adhoc

completed
2026-09-22T19:05:12.037209+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
296.5 s
total steps
260
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; the right two point forward with caps away from the robot. Plan: grip each bottle by the neck, lift it so it swings to hang vertically, then set it down standing. Moving the right arm over the neck of the rightmost bottle first.
move_to
right_x0.4200right_y0.2100right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.6086, -0.3767, -0.0185, -0.0288, 0.9986, -0.0181, 0.7895, 0.6037, -0.3855, -0.0132, -0.0216, 0.9998] state[eef_state]: left_x=0.2957 left_y=0.0009 left_z=0.183 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0006 right_z=0.1799 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4308, -1.4154, 9.7026, 1.7558, -0.0708, 0.1197, -0.1587, -0.6222, -1.2103, 10.4274, 1.8486, -0.1294, 0.0708, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.21, "right_z": 0.15, "right_gripper": 1}, "note": "Three bottles lie on their sides; the right two point forward with caps away from the robot. Plan: grip each bottle by the neck, lift it so it swings to hang vertically, then set it down standing. Moving the right arm over the neck of the rightmost bottle first."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteWrist view shows both forward-pointing bottles; the rightmost one sits right of the jaw column with its neck ahead of the fingertips. Shifting right ~5 cm and forward ~6 cm to hover over its neck.
move_to
right_x0.4700right_y0.1550right_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.3801, -0.0185, -0.0292, 0.9985, 0.643, 1.6653, 1.0546, -0.1318, 0.4976, 0.3424, 0.9998] state[eef_state]: left_x=0.2962 left_y=0.0009 left_z=0.1834 left_yaw=0.0002 left_pitch=-0.0027 left_roll=-0.0003 left_gripper=0.9985 right_x=0.4054 right_y=0.2029 right_z=0.1313 right_yaw=0.0412 right_pitch=-0.0662 right_roll=-0.0461 right_gripper=0.9998 state[joint_eff]: [-0.1299, -1.5795, 6.7077, 1.746, -0.0317, -0.0366, -0.0317, 0.4034, -7.6239, 9.1829, 1.8144, 0.5153, 0.2613, -0.0317] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.155, "right_z": 0.13}, "note": "Wrist view shows both forward-pointing bottles; the rightmost one sits right of the jaw column with its neck ahead of the fingertips. Shifting right ~5 cm and forward ~6 cm to hover over its neck."})
tool
executing move_to over 5 steps (0.5s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe right bottle is now centred on the jaw column, but its cap still appears well ahead of the fingertips. Advancing to about the table-reach limit to get over the neck.
move_to
right_x0.4900right_y0.1450right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.614, -0.3798, -0.0189, -0.0292, 0.9983, 0.4419, 1.7359, 1.0363, 0.0048, 0.3557, 0.2249, 0.9998] state[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1831 left_yaw=0.0005 left_pitch=-0.0034 left_roll=-0.0 left_gripper=0.9983 right_x=0.4502 right_y=0.1489 right_z=0.1098 right_yaw=0.0181 right_pitch=-0.0734 right_roll=-0.0355 right_gripper=0.9998 state[joint_eff]: [-0.1026, -1.5248, 6.8171, 1.79, -0.0122, -0.0757, -0.0317, -0.6359, -7.8974, 9.3744, 2.1026, 0.0415, -0.0659, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_y": 0.145, "right_z": 0.12}, "note": "The right bottle is now centred on the jaw column, but its cap still appears well ahead of the fingertips. Advancing to about the table-reach limit to get over the neck."})
tool
executing move_to over 4 steps (0.4s)
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 noteThe arm stalled at x≈0.455 at low height. Trying higher (z 0.17) where forward reach is larger, to get over the bottle neck.
move_to
right_x0.5000right_y0.1450right_z0.1700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.614, -0.3794, -0.0193, -0.0292, 0.9981, 0.4259, 1.75, 1.0428, 0.025, 0.3115, 0.1967, 0.9998] state[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1832 left_yaw=0.0008 left_pitch=-0.003 left_roll=0.0001 left_gripper=0.9981 right_x=0.4555 right_y=0.1512 right_z=0.1081 right_yaw=0.0538 right_pitch=-0.0733 right_roll=-0.0273 right_gripper=0.9998 state[joint_eff]: [-0.1983, -1.4564, 6.7897, 1.7509, -0.0269, -0.0611, -0.0366, -0.4308, -8.3761, 9.3607, 2.0928, 0.149, 0.0073, -0.0122] 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": {"right_x": 0.5, "right_y": 0.145, "right_z": 0.17}, "note": "The arm stalled at x\u22480.455 at low height. Trying higher (z 0.17) where forward reach is larger, to get over the bottle neck."})
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 noteThe right arm did not respond to the last target at all; backing it up and raising it to get out of the stuck pose.
move_to
right_x0.4200right_y0.1500right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.614, -0.3794, -0.0189, -0.0292, 0.998, 0.4259, 1.75, 1.0428, 0.025, 0.3119, 0.1967, 0.9998] state[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.003 left_roll=-0.0001 left_gripper=0.998 right_x=0.4555 right_y=0.1511 right_z=0.1081 right_yaw=0.0534 right_pitch=-0.0732 right_roll=-0.0275 right_gripper=0.9998 state[joint_eff]: [-0.1436, -1.3333, 6.7761, 1.7509, -0.0415, -0.0855, -0.022, -0.3214, -8.5128, 9.2513, 2.0635, 0.1832, 0.0366, -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": {"right_x": 0.42, "right_y": 0.15, "right_z": 0.2}, "note": "The right arm did not respond to the last target at all; backing it up and raising it to get out of the stuck pose."})
tool
executing move_to over 6 steps (0.6s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteArm responds again at z≈0.19. Trying to advance forward at this height toward the bottle neck.
move_to
right_x0.5000right_y0.1500right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8013, 0.614, -0.3798, -0.0189, -0.0288, 0.998, 0.4744, 1.5124, 1.0611, -0.16, 0.3202, 0.2012, 0.9998] state[eef_state]: left_x=0.2965 left_y=0.001 left_z=0.1826 left_yaw=0.0003 left_pitch=-0.0053 left_roll=0.0003 left_gripper=0.998 right_x=0.4206 right_y=0.1575 right_z=0.1864 right_yaw=0.0935 right_pitch=-0.0053 right_roll=-0.0024 right_gripper=0.9998 state[joint_eff]: [-0.212, -1.4291, 6.9675, 1.8193, -0.0317, -0.0317, -0.0122, -0.4581, -6.5299, 8.9778, 1.6435, 0.3736, 0.232, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.15, "right_z": 0.2}, "note": "Arm responds again at z\u22480.19. Trying to advance forward at this height toward the bottle neck."})
tool
executing move_to over 7 steps (0.7s)
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 noteThe bottle neck now sits just ahead of the jaws on the jaw column. Descending straight down to neck height (~3 cm) with the gripper open.
move_to
right_x0.4850right_y0.1400right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.614, -0.3794, -0.0185, -0.0292, 0.998, 0.3733, 1.7378, 1.3205, -0.2314, 0.2295, 0.1257, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.998 right_x=0.4838 right_y=0.1502 right_z=0.1818 right_yaw=0.1079 right_pitch=-0.0584 right_roll=-0.0257 right_gripper=0.9998 state[joint_eff]: [-0.2256, -1.6752, 6.8855, 1.7705, -0.0513, -0.0513, -0.0171, -0.8547, -8.3624, 9.388, 1.9951, 0.0562, 0.1783, -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": {"right_x": 0.485, "right_y": 0.14, "right_z": 0.03}, "note": "The bottle neck now sits just ahead of the jaws on the jaw column. Descending straight down to neck height (~3 cm) with the gripper open."})
tool
executing move_to over 10 steps (1.0s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe jaws straddle the bottle's upper body (the neck is still a few cm beyond reach). Closing to grab the body so I can drag the bottle back toward the robot, then regrasp at the neck.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.614, -0.3794, -0.0185, -0.0292, 0.998, 0.3511, 1.982, 0.9417, 0.4, 0.205, 0.1207, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1824 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.998 right_x=0.4771 right_y=0.1403 right_z=0.028 right_yaw=0.1089 right_pitch=-0.0541 right_roll=-0.0134 right_gripper=0.9998 state[joint_eff]: [-0.212, -1.6205, 6.8718, 1.8046, -0.0317, -0.0513, -0.0122, -0.8821, -8.8684, 5.0667, 1.8388, -0.0171, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The jaws straddle the bottle's upper body (the neck is still a few cm beyond reach). Closing to grab the body so I can drag the bottle back toward the robot, then regrasp at the neck."})
tool
executing move_to over 10 steps (1.0s)
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 noteGripper settled at 0.38 (~3.6 cm), so it is holding the bottle near its shoulder. Lifting high so the bottle can swing down and hang vertically from the grip.
move_to
right_x0.4200right_z0.3200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.3538, 1.9888, 0.9112, 0.5686, 0.2005, 0.1177, 0.3796] state[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.488 right_y=0.1466 right_z=0.0475 right_yaw=0.1168 right_pitch=0.0728 right_roll=0.0175 right_gripper=0.3796 state[joint_eff]: [-0.3487, -1.6342, 6.5709, 1.7851, -0.0317, -0.0611, -0.0122, -0.4855, -9.4291, 4.1915, 1.2283, 0.0269, -0.0415, 0.7057] 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": {"right_x": 0.42, "right_z": 0.32}, "note": "Gripper settled at 0.38 (~3.6 cm), so it is holding the bottle near its shoulder. Lifting high so the bottle can swing down and hang vertically from the grip."})
tool
executing move_to over 18 steps (1.8s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe lift was empty: the bottle is still lying on the table (the gripper reading got stuck around 0.38). Opening and dropping onto the bottle body to grab it and drag it back toward the robot, so the neck comes within reach.
move_to
right_gripper1.0000right_x0.4400right_y0.1450right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.614, -0.3786, -0.0193, -0.0292, 0.998, 0.4324, 1.5394, 1.523, -0.6392, 0.2367, 0.1295, 0.3781] state[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1825 left_yaw=0.0008 left_pitch=-0.0053 left_roll=0.0002 left_gripper=0.998 right_x=0.424 right_y=0.154 right_z=0.2846 right_yaw=0.1589 right_pitch=-0.0638 right_roll=-0.0287 right_gripper=0.3781 state[joint_eff]: [-0.1573, -1.6068, 6.7624, 1.8779, -0.022, -0.0659, -0.0122, 0.0068, -9.388, 9.7709, 1.9609, 0.359, 0.2711, -0.1734] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.44, "right_y": 0.145, "right_z": 0.03}, "note": "The lift was empty: the bottle is still lying on the table (the gripper reading got stuck around 0.38). Opening and dropping onto the bottle body to grab it and drag it back toward the robot, so the neck comes within reach."})
tool
executing move_to over 17 steps (1.7s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe right bottle's body is centred between the open jaws. Closing fully to grip it for dragging.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0193, -0.0292, 0.998, 0.3904, 1.8591, 0.7582, 0.4717, 0.2008, 0.1066, 0.9978] state[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.998 right_x=0.4339 right_y=0.1444 right_z=0.0309 right_yaw=0.1595 right_pitch=-0.044 right_roll=-0.0199 right_gripper=0.9978 state[joint_eff]: [-0.2393, -1.6068, 6.7897, 1.7851, -0.0366, -0.0415, -0.0122, -0.9641, -6.7897, 4.2735, 1.619, -0.105, 0.1392, -0.0904] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The right bottle's body is centred between the open jaws. Closing fully to grip it for dragging."})
tool
executing move_to over 10 steps (1.0s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe close came up empty (0.018): the round bottle slid out and the jaws rode up onto its top. Opening and going lower, fingertips at table level, so the jaws close below the bottle's widest point and pin it.
move_to
right_gripper1.0000right_z-0.0050right_x0.4400right_y0.1480
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0193, -0.0292, 0.998, 0.3916, 1.8637, 0.7338, 0.6483, 0.1978, 0.1024, 0.0183] state[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.998 right_x=0.4471 right_y=0.1509 right_z=0.0563 right_yaw=0.1645 right_pitch=0.0994 right_roll=0.0116 right_gripper=0.0183 state[joint_eff]: [-0.0752, -1.6205, 6.8171, 1.8535, -0.0122, -0.0366, -0.0122, -0.6496, -7.8017, 4.1094, 1.0525, 0.0073, 0.0708, 0.8864] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": -0.005, "right_x": 0.44, "right_y": 0.148}, "note": "The close came up empty (0.018): the round bottle slid out and the jaws rode up onto its top. Opening and going lower, fingertips at table level, so the jaws close below the bottle's widest point and pin it."})
tool
executing move_to over 10 steps (1.0s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe gripper stopped at z≈0.03 with its palm resting on the bottle and the jaws on either side. Closing while pressing down, so the bottle is pinned and can't pop out upward.
move_to
right_gripper0.0000right_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.3866, 1.9812, 0.7521, 0.7532, 0.1818, 0.1074, 0.9958] state[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.4561 right_y=0.1551 right_z=0.0318 right_yaw=0.1702 right_pitch=0.1033 right_roll=0.0245 right_gripper=0.9958 state[joint_eff]: [-0.2393, -1.4701, 6.7487, 1.8046, -0.0317, -0.0757, -0.0122, -0.0068, -5.9009, 2.9333, 1.1209, 0.0708, -0.0366, -0.1001] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0, "right_z": 0.0}, "note": "The gripper stopped at z\u22480.03 with its palm resting on the bottle and the jaws on either side. Closing while pressing down, so the bottle is pinned and can't pop out upward."})
tool
executing move_to over 10 steps (1.0s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteClosing on the fat body keeps squeezing the bottle out upward, because the short fingers only reach its midline. New plan: press the palm down on the bottle with the jaws flanking it, then drag it back toward the robot using friction, so its neck comes within reach.
move_to
right_gripper0.8000right_z-0.0200right_x0.4500right_y0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.3923, 1.9888, 0.8204, 0.7685, 0.1795, 0.0986, 0.0182] state[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.4756 right_y=0.1666 right_z=0.0566 right_yaw=0.1804 right_pitch=0.1774 right_roll=0.0337 right_gripper=0.0182 state[joint_eff]: [-0.3897, -1.6068, 6.5709, 1.8779, -0.0269, -0.0464, -0.0122, -0.4034, -4.4513, 3.8632, 0.6764, 0.0806, 0.0562, 0.8376] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.8, "right_z": -0.02, "right_x": 0.45, "right_y": 0.15}, "note": "Closing on the fat body keeps squeezing the bottle out upward, because the short fingers only reach its midline. New plan: press the palm down on the bottle with the jaws flanking it, then drag it back toward the robot using friction, so its neck comes within reach."})
tool
executing move_to over 8 steps (0.8s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent notePalm is resting on the bottle with the jaws flanking it. Dragging back ~11 cm while pressing down, hoping to pull the bottle toward the robot.
move_to
right_x0.3600right_z-0.0100right_y0.1550
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.382, 2.0327, 0.8097, 0.8383, 0.1753, 0.0883, 0.7948] state[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.4778 right_y=0.1626 right_z=0.0471 right_yaw=0.1788 right_pitch=0.1921 right_roll=0.0288 right_gripper=0.7948 state[joint_eff]: [-0.3487, -1.5111, 6.5983, 1.7656, -0.0317, -0.0415, -0.0122, -0.8274, -3.9179, 1.7846, 0.4029, -0.1245, 0.0757, -0.232] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_z": -0.01, "right_y": 0.155}, "note": "Palm is resting on the bottle with the jaws flanking it. Dragging back ~11 cm while pressing down, hoping to pull the bottle toward the robot."})
tool
executing move_to over 10 steps (1.0s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteDragging failed; the right-hand bottles' necks lie beyond table reach, and their fat bodies squeeze out of the short jaws. Parking the right arm and sending the left arm over the neck of the diagonal left bottle, which looks reachable, with the jaws turned about 36° so they close across the neck.
move_to
right_x0.3000right_y0.0000right_z0.1800right_gripper1.0000left_x0.4500left_y-0.0900left_z0.1500left_yaw0.6300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.614, -0.3794, -0.0185, -0.0292, 0.998, 0.5175, 1.895, 0.4671, 0.8455, 0.2714, 0.1719, 0.7947] state[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1824 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.998 right_x=0.3686 right_y=0.1594 right_z=-0.0037 right_yaw=0.1928 right_pitch=0.0124 right_roll=0.0086 right_gripper=0.7947 state[joint_eff]: [-0.2393, -1.6068, 6.6256, 1.8974, -0.022, -0.0513, -0.0122, 0.2393, -6.9402, 3.2342, 1.1893, 0.2076, -0.0757, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.18, "right_gripper": 1, "left_x": 0.45, "left_y": -0.09, "left_z": 0.15, "left_yaw": 0.63, "left_gripper": 1}, "note": "Dragging failed; the right-hand bottles' necks lie beyond table reach, and their fat bodies squeeze out of the short jaws. Parking the right arm and sending the left arm over the neck of the diagonal left bottle, which looks reachable, with the jaws turned about 36\u00b0 so they close across the neck."})
tool
executing move_to over 14 steps (1.4s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe left wrist view shows the diagonal bottle's cap and neck slightly ahead of and to the right of the jaws. Shifting toward the neck and dropping to 8 cm to line up before the final descent.
move_to
left_x0.4800left_y-0.1150left_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4992, 1.8175, 1.2942, -0.4175, -0.8204, -0.8055, 0.9986, -0.1745, 0.8719, 0.5808, -0.3058, -0.2554, -0.1947, 0.9994] state[eef_state]: left_x=0.4489 left_y=-0.0935 left_z=0.1437 left_yaw=0.5682 left_pitch=-0.022 left_roll=-0.0011 left_gripper=0.9986 right_x=0.3053 right_y=-0.0049 right_z=0.166 right_yaw=0.14 right_pitch=-0.0042 right_roll=-0.0098 right_gripper=0.9994 state[joint_eff]: [-0.6085, -9.3607, 7.6786, 0.9646, -0.6032, -0.0513, -0.1587, -0.1983, -2.441, 9.6752, 1.7607, -0.2955, 0.0317, 0.0513] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.48, "left_y": -0.115, "left_z": 0.08}, "note": "The left wrist view shows the diagonal bottle's cap and neck slightly ahead of and to the right of the jaws. Shifting toward the neck and dropping to 8 cm to line up before the final descent."})
tool
executing move_to over 5 steps (0.5s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe bottle is now centred and aligned with the jaws, but the jaws sit at the shoulder with the neck just ahead. Advancing ~3 cm along the bottle and descending to neck height.
move_to
left_x0.4950left_y-0.0920left_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5064, 2.0235, 1.3006, -0.26, -0.841, -0.8299, 0.9984, -0.1837, 0.8703, 0.5781, -0.3355, -0.2844, -0.2104, 0.9996] state[eef_state]: left_x=0.4706 left_y=-0.1064 left_z=0.0761 left_yaw=0.5869 left_pitch=-0.0267 left_roll=0.0236 left_gripper=0.9984 right_x=0.3005 right_y=-0.0018 right_z=0.1601 right_yaw=0.1635 right_pitch=-0.028 right_roll=0.003 right_gripper=0.9996 state[joint_eff]: [-0.9094, -10.5915, 7.3778, 1.326, -0.4615, 0.1783, -0.0366, 0.1162, -1.6479, 6.9812, 2.0195, -0.0024, 0.1783, 0.0122] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.495, "left_y": -0.092, "left_z": 0.015}, "note": "The bottle is now centred and aligned with the jaws, but the jaws sit at the shoulder with the neck just ahead. Advancing ~3 cm along the bottle and descending to neck height."})
tool
executing move_to over 4 steps (0.4s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe arm is at its reach limit (~0.49 m radius), just short of the neck, so the jaws are over the tapered shoulder. Descending straight down there to try a shoulder grasp.
move_to
left_x0.4750left_y-0.1100left_z0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.511, 2.046, 1.3006, -0.2195, -0.8383, -0.8303, 0.9981, -0.1848, 0.8627, 0.551, -0.321, -0.292, -0.2123, 0.9996] state[eef_state]: left_x=0.4748 left_y=-0.1115 left_z=0.0701 left_yaw=0.5806 left_pitch=-0.0204 left_roll=0.0063 left_gripper=0.9981 right_x=0.298 right_y=-0.0003 right_z=0.1532 right_yaw=0.1697 right_pitch=-0.0312 right_roll=0.0074 right_gripper=0.9996 state[joint_eff]: [-0.4581, -11.1795, 7.4051, 1.2918, -0.4322, 0.2369, -0.0415, -0.6359, -2.5231, 6.8308, 1.8926, -0.1343, 0.0171, -0.0122] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.475, "left_y": -0.11, "left_z": 0.01}, "note": "The arm is at its reach limit (~0.49 m radius), just short of the neck, so the jaws are over the tapered shoulder. Descending straight down there to try a shoulder grasp."})
tool
executing move_to over 4 steps (0.4s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe left arm froze at the reach limit; low targets beyond ~0.48 m radius seem to be refused. Retrying the descent 1.5 cm closer in, over the bottle's shoulder.
move_to
left_x0.4600left_y-0.1050left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.511, 2.046, 1.3006, -0.2195, -0.8387, -0.8307, 0.998, -0.1844, 0.8543, 0.5213, -0.3054, -0.2924, -0.2146, 0.9996] state[eef_state]: left_x=0.4748 left_y=-0.1115 left_z=0.0701 left_yaw=0.581 left_pitch=-0.0201 left_roll=0.0061 left_gripper=0.998 right_x=0.2951 right_y=0.0004 right_z=0.1453 right_yaw=0.1717 right_pitch=-0.0364 right_roll=0.0077 right_gripper=0.9996 state[joint_eff]: [-0.5538, -11.3846, 7.3231, 1.2674, -0.4811, 0.2076, -0.022, -0.3214, -2.6051, 6.8581, 1.956, -0.2125, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.105, "left_z": 0.02}, "note": "The left arm froze at the reach limit; low targets beyond ~0.48 m radius seem to be refused. Retrying the descent 1.5 cm closer in, over the bottle's shoulder."})
tool
executing move_to over 4 steps (0.4s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe left jaws are straddling the upper body just behind the neck and the palm is resting on the bottle. Closing while pressing down to try a grasp.
move_to
left_gripper0.0000left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5121, 2.0514, 1.2129, -0.0975, -0.8471, -0.831, 0.998, -0.1848, 0.8394, 0.485, -0.2829, -0.2924, -0.215, 0.9996] state[eef_state]: left_x=0.4688 left_y=-0.1076 left_z=0.0535 left_yaw=0.5847 left_pitch=-0.0008 left_roll=-0.0168 left_gripper=0.998 right_x=0.2918 right_y=0.0009 right_z=0.1376 right_yaw=0.1715 right_pitch=-0.0354 right_roll=0.007 right_gripper=0.9996 state[joint_eff]: [-0.8274, -7.1316, 4.7248, 1.0476, -0.4518, -0.022, -0.0171, -0.6222, -2.1538, 6.9128, 1.9951, -0.2369, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0, "left_z": 0.03}, "note": "The left jaws are straddling the upper body just behind the neck and the palm is resting on the bottle. Closing while pressing down to try a grasp."})
tool
executing move_to over 10 steps (1.0s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe grasp slipped again. New tactic: press the closed gripper onto the top of the diagonal bottle and sweep sideways toward the base and to the left, rolling it so its neck ends up a few cm closer and within reach. Also re-parking the drifting right arm.
