adhoc

completed
2026-09-22T19:18:15.505417+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
358 s
total steps
229
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles lie on their sides with caps pointing forward. Plan: grab each bottle by the neck and lift so it swings upright about its base. Moving the left arm over bottle 1's neck.
move_to
left_x0.4000left_y-0.0400left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7921, 0.6067, -0.3775, -0.0227, -0.0288, 0.9985, -0.0177, 0.7879, 0.6029, -0.3851, -0.0177, -0.0212, 0.9985] state[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2936 right_y=0.0015 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9985 state[joint_eff]: [-0.6769, -1.4427, 9.894, 1.8144, -0.0122, 0.1001, -0.1636, -0.7316, -0.8547, 10.3179, 1.8388, -0.0317, 0.0757, -0.1734] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.04, "left_z": 0.15, "left_gripper": 1}, "note": "Three bottles lie on their sides with caps pointing forward. Plan: grab each bottle by the neck and lift so it swings upright about its base. Moving the left arm over bottle 1's neck."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteWrist cam shows bottle 1's cap just ahead of the jaws with the body running under them. Advancing ~3 cm and descending toward the neck.
move_to
left_x0.4100left_y-0.0350left_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1703, 1.3186, 0.7036, -0.0463, -0.1436, -0.1127, 0.9988, -0.0212, 0.7929, 0.6033, -0.4038, -0.0235, -0.025, 0.9984] state[eef_state]: left_x=0.3816 left_y=-0.0363 left_z=0.1251 left_yaw=-0.0027 left_pitch=-0.0907 left_roll=0.0095 left_gripper=0.9988 right_x=0.2914 right_y=0.0016 right_z=0.1751 right_yaw=0.0034 right_pitch=-0.0232 right_roll=0.0004 right_gripper=0.9984 state[joint_eff]: [-0.6222, -5.5726, 9.1966, 1.917, -0.0952, -0.0073, -0.1343, -0.1026, -1.5795, 7.0085, 1.8779, 0.0122, -0.022, -0.022] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.035, "left_z": 0.06}, "note": "Wrist cam shows bottle 1's cap just ahead of the jaws with the body running under them. Advancing ~3 cm and descending toward the neck."})
tool
executing move_to over 5 steps (0.5s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteJaws are still over the label; the neck is further forward and slightly left. Advancing 4 cm and descending to neck height.
move_to
left_x0.4400left_y-0.0300left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1631, 1.5726, 0.5598, 0.4091, -0.1234, -0.112, 0.9985, -0.0212, 0.783, 0.5827, -0.3973, -0.0238, -0.0288, 0.9984] state[eef_state]: left_x=0.402 left_y=-0.0405 left_z=0.0608 left_yaw=-0.0135 left_pitch=-0.0357 left_roll=-0.0108 left_gripper=0.9985 right_x=0.2891 right_y=0.0017 right_z=0.1697 right_yaw=0.0058 right_pitch=-0.0274 right_roll=-0.0024 right_gripper=0.9984 state[joint_eff]: [0.9094, -4.6427, 5.8188, 1.2674, -0.149, 0.105, -0.0513, -0.1299, -1.6479, 6.8034, 1.9072, -0.0659, -0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.03, "left_z": 0.03}, "note": "Jaws are still over the label; the neck is further forward and slightly left. Advancing 4 cm and descending to neck height."})
tool
executing move_to over 3 steps (0.3s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteCap is now close ahead of the jaws; z stopped at 5.5 cm, likely resting on the bottle body. Moving 2 cm further forward onto the neck and descending.
move_to
left_x0.4600left_y-0.0300left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1307, 1.7699, 0.6266, 0.6418, -0.0818, -0.1085, 0.9983, -0.0212, 0.7712, 0.556, -0.3889, -0.0242, -0.0288, 0.9984] state[eef_state]: left_x=0.443 left_y=-0.04 left_z=0.0546 left_yaw=-0.0179 left_pitch=0.0628 left_roll=-0.0429 left_gripper=0.9983 right_x=0.2861 right_y=0.0018 right_z=0.1624 right_yaw=0.0062 right_pitch=-0.0338 right_roll=-0.002 right_gripper=0.9984 state[joint_eff]: [1.0325, -5.6274, 3.959, 0.8278, -0.149, 0.2857, -0.0269, -0.294, -1.6479, 7.2, 1.956, -0.0855, 0.0073, -0.0122] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.03, "left_z": 0.025}, "note": "Cap is now close ahead of the jaws; z stopped at 5.5 cm, likely resting on the bottle body. Moving 2 cm further forward onto the neck and descending."})
tool
executing move_to over 2 steps (0.2s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteDescent keeps stopping at ~5.4 cm; the neck appears between the jaws. Commanding a lower target to see whether it's contact or tracking lag.
move_to
left_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1108, 1.8442, 0.6865, 0.683, -0.083, -0.1051, 0.9983, -0.0212, 0.7593, 0.5365, -0.3748, -0.0277, -0.0292, 0.9984] state[eef_state]: left_x=0.4628 left_y=-0.0332 left_z=0.0536 left_yaw=0.0013 left_pitch=0.0895 left_roll=-0.0423 left_gripper=0.9983 right_x=0.2849 right_y=0.0024 right_z=0.1595 right_yaw=0.0093 right_pitch=-0.0273 right_roll=-0.0006 right_gripper=0.9984 state[joint_eff]: [0.7179, -5.9419, 4.8068, 1.16, -0.1001, 0.398, -0.0122, -0.4308, -1.2923, 6.735, 2.0098, -0.0269, -0.0171, -0.0122] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.0}, "note": "Descent keeps stopping at ~5.4 cm; the neck appears between the jaws. Commanding a lower target to see whether it's contact or tracking lag."})
tool
executing move_to over 4 steps (0.4s)
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 noteFingers seem to be resting on the bottle's shoulder, which lies right of the jaw centre (bottle is diagonal). Lifting and shifting 2 cm right to straddle the shoulder.
move_to
left_x0.4500left_y-0.0550left_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1097, 1.8778, 0.7155, 0.6964, -0.0677, -0.1051, 0.9983, -0.0212, 0.7502, 0.5125, -0.366, -0.0288, -0.0326, 0.9984] state[eef_state]: left_x=0.4713 left_y=-0.0363 left_z=0.0522 left_yaw=-0.0104 left_pitch=0.0975 left_roll=-0.0502 left_gripper=0.9983 right_x=0.2824 right_y=0.0027 right_z=0.1528 right_yaw=0.0121 right_pitch=-0.0334 right_roll=-0.0026 right_gripper=0.9984 state[joint_eff]: [0.5265, -6.4889, 4.6974, 1.1111, -0.0904, 0.3443, -0.0122, -0.4444, -1.894, 6.8444, 1.9658, -0.0562, 0.0024, -0.0073] 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": {"left_x": 0.45, "left_y": -0.055, "left_z": 0.08}, "note": "Fingers seem to be resting on the bottle's shoulder, which lies right of the jaw centre (bottle is diagonal). Lifting and shifting 2 cm right to straddle the shoulder."})
tool
executing move_to over 2 steps (0.2s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe left arm did not respond to the last target (possibly stuck at a joint limit near full reach). Backing up and raising to free it.
move_to
left_x0.4000left_y-0.0500left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1097, 1.8793, 0.7155, 0.6991, -0.0685, -0.1047, 0.9983, -0.0212, 0.7387, 0.4908, -0.3508, -0.0303, -0.0326, 0.9984] state[eef_state]: left_x=0.4715 left_y=-0.0362 left_z=0.0521 left_yaw=-0.01 left_pitch=0.0986 left_roll=-0.0496 left_gripper=0.9983 right_x=0.2811 right_y=0.003 right_z=0.149 right_yaw=0.0134 right_pitch=-0.0284 right_roll=-0.0019 right_gripper=0.9984 state[joint_eff]: [0.4581, -6.7761, 4.7248, 1.0525, -0.1783, 0.3297, -0.0122, -0.5538, -1.7026, 6.9402, 1.8877, -0.0806, -0.0073, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.05, "left_z": 0.15}, "note": "The left arm did not respond to the last target (possibly stuck at a joint limit near full reach). Backing up and raising to free it."})
tool
executing move_to over 7 steps (0.7s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteTop view shows the left gripper sitting just left of bottle 1's neck. Shifting ~3 cm right and slightly back to centre over the neck/shoulder.
move_to
left_x0.4200left_y-0.0900left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2043, 1.626, 0.7197, 0.395, -0.139, -0.1173, 0.9983, -0.0212, 0.7235, 0.4644, -0.3416, -0.0307, -0.0357, 0.9984] state[eef_state]: left_x=0.4431 left_y=-0.0631 left_z=0.1 left_yaw=-0.0385 left_pitch=0.0567 left_roll=-0.0217 left_gripper=0.9983 right_x=0.2781 right_y=0.0031 right_z=0.1428 right_yaw=0.0153 right_pitch=-0.0303 right_roll=-0.0041 right_gripper=0.9984 state[joint_eff]: [1.347, -9.1282, 8.1436, 2.0342, -0.2271, -0.0952, -0.0122, -0.2667, -1.0325, 6.9265, 2.0537, -0.0464, 0.0073, -0.0122] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.09, "left_z": 0.1}, "note": "Top view shows the left gripper sitting just left of bottle 1's neck. Shifting ~3 cm right and slightly back to centre over the neck/shoulder."})
tool
executing move_to over 3 steps (0.3s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteBottle 1 (crumpled) seems to have been nudged and now lies just behind/under the left gripper. Backing up and raising to see it fully in the wrist camera.
move_to
left_x0.3400left_y-0.0600left_z0.1700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3027, 1.57, 0.7273, 0.2497, -0.2096, -0.1555, 0.9983, -0.0212, 0.7094, 0.4385, -0.3332, -0.0303, -0.036, 0.9984] state[eef_state]: left_x=0.4217 left_y=-0.0894 left_z=0.0975 left_yaw=-0.0575 left_pitch=-0.0156 left_roll=-0.0015 left_gripper=0.9983 right_x=0.2751 right_y=0.0031 right_z=0.1363 right_yaw=0.0152 right_pitch=-0.0337 right_roll=-0.0045 right_gripper=0.9984 state[joint_eff]: [0.1026, -7.3231, 6.2017, 2.0244, -0.2711, 0.0806, -0.0122, -0.4991, -0.9778, 6.8855, 1.9902, -0.0952, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.06, "left_z": 0.17}, "note": "Bottle 1 (crumpled) seems to have been nudged and now lies just behind/under the left gripper. Backing up and raising to see it fully in the wrist camera."})
tool
executing move_to over 7 steps (0.7s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteWrist cam now shows bottle 1's neck a few cm ahead and slightly left of the jaws, lying diagonally. Moving forward and lower to line the jaws up over the neck.
move_to
left_x0.4000left_y-0.0500left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2928, 1.0962, 0.654, -0.0914, -0.2142, -0.1577, 0.9983, -0.0212, 0.691, 0.4065, -0.3202, -0.0307, -0.0357, 0.9984] state[eef_state]: left_x=0.3523 left_y=-0.0632 left_z=0.173 left_yaw=-0.0423 left_pitch=0.0427 left_roll=-0.0157 left_gripper=0.9983 right_x=0.2717 right_y=0.0033 right_z=0.129 right_yaw=0.0153 right_pitch=-0.0345 right_roll=-0.0039 right_gripper=0.9984 state[joint_eff]: [0.4034, -3.959, 7.4325, 1.9512, 0.0855, 0.0806, -0.0171, -0.7043, -0.9915, 7.0085, 2.0195, -0.0855, -0.022, -0.0122] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.05, "left_z": 0.1}, "note": "Wrist cam now shows bottle 1's neck a few cm ahead and slightly left of the jaws, lying diagonally. Moving forward and lower to line the jaws up over the neck."})
tool
executing move_to over 5 steps (0.5s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe bottle's neck appears left of and ahead of the jaws in the wrist view. Shifting ~3 cm left and 2.5 cm forward toward the neck.
move_to
left_x0.4100left_y-0.0200left_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1997, 1.422, 0.6117, 0.1471, -0.1547, -0.1295, 0.9983, -0.0212, 0.6712, 0.374, -0.3058, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.3845 left_y=-0.0464 left_z=0.0865 left_yaw=-0.0137 left_pitch=-0.0912 left_roll=0.0032 left_gripper=0.9983 right_x=0.2685 right_y=0.0033 right_z=0.1221 right_yaw=0.0155 right_pitch=-0.0326 right_roll=-0.0043 right_gripper=0.9984 state[joint_eff]: [0.5812, -5.9556, 5.8735, 1.8291, 0.0464, 0.2515, -0.0122, -0.5402, -1.1009, 6.9675, 1.9512, -0.0757, -0.0464, -0.0122] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.02, "left_z": 0.07}, "note": "The bottle's neck appears left of and ahead of the jaws in the wrist view. Shifting ~3 cm left and 2.5 cm forward toward the neck."})
tool
executing move_to over 3 steps (0.3s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe bottle's upper body (just below the shoulder) is centred between the jaws a few cm ahead. Advancing slightly and descending to body-centre height to grasp it.
move_to
left_x0.4250left_y-0.0150left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1017, 1.5517, 0.5655, 0.3668, -0.1009, -0.0929, 0.9982, -0.0212, 0.6518, 0.3462, -0.2935, -0.0311, -0.036, 0.9984] state[eef_state]: left_x=0.4006 left_y=-0.0194 left_z=0.0622 left_yaw=0.0188 left_pitch=-0.053 left_roll=-0.0059 left_gripper=0.9982 right_x=0.2658 right_y=0.0035 right_z=0.1167 right_yaw=0.0159 right_pitch=-0.0288 right_roll=-0.0042 right_gripper=0.9984 state[joint_eff]: [-0.1436, -6.8444, 5.7094, 2.0733, 0.0855, 0.1685, -0.0171, -0.5128, -0.8957, 6.9949, 1.9805, -0.1148, -0.0464, -0.0122] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.425, "left_y": -0.015, "left_z": 0.025}, "note": "The bottle's upper body (just below the shoulder) is centred between the jaws a few cm ahead. Advancing slightly and descending to body-centre height to grasp it."})
tool
executing move_to over 3 steps (0.3s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteJaws appear to straddle the bottle's upper body at ~4.7 cm height (descent stopped there). Closing to grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0933, 1.6409, 0.5373, 0.5163, -0.0967, -0.0864, 0.9983, -0.0212, 0.6346, 0.3218, -0.2901, -0.0307, -0.0357, 0.9984] state[eef_state]: left_x=0.4074 left_y=-0.0174 left_z=0.0475 left_yaw=0.0201 left_pitch=-0.0214 left_roll=-0.0066 left_gripper=0.9983 right_x=0.2624 right_y=0.0035 right_z=0.1105 right_yaw=0.0153 right_pitch=-0.0326 right_roll=-0.004 right_gripper=0.9984 state[joint_eff]: [-0.5128, -5.7504, 4.6154, 1.6044, -0.1245, 0.0562, -0.0073, -0.5675, -0.4308, 6.8308, 2.0049, -0.1148, -0.0024, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws appear to straddle the bottle's upper body at ~4.7 cm height (descent stopped there). Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteEmpty close; my estimate of where the left gripper is relative to the bottles seems inconsistent between cameras. Opening and lifting so I can locate the gripper clearly in the overhead view.
move_to
left_gripper1.0000left_z0.2000left_x0.4000left_y-0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0967, 1.6424, 0.5354, 0.6025, -0.1162, -0.0818, 0.0107, -0.0212, 0.614, 0.2943, -0.2794, -0.0311, -0.036, 0.9984] state[eef_state]: left_x=0.4176 left_y=-0.0163 left_z=0.0645 left_yaw=0.0308 left_pitch=0.0619 left_roll=-0.0026 left_gripper=0.0107 right_x=0.2596 right_y=0.0036 right_z=0.1051 right_yaw=0.0159 right_pitch=-0.0288 right_roll=-0.0042 right_gripper=0.9984 state[joint_eff]: [-0.1026, -6.0513, 3.959, 1.4725, 0.0952, -0.0269, 0.8816, -0.5538, -0.7863, 6.7897, 1.9756, -0.1343, -0.0269, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.2, "left_x": 0.4, "left_y": -0.02}, "note": "Empty close; my estimate of where the left gripper is relative to the bottles seems inconsistent between cameras. Opening and lifting so I can locate the gripper clearly in the overhead view."})
tool
executing move_to over 10 steps (1.0s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteWrist view shows bottle 1's neck/cap just ahead of the jaws with its body running back underneath. Moving 4 cm forward at 10 cm height to get the narrow neck directly under the jaws.
move_to
left_x0.4400left_y-0.0150left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.112, 1.3025, 0.8589, -0.1402, -0.1219, -0.1081, 0.9946, -0.0212, 0.5945, 0.2684, -0.2687, -0.0307, -0.0357, 0.9984] state[eef_state]: left_x=0.4023 left_y=-0.02 left_z=0.1805 left_yaw=0.0342 left_pitch=-0.0162 left_roll=-0.0114 left_gripper=0.9946 right_x=0.2572 right_y=0.0036 right_z=0.1001 right_yaw=0.0153 right_pitch=-0.0246 right_roll=-0.0043 right_gripper=0.9984 state[joint_eff]: [-0.5812, -6.6667, 9.347, 1.8095, -0.149, 0.0562, -0.2076, -0.4991, -0.3214, 6.9538, 1.917, -0.1294, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.015, "left_z": 0.1}, "note": "Wrist view shows bottle 1's neck/cap just ahead of the jaws with its body running back underneath. Moving 4 cm forward at 10 cm height to get the narrow neck directly under the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteNeck is centred slightly left of the jaw column a few cm ahead. Moving forward ~3.5 cm and 0.5 cm left while descending to neck height.
move_to
left_x0.4650left_y-0.0080left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0898, 1.5726, 0.7486, 0.1833, -0.1196, -0.1047, 0.9961, -0.0212, 0.5797, 0.2474, -0.2649, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.4283 left_y=-0.0138 left_z=0.0904 left_yaw=0.0529 left_pitch=-0.0727 left_roll=-0.0017 left_gripper=0.9961 right_x=0.2545 right_y=0.0036 right_z=0.0949 right_yaw=0.0155 right_pitch=-0.0269 right_roll=-0.0045 right_gripper=0.9984 state[joint_eff]: [0.2393, -6.8171, 5.8051, 1.8877, 0.0366, 0.1783, 0.1343, -0.7316, -0.6085, 6.8718, 1.9463, -0.1001, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.465, "left_y": -0.008, "left_z": 0.03}, "note": "Neck is centred slightly left of the jaw column a few cm ahead. Moving forward ~3.5 cm and 0.5 cm left while descending to neck height."})
tool
executing move_to over 4 steps (0.4s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteDescended to 3.7 cm with the cap just ahead of the fingertips, so the neck/shoulder should be between the jaws. Closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0719, 1.8481, 0.7288, 0.5365, -0.1055, -0.1085, 0.9962, -0.0212, 0.5606, 0.2268, -0.2623, -0.0307, -0.0357, 0.9984] state[eef_state]: left_x=0.4589 left_y=-0.0108 left_z=0.0366 left_yaw=0.0606 left_pitch=-0.0163 left_roll=-0.0208 left_gripper=0.9962 right_x=0.2519 right_y=0.0037 right_z=0.0905 right_yaw=0.0153 right_pitch=-0.0257 right_roll=-0.0043 right_gripper=0.9984 state[joint_eff]: [0.4444, -4.8479, 5.5453, 0.9792, -0.1929, 0.2564, 0.0024, -0.7453, -0.1299, 6.7077, 1.9219, -0.1197, -0.022, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Descended to 3.7 cm with the cap just ahead of the fingertips, so the neck/shoulder should be between the jaws. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteEmpty close: the cap sits just beyond and slightly left of the closed jaw tips. Opening and shifting ~1.5 cm forward and 1 cm left to put the cap/neck between the jaws.
move_to
left_gripper1.0000left_x0.4870left_y0.0020left_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0772, 1.853, 0.7338, 0.6502, -0.1402, -0.1051, 0.0105, -0.0212, 0.5426, 0.2081, -0.263, -0.0311, -0.0357, 0.9984] state[eef_state]: left_x=0.4739 left_y=-0.0083 left_z=0.0607 left_yaw=0.0835 left_pitch=0.0987 left_roll=-0.0172 left_gripper=0.0105 right_x=0.2492 right_y=0.0038 right_z=0.086 right_yaw=0.0156 right_pitch=-0.0272 right_roll=-0.004 right_gripper=0.9984 state[joint_eff]: [-0.3077, -8.3761, 3.8906, 1.0183, 0.1978, 0.1441, 0.8669, -0.4855, -0.1026, 6.612, 2.0, -0.1392, -0.0269, -0.0122] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.487, "left_y": 0.002, "left_z": 0.07}, "note": "Empty close: the cap sits just beyond and slightly left of the closed jaw tips. Opening and shifting ~1.5 cm forward and 1 cm left to put the cap/neck between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteNeck and cap are now centred between the open jaws. Descending to neck height before closing.
move_to
left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0494, 1.8484, 0.8501, 0.3832, -0.1341, -0.1047, 0.9946, -0.0212, 0.5213, 0.1829, -0.2615, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.4766 left_y=0.0037 left_z=0.0512 left_yaw=0.1054 left_pitch=-0.0461 left_roll=0.0029 left_gripper=0.9946 right_x=0.2459 right_y=0.0038 right_z=0.0797 right_yaw=0.0155 right_pitch=-0.0295 right_roll=-0.0044 right_gripper=0.9984 state[joint_eff]: [0.3214, -10.0444, 8.3077, 1.7216, 0.1001, 0.1099, -0.1783, -0.6496, -0.253, 7.0359, 1.9658, -0.1197, -0.0513, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03}, "note": "Neck and cap are now centred between the open jaws. Descending to neck height before closing."})
tool
executing move_to over 2 steps (0.2s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteCap/neck is centred between the jaws at ~4.5 cm height. Closing on the neck.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0509, 1.8805, 0.8219, 0.477, -0.1349, -0.1055, 0.9961, -0.0212, 0.5049, 0.168, -0.2573, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.4786 left_y=0.003 left_z=0.0448 left_yaw=0.1047 left_pitch=-0.0129 left_roll=-0.0025 left_gripper=0.9961 right_x=0.2447 right_y=0.0038 right_z=0.0774 right_yaw=0.0155 right_pitch=-0.0238 right_roll=-0.0046 right_gripper=0.9984 state[joint_eff]: [-0.3487, -6.7897, 4.0274, 1.5165, -0.0122, -0.0024, 0.1392, -0.7863, -0.1846, 6.9949, 1.8779, -0.105, -0.022, -0.0122] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Cap/neck is centred between the jaws at ~4.5 cm height. Closing on the neck."})
tool
executing move_to over 10 steps (1.0s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteCloses keep missing because at x≈0.48 the shoulder hits its limit and can't get below ~4.5 cm, above the cap. Plan: press down on the bottle body with the closed jaws and drag it ~8 cm toward the base so the neck is reachable at table height.
move_to
left_x0.4300left_y0.0000left_z0.0900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0517, 1.8847, 0.8089, 0.5716, -0.1444, -0.1081, 0.0106, -0.0212, 0.4858, 0.1501, -0.2615, -0.0311, -0.0357, 0.9984] state[eef_state]: left_x=0.4861 left_y=0.0039 left_z=0.0579 left_yaw=0.1138 left_pitch=0.0644 left_roll=-0.0123 left_gripper=0.0106 right_x=0.2419 right_y=0.004 right_z=0.0727 right_yaw=0.0156 right_pitch=-0.0268 right_roll=-0.004 right_gripper=0.9984 state[joint_eff]: [-0.1436, -8.9778, 5.7231, 1.1209, 0.0024, 0.0708, 0.8962, -0.7453, -0.0615, 6.8718, 1.9365, -0.1343, -0.0171, -0.0073] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": 0.0, "left_z": 0.09}, "note": "Closes keep missing because at x\u22480.48 the shoulder hits its limit and can't get below ~4.5 cm, above the cap. Plan: press down on the bottle body with the closed jaws and drag it ~8 cm toward the base so the neck is reachable at table height."})
tool
executing move_to over 5 steps (0.5s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteClosed jaws are over the bottle's upper body. Pressing down onto it to get friction for dragging.
move_to
left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0734, 1.6302, 0.7048, 0.3702, -0.1585, -0.1127, 0.0129, -0.0212, 0.4618, 0.1299, -0.2623, -0.0311, -0.0357, 0.9984] state[eef_state]: left_x=0.44 left_y=-0.0008 left_z=0.0872 left_yaw=0.106 left_pitch=0.0152 left_roll=-0.0004 left_gripper=0.0129 right_x=0.2395 right_y=0.004 right_z=0.0686 right_yaw=0.0156 right_pitch=-0.0238 right_roll=-0.0041 right_gripper=0.9984 state[joint_eff]: [-0.5265, -8.7453, 5.7778, 1.8242, -0.0952, -0.1001, 0.4908, -0.7726, 0.4718, 6.7624, 1.9414, -0.1538, -0.0171, -0.0122] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02}, "note": "Closed jaws are over the bottle's upper body. Pressing down onto it to get friction for dragging."})
tool
executing move_to over 5 steps (0.5s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteJaws are resting on the bottle at ~7 cm. Dragging back 10 cm toward the base while pressing down, to pull the bottle within reach.
move_to
left_x0.3400left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0731, 1.6703, 0.6945, 0.3851, -0.1654, -0.1127, 0.0148, -0.0212, 0.44, 0.112, -0.2646, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.4375 left_y=0.0007 left_z=0.0695 left_yaw=0.1122 left_pitch=-0.019 left_roll=0.0097 left_gripper=0.0148 right_x=0.2373 right_y=0.004 right_z=0.0647 right_yaw=0.0155 right_pitch=-0.0223 right_roll=-0.0047 right_gripper=0.9984 state[joint_eff]: [0.0479, -7.4735, 5.6547, 1.9267, -0.0269, -0.0562, 0.1734, -0.4991, 0.0342, 6.9949, 1.8486, -0.1245, -0.0415, -0.0122] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_z": 0.04}, "note": "Jaws are resting on the bottle at ~7 cm. Dragging back 10 cm toward the base while pressing down, to pull the bottle within reach."})
tool
executing move_to over 8 steps (0.8s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteBottle appears to be sliding with the jaws (cap stays fixed in the wrist view). Continuing the drag toward the base.
move_to
left_x0.3200left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0883, 1.5707, 0.5632, 0.4759, -0.1761, -0.1169, 0.0169, -0.0212, 0.4183, 0.0963, -0.2649, -0.0311, -0.036, 0.9984] state[eef_state]: left_x=0.4135 left_y=-0.0019 left_z=0.0774 left_yaw=0.1083 left_pitch=0.0402 left_roll=0.0004 left_gripper=0.0169 right_x=0.2358 right_y=0.0041 right_z=0.0622 right_yaw=0.0158 right_pitch=-0.0166 right_roll=-0.0047 right_gripper=0.9984 state[joint_eff]: [-0.7863, -7.7197, 7.706, 2.464, -0.0952, -0.1929, 0.2027, -0.6359, 0.4444, 6.735, 1.9219, -0.1148, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_z": 0.04}, "note": "Bottle appears to be sliding with the jaws (cap stays fixed in the wrist view). Continuing the drag toward the base."})
tool
executing move_to over 8 steps (0.8s)
step 141
assistant
agent noteDrag failed; bottle 1 still lies cap-forward (x≈0.28–0.48, a few cm right of y=0). Opening and moving above its upper body/shoulder at x≈0.42, offset right to centre on it.
move_to
left_gripper1.0000left_x0.4200left_y-0.0380left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1249, 1.3434, 0.2138, 0.5205, -0.1997, -0.1352, 0.0182, -0.0212, 0.403, 0.0853, -0.2684, -0.0311, -0.0357, 0.9984] state[eef_state]: left_x=0.3213 left_y=-0.0014 left_z=0.0343 left_yaw=0.1013 left_pitch=-0.0327 left_roll=0.0136 left_gripper=0.0182 right_x=0.2344 right_y=0.0041 right_z=0.0597 right_yaw=0.0156 right_pitch=-0.0158 right_roll=-0.0044 right_gripper=0.9984 state[joint_eff]: [-0.8137, -4.2735, 5.4496, 2.0293, -0.0952, -0.1538, 0.1197, -0.4581, 0.759, 6.9949, 1.8437, -0.1245, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.42, "left_y": -0.038, "left_z": 0.12}, "note": "Drag failed; bottle 1 still lies cap-forward (x\u22480.28\u20130.48, a few cm right of y=0). Opening and moving above its upper body/shoulder at x\u22480.42, offset right to centre on it."})
tool
executing move_to over 10 steps (1.0s)
step 151
assistant
agent noteBottle 1 now runs straight along the jaw centreline with its cap ahead; the upper body is between the jaws. Descending to body-centre height.
