adhoc

completed
2026-09-22T18:44:22.666246+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
303.3 s
total steps
269
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 caps pointing forward. Plan: grab each bottle by its neck, lift it so it hangs straight down, then set it on its base. Moving the left arm over the neck of the leftmost bottle first.
move_to
left_x0.4200left_y-0.1200left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7937, 0.6086, -0.3767, -0.0235, -0.0288, 0.9986, -0.0158, 0.7902, 0.6041, -0.3859, -0.0242, -0.0357, 0.9988] state[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1829 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2937 right_y=0.0032 right_z=0.1798 right_yaw=0.0002 right_pitch=-0.0011 right_roll=-0.0003 right_gripper=0.9988 state[joint_eff]: [-0.4171, -1.4701, 9.7299, 1.746, -0.0317, 0.1392, -0.1587, -1.0188, -1.306, 10.3179, 1.8926, -0.0024, 0.2027, -0.1441] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.12, "left_z": 0.15, "left_gripper": 1}, "note": "Three bottles lie on their sides with caps pointing forward. Plan: grab each bottle by its neck, lift it so it hangs straight down, then set it on its base. Moving the left arm over the neck of the leftmost bottle first."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe left bottle's cap is slightly left of and ahead of the jaws, and the bottle is angled. Moving forward/left and yawing so the jaws close across the neck.
move_to
left_x0.4300left_y-0.1000left_z0.1400left_yaw0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4229, 1.4811, 0.849, -0.0463, -0.3416, -0.2485, 0.9988, -0.0193, 0.7921, 0.6033, -0.4046, -0.0242, -0.036, 0.9987] state[eef_state]: left_x=0.403 left_y=-0.1125 left_z=0.1303 left_yaw=-0.0175 left_pitch=-0.0711 left_roll=0.0233 left_gripper=0.9988 right_x=0.2912 right_y=0.0023 right_z=0.1751 right_yaw=-0.003 right_pitch=-0.0225 right_roll=-0.0003 right_gripper=0.9987 state[joint_eff]: [-0.5402, -6.2154, 8.9094, 1.8828, -0.315, -0.0366, -0.1343, 0.1162, -1.3333, 6.9949, 1.917, -0.0415, -0.0122, -0.0171] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.1, "left_z": 0.14, "left_yaw": 0.35}, "note": "The left bottle's cap is slightly left of and ahead of the jaws, and the bottle is angled. Moving forward/left and yawing so the jaws close across the neck."})
tool
executing move_to over 3 steps (0.3s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteArm fell short in y and yaw; cap still left of the jaw column. Nudging further left and forward to put the neck between the jaws.
move_to
left_x0.4400left_y-0.0900left_z0.1300left_yaw0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4862, 1.6287, 0.976, -0.0887, -0.5571, -0.4438, 0.9984, -0.0193, 0.7837, 0.5846, -0.403, -0.0273, -0.0364, 0.9987] state[eef_state]: left_x=0.4244 left_y=-0.1146 left_z=0.126 left_yaw=0.1966 left_pitch=-0.0487 left_roll=0.0171 left_gripper=0.9984 right_x=0.2886 right_y=0.0028 right_z=0.1692 right_yaw=-0.0002 right_pitch=-0.0312 right_roll=0.0013 right_gripper=0.9987 state[joint_eff]: [-0.2393, -8.5675, 8.2803, 1.409, -0.4274, 0.0317, -0.0513, -0.2256, -1.6205, 6.9812, 2.0195, -0.022, -0.0562, -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": 0.44, "left_y": -0.09, "left_z": 0.13, "left_yaw": 0.35}, "note": "Arm fell short in y and yaw; cap still left of the jaw column. Nudging further left and forward to put the neck between the jaws."})
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 noteCap is now on the jaw column but still ahead of the fingertips. Descending while advancing slightly toward the neck.
move_to
left_x0.4500left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4961, 1.6623, 1.0115, -0.1402, -0.6746, -0.5549, 0.9983, -0.0193, 0.7708, 0.5556, -0.3965, -0.0273, -0.0364, 0.9987] state[eef_state]: left_x=0.4251 left_y=-0.1006 left_z=0.1264 left_yaw=0.3341 left_pitch=-0.027 left_roll=0.0188 left_gripper=0.9983 right_x=0.285 right_y=0.0029 right_z=0.1607 right_yaw=-0.0002 right_pitch=-0.0408 right_roll=0.0015 right_gripper=0.9987 state[joint_eff]: [0.1026, -8.3624, 8.5265, 1.3846, -0.4274, -0.0855, -0.0171, -0.1026, -1.894, 7.0496, 2.0928, -0.0171, -0.0562, -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": 0.45, "left_z": 0.05}, "note": "Cap is now on the jaw column but still ahead of the fingertips. Descending while advancing slightly toward the neck."})
tool
executing move_to over 5 steps (0.5s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe previous target was held (arm didn't move), likely awkward IK. Trying a plain descent at the current reach.
move_to
left_x0.4300left_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4961, 1.6623, 1.0115, -0.1402, -0.6743, -0.5545, 0.9983, -0.0193, 0.7498, 0.5186, -0.3775, -0.0277, -0.0364, 0.9987] state[eef_state]: left_x=0.4251 left_y=-0.1006 left_z=0.1264 left_yaw=0.3337 left_pitch=-0.0272 left_roll=0.0189 left_gripper=0.9983 right_x=0.2816 right_y=0.003 right_z=0.1533 right_yaw=0.0001 right_pitch=-0.0377 right_roll=0.0016 right_gripper=0.9987 state[joint_eff]: [-0.212, -8.5128, 8.5128, 1.3846, -0.4713, -0.1148, -0.0122, -0.3077, -1.7846, 6.8034, 2.0195, -0.0513, -0.0513, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_z": 0.06}, "note": "The previous target was held (arm didn't move), likely awkward IK. Trying a plain descent at the current reach."})
tool
executing move_to over 5 steps (0.5s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteJaws are over the label; the cap is ~4-5 cm further forward. Advancing to put the cap/neck between the jaws.
move_to
left_x0.4650left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4961, 1.7996, 0.8806, 0.0711, -0.6727, -0.5507, 0.9983, -0.0193, 0.7288, 0.4797, -0.3588, -0.0277, -0.0364, 0.9987] state[eef_state]: left_x=0.4182 left_y=-0.0971 left_z=0.0547 left_yaw=0.3325 left_pitch=-0.0666 left_roll=0.0632 left_gripper=0.9983 right_x=0.278 right_y=0.0031 right_z=0.1449 right_yaw=0.0001 right_pitch=-0.037 right_roll=0.0016 right_gripper=0.9987 state[joint_eff]: [0.1436, -10.6051, 6.6803, 1.79, -0.3785, 0.0659, -0.0122, -0.1162, -1.4427, 7.1863, 1.956, -0.0366, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.465, "left_z": 0.04}, "note": "Jaws are over the label; the cap is ~4-5 cm further forward. Advancing to put the cap/neck between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteCap and neck now visible just ahead of the jaws, slightly left. Advancing ~3 cm and a touch left to bring the neck between the fingertips.
move_to
left_x0.4850left_y-0.0850left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4427, 1.9388, 0.9245, 0.2634, -0.6582, -0.5301, 0.9983, -0.0193, 0.7109, 0.4458, -0.3428, -0.0277, -0.0364, 0.9987] state[eef_state]: left_x=0.4534 left_y=-0.0914 left_z=0.039 left_yaw=0.3619 left_pitch=-0.0082 left_roll=0.0025 left_gripper=0.9983 right_x=0.2748 right_y=0.0032 right_z=0.1373 right_yaw=0.0001 right_pitch=-0.037 right_roll=0.0016 right_gripper=0.9987 state[joint_eff]: [0.6222, -7.8291, 6.612, 1.4042, -0.1294, 0.1734, -0.0122, -0.1299, -1.5658, 6.8855, 2.0488, -0.0708, -0.0611, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.485, "left_y": -0.085, "left_z": 0.03}, "note": "Cap and neck now visible just ahead of the jaws, slightly left. Advancing ~3 cm and a touch left to bring the neck between the fingertips."})
tool
executing move_to over 3 steps (0.3s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe arm is at its forward reach limit and can't get to the cap. The bottle's label is between the jaws, so I'll grip the body and drag the bottle back toward the base before regrasping at the neck.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4328, 1.9579, 0.9417, 0.2855, -0.6483, -0.5243, 0.9983, -0.0193, 0.6907, 0.4118, -0.3283, -0.028, -0.036, 0.9987] state[eef_state]: left_x=0.4609 left_y=-0.0915 left_z=0.0392 left_yaw=0.3614 left_pitch=0.001 left_roll=-0.0119 left_gripper=0.9983 right_x=0.2714 right_y=0.0033 right_z=0.1299 right_yaw=0.0002 right_pitch=-0.0362 right_roll=0.0021 right_gripper=0.9987 state[joint_eff]: [0.6085, -7.6513, 6.0923, 1.5604, -0.3199, 0.0562, -0.0122, -0.1573, -1.1829, 7.0906, 1.9658, -0.0366, -0.022, -0.0122] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The arm is at its forward reach limit and can't get to the cap. The bottle's label is between the jaws, so I'll grip the body and drag the bottle back toward the base before regrasping at the neck."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteGripper settled at 0.43, so it's holding the bottle body. Dragging the bottle ~10 cm back toward the base so the neck comes within reach.
move_to
left_x0.3600left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4324, 1.9579, 0.9417, 0.318, -0.6701, -0.5243, 0.4297, -0.0193, 0.6674, 0.3786, -0.3134, -0.028, -0.036, 0.9987] state[eef_state]: left_x=0.4647 left_y=-0.0897 left_z=0.0459 left_yaw=0.3784 left_pitch=0.0338 left_roll=-0.0253 left_gripper=0.4297 right_x=0.2681 right_y=0.0034 right_z=0.1236 right_yaw=0.0002 right_pitch=-0.0312 right_roll=0.002 right_gripper=0.9987 state[joint_eff]: [-0.3077, -9.388, 5.9556, 1.0818, -0.0952, 0.022, 1.0281, -0.1162, -0.9641, 7.2137, 1.9463, -0.0708, -0.0269, -0.0122] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_z": 0.05}, "note": "Gripper settled at 0.43, so it's holding the bottle body. Dragging the bottle ~10 cm back toward the base so the neck comes within reach."})
tool
executing move_to over 9 steps (0.9s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteBottle was dragged back with the gripper. Releasing and lifting slightly so I can regrasp further forward at the neck.
move_to
left_gripper1.0000left_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5842, 1.6745, 0.6441, 0.2379, -0.7666, -0.6601, 0.4308, -0.0193, 0.6476, 0.3485, -0.2977, -0.028, -0.0364, 0.9987] state[eef_state]: left_x=0.3727 left_y=-0.0952 left_z=0.055 left_yaw=0.3668 left_pitch=0.0233 left_roll=-0.0279 left_gripper=0.4308 right_x=0.2655 right_y=0.0034 right_z=0.1179 right_yaw=0.0004 right_pitch=-0.0259 right_roll=0.0016 right_gripper=0.9987 state[joint_eff]: [-0.4991, -7.3778, 4.6701, 1.1551, -0.2906, -0.149, 0.1001, -0.2803, -0.4444, 7.1316, 1.9121, -0.0464, -0.0562, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.08}, "note": "Bottle was dragged back with the gripper. Releasing and lifting slightly so I can regrasp further forward at the neck."})
tool
executing move_to over 6 steps (0.6s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteCap now sits just ahead of the jaws, almost on the jaw column. Advancing ~5 cm and descending so the neck/cap is between the fingertips.
move_to
left_x0.4200left_y-0.0970left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5869, 1.6344, 0.6918, 0.0757, -0.767, -0.6811, 0.9945, -0.0193, 0.6334, 0.3248, -0.2905, -0.0277, -0.0364, 0.9987] state[eef_state]: left_x=0.3672 left_y=-0.0927 left_z=0.0622 left_yaw=0.3755 left_pitch=-0.0193 left_roll=0.0152 left_gripper=0.9945 right_x=0.2628 right_y=0.0034 right_z=0.1121 right_yaw=0.0001 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9987 state[joint_eff]: [0.1983, -9.0598, 8.0752, 1.1453, -0.2759, 0.2613, 0.0415, -0.0615, -0.7316, 6.9675, 1.9121, -0.022, -0.0659, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.097, "left_z": 0.035}, "note": "Cap now sits just ahead of the jaws, almost on the jaw column. Advancing ~5 cm and descending so the neck/cap is between the fingertips."})
tool
executing move_to over 5 steps (0.5s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteCap is just ahead of the jaws; the neck/shoulder should be between the fingertips. Closing to check what width I grab (≈0.3 means neck, ≈0.6 means body).
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5224, 1.8416, 0.7902, 0.247, -0.7368, -0.6327, 0.9956, -0.0193, 0.614, 0.3016, -0.2878, -0.028, -0.0364, 0.9987] state[eef_state]: left_x=0.4109 left_y=-0.0955 left_z=0.0389 left_yaw=0.3933 left_pitch=-0.0008 left_roll=-0.0077 left_gripper=0.9956 right_x=0.2596 right_y=0.0035 right_z=0.1067 right_yaw=0.0004 right_pitch=-0.0293 right_roll=0.0017 right_gripper=0.9987 state[joint_eff]: [0.6906, -7.1726, 5.8051, 1.1648, -0.1392, 0.1245, 0.1001, -0.1162, -0.5949, 6.9949, 2.0049, -0.0562, -0.0708, -0.0122] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Cap is just ahead of the jaws; the neck/shoulder should be between the fingertips. Closing to check what width I grab (\u22480.3 means neck, \u22480.6 means body)."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteEmpty close: the jaws closed just short of the cap, which is ~1.5 cm further out and slightly right. Opening and shifting over the cap before descending.
move_to
left_gripper1.0000left_x0.4450left_y-0.1000left_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5106, 1.8622, 0.82, 0.3508, -0.7658, -0.6048, 0.0117, -0.0193, 0.5934, 0.2756, -0.2829, -0.028, -0.0364, 0.9987] state[eef_state]: left_x=0.431 left_y=-0.097 left_z=0.0578 left_yaw=0.4147 left_pitch=0.0837 left_roll=-0.0615 left_gripper=0.0117 right_x=0.2564 right_y=0.0036 right_z=0.1008 right_yaw=0.0004 right_pitch=-0.0297 right_roll=0.0017 right_gripper=0.9987 state[joint_eff]: [0.0342, -7.0769, 4.5607, 0.7741, 0.2027, 0.0269, 0.735, -0.2803, -0.5538, 7.0906, 2.0098, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.445, "left_y": -0.1, "left_z": 0.06}, "note": "Empty close: the jaws closed just short of the cap, which is ~1.5 cm further out and slightly right. Opening and shifting over the cap before descending."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteCap is now just ahead of the jaws and a bit to the right. Shifting right ~1 cm, forward ~2 cm, and down to cap height.
move_to
left_x0.4550left_y-0.1080left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4969, 1.8832, 0.9371, 0.1219, -0.7414, -0.6292, 0.9944, -0.0193, 0.5732, 0.2493, -0.2714, -0.0277, -0.036, 0.9987] state[eef_state]: left_x=0.4359 left_y=-0.0966 left_z=0.0527 left_yaw=0.4202 left_pitch=-0.0102 left_roll=0.013 left_gripper=0.9944 right_x=0.254 right_y=0.0036 right_z=0.0959 right_yaw=-0.0001 right_pitch=-0.0244 right_roll=0.0017 right_gripper=0.9987 state[joint_eff]: [0.4991, -7.9521, 8.7179, 1.3504, -0.2857, 0.0562, -0.2271, -0.0752, -0.3624, 6.9949, 1.8828, -0.0269, -0.0122, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.455, "left_y": -0.108, "left_z": 0.03}, "note": "Cap is now just ahead of the jaws and a bit to the right. Shifting right ~1 cm, forward ~2 cm, and down to cap height."})
tool
executing move_to over 2 steps (0.2s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteCap still appears right of the jaw column and just beyond the tips. Shifting right and a little forward/down.
move_to
left_x0.4600left_y-0.1180left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4969, 1.9503, 0.9699, 0.1627, -0.7486, -0.6327, 0.9958, -0.0193, 0.5613, 0.2371, -0.2676, -0.0277, -0.036, 0.9987] state[eef_state]: left_x=0.4463 left_y=-0.1011 left_z=0.0417 left_yaw=0.427 left_pitch=-0.0021 left_roll=0.0081 left_gripper=0.9958 right_x=0.2528 right_y=0.0036 right_z=0.0939 right_yaw=-0.0001 right_pitch=-0.0209 right_roll=0.0016 right_gripper=0.9987 state[joint_eff]: [-0.335, -8.1983, 6.1607, 1.1453, -0.2515, -0.0464, 0.1343, -0.2803, -0.1162, 6.8308, 1.8926, -0.0513, -0.0269, -0.0122] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.118, "left_z": 0.025}, "note": "Cap still appears right of the jaw column and just beyond the tips. Shifting right and a little forward/down."})
tool
executing move_to over 2 steps (0.2s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteCap is centred on the jaw column with the neck running down between the jaws. Closing on the neck.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5114, 2.0171, 1.0195, 0.2081, -0.754, -0.6518, 0.9961, -0.0193, 0.5529, 0.2272, -0.2676, -0.0277, -0.036, 0.9987] state[eef_state]: left_x=0.4598 left_y=-0.1152 left_z=0.0358 left_yaw=0.4265 left_pitch=0.0179 left_roll=-0.0285 left_gripper=0.9961 right_x=0.2514 right_y=0.0036 right_z=0.0913 right_yaw=-0.0001 right_pitch=-0.0225 right_roll=0.0016 right_gripper=0.9987 state[joint_eff]: [-0.7179, -7.9111, 6.7487, 1.1746, -0.3736, 0.0855, 0.0269, -0.2803, -0.6632, 6.5026, 1.9219, 0.0122, -0.0513, -0.0122] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Cap is centred on the jaw column with the neck running down between the jaws. Closing on the neck."})
tool
executing move_to over 10 steps (1.0s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteSecond empty close — the jaws seem to ride up over the cap. Reopening above the cap so I can descend lower (fingertips near the table) before closing.
move_to
left_gripper1.0000left_x0.4620left_y-0.1150left_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5156, 2.0296, 1.0557, 0.255, -0.8169, -0.6579, 0.0129, -0.0193, 0.5354, 0.21, -0.268, -0.0277, -0.0364, 0.9987] state[eef_state]: left_x=0.4725 left_y=-0.1156 left_z=0.0542 left_yaw=0.4734 left_pitch=0.0934 left_roll=-0.0672 left_gripper=0.0129 right_x=0.249 right_y=0.0037 right_z=0.0875 right_yaw=0.0001 right_pitch=-0.0225 right_roll=0.0013 right_gripper=0.9987 state[joint_eff]: [-0.3761, -8.3761, 4.588, 0.7009, 0.2759, 0.0171, 1.1013, -0.1026, -0.0205, 6.7624, 1.8974, -0.0122, -0.0659, -0.0122] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.462, "left_y": -0.115, "left_z": 0.06}, "note": "Second empty close \u2014 the jaws seem to ride up over the cap. Reopening above the cap so I can descend lower (fingertips near the table) before closing."})
tool
executing move_to over 10 steps (1.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteCap is right at the bottom of the wrist view, ~1 cm right of the jaw column. Shifting right and descending low so the fingers straddle the cap.
move_to
left_y-0.1270left_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5167, 2.0289, 1.137, 0.009, -0.791, -0.7116, 0.9942, -0.0193, 0.5205, 0.1917, -0.268, -0.0277, -0.036, 0.9987] state[eef_state]: left_x=0.4644 left_y=-0.1153 left_z=0.0458 left_yaw=0.4777 left_pitch=-0.0125 left_roll=0.0133 left_gripper=0.9942 right_x=0.2465 right_y=0.0037 right_z=0.0825 right_yaw=-0.0001 right_pitch=-0.0259 right_roll=0.0017 right_gripper=0.9987 state[joint_eff]: [-0.5538, -13.8872, 4.7111, 1.1746, -0.3492, 0.022, -0.0562, -0.2393, -0.1846, 6.8718, 1.8779, -0.0073, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.127, "left_z": 0.015}, "note": "Cap is right at the bottom of the wrist view, ~1 cm right of the jaw column. Shifting right and descending low so the fingers straddle the cap."})
tool
executing move_to over 2 steps (0.2s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteDescent stopped at z≈0.037 with the cap centred just under the jaws. Closing to try to pinch the cap.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5274, 2.0682, 1.1374, 0.0711, -0.8028, -0.7269, 0.9956, -0.0193, 0.5049, 0.178, -0.2646, -0.028, -0.036, 0.9987] state[eef_state]: left_x=0.4687 left_y=-0.1218 left_z=0.0374 left_yaw=0.4828 left_pitch=0.0077 left_roll=-0.0144 left_gripper=0.9956 right_x=0.2452 right_y=0.0038 right_z=0.0805 right_yaw=0.0002 right_pitch=-0.0206 right_roll=0.0018 right_gripper=0.9987 state[joint_eff]: [-0.7863, -8.335, 4.6838, 0.8864, -0.4371, 0.1001, 0.1197, -0.0068, 0.2803, 6.9675, 1.9023, -0.0659, -0.0513, -0.0122] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Descent stopped at z\u22480.037 with the cap centred just under the jaws. Closing to try to pinch the cap."})
tool
executing move_to over 10 steps (1.0s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThird empty close; the fingers seem to be landing on top of the cap/neck. Reopening and backing off ~2 cm to re-approach lower over the neck.
move_to
left_gripper1.0000left_x0.4500left_y-0.1200left_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5278, 2.0624, 1.1534, 0.0975, -0.8539, -0.7341, 0.0131, -0.0193, 0.4889, 0.1642, -0.2668, -0.0277, -0.036, 0.9987] state[eef_state]: left_x=0.4755 left_y=-0.1189 left_z=0.0534 left_yaw=0.5213 left_pitch=0.0649 left_roll=-0.0423 left_gripper=0.0131 right_x=0.2433 right_y=0.0038 right_z=0.0773 right_yaw=-0.0001 right_pitch=-0.0206 right_roll=0.0016 right_gripper=0.9987 state[joint_eff]: [0.1709, -9.8393, 5.4359, 0.8327, 0.1587, 0.0317, 1.0916, -0.2393, 0.0205, 6.7487, 1.8926, -0.0269, -0.0757, -0.0122] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.45, "left_y": -0.12, "left_z": 0.07}, "note": "Third empty close; the fingers seem to be landing on top of the cap/neck. Reopening and backing off ~2 cm to re-approach lower over the neck."})
tool
executing move_to over 10 steps (1.0s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteWrist view shows the cap and neck at the bottom, about 1 cm right of the jaw column. Shifting right and descending to straddle the neck.
move_to
left_y-0.1300left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5507, 2.0121, 1.1687, -0.1131, -0.8349, -0.7975, 0.9951, -0.0193, 0.4728, 0.1482, -0.268, -0.0277, -0.036, 0.9987] state[eef_state]: left_x=0.4532 left_y=-0.1204 left_z=0.0536 left_yaw=0.5174 left_pitch=-0.0191 left_roll=0.0225 left_gripper=0.9951 right_x=0.2412 right_y=0.0038 right_z=0.0733 right_yaw=-0.0001 right_pitch=-0.0217 right_roll=0.0016 right_gripper=0.9987 state[joint_eff]: [-0.8274, -13.8735, 4.7658, 1.0525, -0.4811, -0.0659, -0.2125, -0.0752, 0.0889, 7.0222, 1.8828, -0.0122, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.13, "left_z": 0.02}, "note": "Wrist view shows the cap and neck at the bottom, about 1 cm right of the jaw column. Shifting right and descending to straddle the neck."})
tool
executing move_to over 3 steps (0.3s)
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 noteDescent stopped at z≈0.046 with the cap right at the jaws. Closing here to try to pinch the neck/cap.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5602, 2.0594, 1.1545, -0.0181, -0.8955, -0.7853, 0.9963, -0.0193, 0.4549, 0.1326, -0.268, -0.028, -0.036, 0.9987] state[eef_state]: left_x=0.4576 left_y=-0.12 left_z=0.0457 left_yaw=0.5372 left_pitch=0.0397 left_roll=0.0262 left_gripper=0.9963 right_x=0.2394 right_y=0.0039 right_z=0.0702 right_yaw=0.0002 right_pitch=-0.0194 right_roll=0.0018 right_gripper=0.9987 state[joint_eff]: [-1.2513, -7.2274, 3.9179, 1.2576, 0.5885, -0.359, 0.105, -0.253, 0.2256, 6.9675, 1.917, -0.0611, -0.0806, -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_gripper": 0.0}, "note": "Descent stopped at z\u22480.046 with the cap right at the jaws. Closing here to try to pinch the neck/cap."})
tool
executing move_to over 10 steps (1.0s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteEmpty again; the cap now sits to the right of the closed jaw tip at about fingertip level. Reopening and shifting right ~2 cm to centre it.
move_to
left_gripper1.0000left_y-0.1350left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5438, 2.0464, 1.1641, -0.0151, -0.8982, -0.8162, 0.0117, -0.0193, 0.4374, 0.1177, -0.2684, -0.0277, -0.036, 0.9987] state[eef_state]: left_x=0.4629 left_y=-0.1142 left_z=0.0549 left_yaw=0.5728 left_pitch=0.0532 left_roll=-0.0227 left_gripper=0.0117 right_x=0.2378 right_y=0.0039 right_z=0.0671 right_yaw=-0.0001 right_pitch=-0.0171 right_roll=0.0015 right_gripper=0.9987 state[joint_eff]: [-0.5812, -10.6598, 5.7915, 0.7839, 0.1001, -0.0464, 0.9744, -0.1162, 0.1026, 6.8444, 1.8291, -0.0562, -0.0464, -0.0073] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_y": -0.135, "left_z": 0.05}, "note": "Empty again; the cap now sits to the right of the closed jaw tip at about fingertip level. Reopening and shifting right ~2 cm to centre it."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
assistant
agent noteNow the cap is visible between the open jaws with the bottle body angled toward lower-left, so the jaws aren't perpendicular to the bottle. Yawing back toward 0.1 to square up on the neck and descending.
move_to
left_yaw0.1000left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5732, 2.0762, 1.2507, -0.1768, -0.8829, -0.8963, 0.9942, -0.0193, 0.4232, 0.1055, -0.2691, -0.0277, -0.0364, 0.9987] state[eef_state]: left_x=0.4592 left_y=-0.1297 left_z=0.0502 left_yaw=0.575 left_pitch=-0.0026 left_roll=-0.0018 left_gripper=0.9942 right_x=0.2364 right_y=0.0039 right_z=0.0644 right_yaw=0.0001 right_pitch=-0.016 right_roll=0.0012 right_gripper=0.9987 state[joint_eff]: [-0.7453, -9.1145, 8.4855, 0.9646, -0.4518, -0.0073, -0.0073, -0.0615, 0.0342, 6.8308, 1.8046, 0.0122, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_yaw": 0.1, "left_z": 0.035}, "note": "Now the cap is visible between the open jaws with the bottle body angled toward lower-left, so the jaws aren't perpendicular to the bottle. Yawing back toward 0.1 to square up on the neck and descending."})
tool
executing move_to over 4 steps (0.4s)
step 157
assistant
agent noteWrist view is clear now: the bottle body is between the jaws and the cap is ~5 cm further out, beyond comfortable reach. Gripping the body to drag the bottle back toward the base.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4683, 1.9549, 0.9112, 0.2947, -0.617, -0.5014, 0.9955, -0.0193, 0.4099, 0.0959, -0.271, -0.028, -0.036, 0.9987] state[eef_state]: left_x=0.4501 left_y=-0.1091 left_z=0.0295 left_yaw=0.2906 left_pitch=-0.0269 left_roll=0.0051 left_gripper=0.9955 right_x=0.2353 right_y=0.004 right_z=0.0626 right_yaw=0.0002 right_pitch=-0.0141 right_roll=0.0017 right_gripper=0.9987 state[joint_eff]: [0.253, -9.0735, 4.7795, 1.3553, -0.0904, 0.1929, 0.1245, 0.0342, 0.1983, 6.7214, 1.8046, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Wrist view is clear now: the bottle body is between the jaws and the cap is ~5 cm further out, beyond comfortable reach. Gripping the body to drag the bottle back toward the base."})
tool
executing move_to over 10 steps (1.0s)
step 167
assistant
agent noteThe left bottle's neck is beyond the left arm's reach and my grasps keep coming up empty, so I'm parking the left arm. Next I'll try the rightmost bottle with the right arm, starting over its lower body.
move_to
left_gripper1.0000left_x0.3000left_y0.0000left_z0.1800left_yaw0.0000right_x0.4000right_y0.1700right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4698, 1.948, 0.9024, 0.4412, -0.6682, -0.4988, 0.0127, -0.0193, 0.3985, 0.0914, -0.2714, -0.028, -0.0364, 0.9987] state[eef_state]: left_x=0.4648 left_y=-0.1092 left_z=0.0571 left_yaw=0.3304 left_pitch=0.0985 left_roll=-0.0714 left_gripper=0.0127 right_x=0.2351 right_y=0.004 right_z=0.0629 right_yaw=0.0004 right_pitch=-0.0076 right_roll=0.0012 right_gripper=0.9987 state[joint_eff]: [-0.1436, -8.4034, 4.506, 0.7253, 0.1832, 0.0708, 1.1062, -0.0205, 0.1436, 6.4205, 1.8046, -0.022, -0.0806, -0.0122] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.3, "left_y": 0.0, "left_z": 0.18, "left_yaw": 0.0, "right_x": 0.4, "right_y": 0.17, "right_z": 0.12, "right_gripper": 1.0}, "note": "The left bottle's neck is beyond the left arm's reach and my grasps keep coming up empty, so I'm parking the left arm. Next I'll try the rightmost bottle with the right arm, starting over its lower body."})
tool
executing move_to over 14 steps (1.4s)
step 181
assistant
agent noteRight wrist view shows the rightmost bottle straight ahead, its body running between the jaws and the cap far out. Shifting slightly right and descending to grip the body so I can drag it back.
move_to
right_y0.1580right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0555, 0.844, 0.5842, -0.2646, -0.1196, -0.1024, 0.9966, 0.5735, 1.5635, 0.8001, 0.0704, 0.4274, 0.2771, 0.9988] state[eef_state]: left_x=0.3103 left_y=0.0075 left_z=0.1816 left_yaw=0.0855 left_pitch=0.0418 left_roll=-0.0164 left_gripper=0.9966 right_x=0.3858 right_y=0.1663 right_z=0.1027 right_yaw=0.0447 right_pitch=-0.0496 right_roll=-0.0288 right_gripper=0.9988 state[joint_eff]: [0.1983, -1.1829, 8.6085, 1.8632, 0.0611, 0.3346, -0.0562, -0.0205, -6.8718, 8.1983, 1.7118, 0.4908, 0.2759, -0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.158, "right_z": 0.03}, "note": "Right wrist view shows the rightmost bottle straight ahead, its body running between the jaws and the cap far out. Shifting slightly right and descending to grip the body so I can drag it back."})
tool
executing move_to over 5 steps (0.5s)
step 186
assistant
agent noteBottle body fills the view between the jaws and the gripper sits over the bottle's lower half. Closing to grip the body.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0624, 0.8787, 0.5995, -0.3408, -0.1207, -0.0895, 0.997, 0.5549, 1.7588, 0.606, 0.416, 0.4137, 0.2646, 0.9987] state[eef_state]: left_x=0.3044 left_y=0.0059 left_z=0.1629 left_yaw=0.0727 left_pitch=-0.053 left_roll=0.0083 left_gripper=0.997 right_x=0.3716 right_y=0.151 right_z=0.0162 right_yaw=0.0422 right_pitch=-0.0922 right_roll=-0.053 right_gripper=0.9987 state[joint_eff]: [-0.1846, -2.3453, 9.3333, 1.8291, -0.0904, -0.1392, 0.0317, -0.6769, -6.8991, 4.8479, 1.9756, 0.0513, -0.0415, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Bottle body fills the view between the jaws and the gripper sits over the bottle's lower half. Closing to grip the body."})
tool
executing move_to over 10 steps (1.0s)
step 196
assistant
agent noteGripper settled at 0.52 (~5 cm), so the bottle body is held. Dragging it ~12 cm back toward the base so the neck comes within reach.
move_to
right_x0.2500right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0624, 0.8513, 0.5488, -0.2871, -0.1207, -0.0891, 0.9971, 0.5568, 1.7851, 0.5243, 0.6064, 0.4076, 0.2577, 0.516] state[eef_state]: left_x=0.3029 left_y=0.006 left_z=0.1585 left_yaw=0.0723 left_pitch=-0.0228 left_roll=0.0045 left_gripper=0.9971 right_x=0.3683 right_y=0.151 right_z=0.0137 right_yaw=0.055 right_pitch=-0.0222 right_roll=-0.0151 right_gripper=0.516 state[joint_eff]: [-0.3077, -2.1812, 6.735, 1.9414, -0.0952, -0.0757, -0.0073, -0.4308, -6.2427, 4.3419, 1.9316, 0.1734, 0.0171, 1.0281] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_z": 0.025}, "note": "Gripper settled at 0.52 (~5 cm), so the bottle body is held. Dragging it ~12 cm back toward the base so the neck comes within reach."})
tool
executing move_to over 10 steps (1.0s)
step 206
assistant
agent noteBottle dragged back ~12 cm (overhead view confirms). Releasing and lifting so I can move over the neck.