move_to
left_x0.4100left_y-0.0100left_z0.0450right_x0.3000right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5163, 2.075, 1.2091, 0.0193, -0.907, -0.8383, 0.0143, -0.1848, 0.8261, 0.4515, -0.2642, -0.2928, -0.215, 0.9996] state[eef_state]: left_x=0.4797 left_y=-0.1082 left_z=0.0615 left_yaw=0.6244 left_pitch=0.08 left_roll=-0.0831 left_gripper=0.0143 right_x=0.2884 right_y=0.0016 right_z=0.1298 right_yaw=0.1718 right_pitch=-0.0367 right_roll=0.0077 right_gripper=0.9996 state[joint_eff]: [0.2803, -8.0479, 4.506, 0.8034, 0.1099, 0.1245, 1.3114, -0.6906, -2.2359, 7.2274, 2.0098, -0.2222, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.01, "left_z": 0.045, "right_x": 0.3, "right_y": 0.0, "right_z": 0.2}, "note": "The grasp slipped again. New tactic: press the closed gripper onto the top of the diagonal bottle and sweep sideways toward the base and to the left, rolling it so its neck ends up a few cm closer and within reach. Also re-parking the drifting right arm."})
tool
executing move_to over 9 steps (0.9s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe roll moved the left bottle somewhat; its cap is now at the right edge of the wrist view. Lifting and opening, then moving over where the neck should be to check it's within reach.
move_to
left_x0.4600left_y-0.0500left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.347, 1.8362, 0.7948, 0.136, -0.7837, -0.7074, 0.0161, -0.1844, 0.8501, 0.6613, -0.4484, -0.2928, -0.2188, 0.9996] state[eef_state]: left_x=0.406 left_y=-0.0104 left_z=0.0322 left_yaw=0.6449 left_pitch=-0.0299 left_roll=0.0351 left_gripper=0.0161 right_x=0.2952 right_y=0.0004 right_z=0.1811 right_yaw=0.1743 right_pitch=-0.0353 right_roll=0.0041 right_gripper=0.9996 state[joint_eff]: [0.1709, -10.1128, 5.3812, 1.6142, -0.2515, 0.0269, 1.033, -0.253, -1.1829, 9.812, 1.7949, -0.1685, 0.0806, -0.0122] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.05, "left_z": 0.12, "left_gripper": 1}, "note": "The roll moved the left bottle somewhat; its cap is now at the right edge of the wrist view. Lifting and opening, then moving over where the neck should be to check it's within reach."})
tool
executing move_to over 10 steps (1.0s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe bottle's neck now appears right at the jaw row, about 3.5 cm to the right of the jaw column, and lined up with the jaws. Shifting right onto it and descending to neck height.
move_to
left_x0.4770left_y-0.0750left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3935, 1.8374, 1.1671, -0.2115, -0.8085, -0.77, 0.9951, -0.1856, 0.8349, 0.6216, -0.4263, -0.2928, -0.2188, 0.9996] state[eef_state]: left_x=0.4576 left_y=-0.0478 left_z=0.1134 left_yaw=0.6471 left_pitch=-0.0007 left_roll=-0.0273 left_gripper=0.9951 right_x=0.2921 right_y=0.0007 right_z=0.1719 right_yaw=0.1731 right_pitch=-0.0374 right_roll=0.0049 right_gripper=0.9996 state[joint_eff]: [-0.8547, -8.2393, 8.3624, 1.1697, -0.5055, 0.1001, -0.1245, -0.4581, -2.0991, 7.241, 1.873, -0.2515, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.477, "left_y": -0.075, "left_z": 0.02}, "note": "The bottle's neck now appears right at the jaw row, about 3.5 cm to the right of the jaw column, and lined up with the jaws. Shifting right onto it and descending to neck height."})
tool
executing move_to over 7 steps (0.7s)
step 214
assistant
agent noteThe jaws are straddling the bottle where the shoulder tapers into the neck, the closest point I can reach. Closing to try a grasp there.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4389, 2.083, 1.1831, 0.0025, -0.8501, -0.8139, 0.9959, -0.1856, 0.8158, 0.5858, -0.4026, -0.2928, -0.2184, 0.9996] state[eef_state]: left_x=0.479 left_y=-0.0743 left_z=0.0417 left_yaw=0.651 left_pitch=0.0193 left_roll=-0.0353 left_gripper=0.9959 right_x=0.2895 right_y=0.0012 right_z=0.1655 right_yaw=0.1728 right_pitch=-0.031 right_roll=0.0028 right_gripper=0.9996 state[joint_eff]: [-0.3077, -6.8034, 5.6547, 0.7643, -0.2222, 0.0317, 0.0806, -0.8274, -1.9624, 7.0222, 1.9121, -0.2125, 0.022, -0.0122] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The jaws are straddling the bottle where the shoulder tapers into the neck, the closest point I can reach. Closing to try a grasp there."})
tool
executing move_to over 10 steps (1.0s)
step 224
assistant
agent noteEmpty close, but the jaws slid forward and the bottle cap is now sitting right at the fingertips. Opening and descending straight down so the jaws straddle the cap/neck.
move_to
left_gripper1.0000left_z0.0200left_x0.4870left_y-0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4385, 2.085, 1.2251, -0.0067, -0.9009, -0.8337, 0.0149, -0.1856, 0.8043, 0.556, -0.3878, -0.2928, -0.2184, 0.9996] state[eef_state]: left_x=0.4873 left_y=-0.0716 left_z=0.0585 left_yaw=0.6946 left_pitch=0.0676 left_roll=-0.0629 left_gripper=0.0149 right_x=0.2869 right_y=0.0017 right_z=0.1582 right_yaw=0.1729 right_pitch=-0.0342 right_roll=0.004 right_gripper=0.9996 state[joint_eff]: [0.0752, -10.3179, 5.3949, 0.6716, 0.1685, 0.188, 1.072, -0.6906, -1.935, 6.9812, 1.873, -0.2466, -0.0366, -0.0122] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.02, "left_x": 0.487, "left_y": -0.07}, "note": "Empty close, but the jaws slid forward and the bottle cap is now sitting right at the fingertips. Opening and descending straight down so the jaws straddle the cap/neck."})
tool
executing move_to over 10 steps (1.0s)
step 234
assistant
agent noteThe neck, just behind the cap, is now centred between the open jaws. Closing on the neck.
move_to
left_gripper0.0000left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4324, 2.1418, 1.2842, -0.0418, -0.8837, -0.8692, 0.9948, -0.1856, 0.7898, 0.524, -0.3729, -0.2928, -0.2188, 0.9996] state[eef_state]: left_x=0.4961 left_y=-0.0746 left_z=0.0456 left_yaw=0.7074 left_pitch=0.0406 left_roll=-0.0697 left_gripper=0.9948 right_x=0.2838 right_y=0.0022 right_z=0.1506 right_yaw=0.1731 right_pitch=-0.0367 right_roll=0.0046 right_gripper=0.9996 state[joint_eff]: [0.0342, -8.1299, 4.2188, 0.779, -0.2564, 0.0904, 0.0073, -0.6632, -1.8803, 6.7761, 1.9609, -0.2222, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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": {"left_gripper": 0, "left_z": 0.02}, "note": "The neck, just behind the cap, is now centred between the open jaws. Closing on the neck."})
tool
executing move_to over 10 steps (1.0s)
step 244
assistant
agent noteEmpty again: the jaws slid forward past the cap, and the bottle is now hidden just behind the fingertips. Opening, stepping back ~2 cm along the bottle, and descending for one more try at the neck.
move_to
left_gripper1.0000left_x0.4850left_y-0.0850left_z0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4316, 2.1628, 1.3403, -0.0635, -0.9291, -0.8913, 0.0148, -0.1856, 0.77, 0.4881, -0.3473, -0.2928, -0.2184, 0.9996] state[eef_state]: left_x=0.5051 left_y=-0.0729 left_z=0.0563 left_yaw=0.7483 left_pitch=0.0774 left_roll=-0.0873 left_gripper=0.0148 right_x=0.2813 right_y=0.0027 right_z=0.1446 right_yaw=0.1728 right_pitch=-0.0278 right_roll=0.0016 right_gripper=0.9996 state[joint_eff]: [-0.294, -7.1863, 5.4359, 0.6227, 0.1392, 0.1392, 1.0427, -0.7726, -1.5385, 6.9538, 1.8584, -0.2125, 0.0024, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.485, "left_y": -0.085, "left_z": 0.01}, "note": "Empty again: the jaws slid forward past the cap, and the bottle is now hidden just behind the fingertips. Opening, stepping back ~2 cm along the bottle, and descending for one more try at the neck."})
tool
executing move_to over 10 steps (1.0s)
step 254
assistant
agent noteThe cap is centred between the open jaws, just ahead of the fingertips, but the arm is hovering at 4.4 cm. Pushing the target down to the floor so the jaws drop around the cap and neck.
move_to
left_x0.4900left_y-0.0850left_z-0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4614, 2.2036, 1.3891, -0.1577, -0.936, -0.9802, 0.9955, -0.1856, 0.7609, 0.4625, -0.3351, -0.2928, -0.2184, 0.9996] state[eef_state]: left_x=0.5005 left_y=-0.086 left_z=0.0436 left_yaw=0.7648 left_pitch=0.0477 left_roll=-0.0829 left_gripper=0.9955 right_x=0.2789 right_y=0.0032 right_z=0.1379 right_yaw=0.1729 right_pitch=-0.0317 right_roll=0.003 right_gripper=0.9996 state[joint_eff]: [-0.8547, -8.294, 3.2479, 0.6911, -0.149, -0.0757, -0.1197, -0.7179, -1.8256, 6.8718, 1.8877, -0.2173, -0.0024, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.49, "left_y": -0.085, "left_z": -0.02}, "note": "The cap is centred between the open jaws, just ahead of the fingertips, but the arm is hovering at 4.4 cm. Pushing the target down to the floor so the jaws drop around the cap and neck."})
tool
executing move_to over 5 steps (0.5s)
step 259
assistant
agent noteNone of the three bottles are standing; all are still lying on their sides. The neck is the only part narrow enough for these jaws, and every neck is at or just past the arms' reach (about 0.48–0.50 m from the base). Near that limit the IK won't bring the fingertips below about 4 cm. The body is about 6.5 cm across. When the palm sits on it, the fingertips only get down to about the bottle's centre line, so every close (7 tries) squeezed the bottle out and came up empty. Dragging it back by pressing on the top didn't move it. Rolling it only shifted it slightly. Suggested fixes: place the bottles about 10–15 cm closer to the robot (necks at x ≤ 0.42), or allow the wrist to pitch/roll.
give_up
hindsight- Real reach: at table level, the arm stalls or freezes once the grasp point is about 0.47–0.49 m from the base (measured as a radius, not just x). The stated x≈0.59 at z=0.15 didn't hold. The right arm stopped at x≈0.455 at z≈0.11, and the left arm stopped around a 0.49 m radius. - Getting unstuck: when a target can't be reached, the IK freezes the arm, and it ignores every new target until you send a clearly reachable one (higher z and smaller x). Near the limit it can also creep outward and let pitch/roll drift by about 0.1–0.2 rad. - Finger depth: with the palm resting on the object, the fingertips only get about 3.3 cm below the palm. A lying 6.5 cm bottle stops the descent at z≈0.03–0.05. Closing then happens at or above the bottle's centre line, and the bottle pops out every time. Grasping a lying bottle across its body with these jaws doesn't work; only the neck (about 3 cm wide) can be gripped. - Bottle layout this trial: the two right bottles pointed straight forward with caps away from the robot, necks at about x≈0.52 or more. The left bottle lay diagonally (cap forward-left, jaws needed yaw ≈ +0.6 to close across it), neck at about left (0.49, −0.08). - Pressing the palm on top and dragging doesn't pull the bottle along. Pressing on top and sweeping sideways rolls it, but only a little. - The top camera made the bottles look much closer than they were. Trust the wrist camera instead: if the cap shows up near the bottom of the wrist image, it's only about 1–3 cm ahead of the fingertips. - An idle arm sinks about 5 cm in a minute, so re-park it now and then.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4709, 2.2597, 1.4284, -0.0906, -0.9668, -1.0222, 0.9965, -0.1856, 0.7475, 0.4355, -0.3202, -0.2928, -0.2184, 0.9996] state[eef_state]: left_x=0.5134 left_y=-0.0942 left_z=0.0396 left_yaw=0.7982 left_pitch=0.0848 left_roll=-0.1597 left_gripper=0.9965 right_x=0.2765 right_y=0.0036 right_z=0.1321 right_yaw=0.1728 right_pitch=-0.0306 right_roll=0.0026 right_gripper=0.9996 state[joint_eff]: [0.253, -5.7641, 2.0581, 0.2027, 0.188, 0.2222, 0.0904, -0.5265, -1.7162, 6.6667, 1.9072, -0.2662, -0.0317, -0.0122] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
give_up({"reason": "None of the three bottles are standing; all are still lying on their sides. The neck is the only part narrow enough for these jaws, and every neck is at or just past the arms' reach (about 0.48\u20130.50 m from the base). Near that limit the IK won't bring the fingertips below about 4 cm. The body is about 6.5 cm across. When the palm sits on it, the fingertips only get down to about the bottle's centre line, so every close (7 tries) squeezed the bottle out and came up empty. Dragging it back by pressing on the top didn't move it. Rolling it only shifted it slightly. Suggested fixes: place the bottles about 10\u201315 cm closer to the robot (necks at x \u2264 0.42), or allow the wrist to pitch/roll.", "hindsight": "- Real reach: at table level, the arm stalls or freezes once the grasp point is about 0.47\u20130.49 m from the base (measured as a radius, not just x). The stated x\u22480.59 at z=0.15 didn't hold. The right arm stopped at x\u22480.455 at z\u22480.11, and the left arm stopped around a 0.49 m radius.\n- Getting unstuck: when a target can't be reached, the IK freezes the arm, and it ignores every new target until you send a clearly reachable one (higher z and smaller x). Near the limit it can also creep outward and let pitch/roll drift by about 0.1\u20130.2 rad.\n- Finger depth: with the palm resting on the object, the fingertips only get about 3.3 cm below the palm. A lying 6.5 cm bottle stops the descent at z\u22480.03\u20130.05. Closing then happens at or above the bottle's centre line, and the bottle pops out every time. Grasping a lying bottle across its body with these jaws doesn't work; only the neck (about 3 cm wide) can be gripped.\n- Bottle layout this trial: the two right bottles pointed straight forward with caps away from the robot, necks at about x\u22480.52 or more. The left bottle lay diagonally (cap forward-left, jaws needed yaw \u2248 +0.6 to close across it), neck at about left (0.49, \u22120.08).\n- Pressing the palm on top and dragging doesn't pull the bottle along. Pressing on top and sweeping sideways rolls it, but only a little.\n- The top camera made the bottles look much closer than they were. Trust the wrist camera instead: if the cap shows up near the bottom of the wrist image, it's only about 1\u20133 cm ahead of the fingertips.\n- An idle arm sinks about 5 cm in a minute, so re-park it now and then."})
tool
give_up: None of the three bottles are standing; all are still lying on their sides. The neck is the only part narrow enough for these jaws, and every neck is at or just past the arms' reach (about 0.48–0.50 m from the base). Near that limit the IK won't bring the fingertips below about 4 cm. The body is about 6.5 cm across. When the palm sits on it, the fingertips only get down to about the bottle's centre line, so every close (7 tries) squeezed the bottle out and came up empty. Dragging it back by pressing on the top didn't move it. Rolling it only shifted it slightly. Suggested fixes: place the bottles about 10–15 cm closer to the robot (necks at x ≤ 0.42), or allow the wrist to pitch/roll.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 16.13 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6086, -0.3767, -0.0185, -0.0288, 0.9986, -0.0181, 0.7895, 0.6037, -0.3855, -0.0132, -0.0216, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0009 left_z=0.183 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0006 right_z=0.1799 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.4154, 9.7026, 1.7558, -0.0708, 0.1197, -0.1587, -0.6222, -1.2103, 10.4274, 1.8486, -0.1294, 0.0708, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19384f6ab04edc7592ba45dbd41e17d6c772547d70538bf30c6115bc0984e6b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e267489f223631812cec51e7f62ae0befbef2cf494b6e472d058c152a5094b80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bafa770dc5adede017cce4897be9df84beec5bdbee9c9bb272f8a76b48001cdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 7.376 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6086, -0.3767, -0.0185, -0.0288, 0.9986, -0.0181, 0.7895, 0.6037, -0.3855, -0.0132, -0.0216, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0009 left_z=0.183 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0006 right_z=0.1799 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.4154, 9.7026, 1.7558, -0.0708, 0.1197, -0.1587, -0.6222, -1.2103, 10.4274, 1.8486, -0.1294, 0.0708, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19384f6ab04edc7592ba45dbd41e17d6c772547d70538bf30c6115bc0984e6b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e267489f223631812cec51e7f62ae0befbef2cf494b6e472d058c152a5094b80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bafa770dc5adede017cce4897be9df84beec5bdbee9c9bb272f8a76b48001cdb",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
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  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VW9AvtZNcVN3wnhCmc4az9",
      "input": {
        "note": "Three bottles lie on their sides; the right two point forward with caps away from the robot. Plan: grip each bottle by the neck, lift it so it swings to hang vertically, then set it down standing. Moving the right arm over the neck of the rightmost bottle first.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.42,