move_to
left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2035, 1.4773, 0.696, 0.1955, -0.2558, -0.1917, 0.9947, -0.0212, 0.3897, 0.0841, -0.2672, -0.0311, -0.036, 0.9984] state[eef_state]: left_x=0.4137 left_y=-0.0361 left_z=0.1119 left_yaw=0.0996 left_pitch=-0.0016 left_roll=-0.0092 left_gripper=0.9947 right_x=0.2351 right_y=0.0041 right_z=0.0623 right_yaw=0.0158 right_pitch=-0.0025 right_roll=-0.0052 right_gripper=0.9984 state[joint_eff]: [-0.841, -5.6547, 8.1709, 1.6484, -0.2418, 0.0366, -0.188, -0.6085, 0.1162, 6.065, 1.8291, -0.1538, -0.0611, -0.0122] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03}, "note": "Bottle 1 now runs straight along the jaw centreline with its cap ahead; the upper body is between the jaws. Descending to body-centre height."})
tool
executing move_to over 6 steps (0.6s)
step 157
assistant
agent noteBottle body sits squarely between the jaws at ~4 cm height. Closing to grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.21, 1.7218, 0.5709, 0.5674, -0.2474, -0.2054, 0.9961, -0.0212, 0.3904, 0.0841, -0.2676, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.4166 left_y=-0.0409 left_z=0.0409 left_yaw=0.0934 left_pitch=-0.0008 left_roll=-0.0259 left_gripper=0.9961 right_x=0.235 right_y=0.004 right_z=0.0621 right_yaw=0.0155 right_pitch=-0.0036 right_roll=-0.0054 right_gripper=0.9984 state[joint_eff]: [0.0615, -5.3538, 3.5624, 1.16, -0.3687, 0.3248, 0.1343, -0.8, 0.4581, 7.0769, 1.7411, -0.105, -0.0562, -0.0122] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Bottle body sits squarely between the jaws at ~4 cm height. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 167
assistant
agent noteJaws closed above the bottle's centreline and slid up over it. Reopening and pressing lower (commanding the z floor) so the finger pads reach the bottle's mid-height.
move_to
left_gripper1.0000left_z-0.0200left_x0.4150left_y-0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2165, 1.718, 0.5739, 0.6476, -0.2783, -0.207, 0.0104, -0.0212, 0.3904, 0.0841, -0.2672, -0.0311, -0.036, 0.9984] state[eef_state]: left_x=0.4271 left_y=-0.0406 left_z=0.0608 left_yaw=0.1148 left_pitch=0.0867 left_roll=-0.0393 left_gripper=0.0104 right_x=0.235 right_y=0.0041 right_z=0.0621 right_yaw=0.0158 right_pitch=-0.0032 right_roll=-0.0052 right_gripper=0.9984 state[joint_eff]: [-0.212, -6.612, 5.0667, 0.9548, -0.0024, 0.1538, 0.862, -0.6085, 0.5128, 6.8171, 1.7558, -0.1685, -0.0171, -0.0122] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": -0.02, "left_x": 0.415, "left_y": -0.04}, "note": "Jaws closed above the bottle's centreline and slid up over it. Reopening and pressing lower (commanding the z floor) so the finger pads reach the bottle's mid-height."})
tool
executing move_to over 10 steps (1.0s)
step 177
assistant
agent noteThe arm can't get below ~4.5 cm beyond x≈0.41 (shoulder at its limit, IK pitched instead). Backing to x=0.39 over the bottle's upper-middle body, where table-level reach is possible, and descending.
move_to
left_x0.3900left_y-0.0400left_z0.0150left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.223, 1.9327, 0.5735, 0.9989, -0.3046, -0.2214, 0.9943, -0.0212, 0.3904, 0.0841, -0.2672, -0.0307, -0.0357, 0.9984] state[eef_state]: left_x=0.4485 left_y=-0.0437 left_z=0.048 left_yaw=0.1457 left_pitch=0.218 left_roll=-0.0896 left_gripper=0.9943 right_x=0.235 right_y=0.004 right_z=0.0621 right_yaw=0.0153 right_pitch=-0.0032 right_roll=-0.0051 right_gripper=0.9984 state[joint_eff]: [-0.2393, -2.8376, 0.841, -0.0317, 0.0415, 0.1441, -0.0708, -0.7316, 0.5402, 6.8308, 1.7314, -0.1148, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.04, "left_z": 0.015, "left_yaw": 0.0}, "note": "The arm can't get below ~4.5 cm beyond x\u22480.41 (shoulder at its limit, IK pitched instead). Backing to x=0.39 over the bottle's upper-middle body, where table-level reach is possible, and descending."})
tool
executing move_to over 5 steps (0.5s)
step 182
assistant
agent noteJaws are straddling the bottle's lower ribbed body at ~2.9 cm (near its mid-height). Closing so I can drag the bottle back toward the base and bring its neck into reach.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1944, 1.7607, 0.4519, 0.7841, -0.2028, -0.157, 0.9955, -0.0212, 0.3908, 0.0841, -0.2676, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.4018 left_y=-0.0392 left_z=0.0285 left_yaw=0.0462 left_pitch=0.0498 left_roll=-0.0227 left_gripper=0.9955 right_x=0.2349 right_y=0.004 right_z=0.062 right_yaw=0.0155 right_pitch=-0.004 right_roll=-0.0054 right_gripper=0.9984 state[joint_eff]: [0.9094, -6.8308, 4.6017, 1.9121, 0.0952, 0.0366, 0.1099, -0.7179, 0.8684, 6.8308, 1.7216, -0.1148, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are straddling the bottle's lower ribbed body at ~2.9 cm (near its mid-height). Closing so I can drag the bottle back toward the base and bring its neck into reach."})
tool
executing move_to over 10 steps (1.0s)
step 192
assistant
agent noteGrasp succeeded (jaws settled at ~4.4 cm), but near the bottle's lower half. Sliding the bottle back ~12 cm toward the base so its neck comes within table-level reach.
move_to
left_x0.2700left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1833, 1.7615, 0.4187, 0.7612, -0.165, -0.1303, 0.4637, -0.0212, 0.3904, 0.0841, -0.2672, -0.0311, -0.036, 0.9984] state[eef_state]: left_x=0.3876 left_y=-0.0387 left_z=0.0121 left_yaw=0.011 left_pitch=-0.0099 left_roll=-0.007 left_gripper=0.4637 right_x=0.235 right_y=0.0041 right_z=0.0621 right_yaw=0.0158 right_pitch=-0.0032 right_roll=-0.0052 right_gripper=0.9984 state[joint_eff]: [-0.0889, -6.5709, 4.4786, 1.7656, -0.0611, 0.1148, 1.243, -0.6496, 0.4581, 6.8034, 1.7509, -0.1441, -0.0513, -0.0122] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.27, "left_z": 0.03}, "note": "Grasp succeeded (jaws settled at ~4.4 cm), but near the bottle's lower half. Sliding the bottle back ~12 cm toward the base so its neck comes within table-level reach."})
tool
executing move_to over 10 steps (1.0s)
step 202
assistant
agent noteBottle 1 has been dragged ~12 cm closer to the base (visible in the overhead view). Releasing and lifting to re-grip it near the neck.
move_to
left_gripper1.0000left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3485, 1.1229, 0.0273, 0.4507, -0.2745, -0.202, 0.4785, -0.0212, 0.3916, 0.0841, -0.2672, -0.0307, -0.036, 0.9984] state[eef_state]: left_x=0.2649 left_y=-0.0415 left_z=0.0154 left_yaw=-0.0238 left_pitch=-0.0544 left_roll=0.0107 left_gripper=0.4785 right_x=0.235 right_y=0.004 right_z=0.0619 right_yaw=0.0155 right_pitch=-0.0044 right_roll=-0.0054 right_gripper=0.9984 state[joint_eff]: [-0.212, -1.9761, 6.8444, 2.6545, -0.4274, 0.0562, 1.0574, -0.8274, 0.9231, 6.8581, 1.7118, -0.1245, -0.0562, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.1}, "note": "Bottle 1 has been dragged ~12 cm closer to the base (visible in the overhead view). Releasing and lifting to re-grip it near the neck."})
tool
executing move_to over 6 steps (0.6s)
step 208
assistant
agent noteWrist view shows the bottle running straight ahead with the neck ~12–13 cm forward. Moving forward and down to straddle the upper shoulder/neck region.
move_to
left_x0.3950left_y-0.0370left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3588, 0.6956, 0.2211, -0.062, -0.2863, -0.2104, 0.9965, -0.0212, 0.3912, 0.0841, -0.2672, -0.0311, -0.036, 0.9984] state[eef_state]: left_x=0.2704 left_y=-0.0443 left_z=0.1003 left_yaw=-0.0198 left_pitch=0.0502 left_roll=-0.0254 left_gripper=0.9965 right_x=0.235 right_y=0.0041 right_z=0.062 right_yaw=0.0158 right_pitch=-0.004 right_roll=-0.0052 right_gripper=0.9984 state[joint_eff]: [-0.0342, -0.5402, 8.9231, 1.6239, -0.0708, 0.0269, -0.0904, -0.6359, 0.3624, 6.7624, 1.7705, -0.1343, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.395, "left_y": -0.037, "left_z": 0.025}, "note": "Wrist view shows the bottle running straight ahead with the neck ~12\u201313 cm forward. Moving forward and down to straddle the upper shoulder/neck region."})
tool
executing move_to over 10 steps (1.0s)
step 218
assistant
agent noteJaws straddle the bottle just below its shoulder with the cap a few cm ahead, at ~2.7 cm height. Closing to grip the upper end.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1673, 1.6756, 0.4286, 0.664, -0.1383, -0.1276, 0.997, -0.0212, 0.3904, 0.0841, -0.2672, -0.0311, -0.036, 0.9984] state[eef_state]: left_x=0.3864 left_y=-0.0369 left_z=0.0266 left_yaw=0.0031 left_pitch=-0.0141 left_roll=-0.0189 left_gripper=0.997 right_x=0.235 right_y=0.0041 right_z=0.0621 right_yaw=0.0158 right_pitch=-0.0032 right_roll=-0.0052 right_gripper=0.9984 state[joint_eff]: [0.7316, -5.0256, 5.2034, 1.4335, 0.0611, 0.3004, 0.0415, -0.7179, 0.5538, 6.9949, 1.7656, -0.1148, -0.0415, -0.0073] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws straddle the bottle just below its shoulder with the cap a few cm ahead, at ~2.7 cm height. Closing to grip the upper end."})
tool
executing move_to over 10 steps (1.0s)
step 228
assistant
agent noteI couldn't stand any of the bottles upright, and I'm almost out of calls. All three lie on their sides with the caps pointing forward, and pitch and roll are locked, so the only way to tip one up is to grip it near the cap end and lift so it swings up around its base. I couldn't get a grip there on bottle 1. Near the cap the arm can't reach down to table height, and the jaws slid off the tapered shoulder every time I closed them (six empty closes). The only grip that held was on the straight lower body. I used it to drag the bottle about 12 cm closer to the base, but the next grip near the shoulder slid off too. I never tried bottles 2 and 3.
give_up
hindsight- **Reach at table height:** with the tool pointing straight down, this arm only gets to z ≈ 0.02–0.03 out to about x ≈ 0.40. Past about x = 0.41 the shoulder joint (joint_pos[1]) hits a limit around 1.85–1.93 rad. The grasp point then stops at z ≈ 0.045–0.055, and the solver starts pitching the tool instead of lowering it. So the fact sheet's "table contact to x ≈ 0.49" is wrong for this rig. If a descent stalls there, check joint 1 before assuming you touched something. - **Bottle layout:** the bottles lie with their caps pointing away from the base, and the neck ends out at x ≈ 0.45–0.50, beyond what the arm can reach at table height. The first thing to do is grab each bottle's straight cylindrical body near its base end (at x ≈ 0.39, z ≈ 0.015–0.03, with the bottle centred on the jaw column) and slide it back about 12 cm. That grip held (reading 0.46). - **Where to grip:** closing on the rounded shoulder or the neck pushes the gripper up and makes the wrist pitch (z jumps to 0.06), and the jaws slip off. Grip only the straight part of the body, with the grasp point at or below the bottle's mid-height (about 3 cm). With pitch locked, the only way to tip a bottle upright is to grip high on the straight body and lift so it pivots on its base. Keep in mind that bottles narrow at the shoulder. - **Top camera:** arm-forward really is image-up. At the bottles' location it's about 2.5 px/cm along image-y. The left gripper at x ≈ 0.27 shows up near image y ≈ 140, and at x ≈ 0.44 near image y ≈ 80. The wrist camera was the more reliable guide for side-to-side alignment: centre the bottle on column ~110. - **Pushing doesn't work:** pressing down on a lying bottle with closed jaws and dragging just slides over it. - **Budget:** an empty close costs two calls (close, then reopen and move), so line up carefully before closing.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1703, 1.6695, 0.4366, 0.7937, -0.1738, -0.1123, 0.0098, -0.0212, 0.3908, 0.0841, -0.2672, -0.0311, -0.036, 0.9984] state[eef_state]: left_x=0.4049 left_y=-0.035 left_z=0.0598 left_yaw=0.0234 left_pitch=0.1305 left_roll=-0.0145 left_gripper=0.0098 right_x=0.235 right_y=0.0041 right_z=0.0621 right_yaw=0.0158 right_pitch=-0.0036 right_roll=-0.0052 right_gripper=0.9984 state[joint_eff]: [-0.5538, -5.012, 3.4803, 0.8474, 0.1294, -0.0513, 0.8083, -0.5538, 0.6632, 6.8444, 1.7118, -0.0952, -0.0513, -0.0122] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I couldn't stand any of the bottles upright, and I'm almost out of calls. All three lie on their sides with the caps pointing forward, and pitch and roll are locked, so the only way to tip one up is to grip it near the cap end and lift so it swings up around its base. I couldn't get a grip there on bottle 1. Near the cap the arm can't reach down to table height, and the jaws slid off the tapered shoulder every time I closed them (six empty closes). The only grip that held was on the straight lower body. I used it to drag the bottle about 12 cm closer to the base, but the next grip near the shoulder slid off too. I never tried bottles 2 and 3.", "hindsight": "- **Reach at table height:** with the tool pointing straight down, this arm only gets to z \u2248 0.02\u20130.03 out to about x \u2248 0.40. Past about x = 0.41 the shoulder joint (joint_pos[1]) hits a limit around 1.85\u20131.93 rad. The grasp point then stops at z \u2248 0.045\u20130.055, and the solver starts pitching the tool instead of lowering it. So the fact sheet's \"table contact to x \u2248 0.49\" is wrong for this rig. If a descent stalls there, check joint 1 before assuming you touched something.\n- **Bottle layout:** the bottles lie with their caps pointing away from the base, and the neck ends out at x \u2248 0.45\u20130.50, beyond what the arm can reach at table height. The first thing to do is grab each bottle's straight cylindrical body near its base end (at x \u2248 0.39, z \u2248 0.015\u20130.03, with the bottle centred on the jaw column) and slide it back about 12 cm. That grip held (reading 0.46).\n- **Where to grip:** closing on the rounded shoulder or the neck pushes the gripper up and makes the wrist pitch (z jumps to 0.06), and the jaws slip off. Grip only the straight part of the body, with the grasp point at or below the bottle's mid-height (about 3 cm). With pitch locked, the only way to tip a bottle upright is to grip high on the straight body and lift so it pivots on its base. Keep in mind that bottles narrow at the shoulder.\n- **Top camera:** arm-forward really is image-up. At the bottles' location it's about 2.5 px/cm along image-y. The left gripper at x \u2248 0.27 shows up near image y \u2248 140, and at x \u2248 0.44 near image y \u2248 80. The wrist camera was the more reliable guide for side-to-side alignment: centre the bottle on column ~110.\n- **Pushing doesn't work:** pressing down on a lying bottle with closed jaws and dragging just slides over it.\n- **Budget:** an empty close costs two calls (close, then reopen and move), so line up carefully before closing."})
tool
give_up: I couldn't stand any of the bottles upright, and I'm almost out of calls. All three lie on their sides with the caps pointing forward, and pitch and roll are locked, so the only way to tip one up is to grip it near the cap end and lift so it swings up around its base. I couldn't get a grip there on bottle 1. Near the cap the arm can't reach down to table height, and the jaws slid off the tapered shoulder every time I closed them (six empty closes). The only grip that held was on the straight lower body. I used it to drag the bottle about 12 cm closer to the base, but the next grip near the shoulder slid off too. I never tried bottles 2 and 3.
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 · 29.68 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7921, 0.6067, -0.3775, -0.0227, -0.0288, 0.9985, -0.0177, 0.7879, 0.6029, -0.3851, -0.0177, -0.0212, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2936 right_y=0.0015 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.6769, -1.4427, 9.894, 1.8144, -0.0122, 0.1001, -0.1636, -0.7316, -0.8547, 10.3179, 1.8388, -0.0317, 0.0757, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2795a62d9029338c8f2a8205a61c4a1e913028908c6087c2ac9754d00d9ef8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdaf2378173ca80b051d94da434091d2935920eb9b3fd9e84a91ce2db9cdd742",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:579ada99a4d2e33f6d2d40f7053c322b1661d194e05c8a680b32f984dc689f79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 7.663 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7921, 0.6067, -0.3775, -0.0227, -0.0288, 0.9985, -0.0177, 0.7879, 0.6029, -0.3851, -0.0177, -0.0212, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2936 right_y=0.0015 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.6769, -1.4427, 9.894, 1.8144, -0.0122, 0.1001, -0.1636, -0.7316, -0.8547, 10.3179, 1.8388, -0.0317, 0.0757, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2795a62d9029338c8f2a8205a61c4a1e913028908c6087c2ac9754d00d9ef8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdaf2378173ca80b051d94da434091d2935920eb9b3fd9e84a91ce2db9cdd742",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:579ada99a4d2e33f6d2d40f7053c322b1661d194e05c8a680b32f984dc689f79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019A89MLvpUYfc8m47PcCfWW",
      "input": {
        "note": "Three bottles lie on their sides with caps pointing forward. Plan: grab each bottle by the neck and lift so it swings upright about its base. Moving the left arm over bottle 1's neck.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.4,
          "left_y": -0.04,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_019A89MLvpUYfc8m47PcCfWW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1703, 1.3186, 0.7036, -0.0463, -0.1436, -0.1127, 0.9988, -0.0212, 0.7929, 0.6033, -0.4038, -0.0235, -0.025, 0.9984]\nstate[eef_state]: left_x=0.3816 left_y=-0.0363 left_z=0.1251 left_yaw=-0.0027 left_pitch=-0.0907 left_roll=0.0095 left_gripper=0.9988 right_x=0.2914 right_y=0.0016 right_z=0.1751 right_yaw=0.0034 right_pitch=-0.0232 right_roll=0.0004 right_gripper=0.9984\nstate[joint_eff]: [-0.6222, -5.5726, 9.1966, 1.917, -0.0952, -0.0073, -0.1343, -0.1026, -1.5795, 7.0085, 1.8779, 0.0122, -0.022, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78bd369cb762df11cff3b36cc045f666305833e14ee0293ba9ca86d0886a41fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9f2300c624c035b3346494e900de345a972f53d2091a18c2705cf812b060ca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:044f49b351edaa0763af066035c571e10f72b558ac0467994ff21114fccd9f5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.593 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7921, 0.6067, -0.3775, -0.0227, -0.0288, 0.9985, -0.0177, 0.7879, 0.6029, -0.3851, -0.0177, -0.0212, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2936 right_y=0.0015 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.6769, -1.4427, 9.894, 1.8144, -0.0122, 0.1001, -0.1636, -0.7316, -0.8547, 10.3179, 1.8388, -0.0317, 0.0757, -0.1734]",
      "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]: [-0.1703, 1.3186, 0.7036, -0.0463, -0.1436, -0.1127, 0.9988, -0.0212, 0.7929, 0.6033, -0.4038, -0.0235, -0.025, 0.9984]\nstate[eef_state]: left_x=0.3816 left_y=-0.0363 left_z=0.1251 left_yaw=-0.0027 left_pitch=-0.0907 left_roll=0.0095 left_gripper=0.9988 right_x=0.2914 right_y=0.0016 right_z=0.1751 right_yaw=0.0034 right_pitch=-0.0232 right_roll=0.0004 right_gripper=0.9984\nstate[joint_eff]: [-0.6222, -5.5726, 9.1966, 1.917, -0.0952, -0.0073, -0.1343, -0.1026, -1.5795, 7.0085, 1.8779, 0.0122, -0.022, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78bd369cb762df11cff3b36cc045f666305833e14ee0293ba9ca86d0886a41fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9f2300c624c035b3346494e900de345a972f53d2091a18c2705cf812b060ca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:044f49b351edaa0763af066035c571e10f72b558ac0467994ff21114fccd9f5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QaJ5kkzTnrNcU7nR3U9HjA",
      "input": {
        "note": "Wrist cam shows bottle 1's cap just ahead of the jaws with the body running under them. Advancing ~3 cm and descending toward the neck.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.035,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QaJ5kkzTnrNcU7nR3U9HjA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1631, 1.5726, 0.5598, 0.4091, -0.1234, -0.112, 0.9985, -0.0212, 0.783, 0.5827, -0.3973, -0.0238, -0.0288, 0.9984]\nstate[eef_state]: left_x=0.402 left_y=-0.0405 left_z=0.0608 left_yaw=-0.0135 left_pitch=-0.0357 left_roll=-0.0108 left_gripper=0.9985 right_x=0.2891 right_y=0.0017 right_z=0.1697 right_yaw=0.0058 right_pitch=-0.0274 right_roll=-0.0024 right_gripper=0.9984\nstate[joint_eff]: [0.9094, -4.6427, 5.8188, 1.2674, -0.149, 0.105, -0.0513, -0.1299, -1.6479, 6.8034, 1.9072, -0.0659, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61e6fa560c8421ad8817e8da3e1d46ca7fe20d3348e59f5fb16ab918571a415d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d46809a25c05289560cc96a415fa0d51a453aea133168a4dd9273bfd67a9251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e65dbbff89a1b9134950489ba23d0aec99547f24ebc58376ba2f03905e5e107c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /messages · status 200 · 5.749 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7921, 0.6067, -0.3775, -0.0227, -0.0288, 0.9985, -0.0177, 0.7879, 0.6029, -0.3851, -0.0177, -0.0212, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2936 right_y=0.0015 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.6769, -1.4427, 9.894, 1.8144, -0.0122, 0.1001, -0.1636, -0.7316, -0.8547, 10.3179, 1.8388, -0.0317, 0.0757, -0.1734]",
      "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]: [-0.1703, 1.3186, 0.7036, -0.0463, -0.1436, -0.1127, 0.9988, -0.0212, 0.7929, 0.6033, -0.4038, -0.0235, -0.025, 0.9984]\nstate[eef_state]: left_x=0.3816 left_y=-0.0363 left_z=0.1251 left_yaw=-0.0027 left_pitch=-0.0907 left_roll=0.0095 left_gripper=0.9988 right_x=0.2914 right_y=0.0016 right_z=0.1751 right_yaw=0.0034 right_pitch=-0.0232 right_roll=0.0004 right_gripper=0.9984\nstate[joint_eff]: [-0.6222, -5.5726, 9.1966, 1.917, -0.0952, -0.0073, -0.1343, -0.1026, -1.5795, 7.0085, 1.8779, 0.0122, -0.022, -0.022]",