move_to
right_gripper1.0000right_z0.0900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0624, 0.8429, 0.5316, -0.2684, -0.1207, -0.0891, 0.9971, 0.9047, 1.4284, 0.2226, 0.4156, 0.6209, 0.4843, 0.5197] state[eef_state]: left_x=0.3024 left_y=0.006 left_z=0.1569 left_yaw=0.0723 left_pitch=-0.013 left_roll=0.0032 left_gripper=0.9971 right_x=0.2489 right_y=0.1561 right_z=0.0141 right_yaw=0.1128 right_pitch=-0.0454 right_roll=-0.0227 right_gripper=0.5197 state[joint_eff]: [0.0342, -2.1402, 6.5709, 1.9267, -0.0562, -0.0659, -0.0171, 0.1026, -4.9436, 4.9983, 1.9853, 0.5397, 0.0562, 0.7546] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.09}, "note": "Bottle dragged back ~12 cm (overhead view confirms). Releasing and lifting so I can move over the neck."})
tool
executing move_to over 5 steps (0.5s)
step 211
assistant
agent noteBottle now lies straight ahead with the cap near the top of the wrist view. Advancing toward the neck, staying a bit above it.
move_to
right_x0.3700right_y0.1550right_z0.0800right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0624, 0.8413, 0.5312, -0.2661, -0.1204, -0.0891, 0.9971, 0.9161, 1.0893, 0.3351, 0.0586, 0.6273, 0.4767, 0.995] state[eef_state]: left_x=0.3026 left_y=0.0059 left_z=0.1576 left_yaw=0.072 left_pitch=-0.0096 left_roll=0.0025 left_gripper=0.9971 right_x=0.2506 right_y=0.162 right_z=0.0856 right_yaw=0.1243 right_pitch=0.0244 right_roll=0.0352 right_gripper=0.995 state[joint_eff]: [-0.0068, -1.7846, 6.0786, 1.9414, -0.0562, -0.0269, -0.0171, -0.1573, -2.5915, 7.8564, 1.4335, 0.3639, -0.0024, -0.2369] 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_x": 0.37, "right_y": 0.155, "right_z": 0.08, "right_yaw": 0.0}, "note": "Bottle now lies straight ahead with the cap near the top of the wrist view. Advancing toward the neck, staying a bit above it."})
tool
executing move_to over 10 steps (1.0s)
step 221
assistant
agent noteThe last move was held (arm didn't advance). Retrying the advance with the current yaw and a bit more height.
move_to
right_x0.3400right_z0.1200right_yaw0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0624, 0.841, 0.524, -0.2657, -0.1207, -0.0891, 0.9971, 0.9161, 1.0706, 0.3565, -0.0563, 0.6273, 0.474, 0.995] state[eef_state]: left_x=0.3015 left_y=0.0061 left_z=0.1545 left_yaw=0.0723 left_pitch=-0.016 left_roll=0.0036 left_gripper=0.9971 right_x=0.2443 right_y=0.1539 right_z=0.0803 right_yaw=0.1256 right_pitch=-0.0282 right_roll=-0.0203 right_gripper=0.995 state[joint_eff]: [-0.0068, -2.0444, 6.8718, 1.8437, -0.0562, -0.0855, -0.0122, -0.2667, -2.947, 7.4598, 1.5946, 0.2906, 0.0024, -0.0073] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_z": 0.12, "right_yaw": 0.12}, "note": "The last move was held (arm didn't advance). Retrying the advance with the current yaw and a bit more height."})
tool
executing move_to over 8 steps (0.8s)
step 229
assistant
agent noteCap and neck are centred on the jaw column a few cm ahead; label is at the bottom of the view. Advancing ~5 cm and descending to neck height.
move_to
right_x0.3750right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0624, 0.8364, 0.5148, -0.2596, -0.1207, -0.0887, 0.9971, 0.6098, 1.2926, 0.5632, 0.0433, 0.4004, 0.2523, 0.9945] state[eef_state]: left_x=0.3007 left_y=0.0061 left_z=0.1529 left_yaw=0.0721 left_pitch=-0.0145 left_roll=0.0037 left_gripper=0.9971 right_x=0.3246 right_y=0.1472 right_z=0.1 right_yaw=0.1162 right_pitch=-0.0521 right_roll=-0.0306 right_gripper=0.9945 state[joint_eff]: [-0.1299, -1.8667, 6.8034, 1.8486, -0.0757, -0.0464, -0.0171, -0.4308, -4.3692, 8.8684, 1.8974, 0.1685, 0.022, -0.0659] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_z": 0.035}, "note": "Cap and neck are centred on the jaw column a few cm ahead; label is at the bottom of the view. Advancing ~5 cm and descending to neck height."})
tool
executing move_to over 5 steps (0.5s)
step 234
assistant
agent noteArm fell short; the label is still under the jaws with the neck ~4 cm ahead. Advancing further to the neck.
move_to
right_x0.4000right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0624, 0.8314, 0.5049, -0.2588, -0.1207, -0.0891, 0.9971, 0.511, 1.6646, 0.5018, 0.4572, 0.3206, 0.1905, 0.9945] state[eef_state]: left_x=0.2991 left_y=0.0062 left_z=0.1499 left_yaw=0.0723 left_pitch=-0.0187 left_roll=0.0039 left_gripper=0.9971 right_x=0.3553 right_y=0.1395 right_z=0.0198 right_yaw=0.1148 right_pitch=-0.0922 right_roll=-0.0424 right_gripper=0.9945 state[joint_eff]: [-0.0205, -1.7436, 6.7761, 1.8779, -0.0855, -0.0513, -0.0122, -0.2667, -5.9966, 6.8171, 1.7851, 0.0171, 0.2173, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_z": 0.03}, "note": "Arm fell short; the label is still under the jaws with the neck ~4 cm ahead. Advancing further to the neck."})
tool
executing move_to over 4 steps (0.4s)
step 238
assistant
agent noteJaws are around the bottle's shoulder just below the neck. Closing to grip there, then I'll lift the cap end so the bottle pivots up onto its base.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0624, 0.8295, 0.498, -0.2577, -0.1207, -0.0891, 0.9971, 0.4492, 1.758, 0.5514, 0.5995, 0.2523, 0.1509, 0.9945] state[eef_state]: left_x=0.2981 left_y=0.0063 left_z=0.1475 left_yaw=0.0723 left_pitch=-0.0224 left_roll=0.0044 left_gripper=0.9971 right_x=0.3875 right_y=0.1418 right_z=0.0264 right_yaw=0.1326 right_pitch=-0.0146 right_roll=-0.0011 right_gripper=0.9945 state[joint_eff]: [0.0205, -2.2496, 6.188, 1.9365, -0.0659, -0.0562, -0.0122, -0.9094, -5.6957, 6.5983, 1.6923, 0.2076, 0.1099, -0.0122] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Jaws are around the bottle's shoulder just below the neck. Closing to grip there, then I'll lift the cap end so the bottle pivots up onto its base."})
tool
executing move_to over 10 steps (1.0s)
step 248
assistant
agent noteEmpty close: the cap sits just beyond the closed jaw tips. Reopening and advancing ~2 cm and lower so the neck is between the fingers.
move_to
right_gripper1.0000right_x0.4250right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0624, 0.828, 0.4847, -0.2424, -0.1207, -0.0887, 0.9971, 0.437, 1.7645, 0.5945, 0.6819, 0.2455, 0.1375, 0.0181] state[eef_state]: left_x=0.298 left_y=0.0063 left_z=0.145 left_yaw=0.0721 left_pitch=-0.019 left_roll=0.0043 left_gripper=0.9971 right_x=0.4108 right_y=0.1485 right_z=0.0559 right_yaw=0.1319 right_pitch=0.0979 right_roll=0.0272 right_gripper=0.0181 state[joint_eff]: [-0.0479, -2.1402, 6.2974, 1.917, -0.105, -0.0562, -0.0122, -0.7179, -6.0103, 4.7385, 0.9988, 0.0952, 0.1197, 0.7888] 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_gripper": 1.0, "right_x": 0.425, "right_z": 0.025}, "note": "Empty close: the cap sits just beyond the closed jaw tips. Reopening and advancing ~2 cm and lower so the neck is between the fingers."})
tool
executing move_to over 10 steps (1.0s)
step 258
assistant
agent noteThe neck is now between the open jaws with the cap just beyond. Closing while pressing slightly lower to pinch the neck.
move_to
right_gripper0.0000right_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0624, 0.828, 0.4808, -0.2356, -0.1207, -0.0891, 0.9971, 0.4252, 1.8389, 0.6785, 0.6067, 0.2306, 0.1135, 0.9948] state[eef_state]: left_x=0.2983 left_y=0.0063 left_z=0.1446 left_yaw=0.0723 left_pitch=-0.016 left_roll=0.0036 left_gripper=0.9971 right_x=0.424 right_y=0.1516 right_z=0.0387 right_yaw=0.1467 right_pitch=0.0333 right_roll=-0.0057 right_gripper=0.9948 state[joint_eff]: [-0.0479, -2.441, 5.9692, 1.873, -0.0952, -0.0611, -0.0122, -0.9915, -4.9573, 6.4752, 1.5409, -0.022, 0.149, -0.2173] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0, "right_z": 0.02}, "note": "The neck is now between the open jaws with the cap just beyond. Closing while pressing slightly lower to pinch the neck."})
tool
executing move_to over 10 steps (1.0s)
step 268
assistant
agent noteI'm nearly out of calls and no bottle is standing. All three bottles lie on their side with the caps pointing forward at x ≈ 0.45–0.55. Both arms reach the table only to about x ≈ 0.43–0.47 at low z. Every attempt to pinch a neck or cap came up empty: 7 empty closes in total, including the last one. On every close the grasp point rose 1.5–2.5 cm and the wrist pitched about 0.1 rad, so the jaws rode up over the narrow neck. Two body grasps did work: the left arm dragged its bottle about 10 cm back, and the right arm dragged its bottle about 12 cm back. The right bottle still wasn't grasped at the neck.
give_up
hindsight- Pitch and roll are pinned, so a lying bottle can't be turned upright in the gripper. The only plan I found was: pinch the neck, then lift the cap end in an arc so the bottle pivots on its base. That needs a secure neck pinch, and I never got one. - In this layout the caps sit at x ≈ 0.45–0.55, past the practical low-z reach. Readbacks stall around x = 0.43–0.47 at z ≈ 0.03, and commands like x = 0.45 at z = 0.05 were sometimes held completely. - What worked: grip the bottle body at x ≈ 0.37–0.46, z ≈ 0.015–0.045. The gripper settled at 0.43–0.52, meaning a secure hold. Dragging back 10–12 cm then worked. Do this first for every bottle before trying the neck. - Closing the gripper makes the arm rise about 2 cm and pitch about +0.1 rad. On a small neck or cap the fingers slide up and miss. Command z about 1.5 cm lower than the neck centre (close to 0 to 0.01) before closing, and check for contact. A descent that stops at z ≈ 0.04 means the fingers are landing on the bottle. - Wrist cam: the grasp point sits well below the bottom edge. When the cap shows at row ~150–200 at z ≈ 0.03, the grasp point is still about 2–4 cm short of the cap. - A bottle axis that looks slanted in the wrist view can mislead. Check the yaw so the bottle axis appears vertical in the image before closing. - Budget: one bottle takes about 10 or more calls (approach, drag, regrasp, arc-lift, release), so three bottles in 40 calls leaves little room for misses. Park the idle arm early: the right arm sank from 0.18 to 0.06 m over about 20 calls. - Top-cam scale near the bottles' rows: roughly 2.7 px/cm in x and about 1.5 px/cm along the bottle length in image-y. A 22 cm bottle spans about 55 px in image-y.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0624, 0.828, 0.4709, -0.2344, -0.1207, -0.0891, 0.9971, 0.4252, 1.853, 0.6888, 0.6918, 0.2214, 0.1032, 0.0167] state[eef_state]: left_x=0.2968 left_y=0.0064 left_z=0.1403 left_yaw=0.0724 left_pitch=-0.0247 left_roll=0.0048 left_gripper=0.9971 right_x=0.435 right_y=0.1583 right_z=0.0541 right_yaw=0.1584 right_pitch=0.1105 right_roll=0.0115 right_gripper=0.0167 state[joint_eff]: [0.0479, -2.1128, 6.5299, 1.9023, -0.0513, -0.0855, -0.0122, -0.6906, -4.5744, 4.8342, 1.1355, 0.0366, 0.188, 0.7985] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I'm nearly out of calls and no bottle is standing. All three bottles lie on their side with the caps pointing forward at x \u2248 0.45\u20130.55. Both arms reach the table only to about x \u2248 0.43\u20130.47 at low z. Every attempt to pinch a neck or cap came up empty: 7 empty closes in total, including the last one. On every close the grasp point rose 1.5\u20132.5 cm and the wrist pitched about 0.1 rad, so the jaws rode up over the narrow neck. Two body grasps did work: the left arm dragged its bottle about 10 cm back, and the right arm dragged its bottle about 12 cm back. The right bottle still wasn't grasped at the neck.", "hindsight": "- Pitch and roll are pinned, so a lying bottle can't be turned upright in the gripper. The only plan I found was: pinch the neck, then lift the cap end in an arc so the bottle pivots on its base. That needs a secure neck pinch, and I never got one.\n- In this layout the caps sit at x \u2248 0.45\u20130.55, past the practical low-z reach. Readbacks stall around x = 0.43\u20130.47 at z \u2248 0.03, and commands like x = 0.45 at z = 0.05 were sometimes held completely.\n- What worked: grip the bottle body at x \u2248 0.37\u20130.46, z \u2248 0.015\u20130.045. The gripper settled at 0.43\u20130.52, meaning a secure hold. Dragging back 10\u201312 cm then worked. Do this first for every bottle before trying the neck.\n- Closing the gripper makes the arm rise about 2 cm and pitch about +0.1 rad. On a small neck or cap the fingers slide up and miss. Command z about 1.5 cm lower than the neck centre (close to 0 to 0.01) before closing, and check for contact. A descent that stops at z \u2248 0.04 means the fingers are landing on the bottle.\n- Wrist cam: the grasp point sits well below the bottom edge. When the cap shows at row ~150\u2013200 at z \u2248 0.03, the grasp point is still about 2\u20134 cm short of the cap.\n- A bottle axis that looks slanted in the wrist view can mislead. Check the yaw so the bottle axis appears vertical in the image before closing.\n- Budget: one bottle takes about 10 or more calls (approach, drag, regrasp, arc-lift, release), so three bottles in 40 calls leaves little room for misses. Park the idle arm early: the right arm sank from 0.18 to 0.06 m over about 20 calls.\n- Top-cam scale near the bottles' rows: roughly 2.7 px/cm in x and about 1.5 px/cm along the bottle length in image-y. A 22 cm bottle spans about 55 px in image-y."})
tool
give_up: I'm nearly out of calls and no bottle is standing. All three bottles lie on their side with the caps pointing forward at x ≈ 0.45–0.55. Both arms reach the table only to about x ≈ 0.43–0.47 at low z. Every attempt to pinch a neck or cap came up empty: 7 empty closes in total, including the last one. On every close the grasp point rose 1.5–2.5 cm and the wrist pitched about 0.1 rad, so the jaws rode up over the narrow neck. Two body grasps did work: the left arm dragged its bottle about 10 cm back, and the right arm dragged its bottle about 12 cm back. The right bottle still wasn't grasped at the neck.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 18.88 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6086, -0.3767, -0.0235, -0.0288, 0.9986, -0.0158, 0.7902, 0.6041, -0.3859, -0.0242, -0.0357, 0.9988]\nstate[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1829 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2937 right_y=0.0032 right_z=0.1798 right_yaw=0.0002 right_pitch=-0.0011 right_roll=-0.0003 right_gripper=0.9988\nstate[joint_eff]: [-0.4171, -1.4701, 9.7299, 1.746, -0.0317, 0.1392, -0.1587, -1.0188, -1.306, 10.3179, 1.8926, -0.0024, 0.2027, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a978d819d5f9fa0ab54a980789a9452a35f3350b029e4b281088bef66da9b39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ebd0e4964771f36a05424472dcd265cc77b2f36c0f09dbad26fac1ce35b8a4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a8c15707b1daad6661161cbaac2cdc2627f5fe558d1221039544b422bc4fa6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 10.65 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6086, -0.3767, -0.0235, -0.0288, 0.9986, -0.0158, 0.7902, 0.6041, -0.3859, -0.0242, -0.0357, 0.9988]\nstate[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1829 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2937 right_y=0.0032 right_z=0.1798 right_yaw=0.0002 right_pitch=-0.0011 right_roll=-0.0003 right_gripper=0.9988\nstate[joint_eff]: [-0.4171, -1.4701, 9.7299, 1.746, -0.0317, 0.1392, -0.1587, -1.0188, -1.306, 10.3179, 1.8926, -0.0024, 0.2027, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a978d819d5f9fa0ab54a980789a9452a35f3350b029e4b281088bef66da9b39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ebd0e4964771f36a05424472dcd265cc77b2f36c0f09dbad26fac1ce35b8a4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a8c15707b1daad6661161cbaac2cdc2627f5fe558d1221039544b422bc4fa6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G8BphEF858xRGtGLkfhhuC",
      "input": {
        "note": "Three bottles lie on their sides with caps pointing forward. Plan: grab each bottle by its neck, lift it so it hangs straight down, then set it on its base. Moving the left arm over the neck of the leftmost bottle first.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.42,
          "left_y": -0.12,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01G8BphEF858xRGtGLkfhhuC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4229, 1.4811, 0.849, -0.0463, -0.3416, -0.2485, 0.9988, -0.0193, 0.7921, 0.6033, -0.4046, -0.0242, -0.036, 0.9987]\nstate[eef_state]: left_x=0.403 left_y=-0.1125 left_z=0.1303 left_yaw=-0.0175 left_pitch=-0.0711 left_roll=0.0233 left_gripper=0.9988 right_x=0.2912 right_y=0.0023 right_z=0.1751 right_yaw=-0.003 right_pitch=-0.0225 right_roll=-0.0003 right_gripper=0.9987\nstate[joint_eff]: [-0.5402, -6.2154, 8.9094, 1.8828, -0.315, -0.0366, -0.1343, 0.1162, -1.3333, 6.9949, 1.917, -0.0415, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0690fac994efe3081f0e8f702c24f898edf10bbb28266e7528b946d36cdfce21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f81f70b47f41a65f51a66c5cb6ddebb4154f242a29d45ec7843b4bdeb47a71cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4680609c0fdf76b91e1c031408c02b9dc5e2ffe24bbd3d2e8e32c58c9dcef8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 4.68 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6086, -0.3767, -0.0235, -0.0288, 0.9986, -0.0158, 0.7902, 0.6041, -0.3859, -0.0242, -0.0357, 0.9988]\nstate[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1829 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2937 right_y=0.0032 right_z=0.1798 right_yaw=0.0002 right_pitch=-0.0011 right_roll=-0.0003 right_gripper=0.9988\nstate[joint_eff]: [-0.4171, -1.4701, 9.7299, 1.746, -0.0317, 0.1392, -0.1587, -1.0188, -1.306, 10.3179, 1.8926, -0.0024, 0.2027, -0.1441]",
      "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]: [-0.4229, 1.4811, 0.849, -0.0463, -0.3416, -0.2485, 0.9988, -0.0193, 0.7921, 0.6033, -0.4046, -0.0242, -0.036, 0.9987]\nstate[eef_state]: left_x=0.403 left_y=-0.1125 left_z=0.1303 left_yaw=-0.0175 left_pitch=-0.0711 left_roll=0.0233 left_gripper=0.9988 right_x=0.2912 right_y=0.0023 right_z=0.1751 right_yaw=-0.003 right_pitch=-0.0225 right_roll=-0.0003 right_gripper=0.9987\nstate[joint_eff]: [-0.5402, -6.2154, 8.9094, 1.8828, -0.315, -0.0366, -0.1343, 0.1162, -1.3333, 6.9949, 1.917, -0.0415, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0690fac994efe3081f0e8f702c24f898edf10bbb28266e7528b946d36cdfce21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f81f70b47f41a65f51a66c5cb6ddebb4154f242a29d45ec7843b4bdeb47a71cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4680609c0fdf76b91e1c031408c02b9dc5e2ffe24bbd3d2e8e32c58c9dcef8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0111DxGfgWGJDX2o6f313LV3",
      "input": {
        "note": "The left bottle's cap is slightly left of and ahead of the jaws, and the bottle is angled. Moving forward/left and yawing so the jaws close across the neck.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.1,
          "left_yaw": 0.35,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0111DxGfgWGJDX2o6f313LV3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4862, 1.6287, 0.976, -0.0887, -0.5571, -0.4438, 0.9984, -0.0193, 0.7837, 0.5846, -0.403, -0.0273, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4244 left_y=-0.1146 left_z=0.126 left_yaw=0.1966 left_pitch=-0.0487 left_roll=0.0171 left_gripper=0.9984 right_x=0.2886 right_y=0.0028 right_z=0.1692 right_yaw=-0.0002 right_pitch=-0.0312 right_roll=0.0013 right_gripper=0.9987\nstate[joint_eff]: [-0.2393, -8.5675, 8.2803, 1.409, -0.4274, 0.0317, -0.0513, -0.2256, -1.6205, 6.9812, 2.0195, -0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f293fb87ed9fcdfed7500705acbc184a88e5567287e169a0160397732bae5bd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bf032daf3585f5b1a32e6579df4cf7f3b12f9aea1182b6d124d07ac41b3fa8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6250732d3a8fb3697068bcb6dbc41ee591bed61fb6a0ac4890ba252a59f1db0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 4.741 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6086, -0.3767, -0.0235, -0.0288, 0.9986, -0.0158, 0.7902, 0.6041, -0.3859, -0.0242, -0.0357, 0.9988]\nstate[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1829 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2937 right_y=0.0032 right_z=0.1798 right_yaw=0.0002 right_pitch=-0.0011 right_roll=-0.0003 right_gripper=0.9988\nstate[joint_eff]: [-0.4171, -1.4701, 9.7299, 1.746, -0.0317, 0.1392, -0.1587, -1.0188, -1.306, 10.3179, 1.8926, -0.0024, 0.2027, -0.1441]",
      "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]: [-0.4229, 1.4811, 0.849, -0.0463, -0.3416, -0.2485, 0.9988, -0.0193, 0.7921, 0.6033, -0.4046, -0.0242, -0.036, 0.9987]\nstate[eef_state]: left_x=0.403 left_y=-0.1125 left_z=0.1303 left_yaw=-0.0175 left_pitch=-0.0711 left_roll=0.0233 left_gripper=0.9988 right_x=0.2912 right_y=0.0023 right_z=0.1751 right_yaw=-0.003 right_pitch=-0.0225 right_roll=-0.0003 right_gripper=0.9987\nstate[joint_eff]: [-0.5402, -6.2154, 8.9094, 1.8828, -0.315, -0.0366, -0.1343, 0.1162, -1.3333, 6.9949, 1.917, -0.0415, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4862, 1.6287, 0.976, -0.0887, -0.5571, -0.4438, 0.9984, -0.0193, 0.7837, 0.5846, -0.403, -0.0273, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4244 left_y=-0.1146 left_z=0.126 left_yaw=0.1966 left_pitch=-0.0487 left_roll=0.0171 left_gripper=0.9984 right_x=0.2886 right_y=0.0028 right_z=0.1692 right_yaw=-0.0002 right_pitch=-0.0312 right_roll=0.0013 right_gripper=0.9987\nstate[joint_eff]: [-0.2393, -8.5675, 8.2803, 1.409, -0.4274, 0.0317, -0.0513, -0.2256, -1.6205, 6.9812, 2.0195, -0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f293fb87ed9fcdfed7500705acbc184a88e5567287e169a0160397732bae5bd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bf032daf3585f5b1a32e6579df4cf7f3b12f9aea1182b6d124d07ac41b3fa8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6250732d3a8fb3697068bcb6dbc41ee591bed61fb6a0ac4890ba252a59f1db0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSwwcKEAgSGAI4AUIIdGhpbmtpbmcSDJCVRyxzv1sCYz6bNBoMTiPpU1OyoV7wwRP0IjDsGoK1e6ag1rqldNKcw0nct/iV4u+f2y/bG9XZQZYYgmzo+vRzG63pVVR5NpI3EBkq4AZxOPjcLgCFnrrNJdtTIUzQrLSdK1DPORrig+OqjERlH+X9XTSniA1iPOM64LD5RXmwA/nhGwgbtMB7XYw587Hy5e/HwAX7XG9eR3F26P55CErbVyJyzpnufPNxvQ/Xb0DdlHp2I6vyGkb5i95o3QnlxSD63C1rCfKeoT0zpT4wQ5cDTcmxU3eJv0o60Y1fxqbqnPIr9mn4PjE/HbS51aWRxG8DX+xj2tA2G0kJlYVetcESd03dzqeMHcItkaAWux4MzfoVdqMlIhkTFx2Grq7XochG3ZPHGRZTLtR5XFDAnx5mc2F6e6/KhQ6YrFKrPAgAusdJOfaRkg9qPFcedxJMWux290ZiAmt7oNkRThqUTJt0f2hzDMkLG+uT8ClSBghWJteeomprgjy0b1728SvnbumtV+Z/t4trGret9zGu8sUnAsmPpU7T6sIvlC8UVjo6stWC29ADjnTN2pWnhwqn+l90//TvEl5XXyrTPyYHpYRrjnOPLdDXER57lgS/F9jZ8iZdwOKGfG6o7DOjW1kEifOollZyuR+5rkxucOeVQLuBGaS1gJkyJQcyWYXHnHmrne88/f7GngmIADTrmiMiNj/je/BWr06Az6xz0mxZZ5y4DktFe0XrwF7eBS3Y5zwiVu9VU/nAcsNMT0iiF/NmaIv+UW0vOTyLTUr2i/BuyEK3s19wuT4qsVoG0whJO/m9upPa42bSkb8QkNilHXUio8H7ZnmY69DZwYFgZtaaGRTVWnOQ+CufpJxSJ9e2BNJGlKcjHkFtlQWO80d/WUV40tnkdwh5i0tD2trugdxxapLp2I4KLW4g1w7yRzBLkvy4fdZHAs/4iHRz/1KMN3+EkOJUpHqbdxsaDhNHUjwIMTR4xaQh1Yk0tIWengxfrTziYU9RJ++pxy3g2T5dbXeQ2AgVrpQqYwUnVNgIqZ5k3xscBntGaKvR9KCyo9p6wovy+6Q+dfmGos6VF/wYdxfgIWB2nY6ZkK41Z7jRdUx1IlOCAqyd8ofQL6lrlGmwCyJqShP7YYfLvBjQMKvxm/TpXh/bI742bvx6JY4mIx+DpDuOHYEUmKuHh06NpEBQgBD81zBw2p9zTChjLs6lQyZMv861UwqjRRoioxca1NzA09pr76wa0xrQCLg5purpdsAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CtoFzoErftBFTrPzbJDEDy",
      "input": {
        "note": "Arm fell short in y and yaw; cap still left of the jaw column. Nudging further left and forward to put the neck between the jaws.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.09,