          "right_y": 0.21,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01VW9AvtZNcVN3wnhCmc4az9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3801, -0.0185, -0.0292, 0.9985, 0.643, 1.6653, 1.0546, -0.1318, 0.4976, 0.3424, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0009 left_z=0.1834 left_yaw=0.0002 left_pitch=-0.0027 left_roll=-0.0003 left_gripper=0.9985 right_x=0.4054 right_y=0.2029 right_z=0.1313 right_yaw=0.0412 right_pitch=-0.0662 right_roll=-0.0461 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.5795, 6.7077, 1.746, -0.0317, -0.0366, -0.0317, 0.4034, -7.6239, 9.1829, 1.8144, 0.5153, 0.2613, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fee1b2909ed9ab925930ac0007056e68732b7696a4e9252e487475b644f66262",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d92f7763d3ea4462c0d667eb685c69c8434ee4edcb63ea3d0be743feeb1f07e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66c5e05f0b987d163aeb85f95fab4a20cc625e0128f674b930cb5407f78ac103",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 8.379 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6086, -0.3767, -0.0185, -0.0288, 0.9986, -0.0181, 0.7895, 0.6037, -0.3855, -0.0132, -0.0216, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0009 left_z=0.183 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0006 right_z=0.1799 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.4154, 9.7026, 1.7558, -0.0708, 0.1197, -0.1587, -0.6222, -1.2103, 10.4274, 1.8486, -0.1294, 0.0708, -0.0317]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3801, -0.0185, -0.0292, 0.9985, 0.643, 1.6653, 1.0546, -0.1318, 0.4976, 0.3424, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0009 left_z=0.1834 left_yaw=0.0002 left_pitch=-0.0027 left_roll=-0.0003 left_gripper=0.9985 right_x=0.4054 right_y=0.2029 right_z=0.1313 right_yaw=0.0412 right_pitch=-0.0662 right_roll=-0.0461 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.5795, 6.7077, 1.746, -0.0317, -0.0366, -0.0317, 0.4034, -7.6239, 9.1829, 1.8144, 0.5153, 0.2613, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fee1b2909ed9ab925930ac0007056e68732b7696a4e9252e487475b644f66262",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d92f7763d3ea4462c0d667eb685c69c8434ee4edcb63ea3d0be743feeb1f07e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66c5e05f0b987d163aeb85f95fab4a20cc625e0128f674b930cb5407f78ac103",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwsKEAgSGAI4AUIIdGhpbmtpbmcSDC58+usse23K47MQrhoMjlqcf3qi0WtW+/H7IjDj9KOYCYhSCYUnYkZKxzYNqPKkwBb/LiLttdQ3Pj0KFZRCPZTqwNQ5w5M6bl3azKgqtAqf72AJzZVtCGhhC5iXAh2+biaiji8nidWehbsleibIGRhxCsqJG+cSk3WEHbxm4krLF6PHm94rjPVn+hNBFRcrwnWuYynfT6sj4JvjK87DOBMNUJIR6F/8anqHpYyXrt+HwlL5W2uuQIvZz8uSQf8Rs3kgafORlOdMwq3QKsyugKj7U/NedQEnIDzrgh3OHuwnNn1VPbFyis4TpUsUf1CK+7OqlVDXmp9aosGg+oBngciD/5d9OsmsRbGkGP/DPy2RPAQJcJsZZaN8tjpr+Sqfmrni+tczPOwi8knBCyZHcxlF5a9LjYSOAfIO+teK1g27rknvOm6S+jaroE3DNq5Hp0OXgGXLn26+L2cZXoW8QlM+KHi7fP4LH2lhSFQfOxNQlVh/z8gM9imshfPLtd0n71GpzDH4AwD07l1lJV0TIxE7wGkt9REFdFCpUwyK9E2ZvctlbF2MsM7M3GuFNEygfgDpamW0lxuz5BhfVKLJIVjNZU9+tIwPsiQbzLQMu/3m9H/HBnBgyp4gb1Cj7I6fXT9uoFCRjwx0CQmZIwrudRjKGCQbXPjiXl7JCL9wP/j4swT20lic4PD3mjx7qEZ6ZGHpCppW83xLh+yEsMNgSsRyYmP6WNSKA0xOvw1jBBT/3LlEAtlA3e26FmWgjAcYSqmKqFs7sZhjCsPKbA4VZsXoDUhCP7MglBefnTSsqKXghlsEvSqAUUq34hFTUfk8FX9WpG7eLz5SZhmQHQ6XHl+NGbgRuVOndhCb0PEqfhP1BPGP4EpQErDiCQKWU1zrmJdg526GFITbLyuGMyWbkjE2OYQdMGGSy/xDp19LgnraQkDhCrtu1sBNkjR0AS9BuEYZ7GBWd5XbM7aXumpcMpctxj7lz3qBuIrh5LDGvTWmD3fj4r1WK+bSqPE3WJ+L3rlg2Cr1O53BW5ihhBtXKgMNiD5qlxeFq6H8QT3+4KpHCWK0NwqBAJutXK5ZIa+4tmNLkJojaL4upNQrbh8U0WEv4hK1A0NWFAuDTwLZByK0gj/9VQBq8ipCwg63JfgNcBXzrcc5mp3qIWyow4Z7zSN95c4DN+IFQphzfct9MXzZZ8ygU1aw9oU1bCj83vDCRa71zaTFFw3K2VGFBBYZBV0KQcNKK+lHwEu8QMxHHUVJuVWIypYTN5nIzB9I5rqxQVXHZmYjoFmypzI4qxy+ftqLBVs5SyHaZxZptyo9JARWJK9yJ1QKCe4UkK5IDGcKP3JO4qF2Z1RxEAtk7R72QgJ78lJlTs/VfsqqmOWFgtWOrHqHQreiysazUfwPOqA5Lvz56zBSlCXlep2z8OGglYbg9EeadFS86Ymlg+SKIDPv96/lK8LKs8/AhcoKsbbPOB0g+DQ5gDFWApkMo670mrBF7Z5aLbUzhv1w67WHIeemuJzBz17ccGdOro7sxMgQ6IoXpWy9BjgZDSybqGpi6yAGZylktWtOddYngPhMNpMiXUAu3lGacB5+Fdch8QZvRpoRNEx9E7PtAERW1HO07k+hfrrmc/k2H8tuc62Raf0OIczXHAWn2uiyQ9lMbepC19ehnRk5/VmQLcCwxB1SyCeSRanXqfKGmjM5QHXixl8/2/ESX/WvH2GWEeiYrrbLk/cU0zMa4SOvFVr6RuU448xd2EAJCPPtJPvV4AYUCO9SfCAJocYFEBVpKXhOnM4JpUILNo7FNpQCu46thO3KFzTLOi3ejEMFhQe8U15KECc/mj6wqtXNVED5TbjsqQJCstTxJr3KduuJ2XiE86Skuc6JlZ4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M5p2uRpE5vyGNouKambUT9",
      "input": {
        "note": "Wrist view shows both forward-pointing bottles; the rightmost one sits right of the jaw column with its neck ahead of the fingertips. Shifting right ~5 cm and forward ~6 cm to hover over its neck.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.155,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01M5p2uRpE5vyGNouKambUT9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3798, -0.0189, -0.0292, 0.9983, 0.4419, 1.7359, 1.0363, 0.0048, 0.3557, 0.2249, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1831 left_yaw=0.0005 left_pitch=-0.0034 left_roll=-0.0 left_gripper=0.9983 right_x=0.4502 right_y=0.1489 right_z=0.1098 right_yaw=0.0181 right_pitch=-0.0734 right_roll=-0.0355 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.5248, 6.8171, 1.79, -0.0122, -0.0757, -0.0317, -0.6359, -7.8974, 9.3744, 2.1026, 0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aea352ce635633682692e1768d6ad508428d0a2eca8fd56aca213d8f33598de4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fe14491e010e8779823555c968a58582d5504a8db4ac2ea1e8ce1b3c0724897",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f94eb803fd84da76aee01ac43abb860c96ca2d720e80f7e0631b884169cf05fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 9.844 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6086, -0.3767, -0.0185, -0.0288, 0.9986, -0.0181, 0.7895, 0.6037, -0.3855, -0.0132, -0.0216, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0009 left_z=0.183 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0006 right_z=0.1799 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.4154, 9.7026, 1.7558, -0.0708, 0.1197, -0.1587, -0.6222, -1.2103, 10.4274, 1.8486, -0.1294, 0.0708, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3801, -0.0185, -0.0292, 0.9985, 0.643, 1.6653, 1.0546, -0.1318, 0.4976, 0.3424, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0009 left_z=0.1834 left_yaw=0.0002 left_pitch=-0.0027 left_roll=-0.0003 left_gripper=0.9985 right_x=0.4054 right_y=0.2029 right_z=0.1313 right_yaw=0.0412 right_pitch=-0.0662 right_roll=-0.0461 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.5795, 6.7077, 1.746, -0.0317, -0.0366, -0.0317, 0.4034, -7.6239, 9.1829, 1.8144, 0.5153, 0.2613, -0.0317]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3798, -0.0189, -0.0292, 0.9983, 0.4419, 1.7359, 1.0363, 0.0048, 0.3557, 0.2249, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1831 left_yaw=0.0005 left_pitch=-0.0034 left_roll=-0.0 left_gripper=0.9983 right_x=0.4502 right_y=0.1489 right_z=0.1098 right_yaw=0.0181 right_pitch=-0.0734 right_roll=-0.0355 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.5248, 6.8171, 1.79, -0.0122, -0.0757, -0.0317, -0.6359, -7.8974, 9.3744, 2.1026, 0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aea352ce635633682692e1768d6ad508428d0a2eca8fd56aca213d8f33598de4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fe14491e010e8779823555c968a58582d5504a8db4ac2ea1e8ce1b3c0724897",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f94eb803fd84da76aee01ac43abb860c96ca2d720e80f7e0631b884169cf05fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017Kb9i8hwUecWinbZskuYng",
      "input": {
        "note": "The right bottle is now centred on the jaw column, but its cap still appears well ahead of the fingertips. Advancing to about the table-reach limit to get over the neck.",
        "targets": {
          "right_x": 0.49,
          "right_y": 0.145,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_017Kb9i8hwUecWinbZskuYng",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3794, -0.0193, -0.0292, 0.9981, 0.4259, 1.75, 1.0428, 0.025, 0.3115, 0.1967, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1832 left_yaw=0.0008 left_pitch=-0.003 left_roll=0.0001 left_gripper=0.9981 right_x=0.4555 right_y=0.1512 right_z=0.1081 right_yaw=0.0538 right_pitch=-0.0733 right_roll=-0.0273 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.4564, 6.7897, 1.7509, -0.0269, -0.0611, -0.0366, -0.4308, -8.3761, 9.3607, 2.0928, 0.149, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9677f81f22e158394a4a2cad0d2058811c7c772eb87acef1be7b4ce1b79e593",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10e445aab7e2ba00d20ae85011c9a451dbee36604bb03bb15311ca9378b710dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:786de61a02b70a324ff6b130d39fdf88bd495ac3fe77756e3cc17844d96c8da5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 3.949 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3801, -0.0185, -0.0292, 0.9985, 0.643, 1.6653, 1.0546, -0.1318, 0.4976, 0.3424, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0009 left_z=0.1834 left_yaw=0.0002 left_pitch=-0.0027 left_roll=-0.0003 left_gripper=0.9985 right_x=0.4054 right_y=0.2029 right_z=0.1313 right_yaw=0.0412 right_pitch=-0.0662 right_roll=-0.0461 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.5795, 6.7077, 1.746, -0.0317, -0.0366, -0.0317, 0.4034, -7.6239, 9.1829, 1.8144, 0.5153, 0.2613, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3798, -0.0189, -0.0292, 0.9983, 0.4419, 1.7359, 1.0363, 0.0048, 0.3557, 0.2249, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1831 left_yaw=0.0005 left_pitch=-0.0034 left_roll=-0.0 left_gripper=0.9983 right_x=0.4502 right_y=0.1489 right_z=0.1098 right_yaw=0.0181 right_pitch=-0.0734 right_roll=-0.0355 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.5248, 6.8171, 1.79, -0.0122, -0.0757, -0.0317, -0.6359, -7.8974, 9.3744, 2.1026, 0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3794, -0.0193, -0.0292, 0.9981, 0.4259, 1.75, 1.0428, 0.025, 0.3115, 0.1967, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1832 left_yaw=0.0008 left_pitch=-0.003 left_roll=0.0001 left_gripper=0.9981 right_x=0.4555 right_y=0.1512 right_z=0.1081 right_yaw=0.0538 right_pitch=-0.0733 right_roll=-0.0273 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.4564, 6.7897, 1.7509, -0.0269, -0.0611, -0.0366, -0.4308, -8.3761, 9.3607, 2.0928, 0.149, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9677f81f22e158394a4a2cad0d2058811c7c772eb87acef1be7b4ce1b79e593",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10e445aab7e2ba00d20ae85011c9a451dbee36604bb03bb15311ca9378b710dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:786de61a02b70a324ff6b130d39fdf88bd495ac3fe77756e3cc17844d96c8da5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015qvZqoTg2anvEe7HZtnZks",
      "input": {
        "note": "The arm stalled at x≈0.455 at low height. Trying higher (z 0.17) where forward reach is larger, to get over the bottle neck.",
        "targets": {
          "right_x": 0.5,
          "right_y": 0.145,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015qvZqoTg2anvEe7HZtnZks",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3794, -0.0189, -0.0292, 0.998, 0.4259, 1.75, 1.0428, 0.025, 0.3119, 0.1967, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.003 left_roll=-0.0001 left_gripper=0.998 right_x=0.4555 right_y=0.1511 right_z=0.1081 right_yaw=0.0534 right_pitch=-0.0732 right_roll=-0.0275 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.3333, 6.7761, 1.7509, -0.0415, -0.0855, -0.022, -0.3214, -8.5128, 9.2513, 2.0635, 0.1832, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:804fa17f4378c14f7ec6f14d70bfa5fd76273bb8d250f4ddaeb73d050343b216",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:314ac1538ecc22473ff2db54939c5fdeef9069a90cc7112bfb5ec4a0e0ca2414",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fda1db5bad162c23b084a6762721dac964987277e737d0483e7df73362806e15",
        "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 · 3.434 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3798, -0.0189, -0.0292, 0.9983, 0.4419, 1.7359, 1.0363, 0.0048, 0.3557, 0.2249, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1831 left_yaw=0.0005 left_pitch=-0.0034 left_roll=-0.0 left_gripper=0.9983 right_x=0.4502 right_y=0.1489 right_z=0.1098 right_yaw=0.0181 right_pitch=-0.0734 right_roll=-0.0355 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.5248, 6.8171, 1.79, -0.0122, -0.0757, -0.0317, -0.6359, -7.8974, 9.3744, 2.1026, 0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3794, -0.0193, -0.0292, 0.9981, 0.4259, 1.75, 1.0428, 0.025, 0.3115, 0.1967, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1832 left_yaw=0.0008 left_pitch=-0.003 left_roll=0.0001 left_gripper=0.9981 right_x=0.4555 right_y=0.1512 right_z=0.1081 right_yaw=0.0538 right_pitch=-0.0733 right_roll=-0.0273 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.4564, 6.7897, 1.7509, -0.0269, -0.0611, -0.0366, -0.4308, -8.3761, 9.3607, 2.0928, 0.149, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3794, -0.0189, -0.0292, 0.998, 0.4259, 1.75, 1.0428, 0.025, 0.3119, 0.1967, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.003 left_roll=-0.0001 left_gripper=0.998 right_x=0.4555 right_y=0.1511 right_z=0.1081 right_yaw=0.0534 right_pitch=-0.0732 right_roll=-0.0275 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.3333, 6.7761, 1.7509, -0.0415, -0.0855, -0.022, -0.3214, -8.5128, 9.2513, 2.0635, 0.1832, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:804fa17f4378c14f7ec6f14d70bfa5fd76273bb8d250f4ddaeb73d050343b216",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:314ac1538ecc22473ff2db54939c5fdeef9069a90cc7112bfb5ec4a0e0ca2414",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fda1db5bad162c23b084a6762721dac964987277e737d0483e7df73362806e15",
        "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+gYKEAgSGAI4AUIIdGhpbmtpbmcSDEX6Ir+w1bmbr1fA4xoM4HnOJHEYfeTWW+Q3IjCe7UpuAiQGsXsH3cPCDdR8ONmBIDGYFje92Rc955bsz2nNMifrJzYyYzPqQ2LFdkEqlwYFJTsehn83X3uZgmqcdmr+68jarBryDRwqjCpOMwSYM1v41uYbKimGiAbE06JfI8zUCGQq6QBGecT+gBMAfiEqAqblmKir7piJXcfw1/u51CdlTK8Xgm2RiOwkk7JEP5z9N8lxkIAmVwiKFa7mgaO0BKlKdxkIyC+QSHrFjRnQj9DAkiVrAMmf/vF16+FKikmjHIggUbwPrZV5uyAwsZQj/Qscb1E6Bh3yaqt8WdFoZf93jWH7w7TZtdSfZTkcXb8VUC5dAIElrOZYabJbwJPpQSnvEfI8Wb3VtM2xhD7gG7feNXaYD62FunZmH8BWd7k3lGYXHt3F6ET3WWrFXeBc8amT2EjMNBA1XK6hks9eWoa7fsVBZXmyBSwJdOOO9K6NLIQ2IWbYf+unYM6rJGlvw+G7QuxZ9FPgD7/vZ+E0gkJ3f/ZOQLmU79MEZ26uIyn5W5ANPsnKrQqLoP576r4N9WDf3re3uRox+mtBdJIjExcCEFVA3cr1XwYG2OrgfkhIzNMAI7o7Idyy5Z5OmfpUXVANylusQu14jucDokZQKHPAFp+7xsNEPEWP7f7Tk+hC1+e1wr1hm0I6y9fUz61/FFI8AYvdbe3p/i6i7YhIefLQFaFNg1C01rwEPygx96FmUmD3Dko9p4LE/Be6ubMDnbCtQXiN3520+JQs837EduSzVuoZ54NxXkDTGvSg8kp2b3DyrI3dWzkzlQgaIx/tlQUNsXbSFQK/T92bUqQObqaW15MHA2dW6bo8/eYaRxd9Va/ISQ7PpGqRRADE8Rn5R/ENDGMHnfEeDT+bQLUFwQfMTljn0DV2H+zQWk62QXgv1nP0hOL7Xa6H5iv7O+0tvbqsoHYsDKWKD2+ULP7EUHHRJw+tv95tXgI810cJPFU4swwgjMlIypYz4whs43TaF1NRGjX/JM1ZWSz019uFhB2VwCVMeYUUARs5d2zzpOC3lM5iIdmzThbmIaDUL7vkrXj4wno3eGLh06tlcfjvSrDZLb2LViVlr/tQidZypoflimiCXdX3K1iexlHC7LUtzSfvTad2BRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AUeBEfzii1UiXZZscuCQxQ",
      "input": {
        "note": "The right arm did not respond to the last target at all; backing it up and raising it to get out of the stuck pose.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.15,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01AUeBEfzii1UiXZZscuCQxQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.614, -0.3798, -0.0189, -0.0288, 0.998, 0.4744, 1.5124, 1.0611, -0.16, 0.3202, 0.2012, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.001 left_z=0.1826 left_yaw=0.0003 left_pitch=-0.0053 left_roll=0.0003 left_gripper=0.998 right_x=0.4206 right_y=0.1575 right_z=0.1864 right_yaw=0.0935 right_pitch=-0.0053 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.4291, 6.9675, 1.8193, -0.0317, -0.0317, -0.0122, -0.4581, -6.5299, 8.9778, 1.6435, 0.3736, 0.232, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60e41a725117837305801297b7cfb49b731707e2759e611d5a1dd5cb90c3d6c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e3e601ba1c6829d9bb0118cd80f4ddaadb27261060155819d395e756146beaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f16fe6b345e9bcb34d8f52356fbcf5dae4821033425b241da8b486b00cbcf7e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 5.233 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3794, -0.0193, -0.0292, 0.9981, 0.4259, 1.75, 1.0428, 0.025, 0.3115, 0.1967, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1832 left_yaw=0.0008 left_pitch=-0.003 left_roll=0.0001 left_gripper=0.9981 right_x=0.4555 right_y=0.1512 right_z=0.1081 right_yaw=0.0538 right_pitch=-0.0733 right_roll=-0.0273 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.4564, 6.7897, 1.7509, -0.0269, -0.0611, -0.0366, -0.4308, -8.3761, 9.3607, 2.0928, 0.149, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3794, -0.0189, -0.0292, 0.998, 0.4259, 1.75, 1.0428, 0.025, 0.3119, 0.1967, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.003 left_roll=-0.0001 left_gripper=0.998 right_x=0.4555 right_y=0.1511 right_z=0.1081 right_yaw=0.0534 right_pitch=-0.0732 right_roll=-0.0275 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.3333, 6.7761, 1.7509, -0.0415, -0.0855, -0.022, -0.3214, -8.5128, 9.2513, 2.0635, 0.1832, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.614, -0.3798, -0.0189, -0.0288, 0.998, 0.4744, 1.5124, 1.0611, -0.16, 0.3202, 0.2012, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.001 left_z=0.1826 left_yaw=0.0003 left_pitch=-0.0053 left_roll=0.0003 left_gripper=0.998 right_x=0.4206 right_y=0.1575 right_z=0.1864 right_yaw=0.0935 right_pitch=-0.0053 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.4291, 6.9675, 1.8193, -0.0317, -0.0317, -0.0122, -0.4581, -6.5299, 8.9778, 1.6435, 0.3736, 0.232, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60e41a725117837305801297b7cfb49b731707e2759e611d5a1dd5cb90c3d6c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e3e601ba1c6829d9bb0118cd80f4ddaadb27261060155819d395e756146beaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f16fe6b345e9bcb34d8f52356fbcf5dae4821033425b241da8b486b00cbcf7e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSxgYKEAgSGAI4AUIIdGhpbmtpbmcSDP3vKXSSI4j4lK3uzhoM8pbZY38a8sUa8qMbIjAuqQHOzv/bKB+WHclLKdd7UWg1/0qceSR5aM9E73sODguXhu8sI9gvfYsknZfFS6Uq4wUtMensDCbqIanxOEwOycwgOoUfH/iwEMOz098BE05roqqWFISlDpk2si0b8PcbhAn8rkN8QZzleKCt6zChHibdVELouh/fbRWXNUeUqq7E+W274e+j2MqJrJJ1+9CZWbF+40VFqIS/FdItaw6kBCA9sLvMhiFwY4wXUEoeItAFtMidfMh0tlMHzSr6VXl1FocGccc5iQWSsjqUSAlVONFFAndKloKJxvJdN3WB7PQypwWDI6LRgY8YfT4ZrTSAs83fB291ivTydP8mf6+rikxQTnkYQf0qFpwIV9Ly3euGsTY2aa38En3gJE7tU+eIeE2OoM8m8wGWn4s/18MnVfDeA0gnkqfz5sv9HRnXForuq0Czb8G3y1pZsYY9nD9f8+GhJSNfn56sG5Ze1WD1OjGsKfdIIiQEM032a7ILDj+dpAnQ+QRe7/agZtYagH//1+Da2lx2o+3PsaSuJ0yuPj+hI90ZVh/5M9KsLyazXQ1WVuev4LfNqEUDgkwvei05thfzZoEpDWLIBBM4SIdCj9tL2LfQVk7z5Kwln8l5wQD+J2gHkhj7BxC/OyRe35OsjEgPEUzAk7+HQFwJLK3i5IjGVB7Ga6b+NRpMPI07dazTLFD1PoExIf4tRRzXtJntRcKDJeX1KSsKG3sjH69qIWu5Wq+ECG2JYO+MfUka7CHQ8IZK3ADMDar0kvFc59S0gr5y03VJpJRnKzlnHd0WQkH4E+Q1Y4ovEYCPo6+L+/RylwkZUa/Mn+GD+g1cZapq+WnHZBcgyR8pYaOs3Xo51VbZskmwPBJCWLmxmPuG6LG30ReC+MJdO+Sy6Anr8SfPL0W2XHUyl5F5hQibn8l3c+vFCqEDxXZsgmZnrVSrYsYJ+wK/kEHYkgqM9j3Uiopk3WL1vIw/A+kHAstEdyB9hzJxTcSUDGxSy7k1vt5/HT9eArVp3V/3ExCLt5nsajYvppA3ZoQjFROWQuPyTEyTi1iep/LgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VfDF2YtNGakstJALszqjE9",
      "input": {
        "note": "Arm responds again at z≈0.19. Trying to advance forward at this height toward the bottle neck.",
        "targets": {
          "right_x": 0.5,