      "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]: [-0.1631, 1.5726, 0.5598, 0.4091, -0.1234, -0.112, 0.9985, -0.0212, 0.783, 0.5827, -0.3973, -0.0238, -0.0288, 0.9984]\nstate[eef_state]: left_x=0.402 left_y=-0.0405 left_z=0.0608 left_yaw=-0.0135 left_pitch=-0.0357 left_roll=-0.0108 left_gripper=0.9985 right_x=0.2891 right_y=0.0017 right_z=0.1697 right_yaw=0.0058 right_pitch=-0.0274 right_roll=-0.0024 right_gripper=0.9984\nstate[joint_eff]: [0.9094, -4.6427, 5.8188, 1.2674, -0.149, 0.105, -0.0513, -0.1299, -1.6479, 6.8034, 1.9072, -0.0659, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61e6fa560c8421ad8817e8da3e1d46ca7fe20d3348e59f5fb16ab918571a415d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d46809a25c05289560cc96a415fa0d51a453aea133168a4dd9273bfd67a9251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e65dbbff89a1b9134950489ba23d0aec99547f24ebc58376ba2f03905e5e107c",
        "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/AcKEAgSGAI4AUIIdGhpbmtpbmcSDAuQe19OP7byA5yDDhoMXseExyDYuHVvHn7RIjBf+TMfLXaQUxbPRwLHDOraLMs9uMdBVatTHvRra4ekPVbP5wvaYHIMTNvnynEr3dUqmQc64k7x3yGbvEpxMxyNKITt2uCD03IZUMeoPog0Ycb065+gqwiHjhF4LJaQctdhi1IE1T9vN98B1hAcL2gOZeV7g9Ua4l4CFfft5mXSvKA7P0js9nbPHmHvY1d2ac5L+ZNAr3I1sVc6sGQW4hHOagFZJJ/SwPFpYLAHHkPqJPb5Zc0iNrUvNhJ/6hFC1jzmeDXz04ChzJxuWOgDV3F4KzHQiu/sFd37EG4GTIyrdoBt5tRZtUn2dqDXzOu8TIA7/b54LhtcYBIzvasXi2TLzfTBQVl0v297/xQSnk7HTMDj1jhGHJuLuvbQDeBmL/VncTKffcRP4UW6A7XzcbpdfDWUc44dLz8nwSPrDp5B/i5tVXdzNbXoQXAVuUUmJqAmRGp3PdOYSOAazElXgoHQ47tPFZKsQ33Gts9JfvIirhozhO1Tj++Ta8SHJEilxmwSrhJTS8OKEIoN6sRUVKm85zpHTpMA+FnEazPj9asNfkTtLz2TuANLDuDbMt6QjXuHosejr+J12zzrEaoRBcOX/K56A13J6UTvDPeheRCfzeQgqSc7Bh9QE99oFLBH+vZS2PqVs2w/9pTrbGBDvMdOGIQXvm4b3b3c0rZvoL5LboTz3YtEpawo8ywGvvizVTT+BVjmLZLVqGnWNgSJIl7dBM84iZ6iDCN1WtZjC/dsFjJ8zS3FmPb2AITyd//sAcqLyKaIY47P/7tphKSOJZNbOGT8XEPxZUjkwRz+u+S5LanvMnBuutzHrQ8B8wXw88boqLUcdwtonohxc19wVkpzvHu0NieuQJPGoTPTGzt1LwVVHTdIBSgmp5Petf/3BJnpz836kz9YOUBMEdoUu7BwsgfNzCs4bVsHKHK3VyANepGSWI/XKO8oXkMCv1w9+q/0CWkm4cLc7J0gDTb65FabI8njuExRGI1O2cc9t0xd5Nwgpw7COzYKCd7r61wy9tD01RlfvTAzI04aN7ctHCqJAYUY+9MLVGocVDuET1GASbQTNolOsFM0vKIHLTcLlG1i2oHpb42quxEw9WhoEy4UsiBbBUPXL8ezK9aOvr+HAWUvGlMbsoM2GrhziBoxRp4fo1LR6ncyJI25MJknO8QSFfMlpYX8wrwWa3kbQkT2Tj6I8kXFla1UdoJZxYRh2BQkq6prYC6aGjlnWGYdf+fnYWUKq/0s96jgUklGdOIuqqprjH4tQH+WX5DTTBuCyb8bO2WZ5HjSaVA3ruwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VJyuZho4CW12UwE7mPhZt6",
      "input": {
        "note": "Jaws are still over the label; the neck is further forward and slightly left. Advancing 4 cm and descending to neck height.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.03,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VJyuZho4CW12UwE7mPhZt6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1307, 1.7699, 0.6266, 0.6418, -0.0818, -0.1085, 0.9983, -0.0212, 0.7712, 0.556, -0.3889, -0.0242, -0.0288, 0.9984]\nstate[eef_state]: left_x=0.443 left_y=-0.04 left_z=0.0546 left_yaw=-0.0179 left_pitch=0.0628 left_roll=-0.0429 left_gripper=0.9983 right_x=0.2861 right_y=0.0018 right_z=0.1624 right_yaw=0.0062 right_pitch=-0.0338 right_roll=-0.002 right_gripper=0.9984\nstate[joint_eff]: [1.0325, -5.6274, 3.959, 0.8278, -0.149, 0.2857, -0.0269, -0.294, -1.6479, 7.2, 1.956, -0.0855, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f23e070f836cb0240bb8eb866d9bfda9de6d5cdae9d3581b16586a5f6f954e91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e48f91378f9a54e199a18321ff4f941d180ef96bd35c27960f16a11fa8f752cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75832c74f5d47b528d49fec9e5de0629e096abdb9109c603a33b998e6e411810",
        "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 · 9.147 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]: [-0.1703, 1.3186, 0.7036, -0.0463, -0.1436, -0.1127, 0.9988, -0.0212, 0.7929, 0.6033, -0.4038, -0.0235, -0.025, 0.9984]\nstate[eef_state]: left_x=0.3816 left_y=-0.0363 left_z=0.1251 left_yaw=-0.0027 left_pitch=-0.0907 left_roll=0.0095 left_gripper=0.9988 right_x=0.2914 right_y=0.0016 right_z=0.1751 right_yaw=0.0034 right_pitch=-0.0232 right_roll=0.0004 right_gripper=0.9984\nstate[joint_eff]: [-0.6222, -5.5726, 9.1966, 1.917, -0.0952, -0.0073, -0.1343, -0.1026, -1.5795, 7.0085, 1.8779, 0.0122, -0.022, -0.022]",
      "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]: [-0.1631, 1.5726, 0.5598, 0.4091, -0.1234, -0.112, 0.9985, -0.0212, 0.783, 0.5827, -0.3973, -0.0238, -0.0288, 0.9984]\nstate[eef_state]: left_x=0.402 left_y=-0.0405 left_z=0.0608 left_yaw=-0.0135 left_pitch=-0.0357 left_roll=-0.0108 left_gripper=0.9985 right_x=0.2891 right_y=0.0017 right_z=0.1697 right_yaw=0.0058 right_pitch=-0.0274 right_roll=-0.0024 right_gripper=0.9984\nstate[joint_eff]: [0.9094, -4.6427, 5.8188, 1.2674, -0.149, 0.105, -0.0513, -0.1299, -1.6479, 6.8034, 1.9072, -0.0659, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1307, 1.7699, 0.6266, 0.6418, -0.0818, -0.1085, 0.9983, -0.0212, 0.7712, 0.556, -0.3889, -0.0242, -0.0288, 0.9984]\nstate[eef_state]: left_x=0.443 left_y=-0.04 left_z=0.0546 left_yaw=-0.0179 left_pitch=0.0628 left_roll=-0.0429 left_gripper=0.9983 right_x=0.2861 right_y=0.0018 right_z=0.1624 right_yaw=0.0062 right_pitch=-0.0338 right_roll=-0.002 right_gripper=0.9984\nstate[joint_eff]: [1.0325, -5.6274, 3.959, 0.8278, -0.149, 0.2857, -0.0269, -0.294, -1.6479, 7.2, 1.956, -0.0855, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f23e070f836cb0240bb8eb866d9bfda9de6d5cdae9d3581b16586a5f6f954e91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e48f91378f9a54e199a18321ff4f941d180ef96bd35c27960f16a11fa8f752cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75832c74f5d47b528d49fec9e5de0629e096abdb9109c603a33b998e6e411810",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpgkKEAgSGAI4AUIIdGhpbmtpbmcSDISDZJdDVNxN0ux8jhoMx4YeREWt3fNRrOBxIjBA4yY2hc+hYJNW3az0h+lFqJyBnMPmlHNaxPPDQf+Et/Jb3XzJ1K6nUTG/4LoR9/IqwwhfteV4TvxcNFx/OszAOSQSB79RY+LPhwkL45ysCNUzwwAx+K1COsfTNGq6/QM0NqAl+CIDJxYbaXKDUA6v162km8/mX/XRDgskQUF4penkcQIQtUPIIQ9y36NxJruVTOaVpsRENPeAGSCS7N0nt4jQnpUeKNn2klxuBGmzyNAGRRrh9U6RLu1OcuzlY3hm4g3uVrvXh40TNxWadsclswR8R82mC9I8Bvl8jWKCEF+RV5taeQAdbMZXzGZwiXSJNrVzE3AT4IFvCCBDt/Z1Mfs9LFGq9ftikw4dIJCgRemygtWdbVnFds1RwXsB3GLEZJzDtRHgGj5Nct1rNAMdhc4f3ksl8r0TzsbvBDG+LuRJBu5kzIBL8iKacgC7kFmSNoUff09iQbmWlC7xNNwR6RMCDFxnsrojDkvLItI1AQNL70JyaH5n9gXqla0tGxi+22mUVmKa5CLdldxTB74QfGHfTy4ghpyoR3Gms7tM1kKqyXuv12umXm/B3NJhcobJI73m4qoGOho5VJp2yCAkub813DVp3qOn7qy01niM1TGbgPwQ4MkvawLyk5BN+jjDkYtb504e9WkY85Ztq15TZGysc3dN+JndKMq79fT1dln+HWwClpd8+AJi02QsFE44DLLLOYxeKYyGGPTSvS3sCTS+UAKkPgm5KXZSX4tM6611GjMgyWuyILISF2RdUMtKRvHgLBBkCPtiDFWsC2fyOgNPGDr18dXQid2Ouzk3n1UcPZNnp8Xv5UygtIsUUTuuI+SQHQchkg3h5dCMo7dDwZk5xgunFFvNWQ6Huh4ta8D2JZE07+2jkHo00eF1a4wSHCPWWSF6MXtACQOaexTd39QzYmeOFf4sPKuJGFf9BTobIHgkjxBZrnDDCquObtnm/CKtRyrGtsqErDZH2lwedJEdhQbQre8n/DgJBMqZVHQc9LdiGJPYT5zR7bLQhScv/ECjL++CLXwyipLICCIhr/5B0ssq911is8SVPDlZb+h+TLHaGf/0YbngnpALzTFmizOWWuDQqeXfeBcFBrQ5ewnnGdHm9xChui6yMDnsSv6PMWr0XTdXfT0wTl29fkKBOxjX5N9YxJpkgPAgIrvg1DwnBCFu/wfwfU6xBkZhdu/AQrGtmhju/iPrr8Ie0skW2zW9i8yIHIiaWS8EH/OTgI5a0Kg/beOZaYvEV8RT96+eoVb4ktIxmxpMZS3UbilkIjW+VKsu4ViFXeDq31R68BIyEgKr8GmVW0IU934xIMyhmbXDkYANhkDSCtin9bMwhIp67lxgpAo3Wf6+iXx8v/g5B9FpJ87N0epCGg65xqBJayJ7c2w3NgfffnlnWwerxGDGufFeGSdzQIiZVQgDmdEz+f1cloA5bhqiCf7M4BZFyojjpeI8VhpEcT8Ujc5vsHOw54Svuvq0Do0WaYxB9L1iDv50fUTCKuso3y33RtyjIsjA1BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018aZh5h5dBRFwMKdzEYrXbd",
      "input": {
        "note": "Cap is now close ahead of the jaws; z stopped at 5.5 cm, likely resting on the bottle body. Moving 2 cm further forward onto the neck and descending.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.03,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_018aZh5h5dBRFwMKdzEYrXbd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1108, 1.8442, 0.6865, 0.683, -0.083, -0.1051, 0.9983, -0.0212, 0.7593, 0.5365, -0.3748, -0.0277, -0.0292, 0.9984]\nstate[eef_state]: left_x=0.4628 left_y=-0.0332 left_z=0.0536 left_yaw=0.0013 left_pitch=0.0895 left_roll=-0.0423 left_gripper=0.9983 right_x=0.2849 right_y=0.0024 right_z=0.1595 right_yaw=0.0093 right_pitch=-0.0273 right_roll=-0.0006 right_gripper=0.9984\nstate[joint_eff]: [0.7179, -5.9419, 4.8068, 1.16, -0.1001, 0.398, -0.0122, -0.4308, -1.2923, 6.735, 2.0098, -0.0269, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a745966f1a20e81689e679f48bb3970d33dc9b3b4885832805d6ac58276c573f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed674675a2967f0c8d7da95fdaec4680f962e3c1a85edd87364f7280858cefe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25ba0f8d822028edbe3fcc848162443b461174ca0c91a6386b9fff4daa6559d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 12.63 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]: [-0.1631, 1.5726, 0.5598, 0.4091, -0.1234, -0.112, 0.9985, -0.0212, 0.783, 0.5827, -0.3973, -0.0238, -0.0288, 0.9984]\nstate[eef_state]: left_x=0.402 left_y=-0.0405 left_z=0.0608 left_yaw=-0.0135 left_pitch=-0.0357 left_roll=-0.0108 left_gripper=0.9985 right_x=0.2891 right_y=0.0017 right_z=0.1697 right_yaw=0.0058 right_pitch=-0.0274 right_roll=-0.0024 right_gripper=0.9984\nstate[joint_eff]: [0.9094, -4.6427, 5.8188, 1.2674, -0.149, 0.105, -0.0513, -0.1299, -1.6479, 6.8034, 1.9072, -0.0659, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1307, 1.7699, 0.6266, 0.6418, -0.0818, -0.1085, 0.9983, -0.0212, 0.7712, 0.556, -0.3889, -0.0242, -0.0288, 0.9984]\nstate[eef_state]: left_x=0.443 left_y=-0.04 left_z=0.0546 left_yaw=-0.0179 left_pitch=0.0628 left_roll=-0.0429 left_gripper=0.9983 right_x=0.2861 right_y=0.0018 right_z=0.1624 right_yaw=0.0062 right_pitch=-0.0338 right_roll=-0.002 right_gripper=0.9984\nstate[joint_eff]: [1.0325, -5.6274, 3.959, 0.8278, -0.149, 0.2857, -0.0269, -0.294, -1.6479, 7.2, 1.956, -0.0855, 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]: [-0.1108, 1.8442, 0.6865, 0.683, -0.083, -0.1051, 0.9983, -0.0212, 0.7593, 0.5365, -0.3748, -0.0277, -0.0292, 0.9984]\nstate[eef_state]: left_x=0.4628 left_y=-0.0332 left_z=0.0536 left_yaw=0.0013 left_pitch=0.0895 left_roll=-0.0423 left_gripper=0.9983 right_x=0.2849 right_y=0.0024 right_z=0.1595 right_yaw=0.0093 right_pitch=-0.0273 right_roll=-0.0006 right_gripper=0.9984\nstate[joint_eff]: [0.7179, -5.9419, 4.8068, 1.16, -0.1001, 0.398, -0.0122, -0.4308, -1.2923, 6.735, 2.0098, -0.0269, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a745966f1a20e81689e679f48bb3970d33dc9b3b4885832805d6ac58276c573f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed674675a2967f0c8d7da95fdaec4680f962e3c1a85edd87364f7280858cefe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25ba0f8d822028edbe3fcc848162443b461174ca0c91a6386b9fff4daa6559d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ERTC15X8eo69vbvWTYSSBw",
      "input": {
        "note": "Descent keeps stopping at ~5.4 cm; the neck appears between the jaws. Commanding a lower target to see whether it's contact or tracking lag.",
        "targets": {
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01ERTC15X8eo69vbvWTYSSBw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1097, 1.8778, 0.7155, 0.6964, -0.0677, -0.1051, 0.9983, -0.0212, 0.7502, 0.5125, -0.366, -0.0288, -0.0326, 0.9984]\nstate[eef_state]: left_x=0.4713 left_y=-0.0363 left_z=0.0522 left_yaw=-0.0104 left_pitch=0.0975 left_roll=-0.0502 left_gripper=0.9983 right_x=0.2824 right_y=0.0027 right_z=0.1528 right_yaw=0.0121 right_pitch=-0.0334 right_roll=-0.0026 right_gripper=0.9984\nstate[joint_eff]: [0.5265, -6.4889, 4.6974, 1.1111, -0.0904, 0.3443, -0.0122, -0.4444, -1.894, 6.8444, 1.9658, -0.0562, 0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b5c4078aed2f270bf4f120c73ce8d7c843dfb07a62e88caf2d5284206fbda83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0674dc3cb74883431e0b52f6c92037add96659dec5c386d1f90808feb968bba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7ee5d858eefd39409eee9d8ac6e39ee19413bc6bbe0cf36c467d09d9b5c1bdd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 4.451 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]: [-0.1307, 1.7699, 0.6266, 0.6418, -0.0818, -0.1085, 0.9983, -0.0212, 0.7712, 0.556, -0.3889, -0.0242, -0.0288, 0.9984]\nstate[eef_state]: left_x=0.443 left_y=-0.04 left_z=0.0546 left_yaw=-0.0179 left_pitch=0.0628 left_roll=-0.0429 left_gripper=0.9983 right_x=0.2861 right_y=0.0018 right_z=0.1624 right_yaw=0.0062 right_pitch=-0.0338 right_roll=-0.002 right_gripper=0.9984\nstate[joint_eff]: [1.0325, -5.6274, 3.959, 0.8278, -0.149, 0.2857, -0.0269, -0.294, -1.6479, 7.2, 1.956, -0.0855, 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]: [-0.1108, 1.8442, 0.6865, 0.683, -0.083, -0.1051, 0.9983, -0.0212, 0.7593, 0.5365, -0.3748, -0.0277, -0.0292, 0.9984]\nstate[eef_state]: left_x=0.4628 left_y=-0.0332 left_z=0.0536 left_yaw=0.0013 left_pitch=0.0895 left_roll=-0.0423 left_gripper=0.9983 right_x=0.2849 right_y=0.0024 right_z=0.1595 right_yaw=0.0093 right_pitch=-0.0273 right_roll=-0.0006 right_gripper=0.9984\nstate[joint_eff]: [0.7179, -5.9419, 4.8068, 1.16, -0.1001, 0.398, -0.0122, -0.4308, -1.2923, 6.735, 2.0098, -0.0269, -0.0171, -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]: [-0.1097, 1.8778, 0.7155, 0.6964, -0.0677, -0.1051, 0.9983, -0.0212, 0.7502, 0.5125, -0.366, -0.0288, -0.0326, 0.9984]\nstate[eef_state]: left_x=0.4713 left_y=-0.0363 left_z=0.0522 left_yaw=-0.0104 left_pitch=0.0975 left_roll=-0.0502 left_gripper=0.9983 right_x=0.2824 right_y=0.0027 right_z=0.1528 right_yaw=0.0121 right_pitch=-0.0334 right_roll=-0.0026 right_gripper=0.9984\nstate[joint_eff]: [0.5265, -6.4889, 4.6974, 1.1111, -0.0904, 0.3443, -0.0122, -0.4444, -1.894, 6.8444, 1.9658, -0.0562, 0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b5c4078aed2f270bf4f120c73ce8d7c843dfb07a62e88caf2d5284206fbda83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0674dc3cb74883431e0b52f6c92037add96659dec5c386d1f90808feb968bba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ee5d858eefd39409eee9d8ac6e39ee19413bc6bbe0cf36c467d09d9b5c1bdd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A1Jv63AEebqnyCxbnTwsTT",
      "input": {
        "note": "Fingers seem to be resting on the bottle's shoulder, which lies right of the jaw centre (bottle is diagonal). Lifting and shifting 2 cm right to straddle the shoulder.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.055,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01A1Jv63AEebqnyCxbnTwsTT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1097, 1.8793, 0.7155, 0.6991, -0.0685, -0.1047, 0.9983, -0.0212, 0.7387, 0.4908, -0.3508, -0.0303, -0.0326, 0.9984]\nstate[eef_state]: left_x=0.4715 left_y=-0.0362 left_z=0.0521 left_yaw=-0.01 left_pitch=0.0986 left_roll=-0.0496 left_gripper=0.9983 right_x=0.2811 right_y=0.003 right_z=0.149 right_yaw=0.0134 right_pitch=-0.0284 right_roll=-0.0019 right_gripper=0.9984\nstate[joint_eff]: [0.4581, -6.7761, 4.7248, 1.0525, -0.1783, 0.3297, -0.0122, -0.5538, -1.7026, 6.9402, 1.8877, -0.0806, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71dd353607cfef4cdf80bea0d07a69cad431554efc795ae83f68f34e7c50c9dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1a4ac1feb5cbce87cbea68b4dd313a269ffc586c4587761f6c70f7ab43cb3a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:22abf67f72e97cb361e62eda34cfcd486b11ff6c75e4b0d2e41a84ac9725f242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 12.05 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]: [-0.1108, 1.8442, 0.6865, 0.683, -0.083, -0.1051, 0.9983, -0.0212, 0.7593, 0.5365, -0.3748, -0.0277, -0.0292, 0.9984]\nstate[eef_state]: left_x=0.4628 left_y=-0.0332 left_z=0.0536 left_yaw=0.0013 left_pitch=0.0895 left_roll=-0.0423 left_gripper=0.9983 right_x=0.2849 right_y=0.0024 right_z=0.1595 right_yaw=0.0093 right_pitch=-0.0273 right_roll=-0.0006 right_gripper=0.9984\nstate[joint_eff]: [0.7179, -5.9419, 4.8068, 1.16, -0.1001, 0.398, -0.0122, -0.4308, -1.2923, 6.735, 2.0098, -0.0269, -0.0171, -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]: [-0.1097, 1.8778, 0.7155, 0.6964, -0.0677, -0.1051, 0.9983, -0.0212, 0.7502, 0.5125, -0.366, -0.0288, -0.0326, 0.9984]\nstate[eef_state]: left_x=0.4713 left_y=-0.0363 left_z=0.0522 left_yaw=-0.0104 left_pitch=0.0975 left_roll=-0.0502 left_gripper=0.9983 right_x=0.2824 right_y=0.0027 right_z=0.1528 right_yaw=0.0121 right_pitch=-0.0334 right_roll=-0.0026 right_gripper=0.9984\nstate[joint_eff]: [0.5265, -6.4889, 4.6974, 1.1111, -0.0904, 0.3443, -0.0122, -0.4444, -1.894, 6.8444, 1.9658, -0.0562, 0.0024, -0.0073]",
      "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]: [-0.1097, 1.8793, 0.7155, 0.6991, -0.0685, -0.1047, 0.9983, -0.0212, 0.7387, 0.4908, -0.3508, -0.0303, -0.0326, 0.9984]\nstate[eef_state]: left_x=0.4715 left_y=-0.0362 left_z=0.0521 left_yaw=-0.01 left_pitch=0.0986 left_roll=-0.0496 left_gripper=0.9983 right_x=0.2811 right_y=0.003 right_z=0.149 right_yaw=0.0134 right_pitch=-0.0284 right_roll=-0.0019 right_gripper=0.9984\nstate[joint_eff]: [0.4581, -6.7761, 4.7248, 1.0525, -0.1783, 0.3297, -0.0122, -0.5538, -1.7026, 6.9402, 1.8877, -0.0806, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71dd353607cfef4cdf80bea0d07a69cad431554efc795ae83f68f34e7c50c9dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1a4ac1feb5cbce87cbea68b4dd313a269ffc586c4587761f6c70f7ab43cb3a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22abf67f72e97cb361e62eda34cfcd486b11ff6c75e4b0d2e41a84ac9725f242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3AcKEAgSGAI4AUIIdGhpbmtpbmcSDLhQ6y3Tg/ffSrg90xoM6BMD2fNL4xH3PpoMIjC26bkJz+arowewvsGqLKMK39L/hsy4uLFgeI2X0NwsxHPPnJDUtfK8B6w4J/hPxhcq+QYUxJKMnAPsCVVWnC8UUjHqIZcx9uTDWfgCdHGj2dHWU8pHujMYzWv3JkdFdC9qEefvxe4n7rbUXnoTb746dGw2oYOlhBHcbLt3JMGUkFSXj9FFwr6O19CM8lc66fvO6bf8vQXuZZILJzTS7Nwqw3N2GxlIBaNkth9hImC10nfUzIMa3l3WgM++st+ViMEkNQWsK05sKZ9cgverH4PEPzNv6geTWb59+QHuBqgAUX0XMABzrP8IQDLtznayQCdZEMfIkrjsiJtFZX44xHfPB4gf08xgsoUFm/zVezwd2afXubrULmEoEG0QAI+2LdyQMPNzVIeaAb6dOgT0kPvqvf+TL0hru5NcMv4rlHNQ11Xfii7Bficf6HTlxKbsrL63UgC27DekOJo4R8MyPAtZZX7eJ+3aYTYk4ZqIMVuPUCB0ZF2Qi2XABR+w7zA1U6vTG27U9Df4cxdZgFUkGzCOJmKu0YB8TMFA5XrK57GjUwhk3zWWgOC8A+nuIopi2g7aUn+Yza9+8abBYnv7SKepqcIh3c8dAccMrz93Nwjf9RWJpVhyN8rF+qcupUc6YPV8b2T/Dm5xVPFdPTw51Q+qZsrQod+z3HDtwKL9GjYbLa7cy4n+TI3E9B/yE46kxLpyPkQEzKKmNmIgPZ3oPyGPIJmpDxKrKNfEgzdW1ed3bUWc3H5euNBb3pPs5IEWmJyNUvOvqrbDkW/o92ZJfK0bBGsQNHQLDKj3i1D9lVg2bu45bQLlQ1psjTtb6pNu2C/fwOStye5Xd0zqCUwVm3Rt1dP6NpqzsvB4TDtp7tIX4+IgC+BTDLOD6StJZOQOCr4LMNbKhQaEoHWsEEHpAv7fkWfRdmBk0ELGCGmnVhr586GR++jbRRVtvW9SVYI3WB2MTH8PGpTPPKcoNMkGkEiOU1z03G3zNTycG9VB5HRJcy2GsrR2G2rvUvMJpbq1z1WsjL0U5TjngOEBfFC6aqbg8NXfXTpM6CeWl03VO70puqxOn33agiEqCRIHFpA2HZ+r4zr3Fj2kyRaqCYna6r5rdj//yMHUZxtnK9LIqBE3DY2Hfd4T3qKI0WG6wR6E2EnbvJJUZBGz47rA9XZuIBAQ7RapB9WHyKhA4GvugLpqZfp1Lrjyds9fZ9wTGSE60cKj3mCTtXqtNTtwL+rymrFw6qK3oAaTxBHgGai7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017JLHFbskQDRBY15N4G3o8r",
      "input": {
        "note": "The left arm did not respond to the last target (possibly stuck at a joint limit near full reach). Backing up and raising to free it.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.05,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_017JLHFbskQDRBY15N4G3o8r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2043, 1.626, 0.7197, 0.395, -0.139, -0.1173, 0.9983, -0.0212, 0.7235, 0.4644, -0.3416, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4431 left_y=-0.0631 left_z=0.1 left_yaw=-0.0385 left_pitch=0.0567 left_roll=-0.0217 left_gripper=0.9983 right_x=0.2781 right_y=0.0031 right_z=0.1428 right_yaw=0.0153 right_pitch=-0.0303 right_roll=-0.0041 right_gripper=0.9984\nstate[joint_eff]: [1.347, -9.1282, 8.1436, 2.0342, -0.2271, -0.0952, -0.0122, -0.2667, -1.0325, 6.9265, 2.0537, -0.0464, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ee8acdd80a74ad3bada1965ee949388ddf1cfc4b420b3a7c846a3279d431e72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edc23966379d1247698f289b80017a4bcbb212d74f6f21dc265fc8c0d9f3fdaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b558af5e8aacd29b1901f188970560af007b544fffd8e39f670604fe2fa6259f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 10.27 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]: [-0.1097, 1.8778, 0.7155, 0.6964, -0.0677, -0.1051, 0.9983, -0.0212, 0.7502, 0.5125, -0.366, -0.0288, -0.0326, 0.9984]\nstate[eef_state]: left_x=0.4713 left_y=-0.0363 left_z=0.0522 left_yaw=-0.0104 left_pitch=0.0975 left_roll=-0.0502 left_gripper=0.9983 right_x=0.2824 right_y=0.0027 right_z=0.1528 right_yaw=0.0121 right_pitch=-0.0334 right_roll=-0.0026 right_gripper=0.9984\nstate[joint_eff]: [0.5265, -6.4889, 4.6974, 1.1111, -0.0904, 0.3443, -0.0122, -0.4444, -1.894, 6.8444, 1.9658, -0.0562, 0.0024, -0.0073]",
      "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]: [-0.1097, 1.8793, 0.7155, 0.6991, -0.0685, -0.1047, 0.9983, -0.0212, 0.7387, 0.4908, -0.3508, -0.0303, -0.0326, 0.9984]\nstate[eef_state]: left_x=0.4715 left_y=-0.0362 left_z=0.0521 left_yaw=-0.01 left_pitch=0.0986 left_roll=-0.0496 left_gripper=0.9983 right_x=0.2811 right_y=0.003 right_z=0.149 right_yaw=0.0134 right_pitch=-0.0284 right_roll=-0.0019 right_gripper=0.9984\nstate[joint_eff]: [0.4581, -6.7761, 4.7248, 1.0525, -0.1783, 0.3297, -0.0122, -0.5538, -1.7026, 6.9402, 1.8877, -0.0806, -0.0073, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2043, 1.626, 0.7197, 0.395, -0.139, -0.1173, 0.9983, -0.0212, 0.7235, 0.4644, -0.3416, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4431 left_y=-0.0631 left_z=0.1 left_yaw=-0.0385 left_pitch=0.0567 left_roll=-0.0217 left_gripper=0.9983 right_x=0.2781 right_y=0.0031 right_z=0.1428 right_yaw=0.0153 right_pitch=-0.0303 right_roll=-0.0041 right_gripper=0.9984\nstate[joint_eff]: [1.347, -9.1282, 8.1436, 2.0342, -0.2271, -0.0952, -0.0122, -0.2667, -1.0325, 6.9265, 2.0537, -0.0464, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ee8acdd80a74ad3bada1965ee949388ddf1cfc4b420b3a7c846a3279d431e72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edc23966379d1247698f289b80017a4bcbb212d74f6f21dc265fc8c0d9f3fdaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b558af5e8aacd29b1901f188970560af007b544fffd8e39f670604fe2fa6259f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QfhPaUHJNLcDffqnVDHxV1",
