adhoc

completed
2026-09-22T20:36:39.893483+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
269.3 s
total steps
234
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 the table with caps pointing forward. Moving the right arm above the neck of the rightmost bottle so I can grab it by the cap end and swing it upright.
move_to
right_x0.4600right_y0.2400right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0193, 0.7933, 0.609, -0.3771, -0.0257, -0.0322, 0.9986, -0.0174, 0.7891, 0.6037, -0.3832, -0.0135, -0.0208, 0.9998] state[eef_state]: left_x=0.2957 left_y=0.0024 left_z=0.1831 left_yaw=-0.0002 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9986 right_x=0.294 right_y=0.0009 right_z=0.1805 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.6359, -1.4291, 9.7299, 1.7558, 0.0317, 0.1587, -0.1538, -0.7863, -1.1009, 10.4, 1.8437, -0.105, 0.0659, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.24, "right_z": 0.15, "right_gripper": 1}, "note": "Three bottles lie on the table with caps pointing forward. Moving the right arm above the neck of the rightmost bottle so I can grab it by the cap end and swing it upright."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteWrist view shows the target bottle cap a bit right of the jaw column. Shifting right ~4 cm and lowering to refine alignment over the neck.
move_to
right_y0.2000right_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7979, 0.614, -0.384, -0.0257, -0.0296, 0.9984, 0.6456, 1.8484, 1.2724, -0.1497, 0.498, 0.342, 0.9998] state[eef_state]: left_x=0.2957 left_y=0.0026 left_z=0.1827 left_yaw=-0.0012 left_pitch=-0.0061 left_roll=0.0027 left_gripper=0.9984 right_x=0.4473 right_y=0.2358 right_z=0.1334 right_yaw=0.0436 right_pitch=-0.0549 right_roll=-0.038 right_gripper=0.9998 state[joint_eff]: [-0.0889, -1.5521, 6.694, 1.7509, -0.022, -0.0757, -0.0317, -0.0479, -9.7846, 9.0325, 1.7558, 0.5201, 0.2759, -0.0317] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.2, "right_z": 0.07}, "note": "Wrist view shows the target bottle cap a bit right of the jaw column. Shifting right ~4 cm and lowering to refine alignment over the neck."})
tool
executing move_to over 5 steps (0.5s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteBottle is now centred on the jaws, with its neck a few cm ahead of the fingertips. Advancing 4 cm and descending to neck height to grip just below the cap.
move_to
right_x0.4750right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3862, -0.0257, -0.0292, 0.9983, 0.572, 1.8683, 0.9882, 0.1581, 0.4484, 0.3016, 0.9998] state[eef_state]: left_x=0.2954 left_y=0.0026 left_z=0.1821 left_yaw=-0.0014 left_pitch=-0.0088 left_roll=0.0031 left_gripper=0.9983 right_x=0.4363 right_y=0.1941 right_z=0.0624 right_yaw=0.0307 right_pitch=-0.0704 right_roll=-0.0409 right_gripper=0.9998 state[joint_eff]: [0.0615, -1.5932, 6.735, 1.8193, -0.0122, -0.022, -0.0171, -0.4581, -7.706, 5.8735, 1.8974, 0.1783, -0.105, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.475, "right_z": 0.035}, "note": "Bottle is now centred on the jaws, with its neck a few cm ahead of the fingertips. Advancing 4 cm and descending to neck height to grip just below the cap."})
tool
executing move_to over 3 steps (0.3s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteArm stopped slightly short (x 0.462); the neck is still just ahead of the jaws in the wrist view. Nudging forward another 2 cm at neck height.
move_to
right_x0.4850right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7975, 0.614, -0.3866, -0.0257, -0.0296, 0.9983, 0.5335, 1.9938, 0.9955, 0.3447, 0.4397, 0.2527, 0.9997] state[eef_state]: left_x=0.2953 left_y=0.0026 left_z=0.1822 left_yaw=-0.0012 left_pitch=-0.0084 left_roll=0.0027 left_gripper=0.9983 right_x=0.4619 right_y=0.1897 right_z=0.0396 right_yaw=0.027 right_pitch=-0.0152 right_roll=-0.042 right_gripper=0.9997 state[joint_eff]: [-0.0479, -1.5248, 6.3521, 1.8535, -0.0122, -0.0855, -0.0122, -0.4444, -7.9795, 7.3915, 1.7167, -0.2515, 0.149, -0.022] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.485, "right_z": 0.03}, "note": "Arm stopped slightly short (x 0.462); the neck is still just ahead of the jaws in the wrist view. Nudging forward another 2 cm at neck height."})
tool
executing move_to over 2 steps (0.2s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteJaws straddle the bottle just below its cap/neck. Closing to grip the neck.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7975, 0.6136, -0.3866, -0.0257, -0.0296, 0.9983, 0.5213, 2.0228, 1.013, 0.3763, 0.411, 0.2497, 0.9998] state[eef_state]: left_x=0.2953 left_y=0.0026 left_z=0.1821 left_yaw=-0.0012 left_pitch=-0.0088 left_roll=0.0027 left_gripper=0.9983 right_x=0.4701 right_y=0.1927 right_z=0.0368 right_yaw=0.0395 right_pitch=-0.0056 right_roll=-0.0198 right_gripper=0.9998 state[joint_eff]: [0.1162, -1.7846, 6.5709, 1.8144, -0.0024, -0.0806, -0.0122, -1.1556, -9.2513, 5.4769, 1.8877, 0.0952, 0.0659, -0.0073] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Jaws straddle the bottle just below its cap/neck. Closing to grip the neck."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteGripped the neck (reading 0.38 ≈ 3.6 cm). Lifting the cap end and pulling back so the bottle pivots toward vertical with its base dragging on the table.
move_to
right_z0.1400right_x0.4200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7975, 0.6136, -0.3866, -0.0257, -0.0292, 0.9983, 0.5156, 2.0224, 1.0126, 0.421, 0.411, 0.2344, 0.3769] state[eef_state]: left_x=0.2953 left_y=0.0026 left_z=0.1821 left_yaw=-0.0014 left_pitch=-0.0088 left_roll=0.0031 left_gripper=0.9983 right_x=0.4763 right_y=0.1929 right_z=0.0453 right_yaw=0.0417 right_pitch=0.0339 right_roll=-0.0123 right_gripper=0.3769 state[joint_eff]: [-0.0479, -1.6205, 6.3385, 1.8193, -0.0122, -0.0366, -0.0122, -0.7316, -9.4017, 5.6274, 1.4676, 0.0171, 0.2906, 0.569] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.14, "right_x": 0.42}, "note": "Gripped the neck (reading 0.38 \u2248 3.6 cm). Lifting the cap end and pulling back so the bottle pivots toward vertical with its base dragging on the table."})
tool
executing move_to over 7 steps (0.7s)
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 noteBottle is in the jaws and tilting up. Continuing to raise and pull back so it hangs vertically over its base.
move_to
right_z0.2400right_x0.3600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7967, 0.601, -0.387, -0.0261, -0.0296, 0.9983, 0.5838, 1.6951, 1.0012, 0.0582, 0.4328, 0.2871, 0.377] state[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1764 left_yaw=-0.0009 left_pitch=-0.021 left_roll=0.0032 left_gripper=0.9983 right_x=0.4268 right_y=0.1975 right_z=0.1267 right_yaw=0.0644 right_pitch=-0.0011 right_roll=-0.0008 right_gripper=0.377 state[joint_eff]: [-0.0205, -1.265, 7.3231, 1.873, -0.0513, -0.0611, -0.0122, 0.7863, -10.0444, 7.3231, 1.7753, 0.2369, 0.1197, -0.0024] approver: 3 step(s) modified (delta_clamped ×3). 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": {"right_z": 0.24, "right_x": 0.36}, "note": "Bottle is in the jaws and tilting up. Continuing to raise and pull back so it hangs vertically over its base."})
tool
executing move_to over 8 steps (0.8s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe bottle appears to be hanging vertically under the right gripper (top view). Lowering so its base touches the table.
move_to
right_z0.1750
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7891, 0.5823, -0.3748, -0.0261, -0.0292, 0.9983, 0.7078, 1.4399, 1.1362, -0.4049, 0.5003, 0.3428, 0.377] state[eef_state]: left_x=0.2925 left_y=0.0027 left_z=0.1725 left_yaw=-0.0011 left_pitch=-0.0199 left_roll=0.0035 left_gripper=0.9983 right_x=0.363 right_y=0.2038 right_z=0.2114 right_yaw=0.104 right_pitch=-0.0399 right_roll=-0.0288 right_gripper=0.377 state[joint_eff]: [0.1573, -1.4564, 6.8718, 1.9316, -0.0024, -0.0415, -0.0122, 0.1299, -8.0752, 10.4547, 1.8486, 0.486, 0.2173, -0.0122] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.175}, "note": "The bottle appears to be hanging vertically under the right gripper (top view). Lowering so its base touches the table."})
tool
executing move_to over 3 steps (0.3s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteNo contact yet (readback tracks). Continuing down to set the hanging bottle's base on the table.
move_to
right_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7849, 0.5709, -0.3717, -0.0254, -0.0296, 0.9983, 0.712, 1.4357, 0.9699, -0.2863, 0.5034, 0.3477, 0.377] state[eef_state]: left_x=0.2912 left_y=0.0026 left_z=0.169 left_yaw=-0.0016 left_pitch=-0.0241 left_roll=0.0028 left_gripper=0.9983 right_x=0.352 right_y=0.196 right_z=0.1637 right_yaw=0.1018 right_pitch=-0.0743 right_roll=-0.0513 right_gripper=0.377 state[joint_eff]: [0.0752, -1.894, 6.6256, 1.956, -0.0122, -0.0904, -0.0122, -0.6906, -6.5026, 8.4034, 2.3321, 0.2613, 0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.13}, "note": "No contact yet (readback tracks). Continuing down to set the hanging bottle's base on the table."})
tool
executing move_to over 3 steps (0.3s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteStill no contact at z 0.13, which is odd for a hanging 20 cm bottle. Lowering further while watching for a stall to find out where the bottle base is.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.775, 0.5529, -0.3641, -0.0257, -0.0292, 0.9983, 0.7124, 1.4311, 0.8398, -0.1497, 0.4942, 0.3397, 0.377] state[eef_state]: left_x=0.2893 left_y=0.0027 left_z=0.165 left_yaw=-0.0014 left_pitch=-0.0244 left_roll=0.0033 left_gripper=0.9983 right_x=0.345 right_y=0.192 right_z=0.1345 right_yaw=0.114 right_pitch=-0.069 right_roll=-0.0463 right_gripper=0.377 state[joint_eff]: [-0.0615, -1.7026, 6.6803, 1.9365, -0.0171, -0.0806, -0.0122, -0.0342, -6.7761, 7.5282, 2.0733, 0.2808, 0.0513, -0.0122] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08}, "note": "Still no contact at z 0.13, which is odd for a hanging 20 cm bottle. Lowering further while watching for a stall to find out where the bottle base is."})
tool
executing move_to over 4 steps (0.4s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteDescent stalled at z 0.137, so the hanging bottle's base is resting on the table. Releasing it so it stands upright.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7662, 0.5335, -0.3489, -0.0257, -0.0296, 0.9983, 0.7132, 1.4311, 0.8375, -0.1322, 0.4942, 0.3393, 0.377] state[eef_state]: left_x=0.2884 left_y=0.0027 left_z=0.1616 left_yaw=-0.0012 left_pitch=-0.0199 left_roll=0.0029 left_gripper=0.9983 right_x=0.3465 right_y=0.1937 right_z=0.1366 right_yaw=0.1155 right_pitch=-0.0564 right_roll=-0.038 right_gripper=0.377 state[joint_eff]: [-0.1846, -1.812, 6.8855, 1.8828, -0.0171, -0.0708, -0.0122, -0.0615, -7.3641, 7.0769, 1.956, 0.2711, 0.0366, -0.0073] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Descent stalled at z 0.137, so the hanging bottle's base is resting on the table. Releasing it so it stands upright."})
tool
executing move_to over 7 steps (0.7s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteReleased. Raising and moving the right arm aside so the top camera can show whether the bottle is standing.
move_to
right_z0.3000right_x0.2500right_y0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7605, 0.5163, -0.3412, -0.0254, -0.0292, 0.9983, 0.7132, 1.4258, 0.77, -0.0692, 0.4934, 0.3359, 0.9957] state[eef_state]: left_x=0.2868 left_y=0.0027 left_z=0.1568 left_yaw=-0.0018 left_pitch=-0.0237 left_roll=0.0031 left_gripper=0.9983 right_x=0.341 right_y=0.1891 right_z=0.1219 right_yaw=0.118 right_pitch=-0.0561 right_roll=-0.04 right_gripper=0.9957 state[joint_eff]: [0.0615, -1.7573, 6.8308, 1.8926, -0.0317, -0.0659, -0.0122, -0.0615, -7.0085, 7.1316, 2.0928, 0.1636, 0.0708, -0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.3, "right_x": 0.25, "right_y": 0.05}, "note": "Released. Raising and moving the right arm aside so the top camera can show whether the bottle is standing."})
tool
executing move_to over 12 steps (1.2s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteAll three bottles are still lying down; the first attempt slipped off the rightmost bottle. Returning above its neck to retry with a deeper grasp.
move_to
right_x0.4500right_y0.1950right_z0.1000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7513, 0.4988, -0.3294, -0.0254, -0.0292, 0.9983, 0.3031, 0.8024, 1.0554, -0.8341, 0.1963, 0.1059, 0.9955] state[eef_state]: left_x=0.2856 left_y=0.0027 left_z=0.1537 left_yaw=-0.0018 left_pitch=-0.0203 left_roll=0.003 left_gripper=0.9983 right_x=0.2595 right_y=0.0488 right_z=0.2878 right_yaw=0.0759 right_pitch=-0.0005 right_roll=-0.0079 right_gripper=0.9955 state[joint_eff]: [0.0205, -1.5248, 6.5846, 1.9023, -0.0073, -0.0415, -0.0122, -0.0342, -1.0051, 8.7043, 1.7949, -0.1392, 0.1245, -0.0317] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.195, "right_z": 0.1, "right_yaw": 0}, "note": "All three bottles are still lying down; the first attempt slipped off the rightmost bottle. Returning above its neck to retry with a deeper grasp."})
tool
executing move_to over 15 steps (1.5s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteBottle is centred on the jaw column with its cap ~several cm ahead. Advancing to the neck and descending low so the jaws fully envelope it.
move_to
right_x0.4850right_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7399, 0.485, -0.3183, -0.0257, -0.0296, 0.9983, 0.5636, 1.7939, 0.9943, 0.0463, 0.4358, 0.2878, 0.9955] state[eef_state]: left_x=0.2847 left_y=0.0028 left_z=0.1527 left_yaw=-0.0012 left_pitch=-0.0115 left_roll=0.0028 left_gripper=0.9983 right_x=0.427 right_y=0.1859 right_z=0.0783 right_yaw=0.0383 right_pitch=-0.102 right_roll=-0.0605 right_gripper=0.9955 state[joint_eff]: [0.0889, -1.1829, 6.8581, 1.7998, 0.0122, -0.0904, -0.0122, -0.0205, -8.8957, 8.7043, 1.7607, 0.3639, 0.2955, -0.0122] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.485, "right_z": 0.02}, "note": "Bottle is centred on the jaw column with its cap ~several cm ahead. Advancing to the neck and descending low so the jaws fully envelope it."})
tool
executing move_to over 5 steps (0.5s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteJaws are over the bottle's shoulder; the neck is still a bit ahead. Pushing forward a little more before closing.
move_to
right_x0.5000right_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7391, 0.4847, -0.3187, -0.0257, -0.0292, 0.9983, 0.4946, 2.0384, 1.0019, 0.3889, 0.3809, 0.2466, 0.9955] state[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1526 left_yaw=-0.0014 left_pitch=-0.0115 left_roll=0.0031 left_gripper=0.9983 right_x=0.4715 right_y=0.1837 right_z=0.0263 right_yaw=0.0388 right_pitch=-0.0263 right_roll=-0.0127 right_gripper=0.9955 state[joint_eff]: [0.0205, -1.4974, 6.1744, 1.8584, -0.0366, -0.0562, -0.0122, -0.8684, -7.0496, 6.106, 1.5018, 0.0611, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_z": 0.02}, "note": "Jaws are over the bottle's shoulder; the neck is still a bit ahead. Pushing forward a little more before closing."})
tool
executing move_to over 3 steps (0.3s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteAt the forward limit for this height with the jaws around the upper bottle. Closing firmly.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0261, -0.0296, 0.9983, 0.4892, 2.0666, 1.0252, 0.4355, 0.3622, 0.234, 0.9955] state[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1528 left_yaw=-0.0009 left_pitch=-0.0107 left_roll=0.003 left_gripper=0.9983 right_x=0.482 right_y=0.1898 right_z=0.0292 right_yaw=0.0556 right_pitch=0.0065 right_roll=0.0046 right_gripper=0.9955 state[joint_eff]: [0.1026, -1.3607, 6.147, 1.8632, 0.0171, -0.0562, -0.0122, -0.8684, -7.9111, 6.3111, 1.7558, 0.149, -0.0269, -0.0122] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "At the forward limit for this height with the jaws around the upper bottle. Closing firmly."})
tool
executing move_to over 10 steps (1.0s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteGripper has closed on the bottle's shoulder (reading 0.30). Lifting the cap end so the body swings down beneath the jaws.
move_to
right_z0.1400right_x0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0254, -0.0292, 0.9983, 0.4908, 2.0586, 1.0355, 0.5148, 0.3622, 0.2268, 0.3001] state[eef_state]: left_x=0.2846 left_y=0.0027 left_z=0.1528 left_yaw=-0.0018 left_pitch=-0.0107 left_roll=0.0029 left_gripper=0.9983 right_x=0.4937 right_y=0.1969 right_z=0.053 right_yaw=0.059 right_pitch=0.0952 right_roll=0.0392 right_gripper=0.3001 state[joint_eff]: [0.1846, -1.5248, 6.2017, 1.9072, -0.0269, -0.0171, -0.0122, -0.4581, -9.9487, 5.3812, 0.823, 0.0611, 0.0171, 0.3248] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.14, "right_x": 0.45}, "note": "Gripper has closed on the bottle's shoulder (reading 0.30). Lifting the cap end so the body swings down beneath the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe bottle is held rigidly horizontal by its middle (it moves with the wrist camera), so it won't pivot. Pulling it back toward the base and setting it down so I can regrasp right at the neck, which was out of reach before.
move_to
right_x0.2800right_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7383, 0.4847, -0.3191, -0.0254, -0.0292, 0.9983, 0.5407, 1.7897, 1.0782, 0.0708, 0.3862, 0.244, 0.2987] state[eef_state]: left_x=0.2845 left_y=0.0027 left_z=0.1528 left_yaw=-0.0018 left_pitch=-0.0111 left_roll=0.0029 left_gripper=0.9983 right_x=0.4521 right_y=0.198 right_z=0.1156 right_yaw=0.0821 right_pitch=-0.0188 right_roll=-0.0147 right_gripper=0.2987 state[joint_eff]: [0.1162, -0.9641, 6.4479, 1.9023, 0.0073, -0.0659, -0.0122, 0.6359, -11.5897, 9.347, 1.7998, 0.3443, 0.2271, -0.1538] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_z": 0.06}, "note": "The bottle is held rigidly horizontal by its middle (it moves with the wrist camera), so it won't pivot. Pulling it back toward the base and setting it down so I can regrasp right at the neck, which was out of reach before."})
tool
executing move_to over 14 steps (1.4s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe top view shows the rightmost bottle never moved, yet the gripper reads 0.30 while apparently empty. Closing fully in the air to check what an empty close reads.
move_to
right_gripper0.0000right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0257, -0.0296, 0.9983, 0.9211, 1.4895, 0.4961, 0.2066, 0.6407, 0.4976, 0.2986] state[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1528 left_yaw=-0.0012 left_pitch=-0.0107 left_roll=0.0028 left_gripper=0.9983 right_x=0.2821 right_y=0.2027 right_z=0.0528 right_yaw=0.126 right_pitch=-0.0358 right_roll=-0.0248 right_gripper=0.2986 state[joint_eff]: [0.0479, -1.5658, 6.2564, 1.917, 0.022, -0.0806, -0.0122, 0.1709, -6.7761, 5.4085, 1.4823, 0.4908, 0.105, -0.022] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0, "right_z": 0.1}, "note": "The top view shows the rightmost bottle never moved, yet the gripper reads 0.30 while apparently empty. Closing fully in the air to check what an empty close reads."})
tool
executing move_to over 4 steps (0.4s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteEmpty close reads 0.02, so earlier the jaws did pinch the bottle but it popped out—likely gripped above its centreline. Moving back over the bottle's upper body to grasp it lower and drag it closer so the neck becomes reachable.
move_to
right_gripper1.0000right_x0.4300right_y0.1950right_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0257, -0.0292, 0.9983, 0.9291, 1.3621, 0.5312, 0.078, 0.6498, 0.4931, 0.0173] state[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1528 left_yaw=-0.0014 left_pitch=-0.0107 left_roll=0.0031 left_gripper=0.9983 right_x=0.2795 right_y=0.2014 right_z=0.0859 right_yaw=0.1304 right_pitch=-0.0075 right_roll=-0.0088 right_gripper=0.0173 state[joint_eff]: [0.0889, -1.5385, 6.2154, 1.8681, -0.0073, -0.0513, -0.0122, -0.6632, -5.3402, 8.253, 1.4676, 0.2027, 0.0073, 0.8571] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.43, "right_y": 0.195, "right_z": 0.06}, "note": "Empty close reads 0.02, so earlier the jaws did pinch the bottle but it popped out\u2014likely gripped above its centreline. Moving back over the bottle's upper body to grasp it lower and drag it closer so the neck becomes reachable."})
tool
executing move_to over 12 steps (1.2s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteArm stopped at x 0.32, possibly brushing the bottle. Raising a bit and continuing forward over the bottle.
move_to
right_x0.4400right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7338, 0.4847, -0.3218, -0.0254, -0.0296, 0.9983, 0.8021, 1.4792, 0.6754, 0.0662, 0.5438, 0.3943, 0.9961] state[eef_state]: left_x=0.284 left_y=0.0027 left_z=0.1534 left_yaw=-0.0016 left_pitch=-0.0092 left_roll=0.0025 left_gripper=0.9983 right_x=0.3224 right_y=0.207 right_z=0.0915 right_yaw=0.1362 right_pitch=-0.0453 right_roll=-0.027 right_gripper=0.9961 state[joint_eff]: [-0.0205, -0.4034, 6.4068, 1.9121, -0.0122, -0.0464, -0.0122, 0.0068, -9.0462, 6.6393, 1.5556, 0.3639, 0.0024, -0.2418] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_z": 0.12}, "note": "Arm stopped at x 0.32, possibly brushing the bottle. Raising a bit and continuing forward over the bottle."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteBottle is centred between the jaws, cap well ahead. Descending to the table so the fingertips go below the bottle's centreline before closing.
move_to
right_z-0.0100right_yaw0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7326, 0.4847, -0.3187, -0.0254, -0.0292, 0.9983, 0.5724, 1.7306, 0.9749, 0.0925, 0.3599, 0.226, 0.9961] state[eef_state]: left_x=0.2843 left_y=0.0027 left_z=0.1544 left_yaw=-0.0018 left_pitch=-0.005 left_roll=0.0028 left_gripper=0.9983 right_x=0.4244 right_y=0.2037 right_z=0.1035 right_yaw=0.1445 right_pitch=-0.0461 right_roll=-0.0248 right_gripper=0.9961 state[joint_eff]: [-0.0068, -1.3333, 6.5436, 1.7998, 0.0122, -0.0611, -0.0122, -0.7043, -7.9932, 8.9641, 1.7949, 0.0806, -0.022, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": -0.01, "right_yaw": 0.1}, "note": "Bottle is centred between the jaws, cap well ahead. Descending to the table so the fingertips go below the bottle's centreline before closing."})
tool
executing move_to over 8 steps (0.8s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteJaws at table level straddling the bottle body. Closing to grip below its centreline.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7334, 0.4847, -0.3195, -0.0257, -0.0292, 0.9983, 0.585, 2.0361, 0.8143, 0.5854, 0.3893, 0.2569, 0.996] state[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0014 left_pitch=-0.0065 left_roll=0.003 left_gripper=0.9983 right_x=0.424 right_y=0.2047 right_z=-0.0004 right_yaw=0.1169 right_pitch=-0.0141 right_roll=-0.0037 right_gripper=0.996 state[joint_eff]: [0.1162, -1.2239, 6.7487, 1.746, 0.0073, -0.0855, -0.0122, 0.1573, -6.9128, 4.2051, 1.1746, 0.3053, -0.0415, -0.0171] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Jaws at table level straddling the bottle body. Closing to grip below its centreline."})
tool
executing move_to over 10 steps (1.0s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteHolding the bottle body (reading 0.52 ≈ 5 cm). Dragging it back along the table ~12 cm so its neck comes within reach.
move_to
right_x0.3000right_z0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7338, 0.4847, -0.3191, -0.0257, -0.0292, 0.9983, 0.588, 2.0483, 0.8104, 0.6373, 0.3882, 0.2527, 0.5231] state[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0014 left_pitch=-0.0065 left_roll=0.003 left_gripper=0.9983 right_x=0.4269 right_y=0.2086 right_z=0.0027 right_yaw=0.1232 right_pitch=0.0176 right_roll=0.0095 right_gripper=0.5231 state[joint_eff]: [0.1436, -1.0598, 6.5846, 1.8388, -0.022, -0.0415, -0.0122, -0.4034, -10.0444, 4.0684, 1.4335, 0.0952, -0.0024, 1.0281] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_z": 0.01}, "note": "Holding the bottle body (reading 0.52 \u2248 5 cm). Dragging it back along the table ~12 cm so its neck comes within reach."})
tool
executing move_to over 10 steps (1.0s)
step 191
assistant
agent noteBottle dragged back about 12 cm. Releasing it to regrasp at the neck.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7338, 0.4847, -0.3191, -0.0257, -0.0296, 0.9983, 0.8669, 1.7878, 0.4622, 0.593, 0.5762, 0.4221, 0.5252] state[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0012 left_pitch=-0.0065 left_roll=0.0027 left_gripper=0.9983 right_x=0.3016 right_y=0.212 right_z=0.0009 right_yaw=0.1615 right_pitch=-0.0274 right_roll=-0.0178 right_gripper=0.5252 state[joint_eff]: [-0.0479, -0.9094, 6.7077, 1.8339, -0.0024, -0.0952, -0.0122, 0.1983, -8.335, 4.4513, 1.6044, 0.3639, 0.1197, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Bottle dragged back about 12 cm. Releasing it to regrasp at the neck."})
tool
executing move_to over 5 steps (0.5s)
step 196
assistant
agent noteReleased. Lifting and moving forward to look for the neck in the wrist camera.