          "right_y": 0.15,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01VfDF2YtNGakstJALszqjE9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3794, -0.0185, -0.0292, 0.998, 0.3733, 1.7378, 1.3205, -0.2314, 0.2295, 0.1257, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.998 right_x=0.4838 right_y=0.1502 right_z=0.1818 right_yaw=0.1079 right_pitch=-0.0584 right_roll=-0.0257 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.6752, 6.8855, 1.7705, -0.0513, -0.0513, -0.0171, -0.8547, -8.3624, 9.388, 1.9951, 0.0562, 0.1783, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fc2873076e0fadc34502d0761c796f6122651060e81d5a737dfbbf0d855d951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10c6b81d0f6d08c5594a4cb8e4af57467916106045d8cbd2d4521a9b0865757e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d6af7a8a9ff84fd0561312e1647e18dea778fb4bfbc144f12453a64093d5b59a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 7.353 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3794, -0.0189, -0.0292, 0.998, 0.4259, 1.75, 1.0428, 0.025, 0.3119, 0.1967, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.003 left_roll=-0.0001 left_gripper=0.998 right_x=0.4555 right_y=0.1511 right_z=0.1081 right_yaw=0.0534 right_pitch=-0.0732 right_roll=-0.0275 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.3333, 6.7761, 1.7509, -0.0415, -0.0855, -0.022, -0.3214, -8.5128, 9.2513, 2.0635, 0.1832, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.614, -0.3798, -0.0189, -0.0288, 0.998, 0.4744, 1.5124, 1.0611, -0.16, 0.3202, 0.2012, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.001 left_z=0.1826 left_yaw=0.0003 left_pitch=-0.0053 left_roll=0.0003 left_gripper=0.998 right_x=0.4206 right_y=0.1575 right_z=0.1864 right_yaw=0.0935 right_pitch=-0.0053 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.4291, 6.9675, 1.8193, -0.0317, -0.0317, -0.0122, -0.4581, -6.5299, 8.9778, 1.6435, 0.3736, 0.232, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3794, -0.0185, -0.0292, 0.998, 0.3733, 1.7378, 1.3205, -0.2314, 0.2295, 0.1257, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.998 right_x=0.4838 right_y=0.1502 right_z=0.1818 right_yaw=0.1079 right_pitch=-0.0584 right_roll=-0.0257 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.6752, 6.8855, 1.7705, -0.0513, -0.0513, -0.0171, -0.8547, -8.3624, 9.388, 1.9951, 0.0562, 0.1783, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fc2873076e0fadc34502d0761c796f6122651060e81d5a737dfbbf0d855d951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10c6b81d0f6d08c5594a4cb8e4af57467916106045d8cbd2d4521a9b0865757e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6af7a8a9ff84fd0561312e1647e18dea778fb4bfbc144f12453a64093d5b59a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwkKEAgSGAI4AUIIdGhpbmtpbmcSDDqHGRa76Z/qmgUU+RoMnBvWKcvNS05l6wPoIjCR2jA3rKk3Nc6FL33Pa9doJ0469ChubAu4xrMbmR9k0m2ntVfwVsBbHoJ6x/o9oSEqzAilD2TPCkUZE9lvL7h6/mXe1H6yOz7GD8WSW6mRClqZ3d25CEVHUd/h/3OjWYNLlX3MBx6/lbHTFHDgAQGO+uzy7d64ReMBj2bYzWbRosCmygEAs3qD+vdFXOvE7IXTly5Mg5szsKOjyXqwj3XqSm0aQNbvLADlkZTWMmLDUIp6lhd8vwV7OeMAfs3bKS66xhp6+XS1NpI66CQv+0QbcrKpx1gbuv07y0E0byImg2dKpFq1v86tERa0fkG4DA0wZJ2ZB8lc56LAGeZJVJa+uu1CDv9GfdkRxBF5Ddt3aB7S2mgojPDKqIlx40nEgu6hkJ30qm+JNwpibs7+cpwA6bycRU4t7RlLFwTrvAmZEjHYPkMlsxpiCObMcoUEZPEv4bC/PgxYajsjAl067Ivw93UQTmbze0RDTDt4Sob709ChQ4UIwLv7e4s4HuwIq2HFgp8VqkB2fftdeaN/zieb2r9t+90FHU81rgHJdX324UZ3Yp1dMTB6uOCYn1lDFsC1GlhF8+Wtjzyxz3Kir9h2y3F9mScZQ0zp7ff7BOoKcbJqB1gATpmSsL9Q3aSGPwmrHuJ+UWVC7H2KAVncG34wYDdFgwvvFyVdQ6jEEptwDETrd8L/no13u5qW2NRy9OJrziGDGxLCdILLZ7FISH4Z/3XiqUIssyaZGGetX8C6h8TcKbjMTd043ayOXxT8z9W65BGaafmYST0ScLlAdUtd+UftZjeFCrkG0hEwhUHQ+TdCrFUIuVxXogew4CF+MknlUm+huWB/QyaOjol8hSZR/MbNEhlJKas3pVeAUDYZnYs24Rt+LqIY4/GpZUHKrxc+hfpvmL2cwE9fHOSAMk0MM2JAGD8CZXg/XBJZ+o68NNEN3EbYkVutXh6wx6AisOo8LXk1K9VyRYnwgHd1hO6+axTmct4hQ2zDNUaYLzX9Ht8U0aK2uwkcqedQvEODhPDAQ7QgO3NQVL6B5jGrpVShKrK4VfBNHgoC88FaGP8dn98fif9wLTqEQlyqaF+iPQEaPHFq1/CXLelT2xSdfHncoEV8mK5gxMcnEOx5lOwifR7k7UFICVTvOwGWy2woY+tJ9SSg93HwdAgxxHWt32T6hg/9qbI9T7N75QsHqrHXJJt3Ab6AyAPVT+inQKvGDApvgechD0WcEh34FwHYC/PEY6GxmuXJuB5j6IXOOoevV8hzaGpQYiOXNmhWpQ/3TeXxOHGnUREIbQQKLUlu2WEeaCNqDke7o3Fs0Mx/vOBbQFKeYima/fHKFTvb2CXF4O2png6S0TS8OkqPtICQBxwPDSknc6wRMF79z2JtaHP4iyNWxNmjVxiXXPuDwNbFOC1GiiUDuKoMno+AHTD+dPZigCpUTHJkXFRjwChW1/LSUbMsNfbftNp41Xl0ILaiXK0queEIkyST8fa17nteXPnK/JTg8olbzp7yUMeDBpv9l0kTzxBBYacaI1iaI7x0dxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01536eLnwASxsTbpXWjwy2Je",
      "input": {
        "note": "The bottle neck now sits just ahead of the jaws on the jaw column. Descending straight down to neck height (~3 cm) with the gripper open.",
        "targets": {
          "right_x": 0.485,
          "right_y": 0.14,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01536eLnwASxsTbpXWjwy2Je",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3794, -0.0185, -0.0292, 0.998, 0.3511, 1.982, 0.9417, 0.4, 0.205, 0.1207, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1824 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.998 right_x=0.4771 right_y=0.1403 right_z=0.028 right_yaw=0.1089 right_pitch=-0.0541 right_roll=-0.0134 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.6205, 6.8718, 1.8046, -0.0317, -0.0513, -0.0122, -0.8821, -8.8684, 5.0667, 1.8388, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82a599478e02b07d43f0d3da2095e33f4ebc7e759c785eb0a5ba21907277689e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f09458f02645f34bfececd32e3e6d1c99faa9964aa331af401b8e8b50db61bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce4f950796862d3defd995d7697246f5ebd7b5e7a54f111fe0e32b4f35be6e03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 7.194 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.614, -0.3798, -0.0189, -0.0288, 0.998, 0.4744, 1.5124, 1.0611, -0.16, 0.3202, 0.2012, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.001 left_z=0.1826 left_yaw=0.0003 left_pitch=-0.0053 left_roll=0.0003 left_gripper=0.998 right_x=0.4206 right_y=0.1575 right_z=0.1864 right_yaw=0.0935 right_pitch=-0.0053 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.4291, 6.9675, 1.8193, -0.0317, -0.0317, -0.0122, -0.4581, -6.5299, 8.9778, 1.6435, 0.3736, 0.232, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3794, -0.0185, -0.0292, 0.998, 0.3733, 1.7378, 1.3205, -0.2314, 0.2295, 0.1257, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.998 right_x=0.4838 right_y=0.1502 right_z=0.1818 right_yaw=0.1079 right_pitch=-0.0584 right_roll=-0.0257 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.6752, 6.8855, 1.7705, -0.0513, -0.0513, -0.0171, -0.8547, -8.3624, 9.388, 1.9951, 0.0562, 0.1783, -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]: [-0.02, 0.8024, 0.614, -0.3794, -0.0185, -0.0292, 0.998, 0.3511, 1.982, 0.9417, 0.4, 0.205, 0.1207, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1824 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.998 right_x=0.4771 right_y=0.1403 right_z=0.028 right_yaw=0.1089 right_pitch=-0.0541 right_roll=-0.0134 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.6205, 6.8718, 1.8046, -0.0317, -0.0513, -0.0122, -0.8821, -8.8684, 5.0667, 1.8388, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82a599478e02b07d43f0d3da2095e33f4ebc7e759c785eb0a5ba21907277689e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f09458f02645f34bfececd32e3e6d1c99faa9964aa331af401b8e8b50db61bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce4f950796862d3defd995d7697246f5ebd7b5e7a54f111fe0e32b4f35be6e03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS/AsKEAgSGAI4AUIIdGhpbmtpbmcSDC27t0qSKMvEzZVB2xoMIE/CzgqmzJB2t+KYIjDZ0UbftfVuNWG2zSPNqSobuwe732qhgHnpOE03yQmRPhnnYgB+OESYX/ClMapt87YqmQv7fTkGb3Ibxw4jt/yuCjNUcFj9pVQvQ3l5cJKu949OnUZ2y5syqDPG38bKy3gNXgUwpPbLxMSbrLh/D6hR64cgFRF9EnUHKJ5c/inAsw9qbKISCJTtMVwo7SV/ewfMHdc+qkPcjS5sP0ghamKy7yyK7GNHnf1hSuZVr5jzU/ExwCnBvSSToAlJ8xfIs7Es1yXot3b5BedjthoXUQBR2bdNeTmXfWWrLAuCj/7dTIvq+IrBqUk4hxr/G/dRKzzj8M7NeNYE5VLE8Jh+dRi8hoQxb3erRmNhoN7qdKQd964Iw/Ja3mHF7Hwt+z3zlilBsfHAkc2ClyINQWlC1Bpte6D7kEu9Ys2TtCQmOnkqAyQC+yD3/7uKzJjxlETW7kyuJAx96nADckBEDbQA+29vTOiJPDw7RZKMAttqADXMVQj0W1eUfyW8ofzH0f+zhbL1HxD3dWc7gAr3gVa9gaswzBKE2u3eJL3MK/umVFOqjbus+dQ7ncMUbA0+O0Ds7FoXyUVP5ugvhnAbg7vcbF0Bvcgal+2JXoNUgeINc+KRzySJ+aV6R8tCikuTbNWRGB1BMcMkz5oujKGk9xgNXo0e0Uj8WCluBtligpnFYq4YTZhmdrBooM1wm7VNZyCUK225J557Ead7bCw/KaE1szubloGuGZ0ccEFJIL3Oy5R4bTh4EBiQR21SBoNkSHSGNoqunadJt6jurpEGP4/DIU0OrNTzvwdWOkiex8uRQOjN9tWd37lFRtq9HZXwLBBe7iuuLW9tzOdykxFrg7KKqj/SfzWwKlLhJrgLpH219uOnt1zKKNHYZvveYol/JjftE/hAML9FpVZsZm8z0xp1T/LQWJAGJE/5FOtdHAIi4pF87z1yxUF9e7HYgnh+zQMz3r5HroyN+01nc+8gj7ALjhuC6jr30ai+Dto9yYH7WCu6xAiSGibIBaCHjA4Ave3GFuWdx8w90FRj2Y+17ZRcMiY3mondfIxb5xGwLDaeRrNAcLVB2MWkEuupl1sExbdUPulmRJoEPZoURylgeh/ieAbEP/3Up/waW0qq/KpXIzvtPvLVSobTGwh/8JsXGxkatP+toLptfBrCXsuk54SB/qVT4/MwMr1P2kwjyNgcRjF9N7EQVA6PddE0Sb2h+Igyus9PSmiCqTGT9NZrNLqSKUIdJCAL87mjlOFoZW7Iy76aNqlxBDklsi0BoLfc2ywAdoXRjFwjSCMGdVsuUcjskhPqQIhnidOO0FD5BkvnPhEOZdI8ZKK4hb4Q/vQDcZIHWGH90hFRU1oB6cbCFQoKhkqHmgDH9JJmC0zFokZtKvHfl2003guIpHNJdm4rfuN/TISYg3c6v2IPjiSw0DRbv+pUeIGHa1cwREy4nj3lRhXDOvjBora1TKLRLBLB2tDpcm5jbr4eBEKTyQjQc/MkyW+ARG6VJ+ALz2iBRA42r+ljZrsFCYLxQodsAuBqWv1cNYbYq59jjS0rmM9K1FoZPYCoBmSiFfoQolbLqJfP5QKklXqu60cis/5soVT5VhNGmsMtu3zvx2dulhOF2M3mIij1Qzi8qlRtcmv71YcURP0MCQAUXhpMf8kHdLBb7qCrawPrFSzsSlgOej/0rqZenUsYidPNtIvOvxapqZi1y0wxbsInhAKnh5zbtyIbl1kjcmNiE/v7Ag8B45L1un/SMT3hBMYD/z+YbZClBWFJIjbRnaGIT6/hfH2XDg0ix5qRza4LwOBCX02XVaKndxRzdsfM8sUa4Ttmase7vrx9FGZxRA64vXxZKRBVjXPG+yW1i96iC36EIPfzHGf6eKYnyEq4hndg81H1uZa3jMzbJGzDNTZj46l6h1iNNSWA1glriR+jsIP5n5QisJaRDL8D3T/W4MdyhPSIlMQ6CP/wtYw4IxBcU7NbVOkM5Sf1AxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sk9bSuHfZggq7eKPWsg87K",
      "input": {
        "note": "The jaws straddle the bottle's upper body (the neck is still a few cm beyond reach). Closing to grab the body so I can drag the bottle back toward the robot, then regrasp at the neck.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Sk9bSuHfZggq7eKPWsg87K",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.3538, 1.9888, 0.9112, 0.5686, 0.2005, 0.1177, 0.3796]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.488 right_y=0.1466 right_z=0.0475 right_yaw=0.1168 right_pitch=0.0728 right_roll=0.0175 right_gripper=0.3796\nstate[joint_eff]: [-0.3487, -1.6342, 6.5709, 1.7851, -0.0317, -0.0611, -0.0122, -0.4855, -9.4291, 4.1915, 1.2283, 0.0269, -0.0415, 0.7057]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d3fb9c9a560ab604c1b06bf8d6826f8e610bae274daf6f563d853e870668854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0fc6a7e861b8e23242f9211030ab65790c2952c1db973e75f68c4adec957769",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:adb3cadab94abc09adf13fd832df21f01e769fc10696edd77a5852165c6324b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 10.39 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3794, -0.0185, -0.0292, 0.998, 0.3733, 1.7378, 1.3205, -0.2314, 0.2295, 0.1257, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.998 right_x=0.4838 right_y=0.1502 right_z=0.1818 right_yaw=0.1079 right_pitch=-0.0584 right_roll=-0.0257 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.6752, 6.8855, 1.7705, -0.0513, -0.0513, -0.0171, -0.8547, -8.3624, 9.388, 1.9951, 0.0562, 0.1783, -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]: [-0.02, 0.8024, 0.614, -0.3794, -0.0185, -0.0292, 0.998, 0.3511, 1.982, 0.9417, 0.4, 0.205, 0.1207, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1824 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.998 right_x=0.4771 right_y=0.1403 right_z=0.028 right_yaw=0.1089 right_pitch=-0.0541 right_roll=-0.0134 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.6205, 6.8718, 1.8046, -0.0317, -0.0513, -0.0122, -0.8821, -8.8684, 5.0667, 1.8388, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.3538, 1.9888, 0.9112, 0.5686, 0.2005, 0.1177, 0.3796]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.488 right_y=0.1466 right_z=0.0475 right_yaw=0.1168 right_pitch=0.0728 right_roll=0.0175 right_gripper=0.3796\nstate[joint_eff]: [-0.3487, -1.6342, 6.5709, 1.7851, -0.0317, -0.0611, -0.0122, -0.4855, -9.4291, 4.1915, 1.2283, 0.0269, -0.0415, 0.7057]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d3fb9c9a560ab604c1b06bf8d6826f8e610bae274daf6f563d853e870668854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0fc6a7e861b8e23242f9211030ab65790c2952c1db973e75f68c4adec957769",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adb3cadab94abc09adf13fd832df21f01e769fc10696edd77a5852165c6324b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSsgoKEAgSGAI4AUIIdGhpbmtpbmcSDJGibUCVmcgS3986VhoMhnSB5wJF6o+xXXSvIjAYVqFRAwvCWfRrnSrOXg3GHElxGSEk0Em9USIJmFLStqRq2WSm/VORoHmAcXWMfeQqzwnFEaLHoUXDXqkNbGq50aD4m/Hlv9KN30I08ihgeIOTYwgYEQzVjIeNJFTStQNquHzYdATYcDWWdxsT02rj9AX1EK63N+l4BuXjUP4XLGm2sGuk9VTNU3aY9AxgYLR6rL7cl3XLcCd0tYtV2B4V6G6snuTGzLklbqvezxiM/e7+U7D2eKjBVSCZDbgZJLuK4tQZixFNlJAUHIerScN2WOBIxjMkNF52Yx8Pqhh72fysz2j7MnV5Rjr4f8pgYEC5kfkGGdrUyYShOSsRlK4wNJJhYxtA4gGq4i2ST7Xv9r7/cfLp7aJICiTvP5bmmNLKECv87pA98ahH13pol0EqFXwXWZNRS28wYoHl3rZIKT6wlCuGhul28TVlSF3J6oW7LHWanCw8GQZjcs0npxNy0VRVgT774kW/o0udvwE23o1MZNcMpuu5+OWrjm0PryADWntkNFWiGn16T8c9TVcJIzBfDWl8pEv2Mh3UrCCT4Sh5U4ItaKhISzT7GYlV0eFIalW5lE1/LNjLjIGs3DOjqGWUQ1sp1+UG0tTwsqeTppiT5J10BZsDKDDyXraAZzjir5Yg94ceP+njGtvp5SDvnzSZbjxZmwbkRq6IDqQDnEobC2cnfJFacncMVqivVaQdpxpqIB2oCfKA4PW925/jEKrfDAZfTXpLltmH/PMky2Cbm752pY7o3O0sESi8k4pJLtVM6WhuomshOxtMNNzAiKu6onPHCI3IVP4b+4obrCa8agqgbQtmHplqYO3h8HBlebctLEayrHvKoGkg/OD56I9PFHxtP7Ioa1ae9uhp+hDw1j2jIEkCb/cbmiy0z54P26OAhOTP9dfbu88p0P+il5KOvWjXRNiSbb/yPjNywmvMnZz5OqlYR/LkRhKAcD2oXsq9MT3mSnah37orXHiH3yV2V+mxduanbzWarQIbhadtDMPJuT0eMGl3jf+eujto+eZDN06qciYgyCqOqjmFdwLfT3jZBjn59imzsFi7i+h5RL5CkwjV25i6j4hqXVQKBFbMt8OoaW3cKDOkXAsgT2rtXlH2EPcwK/1Fz3ERYuwMgUz+tCBTGDi+jjcPr/a4YCI6IbGMi+zDQaOMq5x8kIVFomKW8QYKE/e2dRHepT/Kueb5OCEiiaqmHZ2SpCdT5QNXZZZCou3AlupKyMWzI/oZpcpad2SfcbNrkcMQSvo7eES7Y02oHfcvaMVpf1AjwN5IHf8AbpNaq6X2NZtIVETnK71jMAdO3dU+RNAtvoF/IqGmoJO4x67k7Gh4glBpM/GEkVxP89pALSvtJ4FRgBRu6ciVNHoWiGCmaJsmKeL2DrfGHv3SwO+R6SNIa/89YVROh5IH/VSASIiPV120VERtrrkoIiJ9bvgcek0d+n55UwVtclqVAdkjwUHuwd4iA+Ka0+/fcro2lzh3+ooPb5TEP90VDODe75A2kNLJg/2Gq8gUlLIpzQrPIYtlLR9wjGUlOrmd4XGV7IxuvvkJj++yyA4N2eEZyeeHxhdRoY7+eK3YhVbbjCK6Ysog0y0f8ktNtPw5sGH+m27j0B6hNOncJMqFFqVdpqEDfe/PYltxdgFd6hm/S2ixnuC+pE8e5NeLKOdhWQYr4eaSQKI/eLttcw5s5di4i46cV12+RjjpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V62oPyESeJuMTxkYwDk4uS",
      "input": {
        "note": "Gripper settled at 0.38 (~3.6 cm), so it is holding the bottle near its shoulder. Lifting high so the bottle can swing down and hang vertically from the grip.",
        "targets": {
          "right_x": 0.42,
          "right_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01V62oPyESeJuMTxkYwDk4uS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3786, -0.0193, -0.0292, 0.998, 0.4324, 1.5394, 1.523, -0.6392, 0.2367, 0.1295, 0.3781]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1825 left_yaw=0.0008 left_pitch=-0.0053 left_roll=0.0002 left_gripper=0.998 right_x=0.424 right_y=0.154 right_z=0.2846 right_yaw=0.1589 right_pitch=-0.0638 right_roll=-0.0287 right_gripper=0.3781\nstate[joint_eff]: [-0.1573, -1.6068, 6.7624, 1.8779, -0.022, -0.0659, -0.0122, 0.0068, -9.388, 9.7709, 1.9609, 0.359, 0.2711, -0.1734]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:907a4488ba432cd08221e3cb4a017686a7c44d1f90fba27ff11c2380407bae0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d802f6561c4f198cfcde685299f86b8a321c3ae265824eea3686f07134d03be1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:726e0b7b568935e297f7818f4889fa279460dbbe99e3d66490363ef7b61ef765",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 4.057 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3794, -0.0185, -0.0292, 0.998, 0.3511, 1.982, 0.9417, 0.4, 0.205, 0.1207, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1824 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.998 right_x=0.4771 right_y=0.1403 right_z=0.028 right_yaw=0.1089 right_pitch=-0.0541 right_roll=-0.0134 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.6205, 6.8718, 1.8046, -0.0317, -0.0513, -0.0122, -0.8821, -8.8684, 5.0667, 1.8388, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.3538, 1.9888, 0.9112, 0.5686, 0.2005, 0.1177, 0.3796]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.488 right_y=0.1466 right_z=0.0475 right_yaw=0.1168 right_pitch=0.0728 right_roll=0.0175 right_gripper=0.3796\nstate[joint_eff]: [-0.3487, -1.6342, 6.5709, 1.7851, -0.0317, -0.0611, -0.0122, -0.4855, -9.4291, 4.1915, 1.2283, 0.0269, -0.0415, 0.7057]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3786, -0.0193, -0.0292, 0.998, 0.4324, 1.5394, 1.523, -0.6392, 0.2367, 0.1295, 0.3781]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1825 left_yaw=0.0008 left_pitch=-0.0053 left_roll=0.0002 left_gripper=0.998 right_x=0.424 right_y=0.154 right_z=0.2846 right_yaw=0.1589 right_pitch=-0.0638 right_roll=-0.0287 right_gripper=0.3781\nstate[joint_eff]: [-0.1573, -1.6068, 6.7624, 1.8779, -0.022, -0.0659, -0.0122, 0.0068, -9.388, 9.7709, 1.9609, 0.359, 0.2711, -0.1734]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:907a4488ba432cd08221e3cb4a017686a7c44d1f90fba27ff11c2380407bae0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d802f6561c4f198cfcde685299f86b8a321c3ae265824eea3686f07134d03be1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:726e0b7b568935e297f7818f4889fa279460dbbe99e3d66490363ef7b61ef765",
        "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_012SoJ7nRaepFnydvvqY9ttZ",
      "input": {
        "note": "The lift was empty: the bottle is still lying on the table (the gripper reading got stuck around 0.38). Opening and dropping onto the bottle body to grab it and drag it back toward the robot, so the neck comes within reach.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.44,
