858 left_z=0.0528 left_yaw=0.2059 left_pitch=0.074 left_roll=-0.0485 left_gripper=0.9976 right_x=0.2754 right_y=0.0035 right_z=0.1397 right_yaw=0.0191 right_pitch=-0.0289 right_roll=-0.002 right_gripper=0.9994\nstate[joint_eff]: [-0.8684, -11.9453, 6.9812, 1.6777, -0.1587, 0.1636, -0.0171, -0.4991, -1.2103, 6.7624, 2.0684, -0.0952, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f4b1afe2716671d2ca2c91da07d4c29799d7e644450516c152693e72b6a073c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2b8af918bcd688fe58c15cd455e8b1a10937df5edab41d03ddd0a27c6240c50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:76f214c829f82002e312f9f6b534590fa28ee072ad9a9f0578c72bd7371eaae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 8.988 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]: [-0.3473, 1.9839, 0.8146, 0.6739, -0.4576, -0.3225, 0.9979, -0.0353, 0.7452, 0.5095, -0.3771, -0.0391, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.4774 left_y=-0.086 left_z=0.0433 left_yaw=0.1958 left_pitch=0.122 left_roll=-0.0664 left_gripper=0.9979 right_x=0.2803 right_y=0.0006 right_z=0.1505 right_yaw=0.006 right_pitch=-0.0411 right_roll=-0.0096 right_gripper=0.9994\nstate[joint_eff]: [-0.841, -8.0889, 4.4376, 0.6422, 0.0464, 0.0611, -0.232, -0.8821, -1.5521, 7.1179, 1.9853, -0.1197, 0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.3473, 1.9839, 0.8165, 0.672, -0.4576, -0.3229, 0.9977, -0.0349, 0.7235, 0.4702, -0.358, -0.0475, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.4778 left_y=-0.0862 left_z=0.0436 left_yaw=0.196 left_pitch=0.122 left_roll=-0.0667 left_gripper=0.9977 right_x=0.2766 right_y=0.0023 right_z=0.1421 right_yaw=0.0134 right_pitch=-0.0394 right_roll=-0.0049 right_gripper=0.9994\nstate[joint_eff]: [-0.6769, -7.747, 4.3009, 0.6325, 0.0611, 0.0464, -0.0366, -0.7043, -1.5932, 6.9128, 2.0147, -0.0855, 0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3477, 1.9377, 0.8684, 0.5163, -0.4633, -0.3389, 0.9976, -0.0349, 0.7082, 0.4488, -0.3416, -0.054, -0.0586, 0.9994]\nstate[eef_state]: left_x=0.4788 left_y=-0.0858 left_z=0.0528 left_yaw=0.2059 left_pitch=0.074 left_roll=-0.0485 left_gripper=0.9976 right_x=0.2754 right_y=0.0035 right_z=0.1397 right_yaw=0.0191 right_pitch=-0.0289 right_roll=-0.002 right_gripper=0.9994\nstate[joint_eff]: [-0.8684, -11.9453, 6.9812, 1.6777, -0.1587, 0.1636, -0.0171, -0.4991, -1.2103, 6.7624, 2.0684, -0.0952, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f4b1afe2716671d2ca2c91da07d4c29799d7e644450516c152693e72b6a073c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2b8af918bcd688fe58c15cd455e8b1a10937df5edab41d03ddd0a27c6240c50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76f214c829f82002e312f9f6b534590fa28ee072ad9a9f0578c72bd7371eaae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQkKEAgSGAI4AUIIdGhpbmtpbmcSDOhddpXsrfIE3pq1DhoMraaJRVOlT4Tl9X5SIjD4r093OCPsjN2sWuwX399TdRUs0P2A6uruX3Z6ZS5UpkJQUZnF1/8EGChe3cNBU3Uq4ginmIBQXcGHSh46/5vQ6oeF1bcqRPDjC48WNKUz1oqoQHM5JYVcsoFURAKnmMdfxAO+GfqsOMkSyRZ/a94AkI/a+ZmbAOV9DxKwRvNJupduY2z47Fns9kKrCqTy4DWXgT6mAN1cYT/UZAttnim2vuFWPiio4cGsdfBwVzFtyi5q66UhMAMw5joM8g/iDaolrOnE3aVOH2Y0cQoFmbxHth29OxrkZzt4I7zVP/AEt0WpWnlprGJwmGKAgqm7PlFwClcoVolejMxs1mAOutp+2qDQaJ6z1wx1SvHkTcVsWync/cQFRpOv/LKY2K8og5tCocRAkPwtxLgWyUpZoyOiv3EsK54+u3MMcb/d+ckL26iOdoCM808p9Rja/+tfEdPqYWTbRPb60IxodIJH+ppQtHywMaGBbbWF5a69p7r/6gM/zjX91aio4KQMzQ4kfWy1hpweEBI/i2F0b+f67Gi9aKnNgh48ej7oVTI/Gq11qZWa0b3TMERwH9BE6ZPnnV6lvPdfmEuYWcn48i0KDeskXv9IJ9hchW6bt8yx1i9F7/j2MDh5x4CueTeaBUQKi+p9qLs2FXisIqVflt6zuxPilYhsAgoY/Eyt2uPpSv92pD/WJa3JXAq5hbj7g2KXPvETVj8pHyS/1gfW2Y6GJCc4N2oZD6/ODCYoodhe1Pi/cCEiqxFHFjh/4FHyJLQHyuh1HuY1ccQ8a92kv2fFHh/Arsfhd84RY9LFWyF+/GI+bEm3saOM+4MnGrLkA4EEST9KGLgbdel69182ILwcC0QJordtbqBktvKQLZgCoJ13lTAZTYAnibz4yM4Cnz0qSpYNCwdwUmcdrwd2akUoQufTmPyCj6uMUh9rj1Cwe+BpzZwbRgSoWkljxlrJeFB/95UPD3MJrHXuctNzh2MZCJwtqUwyOwr+c0JaQeDm+d4iXTW5OWssxGtHFSK4Pd97z7KDv61F77CrBZVe+eU69EpeKN2m9dw7kwFl6KwtnqSZJmgX7djDywZvt3OQrgGdR2Nb4h+NUDi3Wj3nljICmAv53PGQKtNsgs7TtJzuZEMiuEuwTQp6k6axrM1NgKDFxaxQZdSfJKU3sXd7SQaUMWuj/Jf2s6kVQxOAqm13EGdTq6Hwwxj7WZecadBPPiE6Lk8dyP8lyWvukUo+HBsjskPnY04W+uXjz+d+v9kXOfLieUWo35KAUoZd0Ts0ysIfAQHoRtrAbJZZ1310YWLa8GrNwYLVWM4gDmQB3Ht/qOZWby0k/tfrkxPUdXLFUxBkFjeHAGqBuug2QidP5xDQ763/xpu3zKhSZ2y5MMwFLSZ0x9h0sKn3XyucPrS/PB0HE4/0zA4uKp0wuR8rxd3D3Vsl1Q0ykKYb1d9Apk6GU2bA7mQ3BncGV2EqvJ+sLkuSuGTJKvgMdxW0oTamQsgnIxveJDNuCZl5dSyJbVEHtrzIOY+AYBbeSfg1BMx2L2CvxahiJuxVru19kxYbxui3nWwPKD69PiIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LTn6RzvVsF9bp9umhoBib7",
      "input": {
        "note": "Small steps are working. I'm continuing to lift the left arm clear of the bottle.",
        "targets": {
          "left_x": 0.45,
          "left_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_01LTn6RzvVsF9bp9umhoBib7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3538, 1.8885, 0.9028, 0.3069, -0.4648, -0.342, 0.9976, -0.0349, 0.696, 0.4252, -0.3351, -0.0551, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.4652 left_y=-0.0836 left_z=0.0487 left_yaw=0.2013 left_pitch=-0.0326 left_roll=0.0159 left_gripper=0.9976 right_x=0.2725 right_y=0.0038 right_z=0.1333 right_yaw=0.0198 right_pitch=-0.0338 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -10.6872, 7.5829, 1.5311, -0.2564, -0.0904, -0.0122, -0.5949, -1.4838, 6.7077, 1.956, -0.0952, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e21f748ffe5bdf30e32428bae69a49278e9038328dd6b9ea3ad211a4a7a8424",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa51dacee388884b5144073609d8878cc53a205d158a89fa1fac85ce66643e22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:750a4d3405e278b72b61d27bdee082327908874a700a1248258fc7c940922683",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 4.935 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]: [-0.3473, 1.9839, 0.8165, 0.672, -0.4576, -0.3229, 0.9977, -0.0349, 0.7235, 0.4702, -0.358, -0.0475, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.4778 left_y=-0.0862 left_z=0.0436 left_yaw=0.196 left_pitch=0.122 left_roll=-0.0667 left_gripper=0.9977 right_x=0.2766 right_y=0.0023 right_z=0.1421 right_yaw=0.0134 right_pitch=-0.0394 right_roll=-0.0049 right_gripper=0.9994\nstate[joint_eff]: [-0.6769, -7.747, 4.3009, 0.6325, 0.0611, 0.0464, -0.0366, -0.7043, -1.5932, 6.9128, 2.0147, -0.0855, 0.0415, -0.0122]\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]: [-0.3477, 1.9377, 0.8684, 0.5163, -0.4633, -0.3389, 0.9976, -0.0349, 0.7082, 0.4488, -0.3416, -0.054, -0.0586, 0.9994]\nstate[eef_state]: left_x=0.4788 left_y=-0.0858 left_z=0.0528 left_yaw=0.2059 left_pitch=0.074 left_roll=-0.0485 left_gripper=0.9976 right_x=0.2754 right_y=0.0035 right_z=0.1397 right_yaw=0.0191 right_pitch=-0.0289 right_roll=-0.002 right_gripper=0.9994\nstate[joint_eff]: [-0.8684, -11.9453, 6.9812, 1.6777, -0.1587, 0.1636, -0.0171, -0.4991, -1.2103, 6.7624, 2.0684, -0.0952, -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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3538, 1.8885, 0.9028, 0.3069, -0.4648, -0.342, 0.9976, -0.0349, 0.696, 0.4252, -0.3351, -0.0551, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.4652 left_y=-0.0836 left_z=0.0487 left_yaw=0.2013 left_pitch=-0.0326 left_roll=0.0159 left_gripper=0.9976 right_x=0.2725 right_y=0.0038 right_z=0.1333 right_yaw=0.0198 right_pitch=-0.0338 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -10.6872, 7.5829, 1.5311, -0.2564, -0.0904, -0.0122, -0.5949, -1.4838, 6.7077, 1.956, -0.0952, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e21f748ffe5bdf30e32428bae69a49278e9038328dd6b9ea3ad211a4a7a8424",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa51dacee388884b5144073609d8878cc53a205d158a89fa1fac85ce66643e22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:750a4d3405e278b72b61d27bdee082327908874a700a1248258fc7c940922683",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzw8KEAgSGAI4AUIIdGhpbmtpbmcSDGujbr3mVznZ57YjPxoML5gpw+aV2ROJeMpkIjB3ulH7d2Tio+YWxcP/1E8tNDBdpnwu9Il7bB4cgigc+2IY1uKdj8I0t9eitJVarw0q7A4kF7gpyFDErYnRna6gt+iIBJNWVS8Al9887zEDLJEv3zzvR0rZ9bRC406gVZQk6RLPXeCA5lf/85hj/Qm6p9M16ImwNGZv26C43TZK5+Zs+Z1pe5kSMBRzIIOUlVnMlYhsZElbreREy8zMCjPx0oDSRiuFnvAM1bwDbgsq60QeooTirbTGUZtCFHuCNT6QuX8d5AsgEtZgjsQVKPmOOwn994xQIQgFTbTPtADS71/qRiThZwOlm3nJy8Rirq96cnFG1rAu++p9ErLKoZaQLcnzle86gz0DDZV94nFuSxFpKbwImsxBk73wP4M27HtUN7ZZcK/XkT3cyBbkVGyNwlEZCYH0L5DOppnqM4OiUyAr9hr32TdTDLd4bwek1MXpkXgjP7H3Qz0phleB8iMFgqdt/f7FWwE0F+VMmrmTpq/XRBV0UsbfLOb+moU2lUhtl5Qkchne1AZFJfZYJ+abO2jsI8ecUOd+yn/CKU748P7M4qoGpMpZJc+ngaz7RMu11jKk+wm8mH98MuWkpcaEqOOegL7i0AZBv3aoXExoudbT6kClgCpRjHupNb+E8NVQ3//YMUPqNNPZPQL9aO8uysoCuIaTA+wv0Yinx29SddRdc8VU1jCUmh7/4iEi/od2KCzjnehzknPQCaUklhCoOuskOKw3Xr0QPyuV+9QS8WdOZO73HgEO1V7PQEgf7dO+1Ef3F9vacrF/7hHKoDGaDuP6juGpA5+oCb4J/zpwT3WWfmudZxCvdbnd6k9LsQBYSB4JAlqucw82Nj2wWz33oHH9pdGBlrwRQIOEo0igb8awNiRSNpzviWP//Z/vAwPKOyIDkqexz8Yaq2VzV2mCd3mzDW2VyHIAQBlFvjMY1t36vgHTinoMCVpyBQ9j4WIhDSuraZMU3ExzA/6w7PIzmHwqMJh33D3SKERmUPHCdMMgmdUoRHiSwJL0e5tR2FoNjE1EiVv6PLr1SfphWs1hSE3SFwLmU9zOhUlV+Ne8pVp5zijYoMeuXkqmzkyJ/CyRfdA0hODuRnBvE0pCbpWWFtp+7SGLyC6xMpdf8oQNfqpPbdIwNBS82AwJnUDASKn0Tq8xALHNuZiNC50wMZcgfwrdtr7f5iHUr6c+vtHCK3Fj9UUBxQg75dZwhY/Em6lL1F8rDBdpm0g+4hzyfR3pwRcbMADI5PtTx/RcEpHv9XTZhfkwwh2Ul+fIy5eUC30+GiVsd0coDVpBY98HwZycJzsnQyoTMZPxaAuXblT99R06AMchE8ZHlsJUM3PGvH6zJzuQITojZdTDOlx3pYj2wDuPelcQtQD738hQGwF3aIfC9irJLy2MsMmigKeQuQn8mZgFeuRcHww8SqBVkFKz8gcxgQL6hhD/E1Tthi1iD3vVnZrH3JGYtjPXYA3BzXdLmeprx/ZsFb9roWfybjlg9ZHl24pZPmsCI2f2sCiLuiRH6yZqJoaaKgbFTTzzJQvcO14ShYpZPF+oEVyvZM5pDxrsJLR7HrffaiEoGhUmlU17oCzw/7kvsm9Q6Olxf9bt2vpBwN/1WzfKWh8Orb+4ScnzOKy3qw34MkCBLHR4s9nkMUNQ1u37BljJhNI7V4KoVZriTwlr4/PE1glKQQBYfke0A9t1FjSmmimE0cAxHG7e3bJEdVSk77Mfy2YtS5z31U2F8QCO1OECkprwUVkVO68Nu/ofQQTBbbQ/MZ9rKNKERCUh5co0peGIspTyeHUUO4Cmugp2HC1DYlcRJBzAI122Y9naD8+xtEJKAFJRuXbsGAZ9rD1w3PSSORVxpkQxY8nPOXL8rPW2F0vMXv9dLODgYEFG44LK+ZQIF2XBXoBT7BQu73DjCdDsftf3al1AmzS7/T/QCE53JUIKkI/g5BV34q2ViB8NS8zpPlqeTc0RDsloG4oEpWd8N/S9Fy1xKMWU6nsUBYFrvwI01sQx7LXs/YWJl1xCw4magLXqBWAYlVNR6rLAk4e7LumXWU7PjlFkbKq1UgTuAezlWpQT9vbfvgp0hymQ+0sSWOG9mvO55DP5Olf8nt4h0s2Nzotrbh+quduPlKdN55dqlAQhfpmqAeL5hgLXBdmiUwkhy4sAGv04W2p2nt/PvSXA0zoYa3LQ1pgq978B0uccwLpdoTq32BfoDSwrv5NHxAMAm0c8xIvQ1lf4bQVz0OYDqMRIY/5musDNr4vXevi+mYv/cicpQe9qeQWja3BGpfZGoltsF+ln0ZEc2Z4j8405Sqskl4zzzmNfWoaLVlu0ST601O3kgvhwL8Tor1DACpSwByEfpXV6ha7hpLRtNKtpgdsbp+yFgSAiQNr79RjnpgBjlmqYBl3yoCAgyz7Z2WPRA62K+sfT/snKvSpPHMcrIMedHsYsa3BOVVcpZIGWGrgaRp2W0n4EihYvAa+X5p5avkMoghyNGf6H1se7U7G5rnU4Df6kVezHdo02qUu0iKOGo5Ni0daom8xTQxDJTWdCx0QrDT+qjzi+K7z5kaH1eQy52y8WWIqnkSBtsksxcQHycchuRm5adpcXy5kxKtIMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LVJcXswwRmQ34gUdBEWrF9",
      "input": {
        "note": "The left arm isn't rising, but it does respond in x. I'm pulling back toward the base while asking for a bit more height.",
        "targets": {