move_to
right_z0.1000right_x0.3700right_yaw0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7338, 0.4847, -0.3195, -0.0257, -0.0296, 0.9983, 0.8749, 1.7943, 0.4404, 0.6449, 0.5747, 0.4152, 0.9956] state[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.1539 left_yaw=-0.0012 left_pitch=-0.0069 left_roll=0.0027 left_gripper=0.9983 right_x=0.299 right_y=0.2137 right_z=0.0011 right_yaw=0.1746 right_pitch=-0.01 right_roll=-0.0074 right_gripper=0.9956 state[joint_eff]: [0.1299, -1.2513, 6.7761, 1.8095, 0.022, -0.0659, -0.0122, -0.7179, -5.641, 3.8769, 1.663, 0.2222, 0.105, -0.0317] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1, "right_x": 0.37, "right_yaw": 0.05}, "note": "Released. Lifting and moving forward to look for the neck in the wrist camera."})
tool
executing move_to over 7 steps (0.7s)
step 203
assistant
agent noteThe bottle's cap is now centred ahead of the jaws at a reachable distance. Advancing ~5 cm and descending to neck height.
move_to
right_x0.4150right_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7338, 0.4847, -0.3191, -0.0257, -0.0296, 0.9983, 0.7532, 1.6596, 0.7689, 0.1806, 0.5526, 0.3916, 0.9955] state[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0012 left_pitch=-0.0065 left_roll=0.0027 left_gripper=0.9983 right_x=0.3611 right_y=0.2164 right_z=0.0786 right_yaw=0.0826 right_pitch=-0.0202 right_roll=-0.0167 right_gripper=0.9955 state[joint_eff]: [-0.0342, -1.0872, 6.7214, 1.7802, 0.0122, -0.0611, -0.0122, -0.6359, -9.6068, 8.3214, 1.6874, 0.2369, 0.0952, -0.022] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_z": 0.015}, "note": "The bottle's cap is now centred ahead of the jaws at a reachable distance. Advancing ~5 cm and descending to neck height."})
tool
executing move_to over 5 steps (0.5s)
step 208
assistant
agent noteJaws are over the label; the neck and cap are still a few cm ahead. Advancing another ~4 cm.
move_to
right_x0.4500right_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7334, 0.4847, -0.3187, -0.0254, -0.0296, 0.9983, 0.6544, 1.9278, 0.8124, 0.453, 0.4892, 0.3195, 0.9955] state[eef_state]: left_x=0.2844 left_y=0.0027 left_z=0.1541 left_yaw=-0.0016 left_pitch=-0.0058 left_roll=0.0025 left_gripper=0.9983 right_x=0.4071 right_y=0.2122 right_z=0.0269 right_yaw=0.0724 right_pitch=-0.0058 right_roll=-0.0166 right_gripper=0.9955 state[joint_eff]: [0.0889, -1.2103, 6.7214, 1.7851, -0.0171, -0.0806, -0.0122, -0.6906, -5.8598, 5.3949, 1.3065, 0.0122, 0.0806, -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": {"right_x": 0.45, "right_z": 0.015}, "note": "Jaws are over the label; the neck and cap are still a few cm ahead. Advancing another ~4 cm."})
tool
executing move_to over 4 steps (0.4s)
step 212
assistant
agent noteThe bottle is being nudged forward with the jaws around its upper body near the shoulder. Closing only partway for a light grip that should let it pivot when lifted.
move_to
right_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7338, 0.4847, -0.3199, -0.0257, -0.0292, 0.9983, 0.5976, 2.0167, 0.9195, 0.5129, 0.4274, 0.2825, 0.9955] state[eef_state]: left_x=0.2842 left_y=0.0028 left_z=0.1538 left_yaw=-0.0014 left_pitch=-0.0073 left_roll=0.003 left_gripper=0.9983 right_x=0.4457 right_y=0.2191 right_z=0.0324 right_yaw=0.0844 right_pitch=0.0422 right_roll=0.0234 right_gripper=0.9955 state[joint_eff]: [-0.1709, -1.1829, 6.8308, 1.7656, -0.0024, -0.0024, -0.0122, -0.9094, -7.0222, 6.2291, 1.3065, 0.1587, 0.0708, -0.0122] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.6}, "note": "The bottle is being nudged forward with the jaws around its upper body near the shoulder. Closing only partway for a light grip that should let it pivot when lifted."})
tool
executing move_to over 4 steps (0.4s)
step 216
assistant
agent noteLight grip on the bottle near the shoulder. Lifting and pulling back so the base end drags and the bottle swings toward vertical.
move_to
right_z0.2000right_x0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7338, 0.4847, -0.3195, -0.0257, -0.0292, 0.9983, 0.5888, 2.0293, 0.9459, 0.5411, 0.4141, 0.2798, 0.6076] state[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.1539 left_yaw=-0.0014 left_pitch=-0.0069 left_roll=0.003 left_gripper=0.9983 right_x=0.456 right_y=0.2234 right_z=0.0409 right_yaw=0.0868 right_pitch=0.0754 right_roll=0.0477 right_gripper=0.6076 state[joint_eff]: [-0.0889, -0.9504, 6.5299, 1.8388, 0.0122, -0.0611, -0.0122, -0.9231, -7.5009, 5.4085, 1.1453, 0.232, 0.0171, 0.4029] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.4}, "note": "Light grip on the bottle near the shoulder. Lifting and pulling back so the base end drags and the bottle swings toward vertical."})
tool
executing move_to over 11 steps (1.1s)
step 227
assistant
agent noteThe bottle now hangs vertically below the jaws (visible in both top and wrist views). Lowering it toward the table.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7338, 0.4843, -0.3191, -0.0254, -0.0292, 0.9983, 0.6937, 1.5612, 1.1889, -0.054, 0.4667, 0.3126, 0.6085] state[eef_state]: left_x=0.2843 left_y=0.0027 left_z=0.1538 left_yaw=-0.0018 left_pitch=-0.0069 left_roll=0.0028 left_gripper=0.9983 right_x=0.4139 right_y=0.2454 right_z=0.2487 right_yaw=0.1222 right_pitch=0.1862 right_roll=0.1162 right_gripper=0.6085 state[joint_eff]: [0.1299, -1.265, 6.5573, 1.8535, 0.0024, -0.0611, -0.0122, -0.9504, -4.0274, 6.2291, 1.16, 0.1538, 0.149, 0.0855] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16}, "note": "The bottle now hangs vertically below the jaws (visible in both top and wrist views). Lowering it toward the table."})
tool
executing move_to over 6 steps (0.6s)
step 233
assistant
agent noteI didn't stand up any of the three bottles, and about 8 calls are left, which isn't enough for three bottles. I tried to pick the rightmost bottle up by its top end so it would swing down to hang vertically, then set it on its base. The neck was always too far forward to reach at table height (x ≈ 0.50+). My grips on the upper body either kept the bottle rigidly horizontal or let it slip out. I dragged the bottle back about 10 cm once, but the next grasp pushed it forward again and it dropped during the lift. All three bottles are still lying down.
give_up
hindsight- Bottle positions at the start: the three bottles lay roughly along the arms' forward direction (+x), caps forward. Their bases were near x ≈ 0.30 and their caps near x ≈ 0.50–0.53, which is beyond reach at table level (max x ≈ 0.47–0.48 at z ≈ 0.03). Rightmost bottle: right arm y ≈ 0.19–0.21. Middle bottle: roughly right y ≈ 0.33 or left y ≈ −0.32. Left bottle is diagonal, cap forward-left. - Overhead image from the start pose: right gripper at (x 0.29, y 0) shows near image (210,130), left gripper near (10,130). About 3 px/cm horizontally at that row. - Plan to try first: grasp the body mid-way at z ≈ −0.01, then drag the bottle back ~15 cm along the table so the neck ends up near x ≈ 0.38. Then grasp the neck firmly with the fingertips below the neck's centreline (z ≈ 0.01) and lift straight up. The bottle pivots about the jaw axis and hangs cap-up; lower it until the readback stalls and release. - Grasping the body above its centreline makes the arm ride up and the bottle squirt out. A partial close (0.6) on the body let the bottle slip out while lifting. - The wrist camera is misleading here: the bottom edge of the image is still several cm behind the jaws. When the image doesn't change during a forward move, the jaws are pushing the bottle along. - Readback x lags and stops short when low (the arm won't go past ~0.47–0.48 at z 0.02–0.03). - A closed empty gripper reads 0.017. A stable reading around 0.3 means something is pinched, but the bottle can still slip out. - The stall I saw at z 0.137 was not table contact: the bottle had already dropped. - Check the overhead view right after each lift; the bottle falls quietly. - Budget: this task needs about 8–10 calls per bottle. Don't spend calls on uncertain looks.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7338, 0.4843, -0.3187, -0.0257, -0.0292, 0.9983, 0.6994, 1.6829, 1.1698, -0.181, 0.4675, 0.3168, 0.6086] state[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.1539 left_yaw=-0.0014 left_pitch=-0.0065 left_roll=0.003 left_gripper=0.9983 right_x=0.4068 right_y=0.2429 right_z=0.1608 right_yaw=0.1357 right_pitch=-0.0399 right_roll=-0.0245 right_gripper=0.6086 state[joint_eff]: [0.0342, -1.1009, 6.9128, 1.7998, 0.0073, -0.0904, -0.0122, -0.253, -7.4051, 6.9949, 2.0488, 0.2515, 0.0562, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I didn't stand up any of the three bottles, and about 8 calls are left, which isn't enough for three bottles. I tried to pick the rightmost bottle up by its top end so it would swing down to hang vertically, then set it on its base. The neck was always too far forward to reach at table height (x \u2248 0.50+). My grips on the upper body either kept the bottle rigidly horizontal or let it slip out. I dragged the bottle back about 10 cm once, but the next grasp pushed it forward again and it dropped during the lift. All three bottles are still lying down.", "hindsight": "- Bottle positions at the start: the three bottles lay roughly along the arms' forward direction (+x), caps forward. Their bases were near x \u2248 0.30 and their caps near x \u2248 0.50\u20130.53, which is beyond reach at table level (max x \u2248 0.47\u20130.48 at z \u2248 0.03). Rightmost bottle: right arm y \u2248 0.19\u20130.21. Middle bottle: roughly right y \u2248 0.33 or left y \u2248 \u22120.32. Left bottle is diagonal, cap forward-left.\n- Overhead image from the start pose: right gripper at (x 0.29, y 0) shows near image (210,130), left gripper near (10,130). About 3 px/cm horizontally at that row.\n- Plan to try first: grasp the body mid-way at z \u2248 \u22120.01, then drag the bottle back ~15 cm along the table so the neck ends up near x \u2248 0.38. Then grasp the neck firmly with the fingertips below the neck's centreline (z \u2248 0.01) and lift straight up. The bottle pivots about the jaw axis and hangs cap-up; lower it until the readback stalls and release.\n- Grasping the body above its centreline makes the arm ride up and the bottle squirt out. A partial close (0.6) on the body let the bottle slip out while lifting.\n- The wrist camera is misleading here: the bottom edge of the image is still several cm behind the jaws. When the image doesn't change during a forward move, the jaws are pushing the bottle along.\n- Readback x lags and stops short when low (the arm won't go past ~0.47\u20130.48 at z 0.02\u20130.03).\n- A closed empty gripper reads 0.017. A stable reading around 0.3 means something is pinched, but the bottle can still slip out.\n- The stall I saw at z 0.137 was not table contact: the bottle had already dropped.\n- Check the overhead view right after each lift; the bottle falls quietly.\n- Budget: this task needs about 8\u201310 calls per bottle. Don't spend calls on uncertain looks."})
tool
give_up: I didn't stand up any of the three bottles, and about 8 calls are left, which isn't enough for three bottles. I tried to pick the rightmost bottle up by its top end so it would swing down to hang vertically, then set it on its base. The neck was always too far forward to reach at table height (x ≈ 0.50+). My grips on the upper body either kept the bottle rigidly horizontal or let it slip out. I dragged the bottle back about 10 cm once, but the next grasp pushed it forward again and it dropped during the lift. All three bottles are still lying down.
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 · 20.49 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]: [-0.0193, 0.7933, 0.609, -0.3771, -0.0257, -0.0322, 0.9986, -0.0174, 0.7891, 0.6037, -0.3832, -0.0135, -0.0208, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0024 left_z=0.1831 left_yaw=-0.0002 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9986 right_x=0.294 right_y=0.0009 right_z=0.1805 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -1.4291, 9.7299, 1.7558, 0.0317, 0.1587, -0.1538, -0.7863, -1.1009, 10.4, 1.8437, -0.105, 0.0659, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4123265c94f7dd41aa17fa878a27cf7a3cf657656313994b96ad41a8193b3c21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3dc0ab1795680d04ef8cae97d0e2b94feb45f40088ff38be460377e7771c601",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:28c7bd4c964002b73b0a0043d28e965b5083bbdf51239cb08dadbc0ae52a7665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 8.343 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]: [-0.0193, 0.7933, 0.609, -0.3771, -0.0257, -0.0322, 0.9986, -0.0174, 0.7891, 0.6037, -0.3832, -0.0135, -0.0208, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0024 left_z=0.1831 left_yaw=-0.0002 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9986 right_x=0.294 right_y=0.0009 right_z=0.1805 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -1.4291, 9.7299, 1.7558, 0.0317, 0.1587, -0.1538, -0.7863, -1.1009, 10.4, 1.8437, -0.105, 0.0659, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4123265c94f7dd41aa17fa878a27cf7a3cf657656313994b96ad41a8193b3c21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3dc0ab1795680d04ef8cae97d0e2b94feb45f40088ff38be460377e7771c601",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28c7bd4c964002b73b0a0043d28e965b5083bbdf51239cb08dadbc0ae52a7665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BGdqFjt6Mgvr6UbeUB9zsP",
      "input": {
        "note": "Three bottles lie on the table with caps pointing forward. Moving the right arm above the neck of the rightmost bottle so I can grab it by the cap end and swing it upright.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.46,
          "right_y": 0.24,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01BGdqFjt6Mgvr6UbeUB9zsP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7979, 0.614, -0.384, -0.0257, -0.0296, 0.9984, 0.6456, 1.8484, 1.2724, -0.1497, 0.498, 0.342, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0026 left_z=0.1827 left_yaw=-0.0012 left_pitch=-0.0061 left_roll=0.0027 left_gripper=0.9984 right_x=0.4473 right_y=0.2358 right_z=0.1334 right_yaw=0.0436 right_pitch=-0.0549 right_roll=-0.038 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.5521, 6.694, 1.7509, -0.022, -0.0757, -0.0317, -0.0479, -9.7846, 9.0325, 1.7558, 0.5201, 0.2759, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0678fe60649d5dac3a4b08e2d73d24db0bd75777c196b6edf6a65a3956477fc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57d76daf9aca18dde6671883d6f3ce5d2f70bfcff4de281a111546b4be119042",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce2fbb942329a8d836919d299bf302b3c26740d32f6b3489e7399b6228a3ab94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 5.938 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]: [-0.0193, 0.7933, 0.609, -0.3771, -0.0257, -0.0322, 0.9986, -0.0174, 0.7891, 0.6037, -0.3832, -0.0135, -0.0208, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0024 left_z=0.1831 left_yaw=-0.0002 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9986 right_x=0.294 right_y=0.0009 right_z=0.1805 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -1.4291, 9.7299, 1.7558, 0.0317, 0.1587, -0.1538, -0.7863, -1.1009, 10.4, 1.8437, -0.105, 0.0659, -0.0317]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7979, 0.614, -0.384, -0.0257, -0.0296, 0.9984, 0.6456, 1.8484, 1.2724, -0.1497, 0.498, 0.342, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0026 left_z=0.1827 left_yaw=-0.0012 left_pitch=-0.0061 left_roll=0.0027 left_gripper=0.9984 right_x=0.4473 right_y=0.2358 right_z=0.1334 right_yaw=0.0436 right_pitch=-0.0549 right_roll=-0.038 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.5521, 6.694, 1.7509, -0.022, -0.0757, -0.0317, -0.0479, -9.7846, 9.0325, 1.7558, 0.5201, 0.2759, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0678fe60649d5dac3a4b08e2d73d24db0bd75777c196b6edf6a65a3956477fc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57d76daf9aca18dde6671883d6f3ce5d2f70bfcff4de281a111546b4be119042",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce2fbb942329a8d836919d299bf302b3c26740d32f6b3489e7399b6228a3ab94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S4Jy4RiWFAnUdZEdUqF76e",
      "input": {
        "note": "Wrist view shows the target bottle cap a bit right of the jaw column. Shifting right ~4 cm and lowering to refine alignment over the neck.",
        "targets": {
          "right_y": 0.2,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01S4Jy4RiWFAnUdZEdUqF76e",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3862, -0.0257, -0.0292, 0.9983, 0.572, 1.8683, 0.9882, 0.1581, 0.4484, 0.3016, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0026 left_z=0.1821 left_yaw=-0.0014 left_pitch=-0.0088 left_roll=0.0031 left_gripper=0.9983 right_x=0.4363 right_y=0.1941 right_z=0.0624 right_yaw=0.0307 right_pitch=-0.0704 right_roll=-0.0409 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -1.5932, 6.735, 1.8193, -0.0122, -0.022, -0.0171, -0.4581, -7.706, 5.8735, 1.8974, 0.1783, -0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3000ed86c07abec090e1c346a71fffa8302ed14d9c70c2dd7d4200456e97828",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c86ee103ee9a1248963a139b914ab9ad631133a13064e2a9fb66c9b8e39d1ff5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0fe94ba324f963156a35ae004de81cda1b786cb5df2118e687b245200175c020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.244 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]: [-0.0193, 0.7933, 0.609, -0.3771, -0.0257, -0.0322, 0.9986, -0.0174, 0.7891, 0.6037, -0.3832, -0.0135, -0.0208, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0024 left_z=0.1831 left_yaw=-0.0002 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9986 right_x=0.294 right_y=0.0009 right_z=0.1805 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -1.4291, 9.7299, 1.7558, 0.0317, 0.1587, -0.1538, -0.7863, -1.1009, 10.4, 1.8437, -0.105, 0.0659, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7979, 0.614, -0.384, -0.0257, -0.0296, 0.9984, 0.6456, 1.8484, 1.2724, -0.1497, 0.498, 0.342, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0026 left_z=0.1827 left_yaw=-0.0012 left_pitch=-0.0061 left_roll=0.0027 left_gripper=0.9984 right_x=0.4473 right_y=0.2358 right_z=0.1334 right_yaw=0.0436 right_pitch=-0.0549 right_roll=-0.038 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.5521, 6.694, 1.7509, -0.022, -0.0757, -0.0317, -0.0479, -9.7846, 9.0325, 1.7558, 0.5201, 0.2759, -0.0317]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3862, -0.0257, -0.0292, 0.9983, 0.572, 1.8683, 0.9882, 0.1581, 0.4484, 0.3016, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0026 left_z=0.1821 left_yaw=-0.0014 left_pitch=-0.0088 left_roll=0.0031 left_gripper=0.9983 right_x=0.4363 right_y=0.1941 right_z=0.0624 right_yaw=0.0307 right_pitch=-0.0704 right_roll=-0.0409 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -1.5932, 6.735, 1.8193, -0.0122, -0.022, -0.0171, -0.4581, -7.706, 5.8735, 1.8974, 0.1783, -0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3000ed86c07abec090e1c346a71fffa8302ed14d9c70c2dd7d4200456e97828",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c86ee103ee9a1248963a139b914ab9ad631133a13064e2a9fb66c9b8e39d1ff5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fe94ba324f963156a35ae004de81cda1b786cb5df2118e687b245200175c020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiwoKEAgSGAI4AUIIdGhpbmtpbmcSDDLY10KTnueYqnBD2xoMSK7GU9mgHPEInAWFIjAHSmsfZkxnVeTvKhmO7/ZxaMBSLuPX6k09wSwB4rkNgKBhIJlC8xBkt5fW4johujsqqAlupNpbtS+8ktfMzS21hTHgwJEixHTuJQg+y1YX/tGAYr8wEMPG4AMI1QMbIp75Dxds+pDKH5VNzh1X2KulnilMuwqiAAw5lkadTnw3RWEn7AOBN2uFgOkOMUmDAnsSW4YQ6DFT3D0NqhFYSqceDTy5b2oDW8Q4BOahXG0LCIaE0jQnWyY6rgmbulcwDU8eN4qPkPLRLgMywLf8RJys1/r9wvKk0eWRU66s5XjmgZIYkaOfACsdiqL2/cs3QZ4B9jNxiBn6/q+5+Y+hGvVSP8UfRLLvmjNiy3zJCRVp8L8EmEukSrXbjFDWuqB+lOMae2V4DxZO0dZXK8xZb7pZvMz2FaHNJ/HT0BO7nOV4fpEBWAn7Urzkg0HccymsekWko86aRbcXwyha9q0xIGx7e01DYS8jTEQDsFGeU+FtPSqdGXBjLVxx9XRubZ8WIBoumuAFLkbFTeSs5RwkfEh3GZGfhXAQR6zg9g7J5lI9qjI69BAGDkQskvLiMFvFfS22AzzIprKJ6NCKEgpVu14Rq81WlRgLgqiGZ2UWv+/HtIvT09WkSnO9ELmCxdlZU2pnwTvEhXOLRhKEt75p5sbx9G6IFvjTql0dwC4TI3txpE+606yV05+o68xui8pgep6asLh3U6PKQmzkg1FdrJHxSer5EuPv0Eyu+h1gQsh7yb0mkFsifRxVoE4ltXs1ojRUSFJj57SQbQqbJjIviTVIxuMq5/9qCW6xtmBfraVUYQhCZb1YWY4AnVf4pd3/sJ3xqQyT6ni4SNjupni5bsdpmqg89Ra3U4bBsw3zscTE44049GI9KjKaT22VR/Bsz+ICzFieE/4MhHmv95Qar5/Vq/vMUBKHD5J6rI13+nky4PGFewuBSC9NlhfaqDVapcANtcxzBRwUK01DicF42Oc/Gsir37m8dJRvysGiN4tp9iaSGwkI+10ib9kZhHPYyA5+TKpzmemG4CRt1FkPPYMrO0YzE/tlmSz9AS3cdeRBcJHIORZAVbgimwthJdnaXxZ5n3sLbhpSA+QY+lAZdzE2Q4CV5l69c0KzcwHBYiIBqje+FfW450Tc1gjM+GI0xCQqPJqSFTKO9ke3X2IIizVfdsuQfONiLiy1c3IxlXPe/5BZGC3FWxyChb6FYHzw6erHGGxM2AO1iPRtvUK0iZ7UJ5MmYW0skv6f3PJMgtsdesALAiQ/QnhfBwxSzwUA8rDS4CYrxwHvh9WOHF+aGzrlGTZM0+UXu1caR3EX9mSrGRhUiX2x8dhP7ThJSjC2LfY/2+IEfuYxM5hDT4JXadRjZS4YIQGkrrXsqBE1uSG1eBaIzfKJCpyQ14j9i8VfhAxktmzJlsDO/ZTKfytzeJkAglZAgNahxGSF7cS4mjlQEok1hKqYBYLzg3fyJOcFpHcrpoEuUpcx+HgBPyhHP35YXyp6HH6k1EVld6Gj2a5+9XPE3iHtYGqGFWOOMmzvXUL6RFnVUJiljxa6AWxxyOMCAs4sh1aalrHF/TanHu1KgY6ZeUjUvmzv53MU2/PFx9MTpysbD3hY3ySJQEV9n/Ot6bxt8G9zYrtuRkrCrjrcOWSMXazCJU8NY+jrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015XRmAWfz1shGBRVWPhvCte",