          "right_y": 0.145,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_012SoJ7nRaepFnydvvqY9ttZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0193, -0.0292, 0.998, 0.3904, 1.8591, 0.7582, 0.4717, 0.2008, 0.1066, 0.9978]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.998 right_x=0.4339 right_y=0.1444 right_z=0.0309 right_yaw=0.1595 right_pitch=-0.044 right_roll=-0.0199 right_gripper=0.9978\nstate[joint_eff]: [-0.2393, -1.6068, 6.7897, 1.7851, -0.0366, -0.0415, -0.0122, -0.9641, -6.7897, 4.2735, 1.619, -0.105, 0.1392, -0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:825450f5d169ed1beeba366d4fdb4473d8eb21c3b1cabf91f83c136477933118",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37c5ef7aac9f84a3636371ad82e3d1a34d18c9a068b33fe82c831124f763f2f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:319aa7c825b9f2a73d6d36bcec6d07c70e1aac2341b1a0f0a21e92d478bfb55c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 9.27 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.3538, 1.9888, 0.9112, 0.5686, 0.2005, 0.1177, 0.3796]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.488 right_y=0.1466 right_z=0.0475 right_yaw=0.1168 right_pitch=0.0728 right_roll=0.0175 right_gripper=0.3796\nstate[joint_eff]: [-0.3487, -1.6342, 6.5709, 1.7851, -0.0317, -0.0611, -0.0122, -0.4855, -9.4291, 4.1915, 1.2283, 0.0269, -0.0415, 0.7057]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3786, -0.0193, -0.0292, 0.998, 0.4324, 1.5394, 1.523, -0.6392, 0.2367, 0.1295, 0.3781]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1825 left_yaw=0.0008 left_pitch=-0.0053 left_roll=0.0002 left_gripper=0.998 right_x=0.424 right_y=0.154 right_z=0.2846 right_yaw=0.1589 right_pitch=-0.0638 right_roll=-0.0287 right_gripper=0.3781\nstate[joint_eff]: [-0.1573, -1.6068, 6.7624, 1.8779, -0.022, -0.0659, -0.0122, 0.0068, -9.388, 9.7709, 1.9609, 0.359, 0.2711, -0.1734]\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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0193, -0.0292, 0.998, 0.3904, 1.8591, 0.7582, 0.4717, 0.2008, 0.1066, 0.9978]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.998 right_x=0.4339 right_y=0.1444 right_z=0.0309 right_yaw=0.1595 right_pitch=-0.044 right_roll=-0.0199 right_gripper=0.9978\nstate[joint_eff]: [-0.2393, -1.6068, 6.7897, 1.7851, -0.0366, -0.0415, -0.0122, -0.9641, -6.7897, 4.2735, 1.619, -0.105, 0.1392, -0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:825450f5d169ed1beeba366d4fdb4473d8eb21c3b1cabf91f83c136477933118",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37c5ef7aac9f84a3636371ad82e3d1a34d18c9a068b33fe82c831124f763f2f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:319aa7c825b9f2a73d6d36bcec6d07c70e1aac2341b1a0f0a21e92d478bfb55c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8wYKEAgSGAI4AUIIdGhpbmtpbmcSDOeaaR3lFd8qeiksaRoMgiUmxT3rxeJRlYziIjDOmVpG9n+v2yb6Zt4HMkOxYWbUHbAsykUle2uqDo/eYajuxm/HoYXNFxyEen6XfzgqkAZopQy7UOCMFIobWhmbB4hC4FyUTJDoGrH/WYQYog7JXYzg7uumHRQG/fhDnd7odw39Onr8CB6RxLO7Zeq0bYRsFCSMbsgjxobB9pCTJ1LIWm/+P9Y/Rd89n7x+vkTHhoQBFDq4oWUFQ0/V+DIeT2XeWoRhzWgInuSR+CV9XOPrN+x3s1AVMbAs7UyguYGCAz6+tWd0tymqIzhWmknu0pSg77UPipfuRGHdSmzSvSqPRsJQI7yqfC7JNJKZI4VUGxNWONs4gng/aVDHcWefzWcUKnycB6HDpn6DgeYHKtHYcp/h2fCNNlAbt1FCJv5Gekq906zyXBvbH+siPYofYVbVq6zbnssOUYBQBgN0u4eRhwILKYy+ZpzGUciEAb96v06YLrLg26RgkYZuTXqQOtyoVjdjuNOE/kXcFuPmVMPEsnDvouJTh1iXdY28hCFaE4JNTL14ZVqCyTbbm7Dhjz5GwTMzrVsYECdQBcGlCtNioSgVjn+5SADaQLH7HZqoZZJ0UwCHTHoEqcbfXakqX0bwbOWOt5D0q5nSpoeewesVJ4LxvblIfAX2+zZ0DEtAuyU14uAk+suZpGCaa16r7tWUosNTQDkpiahw8VrsVN7bE8O19fVV0aY4O0yg/xwQhMPBxuG0jErtBA6oABfnvNbQ75cqfCBqxfkXIDLk7vbgQX6tUrxlye0+qLQJpLWutdTqolOKZoauh35Eb1PZh7dQ6snv+vaR6kPu2KYdUjaZrr7ct4Puw+qXzSaww1Dmd/LgWyldJt0oLdWvX9WDoXzpDdwAA/p6vGnNnVGGcpvVUi0rllOp3DIoSuMRrLYeE/PWUKnSVOUmdFOjwQDAia3E07HSfuGMKyfiygzHwyz+x45dxyv4IGsZyweM+yQRKx6N4EcXGQQFMOBZ9OckfQcsCnx64Si0n0NcuuQ8rVuVGF+QCYy+PqyAeb79O+O8ngW1kuxjJgblAsmgIS8VWI2n0aTY/bspSa785SbnGxVhJsHtzL/mdZ//vmpbIZhhcBf7MTKegjNiNkdK+ftyEZ3UGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BSxi9Z9bXwmNgTjYvqCpeJ",
      "input": {
        "note": "The right bottle's body is centred between the open jaws. Closing fully to grip it for dragging.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BSxi9Z9bXwmNgTjYvqCpeJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0193, -0.0292, 0.998, 0.3916, 1.8637, 0.7338, 0.6483, 0.1978, 0.1024, 0.0183]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.998 right_x=0.4471 right_y=0.1509 right_z=0.0563 right_yaw=0.1645 right_pitch=0.0994 right_roll=0.0116 right_gripper=0.0183\nstate[joint_eff]: [-0.0752, -1.6205, 6.8171, 1.8535, -0.0122, -0.0366, -0.0122, -0.6496, -7.8017, 4.1094, 1.0525, 0.0073, 0.0708, 0.8864]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c68d598f03d32b2c0af6cbbbda555d4591fce5f5b85685a32e19613bb42a4de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c85c995f8e3b8e61a7e5f80957e0dc0d0f471220635100d9804a39c5917ff54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:588e72e7492b7f61440666c851b93b08077046a8bc70b201ad7d526586bde90c",
        "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 · 14.26 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3786, -0.0193, -0.0292, 0.998, 0.4324, 1.5394, 1.523, -0.6392, 0.2367, 0.1295, 0.3781]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1825 left_yaw=0.0008 left_pitch=-0.0053 left_roll=0.0002 left_gripper=0.998 right_x=0.424 right_y=0.154 right_z=0.2846 right_yaw=0.1589 right_pitch=-0.0638 right_roll=-0.0287 right_gripper=0.3781\nstate[joint_eff]: [-0.1573, -1.6068, 6.7624, 1.8779, -0.022, -0.0659, -0.0122, 0.0068, -9.388, 9.7709, 1.9609, 0.359, 0.2711, -0.1734]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0193, -0.0292, 0.998, 0.3904, 1.8591, 0.7582, 0.4717, 0.2008, 0.1066, 0.9978]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.998 right_x=0.4339 right_y=0.1444 right_z=0.0309 right_yaw=0.1595 right_pitch=-0.044 right_roll=-0.0199 right_gripper=0.9978\nstate[joint_eff]: [-0.2393, -1.6068, 6.7897, 1.7851, -0.0366, -0.0415, -0.0122, -0.9641, -6.7897, 4.2735, 1.619, -0.105, 0.1392, -0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0193, -0.0292, 0.998, 0.3916, 1.8637, 0.7338, 0.6483, 0.1978, 0.1024, 0.0183]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.998 right_x=0.4471 right_y=0.1509 right_z=0.0563 right_yaw=0.1645 right_pitch=0.0994 right_roll=0.0116 right_gripper=0.0183\nstate[joint_eff]: [-0.0752, -1.6205, 6.8171, 1.8535, -0.0122, -0.0366, -0.0122, -0.6496, -7.8017, 4.1094, 1.0525, 0.0073, 0.0708, 0.8864]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c68d598f03d32b2c0af6cbbbda555d4591fce5f5b85685a32e19613bb42a4de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c85c995f8e3b8e61a7e5f80957e0dc0d0f471220635100d9804a39c5917ff54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:588e72e7492b7f61440666c851b93b08077046a8bc70b201ad7d526586bde90c",
        "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_01KUA1n4yi6H7bxY3KHCXZ9Q",
      "input": {
        "note": "The close came up empty (0.018): the round bottle slid out and the jaws rode up onto its top. Opening and going lower, fingertips at table level, so the jaws close below the bottle's widest point and pin it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.44,
          "right_y": 0.148,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KUA1n4yi6H7bxY3KHCXZ9Q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.3866, 1.9812, 0.7521, 0.7532, 0.1818, 0.1074, 0.9958]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.4561 right_y=0.1551 right_z=0.0318 right_yaw=0.1702 right_pitch=0.1033 right_roll=0.0245 right_gripper=0.9958\nstate[joint_eff]: [-0.2393, -1.4701, 6.7487, 1.8046, -0.0317, -0.0757, -0.0122, -0.0068, -5.9009, 2.9333, 1.1209, 0.0708, -0.0366, -0.1001]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ced0028f90318c33f82f2a486b900ed73d2860721edf143771947cd4f6474ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c4d5089fa98702e2d7d4f4ee71294ef5f6af11a952032d62f1883d946e32e02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa671ed08930d4854bc13e3e61be33cbecd839aa8bd8d0834122c7347573bfee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 14.94 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0193, -0.0292, 0.998, 0.3904, 1.8591, 0.7582, 0.4717, 0.2008, 0.1066, 0.9978]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.998 right_x=0.4339 right_y=0.1444 right_z=0.0309 right_yaw=0.1595 right_pitch=-0.044 right_roll=-0.0199 right_gripper=0.9978\nstate[joint_eff]: [-0.2393, -1.6068, 6.7897, 1.7851, -0.0366, -0.0415, -0.0122, -0.9641, -6.7897, 4.2735, 1.619, -0.105, 0.1392, -0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0193, -0.0292, 0.998, 0.3916, 1.8637, 0.7338, 0.6483, 0.1978, 0.1024, 0.0183]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.998 right_x=0.4471 right_y=0.1509 right_z=0.0563 right_yaw=0.1645 right_pitch=0.0994 right_roll=0.0116 right_gripper=0.0183\nstate[joint_eff]: [-0.0752, -1.6205, 6.8171, 1.8535, -0.0122, -0.0366, -0.0122, -0.6496, -7.8017, 4.1094, 1.0525, 0.0073, 0.0708, 0.8864]\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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.3866, 1.9812, 0.7521, 0.7532, 0.1818, 0.1074, 0.9958]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.4561 right_y=0.1551 right_z=0.0318 right_yaw=0.1702 right_pitch=0.1033 right_roll=0.0245 right_gripper=0.9958\nstate[joint_eff]: [-0.2393, -1.4701, 6.7487, 1.8046, -0.0317, -0.0757, -0.0122, -0.0068, -5.9009, 2.9333, 1.1209, 0.0708, -0.0366, -0.1001]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ced0028f90318c33f82f2a486b900ed73d2860721edf143771947cd4f6474ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c4d5089fa98702e2d7d4f4ee71294ef5f6af11a952032d62f1883d946e32e02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa671ed08930d4854bc13e3e61be33cbecd839aa8bd8d0834122c7347573bfee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wsp4FKUy69chuek5MjQpmH",
      "input": {
        "note": "The gripper stopped at z≈0.03 with its palm resting on the bottle and the jaws on either side. Closing while pressing down, so the bottle is pinned and can't pop out upward.",
        "targets": {
          "right_gripper": 0,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Wsp4FKUy69chuek5MjQpmH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.3923, 1.9888, 0.8204, 0.7685, 0.1795, 0.0986, 0.0182]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.4756 right_y=0.1666 right_z=0.0566 right_yaw=0.1804 right_pitch=0.1774 right_roll=0.0337 right_gripper=0.0182\nstate[joint_eff]: [-0.3897, -1.6068, 6.5709, 1.8779, -0.0269, -0.0464, -0.0122, -0.4034, -4.4513, 3.8632, 0.6764, 0.0806, 0.0562, 0.8376]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a2538831fb50a6b049bcef70e3d3c741a2fe9039f57d295e61cb02f46424a69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5704e56b23c88fd1a90cb12abc9ec471f05dfe9271e4506e85d911175bf7375a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a3efa26eb527c46f603224a982217cabae49378f77bb517383ff50520c01ede",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 4.174 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0193, -0.0292, 0.998, 0.3916, 1.8637, 0.7338, 0.6483, 0.1978, 0.1024, 0.0183]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0057 left_roll=0.0002 left_gripper=0.998 right_x=0.4471 right_y=0.1509 right_z=0.0563 right_yaw=0.1645 right_pitch=0.0994 right_roll=0.0116 right_gripper=0.0183\nstate[joint_eff]: [-0.0752, -1.6205, 6.8171, 1.8535, -0.0122, -0.0366, -0.0122, -0.6496, -7.8017, 4.1094, 1.0525, 0.0073, 0.0708, 0.8864]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.3866, 1.9812, 0.7521, 0.7532, 0.1818, 0.1074, 0.9958]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.4561 right_y=0.1551 right_z=0.0318 right_yaw=0.1702 right_pitch=0.1033 right_roll=0.0245 right_gripper=0.9958\nstate[joint_eff]: [-0.2393, -1.4701, 6.7487, 1.8046, -0.0317, -0.0757, -0.0122, -0.0068, -5.9009, 2.9333, 1.1209, 0.0708, -0.0366, -0.1001]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.3923, 1.9888, 0.8204, 0.7685, 0.1795, 0.0986, 0.0182]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.4756 right_y=0.1666 right_z=0.0566 right_yaw=0.1804 right_pitch=0.1774 right_roll=0.0337 right_gripper=0.0182\nstate[joint_eff]: [-0.3897, -1.6068, 6.5709, 1.8779, -0.0269, -0.0464, -0.0122, -0.4034, -4.4513, 3.8632, 0.6764, 0.0806, 0.0562, 0.8376]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a2538831fb50a6b049bcef70e3d3c741a2fe9039f57d295e61cb02f46424a69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5704e56b23c88fd1a90cb12abc9ec471f05dfe9271e4506e85d911175bf7375a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a3efa26eb527c46f603224a982217cabae49378f77bb517383ff50520c01ede",
        "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_012euzdqSzhTUaaFoyuvamoK",
      "input": {
        "note": "Closing on the fat body keeps squeezing the bottle out upward, because the short fingers only reach its midline. New plan: press the palm down on the bottle with the jaws flanking it, then drag it back toward the robot using friction, so its neck comes within reach.",
        "targets": {
          "right_gripper": 0.8,
          "right_x": 0.45,
          "right_y": 0.15,
          "right_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_012euzdqSzhTUaaFoyuvamoK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.382, 2.0327, 0.8097, 0.8383, 0.1753, 0.0883, 0.7948]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.4778 right_y=0.1626 right_z=0.0471 right_yaw=0.1788 right_pitch=0.1921 right_roll=0.0288 right_gripper=0.7948\nstate[joint_eff]: [-0.3487, -1.5111, 6.5983, 1.7656, -0.0317, -0.0415, -0.0122, -0.8274, -3.9179, 1.7846, 0.4029, -0.1245, 0.0757, -0.232]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ae528c47111796c96eae40c151ef7bcfdb2a9815e5e7763e8b156dc4a9e760b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcd87b23d208c75ff84b0ee1e6fc061def545b081ccc76f64ff23571115c1a05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc7ee4e8dccb3ceb31f0da6ee82555c666f1c9150b7c9e34406146c5b44ff701",
        "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 · 17.77 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.3866, 1.9812, 0.7521, 0.7532, 0.1818, 0.1074, 0.9958]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.4561 right_y=0.1551 right_z=0.0318 right_yaw=0.1702 right_pitch=0.1033 right_roll=0.0245 right_gripper=0.9958\nstate[joint_eff]: [-0.2393, -1.4701, 6.7487, 1.8046, -0.0317, -0.0757, -0.0122, -0.0068, -5.9009, 2.9333, 1.1209, 0.0708, -0.0366, -0.1001]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.3923, 1.9888, 0.8204, 0.7685, 0.1795, 0.0986, 0.0182]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.4756 right_y=0.1666 right_z=0.0566 right_yaw=0.1804 right_pitch=0.1774 right_roll=0.0337 right_gripper=0.0182\nstate[joint_eff]: [-0.3897, -1.6068, 6.5709, 1.8779, -0.0269, -0.0464, -0.0122, -0.4034, -4.4513, 3.8632, 0.6764, 0.0806, 0.0562, 0.8376]\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]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.382, 2.0327, 0.8097, 0.8383, 0.1753, 0.0883, 0.7948]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.4778 right_y=0.1626 right_z=0.0471 right_yaw=0.1788 right_pitch=0.1921 right_roll=0.0288 right_gripper=0.7948\nstate[joint_eff]: [-0.3487, -1.5111, 6.5983, 1.7656, -0.0317, -0.0415, -0.0122, -0.8274, -3.9179, 1.7846, 0.4029, -0.1245, 0.0757, -0.232]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ae528c47111796c96eae40c151ef7bcfdb2a9815e5e7763e8b156dc4a9e760b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcd87b23d208c75ff84b0ee1e6fc061def545b081ccc76f64ff23571115c1a05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc7ee4e8dccb3ceb31f0da6ee82555c666f1c9150b7c9e34406146c5b44ff701",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwcKEAgSGAI4AUIIdGhpbmtpbmcSDLeeJgHheV97EtxKRBoMMDFWEKgWi4DdCgGrIjDlr2ZNO88gpYNyN8SplUvniZ5lKBcxoxFQw6MnBz5RrbPJh4X419bvqAOU2Kb+AdAqyAZDqAD37hrufwTSRtgHC7TiVYOshnPYAwmiyFl45hiGlhjrROhnCgEzhBU2f+vo/EeeUS9f+TwVrxrzh2HUiMBKBQ/lbHK7S/C1Wq2a0TtDlmas78mYfCTqhoRdKBhGmO3fQVgWRegbRG6po0tYW+1eIo9asuzDlz4mjumwRI2tX0iQUH5wrXhj6o6+4y9402pzYnKAVLiWYcK1DfnE/qOuBhV55KK3wzIs9KDcI1rKG18Qq/WqWDSOjU98GO6Tquuu6tIw4jqnse7JeR3oOaLvopw2cCgouf20+DqjMbtCNqIiMH/fwJAC82y1ck061E7BItx4mBYEUQymZe4SNBoWUPL1Ux+CoXcNm88ySIxRlp9Kfo/SVdPz+WhGjEJLROr86vFSSov/j2luBEuvBvaxWt9mF29H5CRnXjFU5LWVhIIWsYrrQZjzdhFcLS24U0xlKunrB6PiC85NONPxInuL1FRSs3jV2gDZ3n8ITSgdKNJqgnPv3h3qYaBs/YxzG3u3uMtWizsSlPF5WCW3rTB+ktieGwJMRtpuB5aSoHZVNEZGE/vk5m8OXD7YrUm6nOc0/WrsG5mW13cnnm7z3UYMP5xbTSemOH4sgFIURpYqe+qPHRIfwLLE/8i0zaR1pKOxePtCOv5bQJrobb8MWyyGJcrNcoHjV7UbAf663kxnh4HAwB5WRufb+qz0R9EuXOisS1tkvdS8VpMKoaDxkBVyiV55R40zLXvdTGzijb3QnaGmGzwRQCAXNQI4pFJebcPFsgpm7gCaOHCVtBXvaGXm88GsjpUIfx2iMhePqICV4d2oNhrCvwPUmBoHZphM9R9LOW5FMNi58RvdFEfnI2VTg/ezra0s4Imo9aIPwYNYfU16NHTMWdnWt7pL1/k94PT4T7+2nkDceA87HTrIQsLGSEaLjewvDSJg1mLyLn7IeYRanF61fwtE2H/KfDdGuqrqlpRHb4M8MfUUBS3feF1GlPt+Nz8t3AorwfL10fCkHVbMJM/KAGkNcbBwei00KhEthWHeXGljk/uV4CqwGFJEm3pgol1rEQNPqc3of+uOANH2LafSsZUTTHrlMim6MfGWAwRaay45+j6TjjSaBfxN8H8M4KwKP44YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Duymx4dKgimzjdRsvCmscd",
      "input": {
        "note": "Palm is resting on the bottle with the jaws flanking it. Dragging back ~11 cm while pressing down, hoping to pull the bottle toward the robot.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.155,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Duymx4dKgimzjdRsvCmscd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3794, -0.0185, -0.0292, 0.998, 0.5175, 1.895, 0.4671, 0.8455, 0.2714, 0.1719, 0.7947]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1824 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.998 right_x=0.3686 right_y=0.1594 right_z=-0.0037 right_yaw=0.1928 right_pitch=0.0124 right_roll=0.0086 right_gripper=0.7947\nstate[joint_eff]: [-0.2393, -1.6068, 6.6256, 1.8974, -0.022, -0.0513, -0.0122, 0.2393, -6.9402, 3.2342, 1.1893, 0.2076, -0.0757, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebc0312dcade4358c5b0499fe3ce5a859fb49235905194a220fc71bfaf93fb8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22357aed1e17ad95ff5703e14c7a374edcdcd151804b7848804b81a49d37916b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e84ac02979c819b92f78c3aa092473cb929bc64795622b880c0fd758620df233",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 9.826 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.3923, 1.9888, 0.8204, 0.7685, 0.1795, 0.0986, 0.0182]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.4756 right_y=0.1666 right_z=0.0566 right_yaw=0.1804 right_pitch=0.1774 right_roll=0.0337 right_gripper=0.0182\nstate[joint_eff]: [-0.3897, -1.6068, 6.5709, 1.8779, -0.0269, -0.0464, -0.0122, -0.4034, -4.4513, 3.8632, 0.6764, 0.0806, 0.0562, 0.8376]\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]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.382, 2.0327, 0.8097, 0.8383, 0.1753, 0.0883, 0.7948]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.4778 right_y=0.1626 right_z=0.0471 right_yaw=0.1788 right_pitch=0.1921 right_roll=0.0288 right_gripper=0.7948\nstate[joint_eff]: [-0.3487, -1.5111, 6.5983, 1.7656, -0.0317, -0.0415, -0.0122, -0.8274, -3.9179, 1.7846, 0.4029, -0.1245, 0.0757, -0.232]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3794, -0.0185, -0.0292, 0.998, 0.5175, 1.895, 0.4671, 0.8455, 0.2714, 0.1719, 0.7947]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1824 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.998 right_x=0.3686 right_y=0.1594 right_z=-0.0037 right_yaw=0.1928 right_pitch=0.0124 right_roll=0.0086 right_gripper=0.7947\nstate[joint_eff]: [-0.2393, -1.6068, 6.6256, 1.8974, -0.022, -0.0513, -0.0122, 0.2393, -6.9402, 3.2342, 1.1893, 0.2076, -0.0757, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebc0312dcade4358c5b0499fe3ce5a859fb49235905194a220fc71bfaf93fb8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22357aed1e17ad95ff5703e14c7a374edcdcd151804b7848804b81a49d37916b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e84ac02979c819b92f78c3aa092473cb929bc64795622b880c0fd758620df233",