          "left_x": 0.4,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01LVJcXswwRmQ34gUdBEWrF9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3538, 1.8885, 0.9028, 0.305, -0.4648, -0.3416, 0.9976, -0.0341, 0.6781, 0.3935, -0.3206, -0.057, -0.0586, 0.9994]\nstate[eef_state]: left_x=0.4649 left_y=-0.0835 left_z=0.0483 left_yaw=0.2012 left_pitch=-0.0343 left_roll=0.0172 left_gripper=0.9976 right_x=0.2695 right_y=0.0045 right_z=0.1264 right_yaw=0.0224 right_pitch=-0.033 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -10.6598, 7.2684, 1.5311, -0.3101, -0.0708, -0.0122, -0.4308, -1.306, 6.9675, 1.956, -0.1001, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4147c31a300f43db8c5f423fd16e761bae13f23c2e30f23e935e1ad4e59efab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7010cd971acec749d2376db3e18417acde8d14597a024d6967a600fc45ba0395",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bada966d28838ecb43456216d6a836f389bb5249475e96b24c1e3260a5e51fb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 9.124 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]: [-0.3477, 1.9377, 0.8684, 0.5163, -0.4633, -0.3389, 0.9976, -0.0349, 0.7082, 0.4488, -0.3416, -0.054, -0.0586, 0.9994]\nstate[eef_state]: left_x=0.4788 left_y=-0.0858 left_z=0.0528 left_yaw=0.2059 left_pitch=0.074 left_roll=-0.0485 left_gripper=0.9976 right_x=0.2754 right_y=0.0035 right_z=0.1397 right_yaw=0.0191 right_pitch=-0.0289 right_roll=-0.002 right_gripper=0.9994\nstate[joint_eff]: [-0.8684, -11.9453, 6.9812, 1.6777, -0.1587, 0.1636, -0.0171, -0.4991, -1.2103, 6.7624, 2.0684, -0.0952, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3538, 1.8885, 0.9028, 0.3069, -0.4648, -0.342, 0.9976, -0.0349, 0.696, 0.4252, -0.3351, -0.0551, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.4652 left_y=-0.0836 left_z=0.0487 left_yaw=0.2013 left_pitch=-0.0326 left_roll=0.0159 left_gripper=0.9976 right_x=0.2725 right_y=0.0038 right_z=0.1333 right_yaw=0.0198 right_pitch=-0.0338 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -10.6872, 7.5829, 1.5311, -0.2564, -0.0904, -0.0122, -0.5949, -1.4838, 6.7077, 1.956, -0.0952, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3538, 1.8885, 0.9028, 0.305, -0.4648, -0.3416, 0.9976, -0.0341, 0.6781, 0.3935, -0.3206, -0.057, -0.0586, 0.9994]\nstate[eef_state]: left_x=0.4649 left_y=-0.0835 left_z=0.0483 left_yaw=0.2012 left_pitch=-0.0343 left_roll=0.0172 left_gripper=0.9976 right_x=0.2695 right_y=0.0045 right_z=0.1264 right_yaw=0.0224 right_pitch=-0.033 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -10.6598, 7.2684, 1.5311, -0.3101, -0.0708, -0.0122, -0.4308, -1.306, 6.9675, 1.956, -0.1001, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4147c31a300f43db8c5f423fd16e761bae13f23c2e30f23e935e1ad4e59efab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7010cd971acec749d2376db3e18417acde8d14597a024d6967a600fc45ba0395",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bada966d28838ecb43456216d6a836f389bb5249475e96b24c1e3260a5e51fb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzgkKEAgSGAI4AUIIdGhpbmtpbmcSDEts08B9Ofg4naajBxoMAIDG1m74Y3kpq8QTIjDyId1PUAiwEBV2Gh84r0coK25Qxy/u4Uxrb2l9NY6JJgplopkMeAM7fokml0dqCDwq6wj0g0g9OGxPiyq6yoDvVc6lVKg0w+Y4x7CEP+rI9LSjnTU0EYjBNpR7aTbwLm9g73Erg84p7C59mAcFfBBI6JEMiHlhJUMD1eb6MQZJKLVgshvfVUWKIJLcXOueMRjyz4XsnVPDnFCab6lanT+JmTDGsxbXuO4MqQPlmUYNqxzqKKynQir844MwPO5i5of5KBtxGDa5rR9lw+gWnAecsXRjmnAaqjg5R9gUBAcW5RD+WlDH2VEtKIEnPECsmGF+axBQNGPzMVE7olelOdKxVe5BjOWIzv0EsIi6m6SfgiWVnIjAyEELPnRSJv2UJtjVZScFsryi2zSGFbFucHEYqnOrEgj3abE/CQtpI4vVbskpDTDP3Zl8YIVqA6Dm/l5e/aapkxBuPMT3GxhZylGUl6LPD4khWmyaztCZ2toHhwZanlSoaPo2H1MG7i1qlOSCdXxU9TRrzTFMhBiElO6LeACrbm9Q0VWplujGGrGRIysSZ+zjt8yoPpqaQnCSvk8RIuNh45UxDzx02UuVFmqImC54ZIvKocmfBrkdB8Zr0stptm+zG8Lvdqdg7WKTVoIQBgTnZctZbdkVcFQcmI3cx3aiJ1bPKUX+P6xgHA0nVUDejhZiQCqKHcauq5mUcAi7Eg0hzdPmYOW+upt9UmmzfYOH+cqEbgRragHObi5EzOmrBx0A0nSGx7fqXdt57ONwXohNT8FUm7Fcf5vdCTS2dVkyg+zB6IXNtC/6N+0sUGNKjYxLw+flmxHX8OCis6nPPjffy4TwjpMCf4y4fGgu15Za0iM4Wo3iqPx9JobTVbcBJEGmqlzxrYjqzW0kwaDggvTi/63CzegqQU9IMo/6zhv89Cz+kafSz0sY64ry1YS5RAyPorJUTgmWR7qiR++u+3iGWUcThebvmIvD2SA5bBRfs2q6Q1aW5JOyH5h+FdieKZo0IafIQMyA6Wa5g5yZUvLPC6A7W52kvsBSkYyW9/Awq/lFzs3GXY/p0hpPWIxnPnCzJ9wrLv7FcIz4GHkBjlICSk+LG8nK7QU3nUBM7z1k+EHmlyDiLmzMOQFfTm+qPqMzy4s5wL8xdJLlCa4CkP4zMr5F2/p0pCiYyzPwPHeh6dTDiGKsZ84jl/fmVa6At3mqo9Em0vRcUg784JdNMVyd2xbFRbkODR0z2rvpKa2izMGi+t1f+Gn9PSFSGvd2J3XubOs8xwlUOFweeR6SlH0MytUdJ8/aoG8VwCueqBjSOqScMyiZsxjaZRVW9pZSMsLiUYTEs77uem4hJXKMGg0eZucTPKEDBdpDLvYeb8wOXju+2g5soHVxoGxhh+7pQCsATs+OaRakdhmyIZAIeSTGpD7T60L6eicFi9RLkkZsTm3pBigJJklatF3fID5epdFvdRNdaRI7sRu9Mg6VkUzqcfTgkImqIq7UkDMMGqpAqwrTGIHIEvvGQfheSve44MIit4LDalLnwEiR2UiwjU/OausypPSuQaF5gk3Mi+dY0dPBjdBFzYlCcqYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018ySqeq3uMTVWRAPMeiuiKj",
      "input": {
        "note": "The left arm ignored the last command. I'm testing with a tiny 1 cm lift.",
        "targets": {
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_018ySqeq3uMTVWRAPMeiuiKj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3538, 1.8885, 0.9028, 0.305, -0.4652, -0.342, 0.9976, -0.0341, 0.6781, 0.3935, -0.3206, -0.057, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.4649 left_y=-0.0834 left_z=0.0484 left_yaw=0.2017 left_pitch=-0.0341 left_roll=0.0171 left_gripper=0.9976 right_x=0.2695 right_y=0.0045 right_z=0.1264 right_yaw=0.0222 right_pitch=-0.033 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -10.6872, 7.3778, 1.5165, -0.2857, -0.0952, -0.0122, -0.253, -1.1009, 7.0085, 1.9414, -0.0855, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7266633f66ba0ec9222255b1d987da77c98cc84a8e90e833d466c4c21060e069",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c535e1627c677e94a568cf2c3359dd0d57774245d66a9905e6a5cfb15cfa1f29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:816b9f3bc0d713094204d64164adef32240e23e91db3c7a69fe980f7fa2d2473",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /messages · status 200 · 8.903 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]: [-0.3538, 1.8885, 0.9028, 0.3069, -0.4648, -0.342, 0.9976, -0.0349, 0.696, 0.4252, -0.3351, -0.0551, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.4652 left_y=-0.0836 left_z=0.0487 left_yaw=0.2013 left_pitch=-0.0326 left_roll=0.0159 left_gripper=0.9976 right_x=0.2725 right_y=0.0038 right_z=0.1333 right_yaw=0.0198 right_pitch=-0.0338 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -10.6872, 7.5829, 1.5311, -0.2564, -0.0904, -0.0122, -0.5949, -1.4838, 6.7077, 1.956, -0.0952, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3538, 1.8885, 0.9028, 0.305, -0.4648, -0.3416, 0.9976, -0.0341, 0.6781, 0.3935, -0.3206, -0.057, -0.0586, 0.9994]\nstate[eef_state]: left_x=0.4649 left_y=-0.0835 left_z=0.0483 left_yaw=0.2012 left_pitch=-0.0343 left_roll=0.0172 left_gripper=0.9976 right_x=0.2695 right_y=0.0045 right_z=0.1264 right_yaw=0.0224 right_pitch=-0.033 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -10.6598, 7.2684, 1.5311, -0.3101, -0.0708, -0.0122, -0.4308, -1.306, 6.9675, 1.956, -0.1001, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3538, 1.8885, 0.9028, 0.305, -0.4652, -0.342, 0.9976, -0.0341, 0.6781, 0.3935, -0.3206, -0.057, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.4649 left_y=-0.0834 left_z=0.0484 left_yaw=0.2017 left_pitch=-0.0341 left_roll=0.0171 left_gripper=0.9976 right_x=0.2695 right_y=0.0045 right_z=0.1264 right_yaw=0.0222 right_pitch=-0.033 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -10.6872, 7.3778, 1.5165, -0.2857, -0.0952, -0.0122, -0.253, -1.1009, 7.0085, 1.9414, -0.0855, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7266633f66ba0ec9222255b1d987da77c98cc84a8e90e833d466c4c21060e069",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c535e1627c677e94a568cf2c3359dd0d57774245d66a9905e6a5cfb15cfa1f29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:816b9f3bc0d713094204d64164adef32240e23e91db3c7a69fe980f7fa2d2473",
        "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_01XbHE4kKmdaRQK4EaPQ2G7H",
      "input": {
        "note": "The left arm is frozen, maybe because the held yaw target (0) no longer matches the actual yaw (0.2). I'm commanding yaw to match its current value, with a small lift.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.085,
          "left_yaw": 0.2,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01XbHE4kKmdaRQK4EaPQ2G7H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3561, 1.8725, 0.8909, 0.3012, -0.4652, -0.3416, 0.9976, -0.0341, 0.659, 0.3614, -0.3065, -0.057, -0.0586, 0.9994]\nstate[eef_state]: left_x=0.4617 left_y=-0.0834 left_z=0.0505 left_yaw=0.1992 left_pitch=-0.0338 left_roll=0.0172 left_gripper=0.9976 right_x=0.2664 right_y=0.0046 right_z=0.1194 right_yaw=0.0224 right_pitch=-0.0319 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.7726, -12.0957, 5.4359, 1.6386, -0.2955, -0.0952, -0.0122, -0.4581, -0.6359, 7.241, 1.9853, -0.0757, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8fa975e350c0957f020a88829dd523d978fe66c1eb83d4c0ebe7e40badc4d20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c555dda2cf5caec5913b75a75a9bbb109988e143c8879a916c1e4e469be0ddcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3c0f8fbcb1b8bcfbba12bf83b8ad75049f080286034cdd2e888921fc8e4e468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 7.008 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]: [-0.3538, 1.8885, 0.9028, 0.305, -0.4648, -0.3416, 0.9976, -0.0341, 0.6781, 0.3935, -0.3206, -0.057, -0.0586, 0.9994]\nstate[eef_state]: left_x=0.4649 left_y=-0.0835 left_z=0.0483 left_yaw=0.2012 left_pitch=-0.0343 left_roll=0.0172 left_gripper=0.9976 right_x=0.2695 right_y=0.0045 right_z=0.1264 right_yaw=0.0224 right_pitch=-0.033 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -10.6598, 7.2684, 1.5311, -0.3101, -0.0708, -0.0122, -0.4308, -1.306, 6.9675, 1.956, -0.1001, -0.0513, -0.0122]\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]: [-0.3538, 1.8885, 0.9028, 0.305, -0.4652, -0.342, 0.9976, -0.0341, 0.6781, 0.3935, -0.3206, -0.057, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.4649 left_y=-0.0834 left_z=0.0484 left_yaw=0.2017 left_pitch=-0.0341 left_roll=0.0171 left_gripper=0.9976 right_x=0.2695 right_y=0.0045 right_z=0.1264 right_yaw=0.0222 right_pitch=-0.033 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -10.6872, 7.3778, 1.5165, -0.2857, -0.0952, -0.0122, -0.253, -1.1009, 7.0085, 1.9414, -0.0855, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3561, 1.8725, 0.8909, 0.3012, -0.4652, -0.3416, 0.9976, -0.0341, 0.659, 0.3614, -0.3065, -0.057, -0.0586, 0.9994]\nstate[eef_state]: left_x=0.4617 left_y=-0.0834 left_z=0.0505 left_yaw=0.1992 left_pitch=-0.0338 left_roll=0.0172 left_gripper=0.9976 right_x=0.2664 right_y=0.0046 right_z=0.1194 right_yaw=0.0224 right_pitch=-0.0319 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.7726, -12.0957, 5.4359, 1.6386, -0.2955, -0.0952, -0.0122, -0.4581, -0.6359, 7.241, 1.9853, -0.0757, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8fa975e350c0957f020a88829dd523d978fe66c1eb83d4c0ebe7e40badc4d20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c555dda2cf5caec5913b75a75a9bbb109988e143c8879a916c1e4e469be0ddcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3c0f8fbcb1b8bcfbba12bf83b8ad75049f080286034cdd2e888921fc8e4e468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KonwEF1uEy9cutyWq5yQgr",
      "input": {
        "note": "The left bottle now looks upright in front of the left jaws. Both arms are tracking poorly, so I'm testing whether the right arm can go back up to its home height.",
        "targets": {
          "right_x": 0.29,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KonwEF1uEy9cutyWq5yQgr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3595, 1.8717, 0.8627, 0.3534, -0.4648, -0.3443, 0.9976, -0.0555, 0.7616, 0.5381, -0.395, -0.0731, -0.0738, 0.9994]\nstate[eef_state]: left_x=0.4601 left_y=-0.0845 left_z=0.0499 left_yaw=0.1965 left_pitch=-0.0128 left_roll=0.0017 left_gripper=0.9976 right_x=0.2824 right_y=0.0008 right_z=0.1557 right_yaw=0.0228 right_pitch=-0.0456 right_roll=-0.0025 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -7.9795, 5.1487, 1.8242, -0.2564, 0.0024, -0.0122, -0.5675, -0.841, 9.4974, 1.7265, -0.1343, 0.1245, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fabd43ffca826cbf4d83888395a0dbcd4bfc74b8865ea4659131e93bc7dbce6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34f4dca1383fad58bf508f338dbeb7f8f51d1591db96b395a1eaf966a5f426a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7eba0a0390077c584d6143ea4ce5c729f15a7a326b16d467b8e32a33a3c6d11",