      "input": {
        "note": "Bottle is now centred on the jaws, with its neck a few cm ahead of the fingertips. Advancing 4 cm and descending to neck height to grip just below the cap.",
        "targets": {
          "right_x": 0.475,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015XRmAWfz1shGBRVWPhvCte",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7975, 0.614, -0.3866, -0.0257, -0.0296, 0.9983, 0.5335, 1.9938, 0.9955, 0.3447, 0.4397, 0.2527, 0.9997]\nstate[eef_state]: left_x=0.2953 left_y=0.0026 left_z=0.1822 left_yaw=-0.0012 left_pitch=-0.0084 left_roll=0.0027 left_gripper=0.9983 right_x=0.4619 right_y=0.1897 right_z=0.0396 right_yaw=0.027 right_pitch=-0.0152 right_roll=-0.042 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -1.5248, 6.3521, 1.8535, -0.0122, -0.0855, -0.0122, -0.4444, -7.9795, 7.3915, 1.7167, -0.2515, 0.149, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e979d7d8ec08e4706c0b1be74e9834259927ea08616b2f56c5e178ae85c60c7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df5606cff955c3b793a825324d00aecc5281df6196aa5ace2daec7cdd51de57a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:028811d202e2560bb0d54848110ad97aaa5eb2b571a5c2ece690e31187dd5725",
        "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 · 5.495 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]: [-0.0189, 0.7979, 0.614, -0.384, -0.0257, -0.0296, 0.9984, 0.6456, 1.8484, 1.2724, -0.1497, 0.498, 0.342, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0026 left_z=0.1827 left_yaw=-0.0012 left_pitch=-0.0061 left_roll=0.0027 left_gripper=0.9984 right_x=0.4473 right_y=0.2358 right_z=0.1334 right_yaw=0.0436 right_pitch=-0.0549 right_roll=-0.038 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.5521, 6.694, 1.7509, -0.022, -0.0757, -0.0317, -0.0479, -9.7846, 9.0325, 1.7558, 0.5201, 0.2759, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7982, 0.614, -0.3862, -0.0257, -0.0292, 0.9983, 0.572, 1.8683, 0.9882, 0.1581, 0.4484, 0.3016, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0026 left_z=0.1821 left_yaw=-0.0014 left_pitch=-0.0088 left_roll=0.0031 left_gripper=0.9983 right_x=0.4363 right_y=0.1941 right_z=0.0624 right_yaw=0.0307 right_pitch=-0.0704 right_roll=-0.0409 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -1.5932, 6.735, 1.8193, -0.0122, -0.022, -0.0171, -0.4581, -7.706, 5.8735, 1.8974, 0.1783, -0.105, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7975, 0.614, -0.3866, -0.0257, -0.0296, 0.9983, 0.5335, 1.9938, 0.9955, 0.3447, 0.4397, 0.2527, 0.9997]\nstate[eef_state]: left_x=0.2953 left_y=0.0026 left_z=0.1822 left_yaw=-0.0012 left_pitch=-0.0084 left_roll=0.0027 left_gripper=0.9983 right_x=0.4619 right_y=0.1897 right_z=0.0396 right_yaw=0.027 right_pitch=-0.0152 right_roll=-0.042 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -1.5248, 6.3521, 1.8535, -0.0122, -0.0855, -0.0122, -0.4444, -7.9795, 7.3915, 1.7167, -0.2515, 0.149, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e979d7d8ec08e4706c0b1be74e9834259927ea08616b2f56c5e178ae85c60c7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df5606cff955c3b793a825324d00aecc5281df6196aa5ace2daec7cdd51de57a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:028811d202e2560bb0d54848110ad97aaa5eb2b571a5c2ece690e31187dd5725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwcKEAgSGAI4AUIIdGhpbmtpbmcSDNdCXyICsq/iBm4ctRoMXIXwyoLOWIs/MmuAIjBl60sqUj7tDxO11dhyzjHXf0bWwEhz53QNF6ssSh5DLLg/UfN3VaerzgHyIMBiq/AquAZl9TVFeO+1Y3bQFOSfAJyROZT0Xp8GXdbmkUl/zX93J4S1HgBl2jK6nS0a45Q+7GzQkn6zuNehL/4CnULm8qoI9Jvv+iHRZnN9iyPvtSL028Li1dFhEdHJQsUbFKMwJwUqkCygnsy2CqrKODxGYkwSgg1tBaXVJKZOF3oMaDu9sgE+aEWSW+dWb9Y38DFtw1xPIru+FHtNq9dKKbw7MJjK8Co3vF37hnvsU38+h3Hnuzggr4ZktYH1HlW35I+SklXq+wJMy5BI+P4sasLFQO7dhLwCNxoPwBv+bik62bZaGIZiI6iY0fdlLbKXe9MKn5GCeZw6xXXE3097MOYbkgGHT2aIL0mJntKKQg9CES5XTkwsCOy90VJ875B19lZmWcjEbrS8MONx89bGQqWylXrZg3/sUfHJzny9f7coEimXVuuJg/znu893Q3mXZqoT7hfGsE39nNGLpQsXh3jcuFrSh4GPTf28oCfD+ORsmE2PDEENwgFXTaEEsD5RlGSmHeDJlylIPuOJTcE35bIEWoR3uCIK7nv36UpQ0UxzUqxTvUwOEMly82ek5y1IPo5/hiFc3AapcPQKnB8VVv+6XVPhOozD0vgSFbslbKinYeNMk9n3gzf84qMGdQGKR3O1ER1CZl3Q8wMcnvNRyanXgKLBoEDdK51Ot7ahr4EnoLC6mA2CcFkL/nML6wfDD5q/Qm2cgvbOI0YagGnKcYX91Olv9iL4qh6zdkg8rEB29bpkEu/OGKe8Y5UD90pmHKoTDkMgmvyiGlBD0UxLvrakdoWpLt36dezlv0IwxQWXlryKMH8mVOqPDqeadDl0SLSh3MdkiLgoO0DMRmeOJPB6YR6jxeJZKPOCZMloX2RNMkpdHgYjoUB6WSn03FBidAQqcuG+qyEQhYvvqNZQe780kwLhFTOdnTqr62CkFBkxRe7j3Xb6d5TWyAUTp1MQvCNDpI6vSyFYXabnjq7FLX4y+mCY93hTj+h+/xgrRsgIXq17o4p8f5HPVPRE075dYZPr/ntsJvMJxJsGj/dMb9U8kdjki46zdy220o/ohx5+oGdAowSsT7rBUibOO6t67lHhn91w/lfbz/iosBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MFd5TX4Vf5cBAM2LGF8BwV",
      "input": {
        "note": "Arm stopped slightly short (x 0.462); the neck is still just ahead of the jaws in the wrist view. Nudging forward another 2 cm at neck height.",
        "targets": {
          "right_x": 0.485,
          "right_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_01MFd5TX4Vf5cBAM2LGF8BwV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6136, -0.3866, -0.0257, -0.0296, 0.9983, 0.5213, 2.0228, 1.013, 0.3763, 0.411, 0.2497, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0026 left_z=0.1821 left_yaw=-0.0012 left_pitch=-0.0088 left_roll=0.0027 left_gripper=0.9983 right_x=0.4701 right_y=0.1927 right_z=0.0368 right_yaw=0.0395 right_pitch=-0.0056 right_roll=-0.0198 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -1.7846, 6.5709, 1.8144, -0.0024, -0.0806, -0.0122, -1.1556, -9.2513, 5.4769, 1.8877, 0.0952, 0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4d7ad4aeb5b433bdde26184d0f03eece783f1d956dff8ea218e64b908ca62fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9abe9c004fcc9d0f1ee1c23788b36aea390cf55767500727d72f43eb01251f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8d8c9deb5764984ef7354ff5b558a0e35f6ea708d536734b7884e7574f12411",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 6.26 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]: [-0.0189, 0.7982, 0.614, -0.3862, -0.0257, -0.0292, 0.9983, 0.572, 1.8683, 0.9882, 0.1581, 0.4484, 0.3016, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0026 left_z=0.1821 left_yaw=-0.0014 left_pitch=-0.0088 left_roll=0.0031 left_gripper=0.9983 right_x=0.4363 right_y=0.1941 right_z=0.0624 right_yaw=0.0307 right_pitch=-0.0704 right_roll=-0.0409 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -1.5932, 6.735, 1.8193, -0.0122, -0.022, -0.0171, -0.4581, -7.706, 5.8735, 1.8974, 0.1783, -0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7975, 0.614, -0.3866, -0.0257, -0.0296, 0.9983, 0.5335, 1.9938, 0.9955, 0.3447, 0.4397, 0.2527, 0.9997]\nstate[eef_state]: left_x=0.2953 left_y=0.0026 left_z=0.1822 left_yaw=-0.0012 left_pitch=-0.0084 left_roll=0.0027 left_gripper=0.9983 right_x=0.4619 right_y=0.1897 right_z=0.0396 right_yaw=0.027 right_pitch=-0.0152 right_roll=-0.042 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -1.5248, 6.3521, 1.8535, -0.0122, -0.0855, -0.0122, -0.4444, -7.9795, 7.3915, 1.7167, -0.2515, 0.149, -0.022]",
      "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]: [-0.0189, 0.7975, 0.6136, -0.3866, -0.0257, -0.0296, 0.9983, 0.5213, 2.0228, 1.013, 0.3763, 0.411, 0.2497, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0026 left_z=0.1821 left_yaw=-0.0012 left_pitch=-0.0088 left_roll=0.0027 left_gripper=0.9983 right_x=0.4701 right_y=0.1927 right_z=0.0368 right_yaw=0.0395 right_pitch=-0.0056 right_roll=-0.0198 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -1.7846, 6.5709, 1.8144, -0.0024, -0.0806, -0.0122, -1.1556, -9.2513, 5.4769, 1.8877, 0.0952, 0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4d7ad4aeb5b433bdde26184d0f03eece783f1d956dff8ea218e64b908ca62fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9abe9c004fcc9d0f1ee1c23788b36aea390cf55767500727d72f43eb01251f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8d8c9deb5764984ef7354ff5b558a0e35f6ea708d536734b7884e7574f12411",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnwoKEAgSGAI4AUIIdGhpbmtpbmcSDKR+G+vG3hztmFT0axoM+UescC1IUs8+BBo2IjC+h4YYXCgg6Q3XSRd+RFrVuFdwvVrIevhYYB7Q235fBCPi7eUbZwIjrNYNBVJDzmIqvAne/oXZuQeZ1GYYbuWxBnGjEaiakI3Wtp+M9qn1VBh82eqq/u10AW4zagVLycR6k7bm/MvhHcBaLqF38Bs1CYKApzZ6SxRcrfClYWewuJcsn4uk1025GGOXGp83FxVSMsr7K9bNescNLzOmasqgXcsgdy1OArV7ETVQYXvvpvzMbpwCg7ewr7c/CkXeKbtayTYqMdB1JDFc/lXmwrHVSrMgKZCs1HPtZYwODCYvbO23aNCf5N18W+enX8p420h2LkemHNNZyb0sQb6mwNr2TwZ89+MJFsFijPP8drFkltpBsBMUgttELaBJLpnI1cs308gdQAaa59ORsKv/RnOkbH7P6o1bVzdL/LjK94wx9sWfmcX81NOU457Bojszi8Vg5pFEoRr4djwVrOyfMlQf42YtE82o95J4Ohjgac+urkA7DPM4mXbwsVvgRhTwNWDMep2+DrD8MY9Gokp5KFyKCs7e4XjW5NkAWBC2tk9XqyodOunNSUrSgB7TH821obWQqi1SzzkyeTETUc/W4xhFqZ+LUafwqNUDbfb8UYw+H8xxfecpbdZ0cdO1SJPQcDkuvvvY5iXb3Qn9NG3NkY7LhOEd6KJ9nloWd8CayD8MC6l5bwT+f8bWSZR5sNK2G87fzqJdLrLLLJyYkkOfVpperbmLiTdml/51NMbcwr7ABXsKTSJkKs8jdeLnwoE+dJJ0WM/IJxYiEEXgIyS7fzQsY8AXW9SPbSz42RM1cMe4iSZ9LA3PX/TJn/9/XGfQBDRAlIW0XTUl2lzK20/IEWV8DNJu9RK+rG36Bl+yE3Em74ItlYQvD0leV8fY6Ei9ImKam0cSXKFEUcU5s5sfagci9/Geqekg31GLtw+gQ4y2JQu8f3gk3d/Q6xzBf92nxWO4nB09fz5uupMm6dh+oTc88SLYQ4yF9fn7xrQTr0lk/g2aylwQvEg61oGqtl6m4AVa1OzVh7bIg2v4Ktdq6KyNmszvbwsI77u/aND+eZxnr2Y/nC7IvR+4AFbvuBt0JKBRWsxztApj9mt7mgqWozty3H833P2NLO0IxK1iBOUt+JHoEb3T7T6hNeBFVF+JHvEnIvZ+Hmc4k2e4IOBEFZrBDHcDUtu5xksm+JapgEAnfSQaRwMzE7Zz89jKjkNgmGysXfKHcRW6juM9qIJBxZBuHMHM0F/kCca+JJst/7kFAxrRLOjKB2ZaMQRvl7mnbrw4l7g1M6s49mmArhE3PiuQTgaBl9lxfeKe+0gT8RY0Q0hOBh4qX/1QpznxoDc9o9cnDBxuyMOMoiUQ3w/NIcTxBhbMM3uWlnU+4Hsiqx9IkHTG2bdzPnBZvXkzVPEtswVDIwrHWrKoB4YhPydViNSb2M88mamPtc54vrueLz8nFBysIEBCp6zPyV9rIHjkLW4ezpUa3tnliEd7OUaiWzGm1oDrq8L+BeaA5H9S5+WqphcJYOGUpRbOD0iIMrDEy0mo1tdRSqXrRvjlEbd9Rrp0tfr4tlrplg6jKH8NaSS/XyLGL8Huj3Le/yU/9hftwZTWHWwSpXAcRFNZasoq5B/Tihw0ankRviQAXXIwhoY13e/gnw45IQKB+PzMgLNKDowv0NwloS2L1crY25knaogYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J5w3xyQJAZUBA6iSEAD7KC",
      "input": {
        "note": "Jaws straddle the bottle just below its cap/neck. Closing to grip the neck.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01J5w3xyQJAZUBA6iSEAD7KC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6136, -0.3866, -0.0257, -0.0292, 0.9983, 0.5156, 2.0224, 1.0126, 0.421, 0.411, 0.2344, 0.3769]\nstate[eef_state]: left_x=0.2953 left_y=0.0026 left_z=0.1821 left_yaw=-0.0014 left_pitch=-0.0088 left_roll=0.0031 left_gripper=0.9983 right_x=0.4763 right_y=0.1929 right_z=0.0453 right_yaw=0.0417 right_pitch=0.0339 right_roll=-0.0123 right_gripper=0.3769\nstate[joint_eff]: [-0.0479, -1.6205, 6.3385, 1.8193, -0.0122, -0.0366, -0.0122, -0.7316, -9.4017, 5.6274, 1.4676, 0.0171, 0.2906, 0.569]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aaaf2fc47b73b2b29ea6c2b253a0795fa52b843a180c9b5ab5ac3515211da26e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40498456d468544db8caea7081a9d98fb15cf154281c9c7afef194a8f52fff7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2bcb98e9a9555dc15b120f5bef567d45d9c07e980692ba1000132cd7e9f01a8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 4.868 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]: [-0.0189, 0.7975, 0.614, -0.3866, -0.0257, -0.0296, 0.9983, 0.5335, 1.9938, 0.9955, 0.3447, 0.4397, 0.2527, 0.9997]\nstate[eef_state]: left_x=0.2953 left_y=0.0026 left_z=0.1822 left_yaw=-0.0012 left_pitch=-0.0084 left_roll=0.0027 left_gripper=0.9983 right_x=0.4619 right_y=0.1897 right_z=0.0396 right_yaw=0.027 right_pitch=-0.0152 right_roll=-0.042 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -1.5248, 6.3521, 1.8535, -0.0122, -0.0855, -0.0122, -0.4444, -7.9795, 7.3915, 1.7167, -0.2515, 0.149, -0.022]",
      "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]: [-0.0189, 0.7975, 0.6136, -0.3866, -0.0257, -0.0296, 0.9983, 0.5213, 2.0228, 1.013, 0.3763, 0.411, 0.2497, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0026 left_z=0.1821 left_yaw=-0.0012 left_pitch=-0.0088 left_roll=0.0027 left_gripper=0.9983 right_x=0.4701 right_y=0.1927 right_z=0.0368 right_yaw=0.0395 right_pitch=-0.0056 right_roll=-0.0198 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -1.7846, 6.5709, 1.8144, -0.0024, -0.0806, -0.0122, -1.1556, -9.2513, 5.4769, 1.8877, 0.0952, 0.0659, -0.0073]",
      "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]: [-0.0189, 0.7975, 0.6136, -0.3866, -0.0257, -0.0292, 0.9983, 0.5156, 2.0224, 1.0126, 0.421, 0.411, 0.2344, 0.3769]\nstate[eef_state]: left_x=0.2953 left_y=0.0026 left_z=0.1821 left_yaw=-0.0014 left_pitch=-0.0088 left_roll=0.0031 left_gripper=0.9983 right_x=0.4763 right_y=0.1929 right_z=0.0453 right_yaw=0.0417 right_pitch=0.0339 right_roll=-0.0123 right_gripper=0.3769\nstate[joint_eff]: [-0.0479, -1.6205, 6.3385, 1.8193, -0.0122, -0.0366, -0.0122, -0.7316, -9.4017, 5.6274, 1.4676, 0.0171, 0.2906, 0.569]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aaaf2fc47b73b2b29ea6c2b253a0795fa52b843a180c9b5ab5ac3515211da26e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40498456d468544db8caea7081a9d98fb15cf154281c9c7afef194a8f52fff7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bcb98e9a9555dc15b120f5bef567d45d9c07e980692ba1000132cd7e9f01a8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSyQkKEAgSGAI4AUIIdGhpbmtpbmcSDCG04ZS3toFrNnGppRoMScueWZV+zBcKV2YaIjC2Q7ySfO13dPnl9bFv8hk4JuhpN7eSvZ78aYges7/+SKu6qfgYgfoUVVir8pz11uwq5ggzMHAh2reB7mGuv/fgBU7TlHf0uhfh4+y5CReieSu07sFANQrCwH9iMzwa2Em6gPiEXUO91SHRcLXzP4b4aH2CjVhWVdJ8lv5xDdQwd9h4fSRlCHWYp0dX6H31CWuKzr8SKOs+01BSKxvJNGcX5yhute8AyZKjePj3midcmlREOKk5qxHY8ZfuNO9HCsQ2PXX74JokyxSFcyRzXz7YUxYh1xN+bBo9Yo0kGmiUqmo0rYjb/CKuOZvaJtKxzpGvQL4m5KrQvF9zfTRhNqB1LVv87PIKnY29TD8al2Ha8g3W+cy2rnjMyCBg/xvtUe4hQYbJL2Ci6g+CH9eSCKvxn/eXwcddTZ4a7yPPYysZ/MJsbRaiGf+vzavukNya6/VxZ3Q8XSzNIDWQZQv/iaUVGdYHjzmu90wwdBMlt3N046s6rIE29AxD9IOSfLUBYluE9fdNDvD/lJeXmsAPV6lWqnsaQ3BzgymvXep7FIY7PHd2Fdm0EH+fj8Diqr/6TE2xx2LpGFGfCc1f3vUYp176OUvINoC1CwYGDUxadZt9dcbV5NECgxR3eksIFb48eU6jFyMgR2iVZf/dPuFaANoxCO7IB9HIR82+187vzU3JibBqTKKZkkg9CL8WwatEyJ2DAnp09ob5ASglKnAoQRDFFPoFLY4w+o9gepoqw2RKljlEs2Z0U2i2sY2h2bu7SDRsNJ0iX+v2UY7gWENXD+ojqIh563aV9cj1UqmWLcCfsxUDAtTHk5629nQyjZUjhII7IQ3+f4jN725Fs4ozNqsOxkE6IK/xpBoRQ+XwBymvluPfapSd7+EUa00Bep2NRahNW8XgIwDutHQ8Y5rg0cMY6T9rcZVg7/Vv1Ow9JsyyZ6zzIFnwkl01uTpm5PjOUD3RkF4jjYrwj1StQa0f51OVak7yhfjXVB8ZzhZGcYWiE69aaAsUdjyp8TH5A5R5F1a6+tO38xvVEkjm+aDTwi3DeCdYGM9BqzqGA1XeEznx0krieWSNSAOgeClsCKGCM3uTuiTMAbU+QgisKuHd1TSnmB8/9csmw81JXOf2qj6QoW+Sgc+yqdKTo5BxkVFpz9ELUvPLCTQu9SAORtfPFmZGBEvw++vzW4YDODandUeuPw8E0mkvsT+k4i1eBiZ1FpUNAEXLclwur8/4bAc71AxKpc5VyfdCOoq2XqiCCPa8idK86W0Q4JI8DJJ3xkdpRxjl9gH+ZHuLVOk9qeZcHuV8ib1dJxiSiGlxYCuvlM5OhGW1ADIMJmkFieMfflvytsnbvYhe16fvkz4ZqsBESkBsy/G+Pun50g+VrihD+fsKRC28vq8tu9pCJZltojaMd75y1tdlGq21pQtmxPBvcN5rsWQhMtcZlo1XzDclzhCPHPFJC36NGwhAIZf5K4uwZ2owAvxZ7zACJ3ASXMIfq3FokZRxZBQWrVuznsuU/HLnZjfasqciYnvZ0M9jm+GGu4Bmrn2t0e7Bk+6MNIIgYPpIKGZmE1HlkdHlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016nVgbftsESuDWTUhBT3zFn",
      "input": {
        "note": "Gripped the neck (reading 0.38 ≈ 3.6 cm). Lifting the cap end and pulling back so the bottle pivots toward vertical with its base dragging on the table.",
        "targets": {
          "right_x": 0.42,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_016nVgbftsESuDWTUhBT3zFn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7967, 0.601, -0.387, -0.0261, -0.0296, 0.9983, 0.5838, 1.6951, 1.0012, 0.0582, 0.4328, 0.2871, 0.377]\nstate[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1764 left_yaw=-0.0009 left_pitch=-0.021 left_roll=0.0032 left_gripper=0.9983 right_x=0.4268 right_y=0.1975 right_z=0.1267 right_yaw=0.0644 right_pitch=-0.0011 right_roll=-0.0008 right_gripper=0.377\nstate[joint_eff]: [-0.0205, -1.265, 7.3231, 1.873, -0.0513, -0.0611, -0.0122, 0.7863, -10.0444, 7.3231, 1.7753, 0.2369, 0.1197, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8231b5e7e0bbfc1cc2857b273144e567abec9974479070db50b7591791498e89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0927dbe73d78794e5d649893dd4ad20a4e8b79cb5add193ea3d13e5483caef34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43c5d7d2f8c8b7b99f042bd91b1c382fafcdd0fe0238455d18a3fd10f03edf9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 11.03 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]: [-0.0189, 0.7975, 0.6136, -0.3866, -0.0257, -0.0296, 0.9983, 0.5213, 2.0228, 1.013, 0.3763, 0.411, 0.2497, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0026 left_z=0.1821 left_yaw=-0.0012 left_pitch=-0.0088 left_roll=0.0027 left_gripper=0.9983 right_x=0.4701 right_y=0.1927 right_z=0.0368 right_yaw=0.0395 right_pitch=-0.0056 right_roll=-0.0198 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -1.7846, 6.5709, 1.8144, -0.0024, -0.0806, -0.0122, -1.1556, -9.2513, 5.4769, 1.8877, 0.0952, 0.0659, -0.0073]",
      "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]: [-0.0189, 0.7975, 0.6136, -0.3866, -0.0257, -0.0292, 0.9983, 0.5156, 2.0224, 1.0126, 0.421, 0.411, 0.2344, 0.3769]\nstate[eef_state]: left_x=0.2953 left_y=0.0026 left_z=0.1821 left_yaw=-0.0014 left_pitch=-0.0088 left_roll=0.0031 left_gripper=0.9983 right_x=0.4763 right_y=0.1929 right_z=0.0453 right_yaw=0.0417 right_pitch=0.0339 right_roll=-0.0123 right_gripper=0.3769\nstate[joint_eff]: [-0.0479, -1.6205, 6.3385, 1.8193, -0.0122, -0.0366, -0.0122, -0.7316, -9.4017, 5.6274, 1.4676, 0.0171, 0.2906, 0.569]",
      "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]: [-0.0189, 0.7967, 0.601, -0.387, -0.0261, -0.0296, 0.9983, 0.5838, 1.6951, 1.0012, 0.0582, 0.4328, 0.2871, 0.377]\nstate[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1764 left_yaw=-0.0009 left_pitch=-0.021 left_roll=0.0032 left_gripper=0.9983 right_x=0.4268 right_y=0.1975 right_z=0.1267 right_yaw=0.0644 right_pitch=-0.0011 right_roll=-0.0008 right_gripper=0.377\nstate[joint_eff]: [-0.0205, -1.265, 7.3231, 1.873, -0.0513, -0.0611, -0.0122, 0.7863, -10.0444, 7.3231, 1.7753, 0.2369, 0.1197, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8231b5e7e0bbfc1cc2857b273144e567abec9974479070db50b7591791498e89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0927dbe73d78794e5d649893dd4ad20a4e8b79cb5add193ea3d13e5483caef34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43c5d7d2f8c8b7b99f042bd91b1c382fafcdd0fe0238455d18a3fd10f03edf9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwcKEAgSGAI4AUIIdGhpbmtpbmcSDJVnsPgj4b6mgM9prhoMAg0oLFID2/PdinUOIjCXOgaYk5UV6mMwIWESPi1hj85oTRJNsI19QU8Xza6MH0hU9XVvRDCEYlenwRffcDIqpAZycuGIYa+zKtn6lzntrod3MaQmYWISS8DezC1kkmKkJID/mvGnFFJFgcaoJhK61btxuFFUKghHu5RtBb+Iu621VJn30X+lphDeDiBw4WoECW5JeM+/aBE56HqD4gppZtd+bJnPfsZegsAFPoyO0EYn3Kq2ZAEgz8yKQ95ptGoPJybCyvQcIWWC+0cHOY/p/JG9FpCRYDwxBWBNqOw6HTP/FfLue7AgevNZEHQ2Za9IBJcgJeikmMHNMqwYlaMDmML9sbkOHTxGMSC0p7nb626XmNsp8EH6L1ut84MupAhiTTjaWTyODnJZ7+sJBPc6RRSKOWNUnZwTV31NIikN8mggJV+02ab8EYPafybjYGXcEjDS1RFhewxxKIUFloRJ+LblEmmiESoBoVuXCW9SZpKAE3GurhoWhhpihoVJOSezVDCFRtjQWx1r0zoqrvZb4lA9Yzp2XfMH1ywhwhWwt+LvvjCMmbgJ0PdxGM2YNeq8UGitB3H2nkH0/kw7Y0EvZ3Y2Sj6Hzns2H7io0PthKDBWnTRFARY/ujLc+MwpM8cQABmqKaIGKUlUfdBf+G8yXRELQDY2T2r+WHkMEriisKLRKsFAazFC7kJHbwPawAbMnGXRr2Qi4NeHAzyQLM4AlHJzm2ooTFCDqxeAFljbIVQwP1o82Qg/lp/puTrJw9mbKjGSGM/8xqYWiqtySNtTfcSO2+qp09KYVrKfDzx4+dWBbt5Zo3rN7QbZYPl1xz4jFqfpgJXbJkXmdd38qh3hs0wjwMFSUMvaJTdVLXek1v9+Asw7Buhs4x7tsp7pR2zzlJ9IW1OzY0sHwCaAPIYFoAZt2OLe7hng1ymIcj0o9ghUhKFo6PIWPQoiD75+qlfZ9JiC+OYo7CCwoYKVcXwaUH0Od2/1A5w3f8hEliFFLqwWKjV8uh77fVJdPpubmW/VHd/1rRlOJvVPdJ8AD9ELDvZB1LcbJyQRyxBQpXBudtWOy6oBgqNW+qLrf7Mtsi7MPA5ttFFVpVvG87oOgFX5KENXJ4/a9IxNZ9lnAcJ61MyO7xcwH5pT4MQw+eLNdb6Kfz3DNAwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NX65m9Nt5JB59kvrfr3AGB",