        "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_01TjThvLqY2sBPM9WqRWMCdw",
      "input": {
        "note": "Dragging failed; the right-hand bottles' necks lie beyond table reach, and their fat bodies squeeze out of the short jaws. Parking the right arm and sending the left arm over the neck of the diagonal left bottle, which looks reachable, with the jaws turned about 36° so they close across the neck.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.45,
          "left_y": -0.09,
          "left_yaw": 0.63,
          "left_z": 0.15,
          "right_gripper": 1,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01TjThvLqY2sBPM9WqRWMCdw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4992, 1.8175, 1.2942, -0.4175, -0.8204, -0.8055, 0.9986, -0.1745, 0.8719, 0.5808, -0.3058, -0.2554, -0.1947, 0.9994]\nstate[eef_state]: left_x=0.4489 left_y=-0.0935 left_z=0.1437 left_yaw=0.5682 left_pitch=-0.022 left_roll=-0.0011 left_gripper=0.9986 right_x=0.3053 right_y=-0.0049 right_z=0.166 right_yaw=0.14 right_pitch=-0.0042 right_roll=-0.0098 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -9.3607, 7.6786, 0.9646, -0.6032, -0.0513, -0.1587, -0.1983, -2.441, 9.6752, 1.7607, -0.2955, 0.0317, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:443dd45620143351e8b02d30de17fe820fd5ca3a58d1a35d17c713a05093ded7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c3567b9a30a5ae91fde2574e6312c8b4f69bde0e8eaa7ce88b2d25b2d3d4b5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ebf6a664161830f876d037425f9db88a0e06d4c71d6df69fc14868401e406f4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 5.86 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.998, 0.382, 2.0327, 0.8097, 0.8383, 0.1753, 0.0883, 0.7948]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.998 right_x=0.4778 right_y=0.1626 right_z=0.0471 right_yaw=0.1788 right_pitch=0.1921 right_roll=0.0288 right_gripper=0.7948\nstate[joint_eff]: [-0.3487, -1.5111, 6.5983, 1.7656, -0.0317, -0.0415, -0.0122, -0.8274, -3.9179, 1.7846, 0.4029, -0.1245, 0.0757, -0.232]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3794, -0.0185, -0.0292, 0.998, 0.5175, 1.895, 0.4671, 0.8455, 0.2714, 0.1719, 0.7947]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1824 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.998 right_x=0.3686 right_y=0.1594 right_z=-0.0037 right_yaw=0.1928 right_pitch=0.0124 right_roll=0.0086 right_gripper=0.7947\nstate[joint_eff]: [-0.2393, -1.6068, 6.6256, 1.8974, -0.022, -0.0513, -0.0122, 0.2393, -6.9402, 3.2342, 1.1893, 0.2076, -0.0757, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4992, 1.8175, 1.2942, -0.4175, -0.8204, -0.8055, 0.9986, -0.1745, 0.8719, 0.5808, -0.3058, -0.2554, -0.1947, 0.9994]\nstate[eef_state]: left_x=0.4489 left_y=-0.0935 left_z=0.1437 left_yaw=0.5682 left_pitch=-0.022 left_roll=-0.0011 left_gripper=0.9986 right_x=0.3053 right_y=-0.0049 right_z=0.166 right_yaw=0.14 right_pitch=-0.0042 right_roll=-0.0098 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -9.3607, 7.6786, 0.9646, -0.6032, -0.0513, -0.1587, -0.1983, -2.441, 9.6752, 1.7607, -0.2955, 0.0317, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:443dd45620143351e8b02d30de17fe820fd5ca3a58d1a35d17c713a05093ded7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c3567b9a30a5ae91fde2574e6312c8b4f69bde0e8eaa7ce88b2d25b2d3d4b5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebf6a664161830f876d037425f9db88a0e06d4c71d6df69fc14868401e406f4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DuUbuvKD8T8iEbpPPNjbzY",
      "input": {
        "note": "The left wrist view shows the diagonal bottle's cap and neck slightly ahead of and to the right of the jaws. Shifting toward the neck and dropping to 8 cm to line up before the final descent.",
        "targets": {
          "left_x": 0.48,
          "left_y": -0.115,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01DuUbuvKD8T8iEbpPPNjbzY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5064, 2.0235, 1.3006, -0.26, -0.841, -0.8299, 0.9984, -0.1837, 0.8703, 0.5781, -0.3355, -0.2844, -0.2104, 0.9996]\nstate[eef_state]: left_x=0.4706 left_y=-0.1064 left_z=0.0761 left_yaw=0.5869 left_pitch=-0.0267 left_roll=0.0236 left_gripper=0.9984 right_x=0.3005 right_y=-0.0018 right_z=0.1601 right_yaw=0.1635 right_pitch=-0.028 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.9094, -10.5915, 7.3778, 1.326, -0.4615, 0.1783, -0.0366, 0.1162, -1.6479, 6.9812, 2.0195, -0.0024, 0.1783, 0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93541045e97e6cda5710a5e9340f1d5048ccc97dea592f54711b067f5011a3e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:425f78f96e9d0b82725f36bab1c391b1f76fa04ed24e3e994a7de6f4ea4292b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:87d0133ffea1e6de6fde9685abb7c49823d43c4bd49daaf154c9838fc41ce8e3",
        "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 · 8.31 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3794, -0.0185, -0.0292, 0.998, 0.5175, 1.895, 0.4671, 0.8455, 0.2714, 0.1719, 0.7947]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1824 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.998 right_x=0.3686 right_y=0.1594 right_z=-0.0037 right_yaw=0.1928 right_pitch=0.0124 right_roll=0.0086 right_gripper=0.7947\nstate[joint_eff]: [-0.2393, -1.6068, 6.6256, 1.8974, -0.022, -0.0513, -0.0122, 0.2393, -6.9402, 3.2342, 1.1893, 0.2076, -0.0757, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4992, 1.8175, 1.2942, -0.4175, -0.8204, -0.8055, 0.9986, -0.1745, 0.8719, 0.5808, -0.3058, -0.2554, -0.1947, 0.9994]\nstate[eef_state]: left_x=0.4489 left_y=-0.0935 left_z=0.1437 left_yaw=0.5682 left_pitch=-0.022 left_roll=-0.0011 left_gripper=0.9986 right_x=0.3053 right_y=-0.0049 right_z=0.166 right_yaw=0.14 right_pitch=-0.0042 right_roll=-0.0098 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -9.3607, 7.6786, 0.9646, -0.6032, -0.0513, -0.1587, -0.1983, -2.441, 9.6752, 1.7607, -0.2955, 0.0317, 0.0513]",
      "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]: [-0.5064, 2.0235, 1.3006, -0.26, -0.841, -0.8299, 0.9984, -0.1837, 0.8703, 0.5781, -0.3355, -0.2844, -0.2104, 0.9996]\nstate[eef_state]: left_x=0.4706 left_y=-0.1064 left_z=0.0761 left_yaw=0.5869 left_pitch=-0.0267 left_roll=0.0236 left_gripper=0.9984 right_x=0.3005 right_y=-0.0018 right_z=0.1601 right_yaw=0.1635 right_pitch=-0.028 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.9094, -10.5915, 7.3778, 1.326, -0.4615, 0.1783, -0.0366, 0.1162, -1.6479, 6.9812, 2.0195, -0.0024, 0.1783, 0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93541045e97e6cda5710a5e9340f1d5048ccc97dea592f54711b067f5011a3e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:425f78f96e9d0b82725f36bab1c391b1f76fa04ed24e3e994a7de6f4ea4292b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87d0133ffea1e6de6fde9685abb7c49823d43c4bd49daaf154c9838fc41ce8e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3AkKEAgSGAI4AUIIdGhpbmtpbmcSDBjigfywK7Px5GywIBoM5O0FzXvCTlQo20hjIjBjci/7zGNKg5UF2wM5MVIZFnbhOYR0OUdpki5c7jFM8evXI9bkI+Tw3FQ7pRjQgakq+Qiczx0w9SQR84xuL9tvB/KW7puNqDiMRiqzg4oq2PWeCF6u8d8EOtCEu9DwjrhlBvwB+uRAZn5zpIwOnYB7WRLbMVzyBy6HSpk3ovpwBi2QsU91z2EUlgI875Sd3kHsJ7oV89Iesymu6MM2QuVUMYvbr+P/aS9UQQz4orsaZWLKl4NzNmSjKK8odurtkVDD7xBhVJQImSCtJ4wPIRrY2BRl5RRSq/XEqtDYW4RbsOFz10bIcN4BtUC+1vXUjMA3Y1b5Ou3yeV5yK0kPTvpcSd1kxEwX7Rduq1xSBe3gVk3FlVLOeimhsCl7LEI62f31YVaP6bkBVS1m9g1CzTHaGbAvxuRf6stNEMotrwDZFxyYqitAcUzXH10ujb10HX6zeomU3GqZEGL41G+MwQKbMoy/rWjs8fa8NFrSaLDWIqrmpeMqZ6fl8qsmSBzVpNLVwUjY2altnmHAfdYPCiXsE5jJ2gOAS4vcjisq+TZY0N60lD2AAZWNfzVaVpdZIa2hiCZxylDG6+nHLuRBYSAzpLsIZMEU58NzLU+Ra6jNrU5qdbqSpNzEuwBSzCRb0hviQ8ayePxnMKflipzm+i4GS6EgGt4tSbHkiZ1+WO0VOTAVN3abXk9vmIiB3LjH/zgHm7XOySmMYR7oVY+B2dWl37Tp7G7yAoRwpqKn8ldVrzQzGArdnxHuZGikf4rJBkRKBdRNvspgTNkOsZsR4KsVMwBUuuAK/Y9J8kipCcwLQGVdxPy+GXeHKTP8F6AGRs119Y/IcydT5p8GzOYl0cybi/sK6u9+NknVPeSZVbP3GUwGFEWYInQ+FLtF7oXB0gfylYuay5BvId7yEuQ028TOwa1NVwxlDrV0fz/WfPCh9MghYpmsqu1uYFuO/KAGVgtyWMGNvHXlfErEPRYy+MjsH7qWIN8qZP2CbYuLHHqeG9Fv8QFTyAuNddB8SneMi/xR9TRKtixeM/DmyE0p/fy7pKWJtjWCOjVpAIm1w/v7ok+Xc3moEFksiEsHSQEMv/t+AMmIoqhKFpjuaV9rOe4wArtiMwCh/Ozsnbtg0nFMN5BNtLG5tNRzWzustTaWLtuXsWTcekTrEFjwR1XASseeZkVlg/qgRx4VITzzyuIK70f7RqAiKhx3BCdnaKQ8uNtOMM+OF01oJLstRFfPT5FC2XzcEIFiSpiGL8m2Z18D2A9LLZIxpaNQr/2/djkKfyKQ/Qu95tskUlRB+vTId1XycONk6jK4yhOcDFjpZlNxPbwOCXM1Iki/JeeeMnddTMIM/ba/8BRijZYF6jIS/eqk45TydL2P3EgmrPSrGtMysDNNDrxU4lSK7z7ZU14l+WllhSHYBiSiT6JRY3pBFPGZvfD4FhSC6qdt04IR8Ai9l6VdGycAudzTaBH6l/0UpBhSE/fxjtUgpru821S1gQY6cM/WBg/lVpLpFJmpulpwwk6iDJa2dMMFOyUCF+/v+odLUnrhc3vtSPtiKI4GBQjO51eydVZIVUWvQNOcYto2crQ/Bgm1Zobg+ejuZxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QM1hM8PtTn74cXP5HM6TMn",
      "input": {
        "note": "The bottle is now centred and aligned with the jaws, but the jaws sit at the shoulder with the neck just ahead. Advancing ~3 cm along the bottle and descending to neck height.",
        "targets": {
          "left_x": 0.495,
          "left_y": -0.092,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QM1hM8PtTn74cXP5HM6TMn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.511, 2.046, 1.3006, -0.2195, -0.8383, -0.8303, 0.9981, -0.1848, 0.8627, 0.551, -0.321, -0.292, -0.2123, 0.9996]\nstate[eef_state]: left_x=0.4748 left_y=-0.1115 left_z=0.0701 left_yaw=0.5806 left_pitch=-0.0204 left_roll=0.0063 left_gripper=0.9981 right_x=0.298 right_y=-0.0003 right_z=0.1532 right_yaw=0.1697 right_pitch=-0.0312 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -11.1795, 7.4051, 1.2918, -0.4322, 0.2369, -0.0415, -0.6359, -2.5231, 6.8308, 1.8926, -0.1343, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cb71299daa53f0aeaa70a0755a070e67f9a084720d8e9b531d6c3147d4ae676",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2847b4f59e0745aa3ab7e361fbb9da014d6f667975bcc65699975150b93510bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f4b04db69a2a6f3ac2cd444a05bfd3bac5adf5cdc4ad2b7642e8e7e2c1a9b46e",
        "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 · 10.23 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]: [-0.4992, 1.8175, 1.2942, -0.4175, -0.8204, -0.8055, 0.9986, -0.1745, 0.8719, 0.5808, -0.3058, -0.2554, -0.1947, 0.9994]\nstate[eef_state]: left_x=0.4489 left_y=-0.0935 left_z=0.1437 left_yaw=0.5682 left_pitch=-0.022 left_roll=-0.0011 left_gripper=0.9986 right_x=0.3053 right_y=-0.0049 right_z=0.166 right_yaw=0.14 right_pitch=-0.0042 right_roll=-0.0098 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -9.3607, 7.6786, 0.9646, -0.6032, -0.0513, -0.1587, -0.1983, -2.441, 9.6752, 1.7607, -0.2955, 0.0317, 0.0513]",
      "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]: [-0.5064, 2.0235, 1.3006, -0.26, -0.841, -0.8299, 0.9984, -0.1837, 0.8703, 0.5781, -0.3355, -0.2844, -0.2104, 0.9996]\nstate[eef_state]: left_x=0.4706 left_y=-0.1064 left_z=0.0761 left_yaw=0.5869 left_pitch=-0.0267 left_roll=0.0236 left_gripper=0.9984 right_x=0.3005 right_y=-0.0018 right_z=0.1601 right_yaw=0.1635 right_pitch=-0.028 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.9094, -10.5915, 7.3778, 1.326, -0.4615, 0.1783, -0.0366, 0.1162, -1.6479, 6.9812, 2.0195, -0.0024, 0.1783, 0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.511, 2.046, 1.3006, -0.2195, -0.8383, -0.8303, 0.9981, -0.1848, 0.8627, 0.551, -0.321, -0.292, -0.2123, 0.9996]\nstate[eef_state]: left_x=0.4748 left_y=-0.1115 left_z=0.0701 left_yaw=0.5806 left_pitch=-0.0204 left_roll=0.0063 left_gripper=0.9981 right_x=0.298 right_y=-0.0003 right_z=0.1532 right_yaw=0.1697 right_pitch=-0.0312 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -11.1795, 7.4051, 1.2918, -0.4322, 0.2369, -0.0415, -0.6359, -2.5231, 6.8308, 1.8926, -0.1343, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cb71299daa53f0aeaa70a0755a070e67f9a084720d8e9b531d6c3147d4ae676",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2847b4f59e0745aa3ab7e361fbb9da014d6f667975bcc65699975150b93510bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4b04db69a2a6f3ac2cd444a05bfd3bac5adf5cdc4ad2b7642e8e7e2c1a9b46e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiQsKEAgSGAI4AUIIdGhpbmtpbmcSDCk5Xske89CvmGDiphoMaRI6923BWWp/EGRUIjD6P9uZBLU2MQDAerZzRtMgIOBwDtOOhkMImrHueJSDrEs74mgxMS1xNPrQ9p+gbDoqpgqydHVrWG7ShDy5wK/fimhmrxK3Meiy4Uz9im+Y5CDMGwrt615ySEHfgMtE4hX5iPXPLFxNgQbCuGBtyB4YFNyrnJOt/j4sgARYKzjoP6NSTqo4H8cWxE6IZbOgZZsuv/JdC8UdKk5agLU1iwYdVGkzf5wnywTyaQOo33nVTZq1QJ0ScyFtyD9YpyaAeYcAAkDrHV9MnIBOYa6iOt00jjxlESDG+o5vKpObrveXv/l8vayLEVEINveQa/Cp/gwWZ/sreWH51Risd/z2r8EUmTUw5fy38113hXmLCnNDN0C6O//aBcX74CzYJk5D1ixTJcPZ5pU9kxvCsk1T/GJnM7BTvxYs5P9m0Fqqwd0QKdiPLxV6Cy3LgmWs4T9SQ2U3c6UM3njtMoluRfyLdDl3scD3OIjFKJUUcZ3VzU3NhRW3kwJ6iQ4QO14qeHXwq8tk0AxzOhecE0NMdXO/YXW4UOsbmNftEloGs1W1S3mOv9kGkIP2kjv1Vxvb42sExYBO9fCBh/4VRuLepfcCzPQlLQnuPdLcQ8/yzrIzy9ticWtDBdqpWtXXx2HBat3NevdznplUwPHIQuoXDofjjhDaJ9yoxkTesne0lItC9aEXbQB1oU9tpuP9P3O6K0tvNJ2LsWHbsAQxQCg4RTt0IcM9IltKAHfvJ88Kzue/b7xpGu39erd9OJwMPSsf9BQT1KmdIg1TJLCVXd7QScecfrkb5sjleUlrPFn/TOBDHYQ24D4Swv8yXr9DRUeFmCVM8xhPreb40x3oHEGy2Hqc1zgGXcvAvoBv0/8RqVo3Xlmx+WYm4QtcNfSSyr9wl85I1pS+YwrDHv2osD3dvnAj2bLXsSN7yDmtd+tFrO5OAmBOw2sfVAb7gtFQebRkxYZoa29ryhQ2o6ubRGzzUK9ScK+JkzOiB/YW/W11AbqpTe0qo7A8WC3E+yPDCWVDnZCeLtmHJD+oBLSDIuXd7N1nU/zd55mRtg7mvA2nJVPQpMP6QTAi7EbPzB5HhZRAMSpaN/ynbWCVfOKBeyE+kLL7SHxK/lJHR7JFEib+HF3Z1R41+GNcfIXUW2A4SxznA8rjNm8Q0ibqzMUUMB7/SVxCvMK7y7Wwz4/HzRDE02sSWv32x6N37CQHKTZbpGGohfKOKa8VQ+5Ytn6NMeKnPl2GD2cIe0NXp7EifuB3VWfkQgNL10+TiRQG/IKBhq9eBaJJWkGVia/c1lj7yl7Osj7xpaf8XaSH19jLGdW4nvF//7PutJgJ4jV4TAvk/6gyRSBOcyroKp7mpxIusMPfaiyasK4Vg9Z0f1u4mWB2h2r6/v4i0L7baC1VbgbiLxs1NWL8omTx+mhj4n+RfgI6V7gdNuQRXAo8Y1AHSAdyamgbyeihaIqU9OXatuxyg1EgU4U3BXyVr11IwzLJrZzn90IZVZ17h1HMKO20nf1I2GCBov0uk2OvFtxwr11IeH+2r/x39XkTAmF/LfUZQ4Km+ZyEkNhFLoRROrFnu3pV0KUT4kwTsGIn+dGhX0D181Hh4ZsP8ejGPTIuDvY6Jrt1qvc7tR9gVFw6ZcoJafdBC1N7f4sApCiZNOwNMDV9gJVCJw/avioZUsBUB8+oYs0OVhCquwaXvdeB/SM3zpk6QozA+yAPvHlBYiTDNvrliZffvUpzmI2oYAgkleUNoNrwbQ6sDLTpcNQVAb8+hrbQGS6uz0LCt5Xk/cdJg36pGvOLNJGTy0Xc0h3khoMZNiUOqPWI0yqLGS9WjpSXBFM2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018bKq7AjteCctTgsc2PSw2x",
      "input": {
        "note": "The arm is at its reach limit (~0.49 m radius), just short of the neck, so the jaws are over the tapered shoulder. Descending straight down there to try a shoulder grasp.",
        "targets": {
          "left_x": 0.475,
          "left_y": -0.11,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018bKq7AjteCctTgsc2PSw2x",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.511, 2.046, 1.3006, -0.2195, -0.8387, -0.8307, 0.998, -0.1844, 0.8543, 0.5213, -0.3054, -0.2924, -0.2146, 0.9996]\nstate[eef_state]: left_x=0.4748 left_y=-0.1115 left_z=0.0701 left_yaw=0.581 left_pitch=-0.0201 left_roll=0.0061 left_gripper=0.998 right_x=0.2951 right_y=0.0004 right_z=0.1453 right_yaw=0.1717 right_pitch=-0.0364 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -11.3846, 7.3231, 1.2674, -0.4811, 0.2076, -0.022, -0.3214, -2.6051, 6.8581, 1.956, -0.2125, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:475179b0285bf77f73b86b51727c7596ece04a95ba540d248a9c721ef0c4a695",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:801486d0c6887e280f018517f583618b3a0a7c9b61bde4e1e08736dcb357ac1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c5691d4c8e0f7eaa50b790a6143cdfdcc4f026992d8b6d9ea4043ed12cfca741",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 4.985 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]: [-0.5064, 2.0235, 1.3006, -0.26, -0.841, -0.8299, 0.9984, -0.1837, 0.8703, 0.5781, -0.3355, -0.2844, -0.2104, 0.9996]\nstate[eef_state]: left_x=0.4706 left_y=-0.1064 left_z=0.0761 left_yaw=0.5869 left_pitch=-0.0267 left_roll=0.0236 left_gripper=0.9984 right_x=0.3005 right_y=-0.0018 right_z=0.1601 right_yaw=0.1635 right_pitch=-0.028 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.9094, -10.5915, 7.3778, 1.326, -0.4615, 0.1783, -0.0366, 0.1162, -1.6479, 6.9812, 2.0195, -0.0024, 0.1783, 0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.511, 2.046, 1.3006, -0.2195, -0.8383, -0.8303, 0.9981, -0.1848, 0.8627, 0.551, -0.321, -0.292, -0.2123, 0.9996]\nstate[eef_state]: left_x=0.4748 left_y=-0.1115 left_z=0.0701 left_yaw=0.5806 left_pitch=-0.0204 left_roll=0.0063 left_gripper=0.9981 right_x=0.298 right_y=-0.0003 right_z=0.1532 right_yaw=0.1697 right_pitch=-0.0312 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -11.1795, 7.4051, 1.2918, -0.4322, 0.2369, -0.0415, -0.6359, -2.5231, 6.8308, 1.8926, -0.1343, 0.0171, -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]: [-0.511, 2.046, 1.3006, -0.2195, -0.8387, -0.8307, 0.998, -0.1844, 0.8543, 0.5213, -0.3054, -0.2924, -0.2146, 0.9996]\nstate[eef_state]: left_x=0.4748 left_y=-0.1115 left_z=0.0701 left_yaw=0.581 left_pitch=-0.0201 left_roll=0.0061 left_gripper=0.998 right_x=0.2951 right_y=0.0004 right_z=0.1453 right_yaw=0.1717 right_pitch=-0.0364 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -11.3846, 7.3231, 1.2674, -0.4811, 0.2076, -0.022, -0.3214, -2.6051, 6.8581, 1.956, -0.2125, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:475179b0285bf77f73b86b51727c7596ece04a95ba540d248a9c721ef0c4a695",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:801486d0c6887e280f018517f583618b3a0a7c9b61bde4e1e08736dcb357ac1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5691d4c8e0f7eaa50b790a6143cdfdcc4f026992d8b6d9ea4043ed12cfca741",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AXQusHujdHKapkuubwQ5kF",