      "input": {
        "note": "Top view shows the left gripper sitting just left of bottle 1's neck. Shifting ~3 cm right and slightly back to centre over the neck/shoulder.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.09,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01QfhPaUHJNLcDffqnVDHxV1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3027, 1.57, 0.7273, 0.2497, -0.2096, -0.1555, 0.9983, -0.0212, 0.7094, 0.4385, -0.3332, -0.0303, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4217 left_y=-0.0894 left_z=0.0975 left_yaw=-0.0575 left_pitch=-0.0156 left_roll=-0.0015 left_gripper=0.9983 right_x=0.2751 right_y=0.0031 right_z=0.1363 right_yaw=0.0152 right_pitch=-0.0337 right_roll=-0.0045 right_gripper=0.9984\nstate[joint_eff]: [0.1026, -7.3231, 6.2017, 2.0244, -0.2711, 0.0806, -0.0122, -0.4991, -0.9778, 6.8855, 1.9902, -0.0952, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:647886160de105776773e7c2b5136a946bef26a600f36b1dc663ce6623502558",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ef1573a596b060ef571eb939cd8741cd79c958d9ec103712a76b4ae309c7d1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7ef959e71546aee9446537326d074123f5aa22aac83c657c17f7943ec55bbfbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 9.914 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]: [-0.1097, 1.8793, 0.7155, 0.6991, -0.0685, -0.1047, 0.9983, -0.0212, 0.7387, 0.4908, -0.3508, -0.0303, -0.0326, 0.9984]\nstate[eef_state]: left_x=0.4715 left_y=-0.0362 left_z=0.0521 left_yaw=-0.01 left_pitch=0.0986 left_roll=-0.0496 left_gripper=0.9983 right_x=0.2811 right_y=0.003 right_z=0.149 right_yaw=0.0134 right_pitch=-0.0284 right_roll=-0.0019 right_gripper=0.9984\nstate[joint_eff]: [0.4581, -6.7761, 4.7248, 1.0525, -0.1783, 0.3297, -0.0122, -0.5538, -1.7026, 6.9402, 1.8877, -0.0806, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.2043, 1.626, 0.7197, 0.395, -0.139, -0.1173, 0.9983, -0.0212, 0.7235, 0.4644, -0.3416, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4431 left_y=-0.0631 left_z=0.1 left_yaw=-0.0385 left_pitch=0.0567 left_roll=-0.0217 left_gripper=0.9983 right_x=0.2781 right_y=0.0031 right_z=0.1428 right_yaw=0.0153 right_pitch=-0.0303 right_roll=-0.0041 right_gripper=0.9984\nstate[joint_eff]: [1.347, -9.1282, 8.1436, 2.0342, -0.2271, -0.0952, -0.0122, -0.2667, -1.0325, 6.9265, 2.0537, -0.0464, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3027, 1.57, 0.7273, 0.2497, -0.2096, -0.1555, 0.9983, -0.0212, 0.7094, 0.4385, -0.3332, -0.0303, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4217 left_y=-0.0894 left_z=0.0975 left_yaw=-0.0575 left_pitch=-0.0156 left_roll=-0.0015 left_gripper=0.9983 right_x=0.2751 right_y=0.0031 right_z=0.1363 right_yaw=0.0152 right_pitch=-0.0337 right_roll=-0.0045 right_gripper=0.9984\nstate[joint_eff]: [0.1026, -7.3231, 6.2017, 2.0244, -0.2711, 0.0806, -0.0122, -0.4991, -0.9778, 6.8855, 1.9902, -0.0952, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:647886160de105776773e7c2b5136a946bef26a600f36b1dc663ce6623502558",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ef1573a596b060ef571eb939cd8741cd79c958d9ec103712a76b4ae309c7d1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ef959e71546aee9446537326d074123f5aa22aac83c657c17f7943ec55bbfbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HwweveD4zF6ZaAamgQAwqB",
      "input": {
        "note": "Bottle 1 (crumpled) seems to have been nudged and now lies just behind/under the left gripper. Backing up and raising to see it fully in the wrist camera.",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.06,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01HwweveD4zF6ZaAamgQAwqB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2928, 1.0962, 0.654, -0.0914, -0.2142, -0.1577, 0.9983, -0.0212, 0.691, 0.4065, -0.3202, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.3523 left_y=-0.0632 left_z=0.173 left_yaw=-0.0423 left_pitch=0.0427 left_roll=-0.0157 left_gripper=0.9983 right_x=0.2717 right_y=0.0033 right_z=0.129 right_yaw=0.0153 right_pitch=-0.0345 right_roll=-0.0039 right_gripper=0.9984\nstate[joint_eff]: [0.4034, -3.959, 7.4325, 1.9512, 0.0855, 0.0806, -0.0171, -0.7043, -0.9915, 7.0085, 2.0195, -0.0855, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fc84ce64294b0bfbec438098618be4838e5ae8ecbb205de3e848bc3aa6e77c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:729ba88cbdceb6ed8ec82ddbac229369c75fbbb8ec524d8bb5cff996e23a073a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:070db82646d57a58234adf578cdf8b0909a0b244e63c1853d005773b7c8d3640",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 9.394 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]: [-0.2043, 1.626, 0.7197, 0.395, -0.139, -0.1173, 0.9983, -0.0212, 0.7235, 0.4644, -0.3416, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4431 left_y=-0.0631 left_z=0.1 left_yaw=-0.0385 left_pitch=0.0567 left_roll=-0.0217 left_gripper=0.9983 right_x=0.2781 right_y=0.0031 right_z=0.1428 right_yaw=0.0153 right_pitch=-0.0303 right_roll=-0.0041 right_gripper=0.9984\nstate[joint_eff]: [1.347, -9.1282, 8.1436, 2.0342, -0.2271, -0.0952, -0.0122, -0.2667, -1.0325, 6.9265, 2.0537, -0.0464, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3027, 1.57, 0.7273, 0.2497, -0.2096, -0.1555, 0.9983, -0.0212, 0.7094, 0.4385, -0.3332, -0.0303, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4217 left_y=-0.0894 left_z=0.0975 left_yaw=-0.0575 left_pitch=-0.0156 left_roll=-0.0015 left_gripper=0.9983 right_x=0.2751 right_y=0.0031 right_z=0.1363 right_yaw=0.0152 right_pitch=-0.0337 right_roll=-0.0045 right_gripper=0.9984\nstate[joint_eff]: [0.1026, -7.3231, 6.2017, 2.0244, -0.2711, 0.0806, -0.0122, -0.4991, -0.9778, 6.8855, 1.9902, -0.0952, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2928, 1.0962, 0.654, -0.0914, -0.2142, -0.1577, 0.9983, -0.0212, 0.691, 0.4065, -0.3202, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.3523 left_y=-0.0632 left_z=0.173 left_yaw=-0.0423 left_pitch=0.0427 left_roll=-0.0157 left_gripper=0.9983 right_x=0.2717 right_y=0.0033 right_z=0.129 right_yaw=0.0153 right_pitch=-0.0345 right_roll=-0.0039 right_gripper=0.9984\nstate[joint_eff]: [0.4034, -3.959, 7.4325, 1.9512, 0.0855, 0.0806, -0.0171, -0.7043, -0.9915, 7.0085, 2.0195, -0.0855, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fc84ce64294b0bfbec438098618be4838e5ae8ecbb205de3e848bc3aa6e77c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:729ba88cbdceb6ed8ec82ddbac229369c75fbbb8ec524d8bb5cff996e23a073a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:070db82646d57a58234adf578cdf8b0909a0b244e63c1853d005773b7c8d3640",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WtFxqP1B2V4tSKHkQv5dui",
      "input": {
        "note": "Wrist cam now shows bottle 1's neck a few cm ahead and slightly left of the jaws, lying diagonally. Moving forward and lower to line the jaws up over the neck.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.05,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01WtFxqP1B2V4tSKHkQv5dui",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1997, 1.422, 0.6117, 0.1471, -0.1547, -0.1295, 0.9983, -0.0212, 0.6712, 0.374, -0.3058, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3845 left_y=-0.0464 left_z=0.0865 left_yaw=-0.0137 left_pitch=-0.0912 left_roll=0.0032 left_gripper=0.9983 right_x=0.2685 right_y=0.0033 right_z=0.1221 right_yaw=0.0155 right_pitch=-0.0326 right_roll=-0.0043 right_gripper=0.9984\nstate[joint_eff]: [0.5812, -5.9556, 5.8735, 1.8291, 0.0464, 0.2515, -0.0122, -0.5402, -1.1009, 6.9675, 1.9512, -0.0757, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e18c899e48aeec14589db2d1ad9b42b74869652014ddf11c330ae77e9193ee2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d291cdb4acb079a2046475d6d6eb504a13be953dd612343e29464b526b67cd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:89e160280c77c8cd6f2da4b78cba494b7ee28224b597413da48cadd7a7475d04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 10.72 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]: [-0.3027, 1.57, 0.7273, 0.2497, -0.2096, -0.1555, 0.9983, -0.0212, 0.7094, 0.4385, -0.3332, -0.0303, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4217 left_y=-0.0894 left_z=0.0975 left_yaw=-0.0575 left_pitch=-0.0156 left_roll=-0.0015 left_gripper=0.9983 right_x=0.2751 right_y=0.0031 right_z=0.1363 right_yaw=0.0152 right_pitch=-0.0337 right_roll=-0.0045 right_gripper=0.9984\nstate[joint_eff]: [0.1026, -7.3231, 6.2017, 2.0244, -0.2711, 0.0806, -0.0122, -0.4991, -0.9778, 6.8855, 1.9902, -0.0952, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2928, 1.0962, 0.654, -0.0914, -0.2142, -0.1577, 0.9983, -0.0212, 0.691, 0.4065, -0.3202, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.3523 left_y=-0.0632 left_z=0.173 left_yaw=-0.0423 left_pitch=0.0427 left_roll=-0.0157 left_gripper=0.9983 right_x=0.2717 right_y=0.0033 right_z=0.129 right_yaw=0.0153 right_pitch=-0.0345 right_roll=-0.0039 right_gripper=0.9984\nstate[joint_eff]: [0.4034, -3.959, 7.4325, 1.9512, 0.0855, 0.0806, -0.0171, -0.7043, -0.9915, 7.0085, 2.0195, -0.0855, -0.022, -0.0122]",
      "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]: [-0.1997, 1.422, 0.6117, 0.1471, -0.1547, -0.1295, 0.9983, -0.0212, 0.6712, 0.374, -0.3058, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3845 left_y=-0.0464 left_z=0.0865 left_yaw=-0.0137 left_pitch=-0.0912 left_roll=0.0032 left_gripper=0.9983 right_x=0.2685 right_y=0.0033 right_z=0.1221 right_yaw=0.0155 right_pitch=-0.0326 right_roll=-0.0043 right_gripper=0.9984\nstate[joint_eff]: [0.5812, -5.9556, 5.8735, 1.8291, 0.0464, 0.2515, -0.0122, -0.5402, -1.1009, 6.9675, 1.9512, -0.0757, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e18c899e48aeec14589db2d1ad9b42b74869652014ddf11c330ae77e9193ee2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d291cdb4acb079a2046475d6d6eb504a13be953dd612343e29464b526b67cd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89e160280c77c8cd6f2da4b78cba494b7ee28224b597413da48cadd7a7475d04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VjxMkwtV2gzCGLdpQBBze3",
      "input": {
        "note": "The bottle's neck appears left of and ahead of the jaws in the wrist view. Shifting ~3 cm left and 2.5 cm forward toward the neck.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.02,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VjxMkwtV2gzCGLdpQBBze3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1017, 1.5517, 0.5655, 0.3668, -0.1009, -0.0929, 0.9982, -0.0212, 0.6518, 0.3462, -0.2935, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4006 left_y=-0.0194 left_z=0.0622 left_yaw=0.0188 left_pitch=-0.053 left_roll=-0.0059 left_gripper=0.9982 right_x=0.2658 right_y=0.0035 right_z=0.1167 right_yaw=0.0159 right_pitch=-0.0288 right_roll=-0.0042 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -6.8444, 5.7094, 2.0733, 0.0855, 0.1685, -0.0171, -0.5128, -0.8957, 6.9949, 1.9805, -0.1148, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:553b234f6bc6a44ef7e8b6f704e9497e72abc6c803013e75273e08baa94bcb8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1580723273f71a0252ed67571cd393cfa9380d7fef2679e5cf0413ba6a3e8f00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c59ac9191966560e07867aaf1cc6ec7799174c19a367935a2e1018537cf72fef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 7.483 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]: [-0.2928, 1.0962, 0.654, -0.0914, -0.2142, -0.1577, 0.9983, -0.0212, 0.691, 0.4065, -0.3202, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.3523 left_y=-0.0632 left_z=0.173 left_yaw=-0.0423 left_pitch=0.0427 left_roll=-0.0157 left_gripper=0.9983 right_x=0.2717 right_y=0.0033 right_z=0.129 right_yaw=0.0153 right_pitch=-0.0345 right_roll=-0.0039 right_gripper=0.9984\nstate[joint_eff]: [0.4034, -3.959, 7.4325, 1.9512, 0.0855, 0.0806, -0.0171, -0.7043, -0.9915, 7.0085, 2.0195, -0.0855, -0.022, -0.0122]",
      "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]: [-0.1997, 1.422, 0.6117, 0.1471, -0.1547, -0.1295, 0.9983, -0.0212, 0.6712, 0.374, -0.3058, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3845 left_y=-0.0464 left_z=0.0865 left_yaw=-0.0137 left_pitch=-0.0912 left_roll=0.0032 left_gripper=0.9983 right_x=0.2685 right_y=0.0033 right_z=0.1221 right_yaw=0.0155 right_pitch=-0.0326 right_roll=-0.0043 right_gripper=0.9984\nstate[joint_eff]: [0.5812, -5.9556, 5.8735, 1.8291, 0.0464, 0.2515, -0.0122, -0.5402, -1.1009, 6.9675, 1.9512, -0.0757, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1017, 1.5517, 0.5655, 0.3668, -0.1009, -0.0929, 0.9982, -0.0212, 0.6518, 0.3462, -0.2935, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4006 left_y=-0.0194 left_z=0.0622 left_yaw=0.0188 left_pitch=-0.053 left_roll=-0.0059 left_gripper=0.9982 right_x=0.2658 right_y=0.0035 right_z=0.1167 right_yaw=0.0159 right_pitch=-0.0288 right_roll=-0.0042 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -6.8444, 5.7094, 2.0733, 0.0855, 0.1685, -0.0171, -0.5128, -0.8957, 6.9949, 1.9805, -0.1148, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:553b234f6bc6a44ef7e8b6f704e9497e72abc6c803013e75273e08baa94bcb8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1580723273f71a0252ed67571cd393cfa9380d7fef2679e5cf0413ba6a3e8f00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c59ac9191966560e07867aaf1cc6ec7799174c19a367935a2e1018537cf72fef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RSMJQpA1dhpeb8BxDjbZKa",
      "input": {
        "note": "The bottle's upper body (just below the shoulder) is centred between the jaws a few cm ahead. Advancing slightly and descending to body-centre height to grasp it.",
        "targets": {
          "left_x": 0.425,
          "left_y": -0.015,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RSMJQpA1dhpeb8BxDjbZKa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0933, 1.6409, 0.5373, 0.5163, -0.0967, -0.0864, 0.9983, -0.0212, 0.6346, 0.3218, -0.2901, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4074 left_y=-0.0174 left_z=0.0475 left_yaw=0.0201 left_pitch=-0.0214 left_roll=-0.0066 left_gripper=0.9983 right_x=0.2624 right_y=0.0035 right_z=0.1105 right_yaw=0.0153 right_pitch=-0.0326 right_roll=-0.004 right_gripper=0.9984\nstate[joint_eff]: [-0.5128, -5.7504, 4.6154, 1.6044, -0.1245, 0.0562, -0.0073, -0.5675, -0.4308, 6.8308, 2.0049, -0.1148, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf1ed3ee206d6c4abb8a0d98f92640984a11afa2e694c7409a4a4dc1d63ea9d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:838d4f4a16d442bc5638731b186d4020e7e721f66d184a5e1b09ce8ab1b2717f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c44c20a6a2c5253672dc70bcbf559315d21cd56a8ea67286cc1c1fbded635151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 13.7 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]: [-0.1997, 1.422, 0.6117, 0.1471, -0.1547, -0.1295, 0.9983, -0.0212, 0.6712, 0.374, -0.3058, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3845 left_y=-0.0464 left_z=0.0865 left_yaw=-0.0137 left_pitch=-0.0912 left_roll=0.0032 left_gripper=0.9983 right_x=0.2685 right_y=0.0033 right_z=0.1221 right_yaw=0.0155 right_pitch=-0.0326 right_roll=-0.0043 right_gripper=0.9984\nstate[joint_eff]: [0.5812, -5.9556, 5.8735, 1.8291, 0.0464, 0.2515, -0.0122, -0.5402, -1.1009, 6.9675, 1.9512, -0.0757, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1017, 1.5517, 0.5655, 0.3668, -0.1009, -0.0929, 0.9982, -0.0212, 0.6518, 0.3462, -0.2935, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4006 left_y=-0.0194 left_z=0.0622 left_yaw=0.0188 left_pitch=-0.053 left_roll=-0.0059 left_gripper=0.9982 right_x=0.2658 right_y=0.0035 right_z=0.1167 right_yaw=0.0159 right_pitch=-0.0288 right_roll=-0.0042 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -6.8444, 5.7094, 2.0733, 0.0855, 0.1685, -0.0171, -0.5128, -0.8957, 6.9949, 1.9805, -0.1148, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0933, 1.6409, 0.5373, 0.5163, -0.0967, -0.0864, 0.9983, -0.0212, 0.6346, 0.3218, -0.2901, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4074 left_y=-0.0174 left_z=0.0475 left_yaw=0.0201 left_pitch=-0.0214 left_roll=-0.0066 left_gripper=0.9983 right_x=0.2624 right_y=0.0035 right_z=0.1105 right_yaw=0.0153 right_pitch=-0.0326 right_roll=-0.004 right_gripper=0.9984\nstate[joint_eff]: [-0.5128, -5.7504, 4.6154, 1.6044, -0.1245, 0.0562, -0.0073, -0.5675, -0.4308, 6.8308, 2.0049, -0.1148, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf1ed3ee206d6c4abb8a0d98f92640984a11afa2e694c7409a4a4dc1d63ea9d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:838d4f4a16d442bc5638731b186d4020e7e721f66d184a5e1b09ce8ab1b2717f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c44c20a6a2c5253672dc70bcbf559315d21cd56a8ea67286cc1c1fbded635151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ripy8MLUN2h9A4nqjUnpNR",
      "input": {
        "note": "Jaws appear to straddle the bottle's upper body at ~4.7 cm height (descent stopped there). Closing to grasp.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ripy8MLUN2h9A4nqjUnpNR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0967, 1.6424, 0.5354, 0.6025, -0.1162, -0.0818, 0.0107, -0.0212, 0.614, 0.2943, -0.2794, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4176 left_y=-0.0163 left_z=0.0645 left_yaw=0.0308 left_pitch=0.0619 left_roll=-0.0026 left_gripper=0.0107 right_x=0.2596 right_y=0.0036 right_z=0.1051 right_yaw=0.0159 right_pitch=-0.0288 right_roll=-0.0042 right_gripper=0.9984\nstate[joint_eff]: [-0.1026, -6.0513, 3.959, 1.4725, 0.0952, -0.0269, 0.8816, -0.5538, -0.7863, 6.7897, 1.9756, -0.1343, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a50a9f3443aa01caadedeb5518fca2f6c16f76c81398bfbe76978488d8b1d6f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dec28e995537ca2377c51ca9586671118295f833d6f969fa888835e7dee76614",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04298eea616cb58da199bdcfc41c6054551d4240078e2482f3ed32365723669f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 20.4 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]: [-0.1017, 1.5517, 0.5655, 0.3668, -0.1009, -0.0929, 0.9982, -0.0212, 0.6518, 0.3462, -0.2935, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4006 left_y=-0.0194 left_z=0.0622 left_yaw=0.0188 left_pitch=-0.053 left_roll=-0.0059 left_gripper=0.9982 right_x=0.2658 right_y=0.0035 right_z=0.1167 right_yaw=0.0159 right_pitch=-0.0288 right_roll=-0.0042 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -6.8444, 5.7094, 2.0733, 0.0855, 0.1685, -0.0171, -0.5128, -0.8957, 6.9949, 1.9805, -0.1148, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0933, 1.6409, 0.5373, 0.5163, -0.0967, -0.0864, 0.9983, -0.0212, 0.6346, 0.3218, -0.2901, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4074 left_y=-0.0174 left_z=0.0475 left_yaw=0.0201 left_pitch=-0.0214 left_roll=-0.0066 left_gripper=0.9983 right_x=0.2624 right_y=0.0035 right_z=0.1105 right_yaw=0.0153 right_pitch=-0.0326 right_roll=-0.004 right_gripper=0.9984\nstate[joint_eff]: [-0.5128, -5.7504, 4.6154, 1.6044, -0.1245, 0.0562, -0.0073, -0.5675, -0.4308, 6.8308, 2.0049, -0.1148, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0967, 1.6424, 0.5354, 0.6025, -0.1162, -0.0818, 0.0107, -0.0212, 0.614, 0.2943, -0.2794, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4176 left_y=-0.0163 left_z=0.0645 left_yaw=0.0308 left_pitch=0.0619 left_roll=-0.0026 left_gripper=0.0107 right_x=0.2596 right_y=0.0036 right_z=0.1051 right_yaw=0.0159 right_pitch=-0.0288 right_roll=-0.0042 right_gripper=0.9984\nstate[joint_eff]: [-0.1026, -6.0513, 3.959, 1.4725, 0.0952, -0.0269, 0.8816, -0.5538, -0.7863, 6.7897, 1.9756, -0.1343, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a50a9f3443aa01caadedeb5518fca2f6c16f76c81398bfbe76978488d8b1d6f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dec28e995537ca2377c51ca9586671118295f833d6f969fa888835e7dee76614",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04298eea616cb58da199bdcfc41c6054551d4240078e2482f3ed32365723669f",
        "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_01LiGSGvvMSx91Z58VGX5SXe",
      "input": {
        "note": "Empty close; my estimate of where the left gripper is relative to the bottles seems inconsistent between cameras. Opening and lifting so I can locate the gripper clearly in the overhead view.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.4,
          "left_y": -0.02,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LiGSGvvMSx91Z58VGX5SXe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.112, 1.3025, 0.8589, -0.1402, -0.1219, -0.1081, 0.9946, -0.0212, 0.5945, 0.2684, -0.2687, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4023 left_y=-0.02 left_z=0.1805 left_yaw=0.0342 left_pitch=-0.0162 left_roll=-0.0114 left_gripper=0.9946 right_x=0.2572 right_y=0.0036 right_z=0.1001 right_yaw=0.0153 right_pitch=-0.0246 right_roll=-0.0043 right_gripper=0.9984\nstate[joint_eff]: [-0.5812, -6.6667, 9.347, 1.8095, -0.149, 0.0562, -0.2076, -0.4991, -0.3214, 6.9538, 1.917, -0.1294, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcec1f2471a1ce21a97336dde45426b5f959996bcc987697cc36c39506cb8d15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51737edcb733d64b05014b819535cc58bd79ea620e594f1c5a740bf2e133a179",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:731373d1eea8b7f86993e53334d0693aa20e7cf71ebf45e783607207ff02bd0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /messages · status 200 · 8.71 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]: [-0.0933, 1.6409, 0.5373, 0.5163, -0.0967, -0.0864, 0.9983, -0.0212, 0.6346, 0.3218, -0.2901, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4074 left_y=-0.0174 left_z=0.0475 left_yaw=0.0201 left_pitch=-0.0214 left_roll=-0.0066 left_gripper=0.9983 right_x=0.2624 right_y=0.0035 right_z=0.1105 right_yaw=0.0153 right_pitch=-0.0326 right_roll=-0.004 right_gripper=0.9984\nstate[joint_eff]: [-0.5128, -5.7504, 4.6154, 1.6044, -0.1245, 0.0562, -0.0073, -0.5675, -0.4308, 6.8308, 2.0049, -0.1148, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0967, 1.6424, 0.5354, 0.6025, -0.1162, -0.0818, 0.0107, -0.0212, 0.614, 0.2943, -0.2794, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4176 left_y=-0.0163 left_z=0.0645 left_yaw=0.0308 left_pitch=0.0619 left_roll=-0.0026 left_gripper=0.0107 right_x=0.2596 right_y=0.0036 right_z=0.1051 right_yaw=0.0159 right_pitch=-0.0288 right_roll=-0.0042 right_gripper=0.9984\nstate[joint_eff]: [-0.1026, -6.0513, 3.959, 1.4725, 0.0952, -0.0269, 0.8816, -0.5538, -0.7863, 6.7897, 1.9756, -0.1343, -0.0269, -0.0122]",