        "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 · 23.32 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]: [-0.3538, 1.8885, 0.9028, 0.305, -0.4652, -0.342, 0.9976, -0.0341, 0.6781, 0.3935, -0.3206, -0.057, -0.0582, 0.9994]\nstate[eef_state]: left_x=0.4649 left_y=-0.0834 left_z=0.0484 left_yaw=0.2017 left_pitch=-0.0341 left_roll=0.0171 left_gripper=0.9976 right_x=0.2695 right_y=0.0045 right_z=0.1264 right_yaw=0.0222 right_pitch=-0.033 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -10.6872, 7.3778, 1.5165, -0.2857, -0.0952, -0.0122, -0.253, -1.1009, 7.0085, 1.9414, -0.0855, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3561, 1.8725, 0.8909, 0.3012, -0.4652, -0.3416, 0.9976, -0.0341, 0.659, 0.3614, -0.3065, -0.057, -0.0586, 0.9994]\nstate[eef_state]: left_x=0.4617 left_y=-0.0834 left_z=0.0505 left_yaw=0.1992 left_pitch=-0.0338 left_roll=0.0172 left_gripper=0.9976 right_x=0.2664 right_y=0.0046 right_z=0.1194 right_yaw=0.0224 right_pitch=-0.0319 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.7726, -12.0957, 5.4359, 1.6386, -0.2955, -0.0952, -0.0122, -0.4581, -0.6359, 7.241, 1.9853, -0.0757, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3595, 1.8717, 0.8627, 0.3534, -0.4648, -0.3443, 0.9976, -0.0555, 0.7616, 0.5381, -0.395, -0.0731, -0.0738, 0.9994]\nstate[eef_state]: left_x=0.4601 left_y=-0.0845 left_z=0.0499 left_yaw=0.1965 left_pitch=-0.0128 left_roll=0.0017 left_gripper=0.9976 right_x=0.2824 right_y=0.0008 right_z=0.1557 right_yaw=0.0228 right_pitch=-0.0456 right_roll=-0.0025 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -7.9795, 5.1487, 1.8242, -0.2564, 0.0024, -0.0122, -0.5675, -0.841, 9.4974, 1.7265, -0.1343, 0.1245, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fabd43ffca826cbf4d83888395a0dbcd4bfc74b8865ea4659131e93bc7dbce6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34f4dca1383fad58bf508f338dbeb7f8f51d1591db96b395a1eaf966a5f426a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7eba0a0390077c584d6143ea4ce5c729f15a7a326b16d467b8e32a33a3c6d11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DrfNtuePjezBBvyxheZUpN",
      "input": {
        "note": "The right arm responds fine, but the left one is stuck at x 0.46, z 0.05. I'm trying a pure pull-back at the same height to get its IK out of this pose.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.1,
          "left_yaw": 0.2,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01DrfNtuePjezBBvyxheZUpN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4786, 1.7523, 0.68, 0.387, -0.5404, -0.4065, 0.9976, -0.0593, 0.733, 0.4889, -0.3744, -0.083, -0.0811, 0.9994]\nstate[eef_state]: left_x=0.4067 left_y=-0.1046 left_z=0.0451 left_yaw=0.1706 left_pitch=-0.0103 left_roll=0.0051 left_gripper=0.9976 right_x=0.2773 right_y=0.0018 right_z=0.1451 right_yaw=0.0313 right_pitch=-0.045 right_roll=-0.0027 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -9.0598, 5.2171, 1.5311, -0.3492, -0.188, -0.0122, -0.2803, -0.9641, 7.5419, 2.1172, -0.0269, 0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c877a2774a44c3a4389820a8142cc9b88b89d4e82e92c72dfe51b8b854e0d77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:482146b071f4e71e421962ac2196bbd41bead1b7f8177b84fe25b2fb416c55de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f16a0646851975960f7e18ea59501b81a78bf8864c9c8cee24ff63c6cd25aa5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 8.675 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]: [-0.3561, 1.8725, 0.8909, 0.3012, -0.4652, -0.3416, 0.9976, -0.0341, 0.659, 0.3614, -0.3065, -0.057, -0.0586, 0.9994]\nstate[eef_state]: left_x=0.4617 left_y=-0.0834 left_z=0.0505 left_yaw=0.1992 left_pitch=-0.0338 left_roll=0.0172 left_gripper=0.9976 right_x=0.2664 right_y=0.0046 right_z=0.1194 right_yaw=0.0224 right_pitch=-0.0319 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.7726, -12.0957, 5.4359, 1.6386, -0.2955, -0.0952, -0.0122, -0.4581, -0.6359, 7.241, 1.9853, -0.0757, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3595, 1.8717, 0.8627, 0.3534, -0.4648, -0.3443, 0.9976, -0.0555, 0.7616, 0.5381, -0.395, -0.0731, -0.0738, 0.9994]\nstate[eef_state]: left_x=0.4601 left_y=-0.0845 left_z=0.0499 left_yaw=0.1965 left_pitch=-0.0128 left_roll=0.0017 left_gripper=0.9976 right_x=0.2824 right_y=0.0008 right_z=0.1557 right_yaw=0.0228 right_pitch=-0.0456 right_roll=-0.0025 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -7.9795, 5.1487, 1.8242, -0.2564, 0.0024, -0.0122, -0.5675, -0.841, 9.4974, 1.7265, -0.1343, 0.1245, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4786, 1.7523, 0.68, 0.387, -0.5404, -0.4065, 0.9976, -0.0593, 0.733, 0.4889, -0.3744, -0.083, -0.0811, 0.9994]\nstate[eef_state]: left_x=0.4067 left_y=-0.1046 left_z=0.0451 left_yaw=0.1706 left_pitch=-0.0103 left_roll=0.0051 left_gripper=0.9976 right_x=0.2773 right_y=0.0018 right_z=0.1451 right_yaw=0.0313 right_pitch=-0.045 right_roll=-0.0027 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -9.0598, 5.2171, 1.5311, -0.3492, -0.188, -0.0122, -0.2803, -0.9641, 7.5419, 2.1172, -0.0269, 0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c877a2774a44c3a4389820a8142cc9b88b89d4e82e92c72dfe51b8b854e0d77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:482146b071f4e71e421962ac2196bbd41bead1b7f8177b84fe25b2fb416c55de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f16a0646851975960f7e18ea59501b81a78bf8864c9c8cee24ff63c6cd25aa5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VrjZMXqEzgnFgqfhDxE56X",
      "input": {
        "note": "The left bottle lies straight between the open jaws with its cap pointing forward. I'm moving onto its upper body and pressing down as far as the arm will go before closing.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.1,
          "left_yaw": 0.17,
          "left_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01VrjZMXqEzgnFgqfhDxE56X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4301, 1.9942, 0.7605, 0.7647, -0.5346, -0.4007, 0.9976, -0.0605, 0.7048, 0.4458, -0.3511, -0.0837, -0.0811, 0.9994]\nstate[eef_state]: left_x=0.4611 left_y=-0.1086 left_z=0.0411 left_yaw=0.2212 left_pitch=0.1604 left_roll=-0.1235 left_gripper=0.9976 right_x=0.2735 right_y=0.0018 right_z=0.1374 right_yaw=0.0307 right_pitch=-0.0366 right_roll=-0.003 right_gripper=0.9994\nstate[joint_eff]: [0.8957, -3.5624, 2.3316, 0.0073, 0.2711, 0.1832, -0.0122, -0.5265, -1.0872, 6.9675, 1.9951, -0.1294, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa0b26abdc3cb0f51aa37d3722211914c75e8c5459623cd24ba6e8f82d30b78c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:607164c3a514bbc0bc116d058eb30c5cfed0fe116f416058f0bd351f4840f34e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35178aa6302ffdf2257a6fac0b468c4e50ed687ae82bf8c91f989a52ff556ee1",
        "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 · 14.74 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]: [-0.3595, 1.8717, 0.8627, 0.3534, -0.4648, -0.3443, 0.9976, -0.0555, 0.7616, 0.5381, -0.395, -0.0731, -0.0738, 0.9994]\nstate[eef_state]: left_x=0.4601 left_y=-0.0845 left_z=0.0499 left_yaw=0.1965 left_pitch=-0.0128 left_roll=0.0017 left_gripper=0.9976 right_x=0.2824 right_y=0.0008 right_z=0.1557 right_yaw=0.0228 right_pitch=-0.0456 right_roll=-0.0025 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -7.9795, 5.1487, 1.8242, -0.2564, 0.0024, -0.0122, -0.5675, -0.841, 9.4974, 1.7265, -0.1343, 0.1245, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4786, 1.7523, 0.68, 0.387, -0.5404, -0.4065, 0.9976, -0.0593, 0.733, 0.4889, -0.3744, -0.083, -0.0811, 0.9994]\nstate[eef_state]: left_x=0.4067 left_y=-0.1046 left_z=0.0451 left_yaw=0.1706 left_pitch=-0.0103 left_roll=0.0051 left_gripper=0.9976 right_x=0.2773 right_y=0.0018 right_z=0.1451 right_yaw=0.0313 right_pitch=-0.045 right_roll=-0.0027 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -9.0598, 5.2171, 1.5311, -0.3492, -0.188, -0.0122, -0.2803, -0.9641, 7.5419, 2.1172, -0.0269, 0.0562, -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]: [-0.4301, 1.9942, 0.7605, 0.7647, -0.5346, -0.4007, 0.9976, -0.0605, 0.7048, 0.4458, -0.3511, -0.0837, -0.0811, 0.9994]\nstate[eef_state]: left_x=0.4611 left_y=-0.1086 left_z=0.0411 left_yaw=0.2212 left_pitch=0.1604 left_roll=-0.1235 left_gripper=0.9976 right_x=0.2735 right_y=0.0018 right_z=0.1374 right_yaw=0.0307 right_pitch=-0.0366 right_roll=-0.003 right_gripper=0.9994\nstate[joint_eff]: [0.8957, -3.5624, 2.3316, 0.0073, 0.2711, 0.1832, -0.0122, -0.5265, -1.0872, 6.9675, 1.9951, -0.1294, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa0b26abdc3cb0f51aa37d3722211914c75e8c5459623cd24ba6e8f82d30b78c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:607164c3a514bbc0bc116d058eb30c5cfed0fe116f416058f0bd351f4840f34e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35178aa6302ffdf2257a6fac0b468c4e50ed687ae82bf8c91f989a52ff556ee1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015JERDWmqmHvy4zpvKoFjmM",
      "input": {
        "note": "The bottle's shoulder is between the jaws and the arm is at its lowest reachable height (about 4 cm). I'm closing while still pressing down.",
        "targets": {
          "left_gripper": 0.0,
          "left_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015JERDWmqmHvy4zpvKoFjmM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4316, 2.0594, 0.8986, 0.749, -0.6056, -0.4202, 0.013, -0.0605, 0.6842, 0.4118, -0.3355, -0.0837, -0.0814, 0.9994]\nstate[eef_state]: left_x=0.4924 left_y=-0.1121 left_z=0.0583 left_yaw=0.2969 left_pitch=0.2224 left_roll=-0.1553 left_gripper=0.013 right_x=0.2703 right_y=0.002 right_z=0.1303 right_yaw=0.0309 right_pitch=-0.0343 right_roll=-0.0035 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -3.8085, 2.906, -0.2662, 0.5592, 0.0415, 0.9206, -0.4171, -1.2376, 6.9128, 1.9707, -0.1441, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98dfa3133b8f0dc3993fab9a5ed3caa4da3eade6df873aa8e45987a2dabfaa62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbc3a94d8095366edd6fddf8bec332c2feea67f7833dad77059aa181e1762941",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19f6bb9849fae7a48796db043c63b6bdc8dcf7e1e23072bec630a2e47ab1827d",
        "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 · 18.97 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]: [-0.4786, 1.7523, 0.68, 0.387, -0.5404, -0.4065, 0.9976, -0.0593, 0.733, 0.4889, -0.3744, -0.083, -0.0811, 0.9994]\nstate[eef_state]: left_x=0.4067 left_y=-0.1046 left_z=0.0451 left_yaw=0.1706 left_pitch=-0.0103 left_roll=0.0051 left_gripper=0.9976 right_x=0.2773 right_y=0.0018 right_z=0.1451 right_yaw=0.0313 right_pitch=-0.045 right_roll=-0.0027 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -9.0598, 5.2171, 1.5311, -0.3492, -0.188, -0.0122, -0.2803, -0.9641, 7.5419, 2.1172, -0.0269, 0.0562, -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]: [-0.4301, 1.9942, 0.7605, 0.7647, -0.5346, -0.4007, 0.9976, -0.0605, 0.7048, 0.4458, -0.3511, -0.0837, -0.0811, 0.9994]\nstate[eef_state]: left_x=0.4611 left_y=-0.1086 left_z=0.0411 left_yaw=0.2212 left_pitch=0.1604 left_roll=-0.1235 left_gripper=0.9976 right_x=0.2735 right_y=0.0018 right_z=0.1374 right_yaw=0.0307 right_pitch=-0.0366 right_roll=-0.003 right_gripper=0.9994\nstate[joint_eff]: [0.8957, -3.5624, 2.3316, 0.0073, 0.2711, 0.1832, -0.0122, -0.5265, -1.0872, 6.9675, 1.9951, -0.1294, -0.0024, -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]: [-0.4316, 2.0594, 0.8986, 0.749, -0.6056, -0.4202, 0.013, -0.0605, 0.6842, 0.4118, -0.3355, -0.0837, -0.0814, 0.9994]\nstate[eef_state]: left_x=0.4924 left_y=-0.1121 left_z=0.0583 left_yaw=0.2969 left_pitch=0.2224 left_roll=-0.1553 left_gripper=0.013 right_x=0.2703 right_y=0.002 right_z=0.1303 right_yaw=0.0309 right_pitch=-0.0343 right_roll=-0.0035 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -3.8085, 2.906, -0.2662, 0.5592, 0.0415, 0.9206, -0.4171, -1.2376, 6.9128, 1.9707, -0.1441, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98dfa3133b8f0dc3993fab9a5ed3caa4da3eade6df873aa8e45987a2dabfaa62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbc3a94d8095366edd6fddf8bec332c2feea67f7833dad77059aa181e1762941",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19f6bb9849fae7a48796db043c63b6bdc8dcf7e1e23072bec630a2e47ab1827d",