          "left_yaw": 0.35,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01CtoFzoErftBFTrPzbJDEDy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4961, 1.6623, 1.0115, -0.1402, -0.6746, -0.5549, 0.9983, -0.0193, 0.7708, 0.5556, -0.3965, -0.0273, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4251 left_y=-0.1006 left_z=0.1264 left_yaw=0.3341 left_pitch=-0.027 left_roll=0.0188 left_gripper=0.9983 right_x=0.285 right_y=0.0029 right_z=0.1607 right_yaw=-0.0002 right_pitch=-0.0408 right_roll=0.0015 right_gripper=0.9987\nstate[joint_eff]: [0.1026, -8.3624, 8.5265, 1.3846, -0.4274, -0.0855, -0.0171, -0.1026, -1.894, 7.0496, 2.0928, -0.0171, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b89b8ab1097f0e64e508a75ca3774cdc56bd82ee8f707edf803b3119c4df74ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a1d3dc8c7bac3a90c44ead252434b1da7623c929a644ff5d575bee54c527d25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:117e338112b3efd55c88d8fdc3cfdca3d5b19af92925ee9ff4746bf3f5bc2173",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 3.449 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]: [-0.4229, 1.4811, 0.849, -0.0463, -0.3416, -0.2485, 0.9988, -0.0193, 0.7921, 0.6033, -0.4046, -0.0242, -0.036, 0.9987]\nstate[eef_state]: left_x=0.403 left_y=-0.1125 left_z=0.1303 left_yaw=-0.0175 left_pitch=-0.0711 left_roll=0.0233 left_gripper=0.9988 right_x=0.2912 right_y=0.0023 right_z=0.1751 right_yaw=-0.003 right_pitch=-0.0225 right_roll=-0.0003 right_gripper=0.9987\nstate[joint_eff]: [-0.5402, -6.2154, 8.9094, 1.8828, -0.315, -0.0366, -0.1343, 0.1162, -1.3333, 6.9949, 1.917, -0.0415, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4862, 1.6287, 0.976, -0.0887, -0.5571, -0.4438, 0.9984, -0.0193, 0.7837, 0.5846, -0.403, -0.0273, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4244 left_y=-0.1146 left_z=0.126 left_yaw=0.1966 left_pitch=-0.0487 left_roll=0.0171 left_gripper=0.9984 right_x=0.2886 right_y=0.0028 right_z=0.1692 right_yaw=-0.0002 right_pitch=-0.0312 right_roll=0.0013 right_gripper=0.9987\nstate[joint_eff]: [-0.2393, -8.5675, 8.2803, 1.409, -0.4274, 0.0317, -0.0513, -0.2256, -1.6205, 6.9812, 2.0195, -0.022, -0.0562, -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]: [-0.4961, 1.6623, 1.0115, -0.1402, -0.6746, -0.5549, 0.9983, -0.0193, 0.7708, 0.5556, -0.3965, -0.0273, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4251 left_y=-0.1006 left_z=0.1264 left_yaw=0.3341 left_pitch=-0.027 left_roll=0.0188 left_gripper=0.9983 right_x=0.285 right_y=0.0029 right_z=0.1607 right_yaw=-0.0002 right_pitch=-0.0408 right_roll=0.0015 right_gripper=0.9987\nstate[joint_eff]: [0.1026, -8.3624, 8.5265, 1.3846, -0.4274, -0.0855, -0.0171, -0.1026, -1.894, 7.0496, 2.0928, -0.0171, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b89b8ab1097f0e64e508a75ca3774cdc56bd82ee8f707edf803b3119c4df74ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a1d3dc8c7bac3a90c44ead252434b1da7623c929a644ff5d575bee54c527d25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:117e338112b3efd55c88d8fdc3cfdca3d5b19af92925ee9ff4746bf3f5bc2173",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzggKEAgSGAI4AUIIdGhpbmtpbmcSDM+lSNYmKJY/jdv1QhoMdf36H2D6KEo4ywA7IjCX5Ke2RcDIeSnuTpOVS6L40dNyVjeAYQ2Cv1+3BQyoOSdzQB3PJRniUsad3t4vTMUq6wegYfdO7PS3RzxtxFqfz4r+FfGgQRyXEvYriWxJJGQuT/7TPejZJ4V/DSLsfpd/FE/sMWv0RChF5L4uGaJGdYLvqPYA8m7Jmr/m8kXdhj+sSpLNledauhFzSNA8+7V1yHBF4TtSpsJTDiB4Pi5zkw40NYFRiwEV5jGuRtf/5NH5LT1c63hgCC32+vY/KcuT49xvXCJ5tSmur28INnJVpzcGehjoCfdyA+KRRfw3dAWhZlljogAU3CnkAlArYOB1eKlxfhrHY4eFgmdecIFojRYu7P6CxY1Us4FGYSPRiRIvTqLsshd+jSTjS4RShRVUjuXoU7FbofcVYkW7I+mnoSM/hXzGlc5MP2gdb8ud5uY37BX6iEke2NjIlkZKO0hjFkRJoaS3e0MtEfwDBdNfhAfzsK2vn0iKBjp6AZvvHPUaPXldYpTmhh5X1o74de2IuKbPWyrS47q6YBlF0v2t5Jbegze7VitSPStLBL+NX7lu6xIbGQQ6ijLL9N58nOd5Qrx9KmVMjc0GkxEdfPERvS83AJcg4URlQS/aQ4b+Y4hg0vTFMIhJ2k7hdbefZB+qJxAA7ORAPoXoUpdL+liYlhVylKp3CNBUqO+YgRg+AZSDENTkmpetNSmSIqU/+SXeXLvpZa7SD0elfAuL0a5IwjbTmwcd3kdyjDPZVn8iGD0BnZdO+y9a/u29FVOkvKwQSUHxnDiulSm/a6Fn/uNAwwiSOrJ1qeL608949z64cn7cdFO3fzB9QfGPEwn9+NkPEsCzsdH378SlQcjKbpjstD31VyKv5/PPsPrFJaVyDm6xBh8S1KAZ1aTaf+pS5D2RSWxLOI1Yx2rwdiu4BopF/n2ABHEbPChYm+mjG6WVTLi3ssncx8+WNwOBjgWlTbbcmmR1zDMfewiws7jk+qj55yW3u67JsevlcYMibuua8LcptBgRksB4YIMsKQIniUynRu/8NnpjyuIDGNX/qdqTT2R9VmDQUiijrcWCA+ODJ927dvj5Kf++GefTi35kYAcUvHxMAukGS0UvX9VFAVGv2O7fuyfw6by3LM9Jth07za+RFb9JwwgaQeydNZuhu6mCz/FE6zlZ8mOXgKOB6RH1VsjlQymSrbC+lh+i7VlLqIIVOs5VhHSkvgVdkuOHBeU7GQIeANN7ldEQBs5Pt8bUPXd4Ro/w5ilv8TmDkXJErdTBtXb1fq+0945wv/cpamzTU3PvRkAAPKy0SPneBSWiC2cp3lNURhsohUMFD479Q4iltBrIfIMN8ZHVIJSOHeLGB++ngDakdZW3zQcCzKYCgO5CdYQ99CUcNzP5AmqkA7/Yjs8o8/rzORBmQpgNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KnA5URUZe1jkSYYKdkHn6S",
      "input": {
        "note": "Cap is now on the jaw column but still ahead of the fingertips. Descending while advancing slightly toward the neck.",
        "targets": {
          "left_x": 0.45,
          "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_01KnA5URUZe1jkSYYKdkHn6S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4961, 1.6623, 1.0115, -0.1402, -0.6743, -0.5545, 0.9983, -0.0193, 0.7498, 0.5186, -0.3775, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4251 left_y=-0.1006 left_z=0.1264 left_yaw=0.3337 left_pitch=-0.0272 left_roll=0.0189 left_gripper=0.9983 right_x=0.2816 right_y=0.003 right_z=0.1533 right_yaw=0.0001 right_pitch=-0.0377 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.212, -8.5128, 8.5128, 1.3846, -0.4713, -0.1148, -0.0122, -0.3077, -1.7846, 6.8034, 2.0195, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:888348c37cbd44b69156704472ecde3087cd1175a0f594a96a5af30074775a9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b9b1c4276981a5cbac2068079fb0b3d6635fe5065337916371bc6522ce71cc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e158722ea3159af677ab74e7ba57046c134802def179dabaeb5c801fbe91e6ca",
        "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 · 11.02 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]: [-0.4862, 1.6287, 0.976, -0.0887, -0.5571, -0.4438, 0.9984, -0.0193, 0.7837, 0.5846, -0.403, -0.0273, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4244 left_y=-0.1146 left_z=0.126 left_yaw=0.1966 left_pitch=-0.0487 left_roll=0.0171 left_gripper=0.9984 right_x=0.2886 right_y=0.0028 right_z=0.1692 right_yaw=-0.0002 right_pitch=-0.0312 right_roll=0.0013 right_gripper=0.9987\nstate[joint_eff]: [-0.2393, -8.5675, 8.2803, 1.409, -0.4274, 0.0317, -0.0513, -0.2256, -1.6205, 6.9812, 2.0195, -0.022, -0.0562, -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]: [-0.4961, 1.6623, 1.0115, -0.1402, -0.6746, -0.5549, 0.9983, -0.0193, 0.7708, 0.5556, -0.3965, -0.0273, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4251 left_y=-0.1006 left_z=0.1264 left_yaw=0.3341 left_pitch=-0.027 left_roll=0.0188 left_gripper=0.9983 right_x=0.285 right_y=0.0029 right_z=0.1607 right_yaw=-0.0002 right_pitch=-0.0408 right_roll=0.0015 right_gripper=0.9987\nstate[joint_eff]: [0.1026, -8.3624, 8.5265, 1.3846, -0.4274, -0.0855, -0.0171, -0.1026, -1.894, 7.0496, 2.0928, -0.0171, -0.0562, -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]: [-0.4961, 1.6623, 1.0115, -0.1402, -0.6743, -0.5545, 0.9983, -0.0193, 0.7498, 0.5186, -0.3775, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4251 left_y=-0.1006 left_z=0.1264 left_yaw=0.3337 left_pitch=-0.0272 left_roll=0.0189 left_gripper=0.9983 right_x=0.2816 right_y=0.003 right_z=0.1533 right_yaw=0.0001 right_pitch=-0.0377 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.212, -8.5128, 8.5128, 1.3846, -0.4713, -0.1148, -0.0122, -0.3077, -1.7846, 6.8034, 2.0195, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:888348c37cbd44b69156704472ecde3087cd1175a0f594a96a5af30074775a9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b9b1c4276981a5cbac2068079fb0b3d6635fe5065337916371bc6522ce71cc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e158722ea3159af677ab74e7ba57046c134802def179dabaeb5c801fbe91e6ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7wYKEAgSGAI4AUIIdGhpbmtpbmcSDBrOEiTx0bL4h2Zr2BoMhQtz47xg3D9XLkq7IjArNjcUIRlpAI+r1qK/Q3Q2quJWt06hYu5OhxxDpgUyZ1xyKqPv7G6IBH0bavFDp5IqjAa8zbvXFUhabgkXRXkBb/z7UQI311EiTxDKxN7Ndayc5DoKdTPrOlF26ROnM4smZXO57xHcVrsaGE1GuxRlN2rxM2dcMZ77FwMYoEZgVQgR5y6Cv7OEhlEJU0/jFXC5duMOwfkEiEkDUoW9YMNupc0Oc2qyFYID9J/n22nm9JiOjh/ewYVk/blfFVWiW04EOxNEQN3LCqQQ7OSHeUWYWgdrKOgK5FgZ98e980Oc9EM82+2U8TI4yY42M+SLaEUaz3VagO+mEorJcv9R+Vdk5J1eThjDwG69dMbQ5pA6aHyEBcDewVgrc//F9g8l0lLkAv5p3+cmXLPSDnd4X0Hju5b3JY2C2DZCLnOn+KNUp41rqZktXsUGQ2VyT65HLLvk/nR/eIwmircKpysXv/PgG5Pno57tk9zf5vRg9/zHSxgs29U5lPKN+XL5oyHITH30q9GZ2Wp9AkARcKM662Zs4wpu89BizS/VxhkM2bTDjaKk8vc6UiU0R3Il2VNuMPCFcPQP1SnbuZQqwWdCodlv7irNtxyedg8ksEdh+ZeIp8wSb07+w1VwA81/SckI36WvCQd5YxOTMSeMUXaoNyMtbgaTK7+BLNOsmglLquJaTt11Kiyfer5NM2hOVp9JqaWj7Bg1he2bjWluE+QjLT8HYddsMmRPmeEUwKFaUxsopdiNKdlNRfijCKpbf2fkrF76QXbMy+R7ywAHQJGEE/CxNf4JgEWd0a0S4ayimoc63NmdLmd0ICmS+M6texZUuM4BbFTxl4qTLfcSo99VjtnmL/PoyKuo2GV9VxmPu+yusoxRZ1Gtx4nvhYnCTIjiOK3+dojK3po/m7HfU+zs9rC/oFECYC1MCh2R2joS+lYMBT5KwV5RmMViQyDwu/GHEepQjbkSKuiKpGMIUxVy43kwxglwpN2tU6rgR/snwJteJduk5PZiDgazmGcvwc3E5W0QCif5GnUjAuy38gX1DCiPFYxz2PcH7d+byh1ykgEsem2cJO+v9Rc9UPZnjvQeTR503SAlvv66Kee9dMBd8iAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AMCKLPSpnFAoxLdTgAZofK",
      "input": {
        "note": "The previous target was held (arm didn't move), likely awkward IK. Trying a plain descent at the current reach.",
        "targets": {
          "left_x": 0.43,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01AMCKLPSpnFAoxLdTgAZofK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4961, 1.7996, 0.8806, 0.0711, -0.6727, -0.5507, 0.9983, -0.0193, 0.7288, 0.4797, -0.3588, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4182 left_y=-0.0971 left_z=0.0547 left_yaw=0.3325 left_pitch=-0.0666 left_roll=0.0632 left_gripper=0.9983 right_x=0.278 right_y=0.0031 right_z=0.1449 right_yaw=0.0001 right_pitch=-0.037 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [0.1436, -10.6051, 6.6803, 1.79, -0.3785, 0.0659, -0.0122, -0.1162, -1.4427, 7.1863, 1.956, -0.0366, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95fe5201feae16cc3beecee5431cf14069be9568271bdade601f96f08a3491a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a920ebf6e8b3ebd7809f9544ad82b5bc0ec18bfffe7b4e8d102a009ec524279d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0212841b5c0273fba22dd372f48440b9dcfeb300738ce3c3bc504e12457c8a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 5.375 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]: [-0.4961, 1.6623, 1.0115, -0.1402, -0.6746, -0.5549, 0.9983, -0.0193, 0.7708, 0.5556, -0.3965, -0.0273, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4251 left_y=-0.1006 left_z=0.1264 left_yaw=0.3341 left_pitch=-0.027 left_roll=0.0188 left_gripper=0.9983 right_x=0.285 right_y=0.0029 right_z=0.1607 right_yaw=-0.0002 right_pitch=-0.0408 right_roll=0.0015 right_gripper=0.9987\nstate[joint_eff]: [0.1026, -8.3624, 8.5265, 1.3846, -0.4274, -0.0855, -0.0171, -0.1026, -1.894, 7.0496, 2.0928, -0.0171, -0.0562, -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]: [-0.4961, 1.6623, 1.0115, -0.1402, -0.6743, -0.5545, 0.9983, -0.0193, 0.7498, 0.5186, -0.3775, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4251 left_y=-0.1006 left_z=0.1264 left_yaw=0.3337 left_pitch=-0.0272 left_roll=0.0189 left_gripper=0.9983 right_x=0.2816 right_y=0.003 right_z=0.1533 right_yaw=0.0001 right_pitch=-0.0377 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.212, -8.5128, 8.5128, 1.3846, -0.4713, -0.1148, -0.0122, -0.3077, -1.7846, 6.8034, 2.0195, -0.0513, -0.0513, -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]: [-0.4961, 1.7996, 0.8806, 0.0711, -0.6727, -0.5507, 0.9983, -0.0193, 0.7288, 0.4797, -0.3588, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4182 left_y=-0.0971 left_z=0.0547 left_yaw=0.3325 left_pitch=-0.0666 left_roll=0.0632 left_gripper=0.9983 right_x=0.278 right_y=0.0031 right_z=0.1449 right_yaw=0.0001 right_pitch=-0.037 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [0.1436, -10.6051, 6.6803, 1.79, -0.3785, 0.0659, -0.0122, -0.1162, -1.4427, 7.1863, 1.956, -0.0366, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95fe5201feae16cc3beecee5431cf14069be9568271bdade601f96f08a3491a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a920ebf6e8b3ebd7809f9544ad82b5bc0ec18bfffe7b4e8d102a009ec524279d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0212841b5c0273fba22dd372f48440b9dcfeb300738ce3c3bc504e12457c8a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W66Xp7fKTbvyD5wBEPL4nZ",
      "input": {
        "note": "Jaws are over the label; the cap is ~4-5 cm further forward. Advancing to put the cap/neck between the jaws.",
        "targets": {
          "left_x": 0.465,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01W66Xp7fKTbvyD5wBEPL4nZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4427, 1.9388, 0.9245, 0.2634, -0.6582, -0.5301, 0.9983, -0.0193, 0.7109, 0.4458, -0.3428, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4534 left_y=-0.0914 left_z=0.039 left_yaw=0.3619 left_pitch=-0.0082 left_roll=0.0025 left_gripper=0.9983 right_x=0.2748 right_y=0.0032 right_z=0.1373 right_yaw=0.0001 right_pitch=-0.037 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [0.6222, -7.8291, 6.612, 1.4042, -0.1294, 0.1734, -0.0122, -0.1299, -1.5658, 6.8855, 2.0488, -0.0708, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66c0fae2b005310d48bee8b589739740e0745e54603fc402616341734d14a8cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d7db7777a655131c04a7f3f1237ebf00b29aabfee046d13c0cbecb215fdc48c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a1d573777c9d1cf1088aa0febd28638e690fadafcedbfb8ad7c68e66da577a44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 7.923 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]: [-0.4961, 1.6623, 1.0115, -0.1402, -0.6743, -0.5545, 0.9983, -0.0193, 0.7498, 0.5186, -0.3775, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4251 left_y=-0.1006 left_z=0.1264 left_yaw=0.3337 left_pitch=-0.0272 left_roll=0.0189 left_gripper=0.9983 right_x=0.2816 right_y=0.003 right_z=0.1533 right_yaw=0.0001 right_pitch=-0.0377 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.212, -8.5128, 8.5128, 1.3846, -0.4713, -0.1148, -0.0122, -0.3077, -1.7846, 6.8034, 2.0195, -0.0513, -0.0513, -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]: [-0.4961, 1.7996, 0.8806, 0.0711, -0.6727, -0.5507, 0.9983, -0.0193, 0.7288, 0.4797, -0.3588, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4182 left_y=-0.0971 left_z=0.0547 left_yaw=0.3325 left_pitch=-0.0666 left_roll=0.0632 left_gripper=0.9983 right_x=0.278 right_y=0.0031 right_z=0.1449 right_yaw=0.0001 right_pitch=-0.037 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [0.1436, -10.6051, 6.6803, 1.79, -0.3785, 0.0659, -0.0122, -0.1162, -1.4427, 7.1863, 1.956, -0.0366, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4427, 1.9388, 0.9245, 0.2634, -0.6582, -0.5301, 0.9983, -0.0193, 0.7109, 0.4458, -0.3428, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4534 left_y=-0.0914 left_z=0.039 left_yaw=0.3619 left_pitch=-0.0082 left_roll=0.0025 left_gripper=0.9983 right_x=0.2748 right_y=0.0032 right_z=0.1373 right_yaw=0.0001 right_pitch=-0.037 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [0.6222, -7.8291, 6.612, 1.4042, -0.1294, 0.1734, -0.0122, -0.1299, -1.5658, 6.8855, 2.0488, -0.0708, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66c0fae2b005310d48bee8b589739740e0745e54603fc402616341734d14a8cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d7db7777a655131c04a7f3f1237ebf00b29aabfee046d13c0cbecb215fdc48c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1d573777c9d1cf1088aa0febd28638e690fadafcedbfb8ad7c68e66da577a44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wgKEAgSGAI4AUIIdGhpbmtpbmcSDLuw93V0pcjJgipaqxoMc5c+lXhsM2LXyWs+IjCvPVD/J8lcjfF9m4Hjc8PlZAmYtJKT3bOYVX+s1k2exXZhCQ/H4V1ducITB/ooDaQqiAh7A7G3ezAzUP4wg75ucbYxFCWzFQF5DWeEKew5VLd0opgvT82okTutC6eN3PJG3urnFIykRR3uLaSJ9D/URzzds6h4RJFbEaTjlBgJQo/Ig1lwzWOuPbcqWRslJJ8m0FGeW7SbIQBOOgblEpz0cRncB50CCT/LSdUhsdi1GH7ZAaijvD1Q3xZV0e/CjFJHzbx8darxBclb2XcQdE0Td/K9LBg0IykLf9zGu4oGPDFGo/DZ4ZI9k2fZhKXe+NPgkIhrtAAGFmKQXxAw8JPYj+icGxPxvBBAxxWK5EKDUOxnBYeOiHsBcWj1Ok0zBFynhWxYUd4yVbciR8a4MRA9F4xvB8qw+flQd1fDV9yeHifv+RVRQfFfjy5NAivzQnqIzmaTLD3zKrDEbaTZzgzM1YH61ZKHyHK/kbPWe7MC+RW4888kvehFcIdkAGAJszYbUWM8EU9GCCfai2DabbugK1GozBC9gCphBkEQO+6+c14mJmQ45lb7R318b6Y0YZJ+1LQoruHNZVKoRkbDD0BjHSsNJY/+yX12Ym4H1yUKEKu8kMQ/WUf7cB4mZlTLRJDzRz/DwKTGEAVPYHPo4uKxWszv+hxgLGjZukW3pqPboM2h0cn+qPLRTwDRU+hwj3wT8TdF1nn/vmvD4X1jpmNGaeBjJ9qpaIzo0k8/NPaGxilTFK9zwjfsqrX5rjSbcqXV+VUbmUWLqx8oJrwz757DdxU46YeipEtG41GSgLeT81cglW8xbk/JN0Fjhq0sh/jQ37fgGdYySEqNOPYMpXTQyLkc6LRux1w97ejqEpYs+nw8fky+/Wy7zih4r6WlfjVRO+Kfkf/QwtycYbOcGFvqRi0B2tU1Fmbm1xpeiQM91U2p8RAAeW/5vLv58hxxJASBaVpHKICYCBZz/tXmyHCjzgH3IquSiLyADmb/rW78P5APCJK/p9YJdhlbzBOsnlgx/D0rYBmaCYzuPdLSF0uiKOILn0jaaZcfN2Au6paFYe6OthS8TwuDpp3O7ftk04CU65KYJXuZHEtYF2yFAb5oBGT9DtzKRz1B0IUUrmyJydtBZjzEDdrRku5fOr+BZCXD1RRGl03mYv+GEaqHS9zfc3qepQYJ+vAXsFsudMaKYTzqHx6UKXftfnRVb7PSqHxdfvo6TL5sReg/aHb7MPbU/WZDjgQgzbIaK0eMfSpvcH2dxIk6D/sugmqyZC17sHdAlHUmWsSaScMvv80Ydhfm0iiY3d6AnEsXEQ3bDfkF1yj54Co6lsG0jReabgEkbiGJOLmbOg3qaL0cBBabsIPHHCvn9IZlQqFPfTnW3YYBHe6kgYwNmW6Rr9JtQAYaSqLSwXt6hwNYxqlFxknInpfSHrHWxeS7QIAeM9UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CLfErcmB8ouN2eREcZQymG",
      "input": {
        "note": "Cap and neck now visible just ahead of the jaws, slightly left. Advancing ~3 cm and a touch left to bring the neck between the fingertips.",
        "targets": {
          "left_x": 0.485,
          "left_y": -0.085,
          "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_01CLfErcmB8ouN2eREcZQymG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4328, 1.9579, 0.9417, 0.2855, -0.6483, -0.5243, 0.9983, -0.0193, 0.6907, 0.4118, -0.3283, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4609 left_y=-0.0915 left_z=0.0392 left_yaw=0.3614 left_pitch=0.001 left_roll=-0.0119 left_gripper=0.9983 right_x=0.2714 right_y=0.0033 right_z=0.1299 right_yaw=0.0002 right_pitch=-0.0362 right_roll=0.0021 right_gripper=0.9987\nstate[joint_eff]: [0.6085, -7.6513, 6.0923, 1.5604, -0.3199, 0.0562, -0.0122, -0.1573, -1.1829, 7.0906, 1.9658, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:245a6d39ff3fafebf3136ef200b17d1a2bac780411fe1a60b3636519610a0df8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b00bbcc765febb2bea212c3319ccc30b4ea42a0555a10dd05a09dff934689d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8d65d61985dfd9bbec052fc781cb05590570bf9bd14106dbabded4ec67fb745",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 3.931 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]: [-0.4961, 1.7996, 0.8806, 0.0711, -0.6727, -0.5507, 0.9983, -0.0193, 0.7288, 0.4797, -0.3588, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4182 left_y=-0.0971 left_z=0.0547 left_yaw=0.3325 left_pitch=-0.0666 left_roll=0.0632 left_gripper=0.9983 right_x=0.278 right_y=0.0031 right_z=0.1449 right_yaw=0.0001 right_pitch=-0.037 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [0.1436, -10.6051, 6.6803, 1.79, -0.3785, 0.0659, -0.0122, -0.1162, -1.4427, 7.1863, 1.956, -0.0366, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4427, 1.9388, 0.9245, 0.2634, -0.6582, -0.5301, 0.9983, -0.0193, 0.7109, 0.4458, -0.3428, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4534 left_y=-0.0914 left_z=0.039 left_yaw=0.3619 left_pitch=-0.0082 left_roll=0.0025 left_gripper=0.9983 right_x=0.2748 right_y=0.0032 right_z=0.1373 right_yaw=0.0001 right_pitch=-0.037 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [0.6222, -7.8291, 6.612, 1.4042, -0.1294, 0.1734, -0.0122, -0.1299, -1.5658, 6.8855, 2.0488, -0.0708, -0.0611, -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]: [-0.4328, 1.9579, 0.9417, 0.2855, -0.6483, -0.5243, 0.9983, -0.0193, 0.6907, 0.4118, -0.3283, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4609 left_y=-0.0915 left_z=0.0392 left_yaw=0.3614 left_pitch=0.001 left_roll=-0.0119 left_gripper=0.9983 right_x=0.2714 right_y=0.0033 right_z=0.1299 right_yaw=0.0002 right_pitch=-0.0362 right_roll=0.0021 right_gripper=0.9987\nstate[joint_eff]: [0.6085, -7.6513, 6.0923, 1.5604, -0.3199, 0.0562, -0.0122, -0.1573, -1.1829, 7.0906, 1.9658, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:245a6d39ff3fafebf3136ef200b17d1a2bac780411fe1a60b3636519610a0df8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b00bbcc765febb2bea212c3319ccc30b4ea42a0555a10dd05a09dff934689d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8d65d61985dfd9bbec052fc781cb05590570bf9bd14106dbabded4ec67fb745",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GNBJS6Fh8zStfp9ESxM8RR",
      "input": {
        "note": "The arm is at its forward reach limit and can't get to the cap. The bottle's label is between the jaws, so I'll grip the body and drag the bottle back toward the base before regrasping at the neck.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GNBJS6Fh8zStfp9ESxM8RR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4324, 1.9579, 0.9417, 0.318, -0.6701, -0.5243, 0.4297, -0.0193, 0.6674, 0.3786, -0.3134, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4647 left_y=-0.0897 left_z=0.0459 left_yaw=0.3784 left_pitch=0.0338 left_roll=-0.0253 left_gripper=0.4297 right_x=0.2681 right_y=0.0034 right_z=0.1236 right_yaw=0.0002 right_pitch=-0.0312 right_roll=0.002 right_gripper=0.9987\nstate[joint_eff]: [-0.3077, -9.388, 5.9556, 1.0818, -0.0952, 0.022, 1.0281, -0.1162, -0.9641, 7.2137, 1.9463, -0.0708, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23e175718b0c0796c1b0c47354e3410acf6af2898c492e2a3d3120648a4c55c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3547aecc0cfd0d022a142639a2a2a0ce449853dba9bddc0a22b5ba7ca069c4e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7679828e8a23a00a010f0869178e74f39d1c98334c8373e32403203c40d7bf14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 5.352 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]: [-0.4427, 1.9388, 0.9245, 0.2634, -0.6582, -0.5301, 0.9983, -0.0193, 0.7109, 0.4458, -0.3428, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4534 left_y=-0.0914 left_z=0.039 left_yaw=0.3619 left_pitch=-0.0082 left_roll=0.0025 left_gripper=0.9983 right_x=0.2748 right_y=0.0032 right_z=0.1373 right_yaw=0.0001 right_pitch=-0.037 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [0.6222, -7.8291, 6.612, 1.4042, -0.1294, 0.1734, -0.0122, -0.1299, -1.5658, 6.8855, 2.0488, -0.0708, -0.0611, -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]: [-0.4328, 1.9579, 0.9417, 0.2855, -0.6483, -0.5243, 0.9983, -0.0193, 0.6907, 0.4118, -0.3283, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4609 left_y=-0.0915 left_z=0.0392 left_yaw=0.3614 left_pitch=0.001 left_roll=-0.0119 left_gripper=0.9983 right_x=0.2714 right_y=0.0033 right_z=0.1299 right_yaw=0.0002 right_pitch=-0.0362 right_roll=0.0021 right_gripper=0.9987\nstate[joint_eff]: [0.6085, -7.6513, 6.0923, 1.5604, -0.3199, 0.0562, -0.0122, -0.1573, -1.1829, 7.0906, 1.9658, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4324, 1.9579, 0.9417, 0.318, -0.6701, -0.5243, 0.4297, -0.0193, 0.6674, 0.3786, -0.3134, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4647 left_y=-0.0897 left_z=0.0459 left_yaw=0.3784 left_pitch=0.0338 left_roll=-0.0253 left_gripper=0.4297 right_x=0.2681 right_y=0.0034 right_z=0.1236 right_yaw=0.0002 right_pitch=-0.0312 right_roll=0.002 right_gripper=0.9987\nstate[joint_eff]: [-0.3077, -9.388, 5.9556, 1.0818, -0.0952, 0.022, 1.0281, -0.1162, -0.9641, 7.2137, 1.9463, -0.0708, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23e175718b0c0796c1b0c47354e3410acf6af2898c492e2a3d3120648a4c55c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3547aecc0cfd0d022a142639a2a2a0ce449853dba9bddc0a22b5ba7ca069c4e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7679828e8a23a00a010f0869178e74f39d1c98334c8373e32403203c40d7bf14",
        "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+AYKEAgSGAI4AUIIdGhpbmtpbmcSDJPhWT/I9E2SwaICoxoM3DmRwzw65xtG5XAEIjDzRBEOxHTrEVPFGwaAJUcyk7HBb+dFkUd4Un98pQD6K5fUz5SiitZaaF0GmsVWBT0qlQaE8GOOqFtelZJY7sjz6uXd1yxlE6x+mBgRClpwg1NA0m585/u16k/SZcT2AtjthV8xQnwZClbd4Z3+Lye2RbU3p2awFMe8IEXSm8sKn8CrNO/QH6Tgj19aDiCs9Lw1ch1wRLoV5cflrykDyNjawkciyKSiQv1RybpW4RkTOyzPB5u7dY1ExErRiwP+h1Flvsr2KvOvI6ifWW2cKu4wUXg2gbeIuyQ2q8i9WGFJH8ij7bIAJLAfzN/uzEZMVgvrHIqc41ksAoNVTSFhCTO4FCf5WyOWKeBemJBtpT+cRUvn2i2qIoNV+O+Yesy3VFQYmDkZCj6KF9D83eYPghpWM1VnPw4+JTfRu6ojvbwOGYZ8JMt3rQehhD9fra7LPtCyWK+3IYTJiJ/YKUljKdJgHUq0ZQn13XknD+rMB767vLJvC2Ct6pGteb0W1NzsPKGbvhbRK2BIVXjPrwwG7tJXUNm+iL/Mca0/6hp9stVOUc/KmOCs9D5HkSwQAv27IQqPloN/a9nUwtjvwGAjckZYylT0iB5p9KmeWdVECn7ZeAorS0YDO8DKqKn2UmWXf/FWC1rKSm+TfEOkhQXXJvTlXwn2f/d0a5DSbum8Fa10wuC0+Tq2MkjTQYASJT6owyMtlKlWogjFD5Ynd1b8GdL9gFTlzj/cuJ3TM5eqVYaML6M/I0ZKDpb3nU2h/VUMo1z5FuzIcJZkThWAzJ8GM8q32wGHUiNiYuCaRkTkHaWICEqoebNzxWGopU9avBqTrbWBiNWU8S/DAMn9uAE9KzFsplv3thRkmtGLTtFSel2WkkBAAnYDMNv50FlnfwgR5Hm3tJrK1eWL5zqlOgzkDWW/yjbGfCUFSWq6xD8lSg5Usas+AU4SSQNSu43xndri7ysjb7PlI5Zsu9FqkRZTLKeKLbIvWGD22LPoo88SHbWTHfzNxTCbzsRmE7LhMmmDf/K1jFez1Zs7fU0EjcGbyQJYSE1CWHqEE2KHGBSpiPPMgnO2WfXeIwiB0cgBWCNt1qd2lwb2azrt1Oe8Bzwr5yoel44HxZ7Tn54YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0188NfEJq1WaYdWx9QCf6FJ8",
      "input": {
        "note": "Gripper settled at 0.43, so it's holding the bottle body. Dragging the bottle ~10 cm back toward the base so the neck comes within reach.",
        "targets": {