      "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]: [-0.112, 1.3025, 0.8589, -0.1402, -0.1219, -0.1081, 0.9946, -0.0212, 0.5945, 0.2684, -0.2687, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4023 left_y=-0.02 left_z=0.1805 left_yaw=0.0342 left_pitch=-0.0162 left_roll=-0.0114 left_gripper=0.9946 right_x=0.2572 right_y=0.0036 right_z=0.1001 right_yaw=0.0153 right_pitch=-0.0246 right_roll=-0.0043 right_gripper=0.9984\nstate[joint_eff]: [-0.5812, -6.6667, 9.347, 1.8095, -0.149, 0.0562, -0.2076, -0.4991, -0.3214, 6.9538, 1.917, -0.1294, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcec1f2471a1ce21a97336dde45426b5f959996bcc987697cc36c39506cb8d15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51737edcb733d64b05014b819535cc58bd79ea620e594f1c5a740bf2e133a179",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:731373d1eea8b7f86993e53334d0693aa20e7cf71ebf45e783607207ff02bd0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014xj8j3jG2TWGAkmmfM5Q5e",
      "input": {
        "note": "Wrist view shows bottle 1's neck/cap just ahead of the jaws with its body running back underneath. Moving 4 cm forward at 10 cm height to get the narrow neck directly under the jaws.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.015,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_014xj8j3jG2TWGAkmmfM5Q5e",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0898, 1.5726, 0.7486, 0.1833, -0.1196, -0.1047, 0.9961, -0.0212, 0.5797, 0.2474, -0.2649, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4283 left_y=-0.0138 left_z=0.0904 left_yaw=0.0529 left_pitch=-0.0727 left_roll=-0.0017 left_gripper=0.9961 right_x=0.2545 right_y=0.0036 right_z=0.0949 right_yaw=0.0155 right_pitch=-0.0269 right_roll=-0.0045 right_gripper=0.9984\nstate[joint_eff]: [0.2393, -6.8171, 5.8051, 1.8877, 0.0366, 0.1783, 0.1343, -0.7316, -0.6085, 6.8718, 1.9463, -0.1001, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b3e2195de38c952f2088b68c530912ed6ce30dfa0cad5c87927baa3aec8ad79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0e0605c6b75ec8054d0ebb17f2deee52cb3651992e586d3337b1bed742c8895",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8337c855b84561a9cfda2b91269b81826b93678c47294a333308e64c503fe50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 4.934 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]: [-0.0967, 1.6424, 0.5354, 0.6025, -0.1162, -0.0818, 0.0107, -0.0212, 0.614, 0.2943, -0.2794, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4176 left_y=-0.0163 left_z=0.0645 left_yaw=0.0308 left_pitch=0.0619 left_roll=-0.0026 left_gripper=0.0107 right_x=0.2596 right_y=0.0036 right_z=0.1051 right_yaw=0.0159 right_pitch=-0.0288 right_roll=-0.0042 right_gripper=0.9984\nstate[joint_eff]: [-0.1026, -6.0513, 3.959, 1.4725, 0.0952, -0.0269, 0.8816, -0.5538, -0.7863, 6.7897, 1.9756, -0.1343, -0.0269, -0.0122]",
      "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]: [-0.112, 1.3025, 0.8589, -0.1402, -0.1219, -0.1081, 0.9946, -0.0212, 0.5945, 0.2684, -0.2687, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4023 left_y=-0.02 left_z=0.1805 left_yaw=0.0342 left_pitch=-0.0162 left_roll=-0.0114 left_gripper=0.9946 right_x=0.2572 right_y=0.0036 right_z=0.1001 right_yaw=0.0153 right_pitch=-0.0246 right_roll=-0.0043 right_gripper=0.9984\nstate[joint_eff]: [-0.5812, -6.6667, 9.347, 1.8095, -0.149, 0.0562, -0.2076, -0.4991, -0.3214, 6.9538, 1.917, -0.1294, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0898, 1.5726, 0.7486, 0.1833, -0.1196, -0.1047, 0.9961, -0.0212, 0.5797, 0.2474, -0.2649, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4283 left_y=-0.0138 left_z=0.0904 left_yaw=0.0529 left_pitch=-0.0727 left_roll=-0.0017 left_gripper=0.9961 right_x=0.2545 right_y=0.0036 right_z=0.0949 right_yaw=0.0155 right_pitch=-0.0269 right_roll=-0.0045 right_gripper=0.9984\nstate[joint_eff]: [0.2393, -6.8171, 5.8051, 1.8877, 0.0366, 0.1783, 0.1343, -0.7316, -0.6085, 6.8718, 1.9463, -0.1001, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b3e2195de38c952f2088b68c530912ed6ce30dfa0cad5c87927baa3aec8ad79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0e0605c6b75ec8054d0ebb17f2deee52cb3651992e586d3337b1bed742c8895",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8337c855b84561a9cfda2b91269b81826b93678c47294a333308e64c503fe50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019zwVK9a54VqCkEhSRPNRA3",
      "input": {
        "note": "Neck is centred slightly left of the jaw column a few cm ahead. Moving forward ~3.5 cm and 0.5 cm left while descending to neck height.",
        "targets": {
          "left_x": 0.465,
          "left_y": -0.008,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019zwVK9a54VqCkEhSRPNRA3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0719, 1.8481, 0.7288, 0.5365, -0.1055, -0.1085, 0.9962, -0.0212, 0.5606, 0.2268, -0.2623, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4589 left_y=-0.0108 left_z=0.0366 left_yaw=0.0606 left_pitch=-0.0163 left_roll=-0.0208 left_gripper=0.9962 right_x=0.2519 right_y=0.0037 right_z=0.0905 right_yaw=0.0153 right_pitch=-0.0257 right_roll=-0.0043 right_gripper=0.9984\nstate[joint_eff]: [0.4444, -4.8479, 5.5453, 0.9792, -0.1929, 0.2564, 0.0024, -0.7453, -0.1299, 6.7077, 1.9219, -0.1197, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40b38297472ffd91a3292afb4e88975c328e44f6f7914d88b2ad8ce5ac02726a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4140e761d654dba00e7dd3f4767059ce422da78f45a4479fdf89fe1eef902213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4eecb96b55070066c54b18f4458c78761232531ae48a49a021e5163e0df9c496",
        "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 · 10.37 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.112, 1.3025, 0.8589, -0.1402, -0.1219, -0.1081, 0.9946, -0.0212, 0.5945, 0.2684, -0.2687, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4023 left_y=-0.02 left_z=0.1805 left_yaw=0.0342 left_pitch=-0.0162 left_roll=-0.0114 left_gripper=0.9946 right_x=0.2572 right_y=0.0036 right_z=0.1001 right_yaw=0.0153 right_pitch=-0.0246 right_roll=-0.0043 right_gripper=0.9984\nstate[joint_eff]: [-0.5812, -6.6667, 9.347, 1.8095, -0.149, 0.0562, -0.2076, -0.4991, -0.3214, 6.9538, 1.917, -0.1294, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0898, 1.5726, 0.7486, 0.1833, -0.1196, -0.1047, 0.9961, -0.0212, 0.5797, 0.2474, -0.2649, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4283 left_y=-0.0138 left_z=0.0904 left_yaw=0.0529 left_pitch=-0.0727 left_roll=-0.0017 left_gripper=0.9961 right_x=0.2545 right_y=0.0036 right_z=0.0949 right_yaw=0.0155 right_pitch=-0.0269 right_roll=-0.0045 right_gripper=0.9984\nstate[joint_eff]: [0.2393, -6.8171, 5.8051, 1.8877, 0.0366, 0.1783, 0.1343, -0.7316, -0.6085, 6.8718, 1.9463, -0.1001, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0719, 1.8481, 0.7288, 0.5365, -0.1055, -0.1085, 0.9962, -0.0212, 0.5606, 0.2268, -0.2623, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4589 left_y=-0.0108 left_z=0.0366 left_yaw=0.0606 left_pitch=-0.0163 left_roll=-0.0208 left_gripper=0.9962 right_x=0.2519 right_y=0.0037 right_z=0.0905 right_yaw=0.0153 right_pitch=-0.0257 right_roll=-0.0043 right_gripper=0.9984\nstate[joint_eff]: [0.4444, -4.8479, 5.5453, 0.9792, -0.1929, 0.2564, 0.0024, -0.7453, -0.1299, 6.7077, 1.9219, -0.1197, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40b38297472ffd91a3292afb4e88975c328e44f6f7914d88b2ad8ce5ac02726a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4140e761d654dba00e7dd3f4767059ce422da78f45a4479fdf89fe1eef902213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4eecb96b55070066c54b18f4458c78761232531ae48a49a021e5163e0df9c496",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSowgKEAgSGAI4AUIIdGhpbmtpbmcSDAaSbfwHAm3H105G8hoMbNHOcJRg/azXhb+eIjAOrP2U3x5YnNiUaZDf7Lgwzt41d62gbmfQh4KIAYs6YUE9eWy/eHpwqB86eXs6/uEqwAe1Gp4f977y/9J7Rwpxe4EUfbbQwdts4qqZxTyADpmJGDOnnhlcEjOhF4TV51TzVM4mdo5OVdi7QiNXOB0xC3rBy572HFgUWXOkACXjN/KpPFMjbwOQeYsr8CkVbZiW/p24/xwLmFcM9G+lNgBmkKrb/XIv4u5HnN7dGajArVfV9jixyS6ZT7eDzjxmRB6sL3m0ddY2kzEZNeISbqshBgJDhNz8GAfGrAk64mDM39TqDAM8CteiBB1NvMCS0pyNqYw5dlLDq+u83LwMRRY4KsQfjuTmtc1LjcP9oW086hPj+fbXc04n4vhf03ffvml1twsLyNkARUH78oV4+4+5I7rp8NvK+9nyD2G+XXa4bLjc2OS+zl9NiX9kLuHSMcOTBe/iqfcARICGrTck1dlDKmyLRLieOTRJrXnl2NMCka/8t1/AZaUg83J6EpddETcCXR7mpMoHIxzjKYUD1CcWCDCFKmAcry3QRUW7+DkNbCnKCcb78iI0uxE4hoHYCeU//QUxgmTIwbl18bJ7gNzYbOpflOUyVaFNSl9i3UpzeHERJmDQ+WZGzj2w8qq+1qdU9XuibA/Y1QjbQXF4s36O8XWtFtvblfVXhYHN2x4QksuI7r9jkGJDlJTATniXypCSDMfSH4tE9mWAmgKZCR0WNGhfKJcK7mQzr3dx+VfhqvOZAkW66dPCUn8oVROPLSY8D+PsGDYZ+LbDA73TwIRiLTNcO2HXZC01IbfYrZqKBLF3wHkKFT4p7Jx2gjZcUTRb9pNFfdwqiuW5mqJj97s+Lu5XbJKJHhDn5XycrGaFxOKTGgf/YS/HushVYmjIDrhR5hNVK80isSmuWJ79AxPiCXu7qL1MNNVXOl/fQthcrAUCURy7F/4mmhAMyHQORFB44dWPqtXCGhx8TLfEfrObxBd2I+3627d2Eb87sxxJRz3DdA6GT3lNLH4Awa5APaHvawUG84ZiXt9GIMXhUw+s7E0IxasJfAzgDqBetdc63W95dV2TEhGklpECHB/1p4uAQSDNni+ZYR1c7aJD5W7FQ5qxY/KGZTgwbV00nKZ+0s7k/7sViXzO7nAGIF2kMF6dZ1nf3FczbDHd2nAROu8zNiq708BAb26+HV/YY7+16+esSUB4y61wLoMabZG3ZSeGstEO5Wuf+iEI1uFF/nbWDz4ypMgNNQqgWTEQH22RS2EfwiX87Z15pT6GFOK1h88E53FOsG/eHIy2dqxE+QUgchLFOS09dNlKSiPoWsIC8Cyppklj8udGbyl06+hoQGh92wYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017kd3qYSMM1xJrMUfrPwAdu",
      "input": {
        "note": "Descended to 3.7 cm with the cap just ahead of the fingertips, so the neck/shoulder should be between the jaws. Closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017kd3qYSMM1xJrMUfrPwAdu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0772, 1.853, 0.7338, 0.6502, -0.1402, -0.1051, 0.0105, -0.0212, 0.5426, 0.2081, -0.263, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4739 left_y=-0.0083 left_z=0.0607 left_yaw=0.0835 left_pitch=0.0987 left_roll=-0.0172 left_gripper=0.0105 right_x=0.2492 right_y=0.0038 right_z=0.086 right_yaw=0.0156 right_pitch=-0.0272 right_roll=-0.004 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -8.3761, 3.8906, 1.0183, 0.1978, 0.1441, 0.8669, -0.4855, -0.1026, 6.612, 2.0, -0.1392, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8122a79358a616d63932c6fd1613637b246d498a59e6d12fe0bae0e16bb00e05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63b9394c5c586cdc49ed413518759b981a11d4000c6c3f2c943ea3de8158cb24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ecbc13240b52d3e182f3a5e348e99ec502b90a752fb94078a7ed58ceef71f64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 5.699 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]: [-0.0898, 1.5726, 0.7486, 0.1833, -0.1196, -0.1047, 0.9961, -0.0212, 0.5797, 0.2474, -0.2649, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4283 left_y=-0.0138 left_z=0.0904 left_yaw=0.0529 left_pitch=-0.0727 left_roll=-0.0017 left_gripper=0.9961 right_x=0.2545 right_y=0.0036 right_z=0.0949 right_yaw=0.0155 right_pitch=-0.0269 right_roll=-0.0045 right_gripper=0.9984\nstate[joint_eff]: [0.2393, -6.8171, 5.8051, 1.8877, 0.0366, 0.1783, 0.1343, -0.7316, -0.6085, 6.8718, 1.9463, -0.1001, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0719, 1.8481, 0.7288, 0.5365, -0.1055, -0.1085, 0.9962, -0.0212, 0.5606, 0.2268, -0.2623, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4589 left_y=-0.0108 left_z=0.0366 left_yaw=0.0606 left_pitch=-0.0163 left_roll=-0.0208 left_gripper=0.9962 right_x=0.2519 right_y=0.0037 right_z=0.0905 right_yaw=0.0153 right_pitch=-0.0257 right_roll=-0.0043 right_gripper=0.9984\nstate[joint_eff]: [0.4444, -4.8479, 5.5453, 0.9792, -0.1929, 0.2564, 0.0024, -0.7453, -0.1299, 6.7077, 1.9219, -0.1197, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0772, 1.853, 0.7338, 0.6502, -0.1402, -0.1051, 0.0105, -0.0212, 0.5426, 0.2081, -0.263, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4739 left_y=-0.0083 left_z=0.0607 left_yaw=0.0835 left_pitch=0.0987 left_roll=-0.0172 left_gripper=0.0105 right_x=0.2492 right_y=0.0038 right_z=0.086 right_yaw=0.0156 right_pitch=-0.0272 right_roll=-0.004 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -8.3761, 3.8906, 1.0183, 0.1978, 0.1441, 0.8669, -0.4855, -0.1026, 6.612, 2.0, -0.1392, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8122a79358a616d63932c6fd1613637b246d498a59e6d12fe0bae0e16bb00e05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63b9394c5c586cdc49ed413518759b981a11d4000c6c3f2c943ea3de8158cb24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ecbc13240b52d3e182f3a5e348e99ec502b90a752fb94078a7ed58ceef71f64",
        "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_01USNT4n2yNu5vx4ApbveAtd",
      "input": {
        "note": "Empty close: the cap sits just beyond and slightly left of the closed jaw tips. Opening and shifting ~1.5 cm forward and 1 cm left to put the cap/neck between the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.487,
          "left_y": 0.002,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01USNT4n2yNu5vx4ApbveAtd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0494, 1.8484, 0.8501, 0.3832, -0.1341, -0.1047, 0.9946, -0.0212, 0.5213, 0.1829, -0.2615, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4766 left_y=0.0037 left_z=0.0512 left_yaw=0.1054 left_pitch=-0.0461 left_roll=0.0029 left_gripper=0.9946 right_x=0.2459 right_y=0.0038 right_z=0.0797 right_yaw=0.0155 right_pitch=-0.0295 right_roll=-0.0044 right_gripper=0.9984\nstate[joint_eff]: [0.3214, -10.0444, 8.3077, 1.7216, 0.1001, 0.1099, -0.1783, -0.6496, -0.253, 7.0359, 1.9658, -0.1197, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97c1e2dbb6b2999f0b523cae6c1bd39ee9c76ce3ba1b6c5d4bb772475ddc8a15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb6236417cf7c6b32659c15cba39f5e07d409061e15dcfc1fd5a112ceb9b2aed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:097e71be04242493d76926ffd0c32c69e179544d2500c4d5e568149fe03f8705",
        "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 · 6.66 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]: [-0.0719, 1.8481, 0.7288, 0.5365, -0.1055, -0.1085, 0.9962, -0.0212, 0.5606, 0.2268, -0.2623, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4589 left_y=-0.0108 left_z=0.0366 left_yaw=0.0606 left_pitch=-0.0163 left_roll=-0.0208 left_gripper=0.9962 right_x=0.2519 right_y=0.0037 right_z=0.0905 right_yaw=0.0153 right_pitch=-0.0257 right_roll=-0.0043 right_gripper=0.9984\nstate[joint_eff]: [0.4444, -4.8479, 5.5453, 0.9792, -0.1929, 0.2564, 0.0024, -0.7453, -0.1299, 6.7077, 1.9219, -0.1197, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0772, 1.853, 0.7338, 0.6502, -0.1402, -0.1051, 0.0105, -0.0212, 0.5426, 0.2081, -0.263, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4739 left_y=-0.0083 left_z=0.0607 left_yaw=0.0835 left_pitch=0.0987 left_roll=-0.0172 left_gripper=0.0105 right_x=0.2492 right_y=0.0038 right_z=0.086 right_yaw=0.0156 right_pitch=-0.0272 right_roll=-0.004 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -8.3761, 3.8906, 1.0183, 0.1978, 0.1441, 0.8669, -0.4855, -0.1026, 6.612, 2.0, -0.1392, -0.0269, -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]: [-0.0494, 1.8484, 0.8501, 0.3832, -0.1341, -0.1047, 0.9946, -0.0212, 0.5213, 0.1829, -0.2615, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4766 left_y=0.0037 left_z=0.0512 left_yaw=0.1054 left_pitch=-0.0461 left_roll=0.0029 left_gripper=0.9946 right_x=0.2459 right_y=0.0038 right_z=0.0797 right_yaw=0.0155 right_pitch=-0.0295 right_roll=-0.0044 right_gripper=0.9984\nstate[joint_eff]: [0.3214, -10.0444, 8.3077, 1.7216, 0.1001, 0.1099, -0.1783, -0.6496, -0.253, 7.0359, 1.9658, -0.1197, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97c1e2dbb6b2999f0b523cae6c1bd39ee9c76ce3ba1b6c5d4bb772475ddc8a15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb6236417cf7c6b32659c15cba39f5e07d409061e15dcfc1fd5a112ceb9b2aed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:097e71be04242493d76926ffd0c32c69e179544d2500c4d5e568149fe03f8705",
        "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+goKEAgSGAI4AUIIdGhpbmtpbmcSDLcVq/uyi0My/VbtgRoMM12eRjrJmI1XzZG3IjDqW55W1Uk218aAXgDd2IAJWuEsQEIq+vYsh4614Q6teMUXMLK+eHwta+WX2dn7xUEqlwpKokw7VBVGfcyfBC3x0msswPcRmgRXZOA4ECC9q8OblUnM+lofvqv5swuSm5l24pwLLm6zRF6pAasx2fm2CSNp0RD2NxG7BLOV/Oaz4rqsN/D/ZFc4yiiBhHi7SgZNyv30Sb8VNP1nUREB525ywBRRkqfTj7H6g044VMpwpm3/GRXI0/P4WdLCsTs0ku6er4ZW+A6kr5Q5zZAHemkvjE9C3RRMkT6WIEvyr9qBHRgR0r4XVIfJASqyWrqOFSFQQoXFfC9E26BmVF9ZZSstq4jcfk6gCcBk5byDaRPm2ZXL78h5mLPo/1YhDNEG/uFPMy8XvuH3sH0mjlO96Nao1Im5d8vo59Al12FXXLpLCfA42th9zxcEN+Y0KI8M6aYaFCI28vU3F1rmegSf3xmkZjd4g3HbaXYLrCdkxzhyhQbqTZPjHWAkJUNrfcfnEobC92DVX2OAMceCIhvf6Lj3COAkwrHDYR7mrzulKKXwoso4g4oPqR4UcDif6yqJaVD500jc3eMvFt7OMVj+RsDSPgV942DOZkWOCDnXSkj8sE+8e1w8Bk8OXO0mMXPyXH3E9nGabwYb0gwg8iMtoBbs6SUCLbAtOn6GEmtS7EzTk8Rn/MqFwKBw8d72x6cB1nWCCJyT0u+GWGNK9kBAzfq+s5Lb68iadZCEqa4XKyIaSvGtSr4Fc6g9Hl0L+F+wGWQWjmAlhmI0FD5RgIVnXZ9NuYYy3KTqog5O6elpVhU47af6s+oXRjoMr6Xb+Ta4hCIDRYS6dN4mAxD6MVZAN95KxDM1TqARVrDXjgJcSMjpA1S5E85C2vjczELXmvyNlojqhOVTN39O7mKKCoEN6S4WW+I+Mxdf5qep34w0txWfm/r/QbCTksF85GEqrY5qP5qexLM/uGtAvm12P0nTbxJQAmapfthSAsiIUwbshPIO7ZMqHYs+yUhv8i00cnQJn7+0eXqwY/yyWic3gSSiBxPLZNbTv06MM/BxURsOwM0TRWlv0K68HfL1SCjA342KlAOxen6SiXAycpQ5+ERM1dwdPP/RkLfahIkBLwS5V0tPdN200F1SiSCk5/+9a6O5IQnUajb6PfdXXJoHauIeBqa8huJ98auO90TddAaFmJhp0uooKYTUtfCV5nTStVSqXzRGmO+i/SuAa9gQKlWlJdM7rca/h+UjaWjDW6TMu35AcDHDSvTlG+bEnkbPo17cYGnjYxc642ihAnB4E0GjMuaQFzgkfilQwCMdvssheXCgBESHNsuUWBXg02ntwj96rMTNp83oxm040ZTk9roS3Dy9hHm5VDf9ZLHFRMc02F0PFsdhea2KhXJUxOrinMINPnWjBfbkbC3OotJU8q9maTP33ObBfxltn8yuXHIci6WKHD3KSeF60r3dyT6cfnWt3QAzqhz8vkcaqvUBw0wNWZP50vDF26LhLIoYyUvibHqQnCnIKgxEaduzXwJJlMNGg/CdavcBPRtN1EMJOTeBKvPLPBz0CIo46D7owRwtVQwZ9tYQYyKNDd/H/Vh61Q3HpFXJ7J8s5Zb1Iz/aSSnTpu6yBNBbP5AW71+eVM1rrDUgvYuFloQ2coJvucipieNq+4I9vnFrR0zTA8D04DHBc9MPMt/QVeEW/TXfqV6g02uLNnRnEHEbBkrCkNFXioZwIOqgDvUpGPH5gi5IygkGSTI13jPH5tyeUA/Gic3Vik9WOKNzmELzANoOvzxdXJy5jr6KCo5KwJQjhYDoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AVbmREAvABtbXU6nPMXiZT",
      "input": {
        "note": "Neck and cap are now centred between the open jaws. Descending to neck height before closing.",
        "targets": {
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01AVbmREAvABtbXU6nPMXiZT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0509, 1.8805, 0.8219, 0.477, -0.1349, -0.1055, 0.9961, -0.0212, 0.5049, 0.168, -0.2573, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4786 left_y=0.003 left_z=0.0448 left_yaw=0.1047 left_pitch=-0.0129 left_roll=-0.0025 left_gripper=0.9961 right_x=0.2447 right_y=0.0038 right_z=0.0774 right_yaw=0.0155 right_pitch=-0.0238 right_roll=-0.0046 right_gripper=0.9984\nstate[joint_eff]: [-0.3487, -6.7897, 4.0274, 1.5165, -0.0122, -0.0024, 0.1392, -0.7863, -0.1846, 6.9949, 1.8779, -0.105, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81c2d1ecfb97559afe5fd566d88635b70ab8b95b96731096dd58778aaf35b784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42d47fa6dae28c280a80d005571ed73de221ef4c9ed1b7fdf5b7bea45f046618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f690ca9af684faaad60a2ba9e961a02d20be33af18fdee26e2a3e42dccba76d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 16.55 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]: [-0.0772, 1.853, 0.7338, 0.6502, -0.1402, -0.1051, 0.0105, -0.0212, 0.5426, 0.2081, -0.263, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4739 left_y=-0.0083 left_z=0.0607 left_yaw=0.0835 left_pitch=0.0987 left_roll=-0.0172 left_gripper=0.0105 right_x=0.2492 right_y=0.0038 right_z=0.086 right_yaw=0.0156 right_pitch=-0.0272 right_roll=-0.004 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -8.3761, 3.8906, 1.0183, 0.1978, 0.1441, 0.8669, -0.4855, -0.1026, 6.612, 2.0, -0.1392, -0.0269, -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]: [-0.0494, 1.8484, 0.8501, 0.3832, -0.1341, -0.1047, 0.9946, -0.0212, 0.5213, 0.1829, -0.2615, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4766 left_y=0.0037 left_z=0.0512 left_yaw=0.1054 left_pitch=-0.0461 left_roll=0.0029 left_gripper=0.9946 right_x=0.2459 right_y=0.0038 right_z=0.0797 right_yaw=0.0155 right_pitch=-0.0295 right_roll=-0.0044 right_gripper=0.9984\nstate[joint_eff]: [0.3214, -10.0444, 8.3077, 1.7216, 0.1001, 0.1099, -0.1783, -0.6496, -0.253, 7.0359, 1.9658, -0.1197, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0509, 1.8805, 0.8219, 0.477, -0.1349, -0.1055, 0.9961, -0.0212, 0.5049, 0.168, -0.2573, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4786 left_y=0.003 left_z=0.0448 left_yaw=0.1047 left_pitch=-0.0129 left_roll=-0.0025 left_gripper=0.9961 right_x=0.2447 right_y=0.0038 right_z=0.0774 right_yaw=0.0155 right_pitch=-0.0238 right_roll=-0.0046 right_gripper=0.9984\nstate[joint_eff]: [-0.3487, -6.7897, 4.0274, 1.5165, -0.0122, -0.0024, 0.1392, -0.7863, -0.1846, 6.9949, 1.8779, -0.105, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81c2d1ecfb97559afe5fd566d88635b70ab8b95b96731096dd58778aaf35b784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42d47fa6dae28c280a80d005571ed73de221ef4c9ed1b7fdf5b7bea45f046618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f690ca9af684faaad60a2ba9e961a02d20be33af18fdee26e2a3e42dccba76d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0121PcHUn26iyXg9vGU68pj2",