        "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_01Nd3dCuRk9YJqDARZNX4mr7",
      "input": {
        "note": "Fourth empty close on the left bottle, and the left arm has drifted to its reach limit with a lot of pitch error. I'm sending it home, open, so I can reset and try the right arm.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.3,
          "left_y": 0.0,
          "left_yaw": 0.0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01Nd3dCuRk9YJqDARZNX4mr7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8463, 0.5964, -0.2661, -0.1104, -0.0948, 0.9967, -0.0658, 0.6601, 0.3794, -0.3161, -0.0841, -0.0841, 0.9994]\nstate[eef_state]: left_x=0.3119 left_y=0.0066 left_z=0.1862 left_yaw=0.0767 left_pitch=0.051 left_roll=-0.0153 left_gripper=0.9967 right_x=0.2678 right_y=0.0008 right_z=0.1255 right_yaw=0.0273 right_pitch=-0.0233 right_roll=-0.0065 right_gripper=0.9994\nstate[joint_eff]: [0.2667, -1.3607, 7.8564, 1.9316, 0.1148, 0.2711, -0.0122, -0.2256, -0.5128, 6.9812, 1.8926, -0.1734, 0.0171, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf0e5c2e35711b9bc2bfba2bb9af6e911fe73b4b01985c7bc96ce7899304557d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be155398a3c3b6d9d10064246080ee7fa8f3596e4473fb24e4601d25d80134cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c82466f0282ee57004dc456d5794d8ef80a5e0c58ff4fda7f16f2918a72cd6e0",
        "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 · 5.324 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]: [-0.4301, 1.9942, 0.7605, 0.7647, -0.5346, -0.4007, 0.9976, -0.0605, 0.7048, 0.4458, -0.3511, -0.0837, -0.0811, 0.9994]\nstate[eef_state]: left_x=0.4611 left_y=-0.1086 left_z=0.0411 left_yaw=0.2212 left_pitch=0.1604 left_roll=-0.1235 left_gripper=0.9976 right_x=0.2735 right_y=0.0018 right_z=0.1374 right_yaw=0.0307 right_pitch=-0.0366 right_roll=-0.003 right_gripper=0.9994\nstate[joint_eff]: [0.8957, -3.5624, 2.3316, 0.0073, 0.2711, 0.1832, -0.0122, -0.5265, -1.0872, 6.9675, 1.9951, -0.1294, -0.0024, -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]: [-0.4316, 2.0594, 0.8986, 0.749, -0.6056, -0.4202, 0.013, -0.0605, 0.6842, 0.4118, -0.3355, -0.0837, -0.0814, 0.9994]\nstate[eef_state]: left_x=0.4924 left_y=-0.1121 left_z=0.0583 left_yaw=0.2969 left_pitch=0.2224 left_roll=-0.1553 left_gripper=0.013 right_x=0.2703 right_y=0.002 right_z=0.1303 right_yaw=0.0309 right_pitch=-0.0343 right_roll=-0.0035 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -3.8085, 2.906, -0.2662, 0.5592, 0.0415, 0.9206, -0.4171, -1.2376, 6.9128, 1.9707, -0.1441, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8463, 0.5964, -0.2661, -0.1104, -0.0948, 0.9967, -0.0658, 0.6601, 0.3794, -0.3161, -0.0841, -0.0841, 0.9994]\nstate[eef_state]: left_x=0.3119 left_y=0.0066 left_z=0.1862 left_yaw=0.0767 left_pitch=0.051 left_roll=-0.0153 left_gripper=0.9967 right_x=0.2678 right_y=0.0008 right_z=0.1255 right_yaw=0.0273 right_pitch=-0.0233 right_roll=-0.0065 right_gripper=0.9994\nstate[joint_eff]: [0.2667, -1.3607, 7.8564, 1.9316, 0.1148, 0.2711, -0.0122, -0.2256, -0.5128, 6.9812, 1.8926, -0.1734, 0.0171, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf0e5c2e35711b9bc2bfba2bb9af6e911fe73b4b01985c7bc96ce7899304557d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be155398a3c3b6d9d10064246080ee7fa8f3596e4473fb24e4601d25d80134cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c82466f0282ee57004dc456d5794d8ef80a5e0c58ff4fda7f16f2918a72cd6e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012qXuvPMrRkfndZqepUfW47",
      "input": {
        "note": "From the clear overhead view, the left bottle's neck is at about x 0.58, beyond the left arm's low reach. The right bottle's neck is around x 0.46, so I'm bringing the right arm above it.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.22,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_012qXuvPMrRkfndZqepUfW47",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0578, 0.8845, 0.622, -0.3496, -0.1135, -0.083, 0.9971, 0.6052, 1.8393, 1.0424, 0.0956, 0.4355, 0.2825, 0.9994]\nstate[eef_state]: left_x=0.3069 left_y=0.0059 left_z=0.1697 left_yaw=0.068 left_pitch=-0.0442 left_roll=0.0086 left_gripper=0.9971 right_x=0.4352 right_y=0.2149 right_z=0.0848 right_yaw=0.0674 right_pitch=-0.0538 right_roll=-0.0333 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -2.2632, 9.4291, 1.7411, -0.1294, -0.1148, 0.0317, -0.0615, -8.8957, 8.3214, 1.8242, 0.4518, 0.2466, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb91c427aaf4d986c99385a8fef0f56ea6aa0fd0dceebaa1baef4a454bc91b0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e738015d39be02b05ca8dcbbd0812f495f63b70ffb83f6d9c1f166045918529",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a08b975a00a771b3ce143ae0c2d428774c48fb0198b3cc2894666f44cb992e3e",
        "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 · 5.363 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]: [-0.4316, 2.0594, 0.8986, 0.749, -0.6056, -0.4202, 0.013, -0.0605, 0.6842, 0.4118, -0.3355, -0.0837, -0.0814, 0.9994]\nstate[eef_state]: left_x=0.4924 left_y=-0.1121 left_z=0.0583 left_yaw=0.2969 left_pitch=0.2224 left_roll=-0.1553 left_gripper=0.013 right_x=0.2703 right_y=0.002 right_z=0.1303 right_yaw=0.0309 right_pitch=-0.0343 right_roll=-0.0035 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -3.8085, 2.906, -0.2662, 0.5592, 0.0415, 0.9206, -0.4171, -1.2376, 6.9128, 1.9707, -0.1441, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8463, 0.5964, -0.2661, -0.1104, -0.0948, 0.9967, -0.0658, 0.6601, 0.3794, -0.3161, -0.0841, -0.0841, 0.9994]\nstate[eef_state]: left_x=0.3119 left_y=0.0066 left_z=0.1862 left_yaw=0.0767 left_pitch=0.051 left_roll=-0.0153 left_gripper=0.9967 right_x=0.2678 right_y=0.0008 right_z=0.1255 right_yaw=0.0273 right_pitch=-0.0233 right_roll=-0.0065 right_gripper=0.9994\nstate[joint_eff]: [0.2667, -1.3607, 7.8564, 1.9316, 0.1148, 0.2711, -0.0122, -0.2256, -0.5128, 6.9812, 1.8926, -0.1734, 0.0171, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0578, 0.8845, 0.622, -0.3496, -0.1135, -0.083, 0.9971, 0.6052, 1.8393, 1.0424, 0.0956, 0.4355, 0.2825, 0.9994]\nstate[eef_state]: left_x=0.3069 left_y=0.0059 left_z=0.1697 left_yaw=0.068 left_pitch=-0.0442 left_roll=0.0086 left_gripper=0.9971 right_x=0.4352 right_y=0.2149 right_z=0.0848 right_yaw=0.0674 right_pitch=-0.0538 right_roll=-0.0333 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -2.2632, 9.4291, 1.7411, -0.1294, -0.1148, 0.0317, -0.0615, -8.8957, 8.3214, 1.8242, 0.4518, 0.2466, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb91c427aaf4d986c99385a8fef0f56ea6aa0fd0dceebaa1baef4a454bc91b0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e738015d39be02b05ca8dcbbd0812f495f63b70ffb83f6d9c1f166045918529",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a08b975a00a771b3ce143ae0c2d428774c48fb0198b3cc2894666f44cb992e3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzwgKEAgSGAI4AUIIdGhpbmtpbmcSDBUiE7BcZ6/zJ8wYhRoMvyFKwNR/IFCxDlrXIjCW6zFpmf6RRfA8WejkYeB4MNHtgViohoJ507t+gxBMMKEnPcC+SBrDbEXMfcWNLC8q7AfTUWjpQrwPLlQ/ld16Kn476USVezRFI/HG0cU/lj+OIj5Ynrod5tAJC1TNNk3LW+pneVTr5xtOq7+sTPcokW7SZ2YugcyEgvk4t9ALUui24jy2kc/WeO8567+n5OSXOx6DT/9IzZ32KynTxsvCuCVCgzb4dwELCoQiCY6KLcQNh4TY0jUCXrxK9rC+DiYcoWSZ+mXgEYeBBzyQzRQbHPJbKYMfWgahipIFOQxcT09zX+7s4AcWXqBO6s/ldP794ZmCRiaQD5MyfaOI8CjA3b3mKIQemWC7QUL7y75s4VFrOeXsZLFiQcOc8321xlWLnF4JlrPWDBr0ti2kfp5VdD4dKfY+Wfvw4p6fX7Dcl1wS6aRjmyng/UW/fo1swyS4WFvjqVz+ctmibS1CZZxroo34EvdOfLPS23Ry6GlEPaMoqvGqg7VnseFEj1LOKFBruswmzbj3XGeRF7AWYmUjgu1YNz2oe1ToeZhMBUCy16pWagp3BITLTXH4MDAQue9T5h2T4NvV+YqKJI6s1ZU4fpp1Hmo5VLSFxcgEvCqVkGi7XJZuuAAY3rzejjoqhq3H+rXvbLPEpRMI5YLZwF0DLt16Tzd1gzv7AayGPfeVFxdXfjpb7xbTq92U4gLEPvyY0RfC3275KeDt54BHsNZBTjc7N22lUwVXdd9L4fhYbbds/cbpPBmQpqpnjDCKiMzSIEtcnd1Mjk07/mBWQsIy7uI3EpOq5GZsFkojo7IZzD9PHzaWryLqisbVgadT0zRFdGNmEowDpeeu8FCvEk/9TvfrotNFqiS4kXe/g7iDEM42JjHjpn+PD60tGhG37ezH7qXoqQFwGLpKiiY7BsolhP6wCPCGwZAn/9omwxBG0bRigR8hcdmmNp3a2KVGBO3YNNfHmbJBBaM4OwGWDIVTKJW5wbwzEJ/M3Izi0NWUpR7AOrpcgdR5ajnWgArd69eLKpEMpY1XA4diBHf+m/QweGjLQS7SYJ0GGt12fUt6DIplnbIDDFJszelUOXacSD87p386B7WGm2JaOjNALPh5JWKP8evHVArrpyi95RqSBfwFJhBBAFWvBbb0jZ7JBoAq6ci0wp2rjw8i0tZ9ijFQF0BC3ikfJ+0aEpfvyZL0Rdt+amjK+oibGDf9/kVgVKBUC7o7qhvHP0x13C099E8rPKBPYotAbEVe8Qlugb6VnbNxRVh8+LobC/8qgJYgISH5De506iV1zqNPX7LyK5MoMgfbpwUrd3F3NLf6IG6JOIZDpzq8oxPtpIwVxvNCAfm2431tBaeoqQZmgOgwkbYSaqA3X3grbMgq2c+3P4bhGHYmEKPGVVBRFWMWSLFyEhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CjbNRrN4zwSCcf1WWvTrTx",
      "input": {
        "note": "In the right wrist view the jaws are over the right bottle's label and the neck is a few cm ahead, slightly right. I'm advancing about 4 cm, shifting right 1 cm, and descending to neck height.",
        "targets": {
          "right_x": 0.475,
          "right_y": 0.205,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01CjbNRrN4zwSCcf1WWvTrTx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0578, 0.8627, 0.5804, -0.3119, -0.1131, -0.0822, 0.9971, 0.5331, 2.0125, 1.0241, 0.2836, 0.3847, 0.2352, 0.9994]\nstate[eef_state]: left_x=0.3048 left_y=0.0059 left_z=0.1646 left_yaw=0.0672 left_pitch=-0.0264 left_roll=0.0068 left_gripper=0.9971 right_x=0.459 right_y=0.198 right_z=0.0277 right_yaw=0.0614 right_pitch=-0.0731 right_roll=-0.0444 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -2.3179, 6.7214, 1.8632, -0.0513, -0.0464, -0.0122, -0.3214, -9.7299, 7.0632, 1.8535, -0.0317, 0.2125, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ffcc4be62e1e5ee365abb9f67b2d1566dc04399b34c395a3e930d87f2d172ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00ddc6ea7ec74dc46bd244b32f7ef294242e576b455ec65a8c805d4ee320a312",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:850bc3d088868d092d3cf00884b87554eb719729bdf6d2262d3fd3812b712215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 5.076 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]: [-0.0528, 0.8463, 0.5964, -0.2661, -0.1104, -0.0948, 0.9967, -0.0658, 0.6601, 0.3794, -0.3161, -0.0841, -0.0841, 0.9994]\nstate[eef_state]: left_x=0.3119 left_y=0.0066 left_z=0.1862 left_yaw=0.0767 left_pitch=0.051 left_roll=-0.0153 left_gripper=0.9967 right_x=0.2678 right_y=0.0008 right_z=0.1255 right_yaw=0.0273 right_pitch=-0.0233 right_roll=-0.0065 right_gripper=0.9994\nstate[joint_eff]: [0.2667, -1.3607, 7.8564, 1.9316, 0.1148, 0.2711, -0.0122, -0.2256, -0.5128, 6.9812, 1.8926, -0.1734, 0.0171, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0578, 0.8845, 0.622, -0.3496, -0.1135, -0.083, 0.9971, 0.6052, 1.8393, 1.0424, 0.0956, 0.4355, 0.2825, 0.9994]\nstate[eef_state]: left_x=0.3069 left_y=0.0059 left_z=0.1697 left_yaw=0.068 left_pitch=-0.0442 left_roll=0.0086 left_gripper=0.9971 right_x=0.4352 right_y=0.2149 right_z=0.0848 right_yaw=0.0674 right_pitch=-0.0538 