          "left_x": 0.36,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0188NfEJq1WaYdWx9QCf6FJ8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5842, 1.6745, 0.6441, 0.2379, -0.7666, -0.6601, 0.4308, -0.0193, 0.6476, 0.3485, -0.2977, -0.028, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.3727 left_y=-0.0952 left_z=0.055 left_yaw=0.3668 left_pitch=0.0233 left_roll=-0.0279 left_gripper=0.4308 right_x=0.2655 right_y=0.0034 right_z=0.1179 right_yaw=0.0004 right_pitch=-0.0259 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.4991, -7.3778, 4.6701, 1.1551, -0.2906, -0.149, 0.1001, -0.2803, -0.4444, 7.1316, 1.9121, -0.0464, -0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:501a9d2252f53b2c8f0274bae6373ce875d61f7a6fbfc8f6e51f1fdbbfa42f59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b7a57a075ec53ed11f3a64eafbaa1fbae7b62f4009e29378d153839d96f8180",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a44af729dacaecc510fb50efd01a9c009e7a1f73df675a05252b974ca1202674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 4.873 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]: [-0.4328, 1.9579, 0.9417, 0.2855, -0.6483, -0.5243, 0.9983, -0.0193, 0.6907, 0.4118, -0.3283, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4609 left_y=-0.0915 left_z=0.0392 left_yaw=0.3614 left_pitch=0.001 left_roll=-0.0119 left_gripper=0.9983 right_x=0.2714 right_y=0.0033 right_z=0.1299 right_yaw=0.0002 right_pitch=-0.0362 right_roll=0.0021 right_gripper=0.9987\nstate[joint_eff]: [0.6085, -7.6513, 6.0923, 1.5604, -0.3199, 0.0562, -0.0122, -0.1573, -1.1829, 7.0906, 1.9658, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4324, 1.9579, 0.9417, 0.318, -0.6701, -0.5243, 0.4297, -0.0193, 0.6674, 0.3786, -0.3134, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4647 left_y=-0.0897 left_z=0.0459 left_yaw=0.3784 left_pitch=0.0338 left_roll=-0.0253 left_gripper=0.4297 right_x=0.2681 right_y=0.0034 right_z=0.1236 right_yaw=0.0002 right_pitch=-0.0312 right_roll=0.002 right_gripper=0.9987\nstate[joint_eff]: [-0.3077, -9.388, 5.9556, 1.0818, -0.0952, 0.022, 1.0281, -0.1162, -0.9641, 7.2137, 1.9463, -0.0708, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5842, 1.6745, 0.6441, 0.2379, -0.7666, -0.6601, 0.4308, -0.0193, 0.6476, 0.3485, -0.2977, -0.028, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.3727 left_y=-0.0952 left_z=0.055 left_yaw=0.3668 left_pitch=0.0233 left_roll=-0.0279 left_gripper=0.4308 right_x=0.2655 right_y=0.0034 right_z=0.1179 right_yaw=0.0004 right_pitch=-0.0259 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.4991, -7.3778, 4.6701, 1.1551, -0.2906, -0.149, 0.1001, -0.2803, -0.4444, 7.1316, 1.9121, -0.0464, -0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:501a9d2252f53b2c8f0274bae6373ce875d61f7a6fbfc8f6e51f1fdbbfa42f59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b7a57a075ec53ed11f3a64eafbaa1fbae7b62f4009e29378d153839d96f8180",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a44af729dacaecc510fb50efd01a9c009e7a1f73df675a05252b974ca1202674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpgoKEAgSGAI4AUIIdGhpbmtpbmcSDLknibIO+14GmNLuMhoMgJKSXFjZ8xH3Chn7IjAQXUHTwk2Gjm5Q2WhoglN8ehIGBS4EDNAvKoJ7il/n1LVNwqR5H2xFgWJ6h789E18qwwnpWMSirog5qIvolmnT0iSk0ZC4atmgOyXe9RJsGe29uZCpt5P9dvQ7jWfQmHYyDZZ+62ZlvwUr/dOpwWy4k8mJZsyYtpieUEQ1SKtvvCQGPvzvwA8FEDwctwABZ6KWFOoehNH9atkK+WlikTSQfhJXlV1mO7jdHJ69VoIERwEjXQAJS1lTUOuCtuj73wRn8R5dHQCL+mTPkmyZPqS4Noo/npKqP579N9reytdFDQ5YRQMdibVgiM1j+jBvidoKVSLbiEy8G9pbNBcSAgmvNPjn+r4qc2QwCIj32us9gTfc278TjUM6wUydBnll5bjVkXw445VTfqZd7utg+iW4cVmghpjVizm1qXGkJ4FJIJOI3H4CS8N21DJ32R9TkWmKTJkOeHS54fLevooj0XZtiIJJ5YQcIP7gEuk+DfQAtRr7kwhB6SXswdAEQsKWcGPN0lNcNH1K6vyvPfovIWVzNVRAThMsGfdaj+YYPIquDiIGxssJDozxJrYt0ax5FsEPAps8OL9P24ozXrCxwP8mXIOp0HPSGa4rZt9QLkFiUFqrw1JuJKaRMbS8WRtRttfbLH+fmrmC3LPTb1YZ91MouhIgdzGUWhPhtQktVSkSEt/CiqUiIKiMEYiZnP05YeJtB30bl+/tkwJtbn26D+qz/AcuVE94Cct99IurG2IDPd3qEXBK9m7UQ1NEIvrREoqBOPNc2h4M5MHU/jSyXkMz/XtxM6yC1K+0J6dDMADsix2OWd+4vy4YMdrTr3jgThMCYS7wxo2nK6TDJvUJXn6dq/7V6P7+aD2ClfMiGf8pTuJPrHBcXWQVVqnHF7jb5YtkI30Fmjq8Fm5vl8AzSdF61zRxb475VybluJCH5c2Evtb3bi0czuJv66u2R/yYSCkiyqRRWcVsyvzqpBB6KnUJaMtLGA7EdqCPVMxMqzgU0a7V5hfud5+Wq6PCcH+rrW4i5ReB3TcJwNVXqqEVn68Yki+NBB0WvauZzLUJmIeP8lO5tt6eF0MNpAQ4dQ1Qg2vJJDjJU6HoiOl1t55Ljh/1wD+aJI83zrjnCrUJZR9ves2q8bCB6U5/1oDUrOgLG21onARVrXBL74B6z1iz+JL3cUgD50xj9ZvqTlKAhsWLQSG5u2mJgmqR/vPOVSnd1MkpJcdFRZEBux8PVUQA/4QZJkCzGLVVavzSSyg/pH5ornvVHEQxu06QMd9nbnFYzy/xCOiNsJ75xcmGZt/idXe41vqtOHZjYL5HhkFLiTlMLkZEO8sT+iJsJc+Dk01kw4PpQfnHucdyKgY91gQ4Pdxkd5aD39Y3ViRPniLg7U32O6ZjTz+avRd+U2O4ePAPUqyOMR6ekfLchWuf1gbd+6iqiRdYIWHIow8COnjB24oumdLKVoAgiYFKisrZxLQdEqT7xtjjdtME9E1TbrePTVom8B1pzGIgyO0Q5j8vaFMj/rGcxLNh/XViRkYxcejlvZjFeR6TJOa3jZ9HsbhL/PwIpAhjLiZjIZiDnWiRuhpAPoskfM7a1qB5P5N2c9oc2y5/GG2iDwS8Wm4OKbTq+Y1nGUVCwchQT1QTIrBBEa1biqOD1soMhf55J3MNnUZK18NdMKO++dctHPBNk0wKvMQ6Ei4EazvqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NSk52Fo6aDX7hhX3QMeczF",
      "input": {
        "note": "Bottle was dragged back with the gripper. Releasing and lifting slightly so I can regrasp further forward at the neck.",
        "targets": {
          "left_gripper": 1.0,
          "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_01NSk52Fo6aDX7hhX3QMeczF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5869, 1.6344, 0.6918, 0.0757, -0.767, -0.6811, 0.9945, -0.0193, 0.6334, 0.3248, -0.2905, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.3672 left_y=-0.0927 left_z=0.0622 left_yaw=0.3755 left_pitch=-0.0193 left_roll=0.0152 left_gripper=0.9945 right_x=0.2628 right_y=0.0034 right_z=0.1121 right_yaw=0.0001 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9987\nstate[joint_eff]: [0.1983, -9.0598, 8.0752, 1.1453, -0.2759, 0.2613, 0.0415, -0.0615, -0.7316, 6.9675, 1.9121, -0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c29c474f5c25533a3fbc324e995590188ae754e789dcb9ecd0663483cfad5157",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4e90da90a4e08fd3603563f645d33ef14a9a85522b41eaa95982ec789b51fc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7ba3f5514e8026204b0b3536180d6ee62181ac18d94ac4ea044d9361f0698f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 6.975 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]: [-0.4324, 1.9579, 0.9417, 0.318, -0.6701, -0.5243, 0.4297, -0.0193, 0.6674, 0.3786, -0.3134, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4647 left_y=-0.0897 left_z=0.0459 left_yaw=0.3784 left_pitch=0.0338 left_roll=-0.0253 left_gripper=0.4297 right_x=0.2681 right_y=0.0034 right_z=0.1236 right_yaw=0.0002 right_pitch=-0.0312 right_roll=0.002 right_gripper=0.9987\nstate[joint_eff]: [-0.3077, -9.388, 5.9556, 1.0818, -0.0952, 0.022, 1.0281, -0.1162, -0.9641, 7.2137, 1.9463, -0.0708, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5842, 1.6745, 0.6441, 0.2379, -0.7666, -0.6601, 0.4308, -0.0193, 0.6476, 0.3485, -0.2977, -0.028, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.3727 left_y=-0.0952 left_z=0.055 left_yaw=0.3668 left_pitch=0.0233 left_roll=-0.0279 left_gripper=0.4308 right_x=0.2655 right_y=0.0034 right_z=0.1179 right_yaw=0.0004 right_pitch=-0.0259 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.4991, -7.3778, 4.6701, 1.1551, -0.2906, -0.149, 0.1001, -0.2803, -0.4444, 7.1316, 1.9121, -0.0464, -0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5869, 1.6344, 0.6918, 0.0757, -0.767, -0.6811, 0.9945, -0.0193, 0.6334, 0.3248, -0.2905, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.3672 left_y=-0.0927 left_z=0.0622 left_yaw=0.3755 left_pitch=-0.0193 left_roll=0.0152 left_gripper=0.9945 right_x=0.2628 right_y=0.0034 right_z=0.1121 right_yaw=0.0001 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9987\nstate[joint_eff]: [0.1983, -9.0598, 8.0752, 1.1453, -0.2759, 0.2613, 0.0415, -0.0615, -0.7316, 6.9675, 1.9121, -0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c29c474f5c25533a3fbc324e995590188ae754e789dcb9ecd0663483cfad5157",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4e90da90a4e08fd3603563f645d33ef14a9a85522b41eaa95982ec789b51fc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7ba3f5514e8026204b0b3536180d6ee62181ac18d94ac4ea044d9361f0698f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSjwgKEAgSGAI4AUIIdGhpbmtpbmcSDPVqB0OlGZ065CDgXBoMaYpW9AuFwHfuUR19IjDppDtDympYFMM45bhBsq2sj6A9tYKkCCeGC9Q9Z5eaCae4MUEaGeWO6OYVDfeLKskqrAcFOcSZPCrwVBh7OeG1VYGAj9s/haRsGII8N22uTrz4vVRoCHHzPTc0LBkg+8Q3qg65AWDfwbveFsgPftfM5GU0NHlnMkiOCtkBZOh5ymvUZj4HBDgqWUDP0CUe8VEirbqGen7ffpUyWYjiEkCRr6Jrhqk2cgKPoX+O+BfcH1zKr4lz3pXLm8IatEzr8CeDBiCH81XnkSmkklGvo/GDhPpC1WR3TFElAwsFdz+XrbP6tP89pmhles7R4FVnLgnWEYsImIF553RoG2YUBaZzhbHJY/L0irQAdoJtG1d2nPClEhlORf5Lvr27prkPl9+TGAszn5URDhV7ms0qLk54WOwAPY/cZ0EEjBplC5yUAl6LcjwfcAoeZcD1AA81KThapyp5CD2eUiE0TpI9pHQFTL+5a8eqau4cjA9zHvWF+yio9NmWF9Y5KAnbLbpV/VGCP2PgxwEVe+TYbPH4f6M57LdT0u34W9dC6XQoLzJfaUjpYtRWZkUsEMGcOUcgisyq1QVlUnMKQj0ovZdeu7OkekYvIpeKj0FOJs0m0aFzSC4JHnoxNHz2/gfjfSXkc8Od4xhJlGlcA8saY+cQbQb7eHcHXTUGtSVCrMI8A8DjRlbPVVAB/k5UaU0ErKYAFVS2iLcqWkbB0TG6659tIeSZ5PGU99kms4O1A+FLN62R2H+vAYgzfTNaxcLmX9Im/fWFtw0AMFGF2YbRdJaRzQfFV3gZNrZRKzDk8wlNc8+v1lX8sBiyiDmN1QJS3bErGKFUQflNwShsa/Ul4ghfj4gh3yI1gxdmKQwoB2Hi4G8bq4++QA5or4KzY72O+IqBPIwWl0Ml/Qnh0CGBcMjFWloOaHWLAhPFHeQv9OyDNjQDTihAUsyOtlG1EvumirUXfN4Z/fUpleFMV9UmKiPJkdV7jPOSeWHeR3r6AKvjMR8KtnVdjDQ2MYWK0mAlGRsS4W1Ekw8JX7y+F1SchOiGYG/dOWCuNWG2vMiqHzO7h7CA7JtVGX4ZwBz2C6NPTc0ff2GGc8O1TOXnvkpABfi/kdVoJ21gixm1QQp1GlEM8LWpn4QOMyUBngPWISUjTxktyF6nP9s1h3EBOmPN0lqyfy4wTfap6dghXa7FbcTkffnm/teP4aiXKVWv4YdzFKueWYpJaKNsrVjnFDcU4DQK1dOoyBcUDbc0w814EkDQEtowRMK9SYvLaPRyQav9vYet7xaJkByGc8REPBfQFkGLh88/dIdzad3z14pIz17Y8bpKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VKgnj4CdP4jkvXMArDY9Px",
      "input": {
        "note": "Cap now sits just ahead of the jaws, almost on the jaw column. Advancing ~5 cm and descending so the neck/cap is between the fingertips.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.097,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01VKgnj4CdP4jkvXMArDY9Px",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5224, 1.8416, 0.7902, 0.247, -0.7368, -0.6327, 0.9956, -0.0193, 0.614, 0.3016, -0.2878, -0.028, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4109 left_y=-0.0955 left_z=0.0389 left_yaw=0.3933 left_pitch=-0.0008 left_roll=-0.0077 left_gripper=0.9956 right_x=0.2596 right_y=0.0035 right_z=0.1067 right_yaw=0.0004 right_pitch=-0.0293 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [0.6906, -7.1726, 5.8051, 1.1648, -0.1392, 0.1245, 0.1001, -0.1162, -0.5949, 6.9949, 2.0049, -0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ba9b325b55517214c7921b4c1b51185cbbffcc1a19bebc392e667b3ed866d64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:568e93f0ed35c4dc288bd1366d364770573b4d5289395683cf7825ad380dc498",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9df4ccad81fefed2361c2ab012977bf6095f516d49ec70f4f5fc55161f24e45f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 6.066 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]: [-0.5842, 1.6745, 0.6441, 0.2379, -0.7666, -0.6601, 0.4308, -0.0193, 0.6476, 0.3485, -0.2977, -0.028, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.3727 left_y=-0.0952 left_z=0.055 left_yaw=0.3668 left_pitch=0.0233 left_roll=-0.0279 left_gripper=0.4308 right_x=0.2655 right_y=0.0034 right_z=0.1179 right_yaw=0.0004 right_pitch=-0.0259 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.4991, -7.3778, 4.6701, 1.1551, -0.2906, -0.149, 0.1001, -0.2803, -0.4444, 7.1316, 1.9121, -0.0464, -0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.5869, 1.6344, 0.6918, 0.0757, -0.767, -0.6811, 0.9945, -0.0193, 0.6334, 0.3248, -0.2905, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.3672 left_y=-0.0927 left_z=0.0622 left_yaw=0.3755 left_pitch=-0.0193 left_roll=0.0152 left_gripper=0.9945 right_x=0.2628 right_y=0.0034 right_z=0.1121 right_yaw=0.0001 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9987\nstate[joint_eff]: [0.1983, -9.0598, 8.0752, 1.1453, -0.2759, 0.2613, 0.0415, -0.0615, -0.7316, 6.9675, 1.9121, -0.022, -0.0659, -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]: [-0.5224, 1.8416, 0.7902, 0.247, -0.7368, -0.6327, 0.9956, -0.0193, 0.614, 0.3016, -0.2878, -0.028, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4109 left_y=-0.0955 left_z=0.0389 left_yaw=0.3933 left_pitch=-0.0008 left_roll=-0.0077 left_gripper=0.9956 right_x=0.2596 right_y=0.0035 right_z=0.1067 right_yaw=0.0004 right_pitch=-0.0293 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [0.6906, -7.1726, 5.8051, 1.1648, -0.1392, 0.1245, 0.1001, -0.1162, -0.5949, 6.9949, 2.0049, -0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ba9b325b55517214c7921b4c1b51185cbbffcc1a19bebc392e667b3ed866d64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:568e93f0ed35c4dc288bd1366d364770573b4d5289395683cf7825ad380dc498",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9df4ccad81fefed2361c2ab012977bf6095f516d49ec70f4f5fc55161f24e45f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018pATM8KtBbngRHdh2XhY2g",
      "input": {
        "note": "Cap is just ahead of the jaws; the neck/shoulder should be between the fingertips. Closing to check what width I grab (≈0.3 means neck, ≈0.6 means body).",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018pATM8KtBbngRHdh2XhY2g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5106, 1.8622, 0.82, 0.3508, -0.7658, -0.6048, 0.0117, -0.0193, 0.5934, 0.2756, -0.2829, -0.028, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.431 left_y=-0.097 left_z=0.0578 left_yaw=0.4147 left_pitch=0.0837 left_roll=-0.0615 left_gripper=0.0117 right_x=0.2564 right_y=0.0036 right_z=0.1008 right_yaw=0.0004 right_pitch=-0.0297 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [0.0342, -7.0769, 4.5607, 0.7741, 0.2027, 0.0269, 0.735, -0.2803, -0.5538, 7.0906, 2.0098, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd091533f54bca92866311f570dc8a5e536b47037dcd350f53ef961cde074f73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ce950e3a9ebf122e9a78c03afb1793fcd5a6836e80f686e296e9d41b93d9723",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fdf5c90737058b38c6377f7fad06d1b59560188dc76e7188ecedf1700c9bfb3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 5.454 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]: [-0.5869, 1.6344, 0.6918, 0.0757, -0.767, -0.6811, 0.9945, -0.0193, 0.6334, 0.3248, -0.2905, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.3672 left_y=-0.0927 left_z=0.0622 left_yaw=0.3755 left_pitch=-0.0193 left_roll=0.0152 left_gripper=0.9945 right_x=0.2628 right_y=0.0034 right_z=0.1121 right_yaw=0.0001 right_pitch=-0.0282 right_roll=0.0014 right_gripper=0.9987\nstate[joint_eff]: [0.1983, -9.0598, 8.0752, 1.1453, -0.2759, 0.2613, 0.0415, -0.0615, -0.7316, 6.9675, 1.9121, -0.022, -0.0659, -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]: [-0.5224, 1.8416, 0.7902, 0.247, -0.7368, -0.6327, 0.9956, -0.0193, 0.614, 0.3016, -0.2878, -0.028, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4109 left_y=-0.0955 left_z=0.0389 left_yaw=0.3933 left_pitch=-0.0008 left_roll=-0.0077 left_gripper=0.9956 right_x=0.2596 right_y=0.0035 right_z=0.1067 right_yaw=0.0004 right_pitch=-0.0293 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [0.6906, -7.1726, 5.8051, 1.1648, -0.1392, 0.1245, 0.1001, -0.1162, -0.5949, 6.9949, 2.0049, -0.0562, -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]: [-0.5106, 1.8622, 0.82, 0.3508, -0.7658, -0.6048, 0.0117, -0.0193, 0.5934, 0.2756, -0.2829, -0.028, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.431 left_y=-0.097 left_z=0.0578 left_yaw=0.4147 left_pitch=0.0837 left_roll=-0.0615 left_gripper=0.0117 right_x=0.2564 right_y=0.0036 right_z=0.1008 right_yaw=0.0004 right_pitch=-0.0297 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [0.0342, -7.0769, 4.5607, 0.7741, 0.2027, 0.0269, 0.735, -0.2803, -0.5538, 7.0906, 2.0098, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd091533f54bca92866311f570dc8a5e536b47037dcd350f53ef961cde074f73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ce950e3a9ebf122e9a78c03afb1793fcd5a6836e80f686e296e9d41b93d9723",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdf5c90737058b38c6377f7fad06d1b59560188dc76e7188ecedf1700c9bfb3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wkKEAgSGAI4AUIIdGhpbmtpbmcSDDAmMRLIelByQBjhmxoMgHgZwLZ9eWqFRGJ0IjD81MO9Imzi4oxNHYX0VpViAnAN4SL6GciG5pwJp5GStucKTm0S02EOkSi5GxtZlEkqiAmwwUrmakigZRt7KVdYUJXPYUIApEknzuJXrQ7Fket/RFrDWDKwu5rejQujhxSfMgmuHktirPP6I5DIKe93ibZbiOvE3RSHuDY3G5i67/Q8gq6atYmPDrddPcekXRmSX3WqJWJcnLk07jfrPCQe4STHsTm7leY9KdoXQLQgjrWALCTrg/BLLmsOa1ykbixlqTxxGU05nNErrg2ZlotjyxmK7bu4KMNU7A0TNeQbQrqB8BzXPIRkB8YUUS8q0bnJT4JNzPkzJeJyPLdfNGmgnA194jFQUVN08mNOmgtpOyp6uRD4qkCQqmsg0ToVnrE0tLFLzVdn5PwxGgO/y7oHFR/eiWLjh1AV/8WUmFW++FkBMZu0Diq7a0RgDGthnh9dbtvism2jjaBVa3JUW/ik3AU9vCwK+EJv9ks1KDrxlhrKKklHpB2xA++3oBqXQ7P+5trH0toAUTi8bHHPhEacoTrZKIp5z8boU6w2UV4R7vbmCrkXTRAzbPQz5qcaP32FzQsT3niSW2A6n+Z8hNvKhBf51pDy8gC2P/52Yx9ja/AoH7tG1PE1EYC/4P2oB7VnxJIuOnD4izOwTIh9MPGtd/GfyaBHm36YyhMZ43pGCg1PxcgeMmnjbE1VKL0mze3C9iW9oJ8sniZiyHww4gv6OtEuATqT+xxYi4wkP+raUR1tiTKgPMN3Sdoe+XbViNhuw+nGxhKZcgXdgxSaXNQO6OfLTugrEuqGOytkxmn2NF3HtN7i9G7MfqkZzNJavaABeb0XblWl2xeJrc5I5f+o5Q9mNOYEhboW0gzQzQOtSpeG5SkUWHaRu1rgKZCQF5NOAxooC7Of4qi0TQFtSOZ707S8HaFD2U1LZ5/ZAdcoXXRQ6ZOr2+gHT4HF2NUgA5QAc7kRwOIf80FfgUdBkkenuXTmqgpllBCRryzMhoVl9hLpjWdMPn8rFwWnhhw+Tpu8BJCVFspoVzkOGqwPQIqLpAlM4CkVQ9gquoJjQlm2c3LgDaRtorPpEYmOQ1FhjpOXQLHTqmkILAFZoj3wOuKYU4CKfXuadOL6gPvryTiAg6MclTt6p3DhXI6KhsH/0MYwv/ofF1cn4aL/H6M9fIaUg6Z3cTFPYpqiAfkoD2YosrmBq5i4bSobcz7QPRstfxsbD1EAwN/2px/iQHzfSfo2xqFwDYrAJNz6Pez1sxR4B/SBg2tFAuqANr67iBShGQGiH559lCkTtMvMxsvze4hhfz0Jiq9c2R6liLdZuO8SmHdkRTTDFORcEapRJ9V6KpuypTZed33fkOSl7n290gGoXjAXJQ6kJ1zvkezG/Jix9upSEDmjAfiEVxJNvxDNSpcLeUazSiEMSvA9rVoz5RleZLEQvxf2Aczl9y/+Ai+bGeVt5PHy04418ZFxOKq/BOjGcIes5fstI+5bZPYGM01dbe7W41DPmOR0ZAyLI8K5C5+yPNW8fl124cCZfibp29D6xy6bCW+jwoC/X/9nznp5jPdUgCmEwTZtqTFSYnjOKdP94v1lB/RPzcCf5HqkaRFQ3u+i3U9ln9B1ZRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VyHBKffHVweRvwQscA39sM",
      "input": {
        "note": "Empty close: the jaws closed just short of the cap, which is ~1.5 cm further out and slightly right. Opening and shifting over the cap before descending.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.445,
          "left_y": -0.1,
          "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_01VyHBKffHVweRvwQscA39sM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4969, 1.8832, 0.9371, 0.1219, -0.7414, -0.6292, 0.9944, -0.0193, 0.5732, 0.2493, -0.2714, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4359 left_y=-0.0966 left_z=0.0527 left_yaw=0.4202 left_pitch=-0.0102 left_roll=0.013 left_gripper=0.9944 right_x=0.254 right_y=0.0036 right_z=0.0959 right_yaw=-0.0001 right_pitch=-0.0244 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [0.4991, -7.9521, 8.7179, 1.3504, -0.2857, 0.0562, -0.2271, -0.0752, -0.3624, 6.9949, 1.8828, -0.0269, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33c32def831201dece10fd5e17cd399dabfd1c83f292f84bcb157c7cf5514a07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21958dc92bf1f8f3fda0d67cfdd4ecabd8a6d9a25235827d801cd2957d79c791",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:936b0c2b39f235b69e216c61012bb32eaf386a4e191517df193215c7b4e52354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 5.78 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]: [-0.5224, 1.8416, 0.7902, 0.247, -0.7368, -0.6327, 0.9956, -0.0193, 0.614, 0.3016, -0.2878, -0.028, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4109 left_y=-0.0955 left_z=0.0389 left_yaw=0.3933 left_pitch=-0.0008 left_roll=-0.0077 left_gripper=0.9956 right_x=0.2596 right_y=0.0035 right_z=0.1067 right_yaw=0.0004 right_pitch=-0.0293 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [0.6906, -7.1726, 5.8051, 1.1648, -0.1392, 0.1245, 0.1001, -0.1162, -0.5949, 6.9949, 2.0049, -0.0562, -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]: [-0.5106, 1.8622, 0.82, 0.3508, -0.7658, -0.6048, 0.0117, -0.0193, 0.5934, 0.2756, -0.2829, -0.028, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.431 left_y=-0.097 left_z=0.0578 left_yaw=0.4147 left_pitch=0.0837 left_roll=-0.0615 left_gripper=0.0117 right_x=0.2564 right_y=0.0036 right_z=0.1008 right_yaw=0.0004 right_pitch=-0.0297 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [0.0342, -7.0769, 4.5607, 0.7741, 0.2027, 0.0269, 0.735, -0.2803, -0.5538, 7.0906, 2.0098, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4969, 1.8832, 0.9371, 0.1219, -0.7414, -0.6292, 0.9944, -0.0193, 0.5732, 0.2493, -0.2714, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4359 left_y=-0.0966 left_z=0.0527 left_yaw=0.4202 left_pitch=-0.0102 left_roll=0.013 left_gripper=0.9944 right_x=0.254 right_y=0.0036 right_z=0.0959 right_yaw=-0.0001 right_pitch=-0.0244 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [0.4991, -7.9521, 8.7179, 1.3504, -0.2857, 0.0562, -0.2271, -0.0752, -0.3624, 6.9949, 1.8828, -0.0269, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33c32def831201dece10fd5e17cd399dabfd1c83f292f84bcb157c7cf5514a07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21958dc92bf1f8f3fda0d67cfdd4ecabd8a6d9a25235827d801cd2957d79c791",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:936b0c2b39f235b69e216c61012bb32eaf386a4e191517df193215c7b4e52354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpQkKEAgSGAI4AUIIdGhpbmtpbmcSDKxPz3YpKga1PYahOBoMxmxJLmsPcns+Cf9IIjByq5wwWWsSqp0MNMIC40ClP/I8MWX1nonYFI4PEsokIRAFZGUY9p9fDUw6MVwF2EAqwghBsplf5ds4Jyhm4KyUhdSdiS86UYk4eGKAW7wG0yFthzTLOQMzYF+OklvLplDRLf5P/hfhNO6yiCWZF9iQLCkvUGX7LzHpPFg9gT8WDkf2X6OZd7qR6KlCOoYg+SVZQL0YVjQzrILs2sMFHcz3znh4THSPDW/Ab5fPMftAVAPBCs2z1OXMSz/Ji0MAYIC5cENGo0HGh+c7dctVETaL7iaiqBVhfFkZD52aLJvtxq9S2CoZmC+y6EGLYxhXQoH1MQeI09j9az/rOB15aWTUZL5p65imx6he2I/Jr+UriETnovpPu4rscTHa5S1mhBR89vglxQg3dEutzShRz+VlZ/xETILZFXpk2p4Yr7tkqVXBDppuStIIu6oX0MUS30JP+9ybJds8dPcqFFdmcHAKCLfNv1NbahvDaiJEJSswC2SNYf02fLxHUeWVTXmPsmBbD4NvGHn/LHPmfmxoGTVl0PSNUm7541AXH0DCTkJGwPIzPfk0yQzUemgQoD9ssajv+JTZnaJLKNhnlRbLQ/2RAx0/+yuxAZ7gkg5UshKTrgorL8j0zL0pVfHAJyXohX8d+oAQx2r4PRqFOTq5mu+pkd15AUWhe7M5NBFsceWNy6EHNlkCLwS70HABxNakpm6WMUpwbFxYXMumxe0mjclobgBjg5Q+1+kwQ2d22Yhj5U9xaWKraxKHSOI4HrZWFw20JfPjX7k0Ij/KBbfwA5B473k3fKlCM84cW3t1GptoFMHwm1YWqKX//xDIxXCYwCAwXj6FwCTo1AW/geg6ehLtcFuTOe7bvdcxo1Ymf/DuRTB9N6oJW9SYVLsLVTCvDwDhCXgbCe7y0lOoOhGcuiRzeDTCeOL000XAq3m3bOWWMcfYAyfRN6qUSnHYuNm5Dpy4H4yn7/RGm7EdxP/DtyiF6YJTG/q/WXTcjvnNHnfyNMmcynA//ckz9DekZeTBs/n0iVSw64VGf4k31jlpfAQ1Bhog7M5JxqN8aAgXawoC4hS6mzqcyKAA+rDlm9OLMDLUEgGLD8HL7Sz1YL6GHmNsSDCOU5ulUHaNNV3PxHE4hcrGXJ7KjTSj54bd2+AyUMFVyHc/3gawFae7xytqIhK0JQOxRrzYVFiLIDLOGNd5H6ucDR+j8h5qmt4ZYS+YywobKZx8L9ch1RqUKjGQofZtBqcQ8bnCZen06A8gpkk3QARoCS2txRDsMPonPpc1UP5r7TQtD3BeA5xt5I1tgetLaYGmoKnl8nN5zvrVdQ3bqhp/KmiMgr/rkTfnXimo9bgF2W8FVY75Lq3HfhjU6ovAUs/d4UwQPGtWy+ShUtHda16Q0kbhIA4L77z0oPEBNmi2DLSwzRY1v6yviiFxF4Y3dSMTIWN2o2MXSJ/dkb+HzOFQq3TRc1g/E0udGx6VuuogXTXPXX5u7BBIHe1vXDl0/kze0kZ5Ys9Vqtdg6r3M37jA7vvoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01My9WT1hV2yFojgVARPs4kS",
      "input": {
        "note": "Cap is now just ahead of the jaws and a bit to the right. Shifting right ~1 cm, forward ~2 cm, and down to cap height.",
        "targets": {
          "left_x": 0.455,
          "left_y": -0.108,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01My9WT1hV2yFojgVARPs4kS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4969, 1.9503, 0.9699, 0.1627, -0.7486, -0.6327, 0.9958, -0.0193, 0.5613, 0.2371, -0.2676, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4463 left_y=-0.1011 left_z=0.0417 left_yaw=0.427 left_pitch=-0.0021 left_roll=0.0081 left_gripper=0.9958 right_x=0.2528 right_y=0.0036 right_z=0.0939 right_yaw=-0.0001 right_pitch=-0.0209 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.335, -8.1983, 6.1607, 1.1453, -0.2515, -0.0464, 0.1343, -0.2803, -0.1162, 6.8308, 1.8926, -0.0513, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbeeed12227f1e46b65d45f40443acd273e1e030b0e67233c08ac803e0e661bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78aefc40cc278be78c09fd819ccc69171e9de45d912fd267219a3bdfb5abcc2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:153b6380a272e58a16678a0cc083cc5cc13e5b2c9066d473c9e8d0cee7e9bf1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 3.523 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]: [-0.5106, 1.8622, 0.82, 0.3508, -0.7658, -0.6048, 0.0117, -0.0193, 0.5934, 0.2756, -0.2829, -0.028, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.431 left_y=-0.097 left_z=0.0578 left_yaw=0.4147 left_pitch=0.0837 left_roll=-0.0615 left_gripper=0.0117 right_x=0.2564 right_y=0.0036 right_z=0.1008 right_yaw=0.0004 right_pitch=-0.0297 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [0.0342, -7.0769, 4.5607, 0.7741, 0.2027, 0.0269, 0.735, -0.2803, -0.5538, 7.0906, 2.0098, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4969, 1.8832, 0.9371, 0.1219, -0.7414, -0.6292, 0.9944, -0.0193, 0.5732, 0.2493, -0.2714, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4359 left_y=-0.0966 left_z=0.0527 left_yaw=0.4202 left_pitch=-0.0102 left_roll=0.013 left_gripper=0.9944 right_x=0.254 right_y=0.0036 right_z=0.0959 right_yaw=-0.0001 right_pitch=-0.0244 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [0.4991, -7.9521, 8.7179, 1.3504, -0.2857, 0.0562, -0.2271, -0.0752, -0.3624, 6.9949, 1.8828, -0.0269, -0.0122, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4969, 1.9503, 0.9699, 0.1627, -0.7486, -0.6327, 0.9958, -0.0193, 0.5613, 0.2371, -0.2676, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4463 left_y=-0.1011 left_z=0.0417 left_yaw=0.427 left_pitch=-0.0021 left_roll=0.0081 left_gripper=0.9958 right_x=0.2528 right_y=0.0036 right_z=0.0939 right_yaw=-0.0001 right_pitch=-0.0209 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.335, -8.1983, 6.1607, 1.1453, -0.2515, -0.0464, 0.1343, -0.2803, -0.1162, 6.8308, 1.8926, -0.0513, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbeeed12227f1e46b65d45f40443acd273e1e030b0e67233c08ac803e0e661bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78aefc40cc278be78c09fd819ccc69171e9de45d912fd267219a3bdfb5abcc2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:153b6380a272e58a16678a0cc083cc5cc13e5b2c9066d473c9e8d0cee7e9bf1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpgoKEAgSGAI4AUIIdGhpbmtpbmcSDPwWYQIZhazXAdh33RoMSXvs/qptKibslEENIjASXVD1zoKY0q3yN+iF4KLdLh12/U1xsIzWIYC2kJ7ZoBIsQCWlVHF6/1RCuJNkX58qwwmMurxhqmkkvm5LR+ujX8D61I4K5H/+/tAfRdBs+6YSBtRG3ukfz4sWqn887le6ctCmMBRzMtJdjK4aiTwJg/h2qh8UnE2aGALrVClTCe0ZiNXga6Dx3TGZCoQByqYd4xzfzRYgQTkRUoXAxNAB7fh1eCC+GdKS7ani4fvi2QH9LxMaWffNLUZXNZoUAuGNiKNVgoUEsLfGF8KnVozdzQsN+/mIeU/2/driYW7CyZO483FGZzLHRz5KhrReSVDzjyNbUfd5EPBBdlb1GCiUXDpQkcy1yTPU5aTrc997PNqTB3PH8lGRPhLBQ0JAhAfwG6jYmcbbzztvDRNGuPMHyU4DQpnsWMN7QCkFrXFr8QiQzGFp77PXvCWP95EVJnMDsaUPx7rN+Hr2pW4pBwLwLQLSSR81x0A/sjpSdM+QUGJNlY5LcK3AtTvSUDaUASs1Ohyl9pFq3Z/KOnyQWKPh2Gh6dGmrg39eimzxXKD2t/4rI601CQgsseo2o2qy8gfaGayJNbPbToTrWtOZd6oQ4dENMWiSdAt6XRIGTLc1aIYLvNf1hiht+/bEto+cxHY1PD5cQw6TgFe+xxrS+cJaFJzfZ+hiw5F59TrpEgoRmkkP7AKrd98eqforZhBFzZsGFAJD6nqIMnqByjD8SEpMWDsaIS7H+LkBuUKs1exGaY+lBcGmuzQcTmBhaFTzeu36MmguAdgDCQGJ8M8ePhdbbaW4q0VQCkaodULINA3WE8tEm7cEAmelZwc1X0nquBKXvUFRSeoxyNAS7QJ/849wiiwh2Sb2hhO/pO8QrreJwIV6ZTzyT2fzPsoGsZ9WQfHfDEz/L+1UFZ2t8eFKPkZ0pO8cNQeedr5KdEUEQUjhWHiRLZcNANT+EPdGYq4u3ZeBv0Xp9lVG3tDOcXOUnXKRaFHz4zGhyUxnGIjyWdpS8S7V1nOfT+plkTr60n6lwQb9EL17+sIjXRFaKN+fLFkY3gxehJMGAtR6naAzSoFyFowh7mDPhatn0T/TO0N5uUsYyC0beiTEGRvCxYVr/2RG5JbuDbEO+yEUpZzWFwEe5+OH041YO908k980moe1tHA8NFGuTNP3TvytNEfpKdhluajXnnVBwTHN/vTfMl/v6xEFlMUlmES3CfUyMMw2CUFvSIzjmCnGrVTxvdkWCyarcmVJ+KyNudIagrOGFUbkKBuzXDrSuAc4AxGjqfI6Ggc2z+CT0FoCLQHkpGDVIljZD8Y8MxjTP0tmuNhc6JP15KarzunGaX5mf0jOBZGaEpd6Ix2eaz4gkLz7+uKBBZwVzYS7GF8FpAYpNjqx4T6KZ3GfH1t1m+v97Kp7z6ucUg5i62LQgHQ1VpdoMrv6w9tIx68IrQkV1slSlGfeVSwYi2oRJrsAtAyr729+eDU+2Kr92rttyK8KoBmXI09WjlYYDRWRZcK0G9Ni6sG71XV9bz3ry80iORGOr8ldcU7rUA7vsWbDFBNLaKej24wMVtcQt5TJGHCypcav3X5Hhrz3b6irVxeHXUZurCLKnd3WtIIA0v1kHNN+O/W1aVuUgzsySZwaWnezIex23itgp6AKlzkgOo8ix7NuE+WzopZy+g/74ccCPgYC8vzgLynOyGOX+M9e1R6WGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014nYjLdqwDhi4nqFXaQ4sr4",