      "input": {
        "note": "Cap/neck is centred between the jaws at ~4.5 cm height. Closing on the neck.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0121PcHUn26iyXg9vGU68pj2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0517, 1.8847, 0.8089, 0.5716, -0.1444, -0.1081, 0.0106, -0.0212, 0.4858, 0.1501, -0.2615, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4861 left_y=0.0039 left_z=0.0579 left_yaw=0.1138 left_pitch=0.0644 left_roll=-0.0123 left_gripper=0.0106 right_x=0.2419 right_y=0.004 right_z=0.0727 right_yaw=0.0156 right_pitch=-0.0268 right_roll=-0.004 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -8.9778, 5.7231, 1.1209, 0.0024, 0.0708, 0.8962, -0.7453, -0.0615, 6.8718, 1.9365, -0.1343, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3f1d6a2eadd500e0208d6dda499e0a8d22fab067c3642193d19fffa6595f8f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:399e1e6d1efea86038869b66465875aee4d9ad876ca3f9aa103b5acbdbfc8527",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c608af7c10b099ce07e40ca8343e8b9c3316eb3dd824e00ede8e9f63a75f5ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 3.5 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]: [-0.0494, 1.8484, 0.8501, 0.3832, -0.1341, -0.1047, 0.9946, -0.0212, 0.5213, 0.1829, -0.2615, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4766 left_y=0.0037 left_z=0.0512 left_yaw=0.1054 left_pitch=-0.0461 left_roll=0.0029 left_gripper=0.9946 right_x=0.2459 right_y=0.0038 right_z=0.0797 right_yaw=0.0155 right_pitch=-0.0295 right_roll=-0.0044 right_gripper=0.9984\nstate[joint_eff]: [0.3214, -10.0444, 8.3077, 1.7216, 0.1001, 0.1099, -0.1783, -0.6496, -0.253, 7.0359, 1.9658, -0.1197, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0509, 1.8805, 0.8219, 0.477, -0.1349, -0.1055, 0.9961, -0.0212, 0.5049, 0.168, -0.2573, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4786 left_y=0.003 left_z=0.0448 left_yaw=0.1047 left_pitch=-0.0129 left_roll=-0.0025 left_gripper=0.9961 right_x=0.2447 right_y=0.0038 right_z=0.0774 right_yaw=0.0155 right_pitch=-0.0238 right_roll=-0.0046 right_gripper=0.9984\nstate[joint_eff]: [-0.3487, -6.7897, 4.0274, 1.5165, -0.0122, -0.0024, 0.1392, -0.7863, -0.1846, 6.9949, 1.8779, -0.105, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0517, 1.8847, 0.8089, 0.5716, -0.1444, -0.1081, 0.0106, -0.0212, 0.4858, 0.1501, -0.2615, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4861 left_y=0.0039 left_z=0.0579 left_yaw=0.1138 left_pitch=0.0644 left_roll=-0.0123 left_gripper=0.0106 right_x=0.2419 right_y=0.004 right_z=0.0727 right_yaw=0.0156 right_pitch=-0.0268 right_roll=-0.004 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -8.9778, 5.7231, 1.1209, 0.0024, 0.0708, 0.8962, -0.7453, -0.0615, 6.8718, 1.9365, -0.1343, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3f1d6a2eadd500e0208d6dda499e0a8d22fab067c3642193d19fffa6595f8f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:399e1e6d1efea86038869b66465875aee4d9ad876ca3f9aa103b5acbdbfc8527",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c608af7c10b099ce07e40ca8343e8b9c3316eb3dd824e00ede8e9f63a75f5ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS9x0KEAgSGAI4AUIIdGhpbmtpbmcSDB+4+o7yF+4xUBiYuxoM52CI9BiRM+VJF2Y/IjCnY0d+nD+ccMSGvgd6jNarCbuQ4wkCVwSXm9pT0GfV+kUQxKDrvsEXOT0eiyyJalIqlB2BsAZPr9rUvQYGRW0l2awL/Y1KsB4hdqmSntSoekGwogurqghHhM0ohPpZk1DrcFtsQgQrPDLQI70r8p0EzpdixzCq4VxuzPjzyXdmCW48JjPntRkGznmhThR4Zb4bLXhOFHzmO+uA6r26Zzvod/0S0Kp+PbTnIolE04rAelT15TcfBzZVry/j/SCbJUjloi/ytBKaYAyxO/+2jQ3qhP47AeCC6pOdHaWoikGkuhzHhcrvrZ1OcqyjKdsUEVHjb8ILkiOtTgwJA96yXERC/B8Vpui5CrJDKdmWPMK6QCBNI9mDYcZbkdOUr99Gm1tgBay1biWXCk/WHnMIn0WD1oCfyQUoAVKO8J6XIg3t0ApRMwoU9bXwVdqWmioQsn2gBPyc6TpWVGnj5LZn+8m3jwiyWnyqLzBqK7kV8PDrZiXBu94I756vDtMFb78ktGmGFXP/HMzNhnvEKJSt9WyzIawGP1naiEWq17nQ/dV26oRAJAUpfYdoNTYmVe+TXRvrlc7mzYZSyRF28A32t9CCdPG9Xp1vbYOUv1jyr85O6cz8wR5g5A4ic+DOKOCfUZ9wNMxr9Ksd+j3EX/JYsgU3paMPvCTJmCfq6IMPtwnM9NZ3eDQajSaM9CWFR1dr7jBntcuLWeZotLcA7IF0V3p9dipOFmVns3HkngjAw8u3HaGcCTAJGxOhGKpKSavgo3KFxF1wHh+g7ZZ6yj9mi4jgZn3okFeJJMh38gc4KNx+BUJmswRwiPRc72usdUgTyQiADSPfy8xN9j/jTIQche3PEGjwBSA0W+1mv2YbSQxMUkRQAODqBWNbKKi4RlYf828yNim6A1EKrDhheYONuLLd+DnKiyGBD1t6KTo4lyv7zagQVosGXyef/3pDhLu0wAKYmX8Tk2IGWYs2sgiFr5Oeyij92fy2K3G+PCWH0qoRbkIPoJjeXJcnU6zc46xlWKzIeLzN7rIHyKMY/rJ1EB4dYEvjHGsidt1ospqpEz2kBBTPg9Cob5MkkuRNFS/I077yEP2BaIAf3MO14EJ22TYUlNcCTq7NtpG/18GzZkHskP2mNoyy+oPyn5n+gGr18Sa4E0XZlkNI+kDv4m180H6gKXIgVSxl0xXxAFmG4/BTtYi4venWt4Pe6yZvVccSxcMsMIlwuar8zqr4v7y7IR1azSn5LTYILjhpnvs93IHmie82mGNB9PcPcI9E2mis+BPppbtYgVmYVlIO70gXJM/Le/N3e36jZF5yXtgmUfAVk9+cQk6+m3kFbpIpOfIbAKDXb5t0Ym6G7+ACQETQvbps5kcjo1/+5BtW1zhkvrQBXVSu6S679rbmSPtGwTj14l0OJnU6uQnrze16Zl28CIfai419COIWSV13VsQ0KlRgQ6R1IITWLfaM/2Xvu5J0RbDLoVkDmNpUaJN649pw+upxGfIDwaH+9Ojid20CM+a8ywapU1QMFT1mUjbqlwvn6M2IkIGt6j+9D19J+NJJVBhOR1xJXXeTtt5u2Igv+NkbgFy22j3tp7np20o0QOliEPzoDIxzbpMAgJNF3MIVrDNMy619coQfY721VnMzdjSpKcZbFnzb2d2cLlYAqho5K+2FemXeFeGOaroQREFL/wzr9UvJLTz2D6Khg416uzddTxb6rEwTWWte4GuNiWpFpo2fImegdJUFHn8WEHYxe1nPnDlWh+h89YZkCOk6zI74SjoB5LjcHExb6yz1JPtByj5iprsANcUHPrmsNBBdTNiE5KSwWsSBwbhQR62FDOTdl+zB0V6NYcES6AbzvuB8JYmpo5bGMoOo/z+x6/7liPeOsEKa+n07BpvXLMRySB/0iQrJ4uLwiJmbW4bL57qhC5UpSGAeXqn2y9ZwDZmeAhvLH5InVlSjRGZsSN/GNxtXcyNq4vTJD3i9HWr4UAMxu0NQ0AhYEEZyGpOv9331z1SNDTERvjSUWjBUU2CjDmL1mDOwC27oiF0m9CjmnkVsQgjI9R9idzT3sXZRJHThVGi1HisPEQn0Lvje96c72ddZWx4iccAGcwmZVz2F1Jkrb/8TxmxZHns3WlT6f+MVUz4FqvEroN9A8cL84KOFExEHLah5WkkUEAHnQOEooemLr7SkV2xiU94Snhp6pGejLoFyeIKhc+Hd/m4bgxAcBfDuvdfIg1ekMKTV7Pf2wBBRLVmZCUWJsiAYAOe6Z46fQYeb6PdbBnq4P2ofxsyX8Wj2AVpCWUwePVQFIE9wIrxK6xbDbHS475Dp+Q8lni2YYOaSZMkhuNf2jnAK4H94jkl1pg0satUffsuTclWs+sXPJpThjUQELU4NOEnI4xkPo9w6YHVl++2o7DskLLqQSCTg4UdF5h+qBWsKo/Akf7z1gHWrfL23UBAcC/YKCdxXAsnBvzTCIbS7BnFRUgoX9pk6RUceJgIL7PTwX96Y8/MTQU3ZzK6dhvjsYob7xirq7w+GoasFRsTNg2Ho1AonrBOC70Eg0MddvuZYJ3KFwt+h9cDroYC7hAVmO1XFWm9iSDOCmAPGWrVMo2ioz5G7n7OWmkVkTqWiKUEoQKpeHzdB5eZ0OoAwpKHEPVjJcV/Ih2S14Rky33EJE1E8HLfdtHlQkn+tyG8Pzb9KAgdIsJU3qwHQAyK5R50IfjSc09Jpnu64RvY4M8XujAD1Oei8IcJDPFuIGugWYP20tG9zC2xbYCN9Eql/o1+ej6SAnxyZYnC6rXEApOZT01LQ5nI71RYlxvrVTaAQfZDmkPtCqfZR+++nuycZlHq0FTJZvQrwW02XtrWJ8eg2COs6b9a3mXDq5dGAMLH5ZXywmln6cDeYmGu4Hz2si825vra2VwZY3EA+Wa+tc4lVTjSXrQ15o5Z9e1T0FYx+hzNi2nfiZcOdiWsFY436mvVUdNmpJ63dAzymsFIhMpL8/mouPVYmGh2+nzYa8dz4YaBEcrT6ufd4hElzDO2MICv3WRp6q57Qr8xhvY9ivtv2GARzs29XAUNOum9E0dUcPYNpBXIId0+/GIV8P2jPCYcDeC8vXORyPBNFebwN6HJflLyFDEI2yKek3bkCJdYAS9cyEfCPB7JDeF4+CEXFxW+PNDw9APpAg5aCkUeDdgOvyeCghANowCUVE9WMQssFTFmAqUqiGy/BcGWWPYQiLK430raaS+RVj5oAr8wx1xvcTLW4P6L7L4fj457FkrayRoEF/PQArFDJ4iIFj/w127BGPBj0qfO20b/4/P4Jg4y3oQ85BHEwq87DMmr884FgQbqXm5NcCLmC/shsFzY0n+MThKjlP8pTBmxaamzc0AA05yjzj1ZFr1EiyQx/B+TelMQRb00/JuTwX8H86D7ydF2H5Irw1YxNkwWQD0kMkVwk6fg/IVElzUUuXey7kCyA7+uO3Zcco9K8NPlx3gmccyD9U6nvbEvQMeHeooGqxUItBBMlYcQhvDMxinfG4G6d6G8RqYFcrgqrHkqAFFqfuzecvuxRSa7dxTJpCo+nHF8Kch+XPNxEFCMIfwojBgN6mUTmuPJ5J33ghKs0+71xAFjjaK9hZeWjX7mu0flGZe1D4iqbvyYfzq961hUvK4aOfPVetXywRn3Cz2Mu/qSdIH93QN5/un++SlHc+c/1v6BpeAi5s1j0YQ6Busru0vLQcH/mA8so8A46dQ9VE7T30rGnwocpm+ilZOiVTBzfzHKoEbpohL0zK13g4sYqe4BXNbahw69bGEHNpWRSXrWOI012/HFy+ajLflWF8fFn9NGypJKMsgvN0EQEiPJoPaSMGUdhoVBwr47JoCaaE9QjtXYAjXnq4HFYdIBU46rsU3H+OnAxPsPlFa/WLdasUnvT7p83CJXLKNChgrB36PkYETRUeCzTN6tnTJtAKENBDy5UR8CFD394HvZvn3aqx6QJt+u+Sg2+Fl64Y3OPGPI4Z7zFlQbbLvQzVZ0RK+YT3cIWLSA1wPJIFkdPeuM5FptgBtSC9RfmE/wwpRmxW1kH8pcXITKWE88Mpoxjt+f93Opsw9xluYzbd5wm+J/lxKhJVgzUohMUncdl9FdN0+J/1XvhSYK3plEZQJKpgascmo2823CocbMSsuuH+V3C8mnb09qbCAKtp3nXuJUOoK7Vwp7wOYTzksZ/Jpo3HEShwDemzLAdN6tqGpNHB+SNH8QZsKljXAuV974Qo2/iIkAU+JPrDQfaUKWiSwxe0nrqeCqh62NWP8cUb9+38kN0aXM6grR7FKERSXTfCee+e+gCGJ16dB665qjxNGTJWV2CoeU6zNvYgPbUp4nH9VS2piDDncTmwoaVPKqX4g18j99PlD3Kahn1MBJvxEPAnB4PJpLsCHKEH9wBvYxAesetNxVYXZACd22CoCF7CV5ZWctFADJ11/hwiSlupIztUI6bmXJsk9G4iRh3UnQyxeJMefAsGqJH5Yusy25Zr7yUfa7QZJC699sL8jgsebQMXjCk6xmVlLboNfXLTZUzEZX5o44aSelNGoxid2XkKzidC23XOFltG0P+g5SOinLgLM3Kn4Fw022XgDllazkowqxxxAXrdcFqEpVSa2mjCQEMZ2cPuv/dUruDoF3Zv4L3bw7urIcEXiu3Wt+RPvc5T2DcYcqdn53Qd60RF2mrrhYfC6Kp8C6CJe/bDNcleqlx4I1S5AHzKPoPu/c9fxpOlVdsI+70Hs0KdBCaqjHL5vXdsSH1dLSP6UZvWUT45XAGONoBxIjQooQR70ISMAUOjtlyrHcOP5Dd+O0aooRRUnhyDEj0cWtTDCzbrkeJeyo1D/vvc7U2D/WirlPHDKH5aN7aWw4DZHYKsLRaxGJ47Z1TBVD/SG7nnjTaofn7PIu8xl3uQf9XgpHS6Eo9z8o+UV7qWhmUIkiUodRempvgCZ2ovRu1/yHzlv3ZJ2TODbTe8fG2mI0lwu+mi5y5Yh9iLqp9Ncufcw+yKQbup23XxHXJ7zbB73X7Co58gw3Ixp1T6dF9QvEjtv7jy3AvIfMNV5qJkRplfY4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C8P9h5QikUBc2LUmyosxWD",
      "input": {
        "note": "Closes keep missing because at x≈0.48 the shoulder hits its limit and can't get below ~4.5 cm, above the cap. Plan: press down on the bottle body with the closed jaws and drag it ~8 cm toward the base so the neck is reachable at table height.",
        "targets": {
          "left_x": 0.43,
          "left_y": 0.0,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01C8P9h5QikUBc2LUmyosxWD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 1.6302, 0.7048, 0.3702, -0.1585, -0.1127, 0.0129, -0.0212, 0.4618, 0.1299, -0.2623, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.44 left_y=-0.0008 left_z=0.0872 left_yaw=0.106 left_pitch=0.0152 left_roll=-0.0004 left_gripper=0.0129 right_x=0.2395 right_y=0.004 right_z=0.0686 right_yaw=0.0156 right_pitch=-0.0238 right_roll=-0.0041 right_gripper=0.9984\nstate[joint_eff]: [-0.5265, -8.7453, 5.7778, 1.8242, -0.0952, -0.1001, 0.4908, -0.7726, 0.4718, 6.7624, 1.9414, -0.1538, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b34bd9ef2222c28baedb4371e55a87496fb3b17713705b85e802578aa207a9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfe926d3e3c0d1d8a2714aff3633a7d62a6c67784ad1926f8d30dd149bfaef6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84bce41972d0fcb5a4645219cdf5ea27a9b97d0b25fe9f828182295f44783326",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 3.994 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]: [-0.0509, 1.8805, 0.8219, 0.477, -0.1349, -0.1055, 0.9961, -0.0212, 0.5049, 0.168, -0.2573, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4786 left_y=0.003 left_z=0.0448 left_yaw=0.1047 left_pitch=-0.0129 left_roll=-0.0025 left_gripper=0.9961 right_x=0.2447 right_y=0.0038 right_z=0.0774 right_yaw=0.0155 right_pitch=-0.0238 right_roll=-0.0046 right_gripper=0.9984\nstate[joint_eff]: [-0.3487, -6.7897, 4.0274, 1.5165, -0.0122, -0.0024, 0.1392, -0.7863, -0.1846, 6.9949, 1.8779, -0.105, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0517, 1.8847, 0.8089, 0.5716, -0.1444, -0.1081, 0.0106, -0.0212, 0.4858, 0.1501, -0.2615, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4861 left_y=0.0039 left_z=0.0579 left_yaw=0.1138 left_pitch=0.0644 left_roll=-0.0123 left_gripper=0.0106 right_x=0.2419 right_y=0.004 right_z=0.0727 right_yaw=0.0156 right_pitch=-0.0268 right_roll=-0.004 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -8.9778, 5.7231, 1.1209, 0.0024, 0.0708, 0.8962, -0.7453, -0.0615, 6.8718, 1.9365, -0.1343, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 1.6302, 0.7048, 0.3702, -0.1585, -0.1127, 0.0129, -0.0212, 0.4618, 0.1299, -0.2623, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.44 left_y=-0.0008 left_z=0.0872 left_yaw=0.106 left_pitch=0.0152 left_roll=-0.0004 left_gripper=0.0129 right_x=0.2395 right_y=0.004 right_z=0.0686 right_yaw=0.0156 right_pitch=-0.0238 right_roll=-0.0041 right_gripper=0.9984\nstate[joint_eff]: [-0.5265, -8.7453, 5.7778, 1.8242, -0.0952, -0.1001, 0.4908, -0.7726, 0.4718, 6.7624, 1.9414, -0.1538, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b34bd9ef2222c28baedb4371e55a87496fb3b17713705b85e802578aa207a9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfe926d3e3c0d1d8a2714aff3633a7d62a6c67784ad1926f8d30dd149bfaef6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84bce41972d0fcb5a4645219cdf5ea27a9b97d0b25fe9f828182295f44783326",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QYKEAgSGAI4AUIIdGhpbmtpbmcSDOXuuM2KjFplj74S/BoMv+LJeDJ9iSjD0G41IjCKZZU0G6dy1QdKh9nX9r9L2b7PKPKVlmBmXRCa3WCm0effKLyzaugT7sTft8u6e0YqjgbFlZue2PyC/M0xsfo0aIKpb4Z+h5rUR31NhSXnjW99Q9fhOSiSJLt8N4li3JvmVxg1Oi+htu5C3z4fyN5EVmUGiZh7EJjsf0Fz2zKYpaYHM/trVusNBmhL/Z3n2X3UtXQ7inTfW36x1CnGjzdx8J07yElBDW/r9iodXcFE9G/AiQwiqXrDQUM/uMS6me1WdQh1BkmvJvbtiNZu5pWInHWdWvsJNtQKBSQSZvVbC6vasNL0SDT3NIbFvRxEiT3eh796KpkpSmTZ+He98SqueMDN1iPRW32TVH7L68le3il0hhebR1nygFeGybBzwSGeqg8HBMx0spxrsIVgON3thj3QPHxLzN54NIhUM7Qf4GRmJNxUCQ4dK2cLNRgkAZjyFMRn5wVur/7UZU3lK9XEeM7WUQDpcU+msWPVYZlCzGdLFBmVCmJ1obRMkOL54hHnW00RHQBCXzuxb/9TFwaogmkUFFqfg+/AtAkemJgFlNGXLtYWN9x4OCoeD/26E0TjSaoCAAL1lJELvjIwwbcdBP8Sk3KuYkaQJ6s70On9j4B0TVAjgrAdkXh1pyU7QdfAAGOJYnPUmrCaobajNFFBIPE31bip+9tU6mthSObnqz+ylTk/6Z7hd4E8cf72ofGK3Hlr51OMKFSYhNOalS3sqQDKs4lJZzQO5I528N9zrLx04wrTltW2QRrj2HeMspXF0uHbbhd0gr2hDbuLioDvWd2XSYXW34Zop0InuIy/rvnk0OW7MtYPsemyUEnTzbJD4TZoujWO8RETiXBqvdHhIbM0W/DrCVGlpRHUgoT0zgFjfxdvEjZZ3tsbVtC/r+dpZi0aSbCAIstnnHMe6Ubh3mHkbdRDcu6Ktna5xBBHopQ1RgiSj35c0x0/nngWQ12C1OUqi6JIwL1pW0C4bfZ6/ykvCOBK0CREbC/oDuua6l/lousGfL68yFAubA/mmAe1zmiEKRIBWOBMl+qP5iiygf9bdG8aC1Zve+TPf0qo0xyo0VgVDyj+5N81FCrsTUbjqLq+78MPOkJ+T+KiapH9ChgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018nEkAL4d8wvbEJVb1CfB8T",
      "input": {
        "note": "Closed jaws are over the bottle's upper body. Pressing down onto it to get friction for dragging.",
        "targets": {
          "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_018nEkAL4d8wvbEJVb1CfB8T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0731, 1.6703, 0.6945, 0.3851, -0.1654, -0.1127, 0.0148, -0.0212, 0.44, 0.112, -0.2646, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4375 left_y=0.0007 left_z=0.0695 left_yaw=0.1122 left_pitch=-0.019 left_roll=0.0097 left_gripper=0.0148 right_x=0.2373 right_y=0.004 right_z=0.0647 right_yaw=0.0155 right_pitch=-0.0223 right_roll=-0.0047 right_gripper=0.9984\nstate[joint_eff]: [0.0479, -7.4735, 5.6547, 1.9267, -0.0269, -0.0562, 0.1734, -0.4991, 0.0342, 6.9949, 1.8486, -0.1245, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3d084490bb57eb676a4877c510365728e761c44dc3b1330ece2ccfcb6b1ec7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a89bbf1bd71ea9827dc4adff601e5d855992d3d3d8ef062a2efe7789aff00a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7656404fdf9a4a487d668598881d58d052ff2b01f64dcdba34e75becdac189b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 6.456 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]: [-0.0517, 1.8847, 0.8089, 0.5716, -0.1444, -0.1081, 0.0106, -0.0212, 0.4858, 0.1501, -0.2615, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4861 left_y=0.0039 left_z=0.0579 left_yaw=0.1138 left_pitch=0.0644 left_roll=-0.0123 left_gripper=0.0106 right_x=0.2419 right_y=0.004 right_z=0.0727 right_yaw=0.0156 right_pitch=-0.0268 right_roll=-0.004 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -8.9778, 5.7231, 1.1209, 0.0024, 0.0708, 0.8962, -0.7453, -0.0615, 6.8718, 1.9365, -0.1343, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0734, 1.6302, 0.7048, 0.3702, -0.1585, -0.1127, 0.0129, -0.0212, 0.4618, 0.1299, -0.2623, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.44 left_y=-0.0008 left_z=0.0872 left_yaw=0.106 left_pitch=0.0152 left_roll=-0.0004 left_gripper=0.0129 right_x=0.2395 right_y=0.004 right_z=0.0686 right_yaw=0.0156 right_pitch=-0.0238 right_roll=-0.0041 right_gripper=0.9984\nstate[joint_eff]: [-0.5265, -8.7453, 5.7778, 1.8242, -0.0952, -0.1001, 0.4908, -0.7726, 0.4718, 6.7624, 1.9414, -0.1538, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0731, 1.6703, 0.6945, 0.3851, -0.1654, -0.1127, 0.0148, -0.0212, 0.44, 0.112, -0.2646, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4375 left_y=0.0007 left_z=0.0695 left_yaw=0.1122 left_pitch=-0.019 left_roll=0.0097 left_gripper=0.0148 right_x=0.2373 right_y=0.004 right_z=0.0647 right_yaw=0.0155 right_pitch=-0.0223 right_roll=-0.0047 right_gripper=0.9984\nstate[joint_eff]: [0.0479, -7.4735, 5.6547, 1.9267, -0.0269, -0.0562, 0.1734, -0.4991, 0.0342, 6.9949, 1.8486, -0.1245, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3d084490bb57eb676a4877c510365728e761c44dc3b1330ece2ccfcb6b1ec7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a89bbf1bd71ea9827dc4adff601e5d855992d3d3d8ef062a2efe7789aff00a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7656404fdf9a4a487d668598881d58d052ff2b01f64dcdba34e75becdac189b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmAcKEAgSGAI4AUIIdGhpbmtpbmcSDHoSoFckXjMM9Fr+7xoMzak9DKFDDVvcDEfhIjC7X4zAykODcYmTgE24CdPx4GjInIEkLIYcrSPx0UZ56VPpfoOMj1QCLPYW65fB7+cqtQa1Ux0QnGUhhZwU7fdmJ3XT4X1+bTV2OFkS6WoZHQ8/XBfLOa3u16K5s65m48i/ViGJGnu+ltGWjmRqOjUJZWUlgc2kYS+kmO3oGAh39m0iodBDj04Nb+c4R7fT2HVRL9ae6JJ+epEESvM9xRGHWWpWBxcCrvwUSsVxBwx1tMlBamalJWMtKBAntHj2AC11GeQBVBykxCUhy/VJ+vjqUIxUOVv3hJTFGfyHfLTZOThRhQ9wqs/FCDjj3n+aSG4UUPdMxc3ziTi5uL3sMMaKHRfkeBQtkP9nQV3Mx2TgtcpwJwiZ3bcT/dWn0/CDClCEMkmH4RJICRWxJEjIvAaRTTRpWM+JcBLnhR1izljn6Yizm9gdzj67LyK0pCQeHnam8JXu+kBvNAoM+u/M0bQ75MeD+DuW/+u5PNWs1s6HSFMUfUNNKNGO5bFurFYPzb6o3H5VCfzinvu8O24bKmYGEgWC4DiiN3l3AcfuzAV/6UMW6jSy4LDrWXo3E8sz/7elUMaWKDtMaYNokhZA4n5mhW5DwSw9pvYXYgYtJMLfQeqAItHSZfl1aukg4nGtdhkfoxsord8uwngW09hVKJ7lzOp8pnavvWGEHugmKOK+k0wl9gIZSN7rHJnxirVPBZ35H+fPK6LBIxsqx1MUlN6FKGvNLs2f4oG30emx0WET9kV9Tk5q40hcCvsaL6gTf1vwtWS5/Y1MivWOGjcVPpkD+4Lmd3DUVh8sgsHBlS9QvcPVe9wDpkKVLs9szC9+lILvGz7KKwemPHciUKyIHmLq4Oao8M6V9iRFuElSQzeCfuquwIthCLupxpVMY7fhnctbr3+r9A6RLsMq7t5lm/K65SkbgJTDpfYFy4g3XbZlxXLW7/i1tRsbPidw3w28Zncl8vAucGUgWR+uSqzW2nRBR4AgXjWcmBhGFLYyqaFTjKE1BmVGM0nQ/VLSod6/1A+BRjLeZ7N6NJ0KzMopSoEnkA2BQGi10b8a5VfScVAVaqPwC/ixzVx7qu6d3+qZya1ILyTdnddGxGIsh6CgPY+DAkCQVkKgtIRMeRnGkxVwN4IxLqM/kndbeRy4deUPzYTqkIA/0gzGVBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BdmDiARMdhgWBjeHqAQ3eg",
      "input": {
        "note": "Jaws are resting on the bottle at ~7 cm. Dragging back 10 cm toward the base while pressing down, to pull the bottle within reach.",
        "targets": {
          "left_x": 0.34,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01BdmDiARMdhgWBjeHqAQ3eg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0883, 1.5707, 0.5632, 0.4759, -0.1761, -0.1169, 0.0169, -0.0212, 0.4183, 0.0963, -0.2649, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4135 left_y=-0.0019 left_z=0.0774 left_yaw=0.1083 left_pitch=0.0402 left_roll=0.0004 left_gripper=0.0169 right_x=0.2358 right_y=0.0041 right_z=0.0622 right_yaw=0.0158 right_pitch=-0.0166 right_roll=-0.0047 right_gripper=0.9984\nstate[joint_eff]: [-0.7863, -7.7197, 7.706, 2.464, -0.0952, -0.1929, 0.2027, -0.6359, 0.4444, 6.735, 1.9219, -0.1148, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00da2127717c9d191a169d6f254bf9261ee570065bb6bdb45de0b27c7071227f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86ba53f011e09b724060ce004cdb246c070005a3af99faad5bd33b17a8393551",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a32a4756b11e12449726d3b78e4f69ba8889d9358ccb3b0470e0fcac73e8e72d",
        "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 · 11.97 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]: [-0.0734, 1.6302, 0.7048, 0.3702, -0.1585, -0.1127, 0.0129, -0.0212, 0.4618, 0.1299, -0.2623, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.44 left_y=-0.0008 left_z=0.0872 left_yaw=0.106 left_pitch=0.0152 left_roll=-0.0004 left_gripper=0.0129 right_x=0.2395 right_y=0.004 right_z=0.0686 right_yaw=0.0156 right_pitch=-0.0238 right_roll=-0.0041 right_gripper=0.9984\nstate[joint_eff]: [-0.5265, -8.7453, 5.7778, 1.8242, -0.0952, -0.1001, 0.4908, -0.7726, 0.4718, 6.7624, 1.9414, -0.1538, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0731, 1.6703, 0.6945, 0.3851, -0.1654, -0.1127, 0.0148, -0.0212, 0.44, 0.112, -0.2646, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4375 left_y=0.0007 left_z=0.0695 left_yaw=0.1122 left_pitch=-0.019 left_roll=0.0097 left_gripper=0.0148 right_x=0.2373 right_y=0.004 right_z=0.0647 right_yaw=0.0155 right_pitch=-0.0223 right_roll=-0.0047 right_gripper=0.9984\nstate[joint_eff]: [0.0479, -7.4735, 5.6547, 1.9267, -0.0269, -0.0562, 0.1734, -0.4991, 0.0342, 6.9949, 1.8486, -0.1245, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0883, 1.5707, 0.5632, 0.4759, -0.1761, -0.1169, 0.0169, -0.0212, 0.4183, 0.0963, -0.2649, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4135 left_y=-0.0019 left_z=0.0774 left_yaw=0.1083 left_pitch=0.0402 left_roll=0.0004 left_gripper=0.0169 right_x=0.2358 right_y=0.0041 right_z=0.0622 right_yaw=0.0158 right_pitch=-0.0166 right_roll=-0.0047 right_gripper=0.9984\nstate[joint_eff]: [-0.7863, -7.7197, 7.706, 2.464, -0.0952, -0.1929, 0.2027, -0.6359, 0.4444, 6.735, 1.9219, -0.1148, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00da2127717c9d191a169d6f254bf9261ee570065bb6bdb45de0b27c7071227f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86ba53f011e09b724060ce004cdb246c070005a3af99faad5bd33b17a8393551",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a32a4756b11e12449726d3b78e4f69ba8889d9358ccb3b0470e0fcac73e8e72d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4goKEAgSGAI4AUIIdGhpbmtpbmcSDKbbYwbP/sXvCbQ7vxoMVDkkXXy40PivG66EIjAqwDjpfbY5GMEq9qYrmRVSAAJiBnVAAUljlpMxhdtYu0VPLX8+D5cDizMWDrCqzdMq/wkjjSmPr5fPjWIBn4Qrba0G1fK90wyI1OxORauWk9RO4jkgByCXs2vRbOh9AdFscsSNBeJiOn40uXrlZoO063pdprRFjD9WjARWoWydRjLpMXiKqDKhsMVSNVqTQ9U6dxpjQ4hO+XFgFLSPdDpSzNxowtz6em8GrB6aROJGByS0UvZ403YyXxHY6lctmUBmD6oJl8J5nIxW8+aTkmZiov6jx6b4j0nA5Fxwj4ZtnG5KOGKeJ7EjuNfq+FPhlgsfPIy/koLuNCKwP+QL20aVcCz0rdv0IQDYbRFr28+W3ibk9iSQPCZNPCmxwshUQ2HRY0kOTZrmG9XEWe3yafk2Hju/YCzuOBatHyNAty8DRWVuVvYLBue5lHH/aGgWSS/CqRHVO7E8lomEsZ951O/9huT5EDQnPJ5rOF7lHbEcsFogISVBu6fgfGqwV1oAiVedXF1+gf0zYraxjLJsHUMBLqwmLzLZ7xFigU34FulMKLJirQNiHHVWQaPwW4+nhj/aMC+PDPKVVM+lf+uCXVB+48cAyMVl4k22i/Oxh3xNw+WIf/sLCLlgmPbq7ScNifA2+nkiUGxZhqVBSe/7pP91Rl51V4hTyaTGQTO8uN9X572V6BtXxBCqZiMsT10tex71LWfRVd6FqLaA4KweERHR7rllrAwX2iPNvw/LoLyvP8ogWrT7M/2jPndvlc127lbAJYXevBzCuzzC94JS1gNbDy2BVwdgFTFRdDkylOmgHir2W9rhUgWSjV70Tlu+WrSwOd0Bn0y/fP3M8D1OOxqv7gVIjYEvrwLuA4rolWfcT0ngVcFRdFKYtngjyLDblYHojIqhcG+xJjNlXIKE8HWS5INnlfQ6ATB5DjY3P/Lhy9F78PK+liCP6GwTtDwpNa3+BjS3BtVo36o3fX7k5tkm68a02+buTxgXJICjl7R0VRCp2Lf65Ede2M7BXnaWkmYtR2wGRcns8RW4JCfRQE2auqkR+oNUgICjOhfpRXqa0wEt+znkWNUPxYIH5nzBQRwNDTYLjuhnl3zISBh4UNVTwXkMTaunVxRb5ntL4kJXRWO8CzRiXZ8cpmpvBuYT+fQ3d0xQIBHEBEnjsNcT7OzBGqcZ7wfbtszLqXaBW5abAVOIJYDyXl+o+w6Yxn+lknA0pYYT+VNxFjydQ91jG0AnLXCSVYwyh3RjtHdn/WNmxItUVWs14ScRxxO7m2xnmAH2iyYiFB2ZmBnZpzpIaUXZkuo+G1B3NwW0lAtCbYRzFowRN2PFea16rHmq1X4e9gqK/xPPGeErrbkVbC3Qqir/K4xf9UVcfaelayz+u+86oXIDHjIrEcIwb7z3ItAUm6iv2OmD3+NISoja/G6kQQBGIiL3ml9cwHSWQOfj161y64/Wxb5H0ZA6njPKht2by0lY+Qf9QfTukSEsS8GDWkJkrsytdyw0i50250xpBRXF3iyOUN72UMNKt34lnHaASRE0R+u2qy4BU/hZ/Vu/VT/TR8XMTNDfF1EJ6gzjfOQsKhiA+pg+IgpJDvc98GXyUHGtR2Ou7hHj9gXQHH9m/G721kibDF8/58sAQZjKhllCiaW+CslfXv84oN9zo36ckDpAO3l7fHgviEQRMNZT5K9LsXM/Yh8JP3gVVk4VEHQYqVw5Om2h0Az8wS3JZ5CCFdQXw1G3pC4bm/z4zNn1WgR57K58FqvrAmIUO6eJQlM0jSH3GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BK3dEbcsyfZbyFVi6aejPi",