right_roll=-0.0333 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -2.2632, 9.4291, 1.7411, -0.1294, -0.1148, 0.0317, -0.0615, -8.8957, 8.3214, 1.8242, 0.4518, 0.2466, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0578, 0.8627, 0.5804, -0.3119, -0.1131, -0.0822, 0.9971, 0.5331, 2.0125, 1.0241, 0.2836, 0.3847, 0.2352, 0.9994]\nstate[eef_state]: left_x=0.3048 left_y=0.0059 left_z=0.1646 left_yaw=0.0672 left_pitch=-0.0264 left_roll=0.0068 left_gripper=0.9971 right_x=0.459 right_y=0.198 right_z=0.0277 right_yaw=0.0614 right_pitch=-0.0731 right_roll=-0.0444 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -2.3179, 6.7214, 1.8632, -0.0513, -0.0464, -0.0122, -0.3214, -9.7299, 7.0632, 1.8535, -0.0317, 0.2125, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ffcc4be62e1e5ee365abb9f67b2d1566dc04399b34c395a3e930d87f2d172ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00ddc6ea7ec74dc46bd244b32f7ef294242e576b455ec65a8c805d4ee320a312",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:850bc3d088868d092d3cf00884b87554eb719729bdf6d2262d3fd3812b712215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSowkKEAgSGAI4AUIIdGhpbmtpbmcSDJiluUo4tmh8my+z2xoMY7lY2B3Gi9vXnIJ1IjAo9Lb1eCTQTTW8kQpSDjbsIFYa7TD1CL9dDMiCC0gonLLmcPcVR2vgWxKv2s3wvP8qwAhsWfBZi1C+z212K7GegrGybDTI9rONovAWs/eQWk+St8MgLYdYiptM6CrPIdru9ucWwowvrQBV2Vdvn0gnxNNEsDmqhLza3ZrSraI2CPiZHg1OLMK7DzVNKKQOH6aW2I/8F4GtNcd+Cark6wJVGDgEILLmkHJO15z3SCToFCrEK/ofvlfGl9QofH4fOPIdg8m7pO3Kef4kMDhIoih7qDwnLwikIkeIXpLEQX6NGv4eJ4iWpDAa2J2cv9MQyCc6Qrflf/uGHTf0DZdQ17dRaBA+85WM5OHvO79nV6NwhcRoIf1W8IAI7APDPO3nIqSRov4TwTtuElYwT2iEuehk8+bd55O1KtaQ0DTibUnkdIxcKq5De4EBOkqprCsLW8XKtq92ThGFIDMAiQCXstN9oxp0CrRJXNk2X8bi+Hygb3Ac5zjt8z1H+MiI4cNKRgQi9ot1Djn4oR6D4cG/xcXpIWTCJvg+0detTXEafBIFkpuhEOKf5yI907E8QwTzFAcgBo4zxltUKGVElk6CuEQ0hGV6sKUgd96e47uZRcpBU3/j1OQxJaeTzsyaKIL44Fuyo9+tAdABX8nAOIewEMMBCEBuzRunpPdXYJ5mC1MIp3K49tS9CP3a6/H6RbG8dBpIkfQH/324MwQWoXkTf/gEvresEWNqaf5Z3RD7wSpPgcMGzyt678WhSQkVUMTzcRp1kfItZQLe/g+4c2yMMboiVOTklBTuOtZSFvMyqXWh8wZdEMgiXpDA71us5W+555JKFKGIcZ6LnDN1lUuXpVX8cO3EvVVuW2ITFfGQ039vhBUZy7esQ1mXMTapb0t7N0DJMfvy+/XuD5QDyEvQ3/PAM62XJe/XpPNsLbZs9UtqizD7W+jXMq4g9UYuOddAWJnvTwRhw6uxz4a7FnQO3awnNyILRwH6mAWLCInywdLvDOf9h0gMpSDoJiCp8m5oyTfARhWVwEw+D68ZVINqGB5bmyjqTexmhIPiaf7qyFhzSgk1HH8MGPdiOea/0CmB/DEFqEVMQBIDrrFUNk5LXNGsvvsAtgoIEJSDvdwl1R3US1036w5SOf7r2RyybjeZ0VTiHEVfQZ9iTB+HZbvc47caynCyBh2dBk9UehDLZQZK5kQZfhnvGgupQ6eU0xmXtfgfsmXfZ70XY873notw5J2O+9Gkc4VEssSPsLZAVpD83LjUxi7InKroWTRVWi1QcUEJNu5MNRw6w0HQjfMMbsXR8uDt1T8PfHGa1N7jpv7ZKL6OLMcCldPNgbJulTZdnKKy/SNUkROMEk5YVR0ZTkOA0Wsciizm2N3+01im70cIsaoWVZX2p9VNzT+oVFen/rfB8Ot/ouZzYbMPTlkBGdspWQmofk68qgolL086ndedyMSkUyX891Jc3FslsPP7NAwx6ZaS/BjnWBvXnuzS+UuWVOzWFS1R5XSeuxj8nEQC/HL9WxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019wGwM6wmfwjqAtqxcy2vNq",
      "input": {
        "note": "The right jaws are at the bottle's shoulder at z 0.028, with the neck just ahead. I'm pushing out to x 0.49 to straddle the neck.",
        "targets": {
          "right_x": 0.49,
          "right_y": 0.2,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_019wGwM6wmfwjqAtqxcy2vNq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0574, 0.8562, 0.5632, -0.2955, -0.1131, -0.0822, 0.9971, 0.5285, 2.0182, 1.0283, 0.3386, 0.3626, 0.2272, 0.9994]\nstate[eef_state]: left_x=0.3042 left_y=0.0061 left_z=0.1619 left_yaw=0.0675 left_pitch=-0.0208 left_roll=0.0061 left_gripper=0.9971 right_x=0.4668 right_y=0.2042 right_z=0.0357 right_yaw=0.0803 right_pitch=-0.0315 right_roll=-0.0147 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -2.1675, 6.4205, 1.9658, -0.0708, -0.0855, -0.0122, -0.6359, -8.8274, 6.735, 2.0049, 0.1538, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:643af51b019f1f028ebbdd71dbac7709db481006caac5da43b4e6f750fadee3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fafe24b4c39834d5d4752915ce2842eea6874a2d4294ed97c0e8b06e0ef027f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bcf6e5de40c34e330b96f0143ba94b4caa18b9a618ff5b1a0a1d772b2d5bd491",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 4.863 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]: [-0.0578, 0.8845, 0.622, -0.3496, -0.1135, -0.083, 0.9971, 0.6052, 1.8393, 1.0424, 0.0956, 0.4355, 0.2825, 0.9994]\nstate[eef_state]: left_x=0.3069 left_y=0.0059 left_z=0.1697 left_yaw=0.068 left_pitch=-0.0442 left_roll=0.0086 left_gripper=0.9971 right_x=0.4352 right_y=0.2149 right_z=0.0848 right_yaw=0.0674 right_pitch=-0.0538 right_roll=-0.0333 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -2.2632, 9.4291, 1.7411, -0.1294, -0.1148, 0.0317, -0.0615, -8.8957, 8.3214, 1.8242, 0.4518, 0.2466, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0578, 0.8627, 0.5804, -0.3119, -0.1131, -0.0822, 0.9971, 0.5331, 2.0125, 1.0241, 0.2836, 0.3847, 0.2352, 0.9994]\nstate[eef_state]: left_x=0.3048 left_y=0.0059 left_z=0.1646 left_yaw=0.0672 left_pitch=-0.0264 left_roll=0.0068 left_gripper=0.9971 right_x=0.459 right_y=0.198 right_z=0.0277 right_yaw=0.0614 right_pitch=-0.0731 right_roll=-0.0444 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -2.3179, 6.7214, 1.8632, -0.0513, -0.0464, -0.0122, -0.3214, -9.7299, 7.0632, 1.8535, -0.0317, 0.2125, -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]: [-0.0574, 0.8562, 0.5632, -0.2955, -0.1131, -0.0822, 0.9971, 0.5285, 2.0182, 1.0283, 0.3386, 0.3626, 0.2272, 0.9994]\nstate[eef_state]: left_x=0.3042 left_y=0.0061 left_z=0.1619 left_yaw=0.0675 left_pitch=-0.0208 left_roll=0.0061 left_gripper=0.9971 right_x=0.4668 right_y=0.2042 right_z=0.0357 right_yaw=0.0803 right_pitch=-0.0315 right_roll=-0.0147 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -2.1675, 6.4205, 1.9658, -0.0708, -0.0855, -0.0122, -0.6359, -8.8274, 6.735, 2.0049, 0.1538, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:643af51b019f1f028ebbdd71dbac7709db481006caac5da43b4e6f750fadee3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fafe24b4c39834d5d4752915ce2842eea6874a2d4294ed97c0e8b06e0ef027f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcf6e5de40c34e330b96f0143ba94b4caa18b9a618ff5b1a0a1d772b2d5bd491",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4wkKEAgSGAI4AUIIdGhpbmtpbmcSDMAlP6+FsIrw+/6CpxoMtEDx8uG3jTCzQm39IjBI6rLT3r7SaxwqK8YfDOtGrgIZWuwHxfGlRBv5kPgB7BBjWz46E84QK/fA5h89/F4qgAn8VCZ334y3iyL2LpqDeuUJsUo2ZZQqToZeGfH4bhKGjdrya1tjJXXLLaMhsv5A7gXWhSmEN+ijOcxKSk8drpB2REGsIhFZPbkU2nnpiV2huDKJk2d6t9FlV6SNwfmAwh+oTY+4AqRLF5qaEgyhToOlQouGLChyTGu18bnFeUUkbb3G5sJ3luHBAXO18rKn8s6Qy5pgIUF7yrjwoxXjsmKdDnpbbIwpFxDM5wnQ/y4cEwCv3Uxr7DMoUe+egqjmkkdWyHPa3Z7D+0Uq+mK64OHfpKEgTlMxiTS0FgYOjq0PGltVrYDmLxuLyuORz1tBa7A7OwCo2FFr1K4611VVA6jxANXJnIohhq4vR9uMjrDh+IHltMgGqNAusCblNH6gCUMYA0968b4kqp2B8i2xUm7wAcSkWys7UFXu1vgROVybSVStx+Dy8gyXMzVPcD2ywG8e70Wu9m8L4QMNRXVJaFz2kHd4cjYDYVIbf7Lhxr7n7HDM1DpT88xQZw9BZu9PIWmyg+wixndXCqGAeX9kb263SUOAFnyfc0TQSRwzacw44hUMpoodyLzkWAnSrEwE46BDG+QF4og2QYFEKizI0iUcIWq8HFaf7Vv0C+6iHqVNm46/gbuFWcQM7LqokGBl2hOg8kmtbR7W7lCiRv63ULBGuS2o+tbhr7EB/kjedy2pjJiBFN2GFNvamlGPrzl608jGQdDZBnMI8e7c/OFT/b5bbA7zk60c/nnP8HcPfSVMf+RbbG/KqRK1MAqQPPwj4GIFZvuSOGtPl/EWzni4BkIPKa573RR2bI4xyfibeIpzSei6PidLxWhUorn54lmPK30OTBNwXSlZJcAiXKl0YaYFEljG2q+K8fkgqcwww+3VRxwzeJTGfSp7dnXuo1u7tTJeU2k4iUG+UMMOaMURBD6BD0gLxzZU2zh/AFBGXL02yaHAwCP+adDd2ref/JZF21Ibyn/Amg6oaLOrf1YMuuEScLKUkr0vmiQuNwXrsIHlZlMFOSG/TmSkOHGdpHciaS/gLgE9zh8N+OjY5BOD5c7iOLSQyzjnjT4inUQUOiIRDYLa4EEkkPDznArT+NhfsX2q7U7aYulwQKwumyOphQJZKGiVtRrrbALFH8Wu+QlcerjN9RnXuGdq7LT1S/8K9FMUeo3e2U7y4ErIPz4OH1sXG44u8sG6mzh1MsTqTHwmbwkcas15Wf+q1T3uScF9cx/vjHXHszr34IgcC49SGF/ZAhRsoi91Y243seazslvWirLklb5fUcBhyYo7EJEjTtNXpEvASXpZzRoaqrIcX7KeU3avo+8KvlFDrgjbA/6ws4El9vpnMlorohie6hMe8ae4aMM54G2wyQGu6jxvQflXxbSjOnK+FQgc7e2/ZEWjlT3cm3Il8rtpQ1WI1SPjCHR1Fzc4h+z+qphlvEKdwOjDVcD8taJ6xLdcT0CdjNBRY17q563tAUeQ9+tpWBNNuO987AjxjwAlXdWiUJKrJ4X1w3+Lj3vgSwWOqUihN3LAzYWITLQgN0Pey6KfqX3kFnsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BEaZzNnnJ7yi7xyh589xHN",
      "input": {
        "note": "The right jaws are at the bottle's shoulder, just below the neck, and the arm is at its reach limit. I'm closing here and pressing down slightly.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BEaZzNnnJ7yi7xyh589xHN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0574, 0.8558, 0.5484, -0.2848, -0.1131, -0.0822, 0.9971, 0.5289, 2.0285, 1.0019, 0.4221, 0.3588, 0.2268, 0.5019]\nstate[eef_state]: left_x=0.3034 left_y=0.0061 left_z=0.1575 left_yaw=0.0675 left_pitch=-0.0245 left_roll=0.0065 left_gripper=0.9971 right_x=0.4687 right_y=0.2063 right_z=0.0366 right_yaw=0.0842 right_pitch=0.0099 right_roll=0.0073 right_gripper=0.5019\nstate[joint_eff]: [0.0889, -2.7556, 6.5026, 1.8681, -0.0513, -0.0904, -0.0122, -0.212, -6.8444, 4.3145, 1.9072, 0.0806, -0.0708, 0.9988]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:441b62ac5fe736284cf27399f8e71ea40e469267411b96cfec0c6d49f2f037ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6802ca9138a1bc45ff4e146cc8b1023ef219f2f896203c94ff874975000cc06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7468dc543cd011c764d2b3bd5c0585acb8935816524d1e7d9601acba2460aa3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 3.466 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]: [-0.0578, 0.8627, 0.5804, -0.3119, -0.1131, -0.0822, 0.9971, 0.5331, 2.0125, 1.0241, 0.2836, 0.3847, 0.2352, 0.9994]\nstate[eef_state]: left_x=0.3048 left_y=0.0059 left_z=0.1646 left_yaw=0.0672 left_pitch=-0.0264 left_roll=0.0068 left_gripper=0.9971 right_x=0.459 right_y=0.198 right_z=0.0277 right_yaw=0.0614 right_pitch=-0.0731 right_roll=-0.0444 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -2.3179, 6.7214, 1.8632, -0.0513, -0.0464, -0.0122, -0.3214, -9.7299, 7.0632, 1.8535, -0.0317, 0.2125, -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]: [-0.0574, 0.8562, 0.5632, -0.2955, -0.1131, -0.0822, 0.9971, 0.5285, 2.0182, 1.0283, 0.3386, 0.3626, 0.2272, 0.9994]\nstate[eef_state]: left_x=0.3042 left_y=0.0061 left_z=0.1619 left_yaw=0.0675 left_pitch=-0.0208 left_roll=0.0061 left_gripper=0.9971 right_x=0.4668 right_y=0.2042 right_z=0.0357 right_yaw=0.0803 right_pitch=-0.0315 right_roll=-0.0147 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -2.1675, 6.4205, 1.9658, -0.0708, -0.0855, -0.0122, -0.6359, -8.8274, 6.735, 2.0049, 0.1538, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0574, 0.8558, 0.5484, -0.2848, -0.1131, -0.0822, 0.9971, 0.5289, 2.0285, 1.0019, 0.4221, 0.3588, 0.2268, 0.5019]\nstate[eef_state]: left_x=0.3034 left_y=0.0061 left_z=0.1575 left_yaw=0.0675 left_pitch=-0.0245 left_roll=0.0065 left_gripper=0.9971 right_x=0.4687 right_y=0.2063 right_z=0.0366 right_yaw=0.0842 right_pitch=0.0099 right_roll=0.0073 right_gripper=0.5019\nstate[joint_eff]: [0.0889, -2.7556, 6.5026, 1.8681, -0.0513, -0.0904, -0.0122, -0.212, -6.8444, 4.3145, 1.9072, 0.0806, -0.0708, 0.9988]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:441b62ac5fe736284cf27399f8e71ea40e469267411b96cfec0c6d49f2f037ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6802ca9138a1bc45ff4e146cc8b1023ef219f2f896203c94ff874975000cc06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7468dc543cd011c764d2b3bd5c0585acb8935816524d1e7d9601acba2460aa3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1QgKEAgSGAI4AUIIdGhpbmtpbmcSDJqmve0sLC2x1iPyERoMxlr5tT7bdN1P5D6EIjAJRoleYyO8iCnxKRm+ySj0qPHtrHSQQ42pj4NJyWvxfH9utyqt1uJCoKCfPBIw+GYq8gc+i+UDzqnGGAFGpoRjlmuFFOC8KAvcDAj9oC1UeWNDqBrplQy3vNaUylf4QpFV8dnj3foyBj8vSkjFIgKUgqFHmZ0TukcEUhQAaCe04Hu4/m+L5ALHpB0beyU3hkarSeAWVGVTSQw0YlmHAUz4UNqxNtUl2c9ulukaUL1rXg7xSkwbC6LVV2b+pmD+k8KG1DMXtmyvrbHziKY5tKGAM8vMvua6PWFgRaRjd4U2FwoWoBgJHK2+yCf02TvfcMxHTcSXZ16rHS3aeCoSsj9RC//LQ2TeBYA4T/FlSiz5ErMtayFS/lAht8OI1nyYCrgbe1MJrQegeI0+EYnFdWwREpRIE5ulNO1V/deWjucqIKpClSKiOG4zeLPFHbk15NBMIek3xc5Ka/DYbLxHlV/znUg/1f5J9KG+v4ZCiIHTyMO+UczpIVBw7d9L1oo48G90+acleunqvDcic61qPfx78U0hbXDB7yXS6HGXqK2OsUBghY0TS1Q+5D1501gJrKEP7RAUL4kwrxn/oQQ8Zh+ynjc1e08HYzAXG2ESselwEKmhMXWtjQadhwD0aKKSiYFRpcQHAb3x6EwKjRn+nWsJvSsco9IhXJaj8COgZloI1IZsoyLoveQhLm/wIwnVodX1kF8U3YITeMA5IstAcoVal5VaeHShExs70HUgSDFyFC+Uozi6HLCxPuCLEaaQhBsKOQJckrPeEo+GdE+/CgcMZesnQ/S4LnfUNYYK6Wdf+Be+FHDUuzmjgqyxF6SDAbMHTeqPA7/zcvmAKg50HGWtFYaAGqKlAGC3nDJ3FaOaHOIVPqTrl2FOF7/nLVfLJzg7XxBxCM+K/6xa9XpNJ8UQ6nkFP6XYfG0urArR7xhOoI1ItHajCo6jKsBdF/sEPgANEAwrvOJjn8odEZq+gBd2z7QRAbofqdscthUj6EJcGrrCr8rf3GQMMgh9oX/d7ikq8hmtCJwimKICqMVLNtdJkdFh6Yt315zBCwfBLALGwQOltA7cm5ufKXFL1NV3Bd5cTnfUcYGlIk7/B6gldO8xBDUZpbCCtbBLorVMMLmBFfxWU5zbnd+/1Ma9k2WRrnODNgFZnWuUwMHWxZQPN/cz0tRCvJWeseM526WcMAAp3pQaEN63vQvuyZhXW44VWOjif4cLdavkXFU2vYUAFiLkL2+6xLpNsrpy2fuVVdlqwpqdlvqm9hTNjj8qBek5IGMnrGkK9PZq90WYsV/LrQKJRd8iCofNLSa+FKsICE8nlu+pW8w7h3Mz5UOUTQ3SmEiztk2+jBy5LWkQFQwUgOlT+Yjqg2vtH1CwSEeRQ5fuk31DbAiTjnv6NCUa0ErjGR8TBvSdlBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CPu7CzrhHtH2bGwVBiFXM5",