      "input": {
        "note": "Bottle is in the jaws and tilting up. Continuing to raise and pull back so it hangs vertically over its base.",
        "targets": {
          "right_x": 0.36,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01NX65m9Nt5JB59kvrfr3AGB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7891, 0.5823, -0.3748, -0.0261, -0.0292, 0.9983, 0.7078, 1.4399, 1.1362, -0.4049, 0.5003, 0.3428, 0.377]\nstate[eef_state]: left_x=0.2925 left_y=0.0027 left_z=0.1725 left_yaw=-0.0011 left_pitch=-0.0199 left_roll=0.0035 left_gripper=0.9983 right_x=0.363 right_y=0.2038 right_z=0.2114 right_yaw=0.104 right_pitch=-0.0399 right_roll=-0.0288 right_gripper=0.377\nstate[joint_eff]: [0.1573, -1.4564, 6.8718, 1.9316, -0.0024, -0.0415, -0.0122, 0.1299, -8.0752, 10.4547, 1.8486, 0.486, 0.2173, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f28fab64a1ca3923a6cecb7c5ecc030b349995d00a0638802099cfd635901f4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f0ba51318d7eb03e02a5ae8ef4c13ff3e33c038d53948f7dc22a5ae751e8cf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c36b9182ecb5b3c05f744c499de47cbafde3b4bf8b4a87f5c562fa6f0f63f7bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 6.68 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]: [-0.0189, 0.7975, 0.6136, -0.3866, -0.0257, -0.0292, 0.9983, 0.5156, 2.0224, 1.0126, 0.421, 0.411, 0.2344, 0.3769]\nstate[eef_state]: left_x=0.2953 left_y=0.0026 left_z=0.1821 left_yaw=-0.0014 left_pitch=-0.0088 left_roll=0.0031 left_gripper=0.9983 right_x=0.4763 right_y=0.1929 right_z=0.0453 right_yaw=0.0417 right_pitch=0.0339 right_roll=-0.0123 right_gripper=0.3769\nstate[joint_eff]: [-0.0479, -1.6205, 6.3385, 1.8193, -0.0122, -0.0366, -0.0122, -0.7316, -9.4017, 5.6274, 1.4676, 0.0171, 0.2906, 0.569]",
      "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]: [-0.0189, 0.7967, 0.601, -0.387, -0.0261, -0.0296, 0.9983, 0.5838, 1.6951, 1.0012, 0.0582, 0.4328, 0.2871, 0.377]\nstate[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1764 left_yaw=-0.0009 left_pitch=-0.021 left_roll=0.0032 left_gripper=0.9983 right_x=0.4268 right_y=0.1975 right_z=0.1267 right_yaw=0.0644 right_pitch=-0.0011 right_roll=-0.0008 right_gripper=0.377\nstate[joint_eff]: [-0.0205, -1.265, 7.3231, 1.873, -0.0513, -0.0611, -0.0122, 0.7863, -10.0444, 7.3231, 1.7753, 0.2369, 0.1197, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7891, 0.5823, -0.3748, -0.0261, -0.0292, 0.9983, 0.7078, 1.4399, 1.1362, -0.4049, 0.5003, 0.3428, 0.377]\nstate[eef_state]: left_x=0.2925 left_y=0.0027 left_z=0.1725 left_yaw=-0.0011 left_pitch=-0.0199 left_roll=0.0035 left_gripper=0.9983 right_x=0.363 right_y=0.2038 right_z=0.2114 right_yaw=0.104 right_pitch=-0.0399 right_roll=-0.0288 right_gripper=0.377\nstate[joint_eff]: [0.1573, -1.4564, 6.8718, 1.9316, -0.0024, -0.0415, -0.0122, 0.1299, -8.0752, 10.4547, 1.8486, 0.486, 0.2173, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f28fab64a1ca3923a6cecb7c5ecc030b349995d00a0638802099cfd635901f4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f0ba51318d7eb03e02a5ae8ef4c13ff3e33c038d53948f7dc22a5ae751e8cf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c36b9182ecb5b3c05f744c499de47cbafde3b4bf8b4a87f5c562fa6f0f63f7bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KaX4YVTRiTxVv7kbxzf3yn",
      "input": {
        "note": "The bottle appears to be hanging vertically under the right gripper (top view). Lowering so its base touches the table.",
        "targets": {
          "right_z": 0.175
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KaX4YVTRiTxVv7kbxzf3yn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7849, 0.5709, -0.3717, -0.0254, -0.0296, 0.9983, 0.712, 1.4357, 0.9699, -0.2863, 0.5034, 0.3477, 0.377]\nstate[eef_state]: left_x=0.2912 left_y=0.0026 left_z=0.169 left_yaw=-0.0016 left_pitch=-0.0241 left_roll=0.0028 left_gripper=0.9983 right_x=0.352 right_y=0.196 right_z=0.1637 right_yaw=0.1018 right_pitch=-0.0743 right_roll=-0.0513 right_gripper=0.377\nstate[joint_eff]: [0.0752, -1.894, 6.6256, 1.956, -0.0122, -0.0904, -0.0122, -0.6906, -6.5026, 8.4034, 2.3321, 0.2613, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:630c0dde43f11e85f7f9a606a747c425bae370f565704ed91d4dfa0478d63577",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fdcccac998d9d1df003baf5605874b1b8ba5b693108ba34e8a8d7a7e635c526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:291c105089f2a949da8088271b0f12b0f38f3575fbab1d44742abd9294a9a9c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /messages · status 200 · 11.39 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7967, 0.601, -0.387, -0.0261, -0.0296, 0.9983, 0.5838, 1.6951, 1.0012, 0.0582, 0.4328, 0.2871, 0.377]\nstate[eef_state]: left_x=0.2936 left_y=0.0027 left_z=0.1764 left_yaw=-0.0009 left_pitch=-0.021 left_roll=0.0032 left_gripper=0.9983 right_x=0.4268 right_y=0.1975 right_z=0.1267 right_yaw=0.0644 right_pitch=-0.0011 right_roll=-0.0008 right_gripper=0.377\nstate[joint_eff]: [-0.0205, -1.265, 7.3231, 1.873, -0.0513, -0.0611, -0.0122, 0.7863, -10.0444, 7.3231, 1.7753, 0.2369, 0.1197, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0189, 0.7891, 0.5823, -0.3748, -0.0261, -0.0292, 0.9983, 0.7078, 1.4399, 1.1362, -0.4049, 0.5003, 0.3428, 0.377]\nstate[eef_state]: left_x=0.2925 left_y=0.0027 left_z=0.1725 left_yaw=-0.0011 left_pitch=-0.0199 left_roll=0.0035 left_gripper=0.9983 right_x=0.363 right_y=0.2038 right_z=0.2114 right_yaw=0.104 right_pitch=-0.0399 right_roll=-0.0288 right_gripper=0.377\nstate[joint_eff]: [0.1573, -1.4564, 6.8718, 1.9316, -0.0024, -0.0415, -0.0122, 0.1299, -8.0752, 10.4547, 1.8486, 0.486, 0.2173, -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]: [-0.0189, 0.7849, 0.5709, -0.3717, -0.0254, -0.0296, 0.9983, 0.712, 1.4357, 0.9699, -0.2863, 0.5034, 0.3477, 0.377]\nstate[eef_state]: left_x=0.2912 left_y=0.0026 left_z=0.169 left_yaw=-0.0016 left_pitch=-0.0241 left_roll=0.0028 left_gripper=0.9983 right_x=0.352 right_y=0.196 right_z=0.1637 right_yaw=0.1018 right_pitch=-0.0743 right_roll=-0.0513 right_gripper=0.377\nstate[joint_eff]: [0.0752, -1.894, 6.6256, 1.956, -0.0122, -0.0904, -0.0122, -0.6906, -6.5026, 8.4034, 2.3321, 0.2613, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:630c0dde43f11e85f7f9a606a747c425bae370f565704ed91d4dfa0478d63577",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fdcccac998d9d1df003baf5605874b1b8ba5b693108ba34e8a8d7a7e635c526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:291c105089f2a949da8088271b0f12b0f38f3575fbab1d44742abd9294a9a9c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MUEfHBPcczQZWyHGHq5M6q",
      "input": {
        "note": "No contact yet (readback tracks). Continuing down to set the hanging bottle's base on the table.",
        "targets": {
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01MUEfHBPcczQZWyHGHq5M6q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.775, 0.5529, -0.3641, -0.0257, -0.0292, 0.9983, 0.7124, 1.4311, 0.8398, -0.1497, 0.4942, 0.3397, 0.377]\nstate[eef_state]: left_x=0.2893 left_y=0.0027 left_z=0.165 left_yaw=-0.0014 left_pitch=-0.0244 left_roll=0.0033 left_gripper=0.9983 right_x=0.345 right_y=0.192 right_z=0.1345 right_yaw=0.114 right_pitch=-0.069 right_roll=-0.0463 right_gripper=0.377\nstate[joint_eff]: [-0.0615, -1.7026, 6.6803, 1.9365, -0.0171, -0.0806, -0.0122, -0.0342, -6.7761, 7.5282, 2.0733, 0.2808, 0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55e5fc4b0575ef9eb8aab618642d6fcd9b11682c2a719b14721b354454570fd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d9169fb43f613755d22df312f7a939e76968ac17ef2815f54e092dd2fd2eede",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:959023a66a58354e03cc7208e6e12b7cda91d34df8f60c1c04f962241b57c396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 5.16 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]: [-0.0189, 0.7891, 0.5823, -0.3748, -0.0261, -0.0292, 0.9983, 0.7078, 1.4399, 1.1362, -0.4049, 0.5003, 0.3428, 0.377]\nstate[eef_state]: left_x=0.2925 left_y=0.0027 left_z=0.1725 left_yaw=-0.0011 left_pitch=-0.0199 left_roll=0.0035 left_gripper=0.9983 right_x=0.363 right_y=0.2038 right_z=0.2114 right_yaw=0.104 right_pitch=-0.0399 right_roll=-0.0288 right_gripper=0.377\nstate[joint_eff]: [0.1573, -1.4564, 6.8718, 1.9316, -0.0024, -0.0415, -0.0122, 0.1299, -8.0752, 10.4547, 1.8486, 0.486, 0.2173, -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]: [-0.0189, 0.7849, 0.5709, -0.3717, -0.0254, -0.0296, 0.9983, 0.712, 1.4357, 0.9699, -0.2863, 0.5034, 0.3477, 0.377]\nstate[eef_state]: left_x=0.2912 left_y=0.0026 left_z=0.169 left_yaw=-0.0016 left_pitch=-0.0241 left_roll=0.0028 left_gripper=0.9983 right_x=0.352 right_y=0.196 right_z=0.1637 right_yaw=0.1018 right_pitch=-0.0743 right_roll=-0.0513 right_gripper=0.377\nstate[joint_eff]: [0.0752, -1.894, 6.6256, 1.956, -0.0122, -0.0904, -0.0122, -0.6906, -6.5026, 8.4034, 2.3321, 0.2613, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.775, 0.5529, -0.3641, -0.0257, -0.0292, 0.9983, 0.7124, 1.4311, 0.8398, -0.1497, 0.4942, 0.3397, 0.377]\nstate[eef_state]: left_x=0.2893 left_y=0.0027 left_z=0.165 left_yaw=-0.0014 left_pitch=-0.0244 left_roll=0.0033 left_gripper=0.9983 right_x=0.345 right_y=0.192 right_z=0.1345 right_yaw=0.114 right_pitch=-0.069 right_roll=-0.0463 right_gripper=0.377\nstate[joint_eff]: [-0.0615, -1.7026, 6.6803, 1.9365, -0.0171, -0.0806, -0.0122, -0.0342, -6.7761, 7.5282, 2.0733, 0.2808, 0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55e5fc4b0575ef9eb8aab618642d6fcd9b11682c2a719b14721b354454570fd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d9169fb43f613755d22df312f7a939e76968ac17ef2815f54e092dd2fd2eede",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:959023a66a58354e03cc7208e6e12b7cda91d34df8f60c1c04f962241b57c396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015hgzP2XP9WGeRR8xdKnc9d",
      "input": {
        "note": "Still no contact at z 0.13, which is odd for a hanging 20 cm bottle. Lowering further while watching for a stall to find out where the bottle base is.",
        "targets": {
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015hgzP2XP9WGeRR8xdKnc9d",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7662, 0.5335, -0.3489, -0.0257, -0.0296, 0.9983, 0.7132, 1.4311, 0.8375, -0.1322, 0.4942, 0.3393, 0.377]\nstate[eef_state]: left_x=0.2884 left_y=0.0027 left_z=0.1616 left_yaw=-0.0012 left_pitch=-0.0199 left_roll=0.0029 left_gripper=0.9983 right_x=0.3465 right_y=0.1937 right_z=0.1366 right_yaw=0.1155 right_pitch=-0.0564 right_roll=-0.038 right_gripper=0.377\nstate[joint_eff]: [-0.1846, -1.812, 6.8855, 1.8828, -0.0171, -0.0708, -0.0122, -0.0615, -7.3641, 7.0769, 1.956, 0.2711, 0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fc4f4b65248a58ec8b25b4f9946f765a397247d90edfa98deca06c8d943ef0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f23042cbcdbc71b81382c0f4d9ca1c525738e7e3e49986a23ddc559b54eb08a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3823490d8738d7f5efa050c4c4a5870f7b3e6b8ad308839418f5f9904f2d7fd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 3.915 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]: [-0.0189, 0.7849, 0.5709, -0.3717, -0.0254, -0.0296, 0.9983, 0.712, 1.4357, 0.9699, -0.2863, 0.5034, 0.3477, 0.377]\nstate[eef_state]: left_x=0.2912 left_y=0.0026 left_z=0.169 left_yaw=-0.0016 left_pitch=-0.0241 left_roll=0.0028 left_gripper=0.9983 right_x=0.352 right_y=0.196 right_z=0.1637 right_yaw=0.1018 right_pitch=-0.0743 right_roll=-0.0513 right_gripper=0.377\nstate[joint_eff]: [0.0752, -1.894, 6.6256, 1.956, -0.0122, -0.0904, -0.0122, -0.6906, -6.5026, 8.4034, 2.3321, 0.2613, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.775, 0.5529, -0.3641, -0.0257, -0.0292, 0.9983, 0.7124, 1.4311, 0.8398, -0.1497, 0.4942, 0.3397, 0.377]\nstate[eef_state]: left_x=0.2893 left_y=0.0027 left_z=0.165 left_yaw=-0.0014 left_pitch=-0.0244 left_roll=0.0033 left_gripper=0.9983 right_x=0.345 right_y=0.192 right_z=0.1345 right_yaw=0.114 right_pitch=-0.069 right_roll=-0.0463 right_gripper=0.377\nstate[joint_eff]: [-0.0615, -1.7026, 6.6803, 1.9365, -0.0171, -0.0806, -0.0122, -0.0342, -6.7761, 7.5282, 2.0733, 0.2808, 0.0513, -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]: [-0.0189, 0.7662, 0.5335, -0.3489, -0.0257, -0.0296, 0.9983, 0.7132, 1.4311, 0.8375, -0.1322, 0.4942, 0.3393, 0.377]\nstate[eef_state]: left_x=0.2884 left_y=0.0027 left_z=0.1616 left_yaw=-0.0012 left_pitch=-0.0199 left_roll=0.0029 left_gripper=0.9983 right_x=0.3465 right_y=0.1937 right_z=0.1366 right_yaw=0.1155 right_pitch=-0.0564 right_roll=-0.038 right_gripper=0.377\nstate[joint_eff]: [-0.1846, -1.812, 6.8855, 1.8828, -0.0171, -0.0708, -0.0122, -0.0615, -7.3641, 7.0769, 1.956, 0.2711, 0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fc4f4b65248a58ec8b25b4f9946f765a397247d90edfa98deca06c8d943ef0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f23042cbcdbc71b81382c0f4d9ca1c525738e7e3e49986a23ddc559b54eb08a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3823490d8738d7f5efa050c4c4a5870f7b3e6b8ad308839418f5f9904f2d7fd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS8QkKEAgSGAI4AUIIdGhpbmtpbmcSDM4nyBroRCtBxleAuxoM9FX+Glw4SWb1o5M+IjAylUNHRupLqaeD+JhTOKmkPicbeF2G1rIX++51VFVG+1xCntgXc0Hb1ZEe49EJ7IYqjgmzKbZ1g5i5lhbxSecE9IIyOAscXFang8wNRie23LdF+E6F2ilQgcVwXnTWj2b4G/PIJppGPzYTOhuMe5gBKqBNCSltAqD0w8vOyO4YT8jTw04exNex2vhhjdz8twsnXLta09RNv8rUtx2ucvC6XS/xa4+0PmjkJXWwTeFgBpThekL5zmok2CpZqH7KyOUOKR6zdh4MNR5h/VUW7F8BiLu/uBiDJrCe8Tox8HNlLIt3xCogwIH5CallSBRUy5XKZLD2KAVmj80vgZhm3OzswNiMdEjwxlhUBYKW77M7yYieMN/A353GFoYvZb7JpuH3WyPch78fdEqcitXfPXxsL74oiL20Pddk8h0MLJgeFBdCIKq9ZHvGXuHuietO6oGuxBrg4X+siwR4mshWXy1uNJtoDRoiOUkq6nyo4zRW2+s5BcJPakzZ8nBB/l2gyXDIxvaLXH+0fIlU+6KNwwvq4iG8FZAC+6W1UR85R1MTZTp6ZIA+01zF5CdMWoX/OZCmVj5N5xVMAOgkNuOe4vcMnF+yLuRTlS6sKWi2t/pyxOYYMDA78e/7ctCnUnyhEdxqfMQ2OH0jT41J1y8cqJ7zhiXMkxM+u47v2s66Fy/spUWn9iJYsKKdvxDQLA+jEGI24Iqr8RqUYVWmAg9jsnriSaSI34it/5cEDenzC9RdU913owxU8/GYfd1ZD1BtdQzflsYcK2C30+HrjPsr8+To2TngCNHYJGIhc2lJmk2+I9mW3DaOWVH7eM2NyQz1MmqG3K98+Zwt/Z2uoEBAhqFHMd+Tsr4WQffPQOVOZmeCGyZmM5Whk2neXEhwwbPGR5ggBh2+AA9ixt/tKtPvY1yzMr9r7BhZHDW3q0MpcQF3+dqZHBi40aHLCp3D1LVlxFzzTIskOqR3RSrNdddWD+oxoXcofA9JmXGD/+/TLfLEIooOBXFcpN7eoyuRLzXeRKVDNwBkt1XCfOSF5a4nLaXy7hluKvOx6Y7+P+nUQqJfE8s8wPrZi9bTUGqOu0PFQ4djKX7Tr05Ae1SvYNQ+GgHk+xGot3uOMgFugv3nt39eq0yzz/Vj3wfDL4dLx2aXnuYDHNM4WuXJ4grUaKo67ACZzCpuUd5UDirowlPNgXOrEJe0wUiy5TeDktTVc4ySl/y7kb7eFFyv/6CkfFpi7lnQ0t6OOJsiKm+L9JpWg5qxTFdgjkDHtPj2sf0owGHDjDkvs+orJWdt4f0y3bc9vbkJ/LRC4P437fUtCQddkRF12mcT5oD3zDr4HnWeCAKSCjikCV9/w652ifP711pIFrS35tRwXLBEG7TWZav56/mNz+o39HBKagkzBrWqje3OP+UI87l5zLcJliNCr3pCvVeuKN/J+OZcWJ84xyN+yQh0+1jOe4YWdPkm5BbUAAXVxEoV67JVBG3wFL9tD+kT69t4GT0YghM3hTCVvPsta5BJRMA+e/0ChijVXmeQjzYqFLp3E427GbTpQTVcXOPnO8njeMNLo7nxu8ZzutlycVke/pRUt/3ohzvrHfEBGNFkookcyj0178OhiZl7PvXhYuI+NxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BWqET68dFFDFjFJW1zDEP6",
      "input": {
        "note": "Descent stalled at z 0.137, so the hanging bottle's base is resting on the table. Releasing it so it stands upright.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01BWqET68dFFDFjFJW1zDEP6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7605, 0.5163, -0.3412, -0.0254, -0.0292, 0.9983, 0.7132, 1.4258, 0.77, -0.0692, 0.4934, 0.3359, 0.9957]\nstate[eef_state]: left_x=0.2868 left_y=0.0027 left_z=0.1568 left_yaw=-0.0018 left_pitch=-0.0237 left_roll=0.0031 left_gripper=0.9983 right_x=0.341 right_y=0.1891 right_z=0.1219 right_yaw=0.118 right_pitch=-0.0561 right_roll=-0.04 right_gripper=0.9957\nstate[joint_eff]: [0.0615, -1.7573, 6.8308, 1.8926, -0.0317, -0.0659, -0.0122, -0.0615, -7.0085, 7.1316, 2.0928, 0.1636, 0.0708, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4721c554139efeaa2792722d13c2bed9814d8fe52ee94dff2cb3788f3fb2589",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:459dff843876b2b5be58193351498bbc460e7cbb3a8d5f85a414443c0d52d1e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:22ddf4db82a8f6797dca9cf2e3010dcd9e8474a2ef34fa89ddaf1e417b7a91f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 15.37 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]: [-0.0189, 0.775, 0.5529, -0.3641, -0.0257, -0.0292, 0.9983, 0.7124, 1.4311, 0.8398, -0.1497, 0.4942, 0.3397, 0.377]\nstate[eef_state]: left_x=0.2893 left_y=0.0027 left_z=0.165 left_yaw=-0.0014 left_pitch=-0.0244 left_roll=0.0033 left_gripper=0.9983 right_x=0.345 right_y=0.192 right_z=0.1345 right_yaw=0.114 right_pitch=-0.069 right_roll=-0.0463 right_gripper=0.377\nstate[joint_eff]: [-0.0615, -1.7026, 6.6803, 1.9365, -0.0171, -0.0806, -0.0122, -0.0342, -6.7761, 7.5282, 2.0733, 0.2808, 0.0513, -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]: [-0.0189, 0.7662, 0.5335, -0.3489, -0.0257, -0.0296, 0.9983, 0.7132, 1.4311, 0.8375, -0.1322, 0.4942, 0.3393, 0.377]\nstate[eef_state]: left_x=0.2884 left_y=0.0027 left_z=0.1616 left_yaw=-0.0012 left_pitch=-0.0199 left_roll=0.0029 left_gripper=0.9983 right_x=0.3465 right_y=0.1937 right_z=0.1366 right_yaw=0.1155 right_pitch=-0.0564 right_roll=-0.038 right_gripper=0.377\nstate[joint_eff]: [-0.1846, -1.812, 6.8855, 1.8828, -0.0171, -0.0708, -0.0122, -0.0615, -7.3641, 7.0769, 1.956, 0.2711, 0.0366, -0.0073]",
      "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]: [-0.0189, 0.7605, 0.5163, -0.3412, -0.0254, -0.0292, 0.9983, 0.7132, 1.4258, 0.77, -0.0692, 0.4934, 0.3359, 0.9957]\nstate[eef_state]: left_x=0.2868 left_y=0.0027 left_z=0.1568 left_yaw=-0.0018 left_pitch=-0.0237 left_roll=0.0031 left_gripper=0.9983 right_x=0.341 right_y=0.1891 right_z=0.1219 right_yaw=0.118 right_pitch=-0.0561 right_roll=-0.04 right_gripper=0.9957\nstate[joint_eff]: [0.0615, -1.7573, 6.8308, 1.8926, -0.0317, -0.0659, -0.0122, -0.0615, -7.0085, 7.1316, 2.0928, 0.1636, 0.0708, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4721c554139efeaa2792722d13c2bed9814d8fe52ee94dff2cb3788f3fb2589",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:459dff843876b2b5be58193351498bbc460e7cbb3a8d5f85a414443c0d52d1e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22ddf4db82a8f6797dca9cf2e3010dcd9e8474a2ef34fa89ddaf1e417b7a91f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3QcKEAgSGAI4AUIIdGhpbmtpbmcSDECiDwBuOawRf69YDhoMmFImzNI0u8jjjE2TIjBeVjfReFvCP1rN6RCwKLTI/rSlvkjpT4RGtQFrQlJU0lijY2yGBWeewHkDJ/4X0MQq+gbFRzMfq6NsZGZo+Gdp/XkuxBh2NNB2YX1K2w4EUSBx345dadsKIy2s9+P+lnBQqFVpHD7dYu1fnl7TQ3UxzCgeXQsTZGpHjn32asdq/abTt5PObiYW/jxoBMd5zWpkOvzXzu5LtwXHqGae91MU4mFG/+IrJYd/4xa4UXr2GFhhEDS4RM1ed8dpt6/inEQKgN2EKwHW6BHAPV97WiM9NQ69VthM7xaKKE003Li/jLqBADEPT+Rj2s+wfH3eIvgmmlwzJnB79B9imPKd561iCJ2aYAXfGkZS3/LgkCDFDIx8HQBEoYLPb+uerdjvj/hjchZvNtr+kmpe9SxVMZVa/Jii+DncXS09Y9Yf9cxAY+sbixnjrSMlKt7ySSsM5WRjizoiEPpPAx9ZbAU5bX/CxLc6kIxk9MypnIGR7hCfMtcHe9c8ZlwNWb7plsWMPyzwpjGmSvCIDvBl4HMNrGQX1g9rftAQunYjjXpuxbbvLyzdGoQz9KMLzgvIPhsJerH4wV3ltgqVTQHWn0OBAU8K+7GboKva38osbgsIHMHCRNxd3xSv7KaEw46xuN4XI9nUKWPyA++3bql8w0nu0mAORh/ooU88rdsnurLs7YkMumMgubz+cB/ESp4oRXr6OLeI76YzG+lAMZF8jh86eejX4SK7rZGZJK8McsmYj3BvboJDdt7CPqpNK+IYC5XDepX33K0KbktM3lYX7tI83tA4wIwRaFOCgZJZ6hjETqj/0VHP3hAZCkeyq1lqpVKNH36tH2VEcbRvhTkHnPF2C4/I0d29dRIajLxiV84FegA4LvvGrzyhBtC4pJGLt0bTJRsST610Lh5YKOqObPNv8Jtnptd2OI1AcW6ytc/AiX37EsyGEHt/I2OQDNDGTJJuWKeayflEzhW8U29ZMsbnKACoQj6cLUp6YyBA7HRQfHbRywr//wHspRDGG+jG96YgUBj8smG+nAW1IQ7puEviavZjFLc+5IsnStWOopLcYGrVrJuSa2nVfDO+3m4nHpeI4NTp8SwSY0aHx+ZxqrNDujiOHQnrYtXscO2zIrmVG/YKtYV6pnDf+cmL86tmc+4YIAnR1mZ9BlHKn4BDkfvULCd2w0dmN84yuASdz0XJLINYzg/LSlr39qZK547hx9bWJftR+Olw8AomJ3Rx7ah4PSE4SXLMAUO5VA1TmNkgJBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NQEZrxVe3w9BduH2TNmRGi",
      "input": {