      "input": {
        "note": "Bottle appears to be sliding with the jaws (cap stays fixed in the wrist view). Continuing the drag toward the base.",
        "targets": {
          "left_x": 0.32,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01BK3dEbcsyfZbyFVi6aejPi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 1.3434, 0.2138, 0.5205, -0.1997, -0.1352, 0.0182, -0.0212, 0.403, 0.0853, -0.2684, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.3213 left_y=-0.0014 left_z=0.0343 left_yaw=0.1013 left_pitch=-0.0327 left_roll=0.0136 left_gripper=0.0182 right_x=0.2344 right_y=0.0041 right_z=0.0597 right_yaw=0.0156 right_pitch=-0.0158 right_roll=-0.0044 right_gripper=0.9984\nstate[joint_eff]: [-0.8137, -4.2735, 5.4496, 2.0293, -0.0952, -0.1538, 0.1197, -0.4581, 0.759, 6.9949, 1.8437, -0.1245, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4551912f5a7cd081437471521eef7d3737f6c4e7a94521d0a1a89823248b0040",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2da2b8f285328092823751ebc64d25661866d9bcd1e49639fecd98cb81f70fcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7770682ebdfdd4e3b9007a9feaf119db402f97528d43d0932f5ba9481dbead38",
        "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 · 5.359 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]: [-0.0731, 1.6703, 0.6945, 0.3851, -0.1654, -0.1127, 0.0148, -0.0212, 0.44, 0.112, -0.2646, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4375 left_y=0.0007 left_z=0.0695 left_yaw=0.1122 left_pitch=-0.019 left_roll=0.0097 left_gripper=0.0148 right_x=0.2373 right_y=0.004 right_z=0.0647 right_yaw=0.0155 right_pitch=-0.0223 right_roll=-0.0047 right_gripper=0.9984\nstate[joint_eff]: [0.0479, -7.4735, 5.6547, 1.9267, -0.0269, -0.0562, 0.1734, -0.4991, 0.0342, 6.9949, 1.8486, -0.1245, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0883, 1.5707, 0.5632, 0.4759, -0.1761, -0.1169, 0.0169, -0.0212, 0.4183, 0.0963, -0.2649, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4135 left_y=-0.0019 left_z=0.0774 left_yaw=0.1083 left_pitch=0.0402 left_roll=0.0004 left_gripper=0.0169 right_x=0.2358 right_y=0.0041 right_z=0.0622 right_yaw=0.0158 right_pitch=-0.0166 right_roll=-0.0047 right_gripper=0.9984\nstate[joint_eff]: [-0.7863, -7.7197, 7.706, 2.464, -0.0952, -0.1929, 0.2027, -0.6359, 0.4444, 6.735, 1.9219, -0.1148, -0.0415, -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]: [-0.1249, 1.3434, 0.2138, 0.5205, -0.1997, -0.1352, 0.0182, -0.0212, 0.403, 0.0853, -0.2684, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.3213 left_y=-0.0014 left_z=0.0343 left_yaw=0.1013 left_pitch=-0.0327 left_roll=0.0136 left_gripper=0.0182 right_x=0.2344 right_y=0.0041 right_z=0.0597 right_yaw=0.0156 right_pitch=-0.0158 right_roll=-0.0044 right_gripper=0.9984\nstate[joint_eff]: [-0.8137, -4.2735, 5.4496, 2.0293, -0.0952, -0.1538, 0.1197, -0.4581, 0.759, 6.9949, 1.8437, -0.1245, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4551912f5a7cd081437471521eef7d3737f6c4e7a94521d0a1a89823248b0040",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2da2b8f285328092823751ebc64d25661866d9bcd1e49639fecd98cb81f70fcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7770682ebdfdd4e3b9007a9feaf119db402f97528d43d0932f5ba9481dbead38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J3npZ1Sy5Hn38wfyX5X51t",
      "input": {
        "note": "Drag failed; bottle 1 still lies cap-forward (x≈0.28–0.48, a few cm right of y=0). Opening and moving above its upper body/shoulder at x≈0.42, offset right to centre on it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.42,
          "left_y": -0.038,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01J3npZ1Sy5Hn38wfyX5X51t",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2035, 1.4773, 0.696, 0.1955, -0.2558, -0.1917, 0.9947, -0.0212, 0.3897, 0.0841, -0.2672, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4137 left_y=-0.0361 left_z=0.1119 left_yaw=0.0996 left_pitch=-0.0016 left_roll=-0.0092 left_gripper=0.9947 right_x=0.2351 right_y=0.0041 right_z=0.0623 right_yaw=0.0158 right_pitch=-0.0025 right_roll=-0.0052 right_gripper=0.9984\nstate[joint_eff]: [-0.841, -5.6547, 8.1709, 1.6484, -0.2418, 0.0366, -0.188, -0.6085, 0.1162, 6.065, 1.8291, -0.1538, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a608126da27dbbfb1fe854886685f437423a22920d356ca3c54924ad07b07db0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faf087a3539672a92ed1c74101b73a4015a63a88c7dc4c4510563dcf6ac52bfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6fbd15c81729e3297683200af89ff331178a873a9104b05892f443dc94f0e1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 4.349 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]: [-0.0883, 1.5707, 0.5632, 0.4759, -0.1761, -0.1169, 0.0169, -0.0212, 0.4183, 0.0963, -0.2649, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4135 left_y=-0.0019 left_z=0.0774 left_yaw=0.1083 left_pitch=0.0402 left_roll=0.0004 left_gripper=0.0169 right_x=0.2358 right_y=0.0041 right_z=0.0622 right_yaw=0.0158 right_pitch=-0.0166 right_roll=-0.0047 right_gripper=0.9984\nstate[joint_eff]: [-0.7863, -7.7197, 7.706, 2.464, -0.0952, -0.1929, 0.2027, -0.6359, 0.4444, 6.735, 1.9219, -0.1148, -0.0415, -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]: [-0.1249, 1.3434, 0.2138, 0.5205, -0.1997, -0.1352, 0.0182, -0.0212, 0.403, 0.0853, -0.2684, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.3213 left_y=-0.0014 left_z=0.0343 left_yaw=0.1013 left_pitch=-0.0327 left_roll=0.0136 left_gripper=0.0182 right_x=0.2344 right_y=0.0041 right_z=0.0597 right_yaw=0.0156 right_pitch=-0.0158 right_roll=-0.0044 right_gripper=0.9984\nstate[joint_eff]: [-0.8137, -4.2735, 5.4496, 2.0293, -0.0952, -0.1538, 0.1197, -0.4581, 0.759, 6.9949, 1.8437, -0.1245, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2035, 1.4773, 0.696, 0.1955, -0.2558, -0.1917, 0.9947, -0.0212, 0.3897, 0.0841, -0.2672, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4137 left_y=-0.0361 left_z=0.1119 left_yaw=0.0996 left_pitch=-0.0016 left_roll=-0.0092 left_gripper=0.9947 right_x=0.2351 right_y=0.0041 right_z=0.0623 right_yaw=0.0158 right_pitch=-0.0025 right_roll=-0.0052 right_gripper=0.9984\nstate[joint_eff]: [-0.841, -5.6547, 8.1709, 1.6484, -0.2418, 0.0366, -0.188, -0.6085, 0.1162, 6.065, 1.8291, -0.1538, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a608126da27dbbfb1fe854886685f437423a22920d356ca3c54924ad07b07db0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faf087a3539672a92ed1c74101b73a4015a63a88c7dc4c4510563dcf6ac52bfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6fbd15c81729e3297683200af89ff331178a873a9104b05892f443dc94f0e1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS3gkKEAgSGAI4AUIIdGhpbmtpbmcSDNrJyX/zPMUPNvpAjBoMCEBIgcszvCItYVE0IjCme2mUHbCnTitiDO+U/VpLCfDokSJ0fwzp6CAqjkct3JIagkXB8ROFg96L97podLgq+wj4sU3385KEVi6AuNzyMP+qndv9CWjrTaMqehetHhVDb3DP9vu9yaZCEkW+MlILxkagTB9TLf2ckvcIqmdEPA86HVFEi/9E4qp/aNOTIOz2jurTHaF5HcarR9zlwED2VCC0EybSTieS9BvAcYTqAkkI91tahl4twXdRrBMVzDs9hNA5x3XW6xY790i808K6Pvfclb8OSXKTzenq49P0RbOWPij9YCGN++6H2rL1RFQMhcgR6+tha9byk6Ha8R8an8vnnXiR3vgMB0AFG3m1MPnkS71nIRgegZnCDpmBwR8vF+JF1LAyr7eIacj7EcSEGJc4FwviqvE9SycVllspUs2PyGpIoLoILLOflpuyLuwDv7YOCgRwsa99aYVMHvGNA15GDQL5gC+9v0/gPtxaqga9c0pNqL38TJgWyP6s9tPjU1Bci/XcN2pOwcRsgGh9D+lDTV/ir8nuSpAnBH/25mN29FlwSBeMKFEJBwTlMYILH0OI9gOVf+vRXuvMyjgseoHa3ccQts2MKRYFBaUXdENvLhDdU3DkvJX0ZvkdoY9xrhP4mRromTc6cuqMXX/qhOE0xR9GTmYARhy2RHvW8k1K4PV8ly+MlUozgMYx1zoRBXe8KN3hqbeDvmWL9/nWApvNIf3+XrxZPHhE+LCJuekO5XrqVUpEV006NeNHMWhDkEsilrjANQPCdBy6xJSjO1Bjv45YOkLC3ESGQ4CYiMCIALCZrLtFlDU0f8J2o0Fm+dDBKOtyVbx+FuqNebXuXpcgr7YPXTAP9hFf1TJuI7ch7JUifHyU6v59LL8DL5CM3AQ1qYSMYFeCR8XQ+fkva54tFXTtbmbaI1dfxoklljFoATykydY5A+qQYuV4ac9jfMUuKEPabrWAkKRjCDJjG+ITMrlING0XiY+hpRUqKs1qvN2p+gvqS20SF+AEel93F00Pz3OEVDJPQiXAaiGdtoBuBjqbIqZttlVFUrrVZoyrzXUicb7hNWmIPxgqp1+3vH2oe4pY6D0xmlHZKvPnzRTKmJ0fq11jyuzQT8HnZ+vL7LicYhrOWRSkz58uIFz5/9ufFtqWxNrwn7BxtOTgS0BYDQdptk9j2Sy2dl15KGXMoso7QM60eB5edvJ23sUnDxUtZfnY/hnop2xM5pz8gUw12pS4ZzaMl52pscqo2ccNQtpSQedLQS7MDQYnuNfqm5PE+Hz/TNJsNFkVHnfr901FQDGCEWK5k/JiQ0WkLvAZ2oeGkUWW24yurZ436l+JdNM84mQI9xjjrqDDOg6jF9mVVyEZeZGF0ZSyoNn0nR1mYYC8NsMIKENN+T+iEU9xNDe17N7TIwgiej8RYCd3UsfdgkVSQsUZiZhRTryDzNw7IWHUey8jIK0RNUosn/OTRs0WFrdKKb28Ln3VKyykc3/jQAA9U0D1zuoOfbuJfkizC1oyKnDUP2rUWO9KFe41Df6WgETorzwSlOQwJqySqm5RbYLkhUpvkfoTVTZiei/mcm1Pw18pSffAiz3kS4Bcffyex4kWKFLNrxgAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NQD1npPskVXR1prZbkQU4U",
      "input": {
        "note": "Bottle 1 now runs straight along the jaw centreline with its cap ahead; the upper body is between the jaws. Descending to body-centre height.",
        "targets": {
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01NQD1npPskVXR1prZbkQU4U",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.21, 1.7218, 0.5709, 0.5674, -0.2474, -0.2054, 0.9961, -0.0212, 0.3904, 0.0841, -0.2676, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4166 left_y=-0.0409 left_z=0.0409 left_yaw=0.0934 left_pitch=-0.0008 left_roll=-0.0259 left_gripper=0.9961 right_x=0.235 right_y=0.004 right_z=0.0621 right_yaw=0.0155 right_pitch=-0.0036 right_roll=-0.0054 right_gripper=0.9984\nstate[joint_eff]: [0.0615, -5.3538, 3.5624, 1.16, -0.3687, 0.3248, 0.1343, -0.8, 0.4581, 7.0769, 1.7411, -0.105, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:864021eb0416c40614b1e9af6a07ebc0d60c57fafccd406df5d49e17b5081e7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2377b60eef96a52d43e9ea14e5fa86a3d600673e5239347fd795c25434da1a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cced5277bb50e8fa1c070133552d81be3b3e3a1c3bf9c86ef1688517c0cbc3ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 11.05 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]: [-0.1249, 1.3434, 0.2138, 0.5205, -0.1997, -0.1352, 0.0182, -0.0212, 0.403, 0.0853, -0.2684, -0.0311, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.3213 left_y=-0.0014 left_z=0.0343 left_yaw=0.1013 left_pitch=-0.0327 left_roll=0.0136 left_gripper=0.0182 right_x=0.2344 right_y=0.0041 right_z=0.0597 right_yaw=0.0156 right_pitch=-0.0158 right_roll=-0.0044 right_gripper=0.9984\nstate[joint_eff]: [-0.8137, -4.2735, 5.4496, 2.0293, -0.0952, -0.1538, 0.1197, -0.4581, 0.759, 6.9949, 1.8437, -0.1245, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2035, 1.4773, 0.696, 0.1955, -0.2558, -0.1917, 0.9947, -0.0212, 0.3897, 0.0841, -0.2672, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4137 left_y=-0.0361 left_z=0.1119 left_yaw=0.0996 left_pitch=-0.0016 left_roll=-0.0092 left_gripper=0.9947 right_x=0.2351 right_y=0.0041 right_z=0.0623 right_yaw=0.0158 right_pitch=-0.0025 right_roll=-0.0052 right_gripper=0.9984\nstate[joint_eff]: [-0.841, -5.6547, 8.1709, 1.6484, -0.2418, 0.0366, -0.188, -0.6085, 0.1162, 6.065, 1.8291, -0.1538, -0.0611, -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]: [-0.21, 1.7218, 0.5709, 0.5674, -0.2474, -0.2054, 0.9961, -0.0212, 0.3904, 0.0841, -0.2676, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4166 left_y=-0.0409 left_z=0.0409 left_yaw=0.0934 left_pitch=-0.0008 left_roll=-0.0259 left_gripper=0.9961 right_x=0.235 right_y=0.004 right_z=0.0621 right_yaw=0.0155 right_pitch=-0.0036 right_roll=-0.0054 right_gripper=0.9984\nstate[joint_eff]: [0.0615, -5.3538, 3.5624, 1.16, -0.3687, 0.3248, 0.1343, -0.8, 0.4581, 7.0769, 1.7411, -0.105, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:864021eb0416c40614b1e9af6a07ebc0d60c57fafccd406df5d49e17b5081e7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2377b60eef96a52d43e9ea14e5fa86a3d600673e5239347fd795c25434da1a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cced5277bb50e8fa1c070133552d81be3b3e3a1c3bf9c86ef1688517c0cbc3ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzQYKEAgSGAI4AUIIdGhpbmtpbmcSDAf2KDqWr7I2dpke3hoMWdj6S0JLVr09c8/TIjBYrC5EekewECAwofM16PxbnLxjztL/e3s7O7H52gyfevN2TXyWhAROTzlrDAYVcJgq6gUxQ1/eWeV92EGcLfpwtkUQWjBI8IwHH9o2quleQZgv8YRo1FOHrHGJ+g87huNMLBc3gWCjWAGRLhhwo1pVd7XTsOQP5WDPfbuCLDBu2iZtEClXe6MrcaT3ssXJgGREG+9KX2t74HSyIDTohcMMPGt11aAd0wpFrmLCGXkUTs2UoYgG3Wgq12sf1ZWBUvZl1XTPCWTVNMCoN7CG5m+iGIHpmLpNCGyMCAgATABhnb9uxYB4T02yaBRRSPnNOLtuvphxNgxoDTZ+tc4oX1GSAsCcYicZXI5tlbpF8PWQjMt1/YBH1sOyEl88HBVN4wSSURDRS03I6TE3/MRc52K/GiG5dO6HSOWXjEngj+blZgqoBN5G9b6eNqMj6ajVCgrcM0PuqqUo+YSUvRZZhwj3iJrCaOtufE5/MwumoVnEkkonbwD/xTyHj26h0YceFi8JKBW8nYptdhJJu/n7hyiNate5almzqdnB0RXSVRD14dCVEZiYxj1CPcerHaNGBKWI7R5prDS7S66a2LWWP9RA3FVQmgiVmG2zr4FxmS/P4E5ahpQT4peUkWGaxsFu+Ge/Mj5wOVwSmUmxanw3y4gBFBQAEhf7h7sgrTx4213kr8H60GhMMHM2/z/5t1Jy13dLaRpsxLQ6l4/cJbc89yM9opiZrsEn3MmkfG7JAfq9fU5E665RddJPAUNlb23cv+E/ME/XkPdgEUwnpZKz7a8Oc8UXmlYOoTtC9UZ5/hQ7Gt09Pu2UpdB3foyqbCyle4ufjREtch8c0tkO9BinUpdFW1aA3cvrPYVIOJQzMaGF6bCjmqfkAEHuFgyB2TglXQWod1fFQR2oH2sa5MMF9HGX4zvdz8o2ELUsxSOGu2XzGoA1jQSNEBGx+1MoejSeaH+DBMRK76owyY62yA4pyBirm5mcruztZl3XegkDA1TR1JpErF6TQ6a7UtAyX+fYMoCUZMoe+oCvgVBLjXltG2dAffpf7GPYnA5MaGD+DRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NsC4GyzjPE4PhCsiAVbkAz",
      "input": {
        "note": "Bottle body sits squarely between the jaws at ~4 cm height. Closing to grasp.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NsC4GyzjPE4PhCsiAVbkAz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2165, 1.718, 0.5739, 0.6476, -0.2783, -0.207, 0.0104, -0.0212, 0.3904, 0.0841, -0.2672, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4271 left_y=-0.0406 left_z=0.0608 left_yaw=0.1148 left_pitch=0.0867 left_roll=-0.0393 left_gripper=0.0104 right_x=0.235 right_y=0.0041 right_z=0.0621 right_yaw=0.0158 right_pitch=-0.0032 right_roll=-0.0052 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -6.612, 5.0667, 0.9548, -0.0024, 0.1538, 0.862, -0.6085, 0.5128, 6.8171, 1.7558, -0.1685, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:169573f2f3aeea162a5dbce140888f249509ee260eee0e4871c8dcf57c3c08ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f97daad112d2b97108fe7f5f1c0891f51d3a2b57ff999024930c9486d5b752cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a5fa3a62f1c4fc99bf8d1baf3800286921635821939f016065f116b159c29696",
        "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 · 12.09 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]: [-0.2035, 1.4773, 0.696, 0.1955, -0.2558, -0.1917, 0.9947, -0.0212, 0.3897, 0.0841, -0.2672, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4137 left_y=-0.0361 left_z=0.1119 left_yaw=0.0996 left_pitch=-0.0016 left_roll=-0.0092 left_gripper=0.9947 right_x=0.2351 right_y=0.0041 right_z=0.0623 right_yaw=0.0158 right_pitch=-0.0025 right_roll=-0.0052 right_gripper=0.9984\nstate[joint_eff]: [-0.841, -5.6547, 8.1709, 1.6484, -0.2418, 0.0366, -0.188, -0.6085, 0.1162, 6.065, 1.8291, -0.1538, -0.0611, -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]: [-0.21, 1.7218, 0.5709, 0.5674, -0.2474, -0.2054, 0.9961, -0.0212, 0.3904, 0.0841, -0.2676, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4166 left_y=-0.0409 left_z=0.0409 left_yaw=0.0934 left_pitch=-0.0008 left_roll=-0.0259 left_gripper=0.9961 right_x=0.235 right_y=0.004 right_z=0.0621 right_yaw=0.0155 right_pitch=-0.0036 right_roll=-0.0054 right_gripper=0.9984\nstate[joint_eff]: [0.0615, -5.3538, 3.5624, 1.16, -0.3687, 0.3248, 0.1343, -0.8, 0.4581, 7.0769, 1.7411, -0.105, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2165, 1.718, 0.5739, 0.6476, -0.2783, -0.207, 0.0104, -0.0212, 0.3904, 0.0841, -0.2672, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4271 left_y=-0.0406 left_z=0.0608 left_yaw=0.1148 left_pitch=0.0867 left_roll=-0.0393 left_gripper=0.0104 right_x=0.235 right_y=0.0041 right_z=0.0621 right_yaw=0.0158 right_pitch=-0.0032 right_roll=-0.0052 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -6.612, 5.0667, 0.9548, -0.0024, 0.1538, 0.862, -0.6085, 0.5128, 6.8171, 1.7558, -0.1685, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:169573f2f3aeea162a5dbce140888f249509ee260eee0e4871c8dcf57c3c08ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f97daad112d2b97108fe7f5f1c0891f51d3a2b57ff999024930c9486d5b752cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5fa3a62f1c4fc99bf8d1baf3800286921635821939f016065f116b159c29696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017sCJYpe8d1dW1BJKGUwNsk",
      "input": {
        "note": "Jaws closed above the bottle's centreline and slid up over it. Reopening and pressing lower (commanding the z floor) so the finger pads reach the bottle's mid-height.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.415,
          "left_y": -0.04,
          "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_017sCJYpe8d1dW1BJKGUwNsk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.223, 1.9327, 0.5735, 0.9989, -0.3046, -0.2214, 0.9943, -0.0212, 0.3904, 0.0841, -0.2672, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4485 left_y=-0.0437 left_z=0.048 left_yaw=0.1457 left_pitch=0.218 left_roll=-0.0896 left_gripper=0.9943 right_x=0.235 right_y=0.004 right_z=0.0621 right_yaw=0.0153 right_pitch=-0.0032 right_roll=-0.0051 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -2.8376, 0.841, -0.0317, 0.0415, 0.1441, -0.0708, -0.7316, 0.5402, 6.8308, 1.7314, -0.1148, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc7f493317bf68be77d7ed1a5d5222043c3459df221a0334a76bbac3bb99426e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71f7b06d97d640b6a134edb18e73c87a76aec7c31a28e9051b6adefd5a3097f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bcaa90af5a25e5e5d39ed48b82a9cbbfe62b62a5a7b19d5af9fdcf22f578f72d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 10.06 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]: [-0.21, 1.7218, 0.5709, 0.5674, -0.2474, -0.2054, 0.9961, -0.0212, 0.3904, 0.0841, -0.2676, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4166 left_y=-0.0409 left_z=0.0409 left_yaw=0.0934 left_pitch=-0.0008 left_roll=-0.0259 left_gripper=0.9961 right_x=0.235 right_y=0.004 right_z=0.0621 right_yaw=0.0155 right_pitch=-0.0036 right_roll=-0.0054 right_gripper=0.9984\nstate[joint_eff]: [0.0615, -5.3538, 3.5624, 1.16, -0.3687, 0.3248, 0.1343, -0.8, 0.4581, 7.0769, 1.7411, -0.105, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2165, 1.718, 0.5739, 0.6476, -0.2783, -0.207, 0.0104, -0.0212, 0.3904, 0.0841, -0.2672, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4271 left_y=-0.0406 left_z=0.0608 left_yaw=0.1148 left_pitch=0.0867 left_roll=-0.0393 left_gripper=0.0104 right_x=0.235 right_y=0.0041 right_z=0.0621 right_yaw=0.0158 right_pitch=-0.0032 right_roll=-0.0052 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -6.612, 5.0667, 0.9548, -0.0024, 0.1538, 0.862, -0.6085, 0.5128, 6.8171, 1.7558, -0.1685, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.223, 1.9327, 0.5735, 0.9989, -0.3046, -0.2214, 0.9943, -0.0212, 0.3904, 0.0841, -0.2672, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4485 left_y=-0.0437 left_z=0.048 left_yaw=0.1457 left_pitch=0.218 left_roll=-0.0896 left_gripper=0.9943 right_x=0.235 right_y=0.004 right_z=0.0621 right_yaw=0.0153 right_pitch=-0.0032 right_roll=-0.0051 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -2.8376, 0.841, -0.0317, 0.0415, 0.1441, -0.0708, -0.7316, 0.5402, 6.8308, 1.7314, -0.1148, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc7f493317bf68be77d7ed1a5d5222043c3459df221a0334a76bbac3bb99426e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71f7b06d97d640b6a134edb18e73c87a76aec7c31a28e9051b6adefd5a3097f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcaa90af5a25e5e5d39ed48b82a9cbbfe62b62a5a7b19d5af9fdcf22f578f72d",
        "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_01JYDdsWiBrPSG9st46hhiA2",
      "input": {
        "note": "The arm can't get below ~4.5 cm beyond x≈0.41 (shoulder at its limit, IK pitched instead). Backing to x=0.39 over the bottle's upper-middle body, where table-level reach is possible, and descending.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.04,