      "input": {
        "note": "The gripper settled at 0.50 (about 4.8 cm), so it's holding the bottle's shoulder. I'm lifting the cap end up and back so the bottle pivots on its base.",
        "targets": {
          "right_x": 0.44,
          "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_01CPu7CzrhHtH2bGwVBiFXM5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0574, 0.8501, 0.5308, -0.2672, -0.1131, -0.0818, 0.9971, 0.5674, 1.8679, 0.9825, 0.1661, 0.363, 0.2352, 0.4991]\nstate[eef_state]: left_x=0.3028 left_y=0.0062 left_z=0.1547 left_yaw=0.0673 left_pitch=-0.0189 left_roll=0.0061 left_gripper=0.9971 right_x=0.4331 right_y=0.2059 right_z=0.0579 right_yaw=0.1127 right_pitch=-0.0925 right_roll=-0.0381 right_gripper=0.4991\nstate[joint_eff]: [0.0889, -2.4821, 6.4205, 1.9316, -0.0659, -0.0611, -0.0122, 0.0752, -13.1487, 7.0222, 2.3712, 0.4664, 0.1734, 0.0806]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ae70b3d3e1ee8acebc99c26bc8908fe1a34f544cc771b7aa493672017ae747e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebb1a2fa4bf6d27c665005a0093e58f301af63eeb53efb5c837dd21408ff4d8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4eeb64f0d15ca403e59416f2106c35e67c7565fc6bb75e46a9193e841b9b57b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 4.902 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]: [-0.0574, 0.8562, 0.5632, -0.2955, -0.1131, -0.0822, 0.9971, 0.5285, 2.0182, 1.0283, 0.3386, 0.3626, 0.2272, 0.9994]\nstate[eef_state]: left_x=0.3042 left_y=0.0061 left_z=0.1619 left_yaw=0.0675 left_pitch=-0.0208 left_roll=0.0061 left_gripper=0.9971 right_x=0.4668 right_y=0.2042 right_z=0.0357 right_yaw=0.0803 right_pitch=-0.0315 right_roll=-0.0147 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -2.1675, 6.4205, 1.9658, -0.0708, -0.0855, -0.0122, -0.6359, -8.8274, 6.735, 2.0049, 0.1538, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0574, 0.8558, 0.5484, -0.2848, -0.1131, -0.0822, 0.9971, 0.5289, 2.0285, 1.0019, 0.4221, 0.3588, 0.2268, 0.5019]\nstate[eef_state]: left_x=0.3034 left_y=0.0061 left_z=0.1575 left_yaw=0.0675 left_pitch=-0.0245 left_roll=0.0065 left_gripper=0.9971 right_x=0.4687 right_y=0.2063 right_z=0.0366 right_yaw=0.0842 right_pitch=0.0099 right_roll=0.0073 right_gripper=0.5019\nstate[joint_eff]: [0.0889, -2.7556, 6.5026, 1.8681, -0.0513, -0.0904, -0.0122, -0.212, -6.8444, 4.3145, 1.9072, 0.0806, -0.0708, 0.9988]",
      "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]: [-0.0574, 0.8501, 0.5308, -0.2672, -0.1131, -0.0818, 0.9971, 0.5674, 1.8679, 0.9825, 0.1661, 0.363, 0.2352, 0.4991]\nstate[eef_state]: left_x=0.3028 left_y=0.0062 left_z=0.1547 left_yaw=0.0673 left_pitch=-0.0189 left_roll=0.0061 left_gripper=0.9971 right_x=0.4331 right_y=0.2059 right_z=0.0579 right_yaw=0.1127 right_pitch=-0.0925 right_roll=-0.0381 right_gripper=0.4991\nstate[joint_eff]: [0.0889, -2.4821, 6.4205, 1.9316, -0.0659, -0.0611, -0.0122, 0.0752, -13.1487, 7.0222, 2.3712, 0.4664, 0.1734, 0.0806]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ae70b3d3e1ee8acebc99c26bc8908fe1a34f544cc771b7aa493672017ae747e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebb1a2fa4bf6d27c665005a0093e58f301af63eeb53efb5c837dd21408ff4d8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4eeb64f0d15ca403e59416f2106c35e67c7565fc6bb75e46a9193e841b9b57b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Moving up but clamped. Continuing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014HjQi4hqf3oxELJhMsiu4e",
      "input": {
        "note": "The bottle is still held (reading 0.50) and its cap end is lifting. I'm continuing up and back to tip it toward vertical.",
        "targets": {
          "right_x": 0.38,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_014HjQi4hqf3oxELJhMsiu4e",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0574, 0.8455, 0.5156, -0.2588, -0.1131, -0.0822, 0.9971, 0.6601, 1.5436, 0.9077, -0.0299, 0.4179, 0.2665, 0.4987]\nstate[eef_state]: left_x=0.3013 left_y=0.0062 left_z=0.1507 left_yaw=0.0675 left_pitch=-0.0211 left_roll=0.0061 left_gripper=0.9971 right_x=0.3797 right_y=0.2085 right_z=0.1358 right_yaw=0.1458 right_pitch=-0.0287 right_roll=-0.019 right_gripper=0.4987\nstate[joint_eff]: [0.1299, -1.6889, 6.7214, 1.9365, -0.0513, -0.0708, -0.0122, 0.0479, -8.7043, 9.8256, 1.7558, 0.3346, 0.2271, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acc907d524f7884d993c4b83362c37f77b1bc0b5bcaeed5dfff5462287398fca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:244fbecba91e5b2aff0873a5c0e2c5282ef6c7b78483db01314f84feedf636c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:211f4941d163ecd7a91a2b0227e1409f0bee605542271b29c534aa622b770426",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 3.343 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]: [-0.0574, 0.8558, 0.5484, -0.2848, -0.1131, -0.0822, 0.9971, 0.5289, 2.0285, 1.0019, 0.4221, 0.3588, 0.2268, 0.5019]\nstate[eef_state]: left_x=0.3034 left_y=0.0061 left_z=0.1575 left_yaw=0.0675 left_pitch=-0.0245 left_roll=0.0065 left_gripper=0.9971 right_x=0.4687 right_y=0.2063 right_z=0.0366 right_yaw=0.0842 right_pitch=0.0099 right_roll=0.0073 right_gripper=0.5019\nstate[joint_eff]: [0.0889, -2.7556, 6.5026, 1.8681, -0.0513, -0.0904, -0.0122, -0.212, -6.8444, 4.3145, 1.9072, 0.0806, -0.0708, 0.9988]",
      "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]: [-0.0574, 0.8501, 0.5308, -0.2672, -0.1131, -0.0818, 0.9971, 0.5674, 1.8679, 0.9825, 0.1661, 0.363, 0.2352, 0.4991]\nstate[eef_state]: left_x=0.3028 left_y=0.0062 left_z=0.1547 left_yaw=0.0673 left_pitch=-0.0189 left_roll=0.0061 left_gripper=0.9971 right_x=0.4331 right_y=0.2059 right_z=0.0579 right_yaw=0.1127 right_pitch=-0.0925 right_roll=-0.0381 right_gripper=0.4991\nstate[joint_eff]: [0.0889, -2.4821, 6.4205, 1.9316, -0.0659, -0.0611, -0.0122, 0.0752, -13.1487, 7.0222, 2.3712, 0.4664, 0.1734, 0.0806]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0574, 0.8455, 0.5156, -0.2588, -0.1131, -0.0822, 0.9971, 0.6601, 1.5436, 0.9077, -0.0299, 0.4179, 0.2665, 0.4987]\nstate[eef_state]: left_x=0.3013 left_y=0.0062 left_z=0.1507 left_yaw=0.0675 left_pitch=-0.0211 left_roll=0.0061 left_gripper=0.9971 right_x=0.3797 right_y=0.2085 right_z=0.1358 right_yaw=0.1458 right_pitch=-0.0287 right_roll=-0.019 right_gripper=0.4987\nstate[joint_eff]: [0.1299, -1.6889, 6.7214, 1.9365, -0.0513, -0.0708, -0.0122, 0.0479, -8.7043, 9.8256, 1.7558, 0.3346, 0.2271, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acc907d524f7884d993c4b83362c37f77b1bc0b5bcaeed5dfff5462287398fca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:244fbecba91e5b2aff0873a5c0e2c5282ef6c7b78483db01314f84feedf636c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:211f4941d163ecd7a91a2b0227e1409f0bee605542271b29c534aa622b770426",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS2QoKEAgSGAI4AUIIdGhpbmtpbmcSDAK4AZBitVU3IWs9dxoM75tlxVDHv6C+fsZ/IjCcnFqyIBxPHsLC4CzMMXb0fHVDDkd52qISgqwV3iy/0TuOV+hwMbDWAUQVoKd2WP8q9gmotxvEXoNOuANmLrUIuKMxUgkBjhotaNOC/XsALuF9jGFXjtwXXj9jNLX3ARFPmGpgGiikd3ZYJghcjM/i8ZZaKkcEHB8h7RwcJ6DjAppRHI6PTi+7KntWsPozIq8YjtEab2gxt0AWixpW+vqf9caCoGxyOxWh8+0UyuAgWFDd38IVAMKy8cgctp0lAF250gowToDOfiv7fqS9KNpc9fdzeg1hQT6WjMLmiZ0+r0PkxwxfCQRw5gt6rXvIs+fEkq/6naJTvqpgE6IAsTAxYTfh4d9Ij3K9WG94xyX6nP+IrqnOlQsha19t9i7CwOHm8wB6U7cUFDuP6WONdeiVSxcmGqpCavuS9JyR/hKqtEh73/pOjOB1KYBgn2/izQw4+EgB7tyvoP+QUN+5+d7iT8upIE+cOMMNqsMAsp9itXvpgD6Z0hXAvUwPopT+aDlBizrk1JYw7ZtcLRT5dKwISujj8VIji3Na/fYblNgY0qz7WE2cDezPIS6/FoFOgJydVL5c1Wfj9GnKf56vP1gNs+ESYYRZRAvwxmzvt1aRlOTByQWHXSVbe08OlNOJVFMJcsUgoXXDe3qp+fqpNjZTBmxv9ndhYn88/Rof7dFlmzujM1bDG6etgU4SO0NVm3JLjLYU819f7NH64xLEyIFopsBvAhNZPWeI2QJTCeyOOfhA/mGB/zWizIszxlQQqRxOaDSSxR3lPnvQias7MP9z00i4TpmVQ76ACPkwx4lLMd2jpbTX4foy1rPMDxmT815GxzpePbcVMcD9G5H7MtHIcUOBoL1vQuR/CG77ZKYEpokboJQO0u2kkglZkRo32kt9JN4tS248RCxUgbEWLMqgW0FnimK80decBg2Q96ohw0uQ5vmq6ITtF9SroAaBkj6H9MDS4b6fwoJnhR2rcnFbbCkvU8tifSbzltTc2SBdgkJpNuWXXi1O92AZ15cgG8j+M/U0h6MCVMXjb13vCxrSKoUKKh4Tf3Md4DSud4eltToSntXeSOwZIVz5/sT1hS6kxU7yEELEx1ll3JDoAldn9+vRPkEFGGiBjy+s/CuINTCxngn+zUwq8xVdkOiI+cp1QhFlGfMJMWRyb9IgF0KzcxUUTaLF2Gv1m4bWwVAdTBsThp4gPWO/txc4vXLchz3RjibYdNum4cYJ4u1bDGDuzj/+ly0Kxv5dQPQF3eRYmQjpoTb5o1qdERgWphDshZcmTem7BlJw3agpFMw2W8EcI2PUywnou/RTfKiySYPEUs+5gS7bE9Szr/JG7L7pAilNyKDueIEXyBzPn3EnmPyQJtESYq9c5ve/99+ZhlVougKnt43RTxzvo8a9Zz+/gbz+YUbPQXuV5nf3r7YbwutGwtw2KSflNLXQedhx+ilXk6B+iA+mjXOYu54WlNCpRAgeo5Oop1a71JqKY/7ip7byclSj8QkmGOB2T+6yuwTowmH0C171t/TxtrKDDVbAzNx6lDguBPjRnKTKhRLkuS/UW74QyjGInglnTnYqp/a8V+07kYFXiXXdXEX9aoaRs7sYZmukW1DPs23h4ObAwxlEsHOIUx07+RecWkkoyhPxt/6JjqJ4MhDgGoTpn3CqoWkxI8wiCEvnxUK+6rdll7/GMfCN0V5Hs3gx5ENeuRv6kD2miEJzBZ6pNctvQxOB9mvYVSedu3e+8H5iKRBLGR5qk0FND6YiEau8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YarAuFTCFRnk5Y3ZYP5EJL",
      "input": {
        "note": "The right bottle now hangs vertically under the gripper with its base at or near the table. I'm lowering slightly to seat the base before letting go.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01YarAuFTCFRnk5Y3ZYP5EJL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0578, 0.8429, 0.5091, -0.2508, -0.1131, -0.0818, 0.9971, 0.6662, 1.5326, 0.8703, 0.0059, 0.4183, 0.2756, 0.4987]\nstate[eef_state]: left_x=0.3013 left_y=0.0061 left_z=0.1501 left_yaw=0.0669 left_pitch=-0.017 left_roll=0.0059 left_gripper=0.9971 right_x=0.3751 right_y=0.2082 right_z=0.1314 right_yaw=0.1467 right_pitch=-0.0203 right_roll=-0.0069 right_gripper=0.4987\nstate[joint_eff]: [-0.0205, -2.2769, 6.4479, 1.7558, -0.0708, -0.0269, -0.0122, -0.7453, -4.8068, 5.9692, 1.7705, 0.1587, -0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc7acbaf317352b5e80517f8ee3802c7a55b8a74698050544ea90b6b987c443e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1b08fc9b67077616ebec7037932c429656caaba6d850cee006ec94bd0f56499",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5715e6bb19086b8617c4827832cbddf1278f83c8a52ce470a024169b18da72c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 4.604 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]: [-0.0574, 0.8501, 0.5308, -0.2672, -0.1131, -0.0818, 0.9971, 0.5674, 1.8679, 0.9825, 0.1661, 0.363, 0.2352, 0.4991]\nstate[eef_state]: left_x=0.3028 left_y=0.0062 left_z=0.1547 left_yaw=0.0673 left_pitch=-0.0189 left_roll=0.0061 left_gripper=0.9971 right_x=0.4331 right_y=0.2059 right_z=0.0579 right_yaw=0.1127 right_pitch=-0.0925 right_roll=-0.0381 right_gripper=0.4991\nstate[joint_eff]: [0.0889, -2.4821, 6.4205, 1.9316, -0.0659, -0.0611, -0.0122, 0.0752, -13.1487, 7.0222, 2.3712, 0.4664, 0.1734, 0.0806]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.0574, 0.8455, 0.5156, -0.2588, -0.1131, -0.0822, 0.9971, 0.6601, 1.5436, 0.9077, -0.0299, 0.4179, 0.2665, 0.4987]\nstate[eef_state]: left_x=0.3013 left_y=0.0062 left_z=0.1507 left_yaw=0.0675 left_pitch=-0.0211 left_roll=0.0061 left_gripper=0.9971 right_x=0.3797 right_y=0.2085 right_z=0.1358 right_yaw=0.1458 right_pitch=-0.0287 right_roll=-0.019 right_gripper=0.4987\nstate[joint_eff]: [0.1299, -1.6889, 6.7214, 1.9365, -0.0513, -0.0708, -0.0122, 0.0479, -8.7043, 9.8256, 1.7558, 0.3346, 0.2271, -0.0562]",