        "note": "Released. Raising and moving the right arm aside so the top camera can show whether the bottle is standing.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.05,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01NQEZrxVe3w9BduH2TNmRGi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7513, 0.4988, -0.3294, -0.0254, -0.0292, 0.9983, 0.3031, 0.8024, 1.0554, -0.8341, 0.1963, 0.1059, 0.9955]\nstate[eef_state]: left_x=0.2856 left_y=0.0027 left_z=0.1537 left_yaw=-0.0018 left_pitch=-0.0203 left_roll=0.003 left_gripper=0.9983 right_x=0.2595 right_y=0.0488 right_z=0.2878 right_yaw=0.0759 right_pitch=-0.0005 right_roll=-0.0079 right_gripper=0.9955\nstate[joint_eff]: [0.0205, -1.5248, 6.5846, 1.9023, -0.0073, -0.0415, -0.0122, -0.0342, -1.0051, 8.7043, 1.7949, -0.1392, 0.1245, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c08414a3c0040ed3df937e74861707e44874632c2314f82847aae6c3e15e91da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95e06c15913c7d78f46c3558e42080bd7ea80017c714e23d39bea6b2b54d00d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f8356e4043a03e5d3407d030fefb6ab11fab7224dff4f3fbe38e943bb4c2cdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 9.217 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]: [-0.0189, 0.7662, 0.5335, -0.3489, -0.0257, -0.0296, 0.9983, 0.7132, 1.4311, 0.8375, -0.1322, 0.4942, 0.3393, 0.377]\nstate[eef_state]: left_x=0.2884 left_y=0.0027 left_z=0.1616 left_yaw=-0.0012 left_pitch=-0.0199 left_roll=0.0029 left_gripper=0.9983 right_x=0.3465 right_y=0.1937 right_z=0.1366 right_yaw=0.1155 right_pitch=-0.0564 right_roll=-0.038 right_gripper=0.377\nstate[joint_eff]: [-0.1846, -1.812, 6.8855, 1.8828, -0.0171, -0.0708, -0.0122, -0.0615, -7.3641, 7.0769, 1.956, 0.2711, 0.0366, -0.0073]",
      "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]: [-0.0189, 0.7605, 0.5163, -0.3412, -0.0254, -0.0292, 0.9983, 0.7132, 1.4258, 0.77, -0.0692, 0.4934, 0.3359, 0.9957]\nstate[eef_state]: left_x=0.2868 left_y=0.0027 left_z=0.1568 left_yaw=-0.0018 left_pitch=-0.0237 left_roll=0.0031 left_gripper=0.9983 right_x=0.341 right_y=0.1891 right_z=0.1219 right_yaw=0.118 right_pitch=-0.0561 right_roll=-0.04 right_gripper=0.9957\nstate[joint_eff]: [0.0615, -1.7573, 6.8308, 1.8926, -0.0317, -0.0659, -0.0122, -0.0615, -7.0085, 7.1316, 2.0928, 0.1636, 0.0708, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0189, 0.7513, 0.4988, -0.3294, -0.0254, -0.0292, 0.9983, 0.3031, 0.8024, 1.0554, -0.8341, 0.1963, 0.1059, 0.9955]\nstate[eef_state]: left_x=0.2856 left_y=0.0027 left_z=0.1537 left_yaw=-0.0018 left_pitch=-0.0203 left_roll=0.003 left_gripper=0.9983 right_x=0.2595 right_y=0.0488 right_z=0.2878 right_yaw=0.0759 right_pitch=-0.0005 right_roll=-0.0079 right_gripper=0.9955\nstate[joint_eff]: [0.0205, -1.5248, 6.5846, 1.9023, -0.0073, -0.0415, -0.0122, -0.0342, -1.0051, 8.7043, 1.7949, -0.1392, 0.1245, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c08414a3c0040ed3df937e74861707e44874632c2314f82847aae6c3e15e91da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95e06c15913c7d78f46c3558e42080bd7ea80017c714e23d39bea6b2b54d00d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f8356e4043a03e5d3407d030fefb6ab11fab7224dff4f3fbe38e943bb4c2cdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011hYFu5DFLVAkXNm7MPTEDM",
      "input": {
        "note": "All three bottles are still lying down; the first attempt slipped off the rightmost bottle. Returning above its neck to retry with a deeper grasp.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.195,
          "right_yaw": 0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_011hYFu5DFLVAkXNm7MPTEDM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7399, 0.485, -0.3183, -0.0257, -0.0296, 0.9983, 0.5636, 1.7939, 0.9943, 0.0463, 0.4358, 0.2878, 0.9955]\nstate[eef_state]: left_x=0.2847 left_y=0.0028 left_z=0.1527 left_yaw=-0.0012 left_pitch=-0.0115 left_roll=0.0028 left_gripper=0.9983 right_x=0.427 right_y=0.1859 right_z=0.0783 right_yaw=0.0383 right_pitch=-0.102 right_roll=-0.0605 right_gripper=0.9955\nstate[joint_eff]: [0.0889, -1.1829, 6.8581, 1.7998, 0.0122, -0.0904, -0.0122, -0.0205, -8.8957, 8.7043, 1.7607, 0.3639, 0.2955, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:925248d73d9602ca2308ad2a59ee50abfac6cd3fef3eefdf06a588f7270f188f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9acc32ed704a86bca17437701b694459b6867ac2b7eb0beda349eaaf78546c2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:009157dc8a50b7f660c3fd01863aa4465ba8beab8e2b2d7497c239942275c76a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 4.377 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]: [-0.0189, 0.7605, 0.5163, -0.3412, -0.0254, -0.0292, 0.9983, 0.7132, 1.4258, 0.77, -0.0692, 0.4934, 0.3359, 0.9957]\nstate[eef_state]: left_x=0.2868 left_y=0.0027 left_z=0.1568 left_yaw=-0.0018 left_pitch=-0.0237 left_roll=0.0031 left_gripper=0.9983 right_x=0.341 right_y=0.1891 right_z=0.1219 right_yaw=0.118 right_pitch=-0.0561 right_roll=-0.04 right_gripper=0.9957\nstate[joint_eff]: [0.0615, -1.7573, 6.8308, 1.8926, -0.0317, -0.0659, -0.0122, -0.0615, -7.0085, 7.1316, 2.0928, 0.1636, 0.0708, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0189, 0.7513, 0.4988, -0.3294, -0.0254, -0.0292, 0.9983, 0.3031, 0.8024, 1.0554, -0.8341, 0.1963, 0.1059, 0.9955]\nstate[eef_state]: left_x=0.2856 left_y=0.0027 left_z=0.1537 left_yaw=-0.0018 left_pitch=-0.0203 left_roll=0.003 left_gripper=0.9983 right_x=0.2595 right_y=0.0488 right_z=0.2878 right_yaw=0.0759 right_pitch=-0.0005 right_roll=-0.0079 right_gripper=0.9955\nstate[joint_eff]: [0.0205, -1.5248, 6.5846, 1.9023, -0.0073, -0.0415, -0.0122, -0.0342, -1.0051, 8.7043, 1.7949, -0.1392, 0.1245, -0.0317]",
      "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]: [-0.0189, 0.7399, 0.485, -0.3183, -0.0257, -0.0296, 0.9983, 0.5636, 1.7939, 0.9943, 0.0463, 0.4358, 0.2878, 0.9955]\nstate[eef_state]: left_x=0.2847 left_y=0.0028 left_z=0.1527 left_yaw=-0.0012 left_pitch=-0.0115 left_roll=0.0028 left_gripper=0.9983 right_x=0.427 right_y=0.1859 right_z=0.0783 right_yaw=0.0383 right_pitch=-0.102 right_roll=-0.0605 right_gripper=0.9955\nstate[joint_eff]: [0.0889, -1.1829, 6.8581, 1.7998, 0.0122, -0.0904, -0.0122, -0.0205, -8.8957, 8.7043, 1.7607, 0.3639, 0.2955, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:925248d73d9602ca2308ad2a59ee50abfac6cd3fef3eefdf06a588f7270f188f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9acc32ed704a86bca17437701b694459b6867ac2b7eb0beda349eaaf78546c2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:009157dc8a50b7f660c3fd01863aa4465ba8beab8e2b2d7497c239942275c76a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YQzrUGuYg7DgZLimj8hWLk",
      "input": {
        "note": "Bottle is centred on the jaw column with its cap ~several cm ahead. Advancing to the neck and descending low so the jaws fully envelope it.",
        "targets": {
          "right_x": 0.485,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01YQzrUGuYg7DgZLimj8hWLk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7391, 0.4847, -0.3187, -0.0257, -0.0292, 0.9983, 0.4946, 2.0384, 1.0019, 0.3889, 0.3809, 0.2466, 0.9955]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1526 left_yaw=-0.0014 left_pitch=-0.0115 left_roll=0.0031 left_gripper=0.9983 right_x=0.4715 right_y=0.1837 right_z=0.0263 right_yaw=0.0388 right_pitch=-0.0263 right_roll=-0.0127 right_gripper=0.9955\nstate[joint_eff]: [0.0205, -1.4974, 6.1744, 1.8584, -0.0366, -0.0562, -0.0122, -0.8684, -7.0496, 6.106, 1.5018, 0.0611, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40cbb50c0024a0bc437ee4911272646903f305804ffafbfd89b99df9d1dc732a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a74fc4e7ece3a8c3609fb2febe0b40a7237f7091fb61aca163a098839b987f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:080146302cb269945897e0d66fc50f9514fceb800b3cfcf904925defbb50368a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 5.524 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]: [-0.0189, 0.7513, 0.4988, -0.3294, -0.0254, -0.0292, 0.9983, 0.3031, 0.8024, 1.0554, -0.8341, 0.1963, 0.1059, 0.9955]\nstate[eef_state]: left_x=0.2856 left_y=0.0027 left_z=0.1537 left_yaw=-0.0018 left_pitch=-0.0203 left_roll=0.003 left_gripper=0.9983 right_x=0.2595 right_y=0.0488 right_z=0.2878 right_yaw=0.0759 right_pitch=-0.0005 right_roll=-0.0079 right_gripper=0.9955\nstate[joint_eff]: [0.0205, -1.5248, 6.5846, 1.9023, -0.0073, -0.0415, -0.0122, -0.0342, -1.0051, 8.7043, 1.7949, -0.1392, 0.1245, -0.0317]",
      "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]: [-0.0189, 0.7399, 0.485, -0.3183, -0.0257, -0.0296, 0.9983, 0.5636, 1.7939, 0.9943, 0.0463, 0.4358, 0.2878, 0.9955]\nstate[eef_state]: left_x=0.2847 left_y=0.0028 left_z=0.1527 left_yaw=-0.0012 left_pitch=-0.0115 left_roll=0.0028 left_gripper=0.9983 right_x=0.427 right_y=0.1859 right_z=0.0783 right_yaw=0.0383 right_pitch=-0.102 right_roll=-0.0605 right_gripper=0.9955\nstate[joint_eff]: [0.0889, -1.1829, 6.8581, 1.7998, 0.0122, -0.0904, -0.0122, -0.0205, -8.8957, 8.7043, 1.7607, 0.3639, 0.2955, -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]: [-0.0189, 0.7391, 0.4847, -0.3187, -0.0257, -0.0292, 0.9983, 0.4946, 2.0384, 1.0019, 0.3889, 0.3809, 0.2466, 0.9955]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1526 left_yaw=-0.0014 left_pitch=-0.0115 left_roll=0.0031 left_gripper=0.9983 right_x=0.4715 right_y=0.1837 right_z=0.0263 right_yaw=0.0388 right_pitch=-0.0263 right_roll=-0.0127 right_gripper=0.9955\nstate[joint_eff]: [0.0205, -1.4974, 6.1744, 1.8584, -0.0366, -0.0562, -0.0122, -0.8684, -7.0496, 6.106, 1.5018, 0.0611, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40cbb50c0024a0bc437ee4911272646903f305804ffafbfd89b99df9d1dc732a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a74fc4e7ece3a8c3609fb2febe0b40a7237f7091fb61aca163a098839b987f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:080146302cb269945897e0d66fc50f9514fceb800b3cfcf904925defbb50368a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wcKEAgSGAI4AUIIdGhpbmtpbmcSDI10UCQVQAs7RKMz2xoMVMHymLP+eh4Y19POIjDtEsIZAJF3vFcnX5Z2Tp+sesmuq1ddu0OuRxm71WHuUbW0a9xWmJ7E5HZ4c9O6twYq+AYAJBU+ZiFRm1OsLKujmkcqkbPzU2M4iUsyP6+TV+1R1DH6aWl7MGDqqCXkkvgzweHJcDA5/t4gcusrPHnVm/bAjmGF1XY+m8R+IjxBcfFF3S9eXGGgiEGbGqRcvilYIF1eUTKCYId9ouX8pruRtwhJTVlh40ve6y6d/+iMKCDvjVCyLzSCSTKsblixmVf8IGccePtbdjUu5OoMby6kH5uP4rFVncOD+dN31R2UGNc6nlpjKccW/piD38n2HDnmh2rXFChdr0laSu347GuwEws96fli7fHI+7PW96K/KhwP9+MQfi9hud3jrXT6qIaT2UPT45ol2ZAcuqgtV8QVDa+z2AP2KCFnL/EtK64Pk+Fb4OOP1B3MySAAscG/2jPq2f5bWD1LjQKqEUht7204sGrpu7+QRAEBx/+uTorxJE/ZcLvfkyK9QrPgDznHmiaVa8x+qS7CJC2P2yxvnJxFpyZ8bIeHpfWtrdxcvWOwd8cpsVmtn9Q3+5fyL0Q8/IMzWpKsqAwwDTHuKfpbyoIhjH/SmTf5kNg3DK1F88AfEX4EDfa14/OWH+62vsoBgxPwe7/+zQp+aUdgd42V8PFwXect0+2LGce/oIj6plLzx+pH+m98xDpA6SOOYtv2Ux7WVDzo3rLleJjMJLETupgzvoy+DqCHVRvCD9WYppl0PWAHQiGPxSW5nDYYnikh3HVjjF8Vd8i7ZC/gpP6KdpY7wgXEtmrkzK32Vi1C7eAfLWSEfA0GODJYCSAy0miwqWoPeU5fNVP/LbEtOL9816tgmD51jkYbx9nWJVdS+SLjfiSoOO4FwhqJtXFoX84VBVZbhT43AKO67tJP/PrXK6evDkwVjcAuBKGjcVf81qHuAI2LqyojD/ackuJp9vEzS6U8NzGAGAUGvA5GaIueF276iOfIXO31HUTO6KoGcAkwhaPS4yRae+OnvhhsV0lhantBG/9gbARai7IjqCE5ZFLmT5uKBWkHYI1rdXXmTZYopCTlg/DdeWwEd9a/vjSQEoLxP8Y3FQ8PtKNxOEcnF25Acthgoz5mJ3ZGIWj8YEL8m1d+13sJ6uLM+nTT9NcJCcF5Dg/v343u37OJPfDGN74mEMt0QP7fHltHlNzZZBdKMsNcTMBcC+OUATYxKKfISujCMXHnwAf5TrBxVDQi70XxSkIfurD1IUhBqKoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019fAht7Lh6FGeSFK66Anj7x",
      "input": {
        "note": "Jaws are over the bottle's shoulder; the neck is still a bit ahead. Pushing forward a little more before closing.",
        "targets": {
          "right_x": 0.5,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_019fAht7Lh6FGeSFK66Anj7x",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0261, -0.0296, 0.9983, 0.4892, 2.0666, 1.0252, 0.4355, 0.3622, 0.234, 0.9955]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1528 left_yaw=-0.0009 left_pitch=-0.0107 left_roll=0.003 left_gripper=0.9983 right_x=0.482 right_y=0.1898 right_z=0.0292 right_yaw=0.0556 right_pitch=0.0065 right_roll=0.0046 right_gripper=0.9955\nstate[joint_eff]: [0.1026, -1.3607, 6.147, 1.8632, 0.0171, -0.0562, -0.0122, -0.8684, -7.9111, 6.3111, 1.7558, 0.149, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23e16affd9860a0fd9ab589727983060713f9623ddff5a3180e1895d14b71037",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab1b6522ceddaf10b237b1192906a68ef4146942b7abda783aaa04dd438eee02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:614ec470a261811b1f90314451c587da281617296385fdabc2e931f13517177b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 5.96 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]: [-0.0189, 0.7399, 0.485, -0.3183, -0.0257, -0.0296, 0.9983, 0.5636, 1.7939, 0.9943, 0.0463, 0.4358, 0.2878, 0.9955]\nstate[eef_state]: left_x=0.2847 left_y=0.0028 left_z=0.1527 left_yaw=-0.0012 left_pitch=-0.0115 left_roll=0.0028 left_gripper=0.9983 right_x=0.427 right_y=0.1859 right_z=0.0783 right_yaw=0.0383 right_pitch=-0.102 right_roll=-0.0605 right_gripper=0.9955\nstate[joint_eff]: [0.0889, -1.1829, 6.8581, 1.7998, 0.0122, -0.0904, -0.0122, -0.0205, -8.8957, 8.7043, 1.7607, 0.3639, 0.2955, -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]: [-0.0189, 0.7391, 0.4847, -0.3187, -0.0257, -0.0292, 0.9983, 0.4946, 2.0384, 1.0019, 0.3889, 0.3809, 0.2466, 0.9955]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1526 left_yaw=-0.0014 left_pitch=-0.0115 left_roll=0.0031 left_gripper=0.9983 right_x=0.4715 right_y=0.1837 right_z=0.0263 right_yaw=0.0388 right_pitch=-0.0263 right_roll=-0.0127 right_gripper=0.9955\nstate[joint_eff]: [0.0205, -1.4974, 6.1744, 1.8584, -0.0366, -0.0562, -0.0122, -0.8684, -7.0496, 6.106, 1.5018, 0.0611, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0261, -0.0296, 0.9983, 0.4892, 2.0666, 1.0252, 0.4355, 0.3622, 0.234, 0.9955]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1528 left_yaw=-0.0009 left_pitch=-0.0107 left_roll=0.003 left_gripper=0.9983 right_x=0.482 right_y=0.1898 right_z=0.0292 right_yaw=0.0556 right_pitch=0.0065 right_roll=0.0046 right_gripper=0.9955\nstate[joint_eff]: [0.1026, -1.3607, 6.147, 1.8632, 0.0171, -0.0562, -0.0122, -0.8684, -7.9111, 6.3111, 1.7558, 0.149, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23e16affd9860a0fd9ab589727983060713f9623ddff5a3180e1895d14b71037",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab1b6522ceddaf10b237b1192906a68ef4146942b7abda783aaa04dd438eee02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:614ec470a261811b1f90314451c587da281617296385fdabc2e931f13517177b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrgsKEAgSGAI4AUIIdGhpbmtpbmcSDMyo4UZE++6i+C9L3RoM70pEPvR3Au/WNBG1IjBEAQUngMa5Ngwrj8WJjM4oVdETSfeeEsgtcc5Q3JHcTNwN4tYnR4JCtaytABFJnM8qywoa+Q4uDVt+RdE5YqnJaP1Pcy5FtYUwKOaMc6mndkY8yOBR9zIryKwyrLnDDeYgw4T6JyPXTkWAtz02Cuw29WvudM/4kRrb3rzYtGosPnLTWneIflI6dljRRjkwA268O30WdTKcgug1lmaUabYYziD8BMQezSbu7fqetVfn0UqGlvL8eEWhCnK6t/VzGz+itAv8LdzlhWLo2PuXiZP7wOffOejGEmXLJQJ1NJ9qlZjL4b7nsiORHpSzbcOJwZndAEgR9PZ8FjpaLvPi/wgflbRCrgw/9HXXZzc/lkUvswLriAhAYc9TwJbjbOldAPeYSf5k9/u0XYHwZg3TusV3FNcwLxY/JuPFz8IsAl3Btbk+fdolgjTa1RBH/zVaiW0ne0YMa0pC5quYGqvAFTMxvTuZX+GQXhVoWsqEZvCna6sSCjcNDr4s539RN39X2VoyfPaOECUZ6jzRsuOkPwQp2RjSqfX423OiZshAjdJsh6hoUG1RrjURoaPE6Tc0QcDSdl8qrvkkFRyFqzfKf94v3EUZDxlKuVg5wdwy1qDtYl6URnb8BayTWT6pfY11CYG7eN3QPo2wSvfCleN6SzSXnTO+m5d331hlG0wwmXhuyJMliOfj77e/EfhNJPDOfCmPzh9ok60Mudi3PTMm7hwwbISkJkU8eBCMq3tXMHaUTBYJS2KzfidaeaexoyRJMa9LcFZfUJU8xwaCg+Xb5JXa028uDWkIPof1y2x48f+7pQUIyb7oDXuCcheIuaRG0MyG3X+xB4UrFIsZ3czAJlohl6kAjTkDm/rdXDfOzN99XhljXVz3nY+dxicgmKXX2HqNLMmQpBfp6njXHaIe2iRr4EuLCUBmY+6mK396/h50HMHySCWq56CQ420iK5idfzbCXCkNpGWpdtL21RfisX3egS1YBeBIPTXjuY9wYQOlMpWN3iEJFdJzhxjPoBVtX/Z5VAGGbdk6GHQe/sVjgmGbYekRNBP0akm65kANnfDJpn0JgpLGn1rsNHlRsCgzy8wlUmqxXz53eDopNQUDtBAe7OKW9BJ4oD7q1FiyBZa42Auma/lLOcj5hUYwr23wHnqJp9eAgZgg2W7NH+oB2xpOU95l1zsd+S5tvOd6MHYGgnj2YyzRT+L47XKdWLn4Bn0CmTzlZ/uKoZCj1/MeGkqVYO9goFkaIo5xStwXds+Kj2g5pShAB+FSPdWn5B1kPfZftYia8DfD3xutWmBklWjWKP22Z/E7MpwC61KTHRd7pgvsaVZ1gC36OWUHxLuoVJUIwPnprPC3IWr9h6pSuSxSjcK1pF1OM/6bZ0CPct8IjHuyNdCQYAMrFYfG9aafIwz5pWNzn69oJbqrjalUoBhT9SUX3Lmn3mrarCnIM68qgWiiswWDEsixBmIGPTSjYD6iYfjbPvtIAoKTRQ7iHxsdjtj+k9w0+eTWXGIizOmsoyyc6v0/AsLlQTCY2Ry+SdMTnuqf+/IBYAyRxRn55Bk2eIBGRo/YcmXrLRRiNHBp+bt98azChZYBm6Az0AvXi4qBOOCmD3N9jLAx1PmHEn6o1EjaxIB9Q+Vk+/aFZGY8BEp1ufa/DBLeHZY8whoVGD5hSflZ+4Tv8GjdVYFs/W3G6FXfOCWse6qhdNkOlzU/ZPlND2ajC0x0Sn78UGAWjZ9HVHn6LYulmO7qpCVHg3z8vfCUtMn1xhR099AQKMQc+PGyrhwJxRMW48izr9XcgySdzxTwQmPWSfqRwDeAEyktK5oT5i01nJwJYfuSK2np1n+ldlYth+0w/HBCUPJ3ammLqhoJ97h2+vl5BuPAWRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014tLnkC2sKLGRZmGyGDncRa",
      "input": {
        "note": "At the forward limit for this height with the jaws around the upper bottle. Closing firmly.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014tLnkC2sKLGRZmGyGDncRa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0254, -0.0292, 0.9983, 0.4908, 2.0586, 1.0355, 0.5148, 0.3622, 0.2268, 0.3001]\nstate[eef_state]: left_x=0.2846 left_y=0.0027 left_z=0.1528 left_yaw=-0.0018 left_pitch=-0.0107 left_roll=0.0029 left_gripper=0.9983 right_x=0.4937 right_y=0.1969 right_z=0.053 right_yaw=0.059 right_pitch=0.0952 right_roll=0.0392 right_gripper=0.3001\nstate[joint_eff]: [0.1846, -1.5248, 6.2017, 1.9072, -0.0269, -0.0171, -0.0122, -0.4581, -9.9487, 5.3812, 0.823, 0.0611, 0.0171, 0.3248]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eaaf4748e8fe2276ffe64b36b6c10b12cca216e52cc32d5a2b2fb32c036c2c1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d77f097a1fcc1d47e9da321a8e19ae6a041f5e7e743633188e00bf875065f571",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b9d5f2ecef9d2d08bd4cd07b2c85acc6e35536afed28c2622e263887487300a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 12.7 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]: [-0.0189, 0.7391, 0.4847, -0.3187, -0.0257, -0.0292, 0.9983, 0.4946, 2.0384, 1.0019, 0.3889, 0.3809, 0.2466, 0.9955]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1526 left_yaw=-0.0014 left_pitch=-0.0115 left_roll=0.0031 left_gripper=0.9983 right_x=0.4715 right_y=0.1837 right_z=0.0263 right_yaw=0.0388 right_pitch=-0.0263 right_roll=-0.0127 right_gripper=0.9955\nstate[joint_eff]: [0.0205, -1.4974, 6.1744, 1.8584, -0.0366, -0.0562, -0.0122, -0.8684, -7.0496, 6.106, 1.5018, 0.0611, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0261, -0.0296, 0.9983, 0.4892, 2.0666, 1.0252, 0.4355, 0.3622, 0.234, 0.9955]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1528 left_yaw=-0.0009 left_pitch=-0.0107 left_roll=0.003 left_gripper=0.9983 right_x=0.482 right_y=0.1898 right_z=0.0292 right_yaw=0.0556 right_pitch=0.0065 right_roll=0.0046 right_gripper=0.9955\nstate[joint_eff]: [0.1026, -1.3607, 6.147, 1.8632, 0.0171, -0.0562, -0.0122, -0.8684, -7.9111, 6.3111, 1.7558, 0.149, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0254, -0.0292, 0.9983, 0.4908, 2.0586, 1.0355, 0.5148, 0.3622, 0.2268, 0.3001]\nstate[eef_state]: left_x=0.2846 left_y=0.0027 left_z=0.1528 left_yaw=-0.0018 left_pitch=-0.0107 left_roll=0.0029 left_gripper=0.9983 right_x=0.4937 right_y=0.1969 right_z=0.053 right_yaw=0.059 right_pitch=0.0952 right_roll=0.0392 right_gripper=0.3001\nstate[joint_eff]: [0.1846, -1.5248, 6.2017, 1.9072, -0.0269, -0.0171, -0.0122, -0.4581, -9.9487, 5.3812, 0.823, 0.0611, 0.0171, 0.3248]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eaaf4748e8fe2276ffe64b36b6c10b12cca216e52cc32d5a2b2fb32c036c2c1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d77f097a1fcc1d47e9da321a8e19ae6a041f5e7e743633188e00bf875065f571",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9d5f2ecef9d2d08bd4cd07b2c85acc6e35536afed28c2622e263887487300a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkwsKEAgSGAI4AUIIdGhpbmtpbmcSDCnrcfuznJhyBcUBnRoM+zQskMSalR3ztX+GIjAqBp+Re2dq6SZk9AVCmWwunkm1lwFMfNxFVLXtLMNXXkoeu3aTH7+BC0ZTSxaBJmoqsArdPV6lSbnPzZ+HefIusbFD3sye9XuBgdKUj/1YR35Ez3c0E/9Dh4svCCFlqkfgadgCC/X/WNI2paKlDwQN4qbjSyUp8YxxjqLYzdgQHXuo1tzwzfglggfVSybX+ww0wkkTuh+jsbTX7GSak9yspscEAE6F4o2jD8Ep382eywluGbMcD5dJ0e7lLPfL1zID9Hbfpilef6AM4EqRD4Z2R/cDdzyLO+MF2z7p5YkItD5sOVDde52RlS5Uox/XeIPqX0b+kiXI+nsO2TliT/lx18pXb3iSZfmZOUhDiKN9Nt7ggYtv5LDeE8MNKUY/jsZiJ4chUm9cfoiLHFJtuASKowEZiuuUBpSmIo2C31got6nZWLx8KZH7QSJ4NezBa7wPKeG0t/TPp7/9Xpu39rRhJCsDaixunnYXkrJo9Zr/g66YvlpK50bkga43i5djZ2ZKxI5biWy1++tx0g3RNuV3MycncUrswmPaQMcGXG0Ib4bKqRSGg++pjTfOaIGBADGb7GsoUuEsVpuddXt6METAU6OBFAuAdF4EwhLqQqrKOc/sMLSSlOxqrfjc//Vir9olspMjJnC4t98/47NBXKVtPMBmKCWj9SjslZAmIuTrExtxHn7wIMu55vcone4YWNELrtB55SNvYrGdVLsF0TvH/zohrh/rAr1a7GASSqpCCs3H11WSRnvnkTkgpqzrvJivai0WMpU/GP8LTEsc/hsLcB8AkjjIxetu++4gyW1Og7DYuiUHUoNc/1wi5NY/NQ6J/7ZKBgAVeS4gQa9MRmDHGKlxE1Y3+vi75+CnJy6RrHWbn5oq5WjuxFkfcU82bSPRd/JFP/I4LVL5u7f8KhoW4VZXGYvP8p5Obg08uabac8rwi+SNNr6laK/ZYxlIcDYtj/WtOqSUAx4KBeTZv1apsORG2P1h0Q1Z9gt4B378AyOOSD3mnZlDPV5N2S8+mWSf/uT+TqXxzi7eUg2u8dEMHUgAAt1xixz9eSWektimkHRNlPQL9eA0sgLIF8Q9KM9RLad0RKWz5wILZws6iYAo1K1tQWNq17l2FJtTmQpqIq3WmoawKXOP5aHr3xsl0g0jn8M570MroGczQzJz9u2WOoGyTc8pwWu4grHrHFoYcmQX4s7DHTNaiseucVWcce64jAl37kmixt2ph2hgI6cZgb4qJSt+Edwi4d+v02uEKw1mvxPDCzcfIxqM0DDPX6kBqxMhdCq92+m0VtJbkJhnzaXZkUZIZc3kdNDF0ucV6x88q0Es0XtdZY2gukfa2YeVqTt4yVBva0sfAnMva/n1CJqPB2XNoLIjZ1z8aWwbYophc7YKaSlGeUof757R3vu4ojdZu2KsBKozjh0ico/slQ97f7YvZBhraISzz+Opv3RLWERU/12DcWJNSVQ1BCB7Vg6knoHKnvnwW4WHT55c+y+KTw3iDBClGscuujVuRY0D3os55QIu84t14MolncPKcxjT/r45d9oDoav7WjPIW4cpsvw78QXLkNccKxdL6Lh6Hj0S+fb1NPj3E8I+klqtoyWnOiU92uURXLmQYXNxboLM2waRxW6vDU3Y43p83rXHeMLglYuraKBW48tLEuvQiPFHjOCmm/T05M0H+xl4pJ5Vd8aPcagpKppd4qY+uXu6ybb5t0EDMtPTVfbHWxjta1tM/jdqGZUJyav1+molhUxkoNgEWLdbmbXVSp+P+WnfcXdkbQ1Gw2q993ytt+BTvIdLb0/UeHyQI0ODTy+/NHMTDm9Djb9ij0GaTPaKxl59UhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FZ1SetHxhtkEdYM9j6jh6U",