      "input": {
        "note": "The left arm froze at the reach limit; low targets beyond ~0.48 m radius seem to be refused. Retrying the descent 1.5 cm closer in, over the bottle's shoulder.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.105,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01AXQusHujdHKapkuubwQ5kF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5121, 2.0514, 1.2129, -0.0975, -0.8471, -0.831, 0.998, -0.1848, 0.8394, 0.485, -0.2829, -0.2924, -0.215, 0.9996]\nstate[eef_state]: left_x=0.4688 left_y=-0.1076 left_z=0.0535 left_yaw=0.5847 left_pitch=-0.0008 left_roll=-0.0168 left_gripper=0.998 right_x=0.2918 right_y=0.0009 right_z=0.1376 right_yaw=0.1715 right_pitch=-0.0354 right_roll=0.007 right_gripper=0.9996\nstate[joint_eff]: [-0.8274, -7.1316, 4.7248, 1.0476, -0.4518, -0.022, -0.0171, -0.6222, -2.1538, 6.9128, 1.9951, -0.2369, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:716b4c9170aad9f827e98470786d0d83e1f0a3941300a354513cee0656624845",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a4f6a3e64d27d48bea340d5aca32899d2a5c8c799b3cf831ea8a209919878cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4602310b4559c87f7ad69664551aff03c0503d2b5c8e91fad655e235618ef27a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 16.92 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]: [-0.511, 2.046, 1.3006, -0.2195, -0.8383, -0.8303, 0.9981, -0.1848, 0.8627, 0.551, -0.321, -0.292, -0.2123, 0.9996]\nstate[eef_state]: left_x=0.4748 left_y=-0.1115 left_z=0.0701 left_yaw=0.5806 left_pitch=-0.0204 left_roll=0.0063 left_gripper=0.9981 right_x=0.298 right_y=-0.0003 right_z=0.1532 right_yaw=0.1697 right_pitch=-0.0312 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -11.1795, 7.4051, 1.2918, -0.4322, 0.2369, -0.0415, -0.6359, -2.5231, 6.8308, 1.8926, -0.1343, 0.0171, -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]: [-0.511, 2.046, 1.3006, -0.2195, -0.8387, -0.8307, 0.998, -0.1844, 0.8543, 0.5213, -0.3054, -0.2924, -0.2146, 0.9996]\nstate[eef_state]: left_x=0.4748 left_y=-0.1115 left_z=0.0701 left_yaw=0.581 left_pitch=-0.0201 left_roll=0.0061 left_gripper=0.998 right_x=0.2951 right_y=0.0004 right_z=0.1453 right_yaw=0.1717 right_pitch=-0.0364 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -11.3846, 7.3231, 1.2674, -0.4811, 0.2076, -0.022, -0.3214, -2.6051, 6.8581, 1.956, -0.2125, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5121, 2.0514, 1.2129, -0.0975, -0.8471, -0.831, 0.998, -0.1848, 0.8394, 0.485, -0.2829, -0.2924, -0.215, 0.9996]\nstate[eef_state]: left_x=0.4688 left_y=-0.1076 left_z=0.0535 left_yaw=0.5847 left_pitch=-0.0008 left_roll=-0.0168 left_gripper=0.998 right_x=0.2918 right_y=0.0009 right_z=0.1376 right_yaw=0.1715 right_pitch=-0.0354 right_roll=0.007 right_gripper=0.9996\nstate[joint_eff]: [-0.8274, -7.1316, 4.7248, 1.0476, -0.4518, -0.022, -0.0171, -0.6222, -2.1538, 6.9128, 1.9951, -0.2369, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:716b4c9170aad9f827e98470786d0d83e1f0a3941300a354513cee0656624845",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a4f6a3e64d27d48bea340d5aca32899d2a5c8c799b3cf831ea8a209919878cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4602310b4559c87f7ad69664551aff03c0503d2b5c8e91fad655e235618ef27a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2QgKEAgSGAI4AUIIdGhpbmtpbmcSDDnXF8/lBhw9DMpAKRoMqFtbzFMsJjRpaWmOIjCQFFF3MXc+NLPwc1DGfEnvnQu70ulyFp7YnpOlfe44ujE9fyHAo2YyvHMiZn5+GgAq9geAZUzs3VZbvKpN0OsmKC9ZN9tFYbu31GXRjYou+SEMgcjUJI7DD87YdNUc3PjTViToLCTTUhF8swvZ6YOHFyb/QRJC5ysA9EgauCe07jk/Pb+aRF7Xht+o4L/fvN7RwpLgGZDqUwQnWdyK/aLEWM9tDw2S9IeVYs+LEz9A8EvIWVtmyvFUIfFexD6FQ4/2GKzMDs9X1c2iA4Mjv3WmgK43fEys7mb1ozjOzMNEK/CBnQWujR/4eYzzSWK8zhtI1LaoljdTjxU1za5oDPic+UY+vP0adO+3oEU+OdtLaLD1yWw6m0m0ii4TVzhvEjqOgYC0BLDKAoYAFM3F+StoncyCSZPft2iku/aoZHG/Nbd/u5bAbPEZ/x/l8wD/7BTvDTJY8r2o4lvdap+F1Sf2EGxQtMthM5wk2Q4AGCimt2SZHpb/8KH/J5uvAWSEWKK1FZj+kMCjx99cFS7MZvc4aL+c6zA4PdDW5s/yud6AoRZm/vqqEcuecDDMOxiwr/dzE821SB0DoJjb/TOz3D+1kKVSGduash2wiTt9BYrCW3so0f6PO0EV748q6JnETEAPGI0UvU5jNrlCZQ8yBo3JgDK9xslHjo5Foge38GLhYFuxyRDPwty5sxMxaVsUoygeFeyxGK6L5xVrL462iBw34PAM86ldbf92/v1ITN50amqWxRqlt3+X2FhFgXZAxd19EdD1gjGLZFFeQ2HbJTR1UG6/gr2yObkAZHZtHVWfqvGcJRz5gO4AnFnOBNselP3XbXDpFDzOIlt59SioWdU2fhFfhhuICYqUtY3lZ1WDgNT58P3IJQwzJmASilpPNf77CiN/R9dEO022gzAb5x4KaI0BxffpIjdb9jcINdg1TO+lQE5XtJFe2sRRU3ITR6rMydu1mkYTCEVzmCIljXElEwC/TNswv2tMPFO37oXOH96gDhFzGRa002KrLA2HnPHHyp9Ph+QQzq9ZDLSfYeAMyeTToaIwzhONYXVn8duJhKzHThsayTXjA0/SNzZkwilI0aBtjWKl0jH2WF9iXVRRMZvzX1VBVM31LG9UYjH7vd2chEPhmbxz2jv+JkIm/GlT47jbT1FGQmPlfZsl5H37aHft2JydfC1pgYsRoNUwiW5LWfmNwTw4sQEroClFgs4IQSpckYpFm36diU7TFYKoKVl36DsqjrHYiSc68ympc83B3qA8xPnxRpjVxXRm791702LSWqyuB1/OhbK9LK0gaJjAC7eRw3MFvBYU6TzMhtzCOea3qtm9GcxwNl7VB+96aEOKgJZmxbHsra+/HBWdAoYJqlY4hpLpxDlJKnV2Qp4yN//doB+CgkLB/7Sc894osW0DqDyaRQYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K9U7yKRDgL6TwgEC6iW9Hi",
      "input": {
        "note": "The left jaws are straddling the upper body just behind the neck and the palm is resting on the bottle. Closing while pressing down to try a grasp.",
        "targets": {
          "left_gripper": 0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01K9U7yKRDgL6TwgEC6iW9Hi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5163, 2.075, 1.2091, 0.0193, -0.907, -0.8383, 0.0143, -0.1848, 0.8261, 0.4515, -0.2642, -0.2928, -0.215, 0.9996]\nstate[eef_state]: left_x=0.4797 left_y=-0.1082 left_z=0.0615 left_yaw=0.6244 left_pitch=0.08 left_roll=-0.0831 left_gripper=0.0143 right_x=0.2884 right_y=0.0016 right_z=0.1298 right_yaw=0.1718 right_pitch=-0.0367 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -8.0479, 4.506, 0.8034, 0.1099, 0.1245, 1.3114, -0.6906, -2.2359, 7.2274, 2.0098, -0.2222, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3be744155f33469b3a39dea61ee66883f939d88045ee17958a0658749438c05c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9eb224ff49639305c5497cd861e0a7735ccf2a0af9c275b4377b08adb5f9993a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d54b86fb6c59ca842f32c8eab7e85464ec34dd82de4af8ca25cb94946d875717",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 8.083 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]: [-0.511, 2.046, 1.3006, -0.2195, -0.8387, -0.8307, 0.998, -0.1844, 0.8543, 0.5213, -0.3054, -0.2924, -0.2146, 0.9996]\nstate[eef_state]: left_x=0.4748 left_y=-0.1115 left_z=0.0701 left_yaw=0.581 left_pitch=-0.0201 left_roll=0.0061 left_gripper=0.998 right_x=0.2951 right_y=0.0004 right_z=0.1453 right_yaw=0.1717 right_pitch=-0.0364 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -11.3846, 7.3231, 1.2674, -0.4811, 0.2076, -0.022, -0.3214, -2.6051, 6.8581, 1.956, -0.2125, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5121, 2.0514, 1.2129, -0.0975, -0.8471, -0.831, 0.998, -0.1848, 0.8394, 0.485, -0.2829, -0.2924, -0.215, 0.9996]\nstate[eef_state]: left_x=0.4688 left_y=-0.1076 left_z=0.0535 left_yaw=0.5847 left_pitch=-0.0008 left_roll=-0.0168 left_gripper=0.998 right_x=0.2918 right_y=0.0009 right_z=0.1376 right_yaw=0.1715 right_pitch=-0.0354 right_roll=0.007 right_gripper=0.9996\nstate[joint_eff]: [-0.8274, -7.1316, 4.7248, 1.0476, -0.4518, -0.022, -0.0171, -0.6222, -2.1538, 6.9128, 1.9951, -0.2369, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5163, 2.075, 1.2091, 0.0193, -0.907, -0.8383, 0.0143, -0.1848, 0.8261, 0.4515, -0.2642, -0.2928, -0.215, 0.9996]\nstate[eef_state]: left_x=0.4797 left_y=-0.1082 left_z=0.0615 left_yaw=0.6244 left_pitch=0.08 left_roll=-0.0831 left_gripper=0.0143 right_x=0.2884 right_y=0.0016 right_z=0.1298 right_yaw=0.1718 right_pitch=-0.0367 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -8.0479, 4.506, 0.8034, 0.1099, 0.1245, 1.3114, -0.6906, -2.2359, 7.2274, 2.0098, -0.2222, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3be744155f33469b3a39dea61ee66883f939d88045ee17958a0658749438c05c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9eb224ff49639305c5497cd861e0a7735ccf2a0af9c275b4377b08adb5f9993a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d54b86fb6c59ca842f32c8eab7e85464ec34dd82de4af8ca25cb94946d875717",
        "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_01Xz7Q4yi35xZ84t1pRu2XXp",
      "input": {
        "note": "The grasp slipped again. New tactic: press the closed gripper onto the top of the diagonal bottle and sweep sideways toward the base and to the left, rolling it so its neck ends up a few cm closer and within reach. Also re-parking the drifting right arm.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.01,
          "left_z": 0.045,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Xz7Q4yi35xZ84t1pRu2XXp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.347, 1.8362, 0.7948, 0.136, -0.7837, -0.7074, 0.0161, -0.1844, 0.8501, 0.6613, -0.4484, -0.2928, -0.2188, 0.9996]\nstate[eef_state]: left_x=0.406 left_y=-0.0104 left_z=0.0322 left_yaw=0.6449 left_pitch=-0.0299 left_roll=0.0351 left_gripper=0.0161 right_x=0.2952 right_y=0.0004 right_z=0.1811 right_yaw=0.1743 right_pitch=-0.0353 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -10.1128, 5.3812, 1.6142, -0.2515, 0.0269, 1.033, -0.253, -1.1829, 9.812, 1.7949, -0.1685, 0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0216eb1b6155cb48a20ff44a905ef3480fe57f0399eb9a322fb66074cf580a1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61ad9ad109b5e7a1a5311196f0a2f348d3772c472ff941624149991fbcff83c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c28efffdeb6a1fc689f3e1b141bb9f607929c2d6abde52b7df9df0c792035813",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 7.552 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]: [-0.5121, 2.0514, 1.2129, -0.0975, -0.8471, -0.831, 0.998, -0.1848, 0.8394, 0.485, -0.2829, -0.2924, -0.215, 0.9996]\nstate[eef_state]: left_x=0.4688 left_y=-0.1076 left_z=0.0535 left_yaw=0.5847 left_pitch=-0.0008 left_roll=-0.0168 left_gripper=0.998 right_x=0.2918 right_y=0.0009 right_z=0.1376 right_yaw=0.1715 right_pitch=-0.0354 right_roll=0.007 right_gripper=0.9996\nstate[joint_eff]: [-0.8274, -7.1316, 4.7248, 1.0476, -0.4518, -0.022, -0.0171, -0.6222, -2.1538, 6.9128, 1.9951, -0.2369, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5163, 2.075, 1.2091, 0.0193, -0.907, -0.8383, 0.0143, -0.1848, 0.8261, 0.4515, -0.2642, -0.2928, -0.215, 0.9996]\nstate[eef_state]: left_x=0.4797 left_y=-0.1082 left_z=0.0615 left_yaw=0.6244 left_pitch=0.08 left_roll=-0.0831 left_gripper=0.0143 right_x=0.2884 right_y=0.0016 right_z=0.1298 right_yaw=0.1718 right_pitch=-0.0367 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -8.0479, 4.506, 0.8034, 0.1099, 0.1245, 1.3114, -0.6906, -2.2359, 7.2274, 2.0098, -0.2222, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.347, 1.8362, 0.7948, 0.136, -0.7837, -0.7074, 0.0161, -0.1844, 0.8501, 0.6613, -0.4484, -0.2928, -0.2188, 0.9996]\nstate[eef_state]: left_x=0.406 left_y=-0.0104 left_z=0.0322 left_yaw=0.6449 left_pitch=-0.0299 left_roll=0.0351 left_gripper=0.0161 right_x=0.2952 right_y=0.0004 right_z=0.1811 right_yaw=0.1743 right_pitch=-0.0353 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -10.1128, 5.3812, 1.6142, -0.2515, 0.0269, 1.033, -0.253, -1.1829, 9.812, 1.7949, -0.1685, 0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0216eb1b6155cb48a20ff44a905ef3480fe57f0399eb9a322fb66074cf580a1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61ad9ad109b5e7a1a5311196f0a2f348d3772c472ff941624149991fbcff83c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c28efffdeb6a1fc689f3e1b141bb9f607929c2d6abde52b7df9df0c792035813",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012Xfrc6BrqsaMbs9cmPFd74",
      "input": {
        "note": "The roll moved the left bottle somewhat; its cap is now at the right edge of the wrist view. Lifting and opening, then moving over where the neck should be to check it's within reach.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.46,
          "left_y": -0.05,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012Xfrc6BrqsaMbs9cmPFd74",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3935, 1.8374, 1.1671, -0.2115, -0.8085, -0.77, 0.9951, -0.1856, 0.8349, 0.6216, -0.4263, -0.2928, -0.2188, 0.9996]\nstate[eef_state]: left_x=0.4576 left_y=-0.0478 left_z=0.1134 left_yaw=0.6471 left_pitch=-0.0007 left_roll=-0.0273 left_gripper=0.9951 right_x=0.2921 right_y=0.0007 right_z=0.1719 right_yaw=0.1731 right_pitch=-0.0374 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.8547, -8.2393, 8.3624, 1.1697, -0.5055, 0.1001, -0.1245, -0.4581, -2.0991, 7.241, 1.873, -0.2515, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96d72c736747813a3fd802859797b9b21d584f418495d2837ebd519e2e5368c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9975c6e670b8f33457cd3f5d9f3a63fa4c2c473d04ae6b75a34b952b25f9fd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:80c7ae4782e010a1c021d3ca316f3ec9b0ec8bce4acd16d2eccbd58d3e02f92d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 10.41 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]: [-0.5163, 2.075, 1.2091, 0.0193, -0.907, -0.8383, 0.0143, -0.1848, 0.8261, 0.4515, -0.2642, -0.2928, -0.215, 0.9996]\nstate[eef_state]: left_x=0.4797 left_y=-0.1082 left_z=0.0615 left_yaw=0.6244 left_pitch=0.08 left_roll=-0.0831 left_gripper=0.0143 right_x=0.2884 right_y=0.0016 right_z=0.1298 right_yaw=0.1718 right_pitch=-0.0367 right_roll=0.0077 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -8.0479, 4.506, 0.8034, 0.1099, 0.1245, 1.3114, -0.6906, -2.2359, 7.2274, 2.0098, -0.2222, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.347, 1.8362, 0.7948, 0.136, -0.7837, -0.7074, 0.0161, -0.1844, 0.8501, 0.6613, -0.4484, -0.2928, -0.2188, 0.9996]\nstate[eef_state]: left_x=0.406 left_y=-0.0104 left_z=0.0322 left_yaw=0.6449 left_pitch=-0.0299 left_roll=0.0351 left_gripper=0.0161 right_x=0.2952 right_y=0.0004 right_z=0.1811 right_yaw=0.1743 right_pitch=-0.0353 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -10.1128, 5.3812, 1.6142, -0.2515, 0.0269, 1.033, -0.253, -1.1829, 9.812, 1.7949, -0.1685, 0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3935, 1.8374, 1.1671, -0.2115, -0.8085, -0.77, 0.9951, -0.1856, 0.8349, 0.6216, -0.4263, -0.2928, -0.2188, 0.9996]\nstate[eef_state]: left_x=0.4576 left_y=-0.0478 left_z=0.1134 left_yaw=0.6471 left_pitch=-0.0007 left_roll=-0.0273 left_gripper=0.9951 right_x=0.2921 right_y=0.0007 right_z=0.1719 right_yaw=0.1731 right_pitch=-0.0374 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.8547, -8.2393, 8.3624, 1.1697, -0.5055, 0.1001, -0.1245, -0.4581, -2.0991, 7.241, 1.873, -0.2515, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96d72c736747813a3fd802859797b9b21d584f418495d2837ebd519e2e5368c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9975c6e670b8f33457cd3f5d9f3a63fa4c2c473d04ae6b75a34b952b25f9fd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80c7ae4782e010a1c021d3ca316f3ec9b0ec8bce4acd16d2eccbd58d3e02f92d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RADjQXYh3ZYU94dDV27Wrx",
      "input": {
        "note": "The bottle's neck now appears right at the jaw row, about 3.5 cm to the right of the jaw column, and lined up with the jaws. Shifting right onto it and descending to neck height.",
        "targets": {
          "left_x": 0.477,
          "left_y": -0.075,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01RADjQXYh3ZYU94dDV27Wrx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4389, 2.083, 1.1831, 0.0025, -0.8501, -0.8139, 0.9959, -0.1856, 0.8158, 0.5858, -0.4026, -0.2928, -0.2184, 0.9996]\nstate[eef_state]: left_x=0.479 left_y=-0.0743 left_z=0.0417 left_yaw=0.651 left_pitch=0.0193 left_roll=-0.0353 left_gripper=0.9959 right_x=0.2895 right_y=0.0012 right_z=0.1655 right_yaw=0.1728 right_pitch=-0.031 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -6.8034, 5.6547, 0.7643, -0.2222, 0.0317, 0.0806, -0.8274, -1.9624, 7.0222, 1.9121, -0.2125, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58bb0542cc6e07fdf3603cd452bc1ba622da6ae3716cd7a9840fbcd6c597c9f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ddc10c53d9062ec8f841c3bca8fd8454e676aeb5ab4a91c853e32be58407a96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71870f06140a8ba0d2b534aa4f1366b079a488ad67779ca8c3c824260fdd3efa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 6.09 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]: [-0.347, 1.8362, 0.7948, 0.136, -0.7837, -0.7074, 0.0161, -0.1844, 0.8501, 0.6613, -0.4484, -0.2928, -0.2188, 0.9996]\nstate[eef_state]: left_x=0.406 left_y=-0.0104 left_z=0.0322 left_yaw=0.6449 left_pitch=-0.0299 left_roll=0.0351 left_gripper=0.0161 right_x=0.2952 right_y=0.0004 right_z=0.1811 right_yaw=0.1743 right_pitch=-0.0353 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -10.1128, 5.3812, 1.6142, -0.2515, 0.0269, 1.033, -0.253, -1.1829, 9.812, 1.7949, -0.1685, 0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3935, 1.8374, 1.1671, -0.2115, -0.8085, -0.77, 0.9951, -0.1856, 0.8349, 0.6216, -0.4263, -0.2928, -0.2188, 0.9996]\nstate[eef_state]: left_x=0.4576 left_y=-0.0478 left_z=0.1134 left_yaw=0.6471 left_pitch=-0.0007 left_roll=-0.0273 left_gripper=0.9951 right_x=0.2921 right_y=0.0007 right_z=0.1719 right_yaw=0.1731 right_pitch=-0.0374 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.8547, -8.2393, 8.3624, 1.1697, -0.5055, 0.1001, -0.1245, -0.4581, -2.0991, 7.241, 1.873, -0.2515, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4389, 2.083, 1.1831, 0.0025, -0.8501, -0.8139, 0.9959, -0.1856, 0.8158, 0.5858, -0.4026, -0.2928, -0.2184, 0.9996]\nstate[eef_state]: left_x=0.479 left_y=-0.0743 left_z=0.0417 left_yaw=0.651 left_pitch=0.0193 left_roll=-0.0353 left_gripper=0.9959 right_x=0.2895 right_y=0.0012 right_z=0.1655 right_yaw=0.1728 right_pitch=-0.031 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -6.8034, 5.6547, 0.7643, -0.2222, 0.0317, 0.0806, -0.8274, -1.9624, 7.0222, 1.9121, -0.2125, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58bb0542cc6e07fdf3603cd452bc1ba622da6ae3716cd7a9840fbcd6c597c9f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ddc10c53d9062ec8f841c3bca8fd8454e676aeb5ab4a91c853e32be58407a96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71870f06140a8ba0d2b534aa4f1366b079a488ad67779ca8c3c824260fdd3efa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KFMZmxeZd1kssWT7xmEXEa",