          "left_yaw": 0.0,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01JYDdsWiBrPSG9st46hhiA2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1944, 1.7607, 0.4519, 0.7841, -0.2028, -0.157, 0.9955, -0.0212, 0.3908, 0.0841, -0.2676, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4018 left_y=-0.0392 left_z=0.0285 left_yaw=0.0462 left_pitch=0.0498 left_roll=-0.0227 left_gripper=0.9955 right_x=0.2349 right_y=0.004 right_z=0.062 right_yaw=0.0155 right_pitch=-0.004 right_roll=-0.0054 right_gripper=0.9984\nstate[joint_eff]: [0.9094, -6.8308, 4.6017, 1.9121, 0.0952, 0.0366, 0.1099, -0.7179, 0.8684, 6.8308, 1.7216, -0.1148, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cca72ce8d8fad1560e524eae1b8710442242e6d475247af9e09a99848c87a6ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8feb0abf9c0cf02cf63e891e3761936b19b94c461ac07fce7f01dd3ff63275e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d92a397862421a56a84fd6fa683f31bb73e5dffacdd4ead0bd72290f6226ab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 7.128 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2165, 1.718, 0.5739, 0.6476, -0.2783, -0.207, 0.0104, -0.0212, 0.3904, 0.0841, -0.2672, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4271 left_y=-0.0406 left_z=0.0608 left_yaw=0.1148 left_pitch=0.0867 left_roll=-0.0393 left_gripper=0.0104 right_x=0.235 right_y=0.0041 right_z=0.0621 right_yaw=0.0158 right_pitch=-0.0032 right_roll=-0.0052 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -6.612, 5.0667, 0.9548, -0.0024, 0.1538, 0.862, -0.6085, 0.5128, 6.8171, 1.7558, -0.1685, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.223, 1.9327, 0.5735, 0.9989, -0.3046, -0.2214, 0.9943, -0.0212, 0.3904, 0.0841, -0.2672, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4485 left_y=-0.0437 left_z=0.048 left_yaw=0.1457 left_pitch=0.218 left_roll=-0.0896 left_gripper=0.9943 right_x=0.235 right_y=0.004 right_z=0.0621 right_yaw=0.0153 right_pitch=-0.0032 right_roll=-0.0051 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -2.8376, 0.841, -0.0317, 0.0415, 0.1441, -0.0708, -0.7316, 0.5402, 6.8308, 1.7314, -0.1148, -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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1944, 1.7607, 0.4519, 0.7841, -0.2028, -0.157, 0.9955, -0.0212, 0.3908, 0.0841, -0.2676, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4018 left_y=-0.0392 left_z=0.0285 left_yaw=0.0462 left_pitch=0.0498 left_roll=-0.0227 left_gripper=0.9955 right_x=0.2349 right_y=0.004 right_z=0.062 right_yaw=0.0155 right_pitch=-0.004 right_roll=-0.0054 right_gripper=0.9984\nstate[joint_eff]: [0.9094, -6.8308, 4.6017, 1.9121, 0.0952, 0.0366, 0.1099, -0.7179, 0.8684, 6.8308, 1.7216, -0.1148, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cca72ce8d8fad1560e524eae1b8710442242e6d475247af9e09a99848c87a6ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8feb0abf9c0cf02cf63e891e3761936b19b94c461ac07fce7f01dd3ff63275e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d92a397862421a56a84fd6fa683f31bb73e5dffacdd4ead0bd72290f6226ab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TTtgU8pXgsqKAdEkMtCSji",
      "input": {
        "note": "Jaws are straddling the bottle's lower ribbed body at ~2.9 cm (near its mid-height). Closing so I can drag the bottle back toward the base and bring its neck into reach.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TTtgU8pXgsqKAdEkMtCSji",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1833, 1.7615, 0.4187, 0.7612, -0.165, -0.1303, 0.4637, -0.0212, 0.3904, 0.0841, -0.2672, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3876 left_y=-0.0387 left_z=0.0121 left_yaw=0.011 left_pitch=-0.0099 left_roll=-0.007 left_gripper=0.4637 right_x=0.235 right_y=0.0041 right_z=0.0621 right_yaw=0.0158 right_pitch=-0.0032 right_roll=-0.0052 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -6.5709, 4.4786, 1.7656, -0.0611, 0.1148, 1.243, -0.6496, 0.4581, 6.8034, 1.7509, -0.1441, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07d37187309699554361366c5933f5d8592ac5bdb89aa6988e1a3f6e26918f0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0843d576eacf355421051025da93e67d9d6615a491522ab8b6198a33260f222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:31f103ea8797b19e585a034983bc062aef4e854f8d56600706580aba2ffb6001",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 7.209 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.223, 1.9327, 0.5735, 0.9989, -0.3046, -0.2214, 0.9943, -0.0212, 0.3904, 0.0841, -0.2672, -0.0307, -0.0357, 0.9984]\nstate[eef_state]: left_x=0.4485 left_y=-0.0437 left_z=0.048 left_yaw=0.1457 left_pitch=0.218 left_roll=-0.0896 left_gripper=0.9943 right_x=0.235 right_y=0.004 right_z=0.0621 right_yaw=0.0153 right_pitch=-0.0032 right_roll=-0.0051 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -2.8376, 0.841, -0.0317, 0.0415, 0.1441, -0.0708, -0.7316, 0.5402, 6.8308, 1.7314, -0.1148, -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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1944, 1.7607, 0.4519, 0.7841, -0.2028, -0.157, 0.9955, -0.0212, 0.3908, 0.0841, -0.2676, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4018 left_y=-0.0392 left_z=0.0285 left_yaw=0.0462 left_pitch=0.0498 left_roll=-0.0227 left_gripper=0.9955 right_x=0.2349 right_y=0.004 right_z=0.062 right_yaw=0.0155 right_pitch=-0.004 right_roll=-0.0054 right_gripper=0.9984\nstate[joint_eff]: [0.9094, -6.8308, 4.6017, 1.9121, 0.0952, 0.0366, 0.1099, -0.7179, 0.8684, 6.8308, 1.7216, -0.1148, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1833, 1.7615, 0.4187, 0.7612, -0.165, -0.1303, 0.4637, -0.0212, 0.3904, 0.0841, -0.2672, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3876 left_y=-0.0387 left_z=0.0121 left_yaw=0.011 left_pitch=-0.0099 left_roll=-0.007 left_gripper=0.4637 right_x=0.235 right_y=0.0041 right_z=0.0621 right_yaw=0.0158 right_pitch=-0.0032 right_roll=-0.0052 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -6.5709, 4.4786, 1.7656, -0.0611, 0.1148, 1.243, -0.6496, 0.4581, 6.8034, 1.7509, -0.1441, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07d37187309699554361366c5933f5d8592ac5bdb89aa6988e1a3f6e26918f0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0843d576eacf355421051025da93e67d9d6615a491522ab8b6198a33260f222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31f103ea8797b19e585a034983bc062aef4e854f8d56600706580aba2ffb6001",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSrgwKEAgSGAI4AUIIdGhpbmtpbmcSDKrTVyHQMzZ9XbdAwxoMB9QsuAJ9Hji/RPntIjBMO51fEeGgPqR/F66NSE0PKu0nkWN7HwpvCqt1ZXBYKccLfBBUZUit2+duALCH0wUqywuNDSWjpKArA39XfezeiPrCNzsJL52g21G44nRpydQxqRnBZ1Nrlj99nyzh1XqxAIyBY/vtaKvVV4pJBeIqvXszIYTfsdlZTd80elk8iIRdflr1+JJmW/zSFoIG5EZ0Cdxm95iCgi0yKYPoV0TYYbHZCtcBrSKC+luND7XEePAYL0IhB41aLdnpNkf4BsmjCz0ncUoJmf+thCNTv9ZY6gSAUMwC0HWjui/AGrRD1YIHIOdUrml99Fr+hIzibHsJ7TII1VNY/sBu7ymXNCf4DUFC2XVr3aZy3fDPKwkCutZFbWeKmFfNQaTHA8FhqpwWraJN8Y2HLjQdxlXaP3CBysoJTUHjS3XOdSA/hxE85b3fz+qCn4kz0P6+RXp7fYEtgtFUOjfn50bm7mFQbKDPdYjnS/uuywlSWn8BwP9/tWeaOQH10/Gnbk4pE5LboPbR7kIXBFrCu3B0afVELQoV/e/dr2audKPuNGku7dh4H0DAZaN/ogtAHHI/IdNvdC1prCHRa9Yt5yI0qMmPHuBaxCADaEqUkWe75OWzGZFv9qknnas63O2Hfze//Whf6zR8zsTc8zbogLm8d8/XcPxUbr/lXAPSIoXKpwwZaOqmP8OCuki7bj9bszvcatfmbEn+oU51ZoqZR8GWaQNKaioW5iyLyZ5e0/BA34IvmZCAUZzTe5q3F6DOb9O3IoinZmwAnAy4fArx0CJFCN2fihushNnEnrq0bv/PcmzGzylNQzo+1Rxl/Q+CM/CaA0Crw1nHxfM0Km2oyOVLYMCvULhS7AkEMTggpc26DBuuAzvg0Uc2hd3B8Bt9pVqqZ/PP5yPAkN9ogwWsmgkNQMa+d+rfaaYq6OnO7QzLEIPIh32uzWnFwJ4+35j4S1ZqvFF2Z5RUtc9SmzzewKho2jUAyiZ1OKO0UHSlWM6in76avYYbzHnJkfea0jHg3iD13ELWZgkJoKc+oxGIR+/WQzqwpnqIds9lnszItVMWJ79Wn2ubRT29Rq0E4nczEB6zGOEapyMwfUiEjFe4Awq9x1jn7Zo+3VnHRZliEp0efiE/cVOd+IGJTwwkPCniQhOFVnI55Ev6XzzEhV6gbydo2uMThveKP0pWR+spIzZQ86IOIjQAiIVLoMLgeyTaFb9hN7Y6JX3rwENv9EMrCkJumz/4zUfftPG5+83iMhFqlP0UXrZFagS2y+G/4Fglr9RZof6SVyw/lDDY3OZdvnVMKM4/6CNc19To6C6fnuyHhz3POZuSTWrUWdmL9jm7PbkGX9ob+2q6aVmiq5VcZlBYeknKJ09451m2aDGLceBD/mj/RdEfmkMD3gcrBalUaD03UpAchE6NVzGHrFVmXjilE3FEImh82arDBTvQRu2HF28mICSzEEQYrjQtGbwcc6Yn0I0378yxMPx9escdItXYdLwSG98mFHsUUy+hCeKgv/CrtLs/KGNgE+fvoJ5ATuHok4zQpWi950f1KFSFYTpDp2bFPQMpkndVU0SZwt9/AlwntLUFHpsSa2XS1Ni7GwTPOuH/+7zMxHnd/vAMvjqj5I7GAX3XD8Y/nFyXpVZy7vVE/bEoVCsgYy8rGy9+/+vnz1W2DulZNC6t83T2AKNYRg0n/yjEX1Khrz1pyN3FW0/4KRjZ6fy+NttaIxMn/aUt+c/2SIgMYpKe5DqMqqyDdxZg5nZOAy/UOMPFjBNqLNG/LjETPc+J+WIGl4xfZ3ftG73zFMrx0+Z3Nz4MFUUe30mR4YErqat6ODcqSdnNyLvavJc7cAyLt3FWhhBsJ3MBaljHq0bRdenZ3YzBXFnOlsU5lgxDyWOCJc9hhGdcNL2MqeWMmDxEB3PSQCXalBQY8emqnEXNCGDhhfbS4q5mKgcT1/l1QXMZ+VndH4b5ZOhK1OeZxjZKCOesOeLNdlYBeCiLctX8VXYJtsF5V7hHXJBgGNtK4qR3QJURHP0uS421UskJh7mmUvheOysux4DfImXdGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PUr28iSJi49d81bQr999f8",
      "input": {
        "note": "Grasp succeeded (jaws settled at ~4.4 cm), but near the bottle's lower half. Sliding the bottle back ~12 cm toward the base so its neck comes within table-level reach.",
        "targets": {
          "left_x": 0.27,
          "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_01PUr28iSJi49d81bQr999f8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3485, 1.1229, 0.0273, 0.4507, -0.2745, -0.202, 0.4785, -0.0212, 0.3916, 0.0841, -0.2672, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.2649 left_y=-0.0415 left_z=0.0154 left_yaw=-0.0238 left_pitch=-0.0544 left_roll=0.0107 left_gripper=0.4785 right_x=0.235 right_y=0.004 right_z=0.0619 right_yaw=0.0155 right_pitch=-0.0044 right_roll=-0.0054 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -1.9761, 6.8444, 2.6545, -0.4274, 0.0562, 1.0574, -0.8274, 0.9231, 6.8581, 1.7118, -0.1245, -0.0562, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:808c034056ff8f27215f541c51c878e2335755df4caa339c827291e47d0872b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e852af009a43e4223d324063026247832cc54ba8633e7b96b50f044355b7c18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4893aca712d485e8271d754c5eef1876cf12e873d25a2f08114f62933dd0526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 6.345 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1944, 1.7607, 0.4519, 0.7841, -0.2028, -0.157, 0.9955, -0.0212, 0.3908, 0.0841, -0.2676, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4018 left_y=-0.0392 left_z=0.0285 left_yaw=0.0462 left_pitch=0.0498 left_roll=-0.0227 left_gripper=0.9955 right_x=0.2349 right_y=0.004 right_z=0.062 right_yaw=0.0155 right_pitch=-0.004 right_roll=-0.0054 right_gripper=0.9984\nstate[joint_eff]: [0.9094, -6.8308, 4.6017, 1.9121, 0.0952, 0.0366, 0.1099, -0.7179, 0.8684, 6.8308, 1.7216, -0.1148, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1833, 1.7615, 0.4187, 0.7612, -0.165, -0.1303, 0.4637, -0.0212, 0.3904, 0.0841, -0.2672, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3876 left_y=-0.0387 left_z=0.0121 left_yaw=0.011 left_pitch=-0.0099 left_roll=-0.007 left_gripper=0.4637 right_x=0.235 right_y=0.0041 right_z=0.0621 right_yaw=0.0158 right_pitch=-0.0032 right_roll=-0.0052 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -6.5709, 4.4786, 1.7656, -0.0611, 0.1148, 1.243, -0.6496, 0.4581, 6.8034, 1.7509, -0.1441, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3485, 1.1229, 0.0273, 0.4507, -0.2745, -0.202, 0.4785, -0.0212, 0.3916, 0.0841, -0.2672, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.2649 left_y=-0.0415 left_z=0.0154 left_yaw=-0.0238 left_pitch=-0.0544 left_roll=0.0107 left_gripper=0.4785 right_x=0.235 right_y=0.004 right_z=0.0619 right_yaw=0.0155 right_pitch=-0.0044 right_roll=-0.0054 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -1.9761, 6.8444, 2.6545, -0.4274, 0.0562, 1.0574, -0.8274, 0.9231, 6.8581, 1.7118, -0.1245, -0.0562, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:808c034056ff8f27215f541c51c878e2335755df4caa339c827291e47d0872b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e852af009a43e4223d324063026247832cc54ba8633e7b96b50f044355b7c18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4893aca712d485e8271d754c5eef1876cf12e873d25a2f08114f62933dd0526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WKxXLRCV68FfezsKxRzEPM",
      "input": {
        "note": "Bottle 1 has been dragged ~12 cm closer to the base (visible in the overhead view). Releasing and lifting to re-grip it near the neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01WKxXLRCV68FfezsKxRzEPM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3588, 0.6956, 0.2211, -0.062, -0.2863, -0.2104, 0.9965, -0.0212, 0.3912, 0.0841, -0.2672, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.2704 left_y=-0.0443 left_z=0.1003 left_yaw=-0.0198 left_pitch=0.0502 left_roll=-0.0254 left_gripper=0.9965 right_x=0.235 right_y=0.0041 right_z=0.062 right_yaw=0.0158 right_pitch=-0.004 right_roll=-0.0052 right_gripper=0.9984\nstate[joint_eff]: [-0.0342, -0.5402, 8.9231, 1.6239, -0.0708, 0.0269, -0.0904, -0.6359, 0.3624, 6.7624, 1.7705, -0.1343, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10892e70a89d870401c0293df7e708f0b9c95a93f9f6c7a1fab7de93b9cf3bfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b90aad249f92d5e5464445f2da4aa68e674bb77141f8dac9aa0b1528178b6fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c32eb69d308155f229018f311a5c5faacb78994b4a983f9ad7d3726da22ffd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 4.956 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1833, 1.7615, 0.4187, 0.7612, -0.165, -0.1303, 0.4637, -0.0212, 0.3904, 0.0841, -0.2672, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3876 left_y=-0.0387 left_z=0.0121 left_yaw=0.011 left_pitch=-0.0099 left_roll=-0.007 left_gripper=0.4637 right_x=0.235 right_y=0.0041 right_z=0.0621 right_yaw=0.0158 right_pitch=-0.0032 right_roll=-0.0052 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -6.5709, 4.4786, 1.7656, -0.0611, 0.1148, 1.243, -0.6496, 0.4581, 6.8034, 1.7509, -0.1441, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3485, 1.1229, 0.0273, 0.4507, -0.2745, -0.202, 0.4785, -0.0212, 0.3916, 0.0841, -0.2672, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.2649 left_y=-0.0415 left_z=0.0154 left_yaw=-0.0238 left_pitch=-0.0544 left_roll=0.0107 left_gripper=0.4785 right_x=0.235 right_y=0.004 right_z=0.0619 right_yaw=0.0155 right_pitch=-0.0044 right_roll=-0.0054 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -1.9761, 6.8444, 2.6545, -0.4274, 0.0562, 1.0574, -0.8274, 0.9231, 6.8581, 1.7118, -0.1245, -0.0562, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3588, 0.6956, 0.2211, -0.062, -0.2863, -0.2104, 0.9965, -0.0212, 0.3912, 0.0841, -0.2672, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.2704 left_y=-0.0443 left_z=0.1003 left_yaw=-0.0198 left_pitch=0.0502 left_roll=-0.0254 left_gripper=0.9965 right_x=0.235 right_y=0.0041 right_z=0.062 right_yaw=0.0158 right_pitch=-0.004 right_roll=-0.0052 right_gripper=0.9984\nstate[joint_eff]: [-0.0342, -0.5402, 8.9231, 1.6239, -0.0708, 0.0269, -0.0904, -0.6359, 0.3624, 6.7624, 1.7705, -0.1343, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10892e70a89d870401c0293df7e708f0b9c95a93f9f6c7a1fab7de93b9cf3bfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b90aad249f92d5e5464445f2da4aa68e674bb77141f8dac9aa0b1528178b6fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c32eb69d308155f229018f311a5c5faacb78994b4a983f9ad7d3726da22ffd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQStgoKEAgSGAI4AUIIdGhpbmtpbmcSDBDH72FpIpaNyZqOZxoMwDEW6yQP1+Puj+kbIjBjwNlGEvzLYEvoON/6bWDEAvehmxpsRcd5V6MgaNz0Gj/v1+HMsacUZ/QSncInIAAq0wlUeDJmwqr0ZwKfZzIvlTwLDxbBcaAC4lahcjxE+OVjFqbM+ggNaI++adNraJlgMiSfcfuRasaZTGKHMKA3Ik7ZzxPSBsipMlBrEuHBlkZZlOJ6O+36lsP/h6i9ZaoqNuw/2RYXqFTmCKtSG0tCEi5Ep1Hs5AVqNo4MFrtqaafgpwIgqvMpTzrH/nIGwicGdawVXZJv8WzcO5yoRnDrb3aKOvi/AtoXMUjZxTOt5lwj1rDJzeaf4mxqhaPSszWcQfitL+vwIb+5b+WKgNaOyJ3KzMqg4b1+Z1kXj6+qH3/q6mK3Jy70W5D3RLaKse8FXiJ3z7mTymxqQsAYwQo1Lgk4cPojYH+8eDn557upmY+drbigSI6hyPOkUwCn6R41e41o0ZNyix7aa3q3UUMHrcoOK5/+1K40PCNqHnijHZg7q00nfwMhQDPY7aSwbKKLhFDNIPM25kMD6MfK0iN7R7TC0DCIv6DEOpqqw1WoNMaV86oJZaXa9wLsFPPkYSnZ3JLzpJG/lOECizrou24A0W9vd36WW8wUVb7GGqP5sj/FquaQCzTO1+PISBmRJMdYR69CRHgh6pFy05S/p34HiI6SLIc1SgGAKmEhTP2l5zeKbbKHyqeF1NWzbQBiLuAZCAjxcVA1UfTw6Y+xIo+48Owg8YEaEAY7kGJN/tgpr77yWZJBYWtoy7s2uRKPS7BJ7Abe0Nf8+LAFo3mRpgoU1h95xZvbmlu5Th7X38A7qWrXcXwkLdEHE3Y90VLwwHMC0IBIO/0GjT6N2nUEwVWIA+r/QUkROJTj3X7Smo3Oy2od0dYF3ppz/96B5LWSbYeh/DNlTTSBeOOsIw5U7P7e/WH7v6nhv4pRHs1zMVlcCa6+K1yUF7PAJz/N1+wiutGpfd1hb9IpYTp/nZonHTwHVhONXissFFQL1E/DqK1qX7bu0fpDjEJcKBDbRIDIEC1FwWvLtxMFJYHUW/d9rMODlsvSdSjf7Ta/+wbTo8Jqk+g1BZXAiZWKPDV8Axc1Mj8+qbQO/c8jEXa2z4fAiatTGf3ndO2erEFcYWRJbjV+uJg8/5VzBxW4/D4pZa1o+HlvGyxT2dst1zysGnswiKtq6AG0D74xrDwkilYZyjmE2HqqsvGPDupQcMbyBUppWE0G8UgoGFEbvovRisZu+aOiUUzhsCHVjphN3a8Amysg2R3PfunhxUvXhVI5jgDaEmFICwELXUdWFgBA6sWZTrarknuE75rmU6DJfu77gpSyLyWEJfaG44x92q6f2WxKN/JwPz59tRJ0x/zSqk+gtsgO//J4qpyJvq8uEzacJEd0Gamq3d7rLAKRZpQ8DD7AzTQ7ZXWjt738+n5vSxX4VbRJDEpr309anZcK6eLDDVGfwQwz3UGvLu+NnDeXrVvNBFc1neKICsLVp6LaOimYrwxTufhSK3mM5I8k68lpSe7Dr7ATj3Dm0ep03Dcnm08MBgOe7QgMduXS42DXMd3DMZ/KU/hYP6+We2rm0ZIrEWsi5DAQifD4i37HDYX5uvUVNIJNCCLEpzdcuQlnPIDGdLN18Z0aRhMzIpgRLfLJ1eIeQDFFLlR9W4h1jrt9Zi+kEI0zO/N/sFBBWqm2OUbap8SCKtcId0ZIGBJKbsAPwGO4NSGl9Uhd8BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013xYzwHREreLkDcNYsT9kkk",
      "input": {
        "note": "Wrist view shows the bottle running straight ahead with the neck ~12–13 cm forward. Moving forward and down to straddle the upper shoulder/neck region.",
        "targets": {
          "left_x": 0.395,
          "left_y": -0.037,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013xYzwHREreLkDcNYsT9kkk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1673, 1.6756, 0.4286, 0.664, -0.1383, -0.1276, 0.997, -0.0212, 0.3904, 0.0841, -0.2672, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3864 left_y=-0.0369 left_z=0.0266 left_yaw=0.0031 left_pitch=-0.0141 left_roll=-0.0189 left_gripper=0.997 right_x=0.235 right_y=0.0041 right_z=0.0621 right_yaw=0.0158 right_pitch=-0.0032 right_roll=-0.0052 right_gripper=0.9984\nstate[joint_eff]: [0.7316, -5.0256, 5.2034, 1.4335, 0.0611, 0.3004, 0.0415, -0.7179, 0.5538, 6.9949, 1.7656, -0.1148, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:968daf10cd85fe9436917bc7087333629d8373d5e3057b536c0f18fb01198438",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e394f6a94ce8691682ceb357a9ca1acb17e6d5f3969736b574d33074e26159c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9064823e641140e22d4a050c6ba742cb77e1b16756412687e4d0a4641c336dca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 14.54 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3485, 1.1229, 0.0273, 0.4507, -0.2745, -0.202, 0.4785, -0.0212, 0.3916, 0.0841, -0.2672, -0.0307, -0.036, 0.9984]\nstate[eef_state]: left_x=0.2649 left_y=-0.0415 left_z=0.0154 left_yaw=-0.0238 left_pitch=-0.0544 left_roll=0.0107 left_gripper=0.4785 right_x=0.235 right_y=0.004 right_z=0.0619 right_yaw=0.0155 right_pitch=-0.0044 right_roll=-0.0054 right_gripper=0.9984\nstate[joint_eff]: [-0.212, -1.9761, 6.8444, 2.6545, -0.4274, 0.0562, 1.0574, -0.8274, 0.9231, 6.8581, 1.7118, -0.1245, -0.0562, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3588, 0.6956, 0.2211, -0.062, -0.2863, -0.2104, 0.9965, -0.0212, 0.3912, 0.0841, -0.2672, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.2704 left_y=-0.0443 left_z=0.1003 left_yaw=-0.0198 left_pitch=0.0502 left_roll=-0.0254 left_gripper=0.9965 right_x=0.235 right_y=0.0041 right_z=0.062 right_yaw=0.0158 right_pitch=-0.004 right_roll=-0.0052 right_gripper=0.9984\nstate[joint_eff]: [-0.0342, -0.5402, 8.9231, 1.6239, -0.0708, 0.0269, -0.0904, -0.6359, 0.3624, 6.7624, 1.7705, -0.1343, -0.0415, -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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1673, 1.6756, 0.4286, 0.664, -0.1383, -0.1276, 0.997, -0.0212, 0.3904, 0.0841, -0.2672, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.3864 left_y=-0.0369 left_z=0.0266 left_yaw=0.0031 left_pitch=-0.0141 left_roll=-0.0189 left_gripper=0.997 right_x=0.235 right_y=0.0041 right_z=0.0621 right_yaw=0.0158 right_pitch=-0.0032 right_roll=-0.0052 right_gripper=0.9984\nstate[joint_eff]: [0.7316, -5.0256, 5.2034, 1.4335, 0.0611, 0.3004, 0.0415, -0.7179, 0.5538, 6.9949, 1.7656, -0.1148, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:968daf10cd85fe9436917bc7087333629d8373d5e3057b536c0f18fb01198438",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e394f6a94ce8691682ceb357a9ca1acb17e6d5f3969736b574d33074e26159c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9064823e641140e22d4a050c6ba742cb77e1b16756412687e4d0a4641c336dca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSrQgKEAgSGAI4AUIIdGhpbmtpbmcSDJJWHKsJFWlnVXc2kxoMUQHJLHw/5LhxOxlfIjDjMHoCqtk5DK0zgLArOWPZxElmppmReTTvJxrMzleTFb/9sAEoggV+LXMcDEV8IqAqygc/fdotazpufDPF6lLDu9zdaCqZffEvOoDk32ejGqJx3h9AGNkRz2ZDahn2hTnuTjYJMtiR89/kx+5GrL2cjVjlHhl8MZQVDNm8HrsU0kr5jzqc6caM62PRsRzT/oMcj/SWxWHi05wMA7oWanxDc74wOAVxAKtHCVZFp4Vh8SW8GDANeSanI/vulBIDw/uzh2HjZZQpftYmQCwY4uRv8PzCU8pzU+IEnLLT/Y5y0wr3bPXlyJ1LILlKrnSYo6WT+Ijr0jkbKtHwp92NsoudqM+Im4WVevDyO5rsWjN7g5gxQ3BPhyYX4waLmh/GVGnEHzIvd2TJbaXSDdfQVTBW+fyIPOiyNocQROIWHBoGgk/UvnQbRoeUeYXtJE+U6Q9QBrMVgR5TBtw02hWqqCGn+2wHyNEt0EskQCYC4Xx9fVekFBCCwNl2jzoTYEzFcjZ/dFEDhl6p7Awp7Hh4Y3ZwXgMwsNYLJRWt8L/brFV0C2P/sA6XNbtOTsSiSj78vCFe896beXMm1uKpunbtiysZFAh5KRrzvcR3cp5wgc+Ajt18lCo2xnNw7ALhFodU36bDuzpB6PYMG9ZgDlyQbsUphj+iUgK6+K/poj4RS/MilWepWNN5V/G6ShiDaNFinM0wrCmLYr3+8D+KFWAQW+NQKvn4cg/nF71oKCXen60kBbjpl/wVYPXEiapuhJ/m4n85cGdISl+riQ86lbv+5ttI4jOhXm5wyGJDkjCtuXoo89VVifoAU3ihxIFdkD5PZGf+/DYabICvq/JVw1MM8FCrFooL8LXOX2BNeWiM3iPIevdYF5XlZ4aSV+r7jZVE+g4h5yOyfg0y1tZKhfGISU15/YMOFVvfJj25C0Vlc9l7khJ2/QDi0rE/20KCwQYwl66BxzNcQDNO1emCeLuryUfjgP/DDCvLeUXzRoHueuEROaKLcsxiT/Ow0h2BvBPMKf28nNxCqnRq4AFAA7D9zcO8Np7/LaOhCMilaF5Jzg/tgL4MAuU4+PUFXCsmG/r19eaUP9hZkWB9ouJeauG7uTS+/EiE+xGLdbGKx+zTQQmxzUAsDSMiQxj2dRRkuovIi0p1i8ktbPY83dxpkcgzKVW+EFqFrbTyl34VXltFmwYIvF/dl7hVzKngltOyaaa8WOPY6du4MNJlkf+M+THvByg+scYtiViudLx3TUnwTlx/3WO/grr22buWwygFWj/s6cWOKptRUfFOdX0bvz/S00yr8KfbpN5lSfVHmVuNlZ7Vh2PzvzGQ6TlvC5hbXAv6JlQEG3O4g+6Q7/KT1JuLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YVbpc9m7Pm7SkwKZ5hHAVv",
      "input": {
        "note": "Jaws straddle the bottle just below its shoulder with the cap a few cm ahead, at ~2.7 cm height. Closing to grip the upper end.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YVbpc9m7Pm7SkwKZ5hHAVv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1703, 1.6695, 0.4366, 0.7937, -0.1738, -0.1123, 0.0098, -0.0212, 0.3908, 0.0841, -0.2672, -0.0311, -0.036, 0.9984]\nstate[eef_state]: left_x=0.4049 left_y=-0.035 left_z=0.0598 left_yaw=0.0234 left_pitch=0.1305 left_roll=-0.0145 left_gripper=0.0098 right_x=0.235 right_y=0.0041 right_z=0.0621 right_yaw=0.0158 right_pitch=-0.0036 right_roll=-0.0052 right_gripper=0.9984\nstate[joint_eff]: [-0.5538, -5.012, 3.4803, 0.8474, 0.1294, -0.0513, 0.8083, -0.5538, 0.6632, 6.8444, 1.7118, -0.0952, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f8f3c17b02dbc242002c2872dca3b9d75559f50a2f5b5097eddb82c27f270c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2baab8fd398e85d546c6fc7e21935d6c6e4f70d0b0f69d652f88288dfffaa28d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a9ade2ab1d5c26a637b6459ea8a2ab9de984641d2dd9961cdce0b49f11f3f364",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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