      "input": {
        "note": "Gripper has closed on the bottle's shoulder (reading 0.30). Lifting the cap end so the body swings down beneath the jaws.",
        "targets": {
          "right_x": 0.45,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01FZ1SetHxhtkEdYM9j6jh6U",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7383, 0.4847, -0.3191, -0.0254, -0.0292, 0.9983, 0.5407, 1.7897, 1.0782, 0.0708, 0.3862, 0.244, 0.2987]\nstate[eef_state]: left_x=0.2845 left_y=0.0027 left_z=0.1528 left_yaw=-0.0018 left_pitch=-0.0111 left_roll=0.0029 left_gripper=0.9983 right_x=0.4521 right_y=0.198 right_z=0.1156 right_yaw=0.0821 right_pitch=-0.0188 right_roll=-0.0147 right_gripper=0.2987\nstate[joint_eff]: [0.1162, -0.9641, 6.4479, 1.9023, 0.0073, -0.0659, -0.0122, 0.6359, -11.5897, 9.347, 1.7998, 0.3443, 0.2271, -0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e49f44c5766fcb8a6b1deef79f415d600fa1ad6d12fd3e3f4812dbadd819cc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7bdd9d6ed52cb48dd5c76f6aeda0452cad6ab4cf9ca03009f93f687f1c71149",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb77a26c184de0eb58c3d76c2a9201e549634583545d16dde98488b92b8334b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 11.34 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]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0261, -0.0296, 0.9983, 0.4892, 2.0666, 1.0252, 0.4355, 0.3622, 0.234, 0.9955]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1528 left_yaw=-0.0009 left_pitch=-0.0107 left_roll=0.003 left_gripper=0.9983 right_x=0.482 right_y=0.1898 right_z=0.0292 right_yaw=0.0556 right_pitch=0.0065 right_roll=0.0046 right_gripper=0.9955\nstate[joint_eff]: [0.1026, -1.3607, 6.147, 1.8632, 0.0171, -0.0562, -0.0122, -0.8684, -7.9111, 6.3111, 1.7558, 0.149, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0254, -0.0292, 0.9983, 0.4908, 2.0586, 1.0355, 0.5148, 0.3622, 0.2268, 0.3001]\nstate[eef_state]: left_x=0.2846 left_y=0.0027 left_z=0.1528 left_yaw=-0.0018 left_pitch=-0.0107 left_roll=0.0029 left_gripper=0.9983 right_x=0.4937 right_y=0.1969 right_z=0.053 right_yaw=0.059 right_pitch=0.0952 right_roll=0.0392 right_gripper=0.3001\nstate[joint_eff]: [0.1846, -1.5248, 6.2017, 1.9072, -0.0269, -0.0171, -0.0122, -0.4581, -9.9487, 5.3812, 0.823, 0.0611, 0.0171, 0.3248]",
      "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]: [-0.0189, 0.7383, 0.4847, -0.3191, -0.0254, -0.0292, 0.9983, 0.5407, 1.7897, 1.0782, 0.0708, 0.3862, 0.244, 0.2987]\nstate[eef_state]: left_x=0.2845 left_y=0.0027 left_z=0.1528 left_yaw=-0.0018 left_pitch=-0.0111 left_roll=0.0029 left_gripper=0.9983 right_x=0.4521 right_y=0.198 right_z=0.1156 right_yaw=0.0821 right_pitch=-0.0188 right_roll=-0.0147 right_gripper=0.2987\nstate[joint_eff]: [0.1162, -0.9641, 6.4479, 1.9023, 0.0073, -0.0659, -0.0122, 0.6359, -11.5897, 9.347, 1.7998, 0.3443, 0.2271, -0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e49f44c5766fcb8a6b1deef79f415d600fa1ad6d12fd3e3f4812dbadd819cc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7bdd9d6ed52cb48dd5c76f6aeda0452cad6ab4cf9ca03009f93f687f1c71149",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb77a26c184de0eb58c3d76c2a9201e549634583545d16dde98488b92b8334b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BGxUf9u74wJmNHMoWPZvmo",
      "input": {
        "note": "The bottle is held rigidly horizontal by its middle (it moves with the wrist camera), so it won't pivot. Pulling it back toward the base and setting it down so I can regrasp right at the neck, which was out of reach before.",
        "targets": {
          "right_x": 0.28,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01BGxUf9u74wJmNHMoWPZvmo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0257, -0.0296, 0.9983, 0.9211, 1.4895, 0.4961, 0.2066, 0.6407, 0.4976, 0.2986]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1528 left_yaw=-0.0012 left_pitch=-0.0107 left_roll=0.0028 left_gripper=0.9983 right_x=0.2821 right_y=0.2027 right_z=0.0528 right_yaw=0.126 right_pitch=-0.0358 right_roll=-0.0248 right_gripper=0.2986\nstate[joint_eff]: [0.0479, -1.5658, 6.2564, 1.917, 0.022, -0.0806, -0.0122, 0.1709, -6.7761, 5.4085, 1.4823, 0.4908, 0.105, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffe3fc217923d508b1f95a0c4c881f75a6b1132a355795af7026212efa264bdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc11c0c4fc1c0326a37b350ebaca222d8b655c08c83386bb921081c402be403b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6293fc279f6fe2f19ec038feaf48f923017a21e7730eac077f2fd0b5374e8217",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 12.18 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]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0254, -0.0292, 0.9983, 0.4908, 2.0586, 1.0355, 0.5148, 0.3622, 0.2268, 0.3001]\nstate[eef_state]: left_x=0.2846 left_y=0.0027 left_z=0.1528 left_yaw=-0.0018 left_pitch=-0.0107 left_roll=0.0029 left_gripper=0.9983 right_x=0.4937 right_y=0.1969 right_z=0.053 right_yaw=0.059 right_pitch=0.0952 right_roll=0.0392 right_gripper=0.3001\nstate[joint_eff]: [0.1846, -1.5248, 6.2017, 1.9072, -0.0269, -0.0171, -0.0122, -0.4581, -9.9487, 5.3812, 0.823, 0.0611, 0.0171, 0.3248]",
      "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]: [-0.0189, 0.7383, 0.4847, -0.3191, -0.0254, -0.0292, 0.9983, 0.5407, 1.7897, 1.0782, 0.0708, 0.3862, 0.244, 0.2987]\nstate[eef_state]: left_x=0.2845 left_y=0.0027 left_z=0.1528 left_yaw=-0.0018 left_pitch=-0.0111 left_roll=0.0029 left_gripper=0.9983 right_x=0.4521 right_y=0.198 right_z=0.1156 right_yaw=0.0821 right_pitch=-0.0188 right_roll=-0.0147 right_gripper=0.2987\nstate[joint_eff]: [0.1162, -0.9641, 6.4479, 1.9023, 0.0073, -0.0659, -0.0122, 0.6359, -11.5897, 9.347, 1.7998, 0.3443, 0.2271, -0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0257, -0.0296, 0.9983, 0.9211, 1.4895, 0.4961, 0.2066, 0.6407, 0.4976, 0.2986]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1528 left_yaw=-0.0012 left_pitch=-0.0107 left_roll=0.0028 left_gripper=0.9983 right_x=0.2821 right_y=0.2027 right_z=0.0528 right_yaw=0.126 right_pitch=-0.0358 right_roll=-0.0248 right_gripper=0.2986\nstate[joint_eff]: [0.0479, -1.5658, 6.2564, 1.917, 0.022, -0.0806, -0.0122, 0.1709, -6.7761, 5.4085, 1.4823, 0.4908, 0.105, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffe3fc217923d508b1f95a0c4c881f75a6b1132a355795af7026212efa264bdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc11c0c4fc1c0326a37b350ebaca222d8b655c08c83386bb921081c402be403b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6293fc279f6fe2f19ec038feaf48f923017a21e7730eac077f2fd0b5374e8217",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SQft8N7ULYDeKYjBi3yWpW",
      "input": {
        "note": "The top view shows the rightmost bottle never moved, yet the gripper reads 0.30 while apparently empty. Closing fully in the air to check what an empty close reads.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SQft8N7ULYDeKYjBi3yWpW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0257, -0.0292, 0.9983, 0.9291, 1.3621, 0.5312, 0.078, 0.6498, 0.4931, 0.0173]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1528 left_yaw=-0.0014 left_pitch=-0.0107 left_roll=0.0031 left_gripper=0.9983 right_x=0.2795 right_y=0.2014 right_z=0.0859 right_yaw=0.1304 right_pitch=-0.0075 right_roll=-0.0088 right_gripper=0.0173\nstate[joint_eff]: [0.0889, -1.5385, 6.2154, 1.8681, -0.0073, -0.0513, -0.0122, -0.6632, -5.3402, 8.253, 1.4676, 0.2027, 0.0073, 0.8571]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd39e7b98745e87f70ee0b96c8e68d2b917ee09f79f2c1df7567c69b99ec4a9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fa7839b52278afef53fe22d40d9af572e342412677c889dcfd23b1772488ea3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4540fc96d7cc584ac52506a46d4797a8f5b138907356abb680b6f7b72b0b2100",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 4.923 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]: [-0.0189, 0.7383, 0.4847, -0.3191, -0.0254, -0.0292, 0.9983, 0.5407, 1.7897, 1.0782, 0.0708, 0.3862, 0.244, 0.2987]\nstate[eef_state]: left_x=0.2845 left_y=0.0027 left_z=0.1528 left_yaw=-0.0018 left_pitch=-0.0111 left_roll=0.0029 left_gripper=0.9983 right_x=0.4521 right_y=0.198 right_z=0.1156 right_yaw=0.0821 right_pitch=-0.0188 right_roll=-0.0147 right_gripper=0.2987\nstate[joint_eff]: [0.1162, -0.9641, 6.4479, 1.9023, 0.0073, -0.0659, -0.0122, 0.6359, -11.5897, 9.347, 1.7998, 0.3443, 0.2271, -0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0257, -0.0296, 0.9983, 0.9211, 1.4895, 0.4961, 0.2066, 0.6407, 0.4976, 0.2986]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1528 left_yaw=-0.0012 left_pitch=-0.0107 left_roll=0.0028 left_gripper=0.9983 right_x=0.2821 right_y=0.2027 right_z=0.0528 right_yaw=0.126 right_pitch=-0.0358 right_roll=-0.0248 right_gripper=0.2986\nstate[joint_eff]: [0.0479, -1.5658, 6.2564, 1.917, 0.022, -0.0806, -0.0122, 0.1709, -6.7761, 5.4085, 1.4823, 0.4908, 0.105, -0.022]",
      "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]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0257, -0.0292, 0.9983, 0.9291, 1.3621, 0.5312, 0.078, 0.6498, 0.4931, 0.0173]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1528 left_yaw=-0.0014 left_pitch=-0.0107 left_roll=0.0031 left_gripper=0.9983 right_x=0.2795 right_y=0.2014 right_z=0.0859 right_yaw=0.1304 right_pitch=-0.0075 right_roll=-0.0088 right_gripper=0.0173\nstate[joint_eff]: [0.0889, -1.5385, 6.2154, 1.8681, -0.0073, -0.0513, -0.0122, -0.6632, -5.3402, 8.253, 1.4676, 0.2027, 0.0073, 0.8571]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd39e7b98745e87f70ee0b96c8e68d2b917ee09f79f2c1df7567c69b99ec4a9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fa7839b52278afef53fe22d40d9af572e342412677c889dcfd23b1772488ea3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4540fc96d7cc584ac52506a46d4797a8f5b138907356abb680b6f7b72b0b2100",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XDg62CUfmuuPe7LHTqaXR2",
      "input": {
        "note": "Empty close reads 0.02, so earlier the jaws did pinch the bottle but it popped out—likely gripped above its centreline. Moving back over the bottle's upper body to grasp it lower and drag it closer so the neck becomes reachable.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.43,
          "right_y": 0.195,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01XDg62CUfmuuPe7LHTqaXR2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7338, 0.4847, -0.3218, -0.0254, -0.0296, 0.9983, 0.8021, 1.4792, 0.6754, 0.0662, 0.5438, 0.3943, 0.9961]\nstate[eef_state]: left_x=0.284 left_y=0.0027 left_z=0.1534 left_yaw=-0.0016 left_pitch=-0.0092 left_roll=0.0025 left_gripper=0.9983 right_x=0.3224 right_y=0.207 right_z=0.0915 right_yaw=0.1362 right_pitch=-0.0453 right_roll=-0.027 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -0.4034, 6.4068, 1.9121, -0.0122, -0.0464, -0.0122, 0.0068, -9.0462, 6.6393, 1.5556, 0.3639, 0.0024, -0.2418]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d45eaa83def4254aca456c59c009cf034a6c5f7e8e99993b67ceb626e6e86a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f714ade8082a9bfad8cdf70ac77b05856d0d7bbc677bdd6b2a7d8ffdf17fe5d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0efd6bdd260e7bb00f71b5bb1e95a1ed13eba95e0c0622ce6a847ed6436e9351",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 4.441 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]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0257, -0.0296, 0.9983, 0.9211, 1.4895, 0.4961, 0.2066, 0.6407, 0.4976, 0.2986]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1528 left_yaw=-0.0012 left_pitch=-0.0107 left_roll=0.0028 left_gripper=0.9983 right_x=0.2821 right_y=0.2027 right_z=0.0528 right_yaw=0.126 right_pitch=-0.0358 right_roll=-0.0248 right_gripper=0.2986\nstate[joint_eff]: [0.0479, -1.5658, 6.2564, 1.917, 0.022, -0.0806, -0.0122, 0.1709, -6.7761, 5.4085, 1.4823, 0.4908, 0.105, -0.022]",
      "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]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0257, -0.0292, 0.9983, 0.9291, 1.3621, 0.5312, 0.078, 0.6498, 0.4931, 0.0173]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1528 left_yaw=-0.0014 left_pitch=-0.0107 left_roll=0.0031 left_gripper=0.9983 right_x=0.2795 right_y=0.2014 right_z=0.0859 right_yaw=0.1304 right_pitch=-0.0075 right_roll=-0.0088 right_gripper=0.0173\nstate[joint_eff]: [0.0889, -1.5385, 6.2154, 1.8681, -0.0073, -0.0513, -0.0122, -0.6632, -5.3402, 8.253, 1.4676, 0.2027, 0.0073, 0.8571]",
      "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]: [-0.0189, 0.7338, 0.4847, -0.3218, -0.0254, -0.0296, 0.9983, 0.8021, 1.4792, 0.6754, 0.0662, 0.5438, 0.3943, 0.9961]\nstate[eef_state]: left_x=0.284 left_y=0.0027 left_z=0.1534 left_yaw=-0.0016 left_pitch=-0.0092 left_roll=0.0025 left_gripper=0.9983 right_x=0.3224 right_y=0.207 right_z=0.0915 right_yaw=0.1362 right_pitch=-0.0453 right_roll=-0.027 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -0.4034, 6.4068, 1.9121, -0.0122, -0.0464, -0.0122, 0.0068, -9.0462, 6.6393, 1.5556, 0.3639, 0.0024, -0.2418]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d45eaa83def4254aca456c59c009cf034a6c5f7e8e99993b67ceb626e6e86a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f714ade8082a9bfad8cdf70ac77b05856d0d7bbc677bdd6b2a7d8ffdf17fe5d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0efd6bdd260e7bb00f71b5bb1e95a1ed13eba95e0c0622ce6a847ed6436e9351",
        "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/ggKEAgSGAI4AUIIdGhpbmtpbmcSDHzGus8/naS4jyFRBBoMYwtBHGZnT6D+e+cNIjA6cVnqB2HrnzE8Mo6eg6AJ0KZbIJuuFoIIsmac7W41sgnmNreK4uWwewPoYlL21ykqmwgp940EMJl5NphjOs93MQhe7D4kELrGJJkLyM+KUXhSOoVOSHjwhTQC+yhNcNYasghDZhT75Dp2TqhRFiosnySJWI3DAFz6NyLJRi+ZocjaiNag+ScuL5ixHlTWrUu4SRueSGr8W018eplsDo7NJuKfsHwlJBfmf3zEu+hPvO+8RJlE/I/RDNGS3BQeL5ukqbg4AgfVT9VH3Zdgsgn6lXg87YuaHO85q49qP2O4EyMssOs2dBNpRSJRaFh/29704yyVcnmKxn0ERDf/2s7IvBc4M7dcdkxdYOKn074/8R+WfjKU+O6gLbmX6+LP0a6dUk4e8ERYP5pOo9SNynmDvxjIsu4l4h7CJ2LwfWPAB27Dx0bIwKwx/1c+ZJXitn2xREKA8gKbMpqmejPuQg7VXyv6dUy3wnUhfNWV8jXdxzyefq5WNhh4aqe2hvcA8fzTnxI0PmFn1OyP5u6Qvk8qn2MVhSfOePU2LszL1ymxw/3DL2zS5Gn4u9Ot1/ahleevWkdTgkGUtOXERlnSn/G3qYLxgOLPPgXYpf/H35xf8adaeHw80yBGz/zqGLzoLRGvR0+J0hoTSs+QgQCPxDaD3DOMVT6rjRaegst8ot82PC1ZWHe1isKnvxAcvO+QjynsSqnqKbqKnzh/HxpgqajZj+URNVOMV6r/J7C9Ngvi/jaSP7pwyylPHLP0mQHa7c8Zlva5qoykklk6+Fgh2vSWWj0zNMtSkrKmbWQPBMzf2pQBRfkkNu6GpryrjqDQ66Fecb/WkgzFs5F3qwkE4H4U/LXnEThe2TSC/jBKwrJWlP+9RcMDdJM46Z8S+jB9wD8hlp+jf0OSe42fMcJJeMn5c07Oa78H5OiUf6xeFiFQ6v7byqHM4z4z9JJoiZ3fejygRy5iqHlZdHN7dLb+H9c0q0ojazhOYDhuLhkvZ3GoVrnvyXNLHJwA2OIuXMeYIlTjjT24L5cHZHPsMZwUwftS3L9/1KSFvM8Wa9AFVrMC/MDA4n+gEOHd6hV63auDyrWlMTRekBeEGyfFUtIAnmXGZbEhR5lUindGw1MlPVHUhByRuodUmLL1vUKVuO1sIYxr1gdb+u/+GgqHcribFyS094rRQQrrTbBb5XT5XiXnYfeBDZ99CeKs2xAc0RHNFc6gV2zleZMoJjQ8zQ9Ww9sX/5+Gpn5gGK8Q7vf9uwAtj42S05C601wiCGpqWaQ/5m8toXewZUWQLD+2rBAkVn4BBZzYlohHhnYdY1zZ05pu+2xhPuCqm+TPnS6eIDo77KPVrZ/ruc2rBm2cALIjnL9+XZ8FQNxm8JlG9eL7GAhYhwxOsrB8GkXiKKUGAtXPV/WTFsbotk7cRgDsWNJr3M4hRfuTbOkMghXaLW9Zhx2eOw7Q4FtK/R5YvDaZPb4zGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ARtYFFG5ibQknXS5e1z6Sf",
      "input": {
        "note": "Arm stopped at x 0.32, possibly brushing the bottle. Raising a bit and continuing forward over the bottle.",
        "targets": {
          "right_x": 0.44,
          "right_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_01ARtYFFG5ibQknXS5e1z6Sf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7326, 0.4847, -0.3187, -0.0254, -0.0292, 0.9983, 0.5724, 1.7306, 0.9749, 0.0925, 0.3599, 0.226, 0.9961]\nstate[eef_state]: left_x=0.2843 left_y=0.0027 left_z=0.1544 left_yaw=-0.0018 left_pitch=-0.005 left_roll=0.0028 left_gripper=0.9983 right_x=0.4244 right_y=0.2037 right_z=0.1035 right_yaw=0.1445 right_pitch=-0.0461 right_roll=-0.0248 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -1.3333, 6.5436, 1.7998, 0.0122, -0.0611, -0.0122, -0.7043, -7.9932, 8.9641, 1.7949, 0.0806, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c7a5a25c65b38159cb47dfb3d0fa5f81d640f97451c635b747d7f34ebfe4f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:821f1b5f912eb460dd4c6a8f7fb0d93b453e5babdfa10e1c562d4706d9885add",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:73ca0c6c93e7ee58995dea9c3837856b6202d2fb4d214fcaa43fd243a8868c08",
        "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 · 3.618 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]: [-0.0189, 0.7383, 0.4847, -0.3187, -0.0257, -0.0292, 0.9983, 0.9291, 1.3621, 0.5312, 0.078, 0.6498, 0.4931, 0.0173]\nstate[eef_state]: left_x=0.2846 left_y=0.0028 left_z=0.1528 left_yaw=-0.0014 left_pitch=-0.0107 left_roll=0.0031 left_gripper=0.9983 right_x=0.2795 right_y=0.2014 right_z=0.0859 right_yaw=0.1304 right_pitch=-0.0075 right_roll=-0.0088 right_gripper=0.0173\nstate[joint_eff]: [0.0889, -1.5385, 6.2154, 1.8681, -0.0073, -0.0513, -0.0122, -0.6632, -5.3402, 8.253, 1.4676, 0.2027, 0.0073, 0.8571]",
      "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]: [-0.0189, 0.7338, 0.4847, -0.3218, -0.0254, -0.0296, 0.9983, 0.8021, 1.4792, 0.6754, 0.0662, 0.5438, 0.3943, 0.9961]\nstate[eef_state]: left_x=0.284 left_y=0.0027 left_z=0.1534 left_yaw=-0.0016 left_pitch=-0.0092 left_roll=0.0025 left_gripper=0.9983 right_x=0.3224 right_y=0.207 right_z=0.0915 right_yaw=0.1362 right_pitch=-0.0453 right_roll=-0.027 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -0.4034, 6.4068, 1.9121, -0.0122, -0.0464, -0.0122, 0.0068, -9.0462, 6.6393, 1.5556, 0.3639, 0.0024, -0.2418]",
      "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]: [-0.0189, 0.7326, 0.4847, -0.3187, -0.0254, -0.0292, 0.9983, 0.5724, 1.7306, 0.9749, 0.0925, 0.3599, 0.226, 0.9961]\nstate[eef_state]: left_x=0.2843 left_y=0.0027 left_z=0.1544 left_yaw=-0.0018 left_pitch=-0.005 left_roll=0.0028 left_gripper=0.9983 right_x=0.4244 right_y=0.2037 right_z=0.1035 right_yaw=0.1445 right_pitch=-0.0461 right_roll=-0.0248 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -1.3333, 6.5436, 1.7998, 0.0122, -0.0611, -0.0122, -0.7043, -7.9932, 8.9641, 1.7949, 0.0806, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c7a5a25c65b38159cb47dfb3d0fa5f81d640f97451c635b747d7f34ebfe4f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:821f1b5f912eb460dd4c6a8f7fb0d93b453e5babdfa10e1c562d4706d9885add",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73ca0c6c93e7ee58995dea9c3837856b6202d2fb4d214fcaa43fd243a8868c08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiggKEAgSGAI4AUIIdGhpbmtpbmcSDPGZGk1YZNciWI46wRoMJO9rSYzwCgp0yAgYIjA7RADMYZTQdfsMR7wj8P9isHZnvbf+zByWhwr8CsI3s+BRfJXtrJUkW/uVdyZuSU4qpwc2PlMpgwyQdkLpEEgeHoRwy3cDslNgg+614tQYGHaPmFBFRNlX4eW8LrgHD19gWRPHzfNrzmbgsGECUtISYXQ25wiWbeHetcJD/qkIf7R2pxlQn1F9oEInhxPCgNo5uGmN7WGaojHKo7Drfykw/N0MKDCu/wa5BAs+kfYHztEXEAM6l4UW6MY0KrOgEUNtNWkIpyj0JS3I/TYAuvX9TN5GK2oriDEENLg13mCry/MRK3iMmtA15gQP7uIMb55qTRJO5QjBmHdS6mEk+bBrFUHZmhoHjYJlk1Hx0i5vxqgXc6sRUypnetpRW7Vm6ilOrBM6qeFSgeno76oKDYO+I/Em2hKRoN5JIlvQiBxUwvDiuzYgbhEScnBdjXe0zKRK0svgbw/Tlth6W8TgAAlrBSLkt4Tho5cjfOgSSl34Ya2D6sGXkLt1Ztly6sZFzQ1vX5AcPQl67q6Mq7Omrn5kuvzYhg9IjtD61g94uWpOOUvujhe8gTmRuMY1oF6uuOC71CxmO75BNOZpsoLjPnxK4TAaKcYsQEVfqY0HdxMyZWebbV0P5+T7UPrcLjqn6kwVNIKA5ndOahl109YcUEwyd7nEjqtkGQCDr69fRirkHQXYvOqO7+vGc7F0LiCe7NZd9o++56bzveZAQIxUPqMpeoOkxqS6UyBuk8d6FpwZtB/egv5uKu97kpfVCTksDmJW+eSoKNz1wAjaYcCrMILYfxd0ib6NJVH3HTUwGCcG21H9hW0Tk2E0LhmaxsNri33HurrkD8UhDLtlgLcB3Rl/avw6GExlIEnCHTXXJvYhZXCoCiGYQUDZGxDg4V/jfiaxF7ASa1rc1B1Bo6VEYmEZB3RQtX7Ig+s7WTT9LLhA1SS9LvzApr5gdsA+dOhVDgtwW5+JIhIzMWidAmoNxF9nSQoCOw3N4RlTgeWlupxNclgTe6OueFnaCG2DXa/3mqXMpMVLFsLWYbzeFIkplj/Tj+osWIV+hyIAXhclOZLbUVLryWNS+i+zKp/7qCS1dr+ZvIT7Mvu0Lvoc+8cONfwDVmkd3NoQEaV9Jz70icgKjrAB/TmihDrMifTmADmnmo+dd4rBQOf0HvkRswBebNcMQo4gMJuN8t08toQP3btkdaPL5hUBvNR0f3CYo0WD30vpop4dPJN7tZ3qNW0ZnLcsLAT3XQhaNRB2yI9l1VWwI2daj5nV65DE4+EpXCCPuoGyuysA6WnBeVsnQBOlciB0HPzfiZpBOUsL+xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Urf5EruiM2RkmMfJyofvYN",