      "input": {
        "note": "Cap still appears right of the jaw column and just beyond the tips. Shifting right and a little forward/down.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.118,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_014nYjLdqwDhi4nqFXaQ4sr4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5114, 2.0171, 1.0195, 0.2081, -0.754, -0.6518, 0.9961, -0.0193, 0.5529, 0.2272, -0.2676, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4598 left_y=-0.1152 left_z=0.0358 left_yaw=0.4265 left_pitch=0.0179 left_roll=-0.0285 left_gripper=0.9961 right_x=0.2514 right_y=0.0036 right_z=0.0913 right_yaw=-0.0001 right_pitch=-0.0225 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.7179, -7.9111, 6.7487, 1.1746, -0.3736, 0.0855, 0.0269, -0.2803, -0.6632, 6.5026, 1.9219, 0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42ebd966050e66304727e92799dc6a76919157e4fdee5c8848773275d5f63aa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ef5adff925cafbaa38501f8303ab59e42e6f7623a4a79dcaec50942e1b43991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3466318439cec94371909c4f48d8c7c85d22cbe41ac908ba9ac8bfb82e0f86c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 8.314 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]: [-0.4969, 1.8832, 0.9371, 0.1219, -0.7414, -0.6292, 0.9944, -0.0193, 0.5732, 0.2493, -0.2714, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4359 left_y=-0.0966 left_z=0.0527 left_yaw=0.4202 left_pitch=-0.0102 left_roll=0.013 left_gripper=0.9944 right_x=0.254 right_y=0.0036 right_z=0.0959 right_yaw=-0.0001 right_pitch=-0.0244 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [0.4991, -7.9521, 8.7179, 1.3504, -0.2857, 0.0562, -0.2271, -0.0752, -0.3624, 6.9949, 1.8828, -0.0269, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4969, 1.9503, 0.9699, 0.1627, -0.7486, -0.6327, 0.9958, -0.0193, 0.5613, 0.2371, -0.2676, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4463 left_y=-0.1011 left_z=0.0417 left_yaw=0.427 left_pitch=-0.0021 left_roll=0.0081 left_gripper=0.9958 right_x=0.2528 right_y=0.0036 right_z=0.0939 right_yaw=-0.0001 right_pitch=-0.0209 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.335, -8.1983, 6.1607, 1.1453, -0.2515, -0.0464, 0.1343, -0.2803, -0.1162, 6.8308, 1.8926, -0.0513, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5114, 2.0171, 1.0195, 0.2081, -0.754, -0.6518, 0.9961, -0.0193, 0.5529, 0.2272, -0.2676, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4598 left_y=-0.1152 left_z=0.0358 left_yaw=0.4265 left_pitch=0.0179 left_roll=-0.0285 left_gripper=0.9961 right_x=0.2514 right_y=0.0036 right_z=0.0913 right_yaw=-0.0001 right_pitch=-0.0225 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.7179, -7.9111, 6.7487, 1.1746, -0.3736, 0.0855, 0.0269, -0.2803, -0.6632, 6.5026, 1.9219, 0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42ebd966050e66304727e92799dc6a76919157e4fdee5c8848773275d5f63aa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ef5adff925cafbaa38501f8303ab59e42e6f7623a4a79dcaec50942e1b43991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3466318439cec94371909c4f48d8c7c85d22cbe41ac908ba9ac8bfb82e0f86c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSsAcKEAgSGAI4AUIIdGhpbmtpbmcSDGt9hKf832gKYC6XFxoMm5CajLhcjCuku/xcIjC9MI4I8BmOCzQcZmNF+L4Ql2asF9sUxI1seJbyXEqC1IJgZP4omLDuElRcGexZHygqzQZo/LOeulxgf5r3ahf2bGxAiOF67t64ojOvFtLbhHlko3r37+7yISM/pOdgCMrIER2tC3mJwQvSrEphAf/V/W46m1TnIYgH9b0jRSosP/+Vo++xyx+/BmXDYd/dBTBaB4VJNjrRn62Bq8o1lbSeJ9a+hrBTV1TymjpzN6aMuQrM7TfQK012X4e53KbeELjdSMGKC0/gdnfDsrezG5jWZvbdGEALmU4SyGbh+Cxdawl8dSRmgrg3OwXsKr2TlQlzGm19uyg6rai4l/ziVWRRFVXJ3KX12gpNIQGCumGiktu2aSYNd8J16RtZt5XmWS8ntU5w46WmVlCx19zAcYjVCOfoHuJvXoUpfdIHJbZa7H9ODAjBniZYRzR9yXHjNYWMj9ld0f5c2bGpnl4QN/dHBzDm39oRZEuYasSaFwgthNNUKdALOfTTmAvdjfLBdTQQVDfi5Jpk0MqfO9R3TPbuYMDNRli2LlDXPw4rWG4zoRgPO1Im+C8eiJV9Y0oj1Hk68Vyq6fq5KuRz4n3mWo6ORKEO96dP6/IIivtQe5mcLPGlnL1O1uwfnfo6kNbezRtzFESlhPyaxU5RhEHWkoZAXzuja+qZ+SxZc7aCBDbVkINDB813TC1odDQz/mM4nxDkCcimHWPqrH/PsxYWuRAbM5wi0DshAY55AiGKdy5U6Dpja0IJs3OwkgJnKpsyWJ0Qc1w2xc3tZzlCjxxJgXaJmBGVu/S5HOmh/mQu9JH2h4QEORCETrrN7RvNaKUFEyrz3IdZru0jNYfhkHErZU9fI8qXvZO2THwf0ikiI43XfFJMKMDhvlwhBqA1oobCictxjRZ8hjzmD872funTb4YJnfLkLX6nVDKWOwI05TtVSb3xsO12l6RGnfhne6RQ/AYICNZovRgYawZ3mVvomy0eeE/mRljAzzMnpKEWSVA1Ee7fOueEZPA1CNqB1E+xCxaee+xjgvuFi4l6hT2nDLyzjCZ70JajsFtNqhKRzA6zr/fbLFdYBDJ+SZJA7NulI5qJzSioJVgna047ZA1+iPbbpFNiqyDRVg9OWkIqLVq5oP4WSPxktu3P4yGUF8bLcl/mCfJxeL+NAqJLnyzHT4SohS+vpoQHSSTPjq4KuCcjLBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017wScY2R8hRm3QS1fsyBH4N",
      "input": {
        "note": "Cap is centred on the jaw column with the neck running down between the jaws. Closing on the neck.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017wScY2R8hRm3QS1fsyBH4N",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5156, 2.0296, 1.0557, 0.255, -0.8169, -0.6579, 0.0129, -0.0193, 0.5354, 0.21, -0.268, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4725 left_y=-0.1156 left_z=0.0542 left_yaw=0.4734 left_pitch=0.0934 left_roll=-0.0672 left_gripper=0.0129 right_x=0.249 right_y=0.0037 right_z=0.0875 right_yaw=0.0001 right_pitch=-0.0225 right_roll=0.0013 right_gripper=0.9987\nstate[joint_eff]: [-0.3761, -8.3761, 4.588, 0.7009, 0.2759, 0.0171, 1.1013, -0.1026, -0.0205, 6.7624, 1.8974, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d066a17692c61439508bb479b0df92f19f114f28fa4e4f846029de7828c5e6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b78158c2e2b23a1405d73a5496230d891120ce24eb73bcc80ba2a85e559c9da3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f1f20533bef85cc5fb28ce8a01074acc8f246911ea7d9c7c4155eaf08721dfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 4.708 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]: [-0.4969, 1.9503, 0.9699, 0.1627, -0.7486, -0.6327, 0.9958, -0.0193, 0.5613, 0.2371, -0.2676, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4463 left_y=-0.1011 left_z=0.0417 left_yaw=0.427 left_pitch=-0.0021 left_roll=0.0081 left_gripper=0.9958 right_x=0.2528 right_y=0.0036 right_z=0.0939 right_yaw=-0.0001 right_pitch=-0.0209 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.335, -8.1983, 6.1607, 1.1453, -0.2515, -0.0464, 0.1343, -0.2803, -0.1162, 6.8308, 1.8926, -0.0513, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5114, 2.0171, 1.0195, 0.2081, -0.754, -0.6518, 0.9961, -0.0193, 0.5529, 0.2272, -0.2676, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4598 left_y=-0.1152 left_z=0.0358 left_yaw=0.4265 left_pitch=0.0179 left_roll=-0.0285 left_gripper=0.9961 right_x=0.2514 right_y=0.0036 right_z=0.0913 right_yaw=-0.0001 right_pitch=-0.0225 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.7179, -7.9111, 6.7487, 1.1746, -0.3736, 0.0855, 0.0269, -0.2803, -0.6632, 6.5026, 1.9219, 0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5156, 2.0296, 1.0557, 0.255, -0.8169, -0.6579, 0.0129, -0.0193, 0.5354, 0.21, -0.268, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4725 left_y=-0.1156 left_z=0.0542 left_yaw=0.4734 left_pitch=0.0934 left_roll=-0.0672 left_gripper=0.0129 right_x=0.249 right_y=0.0037 right_z=0.0875 right_yaw=0.0001 right_pitch=-0.0225 right_roll=0.0013 right_gripper=0.9987\nstate[joint_eff]: [-0.3761, -8.3761, 4.588, 0.7009, 0.2759, 0.0171, 1.1013, -0.1026, -0.0205, 6.7624, 1.8974, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d066a17692c61439508bb479b0df92f19f114f28fa4e4f846029de7828c5e6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b78158c2e2b23a1405d73a5496230d891120ce24eb73bcc80ba2a85e559c9da3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f1f20533bef85cc5fb28ce8a01074acc8f246911ea7d9c7c4155eaf08721dfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012ZNQQjewLYxamogmQvRMsG",
      "input": {
        "note": "Second empty close — the jaws seem to ride up over the cap. Reopening above the cap so I can descend lower (fingertips near the table) before closing.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.462,
          "left_y": -0.115,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012ZNQQjewLYxamogmQvRMsG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5167, 2.0289, 1.137, 0.009, -0.791, -0.7116, 0.9942, -0.0193, 0.5205, 0.1917, -0.268, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4644 left_y=-0.1153 left_z=0.0458 left_yaw=0.4777 left_pitch=-0.0125 left_roll=0.0133 left_gripper=0.9942 right_x=0.2465 right_y=0.0037 right_z=0.0825 right_yaw=-0.0001 right_pitch=-0.0259 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [-0.5538, -13.8872, 4.7111, 1.1746, -0.3492, 0.022, -0.0562, -0.2393, -0.1846, 6.8718, 1.8779, -0.0073, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:081f2361fb4d1117d757d6187c24a6eb7d66a97ac8de375d2ba0ecdcdfde0eb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:313a64ce18563c111c955b21ff33dd16e015a9d46a1d15c9a53e9572d4b31a4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:500ab07c4ea4657f3beaeed7d2335cb3cadadbc45ef02cea7e5e1927c30018ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 6.428 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]: [-0.5114, 2.0171, 1.0195, 0.2081, -0.754, -0.6518, 0.9961, -0.0193, 0.5529, 0.2272, -0.2676, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4598 left_y=-0.1152 left_z=0.0358 left_yaw=0.4265 left_pitch=0.0179 left_roll=-0.0285 left_gripper=0.9961 right_x=0.2514 right_y=0.0036 right_z=0.0913 right_yaw=-0.0001 right_pitch=-0.0225 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.7179, -7.9111, 6.7487, 1.1746, -0.3736, 0.0855, 0.0269, -0.2803, -0.6632, 6.5026, 1.9219, 0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5156, 2.0296, 1.0557, 0.255, -0.8169, -0.6579, 0.0129, -0.0193, 0.5354, 0.21, -0.268, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4725 left_y=-0.1156 left_z=0.0542 left_yaw=0.4734 left_pitch=0.0934 left_roll=-0.0672 left_gripper=0.0129 right_x=0.249 right_y=0.0037 right_z=0.0875 right_yaw=0.0001 right_pitch=-0.0225 right_roll=0.0013 right_gripper=0.9987\nstate[joint_eff]: [-0.3761, -8.3761, 4.588, 0.7009, 0.2759, 0.0171, 1.1013, -0.1026, -0.0205, 6.7624, 1.8974, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5167, 2.0289, 1.137, 0.009, -0.791, -0.7116, 0.9942, -0.0193, 0.5205, 0.1917, -0.268, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4644 left_y=-0.1153 left_z=0.0458 left_yaw=0.4777 left_pitch=-0.0125 left_roll=0.0133 left_gripper=0.9942 right_x=0.2465 right_y=0.0037 right_z=0.0825 right_yaw=-0.0001 right_pitch=-0.0259 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [-0.5538, -13.8872, 4.7111, 1.1746, -0.3492, 0.022, -0.0562, -0.2393, -0.1846, 6.8718, 1.8779, -0.0073, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:081f2361fb4d1117d757d6187c24a6eb7d66a97ac8de375d2ba0ecdcdfde0eb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:313a64ce18563c111c955b21ff33dd16e015a9d46a1d15c9a53e9572d4b31a4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:500ab07c4ea4657f3beaeed7d2335cb3cadadbc45ef02cea7e5e1927c30018ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxwgKEAgSGAI4AUIIdGhpbmtpbmcSDODR7DUtAXkMmMJx4BoMfyDPpX3+nm1uQ/OIIjAbYHire0r1ExUf/K16t0r0htZFcJg/XDJTV6DmZpuMeQwg/Jx44KY4oNulz1+7bI0q5AfeYwDyZI/RycPosMwB3a1M2iSE6Ve1QhVLd/HCDd8730siZyqDTIGDDmIJ8a720yvW3Cx5jnUQXekclvv8p/qMAN3nT6l+nYzFypY/+cAohtO6/0cTFxmlErXF1N2yl8KoU/eR9b2PsPXaZ6F3YhtPWBBOFb/x4xmBeMXOhbzAQjnPS0VdVV+PjeDhncHihAshneehbOG3N8hxOQ2jwvvGaZNWRuEaX+aMue3TBFg2NkcHF6qQJAAvC8GjLQzVTiCGABawj+eM+BDkM35pwPZ7YPvEOFtJPPXUbVcuDJTNLCg3o3gRthy3EdglUiP61ASBk7S05p8UoCi5/kOLbwPmleKybD4jcHxTYHiGo1E+qNykh+E+WkKZaKWgDqTeiRnEnzohVe7PtOloIz7m2sJnHjJBdi9H1HhEMV+6as8SJE+hGHdIRno4K61hCCw4WWukxZ0urFDHwZs0T48+xaJdr4+yh6t7L8dYekOldCqePdo8MDn8569C9yJhAZIqYIvn04T6wZ2i6bRstBUEuF3P7Q6RT//GZzHClIc5yO6HPy2eQwfHFC7ymZ2A7CzcSNWAHL8z3RN4xzTUl0IwB28kAMFoYOY1UztG31RDez3rvek6QmgvhHF+LmhB4RrKeuEiE/6tJ7/1onmCGkpw214CUKbL0jxROSfVMqmTZv13+85kBqJT1MhS+0AxV1nTaB93oJO5/UpXS9uzF3qStjbf52aI/TjjPRu8LAs+w9rhSPdAAeyjJtV2tChApihantvqaF5kaBENuAj0u7RFXY5prDgTZX8NWQGUEnnR5ndaEXcQIjsIhBl26ZORV/NgZ1+koH9b6n++LT8EB7axOqXS0/PvrcMqXKqUiyM7os3Ovn9vuyCjz05DAH68IlaC0PebgjEu5yGz3DKCNb9pSfFSg2yw/5ZVINgqZoBOfvrWKI19u07t+TzB7aj4Z5RqwEfg+WgIGw8alZaT6EQPUxqljcSVD2592oCOLQXtkSsDaBLcC7bo+hFTxFcORNdGVXCR80zW0ZvpMLL0nJsRQEE0rWxOjhB03b8fbe5V1xMkR6W0R4FfLy7/qdQIfu+gyXe5elKI7U/uJVxmXHca5rfHOamCc3uXnpnSwR6/ZAtTOc5KqLJK3jiXZYN8iOeIgcf8umuBijvldj9WkJ6QOGaBIpkpSlxTPSQ3XJ2iydl/66QMUMvMCMeCyHBwCipez6xtlK5kodFcT0OPhVFEuKXy7iRoWUkCNF/5BAKNiZqZG5LDdTfkoJU5MNdLZotpooMwqjjfg9QQ0Xv78c1TI4CZ2mPrOAVoQYs8cI4XdOsxSUhaKxsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MF3VioQ4SsRV3n3TC97zpw",
      "input": {
        "note": "Cap is right at the bottom of the wrist view, ~1 cm right of the jaw column. Shifting right and descending low so the fingers straddle the cap.",
        "targets": {
          "left_y": -0.127,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01MF3VioQ4SsRV3n3TC97zpw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5274, 2.0682, 1.1374, 0.0711, -0.8028, -0.7269, 0.9956, -0.0193, 0.5049, 0.178, -0.2646, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4687 left_y=-0.1218 left_z=0.0374 left_yaw=0.4828 left_pitch=0.0077 left_roll=-0.0144 left_gripper=0.9956 right_x=0.2452 right_y=0.0038 right_z=0.0805 right_yaw=0.0002 right_pitch=-0.0206 right_roll=0.0018 right_gripper=0.9987\nstate[joint_eff]: [-0.7863, -8.335, 4.6838, 0.8864, -0.4371, 0.1001, 0.1197, -0.0068, 0.2803, 6.9675, 1.9023, -0.0659, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7798a52c7af9bcf4324073cb6434bfc12b1f0782ad595bc2757a944aec356bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fad7c62c54f8a4a1c575969a22451839c66e0f8ce4ae97059114f03e8947c71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b751227251ef6a5599bd58d52376f080974559f2db85e0191430d0c5663c4c44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 11.88 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]: [-0.5156, 2.0296, 1.0557, 0.255, -0.8169, -0.6579, 0.0129, -0.0193, 0.5354, 0.21, -0.268, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4725 left_y=-0.1156 left_z=0.0542 left_yaw=0.4734 left_pitch=0.0934 left_roll=-0.0672 left_gripper=0.0129 right_x=0.249 right_y=0.0037 right_z=0.0875 right_yaw=0.0001 right_pitch=-0.0225 right_roll=0.0013 right_gripper=0.9987\nstate[joint_eff]: [-0.3761, -8.3761, 4.588, 0.7009, 0.2759, 0.0171, 1.1013, -0.1026, -0.0205, 6.7624, 1.8974, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5167, 2.0289, 1.137, 0.009, -0.791, -0.7116, 0.9942, -0.0193, 0.5205, 0.1917, -0.268, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4644 left_y=-0.1153 left_z=0.0458 left_yaw=0.4777 left_pitch=-0.0125 left_roll=0.0133 left_gripper=0.9942 right_x=0.2465 right_y=0.0037 right_z=0.0825 right_yaw=-0.0001 right_pitch=-0.0259 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [-0.5538, -13.8872, 4.7111, 1.1746, -0.3492, 0.022, -0.0562, -0.2393, -0.1846, 6.8718, 1.8779, -0.0073, -0.022, -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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5274, 2.0682, 1.1374, 0.0711, -0.8028, -0.7269, 0.9956, -0.0193, 0.5049, 0.178, -0.2646, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4687 left_y=-0.1218 left_z=0.0374 left_yaw=0.4828 left_pitch=0.0077 left_roll=-0.0144 left_gripper=0.9956 right_x=0.2452 right_y=0.0038 right_z=0.0805 right_yaw=0.0002 right_pitch=-0.0206 right_roll=0.0018 right_gripper=0.9987\nstate[joint_eff]: [-0.7863, -8.335, 4.6838, 0.8864, -0.4371, 0.1001, 0.1197, -0.0068, 0.2803, 6.9675, 1.9023, -0.0659, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7798a52c7af9bcf4324073cb6434bfc12b1f0782ad595bc2757a944aec356bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fad7c62c54f8a4a1c575969a22451839c66e0f8ce4ae97059114f03e8947c71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b751227251ef6a5599bd58d52376f080974559f2db85e0191430d0c5663c4c44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UKKxf9zgeEUgS5vtvSDNCE",
      "input": {
        "note": "Descent stopped at z≈0.037 with the cap centred just under the jaws. Closing to try to pinch the cap.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UKKxf9zgeEUgS5vtvSDNCE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5278, 2.0624, 1.1534, 0.0975, -0.8539, -0.7341, 0.0131, -0.0193, 0.4889, 0.1642, -0.2668, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4755 left_y=-0.1189 left_z=0.0534 left_yaw=0.5213 left_pitch=0.0649 left_roll=-0.0423 left_gripper=0.0131 right_x=0.2433 right_y=0.0038 right_z=0.0773 right_yaw=-0.0001 right_pitch=-0.0206 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [0.1709, -9.8393, 5.4359, 0.8327, 0.1587, 0.0317, 1.0916, -0.2393, 0.0205, 6.7487, 1.8926, -0.0269, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66b61d6d8bfd9adc8159831b5c1357f95fb8b75eaf5cfd9728000cec0c2db75f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:229bceaa8a3cd67812a2438350afa5ffe38a6610f8ce88df7ac0542de2c391cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2d07456d8d8291b2a0a2025110a22f6043f1d953c2f1b55c839b4d173da645d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 6.406 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]: [-0.5167, 2.0289, 1.137, 0.009, -0.791, -0.7116, 0.9942, -0.0193, 0.5205, 0.1917, -0.268, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4644 left_y=-0.1153 left_z=0.0458 left_yaw=0.4777 left_pitch=-0.0125 left_roll=0.0133 left_gripper=0.9942 right_x=0.2465 right_y=0.0037 right_z=0.0825 right_yaw=-0.0001 right_pitch=-0.0259 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [-0.5538, -13.8872, 4.7111, 1.1746, -0.3492, 0.022, -0.0562, -0.2393, -0.1846, 6.8718, 1.8779, -0.0073, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.5274, 2.0682, 1.1374, 0.0711, -0.8028, -0.7269, 0.9956, -0.0193, 0.5049, 0.178, -0.2646, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4687 left_y=-0.1218 left_z=0.0374 left_yaw=0.4828 left_pitch=0.0077 left_roll=-0.0144 left_gripper=0.9956 right_x=0.2452 right_y=0.0038 right_z=0.0805 right_yaw=0.0002 right_pitch=-0.0206 right_roll=0.0018 right_gripper=0.9987\nstate[joint_eff]: [-0.7863, -8.335, 4.6838, 0.8864, -0.4371, 0.1001, 0.1197, -0.0068, 0.2803, 6.9675, 1.9023, -0.0659, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5278, 2.0624, 1.1534, 0.0975, -0.8539, -0.7341, 0.0131, -0.0193, 0.4889, 0.1642, -0.2668, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4755 left_y=-0.1189 left_z=0.0534 left_yaw=0.5213 left_pitch=0.0649 left_roll=-0.0423 left_gripper=0.0131 right_x=0.2433 right_y=0.0038 right_z=0.0773 right_yaw=-0.0001 right_pitch=-0.0206 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [0.1709, -9.8393, 5.4359, 0.8327, 0.1587, 0.0317, 1.0916, -0.2393, 0.0205, 6.7487, 1.8926, -0.0269, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66b61d6d8bfd9adc8159831b5c1357f95fb8b75eaf5cfd9728000cec0c2db75f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:229bceaa8a3cd67812a2438350afa5ffe38a6610f8ce88df7ac0542de2c391cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2d07456d8d8291b2a0a2025110a22f6043f1d953c2f1b55c839b4d173da645d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EBV4d6QfexkaxE2oNbyTeC",
      "input": {
        "note": "Third empty close; the fingers seem to be landing on top of the cap/neck. Reopening and backing off ~2 cm to re-approach lower over the neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.45,
          "left_y": -0.12,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EBV4d6QfexkaxE2oNbyTeC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5507, 2.0121, 1.1687, -0.1131, -0.8349, -0.7975, 0.9951, -0.0193, 0.4728, 0.1482, -0.268, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4532 left_y=-0.1204 left_z=0.0536 left_yaw=0.5174 left_pitch=-0.0191 left_roll=0.0225 left_gripper=0.9951 right_x=0.2412 right_y=0.0038 right_z=0.0733 right_yaw=-0.0001 right_pitch=-0.0217 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.8274, -13.8735, 4.7658, 1.0525, -0.4811, -0.0659, -0.2125, -0.0752, 0.0889, 7.0222, 1.8828, -0.0122, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5680167073405e41544233cff39d64b410c73cb8100f5a30c323b1dc58d41249",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e67c298a8ceae24f004b6d545915a17ecc2dd49d3c92e172edd284ce66a52e2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ecf8b08f59f4f984bc7bc2a16c3ea52dd06ea9f8b2f54720b5762be234516771",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 10.89 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]: [-0.5274, 2.0682, 1.1374, 0.0711, -0.8028, -0.7269, 0.9956, -0.0193, 0.5049, 0.178, -0.2646, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4687 left_y=-0.1218 left_z=0.0374 left_yaw=0.4828 left_pitch=0.0077 left_roll=-0.0144 left_gripper=0.9956 right_x=0.2452 right_y=0.0038 right_z=0.0805 right_yaw=0.0002 right_pitch=-0.0206 right_roll=0.0018 right_gripper=0.9987\nstate[joint_eff]: [-0.7863, -8.335, 4.6838, 0.8864, -0.4371, 0.1001, 0.1197, -0.0068, 0.2803, 6.9675, 1.9023, -0.0659, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5278, 2.0624, 1.1534, 0.0975, -0.8539, -0.7341, 0.0131, -0.0193, 0.4889, 0.1642, -0.2668, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4755 left_y=-0.1189 left_z=0.0534 left_yaw=0.5213 left_pitch=0.0649 left_roll=-0.0423 left_gripper=0.0131 right_x=0.2433 right_y=0.0038 right_z=0.0773 right_yaw=-0.0001 right_pitch=-0.0206 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [0.1709, -9.8393, 5.4359, 0.8327, 0.1587, 0.0317, 1.0916, -0.2393, 0.0205, 6.7487, 1.8926, -0.0269, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5507, 2.0121, 1.1687, -0.1131, -0.8349, -0.7975, 0.9951, -0.0193, 0.4728, 0.1482, -0.268, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4532 left_y=-0.1204 left_z=0.0536 left_yaw=0.5174 left_pitch=-0.0191 left_roll=0.0225 left_gripper=0.9951 right_x=0.2412 right_y=0.0038 right_z=0.0733 right_yaw=-0.0001 right_pitch=-0.0217 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.8274, -13.8735, 4.7658, 1.0525, -0.4811, -0.0659, -0.2125, -0.0752, 0.0889, 7.0222, 1.8828, -0.0122, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5680167073405e41544233cff39d64b410c73cb8100f5a30c323b1dc58d41249",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e67c298a8ceae24f004b6d545915a17ecc2dd49d3c92e172edd284ce66a52e2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecf8b08f59f4f984bc7bc2a16c3ea52dd06ea9f8b2f54720b5762be234516771",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzgoKEAgSGAI4AUIIdGhpbmtpbmcSDMETYGa6Tjh/UFBr5hoMCwrxHIL860QFl3LSIjBXg7cPjwuGtVlaDLV91pCBEcSHkzYb8MYqaLjzoeriyw0kuEQ2I7MWsnxWADvEO+Uq6wm+RfpCfzAh5iLq4wkoM8sFQKE0nt86fydg9g2iL0EFuirsjHGZiHTlJs+KjgjZqwUnMQj+qh+Zx5AQstiTW+2tvINgHVuYSjIUKxLsT+KLtbl4L0CRyoK6wX/T19tLyTV7UKQXejUstVJYqdYiscwxMRx4+B7GcbBFW0FYdDzwJqRCQQr91JCA5eHqRO5l4mvTNrs69a3h3IcRT2aW8T470gMGFF8XXFulh6b9KjhohP9Oq/QSz6QT0/5VSVkqop/o7gQf8v3ovrrB0aPMXk4pyQlVi2ECm2nRnoaADE6cAjTeKT+7kpCxJKVpKTNf0XwGSNvX/QruF5Dpu+OvcdDd2V8Y3HnWwye9Xl/PfFZ5T5wh8geGgcwlDPH1LokTDohRZTDpaHpvPwoUbkvK3W2d/FfCn+WMCWwPaJB08j5c/mNFnw+rcsV/HDo2SKZLDKzEsaLXHZeJ9YRNbHjok/yCi7wJZV3CxnIJ7PUXS7gl9y1QnmPDXPmF8zX+D+TsU9pBDIto6nDMD9acgQ4um9Wlzt2nYBhFQqDNUgLvkHElykurv+/I2+GYAKY6N3faWejPtofLPDS1pOyy/2rAbf/hd5q3n90D9caZHr+tgYLEAeakTshOr4v6Ofw5nf7FciKaVpF0o2cnd6gskMjgjKoDQSEKzqhYRhkgkVsRMSyjtGAE7So+Jxrz3v442jbe70Mo8jUny73rqphEA2BpQ9RYl1FvzVLfM6wtET8vRVKRVlasRo+HckRyFu2kqOzbNFwcpOp+gbCurAPBnMhNq7CbCwVJbm8Dyb3qN2afxgm/RDNZxEyu2NE9KaSG3/Z1kwyV+LbFCCErz1kD+kSmolGw3UiCfPMymrV6FaLZt8alu0iFhC6uIC+l1LY5NKICCfIpv3UxtloezRwYz54Lqiu7q7/UJ8O7rp72CKxzokr6E5Myq4S/lugJcMEKRgi9SAl8jxzURweJfv+83HHb3WtRbIqqM4WGmzC1ol0JT5xZigDLm/X5dQLAqY0jyW73KrM9hDroQyIWtL32PFWWgFn/eCbfD95fVZ1C8H0O+weuoiwHF+9TqAhBapkqjKRKmix3iomBWwHoZTRXVtMTCjoBpEg8pqzg4EQz/E+HXds40wbBu7W7CGLvKk8A5ttvCjOml+tz1lth99c8tQjXetPYXWMO4+9LrU8RFHk8ecgBXbjO/2xDBcjO0FZ0+Z/ptS/E2KF4ArrLk7FEM9el4jfL9mP7st6SPM6JSIuAnueYwMs90RP5oGCuinrKPpX48uJyBezvzAozJgtnJf+XNcWFDUd4FQA9NL0UwvTybMFGQBmS4xx58ntuJm+CTkeNPDkilus7scDk8JcMw7lV6U+T+eUXRZle/XnD8s5MpUt3hOOIwkbAT+mnoVCFJ5yHJ8sDnrvGXGL7ZUYtbQWDKicdGVhYHLK1R7TUl+bU9V+Mr8BXJBskZMZ63H4SxIxKiPfF6nyD6UOVOtDgi5eSTFabjfoqcnYV2H+hYUdjgkD4bIiMWQEnhHCe89QQMOezrs+b5bApuKmPo+PGsPJ9jLRlOvojUbh4MwVnnaYc70dV2PU7gmXsPehLcssW8rDcPDGTy+3a88sDcg131ksm1kQhNz6teGT/qtRZHFgF68gWdMNKn3uTufKowsk4oKhhNJTykCzdiHk+chVeyRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015BkU7sd9nZoB5MUjW7kDWG",