      "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]: [-0.0578, 0.8429, 0.5091, -0.2508, -0.1131, -0.0818, 0.9971, 0.6662, 1.5326, 0.8703, 0.0059, 0.4183, 0.2756, 0.4987]\nstate[eef_state]: left_x=0.3013 left_y=0.0061 left_z=0.1501 left_yaw=0.0669 left_pitch=-0.017 left_roll=0.0059 left_gripper=0.9971 right_x=0.3751 right_y=0.2082 right_z=0.1314 right_yaw=0.1467 right_pitch=-0.0203 right_roll=-0.0069 right_gripper=0.4987\nstate[joint_eff]: [-0.0205, -2.2769, 6.4479, 1.7558, -0.0708, -0.0269, -0.0122, -0.7453, -4.8068, 5.9692, 1.7705, 0.1587, -0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc7acbaf317352b5e80517f8ee3802c7a55b8a74698050544ea90b6b987c443e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1b08fc9b67077616ebec7037932c429656caaba6d850cee006ec94bd0f56499",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5715e6bb19086b8617c4827832cbddf1278f83c8a52ce470a024169b18da72c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS8wYKEAgSGAI4AUIIdGhpbmtpbmcSDAKqHxw6lnLa/72ukRoMgo1bGSPJpZgGd4wTIjCgDiW8NYj5dw9eX2R7fCuef9wE83c/QLKeJSGH/YpLvgudPAsEXhv7tsR1qFSlEokqkAbZY1fG1d/wdDty6JsUBsiN8pY9cSOgTxA9yDJWlXpbaQSTYP3EepT2sAs4JFeNY7KqHYtN+qlZnCa10L3B8QC6FWnIN/pGlYKSjKhnUAtQJ3JjnTjhVt1VqN453Nx1aIC+t68Mz3L71BgvXQYmulZoFoSH5InfJEScmA9a3BryVSiwZFGZyq2XA9DRT7wPT94fy2Ya/r81JHNP6U1oChH9yVw7KpONpN8PebdzyNNWtrYE4MbLpMAsHNw/To7l1KjoYSQD/iL2n6gEoTAOI13fUV9WlNtjzOl6lTAIdnOSJmD/dMawPIEORvlzMWsUbCzO3Vt8Lw2kKmNwtMwDMSxeDMbZMsWKDGisJjzPYeRTyNI2SjmH62nFRLeOyDsFQ6SZMiwhCd6t+LHHH2IAuVp+rKf5ONnqK9n7MDFhDcc3xtMqYWshrdeFqjqPP5gTGz91rDIj841D4luZ8A+DUGY/En57aI8zUfM0QldXipNQu5bECzTUbfRdZ7ZgyfYK8PvnUdhTCaQaogNYkOVaLXQsFBy2Wc9n0hhXDZOUHzhF4LfFbxAmiRl8wtofoQZ5J0CIsD1A5KOYvB92ZfE1GMR/IUOgAUZxcJwORHiKhMEVD+IXYYmPqEtSZD8NxWIi2yYVhLlR4k+HyA65OZr0OjkR4OUZxpCMZ/kfPz42u6FF5INeX6FDYvdHeHdIXzd6FvSQPUFvPCEm5tU0LSeKnFljtKDUsiiKcV7QElwUXJiemkT42HVsVV0fwkGoGm8VfXXLy6iu6sxrrYmeV7vTh+2Nx2FM7YDgNmHwuVoBDFsZmbbUIaa2Up2PeVDN8afSS8uCsHvIzFM4Fqeqn7+kFPDGsyOnQQE6HtdQd25dal1OxdPWIu8bzfT8com1HwX8nR2kabQjfyIwgNXdrBAZF+XVCFeHnwQPCWP4mcBzHD8xCqquVSzIK0eODs1MwDb5SH5dqGn35mvqiEKac25hOH6FOTFBitwTMCUzRDZSYSuBkquWLdvWlyNmaZl57UmRWGx9wGHOq9QGC0+EwnBPdWKZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U6uMLS9yeeisr7Lg9BTD9x",
      "input": {
        "note": "The descent stopped at z 0.131, so the bottle's base is on the table. I'm opening to release it standing.",
        "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_01U6uMLS9yeeisr7Lg9BTD9x",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0578, 0.841, 0.5018, -0.2428, -0.1131, -0.0822, 0.9971, 0.667, 1.5623, 0.8284, 0.0414, 0.4152, 0.2611, 0.9956]\nstate[eef_state]: left_x=0.3012 left_y=0.0061 left_z=0.149 left_yaw=0.0671 left_pitch=-0.0143 left_roll=0.0052 left_gripper=0.9971 right_x=0.3705 right_y=0.2056 right_z=0.1086 right_yaw=0.1571 right_pitch=-0.0528 right_roll=-0.035 right_gripper=0.9956\nstate[joint_eff]: [0.1026, -2.3179, 6.2427, 1.8926, -0.0513, -0.0562, -0.0122, 0.0342, -9.5795, 7.9521, 1.5995, 0.1587, 0.0806, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0293dc0f4b2d4fff414d0fa5ff3daa18431d201130c50d6eb8af3a93c323a1db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d31440cc1876ab4f862c0e416499f8b2916e7b5e34370f4f3a151e5aca2e2081",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d281f77b691f54405989765e30b4a5899735526f6daa0d1c1eb9d06ebdd5390",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 11.78 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0574, 0.8455, 0.5156, -0.2588, -0.1131, -0.0822, 0.9971, 0.6601, 1.5436, 0.9077, -0.0299, 0.4179, 0.2665, 0.4987]\nstate[eef_state]: left_x=0.3013 left_y=0.0062 left_z=0.1507 left_yaw=0.0675 left_pitch=-0.0211 left_roll=0.0061 left_gripper=0.9971 right_x=0.3797 right_y=0.2085 right_z=0.1358 right_yaw=0.1458 right_pitch=-0.0287 right_roll=-0.019 right_gripper=0.4987\nstate[joint_eff]: [0.1299, -1.6889, 6.7214, 1.9365, -0.0513, -0.0708, -0.0122, 0.0479, -8.7043, 9.8256, 1.7558, 0.3346, 0.2271, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0578, 0.8429, 0.5091, -0.2508, -0.1131, -0.0818, 0.9971, 0.6662, 1.5326, 0.8703, 0.0059, 0.4183, 0.2756, 0.4987]\nstate[eef_state]: left_x=0.3013 left_y=0.0061 left_z=0.1501 left_yaw=0.0669 left_pitch=-0.017 left_roll=0.0059 left_gripper=0.9971 right_x=0.3751 right_y=0.2082 right_z=0.1314 right_yaw=0.1467 right_pitch=-0.0203 right_roll=-0.0069 right_gripper=0.4987\nstate[joint_eff]: [-0.0205, -2.2769, 6.4479, 1.7558, -0.0708, -0.0269, -0.0122, -0.7453, -4.8068, 5.9692, 1.7705, 0.1587, -0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0578, 0.841, 0.5018, -0.2428, -0.1131, -0.0822, 0.9971, 0.667, 1.5623, 0.8284, 0.0414, 0.4152, 0.2611, 0.9956]\nstate[eef_state]: left_x=0.3012 left_y=0.0061 left_z=0.149 left_yaw=0.0671 left_pitch=-0.0143 left_roll=0.0052 left_gripper=0.9971 right_x=0.3705 right_y=0.2056 right_z=0.1086 right_yaw=0.1571 right_pitch=-0.0528 right_roll=-0.035 right_gripper=0.9956\nstate[joint_eff]: [0.1026, -2.3179, 6.2427, 1.8926, -0.0513, -0.0562, -0.0122, 0.0342, -9.5795, 7.9521, 1.5995, 0.1587, 0.0806, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0293dc0f4b2d4fff414d0fa5ff3daa18431d201130c50d6eb8af3a93c323a1db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d31440cc1876ab4f862c0e416499f8b2916e7b5e34370f4f3a151e5aca2e2081",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d281f77b691f54405989765e30b4a5899735526f6daa0d1c1eb9d06ebdd5390",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2ggKEAgSGAI4AUIIdGhpbmtpbmcSDD1lshGhKcfRgUetuBoMQVpAczMqGeNGKvKEIjB8LzXgmTFZ7vo7I0X4SfFgBf4/ZB+eoHJPOK/nj3d9Oq6JFRv7JUH6qt09bVDHFDAq9wcNbLLjjRIgsYKk5RpB2i53FBB8Qw4vYnL953XH+OJhhEhyTu9z4ZmkqEEqhAKSyg44T4K/xrDXfzwGDbuWzlYwadQGdoow4qfZyoS7fUlWJilR4zqc7jyjuRakYgN8MePzH3umloja25wZoDqmA/rlnxHD4chEEkSgjVVqCzrj0rAn/kgto0Kv75OLz1fM/SIYRibiJ+Mg7mO/eVXfA6u5KS6cNn8cd3ZQm3TpErfABm4mRj1tmltjgrrWQNRHt61R7IAUnDTIkBApepIyvhw06Te5WgUcSEVlaWVr0HuSVcClWhv7jILh8T2kFUtkqN14Hgllz4AlNmdXdFLxCLqyHZlX8XXOI4HrwO/LSgcJ2Qs4asrwBbvZiRwv5cEv+jENdntSZ7TJUHQBMHq4XIpfyzW8GqEJCH1U3LN7o2Mif5IjTI5b5g/1v3ajUQHsdkII6/CPbF2Lebp4q5h0OW6ADX10K/6z06pKmMmAwq3llssMwDRn/3lPSlcPqzgLpd8MsaCx2IozLCJDDMZI43tuDdk5r2UxjpNfIOJHTetQUhwYOFGBTcjC3c04jiWyHxcX3f/zjaIb54/6oCeWcRGV3ju4t8gg4CPoHCkCCgaSTTGqkdjP4KGUcrvDR0r24vtJh1tPwoMJkBb1TS+FnimOwtcBZkyCFuR3jp6yXAt9sCvK1qMZaISckom8VrezJjBYr4WEnsbB7/Gn47+4WsWfVASbhnmyW1g+HqbkHLOQBoUD+lwx9gZ6KoOiO8f7UUFREsmL0V7/ExILTMUqHBuzJlVtF4G7v4Q/rGX3+PIgtr0A7kDFBg2HmjFcgJMFho/gkjteIATLmgwd+poZ8mrzibO43F4rYy09ZUTE/shWugQmioCsI22prqPUObEP3ncoqkkxzCt9dgQ8VSlwcK/GIF38VArBhVCm437vnlk4ZneBNC8nopq52rT8wiKzSKoahbUzqPLpgSaujDJhsnEc3dTb47C89nigZUsE+VPkMYct4vYC0ntQIsb+Gk9bMvhVL8/mvf+9yK7ULnath6Bgn3rDfDQVXkoOnwwS5/Xuvgo21fu/HLtdEpPqz0rGX8/09NfXvsYc6Z4iB8bpSAeaCmGLvQDgUyXGEPoontlcVC/f3vUUv1VJkE+VzbGgJOc961M5OQF39ctYv5DGkqJgsGsTZJ7XNVBNsKdCH9Vejjn+M7N2Zno7JUADhfA5wHZ/6g4Z8+7RNvuvbyFS3HU6TLblcWNAaA/VUOHCTTmsyxIALtdiYibQMHUROfoRnvsAiTDMlrYnMZKf2BT97v+8Svi/AsH73zu4PTp//HULuyayOrSau0k3Z33NTeg4zsp//Xy/MAWEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H89QAi3EqmLm3mkXwnZLhv",
      "input": {
        "note": "Gripper is open, and the bottle appears to be standing just under and ahead of the jaws. I'm lifting straight up and slightly back to clear it and check.",
        "targets": {
          "right_x": 0.35,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01H89QAi3EqmLm3mkXwnZLhv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0574, 0.841, 0.498, -0.239, -0.1131, -0.0822, 0.9971, 0.7074, 1.3998, 1.3514, -0.6304, 0.4206, 0.2623, 0.9952]\nstate[eef_state]: left_x=0.3011 left_y=0.0063 left_z=0.148 left_yaw=0.0675 left_pitch=-0.0143 left_roll=0.0052 left_gripper=0.9971 right_x=0.3507 right_y=0.2097 right_z=0.2751 right_yaw=0.193 right_pitch=-0.0392 right_roll=-0.0303 right_gripper=0.9952\nstate[joint_eff]: [0.1162, -1.9077, 6.1607, 1.9023, -0.0513, -0.0952, -0.0122, 0.0479, -6.653, 9.894, 1.7998, 0.398, 0.2906, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:959be42a447b9be9b8f4c23a5d68be9882ec94f0858ddbca07dc4bdcd0636cc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9faf915084c7f4858d24c79846aa9527c1aeb189ff21d4ffcab8b63f1f34a6c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e147590fa311457460c9216ae250c7aa6dc402e4c0e3326fe756f82452509239",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 7.383 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0578, 0.8429, 0.5091, -0.2508, -0.1131, -0.0818, 0.9971, 0.6662, 1.5326, 0.8703, 0.0059, 0.4183, 0.2756, 0.4987]\nstate[eef_state]: left_x=0.3013 left_y=0.0061 left_z=0.1501 left_yaw=0.0669 left_pitch=-0.017 left_roll=0.0059 left_gripper=0.9971 right_x=0.3751 right_y=0.2082 right_z=0.1314 right_yaw=0.1467 right_pitch=-0.0203 right_roll=-0.0069 right_gripper=0.4987\nstate[joint_eff]: [-0.0205, -2.2769, 6.4479, 1.7558, -0.0708, -0.0269, -0.0122, -0.7453, -4.8068, 5.9692, 1.7705, 0.1587, -0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0578, 0.841, 0.5018, -0.2428, -0.1131, -0.0822, 0.9971, 0.667, 1.5623, 0.8284, 0.0414, 0.4152, 0.2611, 0.9956]\nstate[eef_state]: left_x=0.3012 left_y=0.0061 left_z=0.149 left_yaw=0.0671 left_pitch=-0.0143 left_roll=0.0052 left_gripper=0.9971 right_x=0.3705 right_y=0.2056 right_z=0.1086 right_yaw=0.1571 right_pitch=-0.0528 right_roll=-0.035 right_gripper=0.9956\nstate[joint_eff]: [0.1026, -2.3179, 6.2427, 1.8926, -0.0513, -0.0562, -0.0122, 0.0342, -9.5795, 7.9521, 1.5995, 0.1587, 0.0806, -0.0269]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0574, 0.841, 0.498, -0.239, -0.1131, -0.0822, 0.9971, 0.7074, 1.3998, 1.3514, -0.6304, 0.4206, 0.2623, 0.9952]\nstate[eef_state]: left_x=0.3011 left_y=0.0063 left_z=0.148 left_yaw=0.0675 left_pitch=-0.0143 left_roll=0.0052 left_gripper=0.9971 right_x=0.3507 right_y=0.2097 right_z=0.2751 right_yaw=0.193 right_pitch=-0.0392 right_roll=-0.0303 right_gripper=0.9952\nstate[joint_eff]: [0.1162, -1.9077, 6.1607, 1.9023, -0.0513, -0.0952, -0.0122, 0.0479, -6.653, 9.894, 1.7998, 0.398, 0.2906, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:959be42a447b9be9b8f4c23a5d68be9882ec94f0858ddbca07dc4bdcd0636cc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9faf915084c7f4858d24c79846aa9527c1aeb189ff21d4ffcab8b63f1f34a6c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e147590fa311457460c9216ae250c7aa6dc402e4c0e3326fe756f82452509239",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KXj7vV1k4Q6TSMSPvDig5V",
      "input": {