      "input": {
        "note": "Bottle is centred between the jaws, cap well ahead. Descending to the table so the fingertips go below the bottle's centreline before closing.",
        "targets": {
          "right_yaw": 0.1,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Urf5EruiM2RkmMfJyofvYN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7334, 0.4847, -0.3195, -0.0257, -0.0292, 0.9983, 0.585, 2.0361, 0.8143, 0.5854, 0.3893, 0.2569, 0.996]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0014 left_pitch=-0.0065 left_roll=0.003 left_gripper=0.9983 right_x=0.424 right_y=0.2047 right_z=-0.0004 right_yaw=0.1169 right_pitch=-0.0141 right_roll=-0.0037 right_gripper=0.996\nstate[joint_eff]: [0.1162, -1.2239, 6.7487, 1.746, 0.0073, -0.0855, -0.0122, 0.1573, -6.9128, 4.2051, 1.1746, 0.3053, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c65aeb32803df0b994a65405d4a5a330d4696c29db108827ea9b263928254694",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7953ac4284563915bcfd145ce4deeb2df6612bcc8859ce32dac1cf1f8d9521d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf5612e03690f57d0c5883dcfe81be4de200381c8844e989206e3f226d98c2ee",
        "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 · 3.951 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]: [-0.0189, 0.7338, 0.4847, -0.3218, -0.0254, -0.0296, 0.9983, 0.8021, 1.4792, 0.6754, 0.0662, 0.5438, 0.3943, 0.9961]\nstate[eef_state]: left_x=0.284 left_y=0.0027 left_z=0.1534 left_yaw=-0.0016 left_pitch=-0.0092 left_roll=0.0025 left_gripper=0.9983 right_x=0.3224 right_y=0.207 right_z=0.0915 right_yaw=0.1362 right_pitch=-0.0453 right_roll=-0.027 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -0.4034, 6.4068, 1.9121, -0.0122, -0.0464, -0.0122, 0.0068, -9.0462, 6.6393, 1.5556, 0.3639, 0.0024, -0.2418]",
      "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]: [-0.0189, 0.7326, 0.4847, -0.3187, -0.0254, -0.0292, 0.9983, 0.5724, 1.7306, 0.9749, 0.0925, 0.3599, 0.226, 0.9961]\nstate[eef_state]: left_x=0.2843 left_y=0.0027 left_z=0.1544 left_yaw=-0.0018 left_pitch=-0.005 left_roll=0.0028 left_gripper=0.9983 right_x=0.4244 right_y=0.2037 right_z=0.1035 right_yaw=0.1445 right_pitch=-0.0461 right_roll=-0.0248 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -1.3333, 6.5436, 1.7998, 0.0122, -0.0611, -0.0122, -0.7043, -7.9932, 8.9641, 1.7949, 0.0806, -0.022, -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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7334, 0.4847, -0.3195, -0.0257, -0.0292, 0.9983, 0.585, 2.0361, 0.8143, 0.5854, 0.3893, 0.2569, 0.996]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0014 left_pitch=-0.0065 left_roll=0.003 left_gripper=0.9983 right_x=0.424 right_y=0.2047 right_z=-0.0004 right_yaw=0.1169 right_pitch=-0.0141 right_roll=-0.0037 right_gripper=0.996\nstate[joint_eff]: [0.1162, -1.2239, 6.7487, 1.746, 0.0073, -0.0855, -0.0122, 0.1573, -6.9128, 4.2051, 1.1746, 0.3053, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c65aeb32803df0b994a65405d4a5a330d4696c29db108827ea9b263928254694",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7953ac4284563915bcfd145ce4deeb2df6612bcc8859ce32dac1cf1f8d9521d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf5612e03690f57d0c5883dcfe81be4de200381c8844e989206e3f226d98c2ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzQYKEAgSGAI4AUIIdGhpbmtpbmcSDIuQqi0ceASQKPMCjBoMbdj3FU7S6F4moDJZIjDq33MUoRdYK2O8cEeK/QI9TQINKDUf5lMRZhKoHfq8Ljt6lwcj4Xbb0eXemsiH5Z8q6gXbUHAe/4WHyMkhivRUVyMULOpkDKKjWPiBuLnjmqSkRiO+9ZV4BomM5l0DGjpSdEz99VmwCv8aMSHkVrVeD40Pk9h4deHzJloLoe4u3DJm1uQK0+tM0OsgYw5aiPhNCNu5mUFxkbi5sgfTrQa4TJG2uvsO60GnY9gOkUAX241CC7TqlXSP/6/BXQMM8RcTAGApKqWq8qrIQJnGJSgnY3kN7iXg6jQCstcOaZH506lsGijHIEDhlRunSNc/oGq/WN3A/Lm50H3vL9bB2lBmB+Aq+g/Ifv42mVlsp+cX2Hik44UL8QcPPG6Yp87t/vPdzvt/zRFTHy65cCkj3YTTa0OcqBqOgMwtirtNsKCWNXK2GmGzkPrGnqF14qMO2Zj0rISZCVrjYFXEWBKUehV9TYgBYAvT26ZGMU6R2R07R7ZjxDAE0W+aLd9vY1izj1DbagXqfkolZj28YFsCCY+QwFd7svEJk0J6FAFTawUa+CM2Mbt7T0ujFjPcm+hWft/RhLSSk5lMcrDDyXgj2hUfkevnHSkXvocvvrANuIOXtpe3YliyKPM+c8DcySptvp61B8AG5hJb44v8sNVI7Oy58NHAqQyoZTu070/8b4CUBSwlUR5rcAGi0cTSy3bMLnSbD97CaZ6sZS4EFj4zO6re49nu6jO7iRgzXYCa/pcEgmfQCeiM6GJlECMxEugChvg12X2Lgku7opdVBgtyz/crp1KpZlXdlHlTFWSlU5i+GABwi53prj0Ps10LB8/RXVsxFmkcDPE2xCSZZjxTXB9pXUT4dBJ+j2KyA8jfNTtG0YA/D5aDydclEwPG3tux2YKsN5H9Btr1QWEZMZ2OmFl7BGAmlzflW7BAadsilkGez5HgqY0sX473fec9tqFcbAGBptHLO9pR0c3SEfpxqodew6nvDH/MjWEWFwU105RCff0YECAQFENjwdx3dP4hqzu4bAPhRUwjaiFOb9ceB1szaaSlPnKou4tiFsTb0RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013BEJz5k5jq6v5KuWJop4Hv",
      "input": {
        "note": "Jaws at table level straddling the bottle body. Closing to grip below its centreline.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013BEJz5k5jq6v5KuWJop4Hv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7338, 0.4847, -0.3191, -0.0257, -0.0292, 0.9983, 0.588, 2.0483, 0.8104, 0.6373, 0.3882, 0.2527, 0.5231]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0014 left_pitch=-0.0065 left_roll=0.003 left_gripper=0.9983 right_x=0.4269 right_y=0.2086 right_z=0.0027 right_yaw=0.1232 right_pitch=0.0176 right_roll=0.0095 right_gripper=0.5231\nstate[joint_eff]: [0.1436, -1.0598, 6.5846, 1.8388, -0.022, -0.0415, -0.0122, -0.4034, -10.0444, 4.0684, 1.4335, 0.0952, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f037eb9ecc97ff5cc6cc1717d41765d2b567cda1c5b7f545f9c025e649124c51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32d587efa82fcc475a1a50bc1eb6eeb3246cb2abc293c20ae460285117c45640",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:436e233cf46ee4b09201fde535da30893d99c6bf0f0d56e2df34fe0753bbb5b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 5.537 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]: [-0.0189, 0.7326, 0.4847, -0.3187, -0.0254, -0.0292, 0.9983, 0.5724, 1.7306, 0.9749, 0.0925, 0.3599, 0.226, 0.9961]\nstate[eef_state]: left_x=0.2843 left_y=0.0027 left_z=0.1544 left_yaw=-0.0018 left_pitch=-0.005 left_roll=0.0028 left_gripper=0.9983 right_x=0.4244 right_y=0.2037 right_z=0.1035 right_yaw=0.1445 right_pitch=-0.0461 right_roll=-0.0248 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -1.3333, 6.5436, 1.7998, 0.0122, -0.0611, -0.0122, -0.7043, -7.9932, 8.9641, 1.7949, 0.0806, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0189, 0.7334, 0.4847, -0.3195, -0.0257, -0.0292, 0.9983, 0.585, 2.0361, 0.8143, 0.5854, 0.3893, 0.2569, 0.996]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0014 left_pitch=-0.0065 left_roll=0.003 left_gripper=0.9983 right_x=0.424 right_y=0.2047 right_z=-0.0004 right_yaw=0.1169 right_pitch=-0.0141 right_roll=-0.0037 right_gripper=0.996\nstate[joint_eff]: [0.1162, -1.2239, 6.7487, 1.746, 0.0073, -0.0855, -0.0122, 0.1573, -6.9128, 4.2051, 1.1746, 0.3053, -0.0415, -0.0171]",
      "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]: [-0.0189, 0.7338, 0.4847, -0.3191, -0.0257, -0.0292, 0.9983, 0.588, 2.0483, 0.8104, 0.6373, 0.3882, 0.2527, 0.5231]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0014 left_pitch=-0.0065 left_roll=0.003 left_gripper=0.9983 right_x=0.4269 right_y=0.2086 right_z=0.0027 right_yaw=0.1232 right_pitch=0.0176 right_roll=0.0095 right_gripper=0.5231\nstate[joint_eff]: [0.1436, -1.0598, 6.5846, 1.8388, -0.022, -0.0415, -0.0122, -0.4034, -10.0444, 4.0684, 1.4335, 0.0952, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f037eb9ecc97ff5cc6cc1717d41765d2b567cda1c5b7f545f9c025e649124c51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32d587efa82fcc475a1a50bc1eb6eeb3246cb2abc293c20ae460285117c45640",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:436e233cf46ee4b09201fde535da30893d99c6bf0f0d56e2df34fe0753bbb5b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkAcKEAgSGAI4AUIIdGhpbmtpbmcSDFTVyyF63kCZhCW2hhoMDot9nUCf9FHBAhZCIjAmMkWllW+GuVRzZhzdbG26ex3kx1I6GMMEX4NEJRb+aJPZ8iyUfZLo+xckeyng3YQqrQaeCRYkb4HbcI/4rvFyJ/6168m0z7giWIPpqAmFCnQ6z9kYJHo9q4OpQSULbmxdqZMJ0+m3ywz9gJsEatuST00S9WaTmcc0tMSVf9Mmk0rNdzthNzLVSHQDGz8zknIu0C6p5t/2hPnGgnTxiiOfIookv7OnHPUQYoIslmAitWxvEDY4WtQj6b8DCMrN4FUNGMIf8es5olIVWvIT9LpjRzvDCg9n5OjqZwxuYDAyTnzScvkpIYNlxATDYr90jXjjBZK+LlDMQrePJ0wE+Ise079OWAtX79SFq82kE6ZhkkScgZ+8SqBaHCSRSIkvr1OJxbFCOJgBqn5+HUaLrNMietH8ENChPuYttV0dz/TabgYdZPpyexfG6z0a9qm2JVxHaqRbmpBOi28XatKO2prGwXbFt/IEKqIUAwjGbVx40d1naQ5s5QvtfUfLg/k9zo5kHjWzIAtmnxa2+C1VoxcHLOxeGw2C5X/ieOG7Bc/AzvypxtEALa/cNyRUWaz0HD/h+0mAoiHVPDAy6JNiMpIm3ByIVkF5wxrW768fuwT4wrTmCG2rcgTKCGON62KeaRIH4GJ1CbTO4fK4cH7uwLft93vsnGd9UdJh4092t7Et8M9GzrLOJHqqWH/sv5T1WegXUQktgJCm+37m9oPOg7dZh3ZqglutQ5f+yNc1AlCLkPZTNsOYcv70rZ1ovv6H6YG+ym3cDx0E3Bhfg6uAta4sadA9kQ0qFOCI8JD9iawro1AT6vhXDcfrKcxc/fUIrlc0ZUVQerP4rC8wTqOaMHUZBtMGmj4c8KHz9EJihc5ys5Bs0N7/6GwiNukj99G0b29H7hrpeyuliXLq4e2/SBGcT6rwt751vL3min3MAaOvhBsaawZefqa21vObPXpGJv3FhKPryVPgJ10I6jVOTFMmYo5wM+o3Ed/uCUFatTMeJqHE0wH5nj7uOo65Ia13VX7VYDQhQe+TTGBv69dh06kiuWVflik7r627Htvang9BcwXDFtrFEz/+iPh1WRWMzOPlCyjAhb8MCquAaEw2nL8R/U/Yd4NXA45Vxv1EKrox4vVx4QxA8WSGkx4bQmYyIDIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DwHKSpErBTjQRyH36tMnVC",
      "input": {
        "note": "Holding the bottle body (reading 0.52 ≈ 5 cm). Dragging it back along the table ~12 cm so its neck comes within reach.",
        "targets": {
          "right_x": 0.3,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DwHKSpErBTjQRyH36tMnVC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7338, 0.4847, -0.3191, -0.0257, -0.0296, 0.9983, 0.8669, 1.7878, 0.4622, 0.593, 0.5762, 0.4221, 0.5252]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0012 left_pitch=-0.0065 left_roll=0.0027 left_gripper=0.9983 right_x=0.3016 right_y=0.212 right_z=0.0009 right_yaw=0.1615 right_pitch=-0.0274 right_roll=-0.0178 right_gripper=0.5252\nstate[joint_eff]: [-0.0479, -0.9094, 6.7077, 1.8339, -0.0024, -0.0952, -0.0122, 0.1983, -8.335, 4.4513, 1.6044, 0.3639, 0.1197, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f61d2617cf362bdde15a7dd9ecf3ec1d242178380c6023ba776dec5cf56978d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f87bb51a76389fc1f44707e5ebd3a04598a7060c3c9472e173f77412a4abf7b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b0819a20d9b9909a28acf653a9cf9a2250fd5e593aa049792c15f7933300807c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 3.299 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]: [-0.0189, 0.7334, 0.4847, -0.3195, -0.0257, -0.0292, 0.9983, 0.585, 2.0361, 0.8143, 0.5854, 0.3893, 0.2569, 0.996]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0014 left_pitch=-0.0065 left_roll=0.003 left_gripper=0.9983 right_x=0.424 right_y=0.2047 right_z=-0.0004 right_yaw=0.1169 right_pitch=-0.0141 right_roll=-0.0037 right_gripper=0.996\nstate[joint_eff]: [0.1162, -1.2239, 6.7487, 1.746, 0.0073, -0.0855, -0.0122, 0.1573, -6.9128, 4.2051, 1.1746, 0.3053, -0.0415, -0.0171]",
      "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]: [-0.0189, 0.7338, 0.4847, -0.3191, -0.0257, -0.0292, 0.9983, 0.588, 2.0483, 0.8104, 0.6373, 0.3882, 0.2527, 0.5231]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0014 left_pitch=-0.0065 left_roll=0.003 left_gripper=0.9983 right_x=0.4269 right_y=0.2086 right_z=0.0027 right_yaw=0.1232 right_pitch=0.0176 right_roll=0.0095 right_gripper=0.5231\nstate[joint_eff]: [0.1436, -1.0598, 6.5846, 1.8388, -0.022, -0.0415, -0.0122, -0.4034, -10.0444, 4.0684, 1.4335, 0.0952, -0.0024, 1.0281]",
      "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]: [-0.0189, 0.7338, 0.4847, -0.3191, -0.0257, -0.0296, 0.9983, 0.8669, 1.7878, 0.4622, 0.593, 0.5762, 0.4221, 0.5252]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0012 left_pitch=-0.0065 left_roll=0.0027 left_gripper=0.9983 right_x=0.3016 right_y=0.212 right_z=0.0009 right_yaw=0.1615 right_pitch=-0.0274 right_roll=-0.0178 right_gripper=0.5252\nstate[joint_eff]: [-0.0479, -0.9094, 6.7077, 1.8339, -0.0024, -0.0952, -0.0122, 0.1983, -8.335, 4.4513, 1.6044, 0.3639, 0.1197, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f61d2617cf362bdde15a7dd9ecf3ec1d242178380c6023ba776dec5cf56978d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f87bb51a76389fc1f44707e5ebd3a04598a7060c3c9472e173f77412a4abf7b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0819a20d9b9909a28acf653a9cf9a2250fd5e593aa049792c15f7933300807c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wgKEAgSGAI4AUIIdGhpbmtpbmcSDOTYVrvUItfB/QFMQRoMOl22N+AB16Ox53FqIjBrtpmOsNAxx2TwvTxgh5oBJ3fyMZ64fo9RbVxKpl+kSEQU2qFdRVEIRaQ4jPUjkbUqlAhHCWTer/D3A93NR/RNQ+5jmIoJFuGgEx3rlojkxq93MzTIlEVW7byDEtZDAEumxHAfzGrgdH2gHASPQNMLlZf9hAaxktSYjvps2uSQwEz+v7enwAyqdc+zijbVM0GZkaV2QKdfwzQjdd0gSC6FRfZxo7Wik/UDGRQkMDhHdGGEaAF25ZsQ3QBm3g6dNEUatFrhPMsJk7ZKOrJj2wiqalJ1FOU7syrZKYv3GIAd8Zc1Wy6iBXTQHHUBzJuNGbagchF0Gfppf/HqV8kJDyeFEU4Lh3eg9mSMt+87qnXMB+YKXHI2UoFb4LofuZrP6+k7y/IWlJuW47DM+OEXQ75HLuYPtYWwA3qK9ohqGsuU8zkwTpYKBt1uYsaxR2H0jBSRbcE/slqR0zqUDt4nMFzC9IK3LKjZRWfJ00cFIJPrw/SHVZVJi9f2clZaS6G5pmjWjW3xLAWbDXgmaZ4cdIrLJAF8YZQ5iyNae32PrC0P6k2NqJXV8DGyi6erQo/KJsIAMss4ZaIXo0qsQ10pB1neNHq8hVFxEXIOsj5RXZjTf6JrPrXTiTSBOPzBesX1FuBqjkmxmNZdSOWPN6p5CDskz/Ut6WZQq//XXdyif9hc3wMjQVt6DMFwvhSCWy5bBFYRSKZbSIMNRURMsMn3ZltfPakUjJSuxURYPc5O6KcDzEP7MkVS8KuXcY1jblFp9mZrVcblAi819PUusCi0dzLZfzMmXJx0sIaK2/MjQ0vLN8KzG/+ZIpAZgZAOuZET7Cn+KFM/Grvc3uYzuw5bABOgLE7XHRS5TAUxX20fJECczawsFLgKsX+O4S1b5F9/c9Jjlw21DLmEEPRn3VFfZZwbiIxMpXVLtxzCRwEltxANuh7oKDjtkMAwfFqGOHLc+dovKD1wHkKfmCiZgFW084PbFfy32JaiCF+yZ3iKZkY+hBDShXwQtFdcWCVoQkjPvmG2Ygv2K4ZoyFqy5e4Mb8f5wpBQnBY2dPKEQZ4jJqy1TfIy9S140uxwr+tzxy0fOsZ3+a5NwhfjxkZTxIxV2juce3hUzzux0gQK7v4p/Jp61whbD8Ha8IBxI+1av96anuhaodXKSs0CyjFSTqz0Dbv6hnuq39PkR5Vrcdp0vGUl8k6+0DDMGXUxPJgGLNLIyVxvc4bAEZ5oK9T5jVQvsQ1a+myu5Z9M5wnti7rjKRkFyoUTLKCsom8Mf3Yx4pLOywQIZnDZ3sE7EsoQGfgoJ79BauINvMcUPptSaeosv0eB0CvM5MlWFex8do8RoUj4Rgl41AQ6gleS6Dtnu0+1p79uIjxBv1CjRDhsW71/2Ps6SrZ+HB88uDV1TbT+oMVXVwogvgxf+G19uPYKBu6Ap51mDmEsiWqq1dnMwxu0gYsm8vtYtW9PHUwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vgz4YQtaKEKXdTXZxB3dg4",
      "input": {
        "note": "Bottle dragged back about 12 cm. Releasing it to regrasp at the neck.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Vgz4YQtaKEKXdTXZxB3dg4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7338, 0.4847, -0.3195, -0.0257, -0.0296, 0.9983, 0.8749, 1.7943, 0.4404, 0.6449, 0.5747, 0.4152, 0.9956]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.1539 left_yaw=-0.0012 left_pitch=-0.0069 left_roll=0.0027 left_gripper=0.9983 right_x=0.299 right_y=0.2137 right_z=0.0011 right_yaw=0.1746 right_pitch=-0.01 right_roll=-0.0074 right_gripper=0.9956\nstate[joint_eff]: [0.1299, -1.2513, 6.7761, 1.8095, 0.022, -0.0659, -0.0122, -0.7179, -5.641, 3.8769, 1.663, 0.2222, 0.105, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abca3703eac37e9de97be7afbde84e80d78fc317b63e512d19703dabd781275a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c18004d17dcb3aa5a5c221bad0b549dfdfc78e769b0df1e4fe8d33182f52740a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f4d09f6b28c0b6118a7245bcf8e2fa32b28291c5de0440fa91183b2032bfe51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 6.336 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]: [-0.0189, 0.7338, 0.4847, -0.3191, -0.0257, -0.0292, 0.9983, 0.588, 2.0483, 0.8104, 0.6373, 0.3882, 0.2527, 0.5231]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0014 left_pitch=-0.0065 left_roll=0.003 left_gripper=0.9983 right_x=0.4269 right_y=0.2086 right_z=0.0027 right_yaw=0.1232 right_pitch=0.0176 right_roll=0.0095 right_gripper=0.5231\nstate[joint_eff]: [0.1436, -1.0598, 6.5846, 1.8388, -0.022, -0.0415, -0.0122, -0.4034, -10.0444, 4.0684, 1.4335, 0.0952, -0.0024, 1.0281]",
      "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]: [-0.0189, 0.7338, 0.4847, -0.3191, -0.0257, -0.0296, 0.9983, 0.8669, 1.7878, 0.4622, 0.593, 0.5762, 0.4221, 0.5252]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0012 left_pitch=-0.0065 left_roll=0.0027 left_gripper=0.9983 right_x=0.3016 right_y=0.212 right_z=0.0009 right_yaw=0.1615 right_pitch=-0.0274 right_roll=-0.0178 right_gripper=0.5252\nstate[joint_eff]: [-0.0479, -0.9094, 6.7077, 1.8339, -0.0024, -0.0952, -0.0122, 0.1983, -8.335, 4.4513, 1.6044, 0.3639, 0.1197, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7338, 0.4847, -0.3195, -0.0257, -0.0296, 0.9983, 0.8749, 1.7943, 0.4404, 0.6449, 0.5747, 0.4152, 0.9956]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.1539 left_yaw=-0.0012 left_pitch=-0.0069 left_roll=0.0027 left_gripper=0.9983 right_x=0.299 right_y=0.2137 right_z=0.0011 right_yaw=0.1746 right_pitch=-0.01 right_roll=-0.0074 right_gripper=0.9956\nstate[joint_eff]: [0.1299, -1.2513, 6.7761, 1.8095, 0.022, -0.0659, -0.0122, -0.7179, -5.641, 3.8769, 1.663, 0.2222, 0.105, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abca3703eac37e9de97be7afbde84e80d78fc317b63e512d19703dabd781275a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c18004d17dcb3aa5a5c221bad0b549dfdfc78e769b0df1e4fe8d33182f52740a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f4d09f6b28c0b6118a7245bcf8e2fa32b28291c5de0440fa91183b2032bfe51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UprBteWtAPibFPrUttxLKr",
      "input": {
        "note": "Released. Lifting and moving forward to look for the neck in the wrist camera.",
        "targets": {
          "right_x": 0.37,
          "right_yaw": 0.05,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01UprBteWtAPibFPrUttxLKr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7338, 0.4847, -0.3191, -0.0257, -0.0296, 0.9983, 0.7532, 1.6596, 0.7689, 0.1806, 0.5526, 0.3916, 0.9955]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0012 left_pitch=-0.0065 left_roll=0.0027 left_gripper=0.9983 right_x=0.3611 right_y=0.2164 right_z=0.0786 right_yaw=0.0826 right_pitch=-0.0202 right_roll=-0.0167 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.0872, 6.7214, 1.7802, 0.0122, -0.0611, -0.0122, -0.6359, -9.6068, 8.3214, 1.6874, 0.2369, 0.0952, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4e99a083f40d88236d88e6c0ff7cd1eac080948810142838a0b8b248c8f6bd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9065f4b5e86b0acaed681b24a0a837eb422a017bd0d8fdbdb8c26c4d695b39e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1666fe920345da4d439e7b26b392a537954f7be43a9f756ad6cc7d035ec5f78f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 5.169 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]: [-0.0189, 0.7338, 0.4847, -0.3191, -0.0257, -0.0296, 0.9983, 0.8669, 1.7878, 0.4622, 0.593, 0.5762, 0.4221, 0.5252]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0012 left_pitch=-0.0065 left_roll=0.0027 left_gripper=0.9983 right_x=0.3016 right_y=0.212 right_z=0.0009 right_yaw=0.1615 right_pitch=-0.0274 right_roll=-0.0178 right_gripper=0.5252\nstate[joint_eff]: [-0.0479, -0.9094, 6.7077, 1.8339, -0.0024, -0.0952, -0.0122, 0.1983, -8.335, 4.4513, 1.6044, 0.3639, 0.1197, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.0189, 0.7338, 0.4847, -0.3195, -0.0257, -0.0296, 0.9983, 0.8749, 1.7943, 0.4404, 0.6449, 0.5747, 0.4152, 0.9956]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.1539 left_yaw=-0.0012 left_pitch=-0.0069 left_roll=0.0027 left_gripper=0.9983 right_x=0.299 right_y=0.2137 right_z=0.0011 right_yaw=0.1746 right_pitch=-0.01 right_roll=-0.0074 right_gripper=0.9956\nstate[joint_eff]: [0.1299, -1.2513, 6.7761, 1.8095, 0.022, -0.0659, -0.0122, -0.7179, -5.641, 3.8769, 1.663, 0.2222, 0.105, -0.0317]",