      "input": {
        "note": "Wrist view shows the cap and neck at the bottom, about 1 cm right of the jaw column. Shifting right and descending to straddle the neck.",
        "targets": {
          "left_y": -0.13,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015BkU7sd9nZoB5MUjW7kDWG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5602, 2.0594, 1.1545, -0.0181, -0.8955, -0.7853, 0.9963, -0.0193, 0.4549, 0.1326, -0.268, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4576 left_y=-0.12 left_z=0.0457 left_yaw=0.5372 left_pitch=0.0397 left_roll=0.0262 left_gripper=0.9963 right_x=0.2394 right_y=0.0039 right_z=0.0702 right_yaw=0.0002 right_pitch=-0.0194 right_roll=0.0018 right_gripper=0.9987\nstate[joint_eff]: [-1.2513, -7.2274, 3.9179, 1.2576, 0.5885, -0.359, 0.105, -0.253, 0.2256, 6.9675, 1.917, -0.0611, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81df91f33ab0b455c99c5274a2448619756bd08b60d09ef3abf3953575113607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75b250e983e4271a794eecc79eb28b61ebe4dcd605056a2d617739c5ad12dc16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe682a86599681ec923a59e3629be5cd71ef6fca7e031c389826ea35c5220b6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 9.717 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]: [-0.5278, 2.0624, 1.1534, 0.0975, -0.8539, -0.7341, 0.0131, -0.0193, 0.4889, 0.1642, -0.2668, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4755 left_y=-0.1189 left_z=0.0534 left_yaw=0.5213 left_pitch=0.0649 left_roll=-0.0423 left_gripper=0.0131 right_x=0.2433 right_y=0.0038 right_z=0.0773 right_yaw=-0.0001 right_pitch=-0.0206 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [0.1709, -9.8393, 5.4359, 0.8327, 0.1587, 0.0317, 1.0916, -0.2393, 0.0205, 6.7487, 1.8926, -0.0269, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5507, 2.0121, 1.1687, -0.1131, -0.8349, -0.7975, 0.9951, -0.0193, 0.4728, 0.1482, -0.268, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4532 left_y=-0.1204 left_z=0.0536 left_yaw=0.5174 left_pitch=-0.0191 left_roll=0.0225 left_gripper=0.9951 right_x=0.2412 right_y=0.0038 right_z=0.0733 right_yaw=-0.0001 right_pitch=-0.0217 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.8274, -13.8735, 4.7658, 1.0525, -0.4811, -0.0659, -0.2125, -0.0752, 0.0889, 7.0222, 1.8828, -0.0122, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5602, 2.0594, 1.1545, -0.0181, -0.8955, -0.7853, 0.9963, -0.0193, 0.4549, 0.1326, -0.268, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4576 left_y=-0.12 left_z=0.0457 left_yaw=0.5372 left_pitch=0.0397 left_roll=0.0262 left_gripper=0.9963 right_x=0.2394 right_y=0.0039 right_z=0.0702 right_yaw=0.0002 right_pitch=-0.0194 right_roll=0.0018 right_gripper=0.9987\nstate[joint_eff]: [-1.2513, -7.2274, 3.9179, 1.2576, 0.5885, -0.359, 0.105, -0.253, 0.2256, 6.9675, 1.917, -0.0611, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81df91f33ab0b455c99c5274a2448619756bd08b60d09ef3abf3953575113607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75b250e983e4271a794eecc79eb28b61ebe4dcd605056a2d617739c5ad12dc16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe682a86599681ec923a59e3629be5cd71ef6fca7e031c389826ea35c5220b6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSkhUKEAgSGAI4AUIIdGhpbmtpbmcSDJ/V5aj84LyHUSh5ghoMR/7WspLdWpvbiy+oIjAMhlYO8aZcRWIwLiQA8CbB5iYD9Z7J7i1O+4EMgSMLlCdbUCpbIgsGrsfyOE34HZcqrxRqEBA+3zZ/BDOa9XS3ka0vv8tbmGMHa0xAmbpIQa/DShq3/+Btua5VdArH5YNH0YAMpddMZ7BcWv6rPCdXdH3MWg+9yH24cxcXsIFQmrIn8j85cQ/xS9X8inA0rJtM6snv3mnfRMproqWFsYhp5gJgu8SQOSkeP5tLde2sH7aoZYAmNb1BYCNciW1dLCccervVbACU68BNlnkUQZzEiGI3QnvwDRN3y46E4IJZ4wm2F2rdrxwAYo7p5/UkW+9clwvlaMuIoiSw8/FEf1WcTDtugy3Td0pY4IbRd+Tmxjo5AnRIMFqPS32H/Gm8QBn5ZVMFnYeGT0wctt9CWfnibc5RWKYJQan5rJjYppbDvI5rziifAOxp5F2TZXgOLhp2bX4ZKr2GovKiboN93I1qz7vXUdK+FwvbV43gce+vn+SC4tOUT9SAAxi37cR9v/BBExLn7FvJ4nZ8eVnO2KwhzoLMNpJZE99aWLXM4BO26Uiq6Cof9YgBfQom0Aehg0RdrEK3j1R9X2LHWVaVPFxXSnXtGVVHupvkEurWEgzalU3CSPZdqsF/tLSXtcDQczHHPaDwoAs9GUVtpMg8+o/8vNlMNJtwbHR12MvwTVcsOeYQdSUmuGDMGJ8S4TRk7u4fz8ArF3GKa8LmWXjl5HwDs3XOiqnZBrnfQ9PidFaYkNls3swHjerqzyYTrjrDQNf+rjyvVDYxwA0lo7XhYwgYss0Fv6laXm5PQEoM1jOCum5rQ6ALgezG5JKbjRehSR7j2tyDZ2x2mTctKRjP8bqIGzlDocrqyAX+ImTjlSR4wCi2033ppf7kWrEmKmc5fFA1SclWN1Tzne2D0m0dqySDL2hYSZQiJQ1JWyJPoPfHPGC+6X5gs+LF1v64hjV6qP0UbNbOyGiMM+hYmfrBTIvFFGrq54Hcdlutd93VGsn2Wf8k64YO/jk76wjPG8rXp1QwmntSnxYS8B6mAb+J2pfv+UsFskb62eiteKVQQ4ux5pKCddAWeH5ebwgs4WIOdFUcuK1XBIeUj5uVxmnv7arPCSxOXVPQoXir2jFxUcRipzGfPa2VXRPgxkiloQJsJDV7r5CG5VzW3exrzsPWl2sI8Pz0ksGHc/LUK/+y4STrYoONeVdCt03qnM0eG0LBCMeUz+Yzp7ld+yfYh8kRMHU/TblorKCdKxM2KcPeRYyV9Tw4gmI4hrWoXPDkGedmv6Ob7oo5FJ4HUgfKXYjhuGgyjJDVtTUQqObkx66q9Oyq9bEjcSFazOGittTCBppq3IVTPOVhGiB21b62sT44BT5RnR9G+X9upLqltEq3sYLizqRWXCKS5GFGm02RQ/defK/7vy8yc4ReGzKxaWK1+y+/bw0j3zXDtuzE6+UcvK0Zddl9Ni7DMHs5hlmJ1MBz7USgbKyeqL9MczMOPhQHgRvacPIbxN9+qM6+JApKOVpVrzdyQxkJsDtmLeH9XLFrtw2apv3O4wa1CTsXFbHTtjpOjhY8hyKQQOQ/NvCFsuCfimocFmJyRUXFdBog64oPDjg4oSqv6JTqWLqj5PXaizhYg8Gfz4wDIsLzh1EaKGwLPdJw8qoIkBicb3RsgASgeqqQGdf/GIiKmsfB+aWyF5r0er81GMjyS1LIB5Lg/mjKZBrlMcXST0AzeN39WhDJ1VZGjqbD9vmDB1LNXwrskJEKacN4Yl1A0J5HnuBFoJaoivxXVil/oqEJMSIGSQZa84nw6P/zxTqrHJMDE2Re8hdoQooPjkd9m0tkWDo+DcfrL+hR3QFtBFvUxO80QyLrvxprWRrDv+ePu9LhiUjz1f6zdC9KdX+ib9YKaf20fxJ8uEKoVHQaDUC6MQGrLQXCrf4XvE8tacB/M+E5LaAbzStou4iI6qAch9rc0OWfuw7Iz4epAfxDrhJ+tPYyIgRkaXmoxK7ZL0x6lCU8igklh9CQ59axKorotTzZBdhS6ak23kR1WJQUVN6iigGOsSpV0yK54152QrsVgEEGW0dhikkmoGQrUkd0vfnmQhvDpK8Kd9uTvp0U/LEPbzv1srwWpMqdOqjgmLO6rAno3gMLXsD1UqW6MvCuPa7o1vDyJRmFl7FWbDGqq4LrHnFgUj6Lkk+E46WqAVkwBeE3m73C9QQ9+EiKHDDgzqRueSC/9Uoy2Mx7M//o59qptdiwC2+FIYm/OEGI3xOXmDU+vtJTRFS9g3CtkXTBkEYm+1Y293+vpArejkzrIfa4Es9sh5VcohE9rKICttrPOKcMhX4skEFepYFOizwB94/HjrH/nWEhPyrwykNSChcB2PQMMDkV0BUqG44811bY0tHZaGVDCkz7XcNGOQLSOaRQDBz86CuxtWpoWZ4MIG1oXv9bo8bIEgbREl1b4sSBEPZWCiDC/GKGMO3Q6W10TerWDQle9vbYoA8t3cvUSwScCxNOffkT13Gisvki6MrBvILaWNwj+94Mbx4NgdhYvZT1zphCDPnfGJ8QG0fFdILkikXuiCfPRX57NBddq1OAsz4DDg5gP7Fq5/OQPc01JGaafpgxKrPYaoDBFsI2Opwlb57+EVRl3dE20xPZ5hxVj82eaeXBLCM9PeOzjbnPHy8T5x1mEoLL9yIeVtnLqPIzxqEMLKrdgca5eNH4v26IWGbt2RzSNGiaTqvneGj1YjTDGroAw1BGRX8tjDnhQ0NwyWgZXZ+npIwdP/RAoekdT3lHa57zqXD6uYlPn0WTdgOSR17Lvrhf7H0Yl6hEU5WGKcbDTvUeYIJ7SwluZGFX6wvok7mXejmVsOBksbLbfBorQmtk1/c8JAufQqpSoxX8cp2Pz8UMQiD8ke4nLB1xTjUYjDdKlhUTQtZ9sd8Y8ZTBb2bHWJy+/2wFqKktTbMu+erz1i71fzU5B11lgOPkYroyWH99mqAlaiFKT7GcKeSTEvAcDHgFQMfYFzaXvwDmzDqdhYAKuIigwovf/ljDZal03eb2bz5pQPAgdUJcBAx6S8SUpCvwtW/u2Fryd0f1Zs8XmQVLz3wbMVoCVppTfSULYmxJiXpQOciKQEn8Gtg5FgN+hdG9UTT81cycoQUqSSjwzsGe5Ax9KMMwbdJgYkFevMOj8ZJpcbet5CoXp+hqPMjsi6rGBO2hHsRvlk/r8UtNV9smYUuBXJZzPa6J/sObAcd3EWc7qixkf9a3gOjsRLdYirMYTFTrHmfLmH9RF5qm6Kq5DGx6eTdhUeef6biNn+OcrHEY5nXRFq+Pepy3PG6dC9OmIGTopvNheh5/mMLD3EpriHuEP67ToYZSaFlTkM6+GnxWEzqVnZCcudrFSuuRgtD0bkKRy6IkgWulCtjJOcNL/zZXoVIpzH31BxIJsJixkigl2a5zU+RBPLOg/4l79Hmc6OuyNfBd83E8XBDWXNUUt5h6a9DUl6kcVjRf+a+s+VqKtnTsWKQMkcYHHUw1I5eogDSXLsPxBr2+YDeSUtcvy0z7+x8paRhOop0ywrz8w7FkYtEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TJsjCryzSJXCEnvWEZdjPm",
      "input": {
        "note": "Descent stopped at z≈0.046 with the cap right at the jaws. Closing here to try to pinch the neck/cap.",
        "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_01TJsjCryzSJXCEnvWEZdjPm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5438, 2.0464, 1.1641, -0.0151, -0.8982, -0.8162, 0.0117, -0.0193, 0.4374, 0.1177, -0.2684, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4629 left_y=-0.1142 left_z=0.0549 left_yaw=0.5728 left_pitch=0.0532 left_roll=-0.0227 left_gripper=0.0117 right_x=0.2378 right_y=0.0039 right_z=0.0671 right_yaw=-0.0001 right_pitch=-0.0171 right_roll=0.0015 right_gripper=0.9987\nstate[joint_eff]: [-0.5812, -10.6598, 5.7915, 0.7839, 0.1001, -0.0464, 0.9744, -0.1162, 0.1026, 6.8444, 1.8291, -0.0562, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3ac1c5ce0360f188efa4e759feb9c05f7068b74a4aad43db61d4f54c1ace36a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58e7e6e4e34c4182a52c2450d1aa3ab7540cf4230d5d814f5a50ed0e4c3fd995",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:87fb7c8103e07c95f5a52bacdf3026ff5802812690d7fd49accfc24e17f1efd3",
        "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 · 11.67 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]: [-0.5507, 2.0121, 1.1687, -0.1131, -0.8349, -0.7975, 0.9951, -0.0193, 0.4728, 0.1482, -0.268, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4532 left_y=-0.1204 left_z=0.0536 left_yaw=0.5174 left_pitch=-0.0191 left_roll=0.0225 left_gripper=0.9951 right_x=0.2412 right_y=0.0038 right_z=0.0733 right_yaw=-0.0001 right_pitch=-0.0217 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.8274, -13.8735, 4.7658, 1.0525, -0.4811, -0.0659, -0.2125, -0.0752, 0.0889, 7.0222, 1.8828, -0.0122, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5602, 2.0594, 1.1545, -0.0181, -0.8955, -0.7853, 0.9963, -0.0193, 0.4549, 0.1326, -0.268, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4576 left_y=-0.12 left_z=0.0457 left_yaw=0.5372 left_pitch=0.0397 left_roll=0.0262 left_gripper=0.9963 right_x=0.2394 right_y=0.0039 right_z=0.0702 right_yaw=0.0002 right_pitch=-0.0194 right_roll=0.0018 right_gripper=0.9987\nstate[joint_eff]: [-1.2513, -7.2274, 3.9179, 1.2576, 0.5885, -0.359, 0.105, -0.253, 0.2256, 6.9675, 1.917, -0.0611, -0.0806, -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]: [-0.5438, 2.0464, 1.1641, -0.0151, -0.8982, -0.8162, 0.0117, -0.0193, 0.4374, 0.1177, -0.2684, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4629 left_y=-0.1142 left_z=0.0549 left_yaw=0.5728 left_pitch=0.0532 left_roll=-0.0227 left_gripper=0.0117 right_x=0.2378 right_y=0.0039 right_z=0.0671 right_yaw=-0.0001 right_pitch=-0.0171 right_roll=0.0015 right_gripper=0.9987\nstate[joint_eff]: [-0.5812, -10.6598, 5.7915, 0.7839, 0.1001, -0.0464, 0.9744, -0.1162, 0.1026, 6.8444, 1.8291, -0.0562, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3ac1c5ce0360f188efa4e759feb9c05f7068b74a4aad43db61d4f54c1ace36a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58e7e6e4e34c4182a52c2450d1aa3ab7540cf4230d5d814f5a50ed0e4c3fd995",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87fb7c8103e07c95f5a52bacdf3026ff5802812690d7fd49accfc24e17f1efd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0156xf8Dnz4KfLLY1LkCyhL3",
      "input": {
        "note": "Empty again; the cap now sits to the right of the closed jaw tip at about fingertip level. Reopening and shifting right ~2 cm to centre it.",
        "targets": {
          "left_gripper": 1.0,
          "left_y": -0.135,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0156xf8Dnz4KfLLY1LkCyhL3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5732, 2.0762, 1.2507, -0.1768, -0.8829, -0.8963, 0.9942, -0.0193, 0.4232, 0.1055, -0.2691, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4592 left_y=-0.1297 left_z=0.0502 left_yaw=0.575 left_pitch=-0.0026 left_roll=-0.0018 left_gripper=0.9942 right_x=0.2364 right_y=0.0039 right_z=0.0644 right_yaw=0.0001 right_pitch=-0.016 right_roll=0.0012 right_gripper=0.9987\nstate[joint_eff]: [-0.7453, -9.1145, 8.4855, 0.9646, -0.4518, -0.0073, -0.0073, -0.0615, 0.0342, 6.8308, 1.8046, 0.0122, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dd49208e5e2fa8a324f7689a67eb91b42bf84081b4e5a961fcb51978d4b9b37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf7d291eccd026963dc81dc06de80182631e2c245f505cc6297d849a6cd21ace",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad80483b3a8518d824791af59b6a4de4a749cb8fb4c3cbb5208316e0241f9d70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 6.641 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]: [-0.5602, 2.0594, 1.1545, -0.0181, -0.8955, -0.7853, 0.9963, -0.0193, 0.4549, 0.1326, -0.268, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4576 left_y=-0.12 left_z=0.0457 left_yaw=0.5372 left_pitch=0.0397 left_roll=0.0262 left_gripper=0.9963 right_x=0.2394 right_y=0.0039 right_z=0.0702 right_yaw=0.0002 right_pitch=-0.0194 right_roll=0.0018 right_gripper=0.9987\nstate[joint_eff]: [-1.2513, -7.2274, 3.9179, 1.2576, 0.5885, -0.359, 0.105, -0.253, 0.2256, 6.9675, 1.917, -0.0611, -0.0806, -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]: [-0.5438, 2.0464, 1.1641, -0.0151, -0.8982, -0.8162, 0.0117, -0.0193, 0.4374, 0.1177, -0.2684, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4629 left_y=-0.1142 left_z=0.0549 left_yaw=0.5728 left_pitch=0.0532 left_roll=-0.0227 left_gripper=0.0117 right_x=0.2378 right_y=0.0039 right_z=0.0671 right_yaw=-0.0001 right_pitch=-0.0171 right_roll=0.0015 right_gripper=0.9987\nstate[joint_eff]: [-0.5812, -10.6598, 5.7915, 0.7839, 0.1001, -0.0464, 0.9744, -0.1162, 0.1026, 6.8444, 1.8291, -0.0562, -0.0464, -0.0073]",
      "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]: [-0.5732, 2.0762, 1.2507, -0.1768, -0.8829, -0.8963, 0.9942, -0.0193, 0.4232, 0.1055, -0.2691, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4592 left_y=-0.1297 left_z=0.0502 left_yaw=0.575 left_pitch=-0.0026 left_roll=-0.0018 left_gripper=0.9942 right_x=0.2364 right_y=0.0039 right_z=0.0644 right_yaw=0.0001 right_pitch=-0.016 right_roll=0.0012 right_gripper=0.9987\nstate[joint_eff]: [-0.7453, -9.1145, 8.4855, 0.9646, -0.4518, -0.0073, -0.0073, -0.0615, 0.0342, 6.8308, 1.8046, 0.0122, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dd49208e5e2fa8a324f7689a67eb91b42bf84081b4e5a961fcb51978d4b9b37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf7d291eccd026963dc81dc06de80182631e2c245f505cc6297d849a6cd21ace",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad80483b3a8518d824791af59b6a4de4a749cb8fb4c3cbb5208316e0241f9d70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011K95i1qAoCUFkXrbmMdCEZ",
      "input": {
        "note": "Now the cap is visible between the open jaws with the bottle body angled toward lower-left, so the jaws aren't perpendicular to the bottle. Yawing back toward 0.1 to square up on the neck and descending.",
        "targets": {
          "left_yaw": 0.1,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011K95i1qAoCUFkXrbmMdCEZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4683, 1.9549, 0.9112, 0.2947, -0.617, -0.5014, 0.9955, -0.0193, 0.4099, 0.0959, -0.271, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4501 left_y=-0.1091 left_z=0.0295 left_yaw=0.2906 left_pitch=-0.0269 left_roll=0.0051 left_gripper=0.9955 right_x=0.2353 right_y=0.004 right_z=0.0626 right_yaw=0.0002 right_pitch=-0.0141 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [0.253, -9.0735, 4.7795, 1.3553, -0.0904, 0.1929, 0.1245, 0.0342, 0.1983, 6.7214, 1.8046, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3f1297f53ffa976c500c158b94fe281df4d7efa980a8bf9e7ba9aa6edbce8f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61a142b32ac8bb3c73e2c004b2ae555852fa1836a92ac1aeaf7a8dad8e5317b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f112a1c59bd6dac7c13fa8917d7afbdb984dfd4a07b1e4330318445ececde802",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 17.55 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]: [-0.5438, 2.0464, 1.1641, -0.0151, -0.8982, -0.8162, 0.0117, -0.0193, 0.4374, 0.1177, -0.2684, -0.0277, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4629 left_y=-0.1142 left_z=0.0549 left_yaw=0.5728 left_pitch=0.0532 left_roll=-0.0227 left_gripper=0.0117 right_x=0.2378 right_y=0.0039 right_z=0.0671 right_yaw=-0.0001 right_pitch=-0.0171 right_roll=0.0015 right_gripper=0.9987\nstate[joint_eff]: [-0.5812, -10.6598, 5.7915, 0.7839, 0.1001, -0.0464, 0.9744, -0.1162, 0.1026, 6.8444, 1.8291, -0.0562, -0.0464, -0.0073]",
      "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]: [-0.5732, 2.0762, 1.2507, -0.1768, -0.8829, -0.8963, 0.9942, -0.0193, 0.4232, 0.1055, -0.2691, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4592 left_y=-0.1297 left_z=0.0502 left_yaw=0.575 left_pitch=-0.0026 left_roll=-0.0018 left_gripper=0.9942 right_x=0.2364 right_y=0.0039 right_z=0.0644 right_yaw=0.0001 right_pitch=-0.016 right_roll=0.0012 right_gripper=0.9987\nstate[joint_eff]: [-0.7453, -9.1145, 8.4855, 0.9646, -0.4518, -0.0073, -0.0073, -0.0615, 0.0342, 6.8308, 1.8046, 0.0122, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4683, 1.9549, 0.9112, 0.2947, -0.617, -0.5014, 0.9955, -0.0193, 0.4099, 0.0959, -0.271, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4501 left_y=-0.1091 left_z=0.0295 left_yaw=0.2906 left_pitch=-0.0269 left_roll=0.0051 left_gripper=0.9955 right_x=0.2353 right_y=0.004 right_z=0.0626 right_yaw=0.0002 right_pitch=-0.0141 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [0.253, -9.0735, 4.7795, 1.3553, -0.0904, 0.1929, 0.1245, 0.0342, 0.1983, 6.7214, 1.8046, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3f1297f53ffa976c500c158b94fe281df4d7efa980a8bf9e7ba9aa6edbce8f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61a142b32ac8bb3c73e2c004b2ae555852fa1836a92ac1aeaf7a8dad8e5317b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f112a1c59bd6dac7c13fa8917d7afbdb984dfd4a07b1e4330318445ececde802",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EJYS6gdFcsUTBfLCuWPxdj",
      "input": {
        "note": "Wrist view is clear now: the bottle body is between the jaws and the cap is ~5 cm further out, beyond comfortable reach. Gripping the body to drag the bottle back toward the base.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EJYS6gdFcsUTBfLCuWPxdj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4698, 1.948, 0.9024, 0.4412, -0.6682, -0.4988, 0.0127, -0.0193, 0.3985, 0.0914, -0.2714, -0.028, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4648 left_y=-0.1092 left_z=0.0571 left_yaw=0.3304 left_pitch=0.0985 left_roll=-0.0714 left_gripper=0.0127 right_x=0.2351 right_y=0.004 right_z=0.0629 right_yaw=0.0004 right_pitch=-0.0076 right_roll=0.0012 right_gripper=0.9987\nstate[joint_eff]: [-0.1436, -8.4034, 4.506, 0.7253, 0.1832, 0.0708, 1.1062, -0.0205, 0.1436, 6.4205, 1.8046, -0.022, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f84e169e7dc49028cd6110a6b36e75bde820bab2f5c5d48e293a539323108b9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00f3333f982d6f93fe676b46dbacf2775b9ef93b8834d07921e19fc3b4aa9251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8a40552c8da9b49c0ef086e3e1f9f9bcf229d342137622ff8947c5c135db07a",
        "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 · 6.543 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]: [-0.5732, 2.0762, 1.2507, -0.1768, -0.8829, -0.8963, 0.9942, -0.0193, 0.4232, 0.1055, -0.2691, -0.0277, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4592 left_y=-0.1297 left_z=0.0502 left_yaw=0.575 left_pitch=-0.0026 left_roll=-0.0018 left_gripper=0.9942 right_x=0.2364 right_y=0.0039 right_z=0.0644 right_yaw=0.0001 right_pitch=-0.016 right_roll=0.0012 right_gripper=0.9987\nstate[joint_eff]: [-0.7453, -9.1145, 8.4855, 0.9646, -0.4518, -0.0073, -0.0073, -0.0615, 0.0342, 6.8308, 1.8046, 0.0122, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4683, 1.9549, 0.9112, 0.2947, -0.617, -0.5014, 0.9955, -0.0193, 0.4099, 0.0959, -0.271, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4501 left_y=-0.1091 left_z=0.0295 left_yaw=0.2906 left_pitch=-0.0269 left_roll=0.0051 left_gripper=0.9955 right_x=0.2353 right_y=0.004 right_z=0.0626 right_yaw=0.0002 right_pitch=-0.0141 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [0.253, -9.0735, 4.7795, 1.3553, -0.0904, 0.1929, 0.1245, 0.0342, 0.1983, 6.7214, 1.8046, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4698, 1.948, 0.9024, 0.4412, -0.6682, -0.4988, 0.0127, -0.0193, 0.3985, 0.0914, -0.2714, -0.028, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4648 left_y=-0.1092 left_z=0.0571 left_yaw=0.3304 left_pitch=0.0985 left_roll=-0.0714 left_gripper=0.0127 right_x=0.2351 right_y=0.004 right_z=0.0629 right_yaw=0.0004 right_pitch=-0.0076 right_roll=0.0012 right_gripper=0.9987\nstate[joint_eff]: [-0.1436, -8.4034, 4.506, 0.7253, 0.1832, 0.0708, 1.1062, -0.0205, 0.1436, 6.4205, 1.8046, -0.022, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f84e169e7dc49028cd6110a6b36e75bde820bab2f5c5d48e293a539323108b9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00f3333f982d6f93fe676b46dbacf2775b9ef93b8834d07921e19fc3b4aa9251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8a40552c8da9b49c0ef086e3e1f9f9bcf229d342137622ff8947c5c135db07a",
        "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_0145ojZcthusDWirXxyoYEC2",
      "input": {
        "note": "The left bottle's neck is beyond the left arm's reach and my grasps keep coming up empty, so I'm parking the left arm. Next I'll try the rightmost bottle with the right arm, starting over its lower body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.3,
          "left_y": 0.0,
          "left_yaw": 0.0,
          "left_z": 0.18,
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.17,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_0145ojZcthusDWirXxyoYEC2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0555, 0.844, 0.5842, -0.2646, -0.1196, -0.1024, 0.9966, 0.5735, 1.5635, 0.8001, 0.0704, 0.4274, 0.2771, 0.9988]\nstate[eef_state]: left_x=0.3103 left_y=0.0075 left_z=0.1816 left_yaw=0.0855 left_pitch=0.0418 left_roll=-0.0164 left_gripper=0.9966 right_x=0.3858 right_y=0.1663 right_z=0.1027 right_yaw=0.0447 right_pitch=-0.0496 right_roll=-0.0288 right_gripper=0.9988\nstate[joint_eff]: [0.1983, -1.1829, 8.6085, 1.8632, 0.0611, 0.3346, -0.0562, -0.0205, -6.8718, 8.1983, 1.7118, 0.4908, 0.2759, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ace71a54f0a4f9e138770c7689ea4a0893b008c78dd2418b04dd923d7e13656",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d11d44856777cc553cb080c5f3fa8bd76c2a6bc13edaca37af68fd38fea8ee57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bc92dd51d5e14a52cc41a48ca7a2a6953d6137632751e909fa4cdc3c10174dc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 3.67 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]: [-0.4683, 1.9549, 0.9112, 0.2947, -0.617, -0.5014, 0.9955, -0.0193, 0.4099, 0.0959, -0.271, -0.028, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4501 left_y=-0.1091 left_z=0.0295 left_yaw=0.2906 left_pitch=-0.0269 left_roll=0.0051 left_gripper=0.9955 right_x=0.2353 right_y=0.004 right_z=0.0626 right_yaw=0.0002 right_pitch=-0.0141 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [0.253, -9.0735, 4.7795, 1.3553, -0.0904, 0.1929, 0.1245, 0.0342, 0.1983, 6.7214, 1.8046, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4698, 1.948, 0.9024, 0.4412, -0.6682, -0.4988, 0.0127, -0.0193, 0.3985, 0.0914, -0.2714, -0.028, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4648 left_y=-0.1092 left_z=0.0571 left_yaw=0.3304 left_pitch=0.0985 left_roll=-0.0714 left_gripper=0.0127 right_x=0.2351 right_y=0.004 right_z=0.0629 right_yaw=0.0004 right_pitch=-0.0076 right_roll=0.0012 right_gripper=0.9987\nstate[joint_eff]: [-0.1436, -8.4034, 4.506, 0.7253, 0.1832, 0.0708, 1.1062, -0.0205, 0.1436, 6.4205, 1.8046, -0.022, -0.0806, -0.0122]",
      "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]: [-0.0555, 0.844, 0.5842, -0.2646, -0.1196, -0.1024, 0.9966, 0.5735, 1.5635, 0.8001, 0.0704, 0.4274, 0.2771, 0.9988]\nstate[eef_state]: left_x=0.3103 left_y=0.0075 left_z=0.1816 left_yaw=0.0855 left_pitch=0.0418 left_roll=-0.0164 left_gripper=0.9966 right_x=0.3858 right_y=0.1663 right_z=0.1027 right_yaw=0.0447 right_pitch=-0.0496 right_roll=-0.0288 right_gripper=0.9988\nstate[joint_eff]: [0.1983, -1.1829, 8.6085, 1.8632, 0.0611, 0.3346, -0.0562, -0.0205, -6.8718, 8.1983, 1.7118, 0.4908, 0.2759, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ace71a54f0a4f9e138770c7689ea4a0893b008c78dd2418b04dd923d7e13656",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d11d44856777cc553cb080c5f3fa8bd76c2a6bc13edaca37af68fd38fea8ee57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc92dd51d5e14a52cc41a48ca7a2a6953d6137632751e909fa4cdc3c10174dc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TbjiHkyUouVm5WkS6TnFJd",