      "input": {
        "note": "The jaws are straddling the bottle where the shoulder tapers into the neck, the closest point I can reach. Closing to try a grasp there.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KFMZmxeZd1kssWT7xmEXEa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4385, 2.085, 1.2251, -0.0067, -0.9009, -0.8337, 0.0149, -0.1856, 0.8043, 0.556, -0.3878, -0.2928, -0.2184, 0.9996]\nstate[eef_state]: left_x=0.4873 left_y=-0.0716 left_z=0.0585 left_yaw=0.6946 left_pitch=0.0676 left_roll=-0.0629 left_gripper=0.0149 right_x=0.2869 right_y=0.0017 right_z=0.1582 right_yaw=0.1729 right_pitch=-0.0342 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -10.3179, 5.3949, 0.6716, 0.1685, 0.188, 1.072, -0.6906, -1.935, 6.9812, 1.873, -0.2466, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fae8fcea3e9bf4924c5356506afabe52163a4643eabd789ad2c3ccd0af7f17f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53317a57a3e243f6264447d97c7ec209478c17eb642ab99015be31d7b6939be6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3251f6e9504c4e3194c3b3a89c3c9874a529a39f727c0c39861f69a9fdb685a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /messages · status 200 · 4.99 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]: [-0.3935, 1.8374, 1.1671, -0.2115, -0.8085, -0.77, 0.9951, -0.1856, 0.8349, 0.6216, -0.4263, -0.2928, -0.2188, 0.9996]\nstate[eef_state]: left_x=0.4576 left_y=-0.0478 left_z=0.1134 left_yaw=0.6471 left_pitch=-0.0007 left_roll=-0.0273 left_gripper=0.9951 right_x=0.2921 right_y=0.0007 right_z=0.1719 right_yaw=0.1731 right_pitch=-0.0374 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.8547, -8.2393, 8.3624, 1.1697, -0.5055, 0.1001, -0.1245, -0.4581, -2.0991, 7.241, 1.873, -0.2515, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4389, 2.083, 1.1831, 0.0025, -0.8501, -0.8139, 0.9959, -0.1856, 0.8158, 0.5858, -0.4026, -0.2928, -0.2184, 0.9996]\nstate[eef_state]: left_x=0.479 left_y=-0.0743 left_z=0.0417 left_yaw=0.651 left_pitch=0.0193 left_roll=-0.0353 left_gripper=0.9959 right_x=0.2895 right_y=0.0012 right_z=0.1655 right_yaw=0.1728 right_pitch=-0.031 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -6.8034, 5.6547, 0.7643, -0.2222, 0.0317, 0.0806, -0.8274, -1.9624, 7.0222, 1.9121, -0.2125, 0.022, -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]: [-0.4385, 2.085, 1.2251, -0.0067, -0.9009, -0.8337, 0.0149, -0.1856, 0.8043, 0.556, -0.3878, -0.2928, -0.2184, 0.9996]\nstate[eef_state]: left_x=0.4873 left_y=-0.0716 left_z=0.0585 left_yaw=0.6946 left_pitch=0.0676 left_roll=-0.0629 left_gripper=0.0149 right_x=0.2869 right_y=0.0017 right_z=0.1582 right_yaw=0.1729 right_pitch=-0.0342 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -10.3179, 5.3949, 0.6716, 0.1685, 0.188, 1.072, -0.6906, -1.935, 6.9812, 1.873, -0.2466, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fae8fcea3e9bf4924c5356506afabe52163a4643eabd789ad2c3ccd0af7f17f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53317a57a3e243f6264447d97c7ec209478c17eb642ab99015be31d7b6939be6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3251f6e9504c4e3194c3b3a89c3c9874a529a39f727c0c39861f69a9fdb685a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4woKEAgSGAI4AUIIdGhpbmtpbmcSDJMfyb9RALgxcO932RoMUcadJAQ853CoHKpgIjDOIFqPKGFi4SjmUBGR+A+QJbeTfXMTS/tj3opsRew+A8xcsiU5caZqYBxnvGP+G7EqgApLWFqN5amFyIlOPYMjmlGiwgVzFmBs2J8II8uDb7S0RLeU/ed3zVslypjCnnYzwGhO8CdyYir3UGbCUg19CsjkJWz8DXPXrFfr4ypJ9nycXhQzMEbVEisUFo89WDpJe099/HzhcgzrMuA9zPVF+63QRRDQDrt6Ik97ZnsVYwNTZ/IpFpud6ipo7vCaRDDsHX8jgeruNuu/mOLApS1sYKTMr9IObq6XthecFtCh48RiEpatuUoSLPRrXdfPb8FNca/oh7MjhjUTFrVf2cL/hwjJL8uZIms9MUcl8cgjw2zCYNl/3Ac0zQu8YS/dku2kCvSP54fg0qL4mZF5vXFazPW+q+NqMAZdq9Pc9ZRKzblRxIymf7w8/BT7dK/88ve3k9YuTqxNSqpP8pOK/7qvcHMuWXO1YvA7d90iqdoq1JCrkfbr52qwPzncVQ3oblgQ8rqWPZKyGhPQwy/6wDYwTnzz4kVy/t1rdhh1aWQ5PEyJDWQ4a0bCfodht9aYsdrYoS0OIHoKBZOFPeeGK1U47GG69pfiDHGSnZqwJGwZazeQlurr9TlreYNR9HkZez0fk45PnpGf0tfbLKUJcHBdJPgD/Uq5QRQpHfJQ7i3WMYlnuou3T3tlfYNu45U3cWtXMorKzml1avGghjc0sZr1B2LCxwHOVxpfcWhn/yP5d6K+FMPdnedOUMojh8gTMaV05whgy0X/4uHfdcQ9fRZPf+iedxDAblFeryC0S+EF8hOwkZbVUvLXB2vBG386GcF2gF9XL1d8IrQwj78+ggxOVfsu38bbXi8MlI/xWDVdrcOvIHo25OxgDi0euZ32KvNyMqQRnealA0cq+PRrFhMOWAu+pzNyErJmh4sKrQE24Nnuxv1oeZv5KLA4T5MVQCfi2VQXoFQax2TM+ZKeDdbcG1O+WoIgg+IvfL7/S69L5h2q0LTYD0LiMJioEvs4zMs8xpUoB7XFKgUHfsaMbkuJDuBPgMRdHSpFo8JRLmuWGo3y8wz66zGSmn1+MBlAqDUBgZMSQTizIOsnbCZHxh+gzjleh4lsJ3oJXAStlvJAqDn4H60oFd2e+iYTSzkhZLoLZb20h1QtDouwnCtRDnItUIqpmkcWM6tup+qQ7akHeIwr/MiMC5xuppHiaexYfeF9hX9pplgX0CcuSB8zpSkkg9/YDmlxrAtytGmPaV0x6ARWfMDO/reH/5bqpIZvFWrET5xwgOJb+MGoKG1yJKNTyhscjIM70sUTOHFpWXuCTbVsdmxfxA+IP3l7XPOoiv52cj7kYfOxX9bM4vd5YXGVt/jexEZcA96hz5NS/JwCXv6KJbpp7TrLkqXBTDUousF4sqDC/qGZDgbq766khASE63+y6mM6mEi5o4fwFJh5bDdrbg/EqcmQ1U1rljgfYlYt0VrT4Lpjthi7kkv6kFtNxLsRx2ZRHKeUBvtUH3CbS8dzEeKMlgVMYC+JNU/vjCNHXhY1v2xGhaUsvoNvtHC8oLoFWgHBb6tkm+ooz1QTajGeHobvaROr18w1d417HkmtZF/dL6PaaObelkzIDq3naICvWBe0XQ7NgW3j31CfRWx6zsAHVOybBh8mbBSzO5Npdk1OlCaE/hLsnDOKQ9TiTfZLl6aTvqm4E+7FxvELLv5p/G2gtfzHCaTkmapPaU7kuUzO1aC3zqucIRP/TQeHfIWkXyTiWsIHrOlhpoajvSovrRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014zMH2RUHgJaBPHFTt668ik",
      "input": {
        "note": "Empty close, but the jaws slid forward and the bottle cap is now sitting right at the fingertips. Opening and descending straight down so the jaws straddle the cap/neck.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.487,
          "left_y": -0.07,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014zMH2RUHgJaBPHFTt668ik",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4324, 2.1418, 1.2842, -0.0418, -0.8837, -0.8692, 0.9948, -0.1856, 0.7898, 0.524, -0.3729, -0.2928, -0.2188, 0.9996]\nstate[eef_state]: left_x=0.4961 left_y=-0.0746 left_z=0.0456 left_yaw=0.7074 left_pitch=0.0406 left_roll=-0.0697 left_gripper=0.9948 right_x=0.2838 right_y=0.0022 right_z=0.1506 right_yaw=0.1731 right_pitch=-0.0367 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -8.1299, 4.2188, 0.779, -0.2564, 0.0904, 0.0073, -0.6632, -1.8803, 6.7761, 1.9609, -0.2222, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:053c7b65aba082a819aafce7dca929c60735b7fc867fa8ff8c2a0d2c2449664f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e08b49c2fdaa935c8aeda415f305eb083577f4358f5b605085cef379a9334cf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:648ebdd1591d2502bfce627cc0b7d3b6c18638fb54ed3aeea45d358f1c43c484",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 7.121 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]: [-0.4389, 2.083, 1.1831, 0.0025, -0.8501, -0.8139, 0.9959, -0.1856, 0.8158, 0.5858, -0.4026, -0.2928, -0.2184, 0.9996]\nstate[eef_state]: left_x=0.479 left_y=-0.0743 left_z=0.0417 left_yaw=0.651 left_pitch=0.0193 left_roll=-0.0353 left_gripper=0.9959 right_x=0.2895 right_y=0.0012 right_z=0.1655 right_yaw=0.1728 right_pitch=-0.031 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -6.8034, 5.6547, 0.7643, -0.2222, 0.0317, 0.0806, -0.8274, -1.9624, 7.0222, 1.9121, -0.2125, 0.022, -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]: [-0.4385, 2.085, 1.2251, -0.0067, -0.9009, -0.8337, 0.0149, -0.1856, 0.8043, 0.556, -0.3878, -0.2928, -0.2184, 0.9996]\nstate[eef_state]: left_x=0.4873 left_y=-0.0716 left_z=0.0585 left_yaw=0.6946 left_pitch=0.0676 left_roll=-0.0629 left_gripper=0.0149 right_x=0.2869 right_y=0.0017 right_z=0.1582 right_yaw=0.1729 right_pitch=-0.0342 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -10.3179, 5.3949, 0.6716, 0.1685, 0.188, 1.072, -0.6906, -1.935, 6.9812, 1.873, -0.2466, -0.0366, -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]: [-0.4324, 2.1418, 1.2842, -0.0418, -0.8837, -0.8692, 0.9948, -0.1856, 0.7898, 0.524, -0.3729, -0.2928, -0.2188, 0.9996]\nstate[eef_state]: left_x=0.4961 left_y=-0.0746 left_z=0.0456 left_yaw=0.7074 left_pitch=0.0406 left_roll=-0.0697 left_gripper=0.9948 right_x=0.2838 right_y=0.0022 right_z=0.1506 right_yaw=0.1731 right_pitch=-0.0367 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -8.1299, 4.2188, 0.779, -0.2564, 0.0904, 0.0073, -0.6632, -1.8803, 6.7761, 1.9609, -0.2222, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:053c7b65aba082a819aafce7dca929c60735b7fc867fa8ff8c2a0d2c2449664f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e08b49c2fdaa935c8aeda415f305eb083577f4358f5b605085cef379a9334cf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:648ebdd1591d2502bfce627cc0b7d3b6c18638fb54ed3aeea45d358f1c43c484",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4ggKEAgSGAI4AUIIdGhpbmtpbmcSDKu9HLpb4rfCdDpg7BoMn7uHsHzipR4qA9NcIjBOYJMCatiQEdVLhIGs1XBnMQQ0pyS/WK9I3B/lp9v3t2gisYiNlgI3fTGWEqmumHoq/wcOVdhLd6tWBF0z5uYtkZETk5LIIb18QPguKu7QxOTGlr5yq+wZA9LRZ20rzcchrWdrICeEo7kImQT0NkB+Zoqx8yhgZ29Bnw4kyCvZUFPUpnyk58KB2Z95LxPk9ZWAL1LDguQJKWttut8VjscwODUdqlvQvLGLcHQos8Cn5lmYkADf4vZMnqSuhAMuz1WHyGK/uB8Re+jrLMwLd55Q1pzZBLMXp6BR6/13udI4H4H1vNUWDiNLJanf7k0wkrihDUbpwgJaA6cfx+AB1YJsmy+F074CPuAto3z8CxuegZAvSSQQ4J6bTWMVqx1QB5BnMWUU+SUGiGlff2uSaC047tO2u5xHR29XMdaYmMRkVxh8T3CYh2U86OF/sWNLpFAm1mEfXmqhZsC/vHo+nIW0CFSuhVAgQR13sWF8UKabZO7F5LhwbqF4ODLtKSujZkdDvR6DqPAejXRs8xYpo4waeAH6At+rx4yUz1pxG3nu8RyJXu7sZK7T83tMtaF1nuUwvlS+eK10ScLeTLiWqgypnOOdmbB2QGw0DPuCgxuOVikOsevR3fh14Dw0709GZU2jz7pHC4GgTWfEPZKCpIbr3USN201G3jnccj+S0O0PBnd0jv1O6GbaMHDBF0A27x619ZS51Nlfwwlai793zlRW3l5T+9vcDqyONq4nSqS/dMdESmz1DH1TaIIYsNM2L8f8IU66SV6tszHLNVrimYWsbSE15JH1+cjNPYYjOGH8keNyrBaqvSsEzRAgR0WQ1tTAKa25qz11U1pqCgJZdlowXSbfLNdQ77jjwI7Du1LRmEVOYH/7cb9p5KadqWnWMWc7Ke4ijL7wr/MQsS5yAqTywiJjGjaOf+CFXiILuksFxZe8x00OSRNPO+phqfqe8TR82XCEEsqT1Eah1j44NuiyMEPX6EUqTDxzlkj9Qk/SXSAkrpqxTidTyZApGmh5d+Y1U27l7ArPCfKyVn9xMem7UElb+Dh9TVRRgBSzpcPN0LnynLuxY0XZFOu8fS+FCQdnRxxJRLz3Cg44E3KRNGM/62RRVNU3WOIuFYAqnCIkWOPQQp5t+oA6rT7NEbUl2mvnl7jTFIwqSVN2BlJsHoEH7+JHMJzmNFjM/TW3x9JrlpMHBHoZ2I/4IDrvpC5raUFI0yW1vFvB0RbKB/apMVX8GkdK+BUoEmms+GuUu8X3QG93F+QjZvEs8dAk81G8dHvreD11gRwWpZww39C/Rxc92eJvRMCIG2OnK+I7dap7ZlxHhORPgpBaNXapKGJYgU68jxuG8u33unzCy24LAUDT/Se4Rs6ldIXpOt/T0L+BavWL8cse+ed0EALbtPHvjXf+TUsO8wvOlnKV2B9WIkVSYJoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019iDUS7XgWLYnVTmzRwBcqK",
      "input": {
        "note": "The neck, just behind the cap, is now centred between the open jaws. Closing on the neck.",
        "targets": {
          "left_gripper": 0,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019iDUS7XgWLYnVTmzRwBcqK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4316, 2.1628, 1.3403, -0.0635, -0.9291, -0.8913, 0.0148, -0.1856, 0.77, 0.4881, -0.3473, -0.2928, -0.2184, 0.9996]\nstate[eef_state]: left_x=0.5051 left_y=-0.0729 left_z=0.0563 left_yaw=0.7483 left_pitch=0.0774 left_roll=-0.0873 left_gripper=0.0148 right_x=0.2813 right_y=0.0027 right_z=0.1446 right_yaw=0.1728 right_pitch=-0.0278 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -7.1863, 5.4359, 0.6227, 0.1392, 0.1392, 1.0427, -0.7726, -1.5385, 6.9538, 1.8584, -0.2125, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97fe3fabb3759a017f4e649a66fc9893f05cc3272e44cc7b21e7ba022ff9f8c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e19cc846332466b3ef2ec00cecb4046aaadb3902cc216d7d94423e53ec48dc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ce445817a27b149dd22acf77a528f919e33aae3b84fb85e3ecc4d235e105351",
        "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 · 7.6 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]: [-0.4385, 2.085, 1.2251, -0.0067, -0.9009, -0.8337, 0.0149, -0.1856, 0.8043, 0.556, -0.3878, -0.2928, -0.2184, 0.9996]\nstate[eef_state]: left_x=0.4873 left_y=-0.0716 left_z=0.0585 left_yaw=0.6946 left_pitch=0.0676 left_roll=-0.0629 left_gripper=0.0149 right_x=0.2869 right_y=0.0017 right_z=0.1582 right_yaw=0.1729 right_pitch=-0.0342 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -10.3179, 5.3949, 0.6716, 0.1685, 0.188, 1.072, -0.6906, -1.935, 6.9812, 1.873, -0.2466, -0.0366, -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]: [-0.4324, 2.1418, 1.2842, -0.0418, -0.8837, -0.8692, 0.9948, -0.1856, 0.7898, 0.524, -0.3729, -0.2928, -0.2188, 0.9996]\nstate[eef_state]: left_x=0.4961 left_y=-0.0746 left_z=0.0456 left_yaw=0.7074 left_pitch=0.0406 left_roll=-0.0697 left_gripper=0.9948 right_x=0.2838 right_y=0.0022 right_z=0.1506 right_yaw=0.1731 right_pitch=-0.0367 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -8.1299, 4.2188, 0.779, -0.2564, 0.0904, 0.0073, -0.6632, -1.8803, 6.7761, 1.9609, -0.2222, -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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4316, 2.1628, 1.3403, -0.0635, -0.9291, -0.8913, 0.0148, -0.1856, 0.77, 0.4881, -0.3473, -0.2928, -0.2184, 0.9996]\nstate[eef_state]: left_x=0.5051 left_y=-0.0729 left_z=0.0563 left_yaw=0.7483 left_pitch=0.0774 left_roll=-0.0873 left_gripper=0.0148 right_x=0.2813 right_y=0.0027 right_z=0.1446 right_yaw=0.1728 right_pitch=-0.0278 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -7.1863, 5.4359, 0.6227, 0.1392, 0.1392, 1.0427, -0.7726, -1.5385, 6.9538, 1.8584, -0.2125, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97fe3fabb3759a017f4e649a66fc9893f05cc3272e44cc7b21e7ba022ff9f8c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e19cc846332466b3ef2ec00cecb4046aaadb3902cc216d7d94423e53ec48dc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ce445817a27b149dd22acf77a528f919e33aae3b84fb85e3ecc4d235e105351",
        "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_0177nS3BLncv9cQcaBMtP4p4",
      "input": {
        "note": "Empty again: the jaws slid forward past the cap, and the bottle is now hidden just behind the fingertips. Opening, stepping back ~2 cm along the bottle, and descending for one more try at the neck.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.485,
          "left_y": -0.085,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0177nS3BLncv9cQcaBMtP4p4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4614, 2.2036, 1.3891, -0.1577, -0.936, -0.9802, 0.9955, -0.1856, 0.7609, 0.4625, -0.3351, -0.2928, -0.2184, 0.9996]\nstate[eef_state]: left_x=0.5005 left_y=-0.086 left_z=0.0436 left_yaw=0.7648 left_pitch=0.0477 left_roll=-0.0829 left_gripper=0.9955 right_x=0.2789 right_y=0.0032 right_z=0.1379 right_yaw=0.1729 right_pitch=-0.0317 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.8547, -8.294, 3.2479, 0.6911, -0.149, -0.0757, -0.1197, -0.7179, -1.8256, 6.8718, 1.8877, -0.2173, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19f1354893d7b12cbf2e3d9685fe1878177efae7cf02066004cf0d795842bdc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13550cbcdf83d79e00df2e9b21990f003fb79729b21ac27e8fceb6e13b637b45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c460522512b6ec4868fa525a0c27248cc04a07ec559204d46d83247a036d4bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 13.01 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]: [-0.4324, 2.1418, 1.2842, -0.0418, -0.8837, -0.8692, 0.9948, -0.1856, 0.7898, 0.524, -0.3729, -0.2928, -0.2188, 0.9996]\nstate[eef_state]: left_x=0.4961 left_y=-0.0746 left_z=0.0456 left_yaw=0.7074 left_pitch=0.0406 left_roll=-0.0697 left_gripper=0.9948 right_x=0.2838 right_y=0.0022 right_z=0.1506 right_yaw=0.1731 right_pitch=-0.0367 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -8.1299, 4.2188, 0.779, -0.2564, 0.0904, 0.0073, -0.6632, -1.8803, 6.7761, 1.9609, -0.2222, -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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4316, 2.1628, 1.3403, -0.0635, -0.9291, -0.8913, 0.0148, -0.1856, 0.77, 0.4881, -0.3473, -0.2928, -0.2184, 0.9996]\nstate[eef_state]: left_x=0.5051 left_y=-0.0729 left_z=0.0563 left_yaw=0.7483 left_pitch=0.0774 left_roll=-0.0873 left_gripper=0.0148 right_x=0.2813 right_y=0.0027 right_z=0.1446 right_yaw=0.1728 right_pitch=-0.0278 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -7.1863, 5.4359, 0.6227, 0.1392, 0.1392, 1.0427, -0.7726, -1.5385, 6.9538, 1.8584, -0.2125, 0.0024, -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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4614, 2.2036, 1.3891, -0.1577, -0.936, -0.9802, 0.9955, -0.1856, 0.7609, 0.4625, -0.3351, -0.2928, -0.2184, 0.9996]\nstate[eef_state]: left_x=0.5005 left_y=-0.086 left_z=0.0436 left_yaw=0.7648 left_pitch=0.0477 left_roll=-0.0829 left_gripper=0.9955 right_x=0.2789 right_y=0.0032 right_z=0.1379 right_yaw=0.1729 right_pitch=-0.0317 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.8547, -8.294, 3.2479, 0.6911, -0.149, -0.0757, -0.1197, -0.7179, -1.8256, 6.8718, 1.8877, -0.2173, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19f1354893d7b12cbf2e3d9685fe1878177efae7cf02066004cf0d795842bdc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13550cbcdf83d79e00df2e9b21990f003fb79729b21ac27e8fceb6e13b637b45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c460522512b6ec4868fa525a0c27248cc04a07ec559204d46d83247a036d4bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LPMrheYHZYboFQYc2AwQD2",
      "input": {
        "note": "The cap is centred between the open jaws, just ahead of the fingertips, but the arm is hovering at 4.4 cm. Pushing the target down to the floor so the jaws drop around the cap and neck.",
        "targets": {
          "left_x": 0.49,
          "left_y": -0.085,
          "left_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LPMrheYHZYboFQYc2AwQD2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4709, 2.2597, 1.4284, -0.0906, -0.9668, -1.0222, 0.9965, -0.1856, 0.7475, 0.4355, -0.3202, -0.2928, -0.2184, 0.9996]\nstate[eef_state]: left_x=0.5134 left_y=-0.0942 left_z=0.0396 left_yaw=0.7982 left_pitch=0.0848 left_roll=-0.1597 left_gripper=0.9965 right_x=0.2765 right_y=0.0036 right_z=0.1321 right_yaw=0.1728 right_pitch=-0.0306 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.253, -5.7641, 2.0581, 0.2027, 0.188, 0.2222, 0.0904, -0.5265, -1.7162, 6.6667, 1.9072, -0.2662, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf38d4c9b737520b265cbcf34fb33c2e6d69bbae448ac7a13638120c8cb36643",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6260ea419f7d3a5508ccd11e9df12428a6dd84b4a6df4346954e64f8def051cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8bc22dd122a837fa257403a9515a7907f3c7fd631fad7baaf1794bf5105ceca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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