      "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]: [-0.0189, 0.7338, 0.4847, -0.3191, -0.0257, -0.0296, 0.9983, 0.7532, 1.6596, 0.7689, 0.1806, 0.5526, 0.3916, 0.9955]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0012 left_pitch=-0.0065 left_roll=0.0027 left_gripper=0.9983 right_x=0.3611 right_y=0.2164 right_z=0.0786 right_yaw=0.0826 right_pitch=-0.0202 right_roll=-0.0167 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.0872, 6.7214, 1.7802, 0.0122, -0.0611, -0.0122, -0.6359, -9.6068, 8.3214, 1.6874, 0.2369, 0.0952, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4e99a083f40d88236d88e6c0ff7cd1eac080948810142838a0b8b248c8f6bd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9065f4b5e86b0acaed681b24a0a837eb422a017bd0d8fdbdb8c26c4d695b39e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1666fe920345da4d439e7b26b392a537954f7be43a9f756ad6cc7d035ec5f78f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8wkKEAgSGAI4AUIIdGhpbmtpbmcSDE0sEc/tGQsMbTUSlBoM567WLWWuoocFebKpIjDzbzQ13wKdd62KvC687Yil3b5AJ553hTJmb2jOmWfl5X6YZUY4pVotrgo4vJjfURIqkAnZ7ztU94fSra125pWzD9zAZ8+pId+hJ+J5cgNfVyLCt8WeZEGyAE9vOGOeplAClps3FzHlY/9Hn0wEzD+UUe+jOQTlhHBSK1Wxk9IV4s6Y4UMrcW1MSqUcb7sT12YR/15cwi5v3fm72MNIBOO1PFEaBm2onW3WNfz40X2RYN1IeETmtgwUsFi5LBhvgFYcjHTdo8uCXNtvu+gNA+c6/uKreKPxs890t+LBivsHiCGQajpMiXNsuU97c88lFLT0f54BvC7Q1gvHdV8sJhrWXyig3E+QZcc6hpsPE03y5wAM18NgBn11HshYxZgJqOfjghhPIGB+a9mjV5X/bxn+jrVwGW++tOhqEQmFprjTwFXKysh+4aNWYRwZ7c3tQByG3eX3/W3NXkCG45U2h+hH+aVRc4h/JOqqXNwlQnVNHx+LZgHQu41pf3dEsqML8OgWJ/K2Qg1lFPPjjH/zIwFplsIaljrGepoumkKo5qhPG7salMNIu1QtarS4KKfht4wt5kUO9dANAAEGzA9LUYJt6etUjOvFqJdTChbaFNAcT/7qLLCVeYGyPwEZpyLSpcfdcez1g2AOsuRZQvIZukGUmB2R9vCBCC2cUm7XrBmdbrLtBXsEfDYSpQ2cPgIScrRs3JCRMcgS3iDEw3T1BI/WJipXpYvg4oi515T9y+Iyg1se9pSGYYtUw05BXSbyW4uyFF+yqmgXEBqmuWvE1FtW+WMmxmgbZ3S9NP414JWstiGdlD7qpk0QspKh2kslA+1GGsfFkJPIRfHl2dOGP1ekTnszcXOTekdxQw5suvp/SQxHsDJvxZ7RaLHRUyLyymrWmGj3q0cOpNwRaqDOlGPOoxP1IdHrO/HPbqLaWfv4LpkHjYuEqAgSdXu4nwOqRvWzY4JxLu5hd9tB77NrmdTMlbyXjVEcnvAf79z7ftbNTy292MaLg4hDvyEBh0sVF7zPu1vOB4pMlwlELb6mFEvXIERQCzec2wKK+tAnecRdh8OD6PUFEoWsxKzuzSoKx1MyzjOYa8HULI3nv5F1S81d3FMXeNsz9Wa6Klw5RfIe6x1Sr0+3PP1Gzft4/s1krl8LixaBOc3qLEw7MzfSEe6xy27xHZSC65nSawd0ChfjQ2BXIEF/z06d5ZSLK4RhqOrEAYLW5EvmzgsDje+0Wh9JTwPLdLZYFsiGwRVCwgQmXQI6yDVsDzUofEbsqdF9lbrpeZ+1W8lJYpmdvXcwB09EosLMsFsRXNIPhvXj73+D56MIUx9hAkjSVMI0a3rQ7L4tWK553a6K1vr0XWQvTRBFo/lViFsm3Tx71Mh4XadLe9b0oBrTCHykGNjKeH2wIE7gv1YaxI1YqeACVAYrsPV6wTx/P58Y+CLsoti1uiYDAmafAa3HmMALvuSFYya1f2pZNXY+83w1lAiIB4mFhOdSK5BSmkU+G6Q9sdaIwfAfDD1odORxkRkZLEvr+XLWcLU7Ap5QCE1WaRsivovqbhsesp+7jMnBU3do0oWstgxqoAutVaIn5lLzslyo8TF8DWMkwx5jLWZ6gPs+pt1dSHswMipKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M6NTXEEFCMV83kEGTPXSSm",
      "input": {
        "note": "The bottle's cap is now centred ahead of the jaws at a reachable distance. Advancing ~5 cm and descending to neck height.",
        "targets": {
          "right_x": 0.415,
          "right_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_01M6NTXEEFCMV83kEGTPXSSm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7334, 0.4847, -0.3187, -0.0254, -0.0296, 0.9983, 0.6544, 1.9278, 0.8124, 0.453, 0.4892, 0.3195, 0.9955]\nstate[eef_state]: left_x=0.2844 left_y=0.0027 left_z=0.1541 left_yaw=-0.0016 left_pitch=-0.0058 left_roll=0.0025 left_gripper=0.9983 right_x=0.4071 right_y=0.2122 right_z=0.0269 right_yaw=0.0724 right_pitch=-0.0058 right_roll=-0.0166 right_gripper=0.9955\nstate[joint_eff]: [0.0889, -1.2103, 6.7214, 1.7851, -0.0171, -0.0806, -0.0122, -0.6906, -5.8598, 5.3949, 1.3065, 0.0122, 0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a25a69fd6f1640f497c96180ca782f206531524c509411c0f6c45e5c05ef71a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8c67860b473cccbb87d6800965fb4dcae2c2d64a34897e811c088b82ae0f3f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:89f726f5369836af4ca5739af905dba8d98a9041e1adf42f61e5dbd56f08383c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 7.122 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]: [-0.0189, 0.7338, 0.4847, -0.3195, -0.0257, -0.0296, 0.9983, 0.8749, 1.7943, 0.4404, 0.6449, 0.5747, 0.4152, 0.9956]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.1539 left_yaw=-0.0012 left_pitch=-0.0069 left_roll=0.0027 left_gripper=0.9983 right_x=0.299 right_y=0.2137 right_z=0.0011 right_yaw=0.1746 right_pitch=-0.01 right_roll=-0.0074 right_gripper=0.9956\nstate[joint_eff]: [0.1299, -1.2513, 6.7761, 1.8095, 0.022, -0.0659, -0.0122, -0.7179, -5.641, 3.8769, 1.663, 0.2222, 0.105, -0.0317]",
      "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]: [-0.0189, 0.7338, 0.4847, -0.3191, -0.0257, -0.0296, 0.9983, 0.7532, 1.6596, 0.7689, 0.1806, 0.5526, 0.3916, 0.9955]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0012 left_pitch=-0.0065 left_roll=0.0027 left_gripper=0.9983 right_x=0.3611 right_y=0.2164 right_z=0.0786 right_yaw=0.0826 right_pitch=-0.0202 right_roll=-0.0167 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.0872, 6.7214, 1.7802, 0.0122, -0.0611, -0.0122, -0.6359, -9.6068, 8.3214, 1.6874, 0.2369, 0.0952, -0.022]",
      "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]: [-0.0189, 0.7334, 0.4847, -0.3187, -0.0254, -0.0296, 0.9983, 0.6544, 1.9278, 0.8124, 0.453, 0.4892, 0.3195, 0.9955]\nstate[eef_state]: left_x=0.2844 left_y=0.0027 left_z=0.1541 left_yaw=-0.0016 left_pitch=-0.0058 left_roll=0.0025 left_gripper=0.9983 right_x=0.4071 right_y=0.2122 right_z=0.0269 right_yaw=0.0724 right_pitch=-0.0058 right_roll=-0.0166 right_gripper=0.9955\nstate[joint_eff]: [0.0889, -1.2103, 6.7214, 1.7851, -0.0171, -0.0806, -0.0122, -0.6906, -5.8598, 5.3949, 1.3065, 0.0122, 0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a25a69fd6f1640f497c96180ca782f206531524c509411c0f6c45e5c05ef71a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8c67860b473cccbb87d6800965fb4dcae2c2d64a34897e811c088b82ae0f3f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89f726f5369836af4ca5739af905dba8d98a9041e1adf42f61e5dbd56f08383c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSmQgKEAgSGAI4AUIIdGhpbmtpbmcSDK/CO3DbhaZ6t9iIPBoMIHfAMoJYJE7JMuxiIjDmJjkP3jmI7FZi8zvsBtMi+Kn2R4GIcLBnSTLzUeIFR3EvRqBJKANtlwoKvhswihgqtgcGEtt6dmiodsxB7eYWOSwbkFBFMZ6e2Zogxaeipond1/CHM0+sEHobeaIesjWz2jHVR5iOBzgSieI6/szdNaa/uoZEZVY+2JcACYiHy3X35HYn5kfHaDUysUnJrZjPB8zGLRyd3fhrcDGeI/madaeCEUfXWSVsky22xH7/d5+Ta6uqmfWmMMkpDFy6s/ZGTU/3DIYwh1g7OzY8w0QYQ5d2XyYrmLQda3ntSlMWxRYxI+zg+xaEf7xWu3wrQh5ADCx7fnak8rU+eLkbyN9HCr/253Ow0e0DBkR3+YdcMp7i2cxjtvyUZmDc+vRW+TrDgB9EmnpdD+pXdM4xYHCL38ljfSOYCdBdGd936Hw3H21FBbUg9f/28F2I3gqqYY7tQFZ0REpF99j/nSTl5Z3ryxZK/f1XGU+sjitN+waCiyhQll85dqGoZt+V+GD5OqsdAYM3XUPBREl7dCW44WrFuXys+nSfz93NGqU1qZHLVE9qYIkkMfuM628DzUv+HbZYU/WkQxg7ly4qEaZAHGeJnLWPm4ACsEvmBoAx8MooGhRwiIKL+GLZk4pwRVGCir4q/UiardHhaB70MO9srGHlaGlDFYSeSgdp7jJZJERXDoWnmw44CmQzhQ1bsk2MZFZITckx1aHXidQoT2WCzLUjYnhZLHWZDqsS0fPfZNX+EJG7hcrXYwHLA3NeDACE8au9+QDclhaBHF+zdkutmKZws/LP2ygwGdHklGS1Elq2REHYVGVjzNWuvxTj+qAcJLdwQhH26ibJQ2QTagx45anMtn+ZbmKtipC5ucTiW2uepYW+ejFcIEUnL1VdUFKmgeN0sjXTrRzmu+2kGSzQPNU8g01u1UuLGREGa+mxfTLduL6wcVCfB98EQS2aGTxZDB5Zx91diUMovVthetfOfq5XezXtXfgsL9PFhnLxrUk0+8XPVNW0/QWienIeTQAOX1EFqwIpZSiwYSXJL7sCKS3akrlXkHpBa6rTdfdBLKXwdFbN8ceWAWk3RBlzebFKi2KsLnKK4Cz/+s5BQDfmF+wyHTfsxPe3dRZs3jT8tnKG7WttxSaaLfDFM+68ggXPmFLkM5tEAxc1JMVJ73zeojEPAKimV+MjmtkwWqZxawP0NtovGbSnqne9yM/w4KEKz14+GIcty9aRrLRKfde656na68RUOiVuoV7OHT+MA3dmWiVULJBz9dyQ/EvrQMhOkWu06VeV5qd+HIqd6QcdK4cBGdk93UL/BxbaczxMb02OGgmEkwnXRZ9OnBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AHvTdsjuvXMg2eAXcMYCmt",
      "input": {
        "note": "Jaws are over the label; the neck and cap are still a few cm ahead. Advancing another ~4 cm.",
        "targets": {
          "right_x": 0.45,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01AHvTdsjuvXMg2eAXcMYCmt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7338, 0.4847, -0.3199, -0.0257, -0.0292, 0.9983, 0.5976, 2.0167, 0.9195, 0.5129, 0.4274, 0.2825, 0.9955]\nstate[eef_state]: left_x=0.2842 left_y=0.0028 left_z=0.1538 left_yaw=-0.0014 left_pitch=-0.0073 left_roll=0.003 left_gripper=0.9983 right_x=0.4457 right_y=0.2191 right_z=0.0324 right_yaw=0.0844 right_pitch=0.0422 right_roll=0.0234 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.1829, 6.8308, 1.7656, -0.0024, -0.0024, -0.0122, -0.9094, -7.0222, 6.2291, 1.3065, 0.1587, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8624a38eefb9920d2ef0c27a1cfd879225f7a02591df0d13117b3b1fc3098f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3089c19d0c59a851c077e8cfd2219e6b7ac8f304a767daa437c23680177739ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aef9d998c663d16e910a749b07c0aa001b510242fae405e0f7a57853471afe02",
        "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 · 3.823 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]: [-0.0189, 0.7338, 0.4847, -0.3191, -0.0257, -0.0296, 0.9983, 0.7532, 1.6596, 0.7689, 0.1806, 0.5526, 0.3916, 0.9955]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.154 left_yaw=-0.0012 left_pitch=-0.0065 left_roll=0.0027 left_gripper=0.9983 right_x=0.3611 right_y=0.2164 right_z=0.0786 right_yaw=0.0826 right_pitch=-0.0202 right_roll=-0.0167 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.0872, 6.7214, 1.7802, 0.0122, -0.0611, -0.0122, -0.6359, -9.6068, 8.3214, 1.6874, 0.2369, 0.0952, -0.022]",
      "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]: [-0.0189, 0.7334, 0.4847, -0.3187, -0.0254, -0.0296, 0.9983, 0.6544, 1.9278, 0.8124, 0.453, 0.4892, 0.3195, 0.9955]\nstate[eef_state]: left_x=0.2844 left_y=0.0027 left_z=0.1541 left_yaw=-0.0016 left_pitch=-0.0058 left_roll=0.0025 left_gripper=0.9983 right_x=0.4071 right_y=0.2122 right_z=0.0269 right_yaw=0.0724 right_pitch=-0.0058 right_roll=-0.0166 right_gripper=0.9955\nstate[joint_eff]: [0.0889, -1.2103, 6.7214, 1.7851, -0.0171, -0.0806, -0.0122, -0.6906, -5.8598, 5.3949, 1.3065, 0.0122, 0.0806, -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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7338, 0.4847, -0.3199, -0.0257, -0.0292, 0.9983, 0.5976, 2.0167, 0.9195, 0.5129, 0.4274, 0.2825, 0.9955]\nstate[eef_state]: left_x=0.2842 left_y=0.0028 left_z=0.1538 left_yaw=-0.0014 left_pitch=-0.0073 left_roll=0.003 left_gripper=0.9983 right_x=0.4457 right_y=0.2191 right_z=0.0324 right_yaw=0.0844 right_pitch=0.0422 right_roll=0.0234 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.1829, 6.8308, 1.7656, -0.0024, -0.0024, -0.0122, -0.9094, -7.0222, 6.2291, 1.3065, 0.1587, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8624a38eefb9920d2ef0c27a1cfd879225f7a02591df0d13117b3b1fc3098f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3089c19d0c59a851c077e8cfd2219e6b7ac8f304a767daa437c23680177739ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aef9d998c663d16e910a749b07c0aa001b510242fae405e0f7a57853471afe02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0124RNJSj7DgFf6zfutAUbFh",
      "input": {
        "note": "The bottle is being nudged forward with the jaws around its upper body near the shoulder. Closing only partway for a light grip that should let it pivot when lifted.",
        "targets": {
          "right_gripper": 0.6
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0124RNJSj7DgFf6zfutAUbFh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7338, 0.4847, -0.3195, -0.0257, -0.0292, 0.9983, 0.5888, 2.0293, 0.9459, 0.5411, 0.4141, 0.2798, 0.6076]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.1539 left_yaw=-0.0014 left_pitch=-0.0069 left_roll=0.003 left_gripper=0.9983 right_x=0.456 right_y=0.2234 right_z=0.0409 right_yaw=0.0868 right_pitch=0.0754 right_roll=0.0477 right_gripper=0.6076\nstate[joint_eff]: [-0.0889, -0.9504, 6.5299, 1.8388, 0.0122, -0.0611, -0.0122, -0.9231, -7.5009, 5.4085, 1.1453, 0.232, 0.0171, 0.4029]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:108a9783fc571906766e73e66db855607c7d021f4c08421f5f8f39ca5a7c62d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f30ddf901712761eaa9f6308e92f48222894f18e905a5a34819d3d9d524a8a13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8928930ca4964360280c611720f38f1853637a8362b2582ced469cc95371b873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 6.487 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]: [-0.0189, 0.7334, 0.4847, -0.3187, -0.0254, -0.0296, 0.9983, 0.6544, 1.9278, 0.8124, 0.453, 0.4892, 0.3195, 0.9955]\nstate[eef_state]: left_x=0.2844 left_y=0.0027 left_z=0.1541 left_yaw=-0.0016 left_pitch=-0.0058 left_roll=0.0025 left_gripper=0.9983 right_x=0.4071 right_y=0.2122 right_z=0.0269 right_yaw=0.0724 right_pitch=-0.0058 right_roll=-0.0166 right_gripper=0.9955\nstate[joint_eff]: [0.0889, -1.2103, 6.7214, 1.7851, -0.0171, -0.0806, -0.0122, -0.6906, -5.8598, 5.3949, 1.3065, 0.0122, 0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7338, 0.4847, -0.3199, -0.0257, -0.0292, 0.9983, 0.5976, 2.0167, 0.9195, 0.5129, 0.4274, 0.2825, 0.9955]\nstate[eef_state]: left_x=0.2842 left_y=0.0028 left_z=0.1538 left_yaw=-0.0014 left_pitch=-0.0073 left_roll=0.003 left_gripper=0.9983 right_x=0.4457 right_y=0.2191 right_z=0.0324 right_yaw=0.0844 right_pitch=0.0422 right_roll=0.0234 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.1829, 6.8308, 1.7656, -0.0024, -0.0024, -0.0122, -0.9094, -7.0222, 6.2291, 1.3065, 0.1587, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7338, 0.4847, -0.3195, -0.0257, -0.0292, 0.9983, 0.5888, 2.0293, 0.9459, 0.5411, 0.4141, 0.2798, 0.6076]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.1539 left_yaw=-0.0014 left_pitch=-0.0069 left_roll=0.003 left_gripper=0.9983 right_x=0.456 right_y=0.2234 right_z=0.0409 right_yaw=0.0868 right_pitch=0.0754 right_roll=0.0477 right_gripper=0.6076\nstate[joint_eff]: [-0.0889, -0.9504, 6.5299, 1.8388, 0.0122, -0.0611, -0.0122, -0.9231, -7.5009, 5.4085, 1.1453, 0.232, 0.0171, 0.4029]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:108a9783fc571906766e73e66db855607c7d021f4c08421f5f8f39ca5a7c62d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f30ddf901712761eaa9f6308e92f48222894f18e905a5a34819d3d9d524a8a13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8928930ca4964360280c611720f38f1853637a8362b2582ced469cc95371b873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQcKEAgSGAI4AUIIdGhpbmtpbmcSDMu14xFzCMzR50iEURoMgWgx/tEf5qsUQYP1IjBO9Ox00fJpY2voDIEQAiWxPjXKICIOLkrJtylbjGXNEu7hcMEmeMFiHXo51q2ynH8qogZi/cf29o93P5c8620CeNts2/+UOMhTYQ5R3mvrZVYR9TRwF74tFBQjo1VK8tzlVjOdSDbbllam6JUNHjN3BLiim6Hy8+EVqGYwPg1REgJqVs/WK0qb+WsawoMN6J8fYLiXIAAsWVCnX4oV+M4a7lDEkQ4GyhUdUV/BMNQwDNVLCVWD2ubZBf/oezdFvfWBC0M96W4sG1yk9vjWR0qCqooHsVhrP4UIjBf3p/WnWdWzmRdE2lWqcT/RmhAPswnt9bG7I8CYbAowNVwFFUQTlDN0ZI1ObO+k6eoJHGODaAU0A3gYUOtG+svOT951kCDPx4XnWB4ywrdTzf6toi9yxRIXMtNxVCqVMDfMElP+nOZwVkH2mdT0bcf27qDYhcnHXtq+V5dyGUw0ihmEnI4BqiBI7LSTndwiw1rMgfej5uRB2FP7SHC8MwLiYPdZGLCCTmCw1J+pOfbGOWgzXK8JWashspZGe5c+lOlwcXei1GSsjpprkul/65bzjI1hTZi107BoRC09RBnN0lifcDLMCVxrFVwCvzcehHeIZ9hkLTkYZ2iTIFI4xB1VLlOjj70ndCd9JqQWzbE5IxUQLgOc9AkBZMw0o8IJw5QriXXk5phvSvpHsxlnUia9iFbmcfgETTE5z5IHIDh9h8QWPtLaMvxFMQ1NC3AQcAL4gcim4qp1IXCAEphGupM6MRXpNxoKyc4+WwRDuJyAQuveCJGgQFnBIhtofVm1rMWy832n6MbPqdvZaFUPQlnsV8ldhyi41SPq5nKJGogrscadvk1Nl+mkllnNQ68r/6jgsEvzpYgOW0XgBXEZOLIa7qMwAAz+iyoXeDnhPrxWDatLj2UAn1x8L/9RkXgDc7uRr6sPkMME5H5x9WSWvlNb7q1ahwX6z76+o+UZIRN1NVlvktegxnn1NLHU3G1mFz3VyfUDd6kXIzij271I2FYnISlXYUMrC9R3tnULixntEXl1VbMe+2b04RY1ITaIR/JnWEb0+yiJwuGM6+AG562iIDT445fHd+YhWIh15B/Oex/awVKHvLJJ70UOyJVgimah6hXYeRflrMBSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KRXTwACMUMhm689ZgMnk5d",
      "input": {
        "note": "Light grip on the bottle near the shoulder. Lifting and pulling back so the base end drags and the bottle swings toward vertical.",
        "targets": {
          "right_x": 0.4,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01KRXTwACMUMhm689ZgMnk5d",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7338, 0.4843, -0.3191, -0.0254, -0.0292, 0.9983, 0.6937, 1.5612, 1.1889, -0.054, 0.4667, 0.3126, 0.6085]\nstate[eef_state]: left_x=0.2843 left_y=0.0027 left_z=0.1538 left_yaw=-0.0018 left_pitch=-0.0069 left_roll=0.0028 left_gripper=0.9983 right_x=0.4139 right_y=0.2454 right_z=0.2487 right_yaw=0.1222 right_pitch=0.1862 right_roll=0.1162 right_gripper=0.6085\nstate[joint_eff]: [0.1299, -1.265, 6.5573, 1.8535, 0.0024, -0.0611, -0.0122, -0.9504, -4.0274, 6.2291, 1.16, 0.1538, 0.149, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c66405d5f8e5a1583dce8a70966054d3bd5e539b0bb758085677d99d00ecc33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:578bcd7fe73b31f18ab425440eb5a0943e3b8a865c2de3da973a6da7e14d5a3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4eb24918f9337ca20336650a166d9bc3e40e79feb48c2bfd62c18721ba8f334d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 15.03 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]: [-0.0189, 0.7338, 0.4847, -0.3199, -0.0257, -0.0292, 0.9983, 0.5976, 2.0167, 0.9195, 0.5129, 0.4274, 0.2825, 0.9955]\nstate[eef_state]: left_x=0.2842 left_y=0.0028 left_z=0.1538 left_yaw=-0.0014 left_pitch=-0.0073 left_roll=0.003 left_gripper=0.9983 right_x=0.4457 right_y=0.2191 right_z=0.0324 right_yaw=0.0844 right_pitch=0.0422 right_roll=0.0234 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.1829, 6.8308, 1.7656, -0.0024, -0.0024, -0.0122, -0.9094, -7.0222, 6.2291, 1.3065, 0.1587, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7338, 0.4847, -0.3195, -0.0257, -0.0292, 0.9983, 0.5888, 2.0293, 0.9459, 0.5411, 0.4141, 0.2798, 0.6076]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.1539 left_yaw=-0.0014 left_pitch=-0.0069 left_roll=0.003 left_gripper=0.9983 right_x=0.456 right_y=0.2234 right_z=0.0409 right_yaw=0.0868 right_pitch=0.0754 right_roll=0.0477 right_gripper=0.6076\nstate[joint_eff]: [-0.0889, -0.9504, 6.5299, 1.8388, 0.0122, -0.0611, -0.0122, -0.9231, -7.5009, 5.4085, 1.1453, 0.232, 0.0171, 0.4029]",
      "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]: [-0.0189, 0.7338, 0.4843, -0.3191, -0.0254, -0.0292, 0.9983, 0.6937, 1.5612, 1.1889, -0.054, 0.4667, 0.3126, 0.6085]\nstate[eef_state]: left_x=0.2843 left_y=0.0027 left_z=0.1538 left_yaw=-0.0018 left_pitch=-0.0069 left_roll=0.0028 left_gripper=0.9983 right_x=0.4139 right_y=0.2454 right_z=0.2487 right_yaw=0.1222 right_pitch=0.1862 right_roll=0.1162 right_gripper=0.6085\nstate[joint_eff]: [0.1299, -1.265, 6.5573, 1.8535, 0.0024, -0.0611, -0.0122, -0.9504, -4.0274, 6.2291, 1.16, 0.1538, 0.149, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c66405d5f8e5a1583dce8a70966054d3bd5e539b0bb758085677d99d00ecc33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:578bcd7fe73b31f18ab425440eb5a0943e3b8a865c2de3da973a6da7e14d5a3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4eb24918f9337ca20336650a166d9bc3e40e79feb48c2bfd62c18721ba8f334d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HHx3dSfnch8mM7aZkxjSzd",
      "input": {
        "note": "The bottle now hangs vertically below the jaws (visible in both top and wrist views). Lowering it toward the table.",
        "targets": {
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01HHx3dSfnch8mM7aZkxjSzd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7338, 0.4843, -0.3187, -0.0257, -0.0292, 0.9983, 0.6994, 1.6829, 1.1698, -0.181, 0.4675, 0.3168, 0.6086]\nstate[eef_state]: left_x=0.2843 left_y=0.0028 left_z=0.1539 left_yaw=-0.0014 left_pitch=-0.0065 left_roll=0.003 left_gripper=0.9983 right_x=0.4068 right_y=0.2429 right_z=0.1608 right_yaw=0.1357 right_pitch=-0.0399 right_roll=-0.0245 right_gripper=0.6086\nstate[joint_eff]: [0.0342, -1.1009, 6.9128, 1.7998, 0.0073, -0.0904, -0.0122, -0.253, -7.4051, 6.9949, 2.0488, 0.2515, 0.0562, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2c1e6e7960048bee12ecb340ff2f910ae88e972ec7b4f8d35cc040fb4e44766",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c5b0afbb923853d860c888d41c78fa2835decd8b17bd36ace9a793d723c44a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d164f442d00d73cb8631382bed668e8a5ec463c91975c3db53e1aa47442ad3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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