      "input": {
        "note": "Right wrist view shows the rightmost bottle straight ahead, its body running between the jaws and the cap far out. Shifting slightly right and descending to grip the body so I can drag it back.",
        "targets": {
          "right_y": 0.158,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01TbjiHkyUouVm5WkS6TnFJd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8787, 0.5995, -0.3408, -0.1207, -0.0895, 0.997, 0.5549, 1.7588, 0.606, 0.416, 0.4137, 0.2646, 0.9987]\nstate[eef_state]: left_x=0.3044 left_y=0.0059 left_z=0.1629 left_yaw=0.0727 left_pitch=-0.053 left_roll=0.0083 left_gripper=0.997 right_x=0.3716 right_y=0.151 right_z=0.0162 right_yaw=0.0422 right_pitch=-0.0922 right_roll=-0.053 right_gripper=0.9987\nstate[joint_eff]: [-0.1846, -2.3453, 9.3333, 1.8291, -0.0904, -0.1392, 0.0317, -0.6769, -6.8991, 4.8479, 1.9756, 0.0513, -0.0415, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7025e2195bcb8c355eb57f0b33ddd0db4a523e717a29e23327312fc9550cd538",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e72da8e49a54dd7810d44bffb3821231e2bdcb3901c359e0695e687a3eb02ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb324152a6e8f9b1d4ff5200b8253c1aea220bb149a3a2e48f78b4cb07c18d3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 4.471 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]: [-0.4698, 1.948, 0.9024, 0.4412, -0.6682, -0.4988, 0.0127, -0.0193, 0.3985, 0.0914, -0.2714, -0.028, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4648 left_y=-0.1092 left_z=0.0571 left_yaw=0.3304 left_pitch=0.0985 left_roll=-0.0714 left_gripper=0.0127 right_x=0.2351 right_y=0.004 right_z=0.0629 right_yaw=0.0004 right_pitch=-0.0076 right_roll=0.0012 right_gripper=0.9987\nstate[joint_eff]: [-0.1436, -8.4034, 4.506, 0.7253, 0.1832, 0.0708, 1.1062, -0.0205, 0.1436, 6.4205, 1.8046, -0.022, -0.0806, -0.0122]",
      "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]: [-0.0555, 0.844, 0.5842, -0.2646, -0.1196, -0.1024, 0.9966, 0.5735, 1.5635, 0.8001, 0.0704, 0.4274, 0.2771, 0.9988]\nstate[eef_state]: left_x=0.3103 left_y=0.0075 left_z=0.1816 left_yaw=0.0855 left_pitch=0.0418 left_roll=-0.0164 left_gripper=0.9966 right_x=0.3858 right_y=0.1663 right_z=0.1027 right_yaw=0.0447 right_pitch=-0.0496 right_roll=-0.0288 right_gripper=0.9988\nstate[joint_eff]: [0.1983, -1.1829, 8.6085, 1.8632, 0.0611, 0.3346, -0.0562, -0.0205, -6.8718, 8.1983, 1.7118, 0.4908, 0.2759, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8787, 0.5995, -0.3408, -0.1207, -0.0895, 0.997, 0.5549, 1.7588, 0.606, 0.416, 0.4137, 0.2646, 0.9987]\nstate[eef_state]: left_x=0.3044 left_y=0.0059 left_z=0.1629 left_yaw=0.0727 left_pitch=-0.053 left_roll=0.0083 left_gripper=0.997 right_x=0.3716 right_y=0.151 right_z=0.0162 right_yaw=0.0422 right_pitch=-0.0922 right_roll=-0.053 right_gripper=0.9987\nstate[joint_eff]: [-0.1846, -2.3453, 9.3333, 1.8291, -0.0904, -0.1392, 0.0317, -0.6769, -6.8991, 4.8479, 1.9756, 0.0513, -0.0415, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7025e2195bcb8c355eb57f0b33ddd0db4a523e717a29e23327312fc9550cd538",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e72da8e49a54dd7810d44bffb3821231e2bdcb3901c359e0695e687a3eb02ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb324152a6e8f9b1d4ff5200b8253c1aea220bb149a3a2e48f78b4cb07c18d3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzAcKEAgSGAI4AUIIdGhpbmtpbmcSDLqTIm+AhyNmpfNudhoMIrLa16amsOzKKhb9IjCzvpyuWbX2XXLPG4wVfRsxbNTY4n/snL+RU1c3y3MXgcMq66fMC75ScEPK1aJY9fgq6Qa0K7T27Sqytwye2AFmkfgxMkCbhVOgWQ5EvYsVLPbt+5YxzBzX0VCxau4kSsJ3iuYooxGOiT0HAtPQyKonwKSg2R1PNmyKbsYzvaSWX250xsXDLzIKgIiAv4hVEdKGnuDg4+jpm+1UF7ppJdsZVqY+iOfX2VgyOAwnToQKjrlrss+E05OXO1q/w4FhDunqb7PekAe0V4WqHz5zY/0FQy/WmWVVE+64da1FvMzPgwzb1sA0CqPbtlNkv6kQXDTCkTiWCKN9FSxGMh9Kz3cf3uspcGZ80tNT0N1AWjrYnyWv18KUtkPMIHfg+9OT3CnR/W5fpDxS3PjaDTxlbSYq48v2N2CgtoDv0LpBpkA5TVxD6wXn2aaC/Sj32m6H+RNk+1szGCRb807fchFMPYlsHSgIy2wGC++at7FpyHbecBjhBH7rddVBTvph4eFwj5x0gbNrMLd41eaTnn0VtOZ5teagNVdvb9xrWMLj/o8wMYUn3YluB9b1SpLxPHc7U0UTxVBDiQ0bLFNy0n2sMbLU9JMRevvvkqwfTQkhR5sdTgBrdodbiyjGKMO0IAgB6aJ7gXzSc+ngMVcLY8zN+D+mbL8PuR5xCXDBvNn5OlnRmo6vWO6Ekc8RojcQTb4MVpBFZ38LF/7DyB9NEMw0sO8xY2ambPeViiG3OIFdGdUQ1VBtkLyt47SAAzmd6FrYTh1tj2StNnI2byKbDYO5l9Bs+zbGUGHuIPjlD4cz03gXFQIDAu6J3dNRMWLDsbIZ+jFAF1oKCC2wztXaRogDmld8rbbz6Gk382smBYPtBZkMIBIqAegwMlQJUZp7Q9X5IoN1ZN8z3VcHs/LoXi7VGJaNhUCFobiYcbf/s6bmaJ3KYzGGJmw+fxXXRZ5S66KbnLfDfLdZJnjBOqqc4meDr//r41l/JbuPAFWvTbjGLp8bfPOHcPuxQztnqAvu+wg/28xqH2DQ3uGPyFVpkEb4firC+fQZdixQlKh/X5wuTbGPiOYs0NJsKzynmKZ6JUFbGJ3UWkm/BUFDmrFFtGjkifhdMyAzs5D5fqwF8kYXcBC84cSqS7Uvh+8SyOKtCbEA9n6VuqpGd8kcSKONh8yVbfPb3Vc3YaDBYLhcXo0js+hF1zneqxS+nqqT3NmvIpyr9yGW6s+TdYVZ47vmnEQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GaQMnH1GtPiSmQYtDYEBRP",
      "input": {
        "note": "Bottle body fills the view between the jaws and the gripper sits over the bottle's lower half. Closing to grip the body.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GaQMnH1GtPiSmQYtDYEBRP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8513, 0.5488, -0.2871, -0.1207, -0.0891, 0.9971, 0.5568, 1.7851, 0.5243, 0.6064, 0.4076, 0.2577, 0.516]\nstate[eef_state]: left_x=0.3029 left_y=0.006 left_z=0.1585 left_yaw=0.0723 left_pitch=-0.0228 left_roll=0.0045 left_gripper=0.9971 right_x=0.3683 right_y=0.151 right_z=0.0137 right_yaw=0.055 right_pitch=-0.0222 right_roll=-0.0151 right_gripper=0.516\nstate[joint_eff]: [-0.3077, -2.1812, 6.735, 1.9414, -0.0952, -0.0757, -0.0073, -0.4308, -6.2427, 4.3419, 1.9316, 0.1734, 0.0171, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:770f17a76bc49138ab843cd8a24f1f3a0debf662d597f75b9e49a17adf321fc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4592128e476c0b75f903d3f2709301c2f3b533659eb01a282cc8f8154f5fd8fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6eefa8028dc8deda9e4aca1a02a16d2bfed84b62ce7bab03f6aed8a785cea493",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 4.503 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]: [-0.0555, 0.844, 0.5842, -0.2646, -0.1196, -0.1024, 0.9966, 0.5735, 1.5635, 0.8001, 0.0704, 0.4274, 0.2771, 0.9988]\nstate[eef_state]: left_x=0.3103 left_y=0.0075 left_z=0.1816 left_yaw=0.0855 left_pitch=0.0418 left_roll=-0.0164 left_gripper=0.9966 right_x=0.3858 right_y=0.1663 right_z=0.1027 right_yaw=0.0447 right_pitch=-0.0496 right_roll=-0.0288 right_gripper=0.9988\nstate[joint_eff]: [0.1983, -1.1829, 8.6085, 1.8632, 0.0611, 0.3346, -0.0562, -0.0205, -6.8718, 8.1983, 1.7118, 0.4908, 0.2759, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8787, 0.5995, -0.3408, -0.1207, -0.0895, 0.997, 0.5549, 1.7588, 0.606, 0.416, 0.4137, 0.2646, 0.9987]\nstate[eef_state]: left_x=0.3044 left_y=0.0059 left_z=0.1629 left_yaw=0.0727 left_pitch=-0.053 left_roll=0.0083 left_gripper=0.997 right_x=0.3716 right_y=0.151 right_z=0.0162 right_yaw=0.0422 right_pitch=-0.0922 right_roll=-0.053 right_gripper=0.9987\nstate[joint_eff]: [-0.1846, -2.3453, 9.3333, 1.8291, -0.0904, -0.1392, 0.0317, -0.6769, -6.8991, 4.8479, 1.9756, 0.0513, -0.0415, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8513, 0.5488, -0.2871, -0.1207, -0.0891, 0.9971, 0.5568, 1.7851, 0.5243, 0.6064, 0.4076, 0.2577, 0.516]\nstate[eef_state]: left_x=0.3029 left_y=0.006 left_z=0.1585 left_yaw=0.0723 left_pitch=-0.0228 left_roll=0.0045 left_gripper=0.9971 right_x=0.3683 right_y=0.151 right_z=0.0137 right_yaw=0.055 right_pitch=-0.0222 right_roll=-0.0151 right_gripper=0.516\nstate[joint_eff]: [-0.3077, -2.1812, 6.735, 1.9414, -0.0952, -0.0757, -0.0073, -0.4308, -6.2427, 4.3419, 1.9316, 0.1734, 0.0171, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:770f17a76bc49138ab843cd8a24f1f3a0debf662d597f75b9e49a17adf321fc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4592128e476c0b75f903d3f2709301c2f3b533659eb01a282cc8f8154f5fd8fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eefa8028dc8deda9e4aca1a02a16d2bfed84b62ce7bab03f6aed8a785cea493",
        "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/AYKEAgSGAI4AUIIdGhpbmtpbmcSDPali3o1U2XQRjxMARoMHWRjU6cXKbRx4lO2IjANu4ykm3dxj9GBqTRHbLkx/LSaCUHoSSxC9YavTZ2TEhwmMByrbbUuIfF4ghQVXB0qmQYGUBfQwas8p0hop4zfbZlym0f1pMdqpWIfBUmnH0J5sj5oHpL5O2JNLd7kSbWfuWu9M1t0I58Ujm7aHaBVnmgXv2W/IvCsE/ejw504eGj5lNNW0d3u5xFK01LcbGO7LgZIXWi4aFBR0yElZj1eje62+pQkZPyzbBnavaW9RrV7NMyUn65q5qmGm8jOfaOwExxYjIAVrH1T/sz1btPcfq4804mix4bUaFMtsI9eNS5CO5EAjWGEnV0eh+kkNPZsQcZi8c59G33YPd+zU7wMlpvjAhPhvUYVUgXxEwl9g81rCEE0TPPmbriH0sY4w3bABnv0Ea6euX8nfZpyZ8JevZXzKvJGcJBLdE6THRJJmBgqnfXifHMF3TzvLj7fX8oM/CnSU+tLTcN1oH0vuPmouK3YKEPZ8q4iiZhiNXPWEGmh2TC+uVVZ+bARMLAqGzl9/rmfyyVqDaAkJl0opqj+pMwgIh107IRZgsVmTW9C7EwJXQ9C2zPV+e3GaPHNdyEfpArvp82CJGj4UIOJ5NrfbL6LZ5SZt3EOs6AQzAq4+dZHNQqxtBKjGpfefXABpK0376qSzrqJmHcFDIRWXsl7vayRoU6aixC5t8VECLfPYCmkkidztYAfoSVLXM25Ha4Rcok4+0MW/01CbW0VV74q9UJVUALEkT6wCojb1SWWEJPJHcY05vKkfBzgVSn3GkpzRkJfo/GLznbSchH+cI82ndZ2aybupqMGHKLEsU5Stp8+C1q69bsYBMvW3bQ8PJnjpbYvtlh5aCSLYzc8jo7nxfHhcjGYz79xP+ftk2IhGnvH//Ypz75IrtuQoN98AzpHa8IQosxodTcp1Mhf9N6jz8xjIRywkpQsJybWw39W0pWEAiUBuz+kvH/EBqzVGfHnnnOzaZirdw+TWYFfovPi4HXs7C+xDE289ThzQS1bEvwX9OXyItYEpEpL1UEbA7YIvPw3go0frrdjnIGWaKA91IAaqXAifYF+D/j1Mvw/+Mo5i1j2MuPdoKmprPiDrj3aTMKjQpHNWYZ97RMz06os9OW+3QKNc+kXGl8fGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PWFF42enb6EwihdqULnmMc",
      "input": {
        "note": "Gripper settled at 0.52 (~5 cm), so the bottle body is held. Dragging it ~12 cm back toward the base so the neck comes within reach.",
        "targets": {
          "right_x": 0.25,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PWFF42enb6EwihdqULnmMc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8429, 0.5316, -0.2684, -0.1207, -0.0891, 0.9971, 0.9047, 1.4284, 0.2226, 0.4156, 0.6209, 0.4843, 0.5197]\nstate[eef_state]: left_x=0.3024 left_y=0.006 left_z=0.1569 left_yaw=0.0723 left_pitch=-0.013 left_roll=0.0032 left_gripper=0.9971 right_x=0.2489 right_y=0.1561 right_z=0.0141 right_yaw=0.1128 right_pitch=-0.0454 right_roll=-0.0227 right_gripper=0.5197\nstate[joint_eff]: [0.0342, -2.1402, 6.5709, 1.9267, -0.0562, -0.0659, -0.0171, 0.1026, -4.9436, 4.9983, 1.9853, 0.5397, 0.0562, 0.7546]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e03a726978a3e9956c0e9939dfa4819918455cc877a568735a3bb6824e4191a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:057b9a4eebfbe411b2f022db2f1d57289ef11bf8c63a8dd78de1f6a8f5b0c192",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:31a02613ea48dbd4776cbf7f7371bb2e9b372789518d43473fb3eb590657a28f",
        "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 · 6.589 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]: [-0.0624, 0.8787, 0.5995, -0.3408, -0.1207, -0.0895, 0.997, 0.5549, 1.7588, 0.606, 0.416, 0.4137, 0.2646, 0.9987]\nstate[eef_state]: left_x=0.3044 left_y=0.0059 left_z=0.1629 left_yaw=0.0727 left_pitch=-0.053 left_roll=0.0083 left_gripper=0.997 right_x=0.3716 right_y=0.151 right_z=0.0162 right_yaw=0.0422 right_pitch=-0.0922 right_roll=-0.053 right_gripper=0.9987\nstate[joint_eff]: [-0.1846, -2.3453, 9.3333, 1.8291, -0.0904, -0.1392, 0.0317, -0.6769, -6.8991, 4.8479, 1.9756, 0.0513, -0.0415, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0624, 0.8513, 0.5488, -0.2871, -0.1207, -0.0891, 0.9971, 0.5568, 1.7851, 0.5243, 0.6064, 0.4076, 0.2577, 0.516]\nstate[eef_state]: left_x=0.3029 left_y=0.006 left_z=0.1585 left_yaw=0.0723 left_pitch=-0.0228 left_roll=0.0045 left_gripper=0.9971 right_x=0.3683 right_y=0.151 right_z=0.0137 right_yaw=0.055 right_pitch=-0.0222 right_roll=-0.0151 right_gripper=0.516\nstate[joint_eff]: [-0.3077, -2.1812, 6.735, 1.9414, -0.0952, -0.0757, -0.0073, -0.4308, -6.2427, 4.3419, 1.9316, 0.1734, 0.0171, 1.0281]",
      "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]: [-0.0624, 0.8429, 0.5316, -0.2684, -0.1207, -0.0891, 0.9971, 0.9047, 1.4284, 0.2226, 0.4156, 0.6209, 0.4843, 0.5197]\nstate[eef_state]: left_x=0.3024 left_y=0.006 left_z=0.1569 left_yaw=0.0723 left_pitch=-0.013 left_roll=0.0032 left_gripper=0.9971 right_x=0.2489 right_y=0.1561 right_z=0.0141 right_yaw=0.1128 right_pitch=-0.0454 right_roll=-0.0227 right_gripper=0.5197\nstate[joint_eff]: [0.0342, -2.1402, 6.5709, 1.9267, -0.0562, -0.0659, -0.0171, 0.1026, -4.9436, 4.9983, 1.9853, 0.5397, 0.0562, 0.7546]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e03a726978a3e9956c0e9939dfa4819918455cc877a568735a3bb6824e4191a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:057b9a4eebfbe411b2f022db2f1d57289ef11bf8c63a8dd78de1f6a8f5b0c192",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31a02613ea48dbd4776cbf7f7371bb2e9b372789518d43473fb3eb590657a28f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQgKEAgSGAI4AUIIdGhpbmtpbmcSDGeQnafmc/P57tB4pBoMZPykN1NSAqcB8RHQIjDxjeSWcDPBWVKGv7nfbLshPWnyu6x8z1teydArzNWdxgtjFmJPj6j93SOEuyy3CuMqxgcCRPIixY7xzWPCrIvxoFJE6iw6+f60FMtSIfc/wYUrivzpnQTf9rAUdnsMhrZFczZZpBNeXnpnOOiz4f//Pyw+kF6Ko/x6Sw1YXIrlgBQbwwaDWkiASjsWTubVZnIPNMdFDiDqEjyxrcVkCbG67jG6akxL1gnVnlA6JSZ0vx8/UFQJf23wGZjZ96jvUN7EazsHoGxE1hTHWqGwKdJlRH/zCtUeHgSj4GEr7X2O1Ue1bJHBS1Q8GlCZCw80viDeKBdtFhPr7Z48lpPHQ4eKya42QC/4YW6ZXFjICxIpAKBxeGGj9oYa13P7PA9OMT7SB/tKBbPFzsuPvmIddoExPEDx0c0XSb3W5mIcB/86YGOwECjtq3Jb0tiwZpqacSXUoxCIlC7SKmJM9YnFMPXlF81sjBYsP2ndF7aNW8OXGHawQxIDQ87fArKQKrXgzw+DCgveYOc4YQv1AI14OmYBGZFzSLyPq4eBQ2E2RdnzvGpfYmIgx+FqbrQop9U16d7Wg1ZYZXsqM7YrhPTQ/OyMolyJWlizRq6E096JuzfO1bhiJHR9BsP9TaooH1el1DCYfJ4FuhU5SlguT7USFVIi/MjAiOxUUGv3pG4eOTPCOu0uSy7/4HLsunSPRk8LQ30iS/GR/hL2RCCQ/S2h1EevaNQRU/6rqP9n6RcfXaey/C7GrqF2h9Ma29NrHKlbWu8WqS2hhSebdVLF4eDJMcmwBAoh+k/Jnt/9/bxwuVNHo4NUMpB7A5JVUpSequiSxQevxXFOwMHMAm144+xQavEdZWA4/I7wuJ/nXzxLDQL5Dn8nTmTEu4zudD753g2jqNISlCXvLGSMGXvixHGGQDdRmhtoY6QtFR+hXK4yK3NWmgCi+yNfjG/3mL5ZP3fhzH2J+5rB+tP8RLYv3gmdkeClvYBQ9E9C8HXXhjb6phYNPnivDgXnnbywhKUscUAxIitter/gEbRk7XwKu9/4atzgyiPYLlRbQCjpQiT6VxOThUyzZ4rB0GMe66mYwg8PutzuOJI8kyXKsfTjn6y21m4JN62Rl6tx6DkV98qxWzroj+8y7cpPcyw2DZK0sTrLqHKPwcZj3HpUTdia1fjiYBC8dhO/EtqcgJso1whDb7Nc1jwVty0NKbbem44bmAZCOxaX6pd4lKXcRiQskNCKSdi+ArRE6Fmr0yx12ihSdVSG2S3xEzYLpSwok7B+9wPuOPEhF0Ur6dHePBb1oBf4iCemAhtALCryUWtgQR64D5hS4uzeJprob9e8dxoi8n/XkdOHSv9J+khwcBAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NXEYrXPh1gF9yWRLRpxceg",
      "input": {
        "note": "Bottle dragged back ~12 cm (overhead view confirms). Releasing and lifting so I can move over the neck.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NXEYrXPh1gF9yWRLRpxceg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8413, 0.5312, -0.2661, -0.1204, -0.0891, 0.9971, 0.9161, 1.0893, 0.3351, 0.0586, 0.6273, 0.4767, 0.995]\nstate[eef_state]: left_x=0.3026 left_y=0.0059 left_z=0.1576 left_yaw=0.072 left_pitch=-0.0096 left_roll=0.0025 left_gripper=0.9971 right_x=0.2506 right_y=0.162 right_z=0.0856 right_yaw=0.1243 right_pitch=0.0244 right_roll=0.0352 right_gripper=0.995\nstate[joint_eff]: [-0.0068, -1.7846, 6.0786, 1.9414, -0.0562, -0.0269, -0.0171, -0.1573, -2.5915, 7.8564, 1.4335, 0.3639, -0.0024, -0.2369]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8be79084a1b9689bf5d61dcd59651480ac92310b44ee3811d60c0b246c37c88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fe098fdcb29c09e60a8daaab7e3364b107ccedf9268ded1bfb783dab8cdcf0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cce1a9f393b24bfe21aac4b00c32947dc6248837019d99348a88fbaa74fdab75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 4.777 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]: [-0.0624, 0.8513, 0.5488, -0.2871, -0.1207, -0.0891, 0.9971, 0.5568, 1.7851, 0.5243, 0.6064, 0.4076, 0.2577, 0.516]\nstate[eef_state]: left_x=0.3029 left_y=0.006 left_z=0.1585 left_yaw=0.0723 left_pitch=-0.0228 left_roll=0.0045 left_gripper=0.9971 right_x=0.3683 right_y=0.151 right_z=0.0137 right_yaw=0.055 right_pitch=-0.0222 right_roll=-0.0151 right_gripper=0.516\nstate[joint_eff]: [-0.3077, -2.1812, 6.735, 1.9414, -0.0952, -0.0757, -0.0073, -0.4308, -6.2427, 4.3419, 1.9316, 0.1734, 0.0171, 1.0281]",
      "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]: [-0.0624, 0.8429, 0.5316, -0.2684, -0.1207, -0.0891, 0.9971, 0.9047, 1.4284, 0.2226, 0.4156, 0.6209, 0.4843, 0.5197]\nstate[eef_state]: left_x=0.3024 left_y=0.006 left_z=0.1569 left_yaw=0.0723 left_pitch=-0.013 left_roll=0.0032 left_gripper=0.9971 right_x=0.2489 right_y=0.1561 right_z=0.0141 right_yaw=0.1128 right_pitch=-0.0454 right_roll=-0.0227 right_gripper=0.5197\nstate[joint_eff]: [0.0342, -2.1402, 6.5709, 1.9267, -0.0562, -0.0659, -0.0171, 0.1026, -4.9436, 4.9983, 1.9853, 0.5397, 0.0562, 0.7546]\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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8413, 0.5312, -0.2661, -0.1204, -0.0891, 0.9971, 0.9161, 1.0893, 0.3351, 0.0586, 0.6273, 0.4767, 0.995]\nstate[eef_state]: left_x=0.3026 left_y=0.0059 left_z=0.1576 left_yaw=0.072 left_pitch=-0.0096 left_roll=0.0025 left_gripper=0.9971 right_x=0.2506 right_y=0.162 right_z=0.0856 right_yaw=0.1243 right_pitch=0.0244 right_roll=0.0352 right_gripper=0.995\nstate[joint_eff]: [-0.0068, -1.7846, 6.0786, 1.9414, -0.0562, -0.0269, -0.0171, -0.1573, -2.5915, 7.8564, 1.4335, 0.3639, -0.0024, -0.2369]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8be79084a1b9689bf5d61dcd59651480ac92310b44ee3811d60c0b246c37c88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fe098fdcb29c09e60a8daaab7e3364b107ccedf9268ded1bfb783dab8cdcf0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cce1a9f393b24bfe21aac4b00c32947dc6248837019d99348a88fbaa74fdab75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwoKEAgSGAI4AUIIdGhpbmtpbmcSDC1jXWyx4XadzoEUHBoMCivM13KVOj3VIScPIjCUIpdfiL0a7wQEds/zuLJ8jvaQO7bNCgsg6DnIrQdPjbXWUaUSHkdIBHmN3sZc9oYq3Amb9e6IOx2z0LMpjO1oH35W1fkPLXZe+mZ+hCdPdXQ534+v49fNUMwxzWSKqWHP97WYAyKeOuXSHP5kBAvO/jVV3MlaGVBsODLteACDm0TK9E+Rq/mrYM3wcXTDlY0bgGXjQiD+vQ9HHkrhQ1Pjz5yYqYlzmgQ4hswogWc1SA1QHMqKfKvTPvvLjkLFZq+6aZSL4pwJFoWDZv59sooWkwPz8ky+mM+8DYxMAPJ6HC3Uwf4cqUB0EDf2x0kcLKpLj66g3yw946MOR8vn7IFPFqz0hMGQxFWc9+ORr4qdUAldtkUxaE8LFx/WEZWMiAP3oRKqOmseteqa7xhxq0/UhlapQUJYxWitXAqDV41kXvb/q+fJWZaAw8PDpwxU4vDj32ZNAkhuESvbg1jvg4bxgFkvKYQ6+BhS2H6WpHHAxsrBzd3IOLC0EB++fJWiltAqaN53kM71WcF6OMHrNGWiP9YuJFrC137qwBa6zc6zJop4EHQDhBLz76XC3eb3Pleonq9PcvOUD829IAUkJ4rf+ef5IoYIM8f1XSDS5X8umKwGkBumZ2d3/OXfsRtx9yLa1QW9N0xnwO13O3keFd4lZOX5Vk41ZRjlQxQUvyuZWI3p3FyH6kFf6mG6dJDgpmYqMTUERZOym+ONhFwUXsbYy1JRpGABeIhpPLE8BElrzpvPEqL8pMq13fK63xq+TajrCUFrXjzu+9pfJTA7b7RHtMLZrb3yGM6wvNB/vPrpdXW0HvZp6aD2UVUPDEk77MrVZG6maFQ0x7fNgkw0HFK+8AWSKGlmjS/ZzRXSvkfvVfrZF69t4s4MmWohpO2uOvCsRTzyKQsq9XVj5V3Htp6XERY7kqoAI+ZSIS9pIRyyuDKXBnlLyVCuYLVjNSCXU89hq0qXjz22mQjK0qvJu3Hk4MZP+Cdlc1+ILb28C1kZB769GJ1msBJ6CjufRn3XXhrazkgqqXGgvrFJJTNTkhd+PmiTCi66lUwtN3klEoroMazUgmw20Cb4hfaNnvaZQrNYa50mGvUVhrBQeyFoLnE/mo1+/cMZRVji+yKW/pSEZhTwy/CBJc0/abcaQCKaztlghX9uw0M9C+FC/2MUPOEQ8MqzD6eOP++sEX6KnwoiJ5XCqnWq3rFnqaZgMmLGkYLc5Fl3p5dJG3Z2eyEHlY1SoGT02t7HL9/9O5ih7xSTfPdQ5XI3fyRzoSuMzrs0Y66a2r4eYV1o2cHol4aPfpv8q79TNkRz04jVViL1ZXSptLpdecsFlIae3PIjwcyM7CJc0B+CtM6e8XLnIxoD13aNdygkSMQxzZ6hXuhUvqzAvNiCLnxhaZK2yNvDoe1Q3tHV+VI9KeqhLd2fdAkW4wSSG53h24aGpgkltSeJrydSAH4IO2tbAuZbT2DwHcWHzd5Xurr2764Vm1FGsMJZAQGScEx7nVi8lGiMmNvghwa833X4LWdIgrWP2BwDpRqP+TCk0be+WP+EywqYkxCngqWH1TFRY4aLzYMZkQIpYFVaHB5jeYuBWPiZ2odhGIlmFOUJywQA1vfLjN2/uiZrKFRroRWFy1V0MS/tm3gmiM34UIeeWrWkkZEYc32e0Q6j5fybXm7lxGjY6Vfqsuk08TtzT8Yv6IniIqYVxj7agIRUqc8loEnAoX0eriqRZ7w80BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VdCyBNEriJtwAudPLoQwgP",
      "input": {
        "note": "Bottle now lies straight ahead with the cap near the top of the wrist view. Advancing toward the neck, staying a bit above it.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.155,
          "right_yaw": 0.0,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VdCyBNEriJtwAudPLoQwgP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.841, 0.524, -0.2657, -0.1207, -0.0891, 0.9971, 0.9161, 1.0706, 0.3565, -0.0563, 0.6273, 0.474, 0.995]\nstate[eef_state]: left_x=0.3015 left_y=0.0061 left_z=0.1545 left_yaw=0.0723 left_pitch=-0.016 left_roll=0.0036 left_gripper=0.9971 right_x=0.2443 right_y=0.1539 right_z=0.0803 right_yaw=0.1256 right_pitch=-0.0282 right_roll=-0.0203 right_gripper=0.995\nstate[joint_eff]: [-0.0068, -2.0444, 6.8718, 1.8437, -0.0562, -0.0855, -0.0122, -0.2667, -2.947, 7.4598, 1.5946, 0.2906, 0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:223046b6889a913c896e67c52b686f49fc46384871e1b62b831122048766bed8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eee3def53a88a7e05e6122712e7287a357aed1636cd3d9431a0ff7e9829cd0a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6227a066e6545b20ff8b6603fcb627c57e3da1002f59a76dbb2b2fc0d195c6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 4.33 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]: [-0.0624, 0.8429, 0.5316, -0.2684, -0.1207, -0.0891, 0.9971, 0.9047, 1.4284, 0.2226, 0.4156, 0.6209, 0.4843, 0.5197]\nstate[eef_state]: left_x=0.3024 left_y=0.006 left_z=0.1569 left_yaw=0.0723 left_pitch=-0.013 left_roll=0.0032 left_gripper=0.9971 right_x=0.2489 right_y=0.1561 right_z=0.0141 right_yaw=0.1128 right_pitch=-0.0454 right_roll=-0.0227 right_gripper=0.5197\nstate[joint_eff]: [0.0342, -2.1402, 6.5709, 1.9267, -0.0562, -0.0659, -0.0171, 0.1026, -4.9436, 4.9983, 1.9853, 0.5397, 0.0562, 0.7546]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.0624, 0.8413, 0.5312, -0.2661, -0.1204, -0.0891, 0.9971, 0.9161, 1.0893, 0.3351, 0.0586, 0.6273, 0.4767, 0.995]\nstate[eef_state]: left_x=0.3026 left_y=0.0059 left_z=0.1576 left_yaw=0.072 left_pitch=-0.0096 left_roll=0.0025 left_gripper=0.9971 right_x=0.2506 right_y=0.162 right_z=0.0856 right_yaw=0.1243 right_pitch=0.0244 right_roll=0.0352 right_gripper=0.995\nstate[joint_eff]: [-0.0068, -1.7846, 6.0786, 1.9414, -0.0562, -0.0269, -0.0171, -0.1573, -2.5915, 7.8564, 1.4335, 0.3639, -0.0024, -0.2369]",
      "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]: [-0.0624, 0.841, 0.524, -0.2657, -0.1207, -0.0891, 0.9971, 0.9161, 1.0706, 0.3565, -0.0563, 0.6273, 0.474, 0.995]\nstate[eef_state]: left_x=0.3015 left_y=0.0061 left_z=0.1545 left_yaw=0.0723 left_pitch=-0.016 left_roll=0.0036 left_gripper=0.9971 right_x=0.2443 right_y=0.1539 right_z=0.0803 right_yaw=0.1256 right_pitch=-0.0282 right_roll=-0.0203 right_gripper=0.995\nstate[joint_eff]: [-0.0068, -2.0444, 6.8718, 1.8437, -0.0562, -0.0855, -0.0122, -0.2667, -2.947, 7.4598, 1.5946, 0.2906, 0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:223046b6889a913c896e67c52b686f49fc46384871e1b62b831122048766bed8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eee3def53a88a7e05e6122712e7287a357aed1636cd3d9431a0ff7e9829cd0a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6227a066e6545b20ff8b6603fcb627c57e3da1002f59a76dbb2b2fc0d195c6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSlggKEAgSGAI4AUIIdGhpbmtpbmcSDGdDDB+Ez9YU6dtDMhoMojLKdfW/zRnpx9h2IjCRvDcEMI02ablrMgeNvPP5lFuf86ZP6+JshUAC3iZc+ZcbmJTnp981VFtBVfXkjEwqswfCYonxEAflbMVdxsbnyerj7tr03qHdWSWCGNI4dNOljcNYvjZQEPsU4Moge6qDDjjt/0DAipnj6AX0fHvEUAm5fw9ktxK/g8cBGGHEqbTmSEFk36yWOe7Hi19yA3fJAuPQjE7hMiIt+zaQpMagxDFJlSeHMQmUe6gNJnw11ErSV/9JAhfPhfe4v74KgqVK3SSsLtifXgU4zchxgaMxMxIjZ79rfQbkCHfCCmsUGDtueIkgxMRLJM6p9AKiNUMYM9+Nvho7iCOAq/lVsJ0/AgbaLee1vkaDfaWvrdcxbuJwDcR/XCJhKShYn7SGdeGRE0NtIMhhQQIAw+IiBwCwZ31TAOKQ8dFIiayejfOb2lB6tAn+rXRfZQYMyHPuVMgQlZES0g4bcVZWrrcKUJ1+AdoifluxyXNjLaFFD+XANdfNweTKo3X9K6nRwBM3n3zLnTTebdZrJu9mgmbDcaqRSIxd1tRqdb/KU9QskXmMT+yOAbPBQmC7VUxrUqLIrDIm1+a3N1JSbHZs9KMZS/WWeulgtKPl0zRUILSuM/ocwWf5oU75junznLifh0C19nVqwb2q7eoLH6gaTkmhG6nd5pykTxIAyy6y8WyQ9TENsjcOZGusYFGpZAhCyAINIAqssAhHTG7N3q+4IpfNENvMVF5Qv0TXFZi/hJxz8fYOTKpitvS9B9afVRcA3jE5DxpSK6YPXcQdyzmPVLSrxwHplI0UsgXCBr7OQMI0HrGijobJZCDvPax5mI3nEKGXbt9HA6qkMaQpEjERYbuwSoxbvKZo5Wu90ax+Kngx6/A+f9s9EyltOhlBhAtPdu0pM1QtxEZPvCrlHWO5fNhCHb5p6p/e8WyMg1jxU693pWY3tDl8V5aFQegV2TAWoaqx+YbELNPxqBhXbmGo5PPcHXtkDZiyfl1yAXDieZejlB34gybxQWzshd4bCoR7twnJF8JFsK8drugLuF5V0FRx+8iTLViRsQAfplp6pqlCE7sDP/dY5kWn4eC+T2LCvXLxNAKG+aHGzqH3u232vpSPlLOeInQl7XgTJKlO0V92oZI0ntofHRW1scoIDPuQlVwPIo7LZj5ltUa5PsBodZTCXTRdV41S/cLIh+VtFxby52f34tTqsA7JOSVBwmRWX8Q7s5lS0bNNk1hQnVrbjThJ3G0p7qWYMZhu0qeJB1VXCOdtXus9DUSJfCfZhOPctCnHfbjAAPUevAguRfp/om9bRoORcsOYaPfAX3H4ijj5r2VrEhMFVSm2TRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0123hKRupppSeZJoHsorPpYg",
      "input": {
        "note": "The last move was held (arm didn't advance). Retrying the advance with the current yaw and a bit more height.",
        "targets": {
          "right_x": 0.34,