        "note": "The overhead view shows the right bottle standing, short and upright, at about y 0.21. I'm moving the right arm out and away from it, down to the middle bottle's shoulder at about y 0.33.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.325,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01KXj7vV1k4Q6TSMSPvDig5V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0574, 0.8391, 0.498, -0.2356, -0.1131, -0.0822, 0.9971, 0.7258, 2.1639, 1.3094, 0.2028, 0.424, 0.2695, 0.9952]\nstate[eef_state]: left_x=0.3015 left_y=0.0062 left_z=0.1493 left_yaw=0.0675 left_pitch=-0.009 left_roll=0.0046 left_gripper=0.9971 right_x=0.4629 right_y=0.3183 right_z=0.0455 right_yaw=0.205 right_pitch=-0.0146 right_roll=-0.0127 right_gripper=0.9952\nstate[joint_eff]: [0.0068, -2.1128, 6.065, 1.8926, -0.0562, -0.0952, -0.0122, 0.3624, -9.0462, 6.9128, 1.3358, 0.1832, 0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e4a30e48e9aec4defdb5107b708fef75d38cb1b6f014aa2e67eaf95c3fa1ca7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20b06070162bb92df6512ce5a86a1c05c5140ae39ea9f289c1be31c011611819",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1b36739d19f858bd3ac95654669cfa36dd343554a1d7a41b3c575c452dada28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 5.999 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0578, 0.841, 0.5018, -0.2428, -0.1131, -0.0822, 0.9971, 0.667, 1.5623, 0.8284, 0.0414, 0.4152, 0.2611, 0.9956]\nstate[eef_state]: left_x=0.3012 left_y=0.0061 left_z=0.149 left_yaw=0.0671 left_pitch=-0.0143 left_roll=0.0052 left_gripper=0.9971 right_x=0.3705 right_y=0.2056 right_z=0.1086 right_yaw=0.1571 right_pitch=-0.0528 right_roll=-0.035 right_gripper=0.9956\nstate[joint_eff]: [0.1026, -2.3179, 6.2427, 1.8926, -0.0513, -0.0562, -0.0122, 0.0342, -9.5795, 7.9521, 1.5995, 0.1587, 0.0806, -0.0269]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0574, 0.841, 0.498, -0.239, -0.1131, -0.0822, 0.9971, 0.7074, 1.3998, 1.3514, -0.6304, 0.4206, 0.2623, 0.9952]\nstate[eef_state]: left_x=0.3011 left_y=0.0063 left_z=0.148 left_yaw=0.0675 left_pitch=-0.0143 left_roll=0.0052 left_gripper=0.9971 right_x=0.3507 right_y=0.2097 right_z=0.2751 right_yaw=0.193 right_pitch=-0.0392 right_roll=-0.0303 right_gripper=0.9952\nstate[joint_eff]: [0.1162, -1.9077, 6.1607, 1.9023, -0.0513, -0.0952, -0.0122, 0.0479, -6.653, 9.894, 1.7998, 0.398, 0.2906, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0574, 0.8391, 0.498, -0.2356, -0.1131, -0.0822, 0.9971, 0.7258, 2.1639, 1.3094, 0.2028, 0.424, 0.2695, 0.9952]\nstate[eef_state]: left_x=0.3015 left_y=0.0062 left_z=0.1493 left_yaw=0.0675 left_pitch=-0.009 left_roll=0.0046 left_gripper=0.9971 right_x=0.4629 right_y=0.3183 right_z=0.0455 right_yaw=0.205 right_pitch=-0.0146 right_roll=-0.0127 right_gripper=0.9952\nstate[joint_eff]: [0.0068, -2.1128, 6.065, 1.8926, -0.0562, -0.0952, -0.0122, 0.3624, -9.0462, 6.9128, 1.3358, 0.1832, 0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e4a30e48e9aec4defdb5107b708fef75d38cb1b6f014aa2e67eaf95c3fa1ca7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20b06070162bb92df6512ce5a86a1c05c5140ae39ea9f289c1be31c011611819",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1b36739d19f858bd3ac95654669cfa36dd343554a1d7a41b3c575c452dada28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuwwKEAgSGAI4AUIIdGhpbmtpbmcSDIYes3N/3YzpB0yPMBoMiMhfQxJ4ztl9DVeVIjBVDj/LPdG1yy2GxFy1deacSRRvc5SCgl4iWefF5LFLli/Coz+ux/zJGSZZZ5z+Hi4q2AtuSaxkWNq28Kgd+O9ITvr7Qu4YxigB8rnfAB7jzulP6a7Hhb8LrcsYTlS0tWoeWXYXOwRhiy5xUuU+yuzDgbfiTD2Gucdg+GHAjpbK5P8qAIPJlpJlhZYkvYpHucUwXebu/h9bGA9Emy4GgPbSlPTq0tZRf+53PKMY+5r/JKhg2C7bYJkozIFU4sUPhyzwsJ1QW0srMTX+NOqT0biWkdbqEwynbd7am1r8aCHY4TUr4Bl0WygBLrjbcwvrGke357RaCKoAlWNg8E49ftfeHftE6rrSzAx4gFqHChhK9V2G0TLM9Vjdoi6V2DGN43sI8et7KNsEKrgtXcIcfxVwKLB79AXAAZrKdkrDyUAd1Qmt99/4iwxYaxAgv4vQmbc5EAvAgumDWYE/x808kLP6WNP9XIyP8pvvcRq3fvXw97SepkdrdCaU2sCMqZg9qc+JQHPFaefAN7WNhQsU9pK6BGk33JcfuVsU+0eW9w6NqY6kQ2aUQ2OHGENroTgq8ZwQBt2GL+LwepwPWQXdqIMOfjeZMizfH5uKPgigs0Qg7EAQqa7L2hf3t79cGdHe91flLKNWk3rfvbonS9TAaB7gC5gKwBlq3yxb8yHQTtx12LbEzKDA7Oo1e01gn8avcVFyjgb0gCwNv0XeYMispQ8Ye3+GmqGoZvQ8C9Hx4AegS5E6tHI4PDQHX7vDMATnGIizYZg4bfpw514oevnX8OLFZ5//bt3RO0mijdO8nw1QVxXshlFixF84EcbDhQkQSZ1WCMgshwtRS2TupLLxo8T62n6WtrQjRZPk2TeZ0d7UpcJzCSi6Ayo19qbYFF/qUB2CJ87XzAOpkR6+8WRivrGjmR8FIRPXm4Fg8rUj+OGwYOSnl8Th1xNmCKUHcifXW0hLOnClckO5/5knxshvWktS1jrb+hHGbjmOA7CEXt/oUhqqoC0Ig+a23f0n9zGUs4EQR7PctmJOEyy9HFWICBsiVepqe5gT19X3hNm7hNtadpmFsYFjg5TiMTdtx5t+EM6sFraZCw8udvp5CujG0c7wjHIARo48kFs37l3oiiwzoshJMCqMtjqxH3cQTD2SuEJQi/LPCBcXZAHKJBw2ZP6ZEaZUEBUYvufFk3fmTFAxBJ7BMMVlmf+IavEpWm8Dm/GMr52C2gV6zr5gfs+xxvZtwBJCh8GS9t+F4I2iouRzdg/yONZhBMZnOHWh+RUMAglYBz8QaeLCnrvTVZkBlJXzXDTp6nFKnbzPBJHjfVp6YPwzYxG0FzJqYzPso/QvrEqVtZfNuWAd+DPBjh4ezkMIc0guB6NB8deaOK2GBTAAjn5PGm+9kSIIDfW7+rfC+2DSpKd/2oE61WmyUmyMss9f1jOIl5WBo7YBysAh/opGRCL3CCAIaQLSGaH4vq1D6JYCP8pG0bK9ME1JQtb3TqABf9mNzwutAib0DYTXBuRri7giwt35LqJGoYllA0BhzTRPGIyyaHCH/xPqopyenhWxpbzhvOhGL0xumaD56K3ZgygMzX2Wo+V6x/La3WaAt62aS4xp7GhYr0QSaW2QkZ/RiwsgvWz5fg1274KL/wBOvzCRSmOPJj3RelW7jV8EeACVSnkp0B4Muq8RWZ/WxjtxJuWfVFhina2VB1M0iq0NBxwL+oOSJPKX0c+RMfbT4Vfbtl3oMSAPltcT63eCXr7W2izgj+aBy/pvIBDOubJ6n1lgsn4nF4vRnOZkyV+7fGzBc3BLAO8+XEPkBUN7tgeITR9D8bEH4qTsdYjQ6B1MEBwhQJU4qMkZw7E9AeAsR85X3JXBP2PBGhzZbRGYb2KIa6s9vWW8Qk/13wdL5Y1cYW5M1nlOYQAjyeVwXVsguglMriAPt6RWyNqTi6fc3MQF8nwWePaTxyS0fSznepj/AyiV7sJ/xhlQxDS4IR2uKF3xo8qJpDfx0krPRpqFg3lRiHhjRIssuYj0JQRFR8WTgwzou085wWNaaYkqR5g/S3/8LNBaFA01UUSWKBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TLUgd59VmVpqBWBSjn9pEv",
      "input": {
        "note": "The right wrist camera shows the middle bottle's shoulder at the far left of the jaws, so it's about 5 cm further in +y. I'm shifting left to centre it.",
        "targets": {
          "right_x": 0.475,
          "right_y": 0.37,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01TLUgd59VmVpqBWBSjn9pEv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0574, 0.8391, 0.498, -0.2359, -0.1131, -0.0822, 0.9971, 0.7849, 2.2971, 1.4963, 0.1745, 0.4492, 0.2882, 0.9951]\nstate[eef_state]: left_x=0.3014 left_y=0.0062 left_z=0.1492 left_yaw=0.0675 left_pitch=-0.0094 left_roll=0.0046 left_gripper=0.9971 right_x=0.4725 right_y=0.3686 right_z=0.0411 right_yaw=0.2338 right_pitch=0.0149 right_roll=0.0031 right_gripper=0.9951\nstate[joint_eff]: [0.0889, -2.0308, 6.2974, 1.873, -0.0757, -0.0757, -0.0122, -0.0342, -10.7282, 8.0889, 1.6044, 0.3834, 0.2271, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf842646c3c93b7530bc029e51283348ce1e41a147fd6c50d13c76e17a90340e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9994334b5c2187ebad623c6da34a6e4eb60eb7b44f9b65000a2f5f719b150355",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2621c653c78b5884906f38ee4c0fc1939c3a9b061bc572b9f73f38e6e4acb201",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /messages · status 200 · 19.06 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0574, 0.841, 0.498, -0.239, -0.1131, -0.0822, 0.9971, 0.7074, 1.3998, 1.3514, -0.6304, 0.4206, 0.2623, 0.9952]\nstate[eef_state]: left_x=0.3011 left_y=0.0063 left_z=0.148 left_yaw=0.0675 left_pitch=-0.0143 left_roll=0.0052 left_gripper=0.9971 right_x=0.3507 right_y=0.2097 right_z=0.2751 right_yaw=0.193 right_pitch=-0.0392 right_roll=-0.0303 right_gripper=0.9952\nstate[joint_eff]: [0.1162, -1.9077, 6.1607, 1.9023, -0.0513, -0.0952, -0.0122, 0.0479, -6.653, 9.894, 1.7998, 0.398, 0.2906, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0574, 0.8391, 0.498, -0.2356, -0.1131, -0.0822, 0.9971, 0.7258, 2.1639, 1.3094, 0.2028, 0.424, 0.2695, 0.9952]\nstate[eef_state]: left_x=0.3015 left_y=0.0062 left_z=0.1493 left_yaw=0.0675 left_pitch=-0.009 left_roll=0.0046 left_gripper=0.9971 right_x=0.4629 right_y=0.3183 right_z=0.0455 right_yaw=0.205 right_pitch=-0.0146 right_roll=-0.0127 right_gripper=0.9952\nstate[joint_eff]: [0.0068, -2.1128, 6.065, 1.8926, -0.0562, -0.0952, -0.0122, 0.3624, -9.0462, 6.9128, 1.3358, 0.1832, 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 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0574, 0.8391, 0.498, -0.2359, -0.1131, -0.0822, 0.9971, 0.7849, 2.2971, 1.4963, 0.1745, 0.4492, 0.2882, 0.9951]\nstate[eef_state]: left_x=0.3014 left_y=0.0062 left_z=0.1492 left_yaw=0.0675 left_pitch=-0.0094 left_roll=0.0046 left_gripper=0.9971 right_x=0.4725 right_y=0.3686 right_z=0.0411 right_yaw=0.2338 right_pitch=0.0149 right_roll=0.0031 right_gripper=0.9951\nstate[joint_eff]: [0.0889, -2.0308, 6.2974, 1.873, -0.0757, -0.0757, -0.0122, -0.0342, -10.7282, 8.0889, 1.6044, 0.3834, 0.2271, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf842646c3c93b7530bc029e51283348ce1e41a147fd6c50d13c76e17a90340e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9994334b5c2187ebad623c6da34a6e4eb60eb7b44f9b65000a2f5f719b150355",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2621c653c78b5884906f38ee4c0fc1939c3a9b061bc572b9f73f38e6e4acb201",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS+woKEAgSGAI4AUIIdGhpbmtpbmcSDDHS8Dr7x2ozp0fG0xoMz8XU6t79q58FPotnIjC6KbaylKa2CVE5cV18WI//bozvxh6sk7oMNrN9AQBqKEpLX+KiKHdQwaywolzu8oUqmAoBrRY1DBLs7BzFDAkMiNYguTN8ozBueDSM+GWnsWjlufGvWAXCtoxPne8tH6IijaBQwpBLLRiwswGTBuGnDuDL5yI0zPyLCNsmLxxcg7b42yUSKSnh+AyJTVZJbJJB8SoZ4aZ9YnTm4iJzZaZPYrNGmTSxyKSgnvybB8TJ07tYYwYlXE+wS5ZSQHpInSjTmdzVy5zQnH3uvqhAxaYMgN9z0JHRZUVU4V6s132UGKLTPCeG4si8rtKG2+CaGtSRtAPTrqkBiY9kVQDjU+3DB2gJakv6Z7UiISjgHK+A6C73oYlDLWlrCGrbMFJAgKLPqlcXc6qhQRDdpFXaylU5DUMwMLBH9LWk80ivWZS349kcO9bbS/xgF8GZTnoBQcRMWyfFmKy9MArqSN/5ajtDYgCBVRjCVTPxPx2Rr9l3yvpoSUfdFqFhCFgYlCIZxwyoZkMrJ7tbiYTN7q4ph0zkKx/WU6444bQCjRmdVrmVLFYt2ILcsWMFAhwV6MghexnYlMsgGfqJsZFKoVCCLfW/BK2tUwpVXovMTpyqTkxz3qhRgf34DI2FdhNKKoWzxm6NqPH39AJLtwGt1jEYNAzuWSyC+OINIZR6g3VcAW5KAR2G4/LKc/mrs3KsUFhICB8w/aTGlcncSoCRnJsGXvrNBNIQMDadKONV4Mu0obXMSBC248zBtSHxr/LgAUYcwLZZtrY+K+Fp6g8MQMbrfsb2Rl06bcBcTSZUj6S6B81fX4N44m0FSZEsyw74BtyVMLeXInuXyRPuOHGaORtXt9se5erJqqY2MB864QeEr+8kFqmYUmeIVy3K5h8VSUwH4nVCIrVThkOwbHr7OupqL2TATsYa3fqpMhePs02wOv13LLIgJrCqAaWlDUcU7dvR0u/yFUd2RtP7kagQI1Cn8avOwFm8l/rLepnAX2zMNcE/WmFrnCcv1MMn6lW9XAMyKmrUKnARX4fMsbHAhn/BDd2kyq/g+yzfzPo/gysYfRfM3io+LO0mI5QdD8WMDBhvvUxzxuV9XG+2atKqpLRrOyUzLza+OPHW5zXbKPiryjCT2fFGeKGlw9nrxWmgC/m2nl39Fr+VVjVgl8Q/puGiIPS+D8bMPlHo3SXjkJQ1mttHIOYjYyUZM7Xy1eDfucjNupktaYEi9S0h9Dl3WOJYubNW5OLmrzHDFVcPwMQV9rB4I8tFV9BN1NpRSVFrjVF4TKfiG837zM6nfqqayBF+xRsh3B43qr8SW9wS919eVge2k7ZcIuav/oQnNZN9H9U8gZJ4YMkz0zCZVrmxT537NW5hqQkSXeDNb3c0N1zG9rLmd8K91b1RpXSVmiVEOJ4JRlw7RLXp7NkdBpIj/Nf0Q6TDxYFp85dFNeIb0zJqzyZ7+lJVEGgxZdzWArIq7NsOLhAqauCxnoYpI7vsQ2UoD3BEf40fIzG+wfdE35DOg4gqlswT7MKS5sqc4QeXGyAtwux6WjQRbxm1kmNnmDD65AHDenf6tu3nTnsRz24wl2PXhuoxYWMQdTIzRNO874g8nsxOdgmQJo3bSfPM8Zt6u9gho9sk70/F6HPmkFxvIj7ocy3DSJ4oZFezix/2JEMm26epJGJUdRwQ1H+meYf0vGYEtkRY0MyY5pm3ix7MoGRb2+ZooKVqSC0G5CRDBrlgZeIvJ9mOuiqShT9QaFxr64nyed84Nb+HgkHMv2dqKQprdmWLo2xsZtpEEIKVQdpAbQd+siKrIlamsZwMIxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YauVS4MT1UKie9vxvETw7m",
      "input": {
        "note": "The middle bottle is now at the lower left of the right wrist view, behind the fingertips and further in +y. I'm moving back and left onto it.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.39,
          "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_01YauVS4MT1UKie9vxvETw7m",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0574, 0.8391, 0.498, -0.2359, -0.1131, -0.0822, 0.9971, 0.7918, 2.3257, 1.5066, 0.1352, 0.4522, 0.3031, 0.9952]\nstate[eef_state]: left_x=0.3014 left_y=0.0062 left_z=0.1492 left_yaw=0.0675 left_pitch=-0.0094 left_roll=0.0046 left_gripper=0.9971 right_x=0.4667 right_y=0.3679 right_z=0.0218 right_yaw=0.2299 right_pitch=-0.0332 right_roll=-0.0164 right_gripper=0.9952\nstate[joint_eff]: [0.1299, -2.0581, 6.2838, 1.8486, -0.0415, -0.0904, -0.0122, -0.4855, -12.3145, 8.3077, 1.6874, 0.3346, 0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e3dc99b630ca28cf9c555ffe6e6999c90e2e280d0cca1b9f9b670f8051f3288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:392b212519a84ebab1a38cde528bed67fbe5af0cd8ab24b7d9c698fe3a355674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66ce086360a3e04ee1547817dee1778d580e1d52e40b4522a146c741d92731bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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