          "right_yaw": 0.12,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_0123hKRupppSeZJoHsorPpYg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8364, 0.5148, -0.2596, -0.1207, -0.0887, 0.9971, 0.6098, 1.2926, 0.5632, 0.0433, 0.4004, 0.2523, 0.9945]\nstate[eef_state]: left_x=0.3007 left_y=0.0061 left_z=0.1529 left_yaw=0.0721 left_pitch=-0.0145 left_roll=0.0037 left_gripper=0.9971 right_x=0.3246 right_y=0.1472 right_z=0.1 right_yaw=0.1162 right_pitch=-0.0521 right_roll=-0.0306 right_gripper=0.9945\nstate[joint_eff]: [-0.1299, -1.8667, 6.8034, 1.8486, -0.0757, -0.0464, -0.0171, -0.4308, -4.3692, 8.8684, 1.8974, 0.1685, 0.022, -0.0659]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1d0999066cb37bd8c129f7d58d520e106fad3253b8fc5df45f19c4b7b747d13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:499e7c7aeaf580e9d67173f93b59b1cb9e164b41a268ad273242f2e12843ce30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:44252f7de5e36cceab2a29c7dffc8264dc26341af664df22282e94e3e2b48657",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 5.147 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]: [-0.0624, 0.8413, 0.5312, -0.2661, -0.1204, -0.0891, 0.9971, 0.9161, 1.0893, 0.3351, 0.0586, 0.6273, 0.4767, 0.995]\nstate[eef_state]: left_x=0.3026 left_y=0.0059 left_z=0.1576 left_yaw=0.072 left_pitch=-0.0096 left_roll=0.0025 left_gripper=0.9971 right_x=0.2506 right_y=0.162 right_z=0.0856 right_yaw=0.1243 right_pitch=0.0244 right_roll=0.0352 right_gripper=0.995\nstate[joint_eff]: [-0.0068, -1.7846, 6.0786, 1.9414, -0.0562, -0.0269, -0.0171, -0.1573, -2.5915, 7.8564, 1.4335, 0.3639, -0.0024, -0.2369]",
      "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]: [-0.0624, 0.841, 0.524, -0.2657, -0.1207, -0.0891, 0.9971, 0.9161, 1.0706, 0.3565, -0.0563, 0.6273, 0.474, 0.995]\nstate[eef_state]: left_x=0.3015 left_y=0.0061 left_z=0.1545 left_yaw=0.0723 left_pitch=-0.016 left_roll=0.0036 left_gripper=0.9971 right_x=0.2443 right_y=0.1539 right_z=0.0803 right_yaw=0.1256 right_pitch=-0.0282 right_roll=-0.0203 right_gripper=0.995\nstate[joint_eff]: [-0.0068, -2.0444, 6.8718, 1.8437, -0.0562, -0.0855, -0.0122, -0.2667, -2.947, 7.4598, 1.5946, 0.2906, 0.0024, -0.0073]",
      "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]: [-0.0624, 0.8364, 0.5148, -0.2596, -0.1207, -0.0887, 0.9971, 0.6098, 1.2926, 0.5632, 0.0433, 0.4004, 0.2523, 0.9945]\nstate[eef_state]: left_x=0.3007 left_y=0.0061 left_z=0.1529 left_yaw=0.0721 left_pitch=-0.0145 left_roll=0.0037 left_gripper=0.9971 right_x=0.3246 right_y=0.1472 right_z=0.1 right_yaw=0.1162 right_pitch=-0.0521 right_roll=-0.0306 right_gripper=0.9945\nstate[joint_eff]: [-0.1299, -1.8667, 6.8034, 1.8486, -0.0757, -0.0464, -0.0171, -0.4308, -4.3692, 8.8684, 1.8974, 0.1685, 0.022, -0.0659]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1d0999066cb37bd8c129f7d58d520e106fad3253b8fc5df45f19c4b7b747d13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:499e7c7aeaf580e9d67173f93b59b1cb9e164b41a268ad273242f2e12843ce30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44252f7de5e36cceab2a29c7dffc8264dc26341af664df22282e94e3e2b48657",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkggKEAgSGAI4AUIIdGhpbmtpbmcSDKT54V5OXYEjY6Y9/BoMLUZOdZaSK9JL6/IFIjDa/8BTDryI5owbmKhw9jsGVOIMmZiOamsZR35Zo1YPeAHufn2l+E55TCJ08Ow7kegqrwc5aZ0yU1x8OJDljUDUPtLKDFWfQbohVEzNSatV9XRFufrhDfvK+5t29oqcM8xfJX+fvklDN5wGYCWE3+fSf9JRyAP4XT+hYLVsyPr3dvQz5xcLoIlq+m9QC43AzDkiHsh41CUxHm74KmyvYmwKApdut1rOlaUmm0fVphDua0ON7tVwXA1H7WASZ2gg9IUPCGPw/ocqKxUz7OBhE7ibpa+aXX0cBC20+D8Zt8+q7HcjyudYMwlgdEVmsY/OcrzkqcyiXyKWilyssCAIKhKd2W+4pGo+9xGNBnTHAbwR+QvETzjn6HEXTU0Cb+1xrJXjmmI4eaOzCIdXjIxhnXUVdNpMDLBV+oX6JgWFfCYSkaymNlpAK0sWc6rPhjURZP72oF70d/OLR/LVic3K6Cj6EIURlVNSrXYvKDF1RlO/9Dm/JCiF18szkiek7AQEr09F5heD1/31AfsMfH7fyOVrd+c4BsJJ04ZxLv3FZO0BUP/bWekXGjRGdf8oI2+9k8YjxlL2J0Qf8SL8VLPmes3Ydv+0jr2OQSpHWW0Us0dgy1I++sEN6HJouV1M9U6uQDHOTo8sVrPdOs6lBbVhIxE3asMcqp2yEsGL8/6YbtCn+/a7raaltqCtcPeYbY4KOzb4jOKKZUlklSBFdpB5cdHq+HtVNMBO46Ffz9AxfYHg+AZr+gXywY0s+UNnNAc7imPxI/ZMBWqmCktyJlzCMW5H580dEaZwtqN8XCeJ4IhlYCNjw9Y7LpuhDEA/txqLZM48dJnSeM8cJOXxOPopuCHRf5znM93sxwQnslaUthxEkkrsz/LW9Vbi5qpiLWwFi7vx64EqRsk5Ipr2DqflRq8mj39X/nPhrLidWMZs1Kr+b2STeRDgNOGw0hua/9XZwjPemyyCSAT63KOb5c8wH+OCfZTWBYJ4YfbJ3vmAvkzM7+MfBibDJYWuvNf0P0KrfpLnoVmFy4Sv8nXvuoBXKoboSIir40hTRk0lIvqXWK2hp5w9CfiYMlGAUk/IO4nngsVjAKLe5mpsg7mki8PBTPm3Xbc5MW4H+L07THeguWQnT0Qr+AywN8j5sjG3L5zTe1lQjur36fASTYQUHvfluMpd6LpLFVdzNOrabRXNeUf9OCYjrbzdBIStRjHHvEFmPZwctRE2ov6ftGwt5VJ4NbMEdrrrAOMx7/Pqq5aeaESjsDGZkUxJYFqM3Fi8fZBmIAwAtZnwOWZQwLAAhpWLBseDpfiT8ditfhMDUZD74Z+iwNWDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C5HJ9XdDxm36PNFYXobiPt",
      "input": {
        "note": "Cap and neck are centred on the jaw column a few cm ahead; label is at the bottom of the view. Advancing ~5 cm and descending to neck height.",
        "targets": {
          "right_x": 0.375,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01C5HJ9XdDxm36PNFYXobiPt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8314, 0.5049, -0.2588, -0.1207, -0.0891, 0.9971, 0.511, 1.6646, 0.5018, 0.4572, 0.3206, 0.1905, 0.9945]\nstate[eef_state]: left_x=0.2991 left_y=0.0062 left_z=0.1499 left_yaw=0.0723 left_pitch=-0.0187 left_roll=0.0039 left_gripper=0.9971 right_x=0.3553 right_y=0.1395 right_z=0.0198 right_yaw=0.1148 right_pitch=-0.0922 right_roll=-0.0424 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -1.7436, 6.7761, 1.8779, -0.0855, -0.0513, -0.0122, -0.2667, -5.9966, 6.8171, 1.7851, 0.0171, 0.2173, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f09716da2cf1b086ee21dc86ddde2d7881ccde0a4cd27ba459a0cc1eeb3c0acf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dddc41040e46de634eabb76a368de0291634bad849e1c2824c96284dc7a0288c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e45ef36bf5e0b69e6b50570add1d8293a07d5aa95f99a84b6b39c94cd943c346",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 6.019 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]: [-0.0624, 0.841, 0.524, -0.2657, -0.1207, -0.0891, 0.9971, 0.9161, 1.0706, 0.3565, -0.0563, 0.6273, 0.474, 0.995]\nstate[eef_state]: left_x=0.3015 left_y=0.0061 left_z=0.1545 left_yaw=0.0723 left_pitch=-0.016 left_roll=0.0036 left_gripper=0.9971 right_x=0.2443 right_y=0.1539 right_z=0.0803 right_yaw=0.1256 right_pitch=-0.0282 right_roll=-0.0203 right_gripper=0.995\nstate[joint_eff]: [-0.0068, -2.0444, 6.8718, 1.8437, -0.0562, -0.0855, -0.0122, -0.2667, -2.947, 7.4598, 1.5946, 0.2906, 0.0024, -0.0073]",
      "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]: [-0.0624, 0.8364, 0.5148, -0.2596, -0.1207, -0.0887, 0.9971, 0.6098, 1.2926, 0.5632, 0.0433, 0.4004, 0.2523, 0.9945]\nstate[eef_state]: left_x=0.3007 left_y=0.0061 left_z=0.1529 left_yaw=0.0721 left_pitch=-0.0145 left_roll=0.0037 left_gripper=0.9971 right_x=0.3246 right_y=0.1472 right_z=0.1 right_yaw=0.1162 right_pitch=-0.0521 right_roll=-0.0306 right_gripper=0.9945\nstate[joint_eff]: [-0.1299, -1.8667, 6.8034, 1.8486, -0.0757, -0.0464, -0.0171, -0.4308, -4.3692, 8.8684, 1.8974, 0.1685, 0.022, -0.0659]\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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8314, 0.5049, -0.2588, -0.1207, -0.0891, 0.9971, 0.511, 1.6646, 0.5018, 0.4572, 0.3206, 0.1905, 0.9945]\nstate[eef_state]: left_x=0.2991 left_y=0.0062 left_z=0.1499 left_yaw=0.0723 left_pitch=-0.0187 left_roll=0.0039 left_gripper=0.9971 right_x=0.3553 right_y=0.1395 right_z=0.0198 right_yaw=0.1148 right_pitch=-0.0922 right_roll=-0.0424 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -1.7436, 6.7761, 1.8779, -0.0855, -0.0513, -0.0122, -0.2667, -5.9966, 6.8171, 1.7851, 0.0171, 0.2173, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f09716da2cf1b086ee21dc86ddde2d7881ccde0a4cd27ba459a0cc1eeb3c0acf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dddc41040e46de634eabb76a368de0291634bad849e1c2824c96284dc7a0288c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e45ef36bf5e0b69e6b50570add1d8293a07d5aa95f99a84b6b39c94cd943c346",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzwgKEAgSGAI4AUIIdGhpbmtpbmcSDGf+FaIHPjQPxIAhUhoMLSKotm1xYjE2QljrIjBVUz6ck6evdcPqyMCca5AOfr0nHtlaMowVaqCqsUhDZQk8P2ric3wtPuVJ8e/+CLwq7AfOZVSMzo/CgUXqecB1nkAktM9gTolX4VQ0BEG/mgiWko8uc9X8qsljMjottS6GhPKKGCZCqsuwyN5MR6vYsg4mvOGWpBLcg7RQJpyNjleb6ilEtLihpcfw07LAklt8vLo1m6WsFwt8maP+SXqAPnComsiuUZXkcrwujOR6Wn04cc6KxQxWymdDZBdq6zsgT1tnzPy1oG7knUb7JR+Qa09ASdEytBaDnovO2PLBQfwb4mOsw0UiyFaZbrDhNHlQ+flFP8YXf9D51tIgpQxykqAHS1osxOacv9lGYN/kn66pNoE+Twn1KBOKQrvf5H2DwgZ4nz/xMpAJMVMsr1Zt4RMB4U69vyvw6le48MUnOWi5zgy53xncWPeEUQLWmOXqd5l52d96Uh4kS+is9610ZRKEl/Ta+ZSO29rdMduZOUNPyDRWuW+QjoSscY6ZNQRvRfKFJZRrIEskittupO3hagDLEEGEWyoZFebX704EEHL3FvGK9IVzbqqOKPC+K39rER7xVJkvquyhHXKjJDLQOEX/WHL6ZWi1sWf05B8cuJMhMqQii4THPS+SOdupvMPPZIcyR47QDr+sslRjHa5RAf8VJ3w3bt478IPGn0T5YanUVv+gALBPy+FS9QpO2030TuUYDHi4yJdnkMWuCP/HgVCa2IQULRZ0RPRHKInMq5KiXAvwjdjONHU90qtUcmHyyDzGMp+dltJR9zhWwxz1TmiXxSGt8pqjpL8NFwWYHUNNDRm+iRpmdp/DSKlpB381i3JpL0e+eQ4ej9eozmzdUcl1R354Z6Cm+i8Fo1yhxt1WOAb2jGMYiCMP6GLUX/fIcqMEhRDLObIFfQ8vlI3qDXO8HH2DbLGAKAw2xuP3RGH76DzXqs004OB/kKn63+ycNZ7YlIAtIDmPdZWsm8fGyPjoW7YUHHMgrq7ENm3e3hUdisBPyC4ubi+tgK462X4pCz+EKDJBVX82BMvfVeHBvfdGWt+uinB/b4iBFcjWCqo01mhep9ASQM/kWAWJ8Tc0wsB3R89ZxN8e5McsTOWCmKUFhR2x0yS+7u/PngMtn1jA+Cjfis8422EXnFCS3F4PWGyiWFYiXq3gwbiDBBQ5omqey9g5H2s2xqZ+74hup+jkASoA10SQVlQfI2GvlIUXlXMxO8a3vxSmJXskZXQMCb8fAjIpPes34Z+Wo98Z6eWbX4ZWQqPZvnA+i42zuZKjHsa8m610rzZTVYTK+66rkGnnae5yT9W14OySXgkFYVG/2si44V9UXKuSMOE3iKE5nz9VI6wKzhslc6L9LJ/frqVqA5ktLJgnOQ+3yCT9YbdzJMQJhyiq0uRTEE8LQxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MNQJWAhE3cEzuctzAjzvYe",
      "input": {
        "note": "Arm fell short; the label is still under the jaws with the neck ~4 cm ahead. Advancing further to the neck.",
        "targets": {
          "right_x": 0.4,
          "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_01MNQJWAhE3cEzuctzAjzvYe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8295, 0.498, -0.2577, -0.1207, -0.0891, 0.9971, 0.4492, 1.758, 0.5514, 0.5995, 0.2523, 0.1509, 0.9945]\nstate[eef_state]: left_x=0.2981 left_y=0.0063 left_z=0.1475 left_yaw=0.0723 left_pitch=-0.0224 left_roll=0.0044 left_gripper=0.9971 right_x=0.3875 right_y=0.1418 right_z=0.0264 right_yaw=0.1326 right_pitch=-0.0146 right_roll=-0.0011 right_gripper=0.9945\nstate[joint_eff]: [0.0205, -2.2496, 6.188, 1.9365, -0.0659, -0.0562, -0.0122, -0.9094, -5.6957, 6.5983, 1.6923, 0.2076, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1853f524ccde05cc6a2d304b0e35f9fb4243edbac7f5d4ea76307bcf3870b9b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44223fd201f9fddbe90aa3e3c21d20c5cdd5e90094c27b389e12ec5c6cee4331",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b479fe2b9337ae001bcc3abe16941c26874a61371425f2782941a9104f88eb89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 5.256 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]: [-0.0624, 0.8364, 0.5148, -0.2596, -0.1207, -0.0887, 0.9971, 0.6098, 1.2926, 0.5632, 0.0433, 0.4004, 0.2523, 0.9945]\nstate[eef_state]: left_x=0.3007 left_y=0.0061 left_z=0.1529 left_yaw=0.0721 left_pitch=-0.0145 left_roll=0.0037 left_gripper=0.9971 right_x=0.3246 right_y=0.1472 right_z=0.1 right_yaw=0.1162 right_pitch=-0.0521 right_roll=-0.0306 right_gripper=0.9945\nstate[joint_eff]: [-0.1299, -1.8667, 6.8034, 1.8486, -0.0757, -0.0464, -0.0171, -0.4308, -4.3692, 8.8684, 1.8974, 0.1685, 0.022, -0.0659]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0624, 0.8314, 0.5049, -0.2588, -0.1207, -0.0891, 0.9971, 0.511, 1.6646, 0.5018, 0.4572, 0.3206, 0.1905, 0.9945]\nstate[eef_state]: left_x=0.2991 left_y=0.0062 left_z=0.1499 left_yaw=0.0723 left_pitch=-0.0187 left_roll=0.0039 left_gripper=0.9971 right_x=0.3553 right_y=0.1395 right_z=0.0198 right_yaw=0.1148 right_pitch=-0.0922 right_roll=-0.0424 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -1.7436, 6.7761, 1.8779, -0.0855, -0.0513, -0.0122, -0.2667, -5.9966, 6.8171, 1.7851, 0.0171, 0.2173, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8295, 0.498, -0.2577, -0.1207, -0.0891, 0.9971, 0.4492, 1.758, 0.5514, 0.5995, 0.2523, 0.1509, 0.9945]\nstate[eef_state]: left_x=0.2981 left_y=0.0063 left_z=0.1475 left_yaw=0.0723 left_pitch=-0.0224 left_roll=0.0044 left_gripper=0.9971 right_x=0.3875 right_y=0.1418 right_z=0.0264 right_yaw=0.1326 right_pitch=-0.0146 right_roll=-0.0011 right_gripper=0.9945\nstate[joint_eff]: [0.0205, -2.2496, 6.188, 1.9365, -0.0659, -0.0562, -0.0122, -0.9094, -5.6957, 6.5983, 1.6923, 0.2076, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1853f524ccde05cc6a2d304b0e35f9fb4243edbac7f5d4ea76307bcf3870b9b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44223fd201f9fddbe90aa3e3c21d20c5cdd5e90094c27b389e12ec5c6cee4331",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b479fe2b9337ae001bcc3abe16941c26874a61371425f2782941a9104f88eb89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSigsKEAgSGAI4AUIIdGhpbmtpbmcSDNIdKU/m2fH9xDF9nBoMCRl3nEqBc9YWJM1wIjCClgpTjqHZjs3SpTNPfn6HzYUy5Z4jMn9oDoTsVWvXFdKtrOoATgVUt30ZFWYq4aEqpwrPORQiqXAiGXcIraXq4yx1cnaeqQ/SEqE2sPitO3PeVvx4WYZG+XyGpHLZaKs0JzgC0r9+YEhb9ONaiugqYd7FG6vjXJ+05pMvYEvSonYGEaz4/KYJMS8vFZLdINNYbAah+FQnmw6B2L+GJAU7Oqhn1tMLdmCG9qpllhYatH2GhZ+RNzZYcJYYBl+O4KO6lpvxkHazbtAbAdURMR7uOJPDxOBpzQDFWUQSbHKexNFeIZYL/q8Kx5z47QuogLHiaCgwfQ5Nqp/f1beuajP3pg+kNA6JI1mCHC6H3/XOAvAtLoWgy63hWK9hdmR6W2wn39pgYBUWf4xLX+IA4LsMDpAFF0wxiUo5S7yixMxJAbHo0ju4aguzI3grU9RCmHhuDaB9WdQe6KbBYZSlQc/YQKeRA5HjW3bA/Nc28Ii4yqk/5fQQxVvzaWe6+f0hrTq6C3BkGkUjJXPrqR4jIy7mPCfMTFLrsJBoj+9ex9PYV/dCSjGoCGmfpOi+9IFhLYj7s7orxwHcuQCNvYo465q2y/Yq80b83xV99qTujp89lK+vCZj05DZcLd9wRXW5pesioOPOXlXOOhDDlVXQcGGFBFFeThBfaec3slmhIrcoupkn/hJwnqXFgmxbKr4kDMRwxa6TFd+xHW8Sl56bz/XVAxHywGGrFffAAXrQ29PU837h7lTtoO15GLEELmVgv0HlIRUKsVWs8VE2BeO8U+DznoSkEG5P8KSyMCM9lwO+K4dvf6xV276PpIPFTnYMVRwc91bhpyIcW21hgylIC+RUgsLDZy6GT2LKFj/OWtapRP+ioiOHDoI8MV+S6qTeqhs6WURpzLD3aUNL7P45brsjcmpwuoYYFUsRo07TbQFUSh2Azn4cPGpvxSDuLCiyMcpfTpuAaW3joY/BifW+0cp5I8e7LZ3Abj+1sfwUDvUJEvLCEJCESYr4kecy4M1OtOCd7VwLTjCz9Ml04PUwF4+w41S0qUt6aak91KQYA7cglOFVGRTpmOhol1r4b5vTlk07BAOLjO04ZqP0Yd2RpU3oYTMJDE5h/muhWTyzMFRWEIvY1TBHJwPEJEoYmnR4guia6lTchEzbVGG1x75biJ2TGLxFllBnoD7uUzQUZV4IfsnOPfs4TD4fb72p7rlohBOdDSC9m+KJq8lMYuwt5Ml5Lg85nBAD/dF783kSlrVigHu41mBCIteucBU2b/zqb8UhJ53okjfPxYbmFurbVGyV/7kwEZJwHKXk07D8ufhBKG55B21Fh7d4P7MYfprlruG0mJVfAp9v0FEtaAb3UiduT3UnYvfxSmGDmCeUSim9IY9kRP6thrV2Dj2wJXgUtQR4llBYNwBrchFL1lkcre7JiM772bpmaV1ArQjCg0FDO9r2Vi1+l1aZDb3cDD68JJyYHL7VNMnEmaGgZfgPsGqbCJd4Q/pIuFVDNxBL6h5fQ62ZncQE4gyKCIAjoi63wKlPVI+RJm3vIShSq0+Zq8ppvQ1xC55MtJYQVZo2jdP4hRF7wHbe3JtMa5QDgRp+uWSswxKDhVKP1NwxNLUgVbX/l4OPKzb3Nt5UA9OatRjMderT3+qlXepRiYVtcFgkfD2knz9/AOXQgt7m0JIwx9UDw8CgA5xALMMmVbgROW3G0IwtSWeVKmJTCMtPdmVOC4x0I+lqHvDLY6kEp+qS/p4YKT5dAEVqyoOFfLygp7xYeyE4KaKs1B4hpVdD/ylxHwEwDlIYJoqG2MxcjiE0HQNCbV461gfv7VG63xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J1Lq1BWnKLKSvEtTc4RgP2",
      "input": {
        "note": "Jaws are around the bottle's shoulder just below the neck. Closing to grip there, then I'll lift the cap end so the bottle pivots up onto its base.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01J1Lq1BWnKLKSvEtTc4RgP2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.828, 0.4847, -0.2424, -0.1207, -0.0887, 0.9971, 0.437, 1.7645, 0.5945, 0.6819, 0.2455, 0.1375, 0.0181]\nstate[eef_state]: left_x=0.298 left_y=0.0063 left_z=0.145 left_yaw=0.0721 left_pitch=-0.019 left_roll=0.0043 left_gripper=0.9971 right_x=0.4108 right_y=0.1485 right_z=0.0559 right_yaw=0.1319 right_pitch=0.0979 right_roll=0.0272 right_gripper=0.0181\nstate[joint_eff]: [-0.0479, -2.1402, 6.2974, 1.917, -0.105, -0.0562, -0.0122, -0.7179, -6.0103, 4.7385, 0.9988, 0.0952, 0.1197, 0.7888]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84946ca9a2c871d34b7d04444586bff7a2e919827579f19dd9057e56c9a41b70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5039761a8b5fdba10277f89ee9de4bfa9346cbc6f2caaf4e164d6706fb7939c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf6334e8fa2c24ba6da99e9c52096bb0f25307943c12446a571b64352c482acb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 3.552 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]: [-0.0624, 0.8314, 0.5049, -0.2588, -0.1207, -0.0891, 0.9971, 0.511, 1.6646, 0.5018, 0.4572, 0.3206, 0.1905, 0.9945]\nstate[eef_state]: left_x=0.2991 left_y=0.0062 left_z=0.1499 left_yaw=0.0723 left_pitch=-0.0187 left_roll=0.0039 left_gripper=0.9971 right_x=0.3553 right_y=0.1395 right_z=0.0198 right_yaw=0.1148 right_pitch=-0.0922 right_roll=-0.0424 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -1.7436, 6.7761, 1.8779, -0.0855, -0.0513, -0.0122, -0.2667, -5.9966, 6.8171, 1.7851, 0.0171, 0.2173, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8295, 0.498, -0.2577, -0.1207, -0.0891, 0.9971, 0.4492, 1.758, 0.5514, 0.5995, 0.2523, 0.1509, 0.9945]\nstate[eef_state]: left_x=0.2981 left_y=0.0063 left_z=0.1475 left_yaw=0.0723 left_pitch=-0.0224 left_roll=0.0044 left_gripper=0.9971 right_x=0.3875 right_y=0.1418 right_z=0.0264 right_yaw=0.1326 right_pitch=-0.0146 right_roll=-0.0011 right_gripper=0.9945\nstate[joint_eff]: [0.0205, -2.2496, 6.188, 1.9365, -0.0659, -0.0562, -0.0122, -0.9094, -5.6957, 6.5983, 1.6923, 0.2076, 0.1099, -0.0122]",
      "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]: [-0.0624, 0.828, 0.4847, -0.2424, -0.1207, -0.0887, 0.9971, 0.437, 1.7645, 0.5945, 0.6819, 0.2455, 0.1375, 0.0181]\nstate[eef_state]: left_x=0.298 left_y=0.0063 left_z=0.145 left_yaw=0.0721 left_pitch=-0.019 left_roll=0.0043 left_gripper=0.9971 right_x=0.4108 right_y=0.1485 right_z=0.0559 right_yaw=0.1319 right_pitch=0.0979 right_roll=0.0272 right_gripper=0.0181\nstate[joint_eff]: [-0.0479, -2.1402, 6.2974, 1.917, -0.105, -0.0562, -0.0122, -0.7179, -6.0103, 4.7385, 0.9988, 0.0952, 0.1197, 0.7888]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84946ca9a2c871d34b7d04444586bff7a2e919827579f19dd9057e56c9a41b70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5039761a8b5fdba10277f89ee9de4bfa9346cbc6f2caaf4e164d6706fb7939c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf6334e8fa2c24ba6da99e9c52096bb0f25307943c12446a571b64352c482acb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS2ggKEAgSGAI4AUIIdGhpbmtpbmcSDCtMCoaeG6H6RmWskRoMxr3Y3z30tKU9ygJoIjDy4cdooi0szXwVUSIAtUJcAu7HomaQskJ0MvJSWGXeNux7ObtUoWieb0pWbvyPDJkq9wfcv7bbZftGQsyYmTvYAuFoI3v4J8kqsuVPq9QbYBimHm56uezyA2nBnfBToKTEoFDpVqh6JlFmQsPxZNf44FE9Q8absK/de0mPDWdQEw5JtDqoqBLLHrP+gtjKiczDVSyQXNZdPo38wCNfrBGBtsafbzSviVK9h+VO3yOpOBaJggf53b2HZLGIvHjwvg1lPXq6FbQpcuGKK+0dOeEdheJE/hZ4M5MsnsstIk2TmnrqxFmOcE0qQ7vSB+JPDcR8bFrE+E/E1oyXK2iCAbu4/y8B8m31kcT/lhY6vTpxc0Mgxb1c3V+XmyW23lvWGInOdJa7lemzNutOIHOQJNVQjCo4fYI3mGaffDS/THAMU+svPS+TuJw33zyCWa/MLfLE+PfKqytiRJk02eKynvqCh8q2+4NYC7yPX6TBK5xX7HoIs/7DlcB2ITjEALf/jeqLY191EuSfT9CdeSPGGxg5QTBVWnRWXMzJ0+hTIgF9r9xtmTiTjrWCWthaC9KBZWWla+nUABlIuXHv+0nKdr4vgjbGNQClBX+2weW/LfjEvkf7H7iBWYrarGBTSt3NrzNKUJJRKoDaR2Ism0u5QVz5uGj1x7be7viN7uujUrilit0jy3s54CR1Q36ueGfWN2JdSP/NGmGQw7XU5oYn18z6+0ZOgum1bFGJ0wJfhStJMGzcEnADA6RzS6/QvEeO1fSFDh6nlXVE2SJP3boTksq7a3g3WMxEPNkGlrzaWH/yofx+sWEK2z2+okFo/QW9Rs/cwFkaOt7ciGkCo3sEaRx5GR1oOX+mTqjg87c8tDVA2BluO33rXr5bAinfgxgUejryAmq53Y5lbZ1CS7rvdCJocgAQVMYr/xW0grw72tRlkIhF5qCqLqmhjM1PBJmq5hBgnIcLJb2bCJGYSq5IU1Spc8Q2LivIXAruw4fdr3lzy8Wt2p5Y7RSobwUvNQKFiWKvkXRG0mK0xyLQC3Lx0xI8k73L5/tuUT5u8anhx1d1odm/dCThV45dxBSLe9KRj//f9w6Hmmm7gdnBx+qNz88ydt9gsgjDQ9/zWcAbDenpLcZLXkDUdiUg2gNirnT+hsC9mV0ggR1gWpddddooEIl5kl9XXkDVmiDJGn0u1rKSIy2XbvKX6MqkexrKVfpCWzlbBi6CTXWu0ckq65ARzZzbUhwrfVHfb+8MXJia+BwQDEjZ7zh/FMz6KJzjtQ3cPx4OS2GlKABw3xNnVo8htzBx7JSmyqEdNnaAOLZKoJehjDyxnCxcJuRMs7m//dF+PH3crT3RtErW1ptm5E/jDe2ctmG7DpEybu1nWlLiKp/sNzdfHDgd2xgc5ZME8uwTm25TUyGlLeJdBss5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NHwFwQPJ7CQq93JhVmec8A",
      "input": {
        "note": "Empty close: the cap sits just beyond the closed jaw tips. Reopening and advancing ~2 cm and lower so the neck is between the fingers.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.425,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NHwFwQPJ7CQq93JhVmec8A",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.828, 0.4808, -0.2356, -0.1207, -0.0891, 0.9971, 0.4252, 1.8389, 0.6785, 0.6067, 0.2306, 0.1135, 0.9948]\nstate[eef_state]: left_x=0.2983 left_y=0.0063 left_z=0.1446 left_yaw=0.0723 left_pitch=-0.016 left_roll=0.0036 left_gripper=0.9971 right_x=0.424 right_y=0.1516 right_z=0.0387 right_yaw=0.1467 right_pitch=0.0333 right_roll=-0.0057 right_gripper=0.9948\nstate[joint_eff]: [-0.0479, -2.441, 5.9692, 1.873, -0.0952, -0.0611, -0.0122, -0.9915, -4.9573, 6.4752, 1.5409, -0.022, 0.149, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2674509dbcc1b675e059d1edfc1dfadbbdedba6caf94e45ad85394550b535297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1986f2fc4108686905530e54c1ddce6e3e46ad67909de553c0cbae3cf84df0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af4ed3c484464a0ccaaecafcdb727f5e0bcdad2d2f7ce6b5d8197dde87565517",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /messages · status 200 · 13.55 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]: [-0.0624, 0.8295, 0.498, -0.2577, -0.1207, -0.0891, 0.9971, 0.4492, 1.758, 0.5514, 0.5995, 0.2523, 0.1509, 0.9945]\nstate[eef_state]: left_x=0.2981 left_y=0.0063 left_z=0.1475 left_yaw=0.0723 left_pitch=-0.0224 left_roll=0.0044 left_gripper=0.9971 right_x=0.3875 right_y=0.1418 right_z=0.0264 right_yaw=0.1326 right_pitch=-0.0146 right_roll=-0.0011 right_gripper=0.9945\nstate[joint_eff]: [0.0205, -2.2496, 6.188, 1.9365, -0.0659, -0.0562, -0.0122, -0.9094, -5.6957, 6.5983, 1.6923, 0.2076, 0.1099, -0.0122]",
      "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]: [-0.0624, 0.828, 0.4847, -0.2424, -0.1207, -0.0887, 0.9971, 0.437, 1.7645, 0.5945, 0.6819, 0.2455, 0.1375, 0.0181]\nstate[eef_state]: left_x=0.298 left_y=0.0063 left_z=0.145 left_yaw=0.0721 left_pitch=-0.019 left_roll=0.0043 left_gripper=0.9971 right_x=0.4108 right_y=0.1485 right_z=0.0559 right_yaw=0.1319 right_pitch=0.0979 right_roll=0.0272 right_gripper=0.0181\nstate[joint_eff]: [-0.0479, -2.1402, 6.2974, 1.917, -0.105, -0.0562, -0.0122, -0.7179, -6.0103, 4.7385, 0.9988, 0.0952, 0.1197, 0.7888]",
      "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]: [-0.0624, 0.828, 0.4808, -0.2356, -0.1207, -0.0891, 0.9971, 0.4252, 1.8389, 0.6785, 0.6067, 0.2306, 0.1135, 0.9948]\nstate[eef_state]: left_x=0.2983 left_y=0.0063 left_z=0.1446 left_yaw=0.0723 left_pitch=-0.016 left_roll=0.0036 left_gripper=0.9971 right_x=0.424 right_y=0.1516 right_z=0.0387 right_yaw=0.1467 right_pitch=0.0333 right_roll=-0.0057 right_gripper=0.9948\nstate[joint_eff]: [-0.0479, -2.441, 5.9692, 1.873, -0.0952, -0.0611, -0.0122, -0.9915, -4.9573, 6.4752, 1.5409, -0.022, 0.149, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2674509dbcc1b675e059d1edfc1dfadbbdedba6caf94e45ad85394550b535297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1986f2fc4108686905530e54c1ddce6e3e46ad67909de553c0cbae3cf84df0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af4ed3c484464a0ccaaecafcdb727f5e0bcdad2d2f7ce6b5d8197dde87565517",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS6wYKEAgSGAI4AUIIdGhpbmtpbmcSDK53WTeiQqDdrgO8DxoMgQZP5yLDCIoL+tSsIjCdDLduWxux4yfMddpXSlbNmKrOXTECcUpTmdptjMWNTcJl9N+3NESlPEA7aawTr5wqiAYiFvN4lTP2820M+VxUQJIHzpPHVilG4ZMRBnxqAEsGCTtz1P+eOwGguav5+9JxW1SLiV6GIRHQrG4oonbVbxmlltGcLrXvjB6mnroPRkhAtoNgMOUER5S7YhpfRUioSkDHBZBJsOkY4HlXv2q36g5FbEHgo8NB+Amez6SmbPFg7igg8eNpfPRcYdZPc45VBGwiAFwn+3gnBn/zsRjRLv7tUJ3pkRtdF40M3lvDNkVzo5oWHc/xuC+LrQmqskW+L2zF3P+7Dfa0j8JicEsOv/yD3TkdhCO7IVF+T+fCkapz/GSzsVGd+nbPdzp10zjePUJSMxerqQmVDIhnxlZrD5dQ+OrStIxh8+XmrBOftyxET4oUFBHUZsywDWC+5kQVDt/iZL/Q77ZpJmzB9BEeaijdTKgIzSsHsNRVJ02J1MmZLaUvjJdkFFehk91pj2LB8KHc90pLFFTimJhQYbC+g2RsH7cIbPVw4mLjbC5pObqvMPkJI/TKzDUjy2Y/O8dZ3Hv7Tui+tYj2DXEfVu6N890+apA9dyBbAdIrKP5IDczpXJw/RedxVe+/3ptlPwFP5I+fw6vGGF5vBQjmJ/MX8uGB1zOYQPK5rk8oEKWXl9MnmGyu8+kRLBfnmx+FiAXtaEe9YCbgOiS2TJPiUq4ADj8D9s5Y+gJZGlXQ0kWF5A+bck1v1JdCKzex6cu4pnciud1olbndQLgQzdpVU7xeKXXKDd2CXGJ0jp6kiDzzf8vRcB6t5TeSgK6tLi7/JvPkfcrgFLtNFZseOR+lDyOfaYtj27lRLeZ7Z8ksPZmWGQJc6EbxFMwCi3m1k5d59y6pu1EtZ1HqvM9Wn947V42EkB7SsN1we74rIrx93ZufTyQlg/NpOOQ4ZLWP8TxKhmm/7sYLtrjPzZT+cVIPhIeQ8/t7Gag6sR3VR3GjPiE8gLQk6GrLuphrmK8tKlvaTTeq6lOgvppavPubxDl0NZgRPP94ipcdQ/08Updg9hqW8dGVtTX99zBb6JPBplh254c9iyAgUAhuzEdK8xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W22V88nx2ENQ913bCrt739",
      "input": {
        "note": "The neck is now between the open jaws with the cap just beyond. Closing while pressing slightly lower to pinch the neck.",
        "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_01W22V88nx2ENQ913bCrt739",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.828, 0.4709, -0.2344, -0.1207, -0.0891, 0.9971, 0.4252, 1.853, 0.6888, 0.6918, 0.2214, 0.1032, 0.0167]\nstate[eef_state]: left_x=0.2968 left_y=0.0064 left_z=0.1403 left_yaw=0.0724 left_pitch=-0.0247 left_roll=0.0048 left_gripper=0.9971 right_x=0.435 right_y=0.1583 right_z=0.0541 right_yaw=0.1584 right_pitch=0.1105 right_roll=0.0115 right_gripper=0.0167\nstate[joint_eff]: [0.0479, -2.1128, 6.5299, 1.9023, -0.0513, -0.0855, -0.0122, -0.6906, -4.5744, 4.8342, 1.1355, 0.0366, 0.188, 0.7985]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3f432f115b69d118b5fdfd87cbbab8b0bbf2013311239d92dd2984b7e093ed3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c77de2eaaa6dde108ebfe2da7efb956831cd51491fd5e7e5135da6991264da9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d7827ee9272bcdfe962f14f3474dbc69b8751e9488303bae359f9f2e4099020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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